阅读说明：本技术 一种基于物联网的自动更换垃圾桶处理平台 (Automatic garbage bin changing processing platform based on Internet of things ) 是由 蒲志宇 张国基 于 2021-01-26 设计创作，主要内容包括：本发明公开了一种基于物联网的自动更换垃圾桶处理平台,包括：收集车以及垃圾桶,收集车包括储存箱以及底盘,收储存箱设置有入口门以及出口门；底盘的内部设置有控制室,控制组件包括处理器、若干传感器、若干图像采集设备,若干传感器沿底盘的侧壁间隔排列,储存箱的内部设置有若干桶位,桶位初始设置有若干空垃圾桶；储存箱的外壁设置有不少于一条履带,第一履带的一侧与第二履带的一侧均设置有升降板；第一履带的另一侧靠近入口门,第二履带的另一侧靠近出口门；控制机构包括GPS定位设备、控制器、若干图像采集设备以及若干传感器,垃圾桶的底部侧壁沿周向间隔设置有若干传感器,垃圾桶的侧壁沿周向间隔设置有图像采集设备。(The invention discloses a processing platform for automatically replacing a garbage can based on the Internet of things, which comprises: the garbage can comprises a collecting vehicle and a garbage can, wherein the collecting vehicle comprises a storage box and a chassis, and the storage box is provided with an entrance door and an exit door; a control room is arranged in the chassis, the control assembly comprises a processor, a plurality of sensors and a plurality of image acquisition devices, the sensors are arranged at intervals along the side wall of the chassis, a plurality of barrel positions are arranged in the storage box, and a plurality of empty garbage cans are initially arranged in the barrel positions; at least one crawler belt is arranged on the outer wall of the storage box, and lifting plates are arranged on one side of the first crawler belt and one side of the second crawler belt; the other side of the first crawler belt is close to the entrance door, and the other side of the second crawler belt is close to the exit door; the control mechanism comprises a GPS positioning device, a controller, a plurality of image acquisition devices and a plurality of sensors, the bottom side wall of the garbage can is provided with the plurality of sensors at intervals along the circumferential direction, and the side wall of the garbage can is provided with the image acquisition devices at intervals along the circumferential direction.)

1. The utility model provides an automatic change garbage bin processing platform based on thing networking, includes: the garbage can comprises a collecting vehicle and a garbage can, and is characterized in that the collecting vehicle comprises a storage box and a chassis, wherein the storage box is provided with an entrance door and an exit door; a control room is arranged inside the chassis, a plurality of control assemblies are arranged inside the control room, each control assembly comprises a processor, a plurality of sensors and a plurality of image acquisition devices, the sensors are arranged at intervals along the side wall of the chassis, a plurality of barrel positions are arranged inside the storage box, and a plurality of empty garbage cans are initially arranged in the barrel positions;

the outer wall of the storage box is provided with a transmission mechanism, and the transmission mechanism can drive the garbage can to move;

the garbage bin is provided with control mechanism, control mechanism includes GPS positioning device, controller, a plurality of image acquisition equipment and a plurality of sensor, the bottom lateral wall of garbage bin is provided with a plurality of along the circumference interval the sensor, the lateral wall of garbage bin is provided with along the circumference interval image acquisition equipment.

2. The automatic garbage can replacing processing platform based on the Internet of things of claim 1, wherein the outer wall of the storage box is provided with at least one crawler belt, the crawler belt comprises a first crawler belt and a second crawler belt, and a lifting plate is arranged on one side of the first crawler belt and one side of the second crawler belt; the other side of the first track is close to the entrance door, and the other side of the second track is close to the exit door.

3. The automatic garbage can replacing processing platform based on the internet of things as claimed in claim 2, wherein the crawler belt is provided with an anti-slip layer, one side of the first crawler belt and one side of the second crawler belt are both side walls of the storage box, and the other side of the first crawler belt and the other side of the second crawler belt are both fixedly provided with a baffle.

4. The automatic garbage can replacing processing platform based on the internet of things of claim 1, wherein a plurality of spray heads are arranged on the inner side wall of the storage box, the spray heads are connected with disinfection bottles through disinfection pipes, and a plurality of disinfection liquids are contained in the disinfection bottles.

5. The intelligent replacement type processing platform based on the Internet of things according to claim 1, wherein the garbage can is provided with a can cover, the can cover is movably connected with the garbage can, and a steering engine is connected to the movably connected part; the top lateral wall of garbage bin is provided with the sensor, the sensor includes ultrasonic sensor, infrared sensor and the combination of one or more of grey level sensor.

6. An intelligent replaceable processing platform based on the internet of things according to claim 1, wherein the bottom of the storage box is provided with a gravity sensor.

7. The intelligent replacement type processing platform based on the internet of things according to claim 1, wherein the side wall of the storage box is circumferentially provided with conveyor belts, the conveyor belts comprise a first conveyor belt and a second conveyor belt, one side of the first conveyor belt is close to the inlet door, one side of the second conveyor belt is close to the outlet door, and the first conveyor belt and the second conveyor belt are both provided with a plurality of main suction cups; the lateral wall of garbage bin is provided with vice sucking disc, main sucking disc with vice sucking disc can cooperate the connection, the garbage bin can along the conveyer belt removes.

