CN114925901B

CN114925901B - Domestic waste classification, cleaning and transportation method and system

Info

Publication number: CN114925901B
Application number: CN202210531045.6A
Authority: CN
Inventors: 孙月兰; 冯炜平
Original assignee: Zhejiang Lover Health Science and Technology Development Co Ltd
Current assignee: Zhejiang Lover Health Science and Technology Development Co Ltd
Priority date: 2022-05-16
Filing date: 2022-05-16
Publication date: 2025-02-25
Anticipated expiration: 2042-05-16
Also published as: CN114925901A

Abstract

The invention provides a household garbage classification, cleaning and conveying method and system, wherein the method comprises the steps of monitoring and collecting ultrasonic parameter data of household garbage in real time, and classifying the household garbage finely; the method comprises the steps of monitoring geographical position coordinates and advancing directions of the household garbage cleaning transport vehicle in real time, calculating total distance between a starting point and a target end point, judging that a middle garbage collection point turns in a circular arc or straight line turning mode, planning turning directions of the circular arc turning mode, and carrying out further shortest optimization on paths of the household garbage cleaning transport vehicle. According to the invention, the dryness and the humidity of the household garbage can be accurately classified, the arc or straight line turning mode adopted by each intermediate garbage collection point is determined according to the front and the rear wheel distances of different household garbage cleaning and conveying vehicles, and the included angle of each intermediate garbage collection point in the arc turning mode is iteratively optimized by adopting a genetic algorithm, so that the traveling direction of the household garbage cleaning and conveying vehicle is optimized.

Description

Household garbage classification, cleaning and conveying method and system

Technical Field

The invention belongs to the technical field of household garbage cleaning, and particularly relates to a household garbage classification, cleaning and conveying method and system.

Background

Along with the improvement of the living standard of people in the process of urban treatment, more and more garbage is generated in the city, the layout of the urban garbage can is unreasonable, the automation degree of the clearing and transporting mode is low, and a lot of inconvenience is brought to life. In the era of "smart cities", the internet of things technology and information communication technology have become an indispensable part in the planning and design of modern urban household garbage management. Meanwhile, due to the rapid increase of the quantity of garbage and the complex and complex types of garbage, garbage classification is urgently needed to be implemented, so that resource recovery is promoted, and sustainable development is realized. In the prior art, a method for sorting and scheduling the walking route of the garbage collection vehicle based on the Internet of things is also available.

The system and the method for intelligently transporting and managing classified garbage are disclosed in China patent application No. 202111616323.X in the prior art, wherein weighing sensors are arranged at the bottoms of classified garbage cans of all garbage can placement points in a management area of a garbage recycling station, weight data of all garbage cans are collected into a garbage can database, and then according to a preset route, the weights of the garbage cans sequentially along the preset route are accumulated to obtain the maximum actual load of the classified garbage truck, namely the transportation route is calculated. Garbage collection and transportation are carried out according to the transportation route, so that classified garbage transportation management is more intelligent and more efficient. The technique disclosed in this patent does not accurately classify the waste with different degrees of dryness.

As disclosed in the chinese patent application No. 202111015308.X in the prior art, a garbage clearing and dispatching method and apparatus are disclosed, in which a garbage distribution map is obtained by obtaining state information of a garbage can, garbage clearing routes of all sanitation vehicles are obtained by calculating according to the number and position information of sanitation vehicles and the point information of garbage filled with the can, and the garbage clearing routes are respectively sent to corresponding sanitation vehicles, so that the sanitation vehicles clear garbage at a garbage station according to the garbage clearing routes. Compared with the traditional manual timing and fixed-point garbage disposal method, the method can acquire garbage bin information of garbage points in real time, automatically generate a garbage cleaning route of a full bin, and timely dispose the garbage of the full bin. For the garbage points without the full bin, the garbage points are not placed in the garbage cleaning route, so that the cleaning time and the cleaning cost are saved.

However, the household garbage cleaning and conveying method disclosed in the prior art does not make an optimal selection on the travelling direction in each garbage collection point, and does not determine a route scheme that the garbage cleaning truck turns at each garbage collection point to reach the next garbage collection point or directly and linearly connects to reach the next garbage collection point, and the types and lengths of different garbage collection trucks are different, so that the garbage collection point is blocked when one garbage collection point is turned and walked or the garbage collected when the turn is not completely collided is scattered when the other garbage collection point is turned and walked, the duration of the whole walking route is easy to exceed the stipulated time, and delay is caused.

Disclosure of Invention

The invention aims at the defects and provides a household garbage classifying, cleaning and conveying method and system. The invention can accurately classify the dryness and the humidity of the household garbage, determines the turning mode of adopting an arc turning or a straight turning point at each middle garbage collection point according to the wheel distances of the front wheel and the rear wheel of different household garbage cleaning and conveying vehicles, which turning mode is proper, adopts a genetic algorithm to iteratively optimize the included angle of each middle garbage collection point in the arc turning mode, further optimizes and controls the walking direction of the household garbage cleaning and conveying vehicles, and improves the control precision and accuracy.

The invention provides a household garbage classifying, cleaning and conveying method, which comprises the following steps:

s1, monitoring and collecting ultrasonic parameter data of household garbage in real time, then carrying out rough classification and weighing, carrying out fine classification on the household garbage, and respectively putting the classified household garbage into different garbage cleaning and conveying barrels;

s2, monitoring geographical position coordinates and traveling directions of the household garbage cleaning transport vehicle in real time, calculating the total distance between the starting point and the target end point of the household garbage cleaning transport vehicle, judging that the household garbage cleaning transport vehicle turns in an arc turning mode or a straight turning mode at an intermediate garbage collecting point in the garbage cleaning process, and planning the turning direction of the arc turning mode of the household garbage cleaning transport vehicle;

and S3, performing further shortest optimization on the garbage cleaning and conveying paths of the household garbage cleaning and conveying vehicle to finish classification and cleaning of household garbage.

Further, the step S1 is to collect the ultrasonic parameter data of the household garbage and the weighing data after coarse classification in real time, and to classify the household garbage finely, and includes the following steps:

S11, monitoring the temperature T (T) of the household garbage in real time, transmitting an ultrasonic signal to the household garbage, and monitoring the height L (T) of the household garbage from the horizontal plane of an ultrasonic signal transmitting source point, the radial distance R (T) of the horizontal plane of the household garbage from the central axis of the ultrasonic signal transmitting source point, the included angle theta (T) between the horizontal plane of an ultrasonic incident point of the monitored garbage and the ultrasonic transmitting source point and the included angle beta (T) between the horizontal plane of the ultrasonic incident point of the monitored garbage and the refraction direction of the ultrasonic wave of the monitored garbage in real time;

s12, constructing a real-time subdivision dryness and humidity calculation model of the household garbage, and calculating the real-time dryness and humidity of the monitored household garbage when the household garbage is subdivided;

And S13, judging whether the real-time humidity of the monitored household garbage is greater than or equal to a humidity threshold value in a monitored time period n, classifying the household garbage into sub-divided wet garbage if the real-time humidity of the monitored household garbage is greater than or equal to the humidity threshold value, otherwise classifying the household garbage into sub-divided dry garbage.

Further, the method for constructing the real-time subdivision humidity calculation model of the household garbage by S12 comprises the following steps:

S121, respectively constructing a dryness factor D _L (t) calculation model related to the height L (t) of the household garbage from the horizontal plane of the ultrasonic signal emission source point and a dryness factor D _R (t) calculation model related to the radial distance R (t) of the household garbage from the central axis of the ultrasonic signal emission source point:

wherein lambda ₁ is the dryness fraction of the domestic garbage and the composite specific gravity coefficient, W ₁ is the total weight of the dry garbage obtained by rough separation and weighing in the step S1, and w ₂ is the total weight of the wet garbage obtained by rough separation and weighing in the step S1;

S122, respectively constructing a first household garbage dry and wet mixing coefficient DH _L (t) calculation model and a second household garbage dry and wet mixing coefficient DH _R (t) calculation model according to the result obtained by the calculation in S121:

Wherein lambda ₂ is the humidity composite specific gravity coefficient of the domestic garbage, Q is the polarization mixing coefficient of the ultrasonic signal, mu (beta (t)) is the refractive index of the ultrasonic signal, the included angle of the refractive direction generated at the ultrasonic incidence point is beta (t), G (theta (t)) is the influence coefficient of the included angle theta (t) between the horizontal plane of the ultrasonic incidence point of the monitored garbage and the ultrasonic emission source point on the detection of wet garbage, G (theta (t))=lambda ₂/cos² theta (t),

S123, constructing a dry humidity DH (t) calculation model of the finely divided household garbage:

DH(t)＝T(t)[1-(DH_L(t)+DH_R(t))]e^-η+T(t)(1-κ)(1-e^-η)[1+e^-η(1-(DH_L(t)+DH_R(t)))]

Wherein eta is the attenuation coefficient of the ultrasonic signal attenuated by the monitored garbage, and kappa is the reflection coefficient of the ultrasonic signal reflected by the monitored garbage, so as to calculate the real-time humidity of the finely divided household garbage.