8. The intelligent replaceable processing platform based on the internet of things as claimed in claim 7, wherein a supporting plate is fixedly arranged on the side wall of the storage box, the supporting plate is provided with an anti-skid layer, and a baffle is fixedly arranged on one side of the supporting plate.

9. The intelligent replaceable processing platform based on the internet of things of claim 1, wherein the bottom of the entrance door and the bottom of the exit door are provided with slideways.

10. A control method of an intelligent replaceable processing platform based on the Internet of things is applied to any one of the intelligent replaceable processing platforms based on the Internet of things of claims 1-9,

acquiring a garbage can position signal, and identifying the garbage can position signal to obtain the position information of the garbage can;

acquiring image information of a target area, and extracting route information of the target area;

generating a traveling mode according to the route information;

acquiring position information of a waiting area, and moving the garbage can to the waiting area according to a traveling mode;

collecting real-time position information of the garbage truck;

comparing the real-time position information of the garbage truck with the position information of the waiting area to obtain a deviation rate;

judging whether the deviation rate is smaller than a preset threshold value or not;

if the transmission information is less than the preset transmission information, generating transmission information;

transmitting the garbage can to a garbage truck according to the transmission information to obtain result information;

and transmitting the result information to the terminal according to a preset mode.

Background

The garbage is a waste product which loses use value and cannot be utilized, and is an important link of material circulation. Is a solid, fluid substance that is not needed or useful. In densely populated large cities, waste disposal is a headache problem. It is common practice to collect and send the waste to a landfill for landfill treatment or incinerate the waste with an incinerator. Both create environmental protection issues and termination of overconsumption can further mitigate landfill saturation. Disposal of waste in landfill sites not only contaminates ground water and gives off odors, but also makes less and less area available for landfill in many cities. The harmful garbage is collected and transported regularly or on a scheduled basis. After harmful garbage generated by residential communities is put into a harmful garbage collection container, a domestic garbage clearing unit in the residential communities or a qualified operation unit specified by a residential greening urban content management department in the residential communities takes charge of collection and transportation, the domestic garbage is transported to a district-level transit point through a special collection vehicle to be stored, after a certain amount of the collected garbage is accumulated, a professional collection and transportation enterprise determined by a municipal greening urban content office is reserved by the district transit point management unit (or a district market supervision department) to carry out unified transportation, sorting and storage, and finally, the hazardous waste is subjected to harmless disposal by a unit with corresponding hazardous waste operation license quality according to the category of the hazardous waste. At present, harmful garbage centralized sorting points are built in all areas of Shanghai city. Compared with the garbage disposal mode of sanitary landfill, composting and incineration, the recycling is undoubtedly the best ideal mode for garbage disposal. But the first step to achieve maximum waste recycling is classification. The reduction and classification utilization of the garbage from the source of the garbage are always the real way of the garbage problem acknowledged by the academic world. In the garbage management system, garbage incineration is at the bottommost layer of a gold tower, namely the gold tower is buried with garbage and belongs to tail end disposal, and the tower tip is the famous 3R principle of garbage treatment, namely reduction use (Reduce), Reuse (Reuse) and recycling (Recycle). At the end of the root, garbage classification is the best way to break the dilemma of the garbage city.

However, the existing garbage collection and treatment mainly depends on sanitation workers who start to open a sanitation vehicle in the morning and in a greedy way to collect garbage, the urban sanitation work needs to hire a lot of sanitation workers, so that a large amount of manpower and material resources are needed, the efficiency is not necessarily improved, and the problem of garbage coming out is solved because bacteria are easily bred due to untimely treatment of the garbage can. Moreover, the capacity of the sanitation truck is limited, and garbage can overflow or fall off in many times, so that the appearance and the appearance of a city are influenced, and a lot of burden is also imposed on the working of sanitation workers. At present, the automatic garbage collection or garbage can is still not popularized in China.

Disclosure of Invention

The invention overcomes the defects of the prior art, provides an automatic garbage can replacing processing platform based on the Internet of things, and adopts the following technical scheme in order to achieve the purpose: the utility model provides an automatic change garbage bin processing platform based on thing networking, includes: the garbage can comprises a collecting vehicle and a garbage can, and is characterized in that the collecting vehicle comprises a storage box and a chassis, wherein the storage box is provided with an entrance door and an exit door; a control room is arranged inside the chassis, a plurality of control assemblies are arranged inside the control room, each control assembly comprises a processor, a plurality of sensors and a plurality of image acquisition devices, the sensors are arranged at intervals along the side wall of the chassis, a plurality of barrel positions are arranged inside the storage box, and a plurality of empty garbage cans are initially arranged in the barrel positions;

the outer wall of the storage box is provided with a transmission mechanism, and the transmission mechanism can drive the garbage can to move;

the garbage bin is provided with control mechanism, and control mechanism includes GPS positioning device, controller, a plurality of image acquisition equipment and a plurality of sensor, and the bottom lateral wall of garbage bin is provided with a plurality of sensors along circumference interval, and the lateral wall of garbage bin is provided with image acquisition equipment along circumference interval.

In a preferred embodiment of the invention, at least one crawler belt is arranged on the outer wall of the storage box, the crawler belt comprises a first crawler belt and a second crawler belt, and one side of the first crawler belt and one side of the second crawler belt are both provided with a lifting plate; the other side of the first track is adjacent to the entrance door and the other side of the second track is adjacent to the exit door.

In a preferred embodiment of the invention, the crawler belts are provided with anti-slip layers, one side of the first crawler belt and one side of the second crawler belt are both side walls of the storage box, and the other side of the first crawler belt and the other side of the second crawler belt are both fixedly provided with baffles.

In a preferred embodiment of the invention, a plurality of spray heads are arranged on the inner side wall of the storage box, the spray heads are connected with a disinfection bottle through disinfection pipes, and a plurality of disinfection liquids are contained in the disinfection bottle.

In a preferred embodiment of the invention, the garbage can is provided with a can cover, the can cover is movably connected with the garbage can, and the movably connected part is connected with a steering engine; the top lateral wall of garbage bin is provided with the sensor, and the sensor includes ultrasonic sensor, infrared sensor and the combination of one or more of grey level sensor.

In a preferred embodiment of the present invention, a gravity sensor is disposed at the bottom of the storage box.

In a preferred embodiment of the invention, the side wall of the storage box is provided with a conveyor belt along the circumferential direction, the conveyor belt comprises a first conveyor belt and a second conveyor belt, one side of the first conveyor belt is close to the inlet door, one side of the second conveyor belt is close to the outlet door, and the first conveyor belt and the second conveyor belt are both provided with a plurality of main suckers; the lateral wall of garbage bin is provided with vice sucking disc, and main sucking disc can cooperate with vice sucking disc to be connected, and the garbage bin can remove along the conveyer belt.

In a preferred embodiment of the invention, the side wall of the storage box is fixedly provided with a supporting plate, the supporting plate is provided with an anti-skid layer, and one side of the supporting plate is fixedly provided with a baffle.

In a preferred embodiment of the invention, the bottom of the entrance door and the bottom of the exit door are provided with slideways.

The invention also provides a control method of the automatic garbage can replacing treatment platform based on the Internet of things, which is applied to any automatic garbage can replacing treatment platform based on the Internet of things,

acquiring a garbage can position signal, and identifying the garbage can position signal to obtain the position information of the garbage can;

acquiring image information of a target area, and extracting route information of the target area;

generating a traveling mode according to the route information;

acquiring position information of a waiting area, and moving the garbage can to the waiting area according to a traveling mode;

collecting real-time position information of the garbage truck;

comparing the real-time position information of the garbage truck with the position information of the waiting area to obtain a deviation rate;

judging whether the deviation rate is smaller than a preset threshold value or not;

if the transmission information is less than the preset transmission information, generating transmission information;

transmitting the garbage can to a garbage truck according to the transmission information to obtain result information;

and transmitting the result information to the terminal according to a preset mode.

The invention solves the defects in the background technology, and has the following beneficial effects:

(1) the automatic garbage can replacing device adopts the design of automatically replacing the garbage can, the garbage can and the collecting vehicle are both automatically positioned, automatically identified and automatically planned routes and automatically move to the designated place, the garbage can filled with garbage is automatically moved to the designated place, and workers do not need to be added in the whole process, so that time and labor are saved; collect the garbage bin is unified, unified again handles to automatically put into use clean garbage bin, be favorable to founding beautiful city appearance, avoid the garbage bin live time overlength to lead to bacterial growing, in time more change dirty garbage bin, be of great benefit to the resident health. By adopting the design of the crawler belt, the occupied area is saved, and the garbage can be orderly conveyed into the storage box, so that the garbage can has two purposes.

(2) The sensors are arranged at intervals along the side wall of the chassis and can be used for detecting the distance of obstacles in all directions around the chassis, so that the sensors are beneficial to avoiding the obstacles; the storage box is provided with an inlet door and an outlet door, so that the garbage can outside the vehicle can enter and the garbage can inside the vehicle can move out at the same time, and the storage box is efficient and time-saving; the side wall of the bottom of the garbage can is provided with a plurality of sensors at intervals along the circumferential direction, and the sensors can be used for detecting the distance of obstacles in all directions around the chassis, so that the obstacles can be avoided; the side wall of the garbage can is provided with image acquisition equipment at intervals along the circumferential direction, and the image acquisition equipment can be used for detecting the terrain and avoiding special terrains such as sunken terrains; the anti-skid layer and the baffle can help the garbage bin to be effectively stabilized on the track, and the garbage bin is prevented from being overturned; the movably connected part is connected with a steering engine which can be used for controlling the opening and closing of the barrel cover; the top lateral wall of garbage bin is provided with the sensor, when the sensor detects and opens with the signal, can contactless automatic open the bung, totally and avoided germ cross infection, has ensured user's health.