Further, the humidity threshold DH _thres in the step S13 is:

Wherein t=1, 2, n, n is the total time for monitoring the ultrasonic signal emitted to the household garbage.

Further, the step S2 includes the steps of:

S21, monitoring a geographic position coordinate (x _q,y_q) of the household garbage cleaning and transporting vehicle under a plane rectangular coordinate system formed by an x-axis and a y-axis of a q-th intermediate garbage collection point and an included angle alpha _q between the traveling direction of the q-th intermediate garbage collection point and the x-axis of the plane rectangular coordinate system, wherein q=1, 2,..m, further the geographic position coordinate of the household garbage cleaning and transporting vehicle at a starting point is (x ₁,y₁), the included angle between the traveling direction of the starting point and the x-axis of the ground coordinate system under the plane rectangular coordinate system is alpha ₁, the geographic position coordinate of the household garbage cleaning and transporting vehicle at a target end point of the m-th intermediate garbage collection point is (x _m,y_m), and the included angle between the traveling direction of the m-th intermediate garbage collection point and the x-axis of the ground coordinate system under the plane rectangular coordinate system is alpha _m;

S22, calculating the total distance D _toatal between the starting point and the target end point of the household garbage cleaning and conveying vehicle:

S23, limiting the minimum turning circle radius r _min of the household garbage cleaning transport vehicle in the circular arc turning of the middle garbage collection point according to the diameter of the household garbage cleaning transport vehicle: d is the distance between the front wheel and the rear wheel of the garbage cleaning and conveying vehicle;

S24, if the total distance D _toatal≥50r_min between the starting point and the target end point of the household garbage cleaning and transporting vehicle obtained by the calculation in the step S22 is the running path of the household garbage cleaning and transporting vehicle turning in a circular arc turning mode at the middle garbage collecting point, and if the total distance between the starting point and the target end point of the household garbage cleaning and transporting vehicle obtained by the calculation in the step S32 meets the following condition that 30r _min＜D_total＜50r_min is the total distance, the running path of the household garbage cleaning and transporting vehicle turning in a straight line turning mode at the middle garbage collecting point is obtained.

Further, when the household garbage cleaning and transporting vehicle adopts a walking path turning in a circular arc turning mode at the middle garbage collection point, the step S2 of planning the turning direction of the circular arc turning mode of the household garbage cleaning and transporting vehicle comprises the following steps:

s201, constructing total path length of turning walking path of household garbage cleaning and conveying vehicle in arc turning mode And (3) calculating a model:

In the turning and walking process of adopting an arc turning mode, the turning angle of the household garbage cleaning and conveying vehicle at the (q) th intermediate garbage collection point is beta ₁, and the distance of a turning and walking path is The turning angle of the household garbage cleaning and conveying vehicle at the (q+1) th intermediate garbage collection point for reaching the (q+1) th intermediate garbage collection point is beta ₂, and the turning walking path distance isAfter the household garbage cleaning and conveying vehicle turns and walks at the (q) th intermediate garbage collection point, the straight line distance for the (q+1) th intermediate garbage collection point to turn and walk is AndThe turning walking distance of the (q) th intermediate garbage collection point obtained by the real-time monitoring in the step S1 is respectivelyThe abscissa and ordinate of point C _q on a circle of circle center O _q where the arc path is located,AndRespectively, the turning walking distance before the step S1 is monitored in real time to reach the (q+1) th intermediate garbage collection point isThe abscissa and the ordinate of a point C _q+1 on a circle with the circle center of O _q+1 are the circular arc path;

S202, converting a turning angle beta ₁ of the household garbage cleaning transport vehicle at the q-th intermediate garbage collection point and a turning angle beta ₂ of the q+1th intermediate garbage collection point into a calculation formula of the plane rectangular coordinate system according to an included angle alpha _q、α_q+1 between the traveling direction of the household garbage cleaning transport vehicle at the q-th intermediate garbage collection point and the q+1th intermediate garbage collection point and the x axis of the ground coordinate system under the plane rectangular coordinate system respectively, wherein the traveling direction of the household garbage cleaning transport vehicle is monitored in real time in the S21 step:

S203, turning the total path length of the walking path by adopting a circular arc turning mode according to the conversion result of the step S202 and the household garbage cleaning and transporting vehicle constructed in the step S201 Calculating a model, and constructing a minimum arc turning mode turning walking path total length calculating model:

-180°≤α_q+1≤180°

-180°≤α_q≤180°

α_q≠α_q+1;

s204, obtaining an optimal included angle between the traveling direction of the domestic garbage cleaning and conveying vehicle at the (q+1) th intermediate garbage collection point and the x axis of the geodetic coordinate system under the plane rectangular coordinate system Absolute value of (2):

S205, judging whether an absolute value |alpha _q+1 | of an included angle alpha _q+1 between the advancing direction of the (q+1) th intermediate garbage collection point of the household garbage cleaning and conveying vehicle obtained through real-time monitoring and the x axis of a geodetic coordinate system under the plane rectangular coordinate system meets the condition If the number is greater than q+1, the garbage collection point is turned left, otherwise, the garbage collection point is turned right.

Further, in the step S3, the garbage cleaning and conveying path of the household garbage cleaning and conveying vehicle is further optimized in the shortest, and the method includes the following steps:

S31, judging the left-turning or right-turning direction of each intermediate garbage collection point according to the steps S201-S205, wherein the household garbage cleaning and conveying vehicle turns and walks in a circular arc turning mode, and monitoring an included angle alpha _j between the traveling direction of each intermediate garbage collection point and the x axis of a geodetic coordinate system under the plane rectangular coordinate system in real time as an initial value, wherein j=2, 3,..m-1;

S32, taking average values of included angles alpha _j and alpha _j+1 between the travelling directions of the jth and (j+1) th intermediate household garbage collection points and the x axis of the geodetic coordinate system under the plane rectangular coordinate system as predicted values of the included angles between the travelling directions of the jth intermediate household garbage collection points and the x axis of the geodetic coordinate system under the plane rectangular coordinate system

S33, adopting an included angle predicted value of the traveling direction of the jth intermediate household garbage collection point and the x axis of the geodetic coordinate system under the plane rectangular coordinate systemSubstituting the included angle alpha _j between the travelling direction of the jth intermediate household garbage collection point and the x axis of the geodetic coordinate system under the plane rectangular coordinate system, and calculating an included angle updating value set between the travelling direction of all the intermediate household garbage collection points and the x axis of the geodetic coordinate system under the plane rectangular coordinate system

S34, optimizing the included angle updating value set calculated in the step S33 by adopting a genetic algorithmAn included angle update value of each intermediate household garbage collection point in the systemCalculating the fitness value of the included angle updating value set S

S35, judging an included angle updating value of a jth intermediate household garbage collection pointWhether the adaptation value is larger than the adaptation value of the included angle updating value set S calculated in the step S34, if so, adopting the included angle updating value of the jth intermediate household garbage collecting pointSubstituting the total path length of the arc turning mode turning walking path constructed in the steps S101-S202Obtaining the shortest optimized value of the turning walking path in the arc turning mode in the calculation model, otherwise, adopting discrete precision epsilon to correct the included angle updating value of each intermediate household garbage collecting pointNamely, the included angle of each intermediate household garbage collection point is adopted to update the valueRepeating the steps S31-S34 as the initial value of the step S31 to optimize the included angle of each intermediate household garbage collection point on the x axis of the geodetic coordinate system under the plane rectangular coordinate system;

The invention also provides a household garbage classification and cleaning conveying system, which comprises a household garbage ultrasonic parameter acquisition module, a household garbage rough-separation weighing module, a household garbage temperature acquisition module, a household garbage fine-classification module, a household garbage cleaning conveying vehicle geographic position parameter acquisition module, a total distance calculation module, a turning mode control module and a path shortest optimization module;

the household garbage ultrasonic parameter acquisition module comprises an ultrasonic transmitter and an ultrasonic receiver and is used for monitoring and acquiring ultrasonic parameter data of household garbage in real time;

The household garbage coarse-division weighing module is used for carrying out coarse division on household garbage and weighing dry garbage and wet garbage after coarse division;

The household garbage temperature acquisition module is used for monitoring and acquiring the temperature of the household garbage in real time;

The household garbage fine classification module is used for constructing a real-time subdivision dryness and humidity calculation model of the household garbage, calculating the real-time dryness and humidity threshold of the monitored household garbage during classification, and classifying the household garbage;

The household garbage cleaning and conveying vehicle geographic position parameter acquisition module is used for monitoring and acquiring geographic position coordinates of the household garbage cleaning and conveying vehicle in a plane rectangular coordinate system formed by an x axis and a y axis of a ground coordinate system of each middle garbage collection point in real time and an included angle between the geographic position coordinates and the x axis of the ground coordinate system in the plane rectangular coordinate system;

The total distance calculation module is used for calculating the total distance between the starting point of the household garbage cleaning and conveying vehicle and the target destination;

The turning mode control module is used for judging that the household garbage cleaning and conveying vehicle turns in an arc turning mode or a straight turning mode at the middle garbage collection point in the garbage cleaning process, and planning garbage cleaning and conveying paths of the household garbage cleaning and conveying vehicle;

the path shortest optimizing module is used for carrying out shortest optimization on the garbage cleaning and conveying paths of the household garbage cleaning and conveying vehicle.