(3) The plurality of bin positions are provided with limiting assemblies for limiting the movement of the garbage bin, so that the stability of the garbage bin in a bin is guaranteed; the gravity sensor is arranged at the bottom of the storage box and can be used for detecting the weight in the storage box, so that early warning is formed when the storage box is overweight, and the safe operation of the whole device is ensured; the inside lateral wall of bin is provided with a plurality of shower nozzles, and the shower nozzle has the disinfection bottle through disinfecting union coupling, includes a plurality of antiseptic solutions in the disinfection bottle, disinfects the inside of bin, totally and has avoided bacterial growing.

(4) Through the design of main and auxiliary sucking discs, the dustbin can adsorb the garbage bin rapidly when collecting the point, and in the garbage bin in the bin directly moved out the car, after empty garbage bin shifted out in the car, the collecting box can directly arrive next collection place, by conveyer belt and the cooperation of main and auxiliary sucking discs on the way, moves the garbage bin to the assigned position, and full automation management has practiced thrift a lot of time.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings of the embodiments can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of a processing platform;

FIG. 2 is a schematic view of a processing platform;

FIG. 3 is a schematic view of a processing platform;

FIG. 4 is a schematic view of a processing platform;

FIG. 5 is a schematic view of a processing platform;

FIG. 6 is a schematic view of a processing platform;

fig. 7 is a flowchart of the control method.

The reference numerals are as follows: 101. a collection vehicle; 102. a chassis; 201. a wheel; 202. an image acquisition device; 301. a baffle plate; 302. a lifting plate; 303. a crawler belt; 401. a storage tank; 402. a barrel position; 501. an entrance door; 502. an exit door; 601. a suction cup; 602. and (7) a supporting plate.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the detailed description, wherein the drawings are simplified schematic drawings and only the basic structure of the present invention is illustrated schematically, so that only the structure related to the present invention is shown, and it is to be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

The garbage can recycling device can be used for recycling garbage cans in public places such as communities and the like, unified recycling and replacement can be performed when the demand of the garbage cans is small at night, the garbage cans filled with garbage automatically move to a designated area, the garbage cans filled with the garbage can are recycled by a garbage truck, meanwhile, the same amount of empty garbage cans are discharged, the empty garbage cans are distributed by a processor and automatically move to the designated place, the whole process is efficient and time-saving, the operation of workers is not needed, and all functions are intelligently achieved.

According to the invention, the design of automatically replacing the garbage can is adopted, the garbage can and the collecting vehicle 101 are both automatically positioned, automatically identified and automatically planned routes and automatically move to the designated place, the garbage can filled with garbage automatically moves to the designated place, and workers do not need to be added in the whole process, so that time and labor are saved; collect the garbage bin is unified, unified again handles to automatically put into use clean garbage bin, be favorable to founding beautiful city appearance, avoid the garbage bin live time overlength to lead to bacterial growing, in time more change dirty garbage bin, be of great benefit to the resident health. By adopting the design of the crawler belt 303, the occupied area is saved, and the garbage can be orderly conveyed into the storage box 401, so that two purposes are achieved.

Example 1

As shown in fig. 1-3, an automatic garbage can replacement processing platform based on internet of things includes: the garbage can comprises a collecting vehicle 101 and a garbage can, wherein the collecting vehicle 101 comprises a storage box 401 and a chassis 102, and the storage box 401 is provided with an entrance door 501 and an exit door 502; a control room is arranged in the chassis 102, a plurality of control assemblies are arranged in the control room, each control assembly comprises a processor, a plurality of sensors and a plurality of image acquisition devices 202, the sensors are arranged at intervals along the side wall of the chassis 102, a plurality of barrel positions 402 are arranged in the storage box 401, and a plurality of empty garbage cans are initially arranged in the barrel positions 402;

at least one crawler belt 303 is arranged on the outer wall of the storage box 401, the crawler belt 303 comprises a first crawler belt 303 and a second crawler belt 303, and a lifting plate 302 is arranged on one side of the first crawler belt 303 and one side of the second crawler belt 303; the other side of the first track 303 is adjacent to the entrance door 501, and the other side of the second track 303 is adjacent to the exit door 502;

the garbage bin is provided with control mechanism, and control mechanism includes GPS positioning device, controller, a plurality of image acquisition equipment 202 and a plurality of sensor, and the bottom lateral wall of garbage bin is provided with a plurality of sensors along circumference interval, and the lateral wall of garbage bin is provided with image acquisition equipment 202 along circumference interval.

It should be noted that the sensors are arranged along the side wall of the chassis 102 at intervals, and can be used for detecting the distance of the obstacle in all directions around the chassis 102, which is beneficial to avoiding the obstacle; the storage box 401 is provided with an inlet door 501 and an outlet door 502, so that garbage cans outside the vehicle can enter and the garbage cans inside the vehicle can move out at the same time, and the efficiency and the time are saved; the side wall of the bottom of the garbage can is provided with a plurality of sensors at intervals along the circumferential direction, and the sensors can be used for detecting the distance of obstacles in all directions around the chassis 102, so that the obstacles can be avoided; the lateral wall of garbage bin is provided with image acquisition equipment 202 along circumference interval, can be used for surveying the topography, avoids special relief such as sunken relief.

The crawler belt 303 is provided with an anti-slip layer, one side of the first crawler belt 303 and one side of the second crawler belt 303 are both side walls of the storage box 401, and the other side of the first crawler belt 303 and the other side of the second crawler belt 303 are both fixedly provided with the baffle 301.

It should be noted that the design of the caterpillar tracks 303 not only saves the floor space, but also can orderly convey the garbage bin into the storage box 401, thereby achieving two purposes.

The inside lateral wall of bin 401 is provided with a plurality of shower nozzles, and the shower nozzle has the disinfection bottle through disinfecting union coupling, includes a plurality of antiseptic solutions in the disinfection bottle.

What need explain here is that the shower nozzle has the disinfection bottle through disinfecting union coupling, includes a plurality of antiseptic solutions in the disinfection bottle, disinfects the inside of bin 401, and clean and avoided bacterial growing.

The point to be supplemented here is that the inside of the storage box 401 is provided with a smell detection component and a sterilization component, the smell detection component is used for detecting the air quality inside the storage box, such as carbon dioxide, carbon monoxide and the content of bacteria in the air, and predetermined parameters are compared, when the difference value exceeds a predetermined threshold value, the sterilization function is automatically started, the inside of the sterilization component storage box is provided with a smell removal component, and the inside of the smell removal component is provided with bamboo charcoal.

A plurality of barrel positions 402 are each provided with a limiting component.

It should be noted that the trash can storage box 401 is used for limiting the movement of the trash can and ensuring the stability of the trash can in the trash can storage box.

The inner bottom surface of the storage box 401 is provided with an anti-slip layer.

It should be noted that the anti-slip layer and the baffle 301 can help the trash can to be effectively stabilized on the track 303, so as to avoid the trash can from tipping over.

The bottom of the storage box 401 is provided with a gravity sensor.

It should be noted that a gravity sensor is disposed at the bottom of the storage box 401, and may be used to detect the weight in the storage box 401, so as to form an early warning when the storage box is overweight, and ensure the safe operation of the whole device.

The garbage can is provided with a can cover, the can cover is movably connected with the garbage can, and the movably connected part is connected with a steering engine; the top lateral wall of garbage bin is provided with the sensor, and the sensor includes ultrasonic sensor, infrared sensor and the combination of one or more of grey level sensor.

The point to be described here is that the movably connected part is connected with a steering engine which can be used for controlling the opening and closing of the barrel cover; the top lateral wall of garbage bin is provided with the sensor, when the sensor detects and opens with the signal, can contactless automatic open the bung, totally and avoided germ cross infection, has ensured user's health.

As shown in fig. 7, the invention further provides a control method of an automatic garbage can replacement processing platform based on the internet of things, which is applied to any automatic garbage can replacement processing platform based on the internet of things,

acquiring a garbage can position signal, and identifying the garbage can position signal to obtain the position information of the garbage can;

acquiring image information of a target area, and extracting route information of the target area;

generating a traveling mode according to the route information;

acquiring position information of a waiting area, and moving the garbage can to the waiting area according to a traveling mode;

collecting real-time position information of the garbage truck;

comparing the real-time position information of the garbage truck with the position information of the waiting area to obtain a deviation rate;

judging whether the deviation rate is smaller than a preset threshold value or not;

if the transmission information is less than the preset transmission information, generating transmission information;

transmitting the garbage can to a garbage truck according to the transmission information to obtain result information;

acquiring the position information of the lifting plate 302, and generating a displacement instruction;

acquiring distance information a between the lifting plate 302 and the crawler 303, and generating a getting-on instruction when a is smaller than a preset threshold value;

acquiring image information of the barrel position 402, identifying a position signal of the stoppable barrel position 402, and generating a displacement instruction;

and transmitting the result information to the terminal according to a preset mode.

The invention adopts the design of automatically replacing the garbage can, the garbage can and the collecting vehicle 101 are both automatically positioned, automatically identified and automatically planned routes are automatically moved to the appointed place, the garbage can filled with the garbage is automatically moved to the appointed place, and no staff is required to add the garbage can in the whole process, so that the time and the labor are saved; collect the garbage bin is unified, unified again handles to automatically put into use clean garbage bin, be favorable to founding beautiful city appearance, avoid the garbage bin live time overlength to lead to bacterial growing, in time more change dirty garbage bin, be of great benefit to the resident health. By adopting the design of the crawler belt 303, the occupied area is saved, and the garbage can be orderly conveyed into the storage box 401, so that two purposes are achieved.

The point to be supplemented is that path planning is the most basic link of the navigation of the mobile garbage truck, and means how to find a proper motion path from a starting point to a terminal point in a working environment with obstacles, so that the garbage truck can safely and collision-free bypass all the obstacles in the motion process. The method is different from the shortest path obtained by methods such as dynamic planning and the like, and means that the garbage truck can make comprehensive judgment on static and dynamic environments and make intelligent decisions.