The invention also provides electronic equipment, which comprises a processor and a memory for storing instructions executable by the processor, wherein the processor is configured to call the instructions stored by the memory so as to execute the household garbage classification and cleaning transportation method.

The present invention also provides a computer readable medium having stored thereon computer program instructions executable by one or more processors to implement the household garbage classification and cleaning delivery method as described above.

The beneficial effects of the invention are as follows:

1. The household garbage classification and cleaning conveying method provided by the invention comprises the steps of firstly weighing and roughly dividing the monitored household garbage, carrying out dynamic setting of a subdivision dryness-humidity calculation model and a humidity threshold by adopting ultrasonic signal parameters, attenuation coefficients, refraction coefficients, mixed polarization coefficients, dryness-weight composite specific gravity coefficients and wet-weight composite specific gravity coefficients, classifying the household garbage with different dryness-humidity, then monitoring included angles and geographic coordinates of the household garbage cleaning conveying vehicles at different middle garbage collection points in a plane rectangular coordinate system in real time, limiting the minimum turning radius by the front and rear wheel axle distances of the household garbage cleaning conveying vehicles, judging the relation between the total plane Euler distance D _toatal of a starting point and a target end point and the multiple of the minimum turning radius, further determining the turning mode of each middle garbage collection point to be an arc turning mode or a straight line turning mode, and determining the straight line distance between the turning angles and the turning arc running paths of each middle garbage collection point and the public tangent line segments of two middle garbage collection points and the turning paths of the middle garbage collection points to reach the maximum turning angle and the turning angle and turning curve turning paths of the middle garbage collection points to be the maximum turning angle or the maximum turning radius of the middle garbage collection points, and determining the total length of the turning paths to be the middle garbage collection points to be the maximum turning curve or the right-angle turning curve and the maximum turning curve coordinate of the middle garbage collection point; then the predicted value of the included angle of the earth coordinate system x axis of each intermediate garbage collection point under the plane rectangular coordinate system is determined as the updated value of the included angle, and (3) adopting genetic algorithm iterative optimization, judging whether the angle is the optimal angle or not through the constructed fitness value, substituting the optimal angle into a constructed arc turning mode turning walking path total length calculation model, and further optimizing the angle of the earth coordinate system x-axis under the plane rectangular coordinate system when each intermediate garbage collection point turns, so that the accuracy of the calculation result is improved.

The method provided by the invention can accurately classify the dryness and the humidity of the household garbage, further avoids the problems that the early classification is thicker, the household garbage treatment efficiency is low due to the fact that the dry and wet garbage is mixed, the household garbage treatment mode is specially used for dry garbage or wet garbage in the later stage, the turning mode of adopting circular arc turning or straight turning points at all middle garbage collection points is determined according to the front-rear wheel axle distance of different household garbage cleaning transport vehicles, the situation that the household garbage cleaning transport vehicles turn inconveniently to cause road congestion is avoided, or surrounding buildings or vehicles collide due to turning, the environmental pollution caused by the scattering of garbage in the garbage vehicles and the unnecessary cleaning situation are avoided, finally, the included angle of the x-axis of the ground coordinate system under a plane rectangular coordinate system is iterated and optimized by adopting a genetic algorithm, the running direction of the household garbage cleaning transport vehicles is further optimized, the overlong path caused by the deviation of the whole running path caused by inaccurate control is avoided, and the control precision and the accuracy are improved.

2. According to the household garbage classification and cleaning conveying method, the attenuation coefficient eta and the reflection coefficient kappa of the attenuation of the ultrasonic signals caused by the household garbage are synthesized, a dry humidity DH (t) calculation model of the finely divided household garbage is finally constructed, whether the dry humidity DH (t) calculation model is larger than a humidity threshold DH _thres is judged to conduct dry humidity subdivision on the monitored household garbage, the dry composite specific gravity coefficient lambda ₁ of the household garbage and the wet composite specific gravity coefficient lambda ₂ of the household garbage are calculated through rough separation and weighing, further accurate judgment on the dry humidity of the household garbage is effectively conducted, and the situation that the classification of the household garbage is inaccurate in later stage due to rough separation is avoided.

3. In the household garbage classifying, cleaning and conveying method provided by the invention, the garbage classification and cleaning and conveying method in the step S1 is based on the fact that the humidity threshold value is dynamically changed along with each influencing factor and the monitoring total time, so that the humidity threshold value of different environmental factors and the monitored garbage conditions can be more effectively determined, the measurement scale of classifying the household garbage mixed with the dry garbage and the wet garbage according to the monitored garbage is effectively divided, and the misjudgment caused by the fact that the temperature threshold value is only at one point value is avoided.

4. In the household garbage sorting and cleaning conveying method provided by the invention, in the step S2, the straight plane Euler distance of the household garbage cleaning conveying vehicle between each middle garbage collection point and the first middle garbage collection point (starting point) and the last middle garbage collection point (target end point) is monitored in real time, and the multiple of the calculated value r _min of the front and rear wheel distances d of different household garbage cleaning conveying vehicles is used as a limiting threshold value, so that the turning mode of the household garbage cleaning vehicle at each middle garbage collection point is determined by considering the conditions of different household garbage cleaning conveying vehicles, and the occurrence of the condition that the household garbage cleaning conveying vehicle is jammed or inconvenient to turn at each middle garbage collection point is avoided.

5. After determining that the turning mode of the household garbage cleaning and conveying vehicle at each intermediate garbage collection point is an arc turning mode, constructing the total length of the arc turning mode turning and traveling path with the included angle of the x axis of the ground coordinate system of the next (q+1th) intermediate garbage collection point under the plane rectangular coordinate system as a variable so that the sum path of the arc turning is shortestThe model is minimized, and then the optimal included angle of the ground coordinate system x-axis under the plane rectangular coordinate system of the next intermediate garbage collection point in the walking path is determinedAnd judging whether the included angle of the x-axis of the geodetic coordinate system in the plane rectangular coordinate system in the travelling path in a circular arc turning mode is larger than the standard or not in real time by taking the absolute value as the standard, further determining the left turning or right turning direction, planning the travelling path and the direction, and enabling the overall path of a plurality of intermediate garbage collection points to be shortest so as to achieve the optimal effect of path planning.

Drawings

The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:

FIG. 1 is a schematic flow chart of a household garbage classification and cleaning transportation method provided by the invention;

FIG. 2 is a schematic flow chart of the subdivision of the household garbage in the step S1 in the method provided by the invention;

FIG. 3 is a schematic flow chart of a method for constructing a real-time subdivision humidity calculation model of household garbage in step S12 in the method provided by the invention;

FIG. 4 is a schematic flow chart of a turning method of the S2 step household garbage cleaning and conveying vehicle at an intermediate garbage collection point in a circular arc or linear turning mode;

FIG. 5 is a flowchart showing a specific step of determining turning in a circular arc or straight line turning manner in the step S2 of the method provided by the invention;

FIG. 6 is a schematic diagram showing the total distance between the starting point of the household garbage cleaning truck and the target destination in the step S2 of the method provided by the invention;

FIG. 7 is a schematic diagram of left-turn circles and right-turn circles of the q and q+1th intermediate garbage transfer points by using a straight line A as a tangent line and a tangent line B when optimizing the turning direction of a circular arc turning at the q+1th intermediate garbage collection point in the steps S201-S205 in the method provided by the invention;

FIG. 8 is a schematic view of a circular arc turning path from a (q) th intermediate garbage collection point to a (q+1) th intermediate garbage collection point for performing left-turn circular arc turning, then performing straight line walking, and then performing left-turn circular arc turning in the method provided by the invention;

FIG. 9 is a schematic view of a circular arc turning path from a (q) th intermediate garbage collection point to a (q+1) th intermediate garbage collection point for performing left-turn circular arc turning, then performing straight line walking, and then performing right-turn circular arc turning in the method provided by the invention;

FIG. 10 is a schematic view of a circular arc turning path from a (q) th intermediate garbage collection point to a (q+1) th intermediate garbage collection point for performing right-turning circular arc turning, then performing straight walking, and then performing left-turning circular arc turning in the method provided by the invention;

FIG. 11 is a schematic view of a circular arc turning path from a (q) th intermediate garbage collection point to a (q+1) th intermediate garbage collection point for performing right-turning circular arc turning, then performing straight walking, and then performing right-turning circular arc turning in the method provided by the invention;

FIG. 12 is a schematic flow chart of the invention for optimizing the included angle between each intermediate household garbage collection point and the x-axis of the geodetic coordinate system under the plane rectangular coordinate system when walking in a circular arc turning mode by adopting a genetic algorithm;

Fig. 13 is a schematic structural diagram of a household garbage classification and cleaning and conveying system provided by the invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

As shown in fig. 1, the method for classifying, cleaning and transporting household garbage provided by the invention comprises the following steps:

S2, monitoring geographic position coordinates and advancing directions of the household garbage cleaning and conveying vehicle in a geodetic coordinate system in real time, calculating total distance D _toatal between a starting point and a target end point of the household garbage cleaning and conveying vehicle, judging that the household garbage cleaning and conveying vehicle makes a turning in an arc turning mode or a straight turning mode at an intermediate garbage collecting point in the garbage cleaning and conveying vehicle, and planning the turning direction of the arc turning mode of the household garbage cleaning and conveying vehicle;

Preferably, the geographical position coordinates of the household garbage cleaning and transporting vehicle monitored in real time in the step S2 adopt geographical coordinates under a geodetic coordinate system, the advancing direction of the geographical coordinates is converted, an x-axis and a y-axis under the geodetic coordinate system are respectively used as a transverse axis and a longitudinal axis of a newly-built plane rectangular coordinate system, and the advancing directions obtained through conversion are [0 degree, 180 degree ] and [ -180 degree, 0 degree ] taking the x-axis of the newly-built plane rectangular coordinate system as the standard, namely 360-degree rotation angle of the household garbage cleaning and transporting vehicle on the whole plane of the plane rectangular coordinate system, and as shown in fig. 4, the advancing directions are divided into [0 degree, 180 degree ] rotation angle of the upper half part and [ -180 degree, 0 degree ] rotation angle of the lower half part of the x-axis by the x-axis;

and S3, carrying out shortest optimization on the garbage cleaning and conveying path of the household garbage cleaning and conveying vehicle, and finishing classification and cleaning of the household garbage.