In general, path planning mainly involves these 3 major problems: firstly, defining a starting point and an end point; avoidance of obstacles; and thirdly, optimizing the path as much as possible.

According to different mastery degrees of environment information, robot path planning can be divided into global path planning and local path planning. The global path planning is to plan a path for the garbage truck in a known environment, and the precision of the path planning depends on the accuracy of environment acquisition. The global path planning can find the optimal solution, but accurate information of the environment needs to be known in advance, and the method cannot be used when the environment changes, such as an unknown obstacle appears. The method is a pre-planning method, so that the requirement on the real-time computing capability of a garbage truck system is not high, and although the planning result is global and excellent, the real-time performance and the noise robustness of an environment model are poor.

The local path planning is that the environmental information is completely unknown or partially known, and the current local environmental information of the garbage truck is considered, so that the garbage truck has good obstacle avoidance capability, and the working environment of the garbage truck is detected through the sensor to acquire the information such as the position and the geometric property of an obstacle. Such planning requires the gathering of environmental data and the dynamic updating of the environmental model to be able to correct for any time. The local planning method integrates modeling and searching of the environment, requires that the garbage truck system has high-speed information processing capacity and computing capacity, has higher robustness on environmental errors and noises, and can feed back and correct the planning result in real time. However, due to the lack of global environment information, the planning result may not be optimal, and even a correct path or a complete path may not be found.

The global path planning and the local path planning are not essentially different, and a plurality of methods suitable for the global path planning can be used for the local path planning after being improved, and the methods suitable for the local path planning can also be suitable for the global path planning after being improved. The two work cooperatively, so that the garbage truck can better plan the walking path from the starting point to the terminal point.

Further comprising:

acquiring a gravity value M of the storage box, and sending an overload early warning when the M is greater than a preset threshold value;

sending a load stopping instruction according to the overload early warning;

collecting load stop information and sending a standby dispatching instruction;

and allocating the standby collection vehicles for dispatching according to the standby dispatching command.

Controlling the collection vehicle 101 to move according to the optimal route, further comprising:

obtaining obstacle information, calculating the distance w between the current position of the garbage truck and an obstacle, and generating a deceleration instruction when the distance w is smaller than a preset threshold value;

acquiring image information of the traffic signal lamp every 3 seconds, identifying the image information to obtain a traffic signal, and comparing the traffic signal with a target route;

if the target route is straight and the standard travel signal is left turn or/and right turn, generating a parking instruction;

if the target route is straight and the go-ahead signal is straight, a go command is generated.

It should be noted that the image information of traffic and the like is acquired every 3 seconds, so that the change rule of the traffic light is met, the change of the traffic light can be timely identified, and a corresponding instruction is generated, and the whole movement device complies with the traffic rule and does not affect other pedestrians or vehicles on the road.

Acquiring a gravity sensing value m, and acquiring position information of a standby waiting area when m is greater than a preset threshold value to generate a garbage can position 402 signal;

acquiring a position signal of a garbage can 402, and identifying the position signal of the garbage can 402 to obtain position information of the garbage can;

and calculating an optimal route according to a map algorithm, and generating a moving instruction according to the optimal route.

It should be noted that, in addition to the regular collection of the garbage can every day, when the garbage in the garbage can reaches a certain value, the garbage can automatically move to a standby waiting area, and send a signal to the control center to wait for the arrival of the collection vehicle 101, which is very convenient.

In addition to the above functions, the point to be described is that the inner wall of the storage box 401 is provided with an image capturing device, and when the opening and closing door is opened, the counting function is performed at the same time to ensure that the number of the collected full trash cans is equal to the number of the discharged hole trash cans.

When the garbage can recycling device works, garbage cans filled with garbage automatically move to a designated area, the garbage cans filled with garbage are recycled by the collecting vehicle 101, meanwhile, equal amount of empty garbage cans are discharged, and the empty garbage cans are distributed by the processor and automatically move to a designated place.

Specifically, the lifting plate 302 is lowered to be level with the ground, the full garbage bin 402 is moved to the lifting plate 302, when the full garbage bin is detected to be on the lifting plate 302, the lifting plate 302 is lifted, the full garbage bin is sent into the crawler belt 303, meanwhile, the crawler belt 303 moves to send the garbage bin into the storage box 401, and after the full garbage bin reaches the inside of the storage box 401, the information of the bin 402 capable of storing the garbage bin is collected and directly moved to the designated bin 402.

Similarly, after arriving at the designated place, the empty trash can directly shifts to the exit door 502, is conveyed to the lifting plate 302 by the crawler 303, and shifts to the trash throwing point of the community or other public places after falling down by the lifting plate 302.

Example 2

As shown in fig. 4-6, a processing platform for automatically replacing a trash can processing platform based on internet of things comprises: the garbage can comprises a collecting vehicle and a garbage can, wherein the collecting vehicle comprises a storage box 101 and a chassis 102, and the storage box 101 is provided with an entrance door 501 and an exit door 502; a plurality of barrel positions 402 are arranged inside the storage box 101, and a plurality of empty garbage barrels are initially arranged in the barrel positions 402; the inside of chassis 102 is provided with the control room, and the inside of control room is provided with a plurality of control assembly, and control assembly includes treater, a plurality of sensor, a plurality of image acquisition equipment 202, and a plurality of sensors are arranged along the lateral wall interval of chassis 102.