Preferably, after the turning selection of each intermediate garbage collection point is left-turned or right-turned in step S2, the step S3 of the present invention further optimizes the included angle of the domestic garbage cleaning transport vehicle with respect to the x-axis of the newly built planar rectangular coordinate system at each intermediate garbage collection point, further optimizes the included angle with respect to the x-axis of the planar rectangular coordinate system during turning, and further optimizes the included angle with respect to the x-axis of the planar rectangular coordinate system during turning after determining whether the turning of each intermediate garbage collection point is left-turned or right-turned in step S2, and further optimizes the garbage cleaning transport path to the shortest if the turning of the intermediate garbage collection point is adopted

As a preferred embodiment of the present invention, as shown in fig. 2, in the method provided by the present invention, in step S1, ultrasonic parameter data of household garbage and weighing data after rough classification are collected in real time, and the method includes the following steps:

S11, monitoring the temperature T (T) of the household garbage in real time, transmitting an ultrasonic signal to the household garbage, and monitoring the height L (T) of the household garbage from the horizontal plane of an ultrasonic signal transmitting source point, the radial distance R (T) of the horizontal plane of the household garbage from the central axis of the ultrasonic signal transmitting source point, the included angle theta (T) between the horizontal plane of an ultrasonic incident point of the monitored garbage and the ultrasonic transmitting source point and the included angle beta (T) between the horizontal plane of the ultrasonic incident point of the monitored garbage and the refraction direction of the ultrasonic monitored garbage in real time;

S12, constructing a real-time subdivision dryness and humidity calculation model of the household garbage, and calculating the real-time dryness and humidity of the monitored household garbage when the household garbage is subdivided:

As another preferred embodiment of the present invention, specifically, as shown in fig. 3, the method for constructing a real-time subdivision humidity calculating model of household garbage in step S12 includes the following steps:

S122, respectively constructing a first household garbage dry and wet mixing coefficient DH _L (t) calculation model and a second household garbage dry and wet mixing coefficient DH _R (t) calculation model according to the result obtained by the calculation in the S121:

Wherein lambda ₂ is the humidity composite specific gravity coefficient of the domestic garbage, Q is a polarization mixing coefficient of the ultrasonic signal, wherein the polarization mixing coefficient is caused by wet garbage in the household garbage, mu (beta (t)) is a refractive index of the ultrasonic signal, wherein the refractive index of the ultrasonic signal, which is generated by the existence of the wet garbage, of the monitored household garbage at an ultrasonic incidence point, the included angle of the refractive direction of the ultrasonic signal is beta (t), G (theta (t)) is an influence coefficient of the included angle theta (t) between the horizontal plane of the ultrasonic incidence point of the monitored garbage and an ultrasonic emission source point on wet garbage detection, G (theta (t)) = lambda ₂/cos² theta (t),

Wherein eta is the attenuation coefficient of attenuation caused by the monitored garbage of the ultrasonic signal, eta is generally 0.002-0.009 dB/(cm & MHz), kappa is the reflection coefficient of reflection caused by the monitored garbage of the ultrasonic signal, and kappa is generally 0.05-0.10;

as shown in table 1, the polarization mixing coefficient Q polarized by the wet garbage in the household garbage in step S122 has different values in the case of the ultrasonic transmission signals of different powers.

TABLE 1

Ultrasonic wave transmitting signal power	Polarization mixing coefficient Q
		1.4GHz	0.01~0.15
5GHz	0.15~0.30
		10.7GHz	0.20~0.50

According to the household garbage classifying and cleaning conveying method, firstly, through real-time monitoring of ultrasonic parameter data of household garbage, namely, the height L (t) of the household garbage from a horizontal plane where a household garbage is located, the radial distance R (t) of the horizontal plane where the household garbage is located from a central axis of the ultrasonic signal transmitting source, an included angle theta (t) between the horizontal plane where the monitored garbage is located and the ultrasonic transmitting source, and an included angle beta (t) between the horizontal plane where the monitored garbage is located and the refraction direction of the ultrasonic monitored garbage, respectively constructing dryness coefficients D _L (t) and D _R (t) of the L (t) and R (t), and then calculating a first household garbage dryness and humidity mixing coefficient DH _L (t) and a second household garbage dryness and humidity mixing coefficient DH _R (t) according to the D _L (t) and the D _R (t), wherein the first household garbage dryness and humidity mixing coefficient DH _L (t) and the second household garbage dryness and humidity mixing coefficient DH _R (t) take into consideration polarization mixing coefficients of ultrasonic signals caused by humidity in the household garbage and humidity mixing coefficients and the refraction coefficients beta (t)) of the ultrasonic signals;

And finally, according to the first household garbage dryness-humidity mixing coefficient DH _L (t) and the second household garbage dryness-humidity mixing coefficient DH _R (t), the attenuation coefficient eta and the reflection coefficient kappa of attenuation caused by household garbage are synthesized, a dryness-humidity DH (t) calculation model of the finely divided household garbage is finally constructed, whether the dryness-humidity DH (t) calculation model is larger than a humidity threshold DH _thres is judged to subdivide the monitored household garbage, the dryness-humidity composite specific gravity coefficient lambda ₁ of the household garbage and the humidity composite specific gravity coefficient lambda ₂ of the household garbage are calculated through rough classification and weighing, further, the accurate judgment of the dryness-humidity of the household garbage is effectively realized, the problem that the classification of the household garbage is inaccurate due to rough classification, and the fact that the later classification is inaccurate when the special dry garbage or the wet garbage is treated respectively is avoided, and more wet garbage is mixed in the dry garbage is caused, the special wet garbage treatment process is incomplete, and the low treatment efficiency of the household garbage is caused.

The first household garbage dryness and humidity mixing coefficient DH _L (t) and the second household garbage dryness and humidity mixing coefficient DH _R (t) provided by the invention are detection factors of the dryness and humidity of the monitored household garbage, which are respectively calculated according to the step S121 and are related to the height L (t) and the dryness and humidity coefficient D _R (t) related to the radial distance R (t), and further the two dryness and humidity coefficients D _L (t) and D _R (t) respectively consider the detection factors of the ultrasonic signals on the dryness and humidity of the monitored household garbage, which are brought by the two aspects of the height L (t) of the monitored household garbage and the radial distance R (t) from the horizontal plane of the household garbage to the central axis of the ultrasonic signal emission source point, so that the accuracy and the comprehensiveness of the finally constructed subdivision dryness and humidity calculation model DH (t) are further improved.

According to the household garbage classification and cleaning conveying method, the average value calculated by taking the household garbage dryness and humidity mixing coefficient lambda ₁, the humidity composite specific gravity coefficient lambda ₂ and the polarization mixing coefficient of ultrasonic signals caused by wet garbage, the refraction angle beta (t) of the ultrasonic refraction coefficient mu (t) which is required to be absorbed and the influence coefficient G (theta (t)) of the emission direction and the horizontal angle theta (t) at the ultrasonic incidence point in each time point in the total time n monitored in real time is considered, and the humidity threshold DH _thres caused by the influence of the temperature of each monitored time point is adopted, so that the humidity threshold is dynamically changed along with each influence factor and the total time to further effectively determine the humidity threshold of different environment factors and the monitored garbage conditions, effectively divide the measurement scale of subdivision of the household garbage mixed with the dry garbage and the wet garbage aiming at the monitored garbage, and avoid the situation that the humidity threshold is only at one point value, and the humidity judgment is carried out when the humidity threshold is in a fine time.

As another preferred embodiment of the present invention, as shown in fig. 4, in the garbage sorting and cleaning and transporting method provided by the present invention, a plurality of intermediate garbage collection points may be passed through in the process of cleaning and transporting garbage by a garbage cleaning vehicle, and each intermediate garbage collection point may walk through a straight line connection route between points, or through each intermediate garbage collection point through a curved walking route of an arc, as shown in fig. 5, step S2 in the method provided by the present invention includes the following steps:

S21, monitoring a geographic position coordinate (x _q,y_q) of the domestic garbage cleaning and transporting vehicle in a plane rectangular coordinate system formed by an x axis and a y axis of a q-th intermediate garbage collection point in the ground rectangular coordinate system as shown in FIG. 4 in real time, wherein an included angle alpha _q,q＝1,2,…,m,α_q E [ -180 degrees, 180 degrees ] between the traveling direction of the q-th intermediate garbage collection point and the x axis of the ground rectangular coordinate system in the plane rectangular coordinate system is shown in the drawing, the geographic position coordinate of the domestic garbage cleaning and transporting vehicle in a starting point is (x ₁,y₁), the included angle between the traveling direction of the starting point and the x axis of the ground rectangular coordinate system is alpha ₁, the geographic position coordinate of the target end point of the domestic garbage cleaning and transporting vehicle in the m-th intermediate garbage collection point is (x _m,y_m), and the included angle between the traveling direction of the m-th intermediate garbage collection point and the x axis of the ground rectangular coordinate system in the plane rectangular coordinate system is alpha _m, and the 1-th intermediate garbage collection point is the starting point of the domestic garbage cleaning and transporting vehicle, and the m-th intermediate garbage collection point is the last cleaning and transporting vehicle;

S22, calculating the total distance D _toatal between the starting point and the target end point of the household garbage cleaning and conveying vehicle as shown in FIG. 6:

S24, if the total distance D _toatal≥50r_min between the starting point and the target end point of the household garbage cleaning and conveying vehicle obtained by calculation in the S22 step is equal to 30r _min＜D_total＜50r_min, the household garbage cleaning and conveying vehicle adopts a walking path turning in a circular arc turning mode at the middle garbage collection point, and if the total distance between the starting point and the target end point of the household garbage cleaning and conveying vehicle obtained by calculation in the S32 step is equal to 30r _min＜D_total＜50r_min, the household garbage cleaning and conveying vehicle adopts a walking path turning in a straight line turning mode at the middle garbage collection point.

The household garbage sorting, cleaning and conveying method provided by the invention monitors the Euler distance of the linear plane of the household garbage cleaning and conveying vehicle between each middle garbage collection point and the first middle garbage collection point (starting point) and the last middle garbage collection point (target end point) in real time,And then taking a multiple of a calculated value r _min of a front-rear wheel axle distance D of different household garbage cleaning transport vehicles as a limiting threshold, taking 50 times of r _min as a judging standard of a walking path for turning at each middle garbage collecting point by adopting a circular arc turning mode or not, taking 30 times of r _min as a lowest limit value for straight line turning walking at each middle garbage collecting point, effectively considering that the minimum turning radius r _min required by the front-rear wheel axle distance of different types of household garbage cleaning transport vehicles is taken into consideration if each middle garbage collecting point carries out turning walking by adopting a circular arc turning mode, further expressing and limiting the total path required by the circular arc turning mode of each middle collecting point in a mode of the minimum turning radius r _min, and then comparing the total plane Euler distance D _toatal of a judging starting point and a target end point with the judging standard 50r _min, if D _toatal≥50r_min shows that the household garbage cleaning transport vehicles are suitable to walk by adopting the walking path turning by adopting the circular arc turning mode as shown in fig. 7-11 at the middle garbage collecting point, and if the minimum turning radius r _min is within a range of 30r _min＜D_toatal＜50r_min, the total path required by adopting the circular arc turning mode is selected, namely the circular arc turning mode is not adopted as shown in fig. 7-11.

As shown in figure 7, when the household garbage classification and cleaning conveying method provided by the invention is not adopted between a (q) intermediate garbage collection point and a (q+1) intermediate garbage collection point, the household garbage cleaning conveying vehicle has a section of arc-shaped traveling path F, an included angle alpha _q between the (q) intermediate garbage collection point and the x axis of a ground coordinate system under a plane rectangular coordinate system according to the traveling direction of the traveling path F, an included angle alpha _q+1 between the (q+1) intermediate garbage collection point and the x axis of the ground coordinate system under the plane rectangular coordinate system, and in order to optimize the household garbage classification and cleaning conveying turning traveling paths at all intermediate garbage collection points, if D _toatal≥50r_min, the household garbage cleaning conveying vehicle is indicated to be suitable to adopt the arc-shaped traveling mode at the intermediate garbage collection point, and has a left-turning circle and a right-turning circle tangential to the straight line A on the left side and the right side of the traveling direction of the (q) intermediate garbage collection point as shown in figures 8-11, and the left-turning circle is the center of the left-turning circleThe center of the right turn circle isWhen the travelling path adopting the arc turning mode moves from the q-th intermediate garbage collection point to the (q+1) -th intermediate garbage collection point to continuously collect garbage, in order to reach the (q+1) -th intermediate garbage point, the center of a left-turning circle is firstly used from the q-th intermediate garbage pointTurning left at a certain angle or turning right at a certain angle with the center of a circle, and then the length of the walking circular arc path isThe rotation angle is beta ₁, the arc path is followed to reach the tangent point C _q from the q-th intermediate garbage point, and a certain straight line distance is taken from the tangent point C _q in order to reach the (q+1) -th intermediate garbage collection pointAfter reaching point C _q+1, a circular arc path is walked from point C _q+1 before reaching the (q+1) th intermediate garbage collection pointThe corner is beta ₂, the arc path is a part of a left-turning circle or a right-turning circle with the direction of an included angle alpha _q+1 of the (q+1) th intermediate garbage collection point on the x axis of the geodetic coordinate system being a tangent line B, and C _q+1 is the straight line distance of the garbage cleaning and conveying vehicle to travelTangent point of the straight line and the left-turning circle or the right-turning circle of the (q+1) th intermediate garbage collection point, and the center of the (q+1) th left-turning circle isThe circle center of the (q+1) th right turn circleTherefore, the line segment C _qC_q+1 is not only in line with the circle center O _q of the (when the circle is left-turn, the circle center O _q isWhen the turning circle is a right turning circle, the circle center O _q is) Tangent to the circle with the center O _q+1 of the (when the circle is left-turn circle, the center O _q+1 isWhen the turning circle is a right turning circle, the circle center O _q+1 is) And (5) tangential.

As shown in FIG. 8, the circular arc turning mode is that the center of the circle at the (q) th intermediate garbage collection point isDistance of arc travelled on left-turn circle of (2)Then reach the tangent point C _q and travel a straight line distance from the tangent point C _q Then reaches a tangent point C _q+1, and the center of the circle around the (q+1) th intermediate garbage collection point from the tangent point C _q+1 isLeft turn circle travel arc distanceAfter that, the (q+1) th intermediate garbage collection point is reached.

As shown in FIG. 9, the circular arc turning mode is that the center of the circle at the (q) th intermediate garbage collection point isDistance of arc travelled on left-turn circle of (2)Then reach the tangent point C _q and travel a straight line distance from the tangent point C _q Then reaches a tangent point C _q+1, and the center of the circle around the (q+1) th intermediate garbage collection point from the tangent point C _q+1 isDistance of arc travelled on right circle of revolutionAfter that, the (q+1) th intermediate garbage collection point is reached.

The circular arc turning mode shown in FIG. 10 is that the center of the circle at the (q) th intermediate garbage collection point isDistance of arc travelled on right turn circleThen reach the tangent point C _q and travel a straight line distance from the tangent point C _q Then reaches a tangent point C _q+1, and the center of the circle around the (q+1) th intermediate garbage collection point from the tangent point C _q+1 isLeft turn circle travel arc distanceAfter that, the (q+1) th intermediate garbage collection point is reached.

As shown in FIG. 11, the circular arc turning mode is that the center of the circle at the (q) th intermediate garbage collection point isDistance of arc travelled on right turn circleThen reach the tangent point C _q and travel a straight line distance from the tangent point C _q Then reaches a tangent point C _q+1, and the center of the circle around the (q+1) th intermediate garbage collection point from the tangent point C _q+1 isDistance of arc travelled on right circle of revolutionAfter that, the (q+1) th intermediate garbage collection point is reached.