The side wall of the storage box 101 is circumferentially provided with conveyor belts, each conveyor belt comprises a first conveyor belt and a second conveyor belt, one side of each first conveyor belt is close to the inlet door 501, one side of each second conveyor belt is close to the outlet door 502, and the first conveyor belt and the second conveyor belts are both provided with a plurality of main suction cups 601; the lateral wall of garbage bin is provided with vice sucking disc 601, and main sucking disc 601 can cooperate with vice sucking disc 601 to be connected, and the garbage bin can remove along the conveyer belt.

The point that needs to explain here is that, through the design of main auxiliary suction cup 601, the dustbin can be through adsorbing the garbage bin rapidly when the collection point, and the garbage bin in the storage box 101 directly moves out in the car, and in the back in empty garbage bin shifted out the car, the collecting box can directly arrive next collection place, by the cooperation of conveyer belt and main auxiliary suction cup 601 on the way, moves the garbage bin to the assigned position, and full automation management has practiced thrift a lot of time.

The garbage bin is provided with control mechanism, and control mechanism includes GPS positioning device, controller, a plurality of image acquisition equipment 202 and a plurality of sensor, and the bottom lateral wall of garbage bin is provided with a plurality of sensors along circumference interval, and the lateral wall of garbage bin is provided with image acquisition equipment 202 along circumference interval.

It should be noted that the sensors are arranged along the side wall of the chassis 102 at intervals, and can be used for detecting the distance of the obstacle in all directions around the chassis 102, which is beneficial to avoiding the obstacle; the side wall of the bottom of the garbage can is provided with a plurality of sensors at intervals along the circumferential direction, and the sensors can be used for detecting the distance of obstacles in all directions around the chassis 102, so that the obstacles can be avoided; the lateral wall of garbage bin is provided with image acquisition equipment 202 along circumference interval, can be used for surveying the topography, avoids special relief such as sunken relief.

The side wall of the storage box 101 is fixedly provided with a supporting plate 602, the supporting plate 602 is provided with an anti-slip layer, and one side of the supporting plate 602 is fixedly provided with a baffle 301.

It should be noted that the anti-slip layer and the baffle 301 can help the trash can to be effectively stabilized on the track, so as to avoid the trash can from tipping over.

The garbage can is provided with a can cover, the can cover is movably connected with the garbage can, and the movably connected part is connected with a steering engine; the top lateral wall of garbage bin is provided with the sensor, and the sensor includes ultrasonic sensor, infrared sensor and the combination of one or more of grey level sensor.

The point to be described here is that the movably connected part is connected with a steering engine which can be used for controlling the opening and closing of the barrel cover; the sensor is arranged on the side wall of the top of the garbage can, and when the sensor detects an opening synchronization signal, the can cover can be automatically opened without contact, so that the garbage can is clean, the cross infection of germs is avoided, and the health of a user is guaranteed;

a plurality of barrel positions 402 all are provided with spacing subassembly, and a plurality of barrel positions 402 all are provided with the skid resistant course.

The point to be described here is that the anti-slip layer can increase the friction force and avoid slipping; the plurality of bin positions 402 are provided with limiting assemblies for limiting the movement of the garbage bin, so that the stability of the garbage bin in the garbage bin collection box is guaranteed;

the bottom and the side wall of the chassis 102 are both fixedly provided with a plurality of magnets.

It should be noted that the bottom and the side walls of the chassis 102 are both fixedly provided with a plurality of magnets, so that dangerous metals such as nails on the roadside can be adsorbed during the driving process, and other vehicles are prevented from being damaged;

the bottom of the storage tank 101 is provided with a gravity sensor.

It should be noted that the bottom of the storage box 101 is provided with a gravity sensor, which can be used to detect the weight in the collection box, and thus, an early warning is generated when the storage box is overweight, so as to ensure the safe operation of the whole device.

The bottom of the entrance door 501 and the bottom of the exit door 502 are provided with slideways.

It should be noted that the inside of the chute is provided with a control member, the control member is connected with the output end of the motor, and the automatic control of the entrance door 501 and the exit door 502 can be realized through the processor.

As shown in fig. 7, the invention further provides a control method of a processing platform for automatically replacing a garbage can processing platform based on the internet of things, which is applied to any processing platform for automatically replacing a garbage can processing platform based on the internet of things; acquiring a garbage can position signal, and identifying the garbage can position signal to obtain the position information of the garbage can;

acquiring image information of a target area, and extracting route information of the target area;

generating a traveling mode according to the route information;

acquiring position information of a waiting area, and moving the garbage can to the waiting area according to a traveling mode;

collecting real-time position information of the garbage truck;

comparing the real-time position information of the garbage truck with the position information of the waiting area to obtain a deviation rate;

judging whether the deviation rate is smaller than a preset threshold value or not;

if the number of the adsorption information is less than the preset value, generating adsorption information;

adsorbing the garbage can onto the garbage truck according to the adsorption information to obtain result information;

and transmitting the result information to the terminal according to a preset mode.

The garbage can and the collecting vehicle are both automatically positioned, automatically identified and automatically planned routes and automatically move to a designated place, the garbage can filled with the garbage is automatically moved to the designated place, and workers do not need to add the garbage can in the whole process, so that time and labor are saved; collect the garbage bin is unified, unified again handles to automatically put into use clean garbage bin, be favorable to founding beautiful city appearance, avoid the garbage bin live time overlength to lead to bacterial growing, in time more change dirty garbage bin, be of great benefit to the resident health. The design of the main and auxiliary suckers 601 can efficiently and rapidly adsorb the garbage can, and the garbage can is directly conveyed to the inside of the storage box 101 by the aid of the conveyor belt, so that the whole process is time-saving and labor-saving, and the whole process is intelligently processed.

The point needing supplementary explanation is that the path planning is the most basic link for the navigation of the mobile garbage truck, and means how to find a proper motion path from a starting point to a terminal point in a working environment with obstacles, so that the garbage truck can safely and collision-free bypass all the obstacles in the motion process. The method is different from the shortest path obtained by methods such as dynamic planning and the like, and means that the garbage truck can make comprehensive judgment on static and dynamic environments and make intelligent decisions.

In general, path planning mainly involves these 3 major problems: firstly, defining a starting point and an end point; avoidance of obstacles; and thirdly, optimizing the path as much as possible.

According to different mastery degrees of environment information, robot path planning can be divided into global path planning and local path planning. The global path planning is to plan a path for the garbage truck in a known environment, and the precision of the path planning depends on the accuracy of environment acquisition. The global path planning can find the optimal solution, but accurate information of the environment needs to be known in advance, and the method cannot be used when the environment changes, such as an unknown obstacle appears. The method is a pre-planning method, so that the requirement on the real-time computing capability of a garbage truck system is not high, and although the planning result is global and excellent, the real-time performance and the noise robustness of an environment model are poor.

The local path planning is that the environmental information is completely unknown or partially known, and the current local environmental information of the garbage truck is considered, so that the garbage truck has good obstacle avoidance capability, and the working environment of the garbage truck is detected through the sensor to acquire the information such as the position and the geometric property of an obstacle. Such planning requires the gathering of environmental data and the dynamic updating of the environmental model to be able to correct for any time. The local planning method integrates modeling and searching of the environment, requires that the garbage truck system has high-speed information processing capacity and computing capacity, has higher robustness on environmental errors and noises, and can feed back and correct the planning result in real time. However, due to the lack of global environment information, the planning result may not be optimal, and even a correct path or a complete path may not be found.

The global path planning and the local path planning are not essentially different, and a plurality of methods suitable for the global path planning can be used for the local path planning after being improved, and the methods suitable for the local path planning can also be suitable for the global path planning after being improved. The two work cooperatively, so that the garbage truck can better plan the walking path from the starting point to the terminal point.

Acquiring a gravity sensing value m, and acquiring position information of a standby waiting area when m is greater than a preset threshold value to generate a garbage can position 402 signal;

acquiring a position signal of a garbage can 402, and identifying the position signal of the garbage can 402 to obtain position information of the garbage can;

and calculating an optimal route according to a map algorithm, and generating a moving instruction according to the optimal route.

It should be noted that, in addition to the regular daily recycling of the trash can, when the trash in the trash can reaches a certain value, the trash can automatically move to a standby waiting area, and send a signal to the control center to wait for the arrival of the collection vehicle, which is very convenient.

Controlling the collection vehicle to move according to the optimal route, further comprising:

obtaining obstacle information, calculating the distance w between the current position of the garbage truck and an obstacle, and generating a deceleration instruction when the distance w is smaller than a preset threshold value;

acquiring image information of the traffic signal lamp every 3 seconds, identifying the image information to obtain a traffic signal, and comparing the traffic signal with a target route;

if the target route is straight and the standard travel signal is left turn or/and right turn, generating a parking instruction;

if the target route is straight and the go-ahead signal is straight, a go command is generated.

It should be noted that the image information of traffic and the like is acquired every 3 seconds, so that the change rule of the traffic light is met, the change of the traffic light can be timely identified, and a corresponding command is generated, and the whole motion device complies with the traffic rule and does not affect other pedestrians or vehicles on the road.

According to the invention, the design of automatically replacing the garbage can is adopted, the garbage can and the collecting vehicle 101 are both automatically positioned, automatically identified and automatically planned routes and automatically move to the designated place, the garbage can filled with garbage automatically moves to the designated place, and workers do not need to be added in the whole process, so that time and labor are saved; collect the garbage bin is unified, unified again handles to automatically put into use clean garbage bin, be favorable to founding beautiful city appearance, avoid the garbage bin live time overlength to lead to bacterial growing, in time more change dirty garbage bin, be of great benefit to the resident health. By adopting the design of the crawler belt 303, the occupied area is saved, and the garbage can be orderly conveyed into the storage box 401, so that two purposes are achieved.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.