Therefore, as another preferred embodiment of the present invention, when the household garbage cleaning transportation vehicle turns a travel path in a circular arc turning manner at the intermediate garbage collection point, planning the turning direction of the circular arc turning manner of the household garbage cleaning transportation vehicle in step S2 includes the steps of:

S201, constructing total path length of turning walking path of household garbage cleaning transport vehicle in arc turning mode And (3) calculating a model:

In the turning and walking process by adopting the arc turning mode, the turning angle of the household garbage cleaning and conveying vehicle at the q-th intermediate garbage collection point is beta ₁, and the turning and walking path distance is The turning angle of the household garbage cleaning and conveying vehicle at the (q+1) th intermediate garbage collection point for reaching the (q+1) th intermediate garbage collection point is beta ₂, and the turning walking path distance isAfter the household garbage cleaning and conveying vehicle turns and walks at the (q) th intermediate garbage collection point, the straight line distance for turning and walking to reach the (q+1) th intermediate garbage collection point isNamely, the household garbage cleaning and conveying vehicle shown in the figures 8-11 turns at the (q) th intermediate garbage collection point to complete the walking distanceIs positioned behind the arc path of the (2), and is positioned on a tangent point C _q and a (q+1) th intermediate garbage collection point on a circle with the center of O _q The straight line distance between tangent points C _q+1 on the circle on which the circle center O _q+1 lies before the circular arc path,AndThe turning walking distance of the (q) th intermediate garbage collection point obtained by the real-time monitoring in the step S1 is respectivelyThe abscissa and the ordinate of the tangent point C _q on a circle of circle center O _q where the circular arc path is located,AndRespectively the turning walking distances before reaching the (q+1) th intermediate garbage collection point obtained by the real-time monitoring in the step S1 areThe abscissa and the ordinate of a tangent point C _q+1 on a circle with the circle center of O _q+1 of the arc path;

S202, converting a turning angle beta ₁ of the household garbage cleaning transport vehicle at the q-th intermediate garbage collection point and a turning angle beta ₂ of the q+1th intermediate garbage collection point into a calculation formula of the plane rectangular coordinate system according to an included angle alpha _q、α_q+1 between the traveling directions of the q-th intermediate garbage collection point and the q+1th intermediate garbage collection point of the household garbage cleaning transport vehicle and the x axis of the ground coordinate system under the plane rectangular coordinate system in real time according to the step S21:

S203, turning the total path length of the walking path by adopting a circular arc turning mode according to the conversion result of the step S202 and the household garbage cleaning and conveying vehicle constructed in the step S201 Calculating a model, and constructing a minimum arc turning mode turning walking path total length calculating model:

-180°≤α_q+1≤180°

-180°≤α_q≤180°

α_q≠α_q+1;

as shown in fig. 9 and 11, when a right turn is made at the point cq+1 in order to reach the point q+1,

X _q+1+r_min×sinα_q+1 is a right turn circle turned right at point C _q+1 in order to reach point q+1Y _q+1-r_min×cosα_q+1 is a right turn circle turned right at point C _q+1 in order to reach point t+1Ordinate of (i.e. right turn circle)Is (x _q+1+r_min×sinα_q+1,y_q+1-r_min×cosα_q+1)

As shown in fig. 8 and 10, when a left turn is made at point C _q+1 to reach point q+1,

X _q+1-r_min×sinα_q+1 is left-turn circle that turns left at point C _q+1 in order to reach point q+1Y _q+1+r_min×cosα_q+1 is a left turn circle turned left at point C _q+1 to reach point q+1Is the ordinate of (1), i.e. circle turning leftThe coordinates of (x _q+1-r_min×sinα_q+1,y_q+1+r_min×cosα_q+1);

S205, judging whether an absolute value |alpha _q+1 | of an included angle alpha _q+1 of an x-axis of a geodetic coordinate system of a (q+1) th intermediate garbage collection point of the household garbage cleaning and conveying vehicle obtained through real-time monitoring meets the condition If the number is greater than q+1, the garbage collection point is turned left, otherwise, the garbage collection point is turned right.

The method provided by the invention monitors the included angle alpha _q and the geographic coordinate (x _q,y_q) of the household garbage cleaning and conveying vehicle in the x-axis direction of each intermediate garbage collection point and the ground coordinate system in the plane rectangular coordinate system in real time, and limits the minimum turning circle radius r _min of the household garbage cleaning and conveying vehicle in the circular arc turning of the intermediate garbage collection point, and then takes the included angle alpha _q of each intermediate garbage collection point, the straight line A and the tangent line B of the direction of the included angle alpha _q+1 of the next intermediate garbage collection point as the left turning circle of the tangent line through the steps S201-S205 in the method provided by the inventionAnd turn round to rightArc paths for respectively walking and turning on the circles of the (q) th intermediate garbage collection point and the (q+1) th intermediate garbage collection pointAndAnd a linear distance of a line segment C _qC_q+1 between two tangent points of a common tangent line of a circle of the (q) th intermediate garbage collection point and the (q+1) th intermediate garbage collection pointThe total length of a turning walking path in a circular arc turning mode, which is expressed as the rotation angles beta ₁ and beta ₂ and defines the minimum turning circle radius r _min of the circular arc turning of the household garbage cleaning and conveying vehicle at the middle garbage collecting point and the coordinate parameters of two tangent points C _q、C_q+1 After the rotation angle beta ₁ at the q-th intermediate garbage collection point and the rotation angle beta ₂ at the q+1th intermediate garbage collection point are respectively expressed as a calculation formula related to the angle alpha _q of the advancing direction and the X-axis direction of the ground coordinate system in a plane rectangular coordinate system and the coordinate of the tangent point C _q, and a calculation formula related to the coordinate of the alpha _q+1 and the coordinate of the tangent point C _q+1, the total length of a turning walking path in a circular arc turning mode is minimized by utilizing known parameters and the limiting conditions of the angle alpha _q、α_q+1 Further, an optimal included angle between the advancing direction of each intermediate garbage collection point and the x-axis direction of the rectangular plane coordinate system and the earth coordinate system during turning is obtainedFurther, after the model is subjected to reinforcement learning, for the household garbage cleaning and conveying vehicle controlled by the method, the absolute value |alpha _q+1 | of an included angle alpha _q+1 between the advancing direction of the (q+1) th intermediate garbage collection point obtained by real-time monitoring and the x-axis direction of the geodetic coordinate system in the plane rectangular coordinate system and the absolute value of the optimal included angle are obtainedThe comparison, judgment and analysis are carried out, the steering at the (q+1) th intermediate garbage collection point is determined to be left or right, and the total length of the turning walking path in a circular arc turning mode from the (q) th intermediate garbage collection point to the (q+1) th intermediate garbage collection point is determinedShortest, thereby the total length of the walking path of the whole circular arc turning mode from the starting point to the target destinationShortest.

As another preferred embodiment of the present invention, as shown in fig. 12, the step S3 of performing further shortest optimization on the garbage cleaning and conveying path of the household garbage cleaning and conveying vehicle includes the steps of:

S31, judging the left turning or right turning direction of each intermediate garbage collection point according to the steps S201-S205, turning and walking in a circular arc turning mode adopted by the household garbage cleaning and conveying vehicle, and monitoring an included angle alpha _j between the traveling direction of each intermediate garbage collection point and the x axis of a geodetic coordinate system under a plane rectangular coordinate system in real time as an initial value, wherein j=2, 3;

S32, taking average values of included angles alpha _j and alpha _j+1 between the travelling direction of the jth and (j+1) th intermediate household garbage collection points and the x axis of the geodetic coordinate system under the plane rectangular coordinate system as predicted values of the included angles between the travelling direction of the jth intermediate household garbage collection points and the x axis of the geodetic coordinate system under the plane rectangular coordinate system

S33, adopting the predicted value of the included angle between the traveling direction of the jth intermediate household garbage collection point and the x axis of the geodetic coordinate system under the plane rectangular coordinate systemSubstituting the included angle alpha _j between the travelling direction of the jth intermediate household garbage collection point and the x axis of the geodetic coordinate system under the plane rectangular coordinate system, and calculating an updated value set of the included angles between the travelling direction of all the intermediate household garbage collection points and the x axis of the geodetic coordinate system under the plane rectangular coordinate system

S34, optimizing the included angle update value set calculated in the step S33 by adopting a genetic algorithmAn included angle update value of each intermediate household garbage collection point in the systemCalculating the fitness value of the included angle updating value set S

S35, judging an included angle updating value of a jth intermediate household garbage collection pointIf the calculated included angle updating value is larger than the fitness value of the included angle updating value set S obtained in the step S34, adopting the included angle updating value of the jth intermediate household garbage collection pointSubstituting the total path length of the turning walking path in the arc turning mode constructed in the steps S101-S202Obtaining the shortest optimized value of the total path of the turning line in the arc turning mode in the calculation model, otherwise, adopting discrete precision epsilon to correct the included angle updating value of each intermediate household garbage collecting pointNamely, the included angle of each intermediate household garbage collection point is adopted to update the valueRepeating the steps S31-S34 as the initial value of the step S31 to optimize the included angle of the X-axis of the geodetic coordinate system of each intermediate household garbage collection point under the plane rectangular coordinate system, so that the turning walking path of the arc turning mode is shortest;

In the preferred embodiment provided by the invention, the included angle alpha _j of the x axis of the geodetic coordinate system of each intermediate garbage collection point under the plane rectangular coordinate system obtained through real-time monitoring is taken as an initial value, then the included angles alpha _j and alpha _j+1 of the x axis of the geodetic coordinate system of the jth and (j+1th intermediate household garbage collection points under the plane rectangular coordinate system are respectively taken, and the calculation result of the average value (alpha _j+α_j+1)/2 of the two is taken as the predicted value of the included angle of the x axis of the geodetic coordinate system of the jth intermediate household garbage collection point under the plane rectangular coordinate system The included angle of the earth coordinate system x axis of all the intermediate garbage collection points under the plane rectangular coordinate system is replaced and updated to form an included angle updating value set of the earth coordinate system x axis of all the intermediate garbage collection points under the plane rectangular coordinate systemOptimizing the iterative included angle updating value set S by adopting a genetic algorithm, and calculating the fitness value of the included angle updating value set SAfter reinforcement learning, judging the included angle updating value of the j-th intermediate garbage collection point monitored in real timeIs the fitness value of the calculated included angle update value set SIf the total path length of the turning walking path in the arc turning mode constructed in the steps S101-S202 is substituted into the result that the included angle updating value of the intermediate garbage collection point is proved to be in optimal convergenceIn the calculation model, the shortest optimized value of the turning walking path in the arc turning mode is obtained, the calculation accuracy of the turning walking path in the arc turning mode can be effectively improved, the defect of overlong total path caused by angle calculation and control errors is avoided, and if the calculated total path is smaller than or equal to the fitness valueThe included angle updating value of the intermediate garbage collection point is proved to be in a state with lower fitness and discrete, so that the calculated discrete precision is adoptedTo correct the included angle updating value of each intermediate household garbage collection pointNamely, the included angle of each intermediate household garbage collection point is adopted to update the valueRepeating the steps S31-S34 as the initial value of the step S31 to optimize the included angle between the path direction of each intermediate household garbage collection point and the x axis of the geodetic coordinate system under the plane rectangular coordinate system, and further selecting the direction of the circular arc turning walking in the step S201-S205 to be left turn or right turn to ensure that the total path length of the circular arc turning walking pathShortest and total length of walking path of whole circular arc turning modeUnder the shortest condition, the variable affecting the total length of the walking path of the circular arc turning mode is further determined by the accuracy, namely, the included angle alpha _j between the j-th intermediate garbage collection point and the x-axis of the geodetic coordinate system of the plane rectangular coordinate system, so that the garbage cleaning and conveying path of the household garbage cleaning and conveying vehicle is further optimized at the shortest.

As shown in fig. 13, the invention further provides a household garbage classification and cleaning conveying system, which comprises a household garbage ultrasonic parameter acquisition module, a household garbage rough classification weighing module, a household garbage temperature acquisition module, a household garbage fine classification module, a household garbage cleaning conveying vehicle geographic position parameter acquisition module, a total distance calculation module, a turning mode control module and a path shortest optimization module;

The household garbage ultrasonic parameter acquisition module comprises an ultrasonic transmitter and an ultrasonic receiver, wherein the ultrasonic transmitter is used for transmitting ultrasonic signals to the household garbage to be monitored, and the ultrasonic receiver is used for receiving reflected signals of the household garbage to be monitored, so that the height L (t) of the household garbage from a horizontal plane of an ultrasonic signal transmitting source point, the radial distance R (t) of the horizontal plane of the household garbage from a central axis of the ultrasonic signal transmitting source point, the included angle theta (t) between the horizontal plane of the ultrasonic incident point of the garbage to be monitored and the ultrasonic transmitting source point, and the included angle beta (t) between the horizontal plane of the ultrasonic incident point of the garbage to be monitored and the refraction direction of the ultrasonic garbage to be monitored are monitored and acquired in real time;

The household garbage coarse-division weighing module is used for coarse-division of household garbage and weighing the dry garbage and the wet garbage after coarse division, so that the total weight of the obtained dry garbage w ₁ and the total weight of the wet garbage w ₂;

the household garbage temperature acquisition module is used for monitoring and acquiring the temperature T (T) of the household garbage in real time;

The household garbage classification module is used for realizing the S121-S123 steps of the household garbage classification and cleaning and conveying method provided by the invention, constructing a real-time subdivision dryness and humidity calculation model of the household garbage, calculating the real-time dryness and humidity of the monitored household garbage when the household garbage is classified, and calculating a humidity threshold DH _thres, so as to realize the S13 step of the household garbage classification and cleaning and conveying method provided by the invention, and judging whether the real-time dryness and humidity of the monitored household garbage is greater than or equal to the humidity threshold in the monitored time period n to classify the household garbage;

the household garbage cleaning and conveying vehicle geographic position parameter acquisition module is used for monitoring and acquiring geographic position coordinates (x _q,y_q) of the household garbage cleaning and conveying vehicle in a plane rectangular coordinate system formed by an x axis and a y axis of a ground coordinate system at each intermediate garbage collection point in real time and an included angle alpha _q between the household garbage cleaning and conveying vehicle and the x axis of the ground coordinate system in the plane rectangular coordinate system;

the total distance calculation module is used for calculating the total distance D _toatal between the starting point of the household garbage cleaning and conveying vehicle and the target end point;

The turning mode control module is used for realizing the S24 step of the household garbage classification and cleaning and conveying method provided by the invention, judging that the household garbage cleaning and conveying vehicle adopts a circular arc turning mode or a linear turning mode to turn at an intermediate garbage collecting point in the garbage cleaning process, and realizing the S201-S205 steps of the household garbage classification and cleaning and conveying method provided by the invention, so as to plan the garbage cleaning and conveying path of the household garbage cleaning and conveying vehicle;

the path shortest optimizing module is used for realizing the S31-S35 steps of the household garbage sorting, cleaning and conveying method provided by the invention and performing shortest optimization on the garbage cleaning and conveying path of the household garbage cleaning and conveying vehicle.

The household garbage fine classification module, the turning mode control module and the path shortest optimizing module are different sub-control modules contained in the main control module.

The invention also provides electronic equipment, which comprises a processor and a memory for storing instructions executable by the processor, wherein the processor is configured to call the instructions stored by the memory so as to execute the household garbage classification and cleaning transportation method provided by the invention.

The invention also provides a computer readable medium having stored thereon computer program instructions executable by one or more processors to implement the present household garbage classification and cleaning delivery method.

It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, apparatus, article, or method that comprises the element.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.

The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims

1. A method for classifying, cleaning and transporting domestic waste, characterized in that it comprises the following steps:

S1: Real-time monitoring and collection of ultrasonic parameter data of domestic waste, then rough classification and weighing, fine classification of domestic waste, and placing the classified domestic waste into different waste cleaning and transportation bins;

S2: real-time monitoring of the geographic location coordinates and travel direction of the domestic waste cleaning and transportation vehicle, and calculation of the total distance between the starting point and the target end point of the domestic waste cleaning and transportation vehicle, judging whether the domestic waste cleaning and transportation vehicle turns in an arc or in a straight line at an intermediate garbage collection point during the garbage cleaning process, and planning the turning direction of the domestic waste cleaning and transportation vehicle in an arc turn;

S3: Further optimize the shortest path of garbage collection and transportation by the garbage collection and transportation vehicle to complete the classification and collection of domestic garbage;

The real-time collection of ultrasonic parameter data of domestic waste and weighing data after rough classification in step S1 to finely classify domestic waste includes the following steps:

S11: real-time monitoring of the temperature T(t) of domestic garbage, and emitting ultrasonic signals to the domestic garbage, real-time monitoring of the height L(t) of the domestic garbage from the horizontal plane where the ultrasonic signal emission source point is located, the radial distance R(t) from the horizontal plane where the domestic garbage is located to the central axis of the ultrasonic signal emission source point, the angle θ(t) between the horizontal plane where the ultrasonic incident point of the monitored garbage is located and the ultrasonic emission source point, and the angle β(t) between the horizontal plane where the ultrasonic incident point of the monitored garbage is located and the direction of refraction of the ultrasonic wave by the monitored garbage;

S12: constructing a real-time subdivision dryness and wetness calculation model for domestic waste, and calculating the real-time dryness and wetness of the monitored domestic waste during subdivision;

S13: determining whether the real-time dryness and wetness of the monitored domestic waste is greater than or equal to a humidity threshold value within the monitored time period n; if so, classifying the domestic waste as subdivided wet waste; otherwise, classifying the domestic waste as subdivided dry waste;

The method of constructing a real-time subdivision dryness and wetness calculation model for domestic waste in S12 comprises the following steps:

S121: Construct a calculation model of the dryness coefficient _DL (t) related to the height L (t) of the domestic garbage from the horizontal plane where the ultrasonic signal emission source point is located, and a calculation model of the dryness coefficient DR (t) related to the radial distance _R (t) from the horizontal plane where the domestic garbage is located to the central axis of the ultrasonic signal emission source point:

Among them, λ ₁ is the dryness composite density coefficient of domestic waste, _w1 is the total weight of dry garbage roughly sorted and weighed in step S1, and _w2 is the total weight of wet garbage roughly sorted and weighed in step S1;

S122: According to the results calculated in S121, a first domestic waste dryness and humidity mixing coefficient DH _L (t) calculation model and a second domestic waste dryness and humidity mixing coefficient DH _R (t) calculation model are respectively constructed:

Among them, λ ₂ is the humidity composite specific gravity coefficient of domestic waste, Q is the polarization mixing coefficient of the ultrasonic signal, μ(β(t)) is the refraction coefficient of the ultrasonic signal at the ultrasonic incident point with an angle of β(t) in the refraction direction, G(θ(t)) is the influence coefficient of the angle θ(t) between the horizontal plane where the ultrasonic incident point of the monitored garbage is located and the ultrasonic emission source point on the wet garbage detection, G(θ(t)) = λ ₂ /cos ² θ(t),

S123: Construct a calculation model for the dryness and humidity DH(t) of subdivided domestic garbage:

DH(t)=T(t)[1-(DH _L (t)+DH _R (t))]e ^-n +T(t)(1-κ)(1-e ^-n )[1+e ^-n (1-(DH _L (t)+DH _R (t)))]

Wherein, η is the attenuation coefficient of the ultrasonic signal caused by the monitored garbage, and κ is the reflection coefficient of the ultrasonic signal caused by the monitored garbage; and the real-time dryness and wetness of the subdivided domestic garbage are calculated;

The S2 step includes the following steps:

S21: real-time monitoring of the geographical location coordinates ( _xq , _yq ) of the domestic waste cleaning and transporting vehicle at the qth intermediate waste collection point in the plane rectangular coordinate system composed of the x-axis and y-axis of the geodetic coordinate system, and the angle αq between its traveling direction and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system, _q =1, 2, ..., m; furthermore, the geographical location coordinates of the domestic waste cleaning and transporting vehicle at the starting point are ( _x1 , _y1 ), and the angle between the traveling direction at the starting point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is _α1 ; the geographical location coordinates of the target terminal of the domestic waste cleaning and transporting vehicle at the mth intermediate waste collection point are ( _xm , _ym ), and the angle between the traveling direction at the mth intermediate waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is _αm ; the first intermediate waste collection point is the starting point of the domestic waste cleaning and transporting vehicle, and the mth intermediate waste collection point is the last waste collection point of the domestic waste cleaning and transporting vehicle;

S22: Calculate the total distance D _total between the starting point and the target end point of the domestic waste cleaning and transporting vehicle:

S23: According to the diameter of the domestic waste cleaning and transporting vehicle, the minimum turning circle radius _rmin of the domestic waste cleaning and transporting vehicle at the intermediate waste collection point is limited: Wherein, d is the front and rear wheelbase of the domestic waste cleaning and transport vehicle;

S24: If the total distance D _toatal between the starting point and the target end point of the domestic waste cleaning and transporting vehicle calculated in step S22 is ≥50r _min , the domestic waste cleaning and transporting vehicle adopts a walking path of turning in a circular turning manner at the intermediate waste collection point; if the total distance between the starting point and the target end point of the domestic waste cleaning and transporting vehicle calculated in step S22 satisfies the following condition: 30r _min <D _toatal <50r _min , the domestic waste cleaning and transporting vehicle adopts a walking path of turning in a straight turning manner at the intermediate waste collection point;

When the domestic waste cleaning and transporting vehicle adopts a circular turning path at the intermediate waste collection point, the step S2 plans the turning direction of the circular turning method of the domestic waste cleaning and transporting vehicle, including the following steps:

S201: Constructing the total path length of the turning path of the domestic waste cleaning and transporting vehicle using an arc turning method Computational model:

When the domestic waste cleaning and transport vehicle turns in an arc, the turning angle at the qth intermediate waste collection point is β ₁ , and the turning path distance is In order to reach the q+1th intermediate garbage collection point, the domestic garbage cleaning and transporting vehicle has a turning angle of β ₂ at the q+1th intermediate garbage collection point, and a turning path distance of The straight-line distance that the domestic waste cleaning and transporting vehicle travels after turning at the qth intermediate waste collection point and turning to reach the q+1th intermediate waste collection point is and The turning distance of the qth intermediate garbage collection point obtained by real-time monitoring in step S1 is The horizontal and vertical coordinates of the point C _q on the circle with the center O _q where the arc path is located, and The turning distance before reaching the q+1th intermediate garbage collection point obtained by real-time monitoring in step S1 is The horizontal and vertical coordinates of the point C _q+1 on the circle whose center is O _q+1 where the arc path is located;

S202: According to the angles α q and α q+1 between the travel directions of the domestic waste cleaning and transporting vehicle at the qth intermediate waste collection point and the q+1th intermediate waste collection point and the x-axis of the earth coordinate system in the plane rectangular coordinate system, respectively, which are monitored in real time in step _S21 , the turning angles β ₁ and β ₂ of the domestic waste cleaning and transporting vehicle at the qth intermediate waste collection point and the q+1th intermediate waste collection point are converted into calculation formulas in the plane _rectangular coordinate system:

S203: The total path length of the path of the domestic waste cleaning and transporting vehicle turning in an arc according to the conversion result of step S202 and the total path length of the path of the domestic waste cleaning and transporting vehicle turning in an arc according to step S201 Calculation model, construct a calculation model for the total length of the turning walking path that minimizes the circular turning method:

S204: Obtaining the optimal angle between the travel direction of the domestic waste cleaning and transporting vehicle at the q+1th intermediate waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system The absolute value of:

S205: Determine whether the absolute value of the angle α _q+1 between the travel direction of the q+1th intermediate garbage collection point of the domestic garbage cleaning and transportation vehicle and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system |α _q+1 | obtained by real-time monitoring satisfies If it is greater, turn left at the q+1 intermediate garbage collection point, otherwise turn right;

The humidity threshold DH _thres of step S13 is:

Wherein, t=1, 2, ..., n, and n is the total time for transmitting ultrasonic signals to monitor domestic waste.

2. The method for classifying, cleaning and transporting domestic waste according to claim 1 is characterized in that in step S3, the garbage cleaning and transporting path of the domestic waste cleaning and transporting vehicle is further optimized to the shortest possible level, comprising the following steps:

S31: According to the left or right turn direction of each intermediate garbage collection point determined in steps S201-S205, the domestic garbage cleaning and transportation vehicle turns and walks in a circular turning manner, and the included angle α _j between the traveling direction of each intermediate garbage collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is monitored in real time as an initial value, j=2, 3, ... m-1;

S32: Take the average values of the angles _αj and αj ₊₁ between the travel direction of the jth and j+1th intermediate domestic waste collection points and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system, respectively, as the predicted value of the angle between the travel direction of the jth intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system

S33: using the predicted value of the angle between the travel direction of the j-th intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system Replace the angle α _j between the travel direction of the j-th intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system, and calculate the updated value set of the angles between the travel directions of all intermediate domestic waste collection points and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system:

S34: Using a genetic algorithm to optimize the angle update value set calculated in step S33 The updated value of the angle of each intermediate domestic waste collection point in Calculate the fitness value of the angle update value set S

S35: Determine the updated value of the angle of the jth intermediate domestic waste collection point Is it greater than the fitness value of the angle update value set S calculated in step S34? If so, the angle update value of the jth intermediate domestic waste collection point is adopted. Substitute the total path length of the arc turning walking path constructed in steps S201-S202 into In the calculation model, the shortest optimization value of the turning walking path of the circular turning method is obtained; otherwise, the angle update value of each intermediate domestic waste collection point is corrected using discrete accuracy ε That is, the angle update value of each intermediate domestic waste collection point is used Repeating the steps S31-S34 as the initial value of step S31 to optimize the angle between each intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system;

3. A system for classifying, cleaning and transporting domestic waste according to any one of the methods described in claims 1-2, characterized in that it comprises a domestic waste ultrasonic parameter acquisition module, a domestic waste coarse classification and weighing module, a domestic waste temperature acquisition module, a domestic waste fine classification module, a domestic waste cleaning and transport vehicle geographic location parameter acquisition module, a total distance calculation module, a turning mode control module and a shortest path optimization module;

The domestic waste ultrasonic parameter collection module includes an ultrasonic transmitter and an ultrasonic receiver, which are used to monitor and collect ultrasonic parameter data of domestic waste in real time;

The domestic waste rough classification and weighing module is used to roughly classify the domestic waste and weigh the dry waste and wet waste after the rough classification;

The domestic waste temperature collection module is used to monitor and collect the temperature of domestic waste in real time;

The household waste sub-classification module is used to construct a real-time sub-classification dryness and humidity calculation model for household waste, calculate the real-time dryness and humidity of the monitored household waste and the humidity threshold when performing sub-classification, and perform sub-classification on the household waste;

The geographical location parameter acquisition module of the domestic waste cleaning and transporting vehicle is used to monitor and acquire the geographical location coordinates of the domestic waste cleaning and transporting vehicle at each intermediate waste collection point in real time in the plane rectangular coordinate system composed of the x-axis and y-axis of the geodetic coordinate system and the angle between the geographical location coordinates and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system;

The total distance calculation module is used to calculate the total distance between the starting point and the target end point of the domestic waste cleaning and transportation vehicle;

The turning mode control module is used to determine whether the domestic waste cleaning and transporting vehicle uses an arc turning mode or a straight turning mode at an intermediate garbage collection point during the garbage cleaning process, and to plan the garbage cleaning and transportation path of the domestic waste cleaning and transporting vehicle;

The shortest path optimization module is used to optimize the garbage collection and transportation path of the domestic garbage collection and transportation vehicle in the shortest possible manner.

4. An electronic device, comprising a processor and a memory for storing instructions executable by the processor; characterized in that the processor is configured to call the instructions stored in the memory to execute the method for classifying, cleaning and transporting domestic waste as described in any one of claims 1-2.

5. A computer-readable medium having computer program instructions stored thereon, characterized in that the computer program instructions can be executed by one or more processors to implement the method for classifying, cleaning and transporting domestic waste as described in any one of claims 1-2.