CN-114550043-B - Method and device for recycling waste

Abstract

The application provides a waste recycling method and device, wherein the method comprises the steps of obtaining video data of a target area shot by a camera, identifying whether the video data contains target colors, identifying whether an object corresponding to the target colors is a moving object through delay detection if the video data contains the target colors, generating a waste recycling list if the object corresponding to the target colors is not the moving object, selecting an automatic navigation vehicle closest to the waste storage area position according to the waste storage area position corresponding to the waste recycling list and the position of an idle automatic navigation vehicle, determining the automatic navigation vehicle as the target automatic navigation vehicle, sending the waste storage area position to the target automatic navigation vehicle, and controlling the target automatic navigation vehicle to travel to the waste storage area position to load waste. According to the application, the technical problem that the waste recovery list is required to be generated manually in the prior art is solved by identifying the target color in the video data to generate the waste recovery list, so that the technical effect of improving the efficiency is achieved.

Inventors

• QU DEZHI
• XIE CHEN
• LI CHAOZHEN
• LI JI
• CHEN YANNAN
• CHEN CHUNGUANG
• WEI DIANJIN
• NONG BIN
• CHEN ZHIMING
• CHEN FENG
• GUO ZHIHONG
• LU JIAN
• LU JIANFENG
• ZHU RUNMING
• TANG QINGHUI
• ZHOU ZHAOFENG
• WU JINGHUA

Assignees

• 广西中烟工业有限责任公司

Dates

Publication Date

20260512

Application Date

20220222

Claims (10)

1. 1. A method of recycling waste material, the method comprising: acquiring video data of a target area shot by a camera, wherein the target area refers to a waste storage area of a waste recycling platform corresponding to the camera; Identifying whether the video data contains a target color or not, wherein the target color is used for indicating the corresponding color of the waste bag; If the video data contains the target color, identifying whether the object corresponding to the target color is a moving object through delay detection, generating a waste recycling sheet when the object corresponding to the target color is not the moving object, wherein the waste recycling sheet comprises a waste storage area position of a waste recycling platform, Or if the video data contains the target color, determining whether the object corresponding to the target color is waste or not by carrying out edge detection on the edge shape of the object corresponding to the target color, and generating a waste recycling sheet when the object corresponding to the target color is waste; Acquiring the position of an idle automatic navigation vehicle; According to the position of the waste storage area corresponding to the waste recycling sheet and the position of the idle automatic navigation vehicle, selecting the automatic navigation vehicle closest to the position of the waste storage area, and determining the automatic navigation vehicle as a target automatic navigation vehicle; and sending the position of the waste storage area to the target automatic navigation vehicle, controlling the target automatic navigation vehicle to travel to the position of the waste storage area to load and pick up waste, and transporting the waste to a waste recycling workshop.
2. 2. The method of claim 1, wherein prior to the acquiring the location of the idle automated guided vehicle, the method further comprises: Judging whether an unexecuted waste recycling list exists or not according to a first preset time interval; if the unexecuted waste recovery list exists, judging whether an idle automatic navigation vehicle exists according to the time sequence of the waste recovery list; If the idle automatic navigation vehicle exists, acquiring the position of the idle automatic navigation vehicle.
3. 3. The method according to claim 1, wherein the selecting the closest automated guided vehicle to the scrap storage area location based on the scrap storage area location and the location of the empty automated guided vehicle corresponding to the scrap recovery sheet, determining the closest automated guided vehicle to the scrap storage area location, comprises: acquiring the electric quantity of an idle automatic navigation vehicle, and judging whether the electric quantity is larger than an electric quantity threshold value or not; Calculating a distance difference between the position of the waste storage area and the position of the automatic navigation vehicle with the electric quantity larger than an electric quantity threshold value; And selecting the automatic navigation vehicle with the smallest distance difference value, and determining the automatic navigation vehicle as the target automatic navigation vehicle.
4. 4. The method of claim 1, wherein the sending the scrap storage area location to the target automated guided vehicle, controlling the target automated guided vehicle to travel to the scrap storage area location to pick up scrap, transporting the scrap to a scrap recycling plant comprises: The position of the waste storage area is sent to a target automatic navigation vehicle, and the target automatic navigation vehicle is controlled to travel to the position of the waste storage area; Positioning a tray jack for loading and taking waste on the waste storage area; And controlling the fork of the target automatic navigation vehicle to be aligned with the tray jack, and carrying the tray and transporting the tray to a waste recycling workshop.
5. 5. The method of claim 1, wherein after the acquiring the location of the idle automated guided vehicle, the method further comprises: identifying whether the number of waste recovery sheets being executed is less than a preset number; If the number of the executing waste recovery sheets is smaller than the preset number, randomly selecting a waste recovery station except the waste recovery station corresponding to the executing waste recovery sheet as a target waste recovery station; Generating a waste recycling sheet comprising waste storage area positions corresponding to the target waste recycling station; and controlling the target automatic navigation vehicle to travel to the position of the waste storage area corresponding to the waste recycling sheet.
6. 6. The method of claim 5, wherein controlling the target autonomous guided vehicle to travel to the scrap storage area location corresponding to the scrap recovery sheet comprises: Starting timing from the position of the target automatic navigation vehicle reaching the waste storage area, and determining the timing result as waiting time; Identifying whether the weight on the fork of the target automatic navigation vehicle is greater than a weight threshold; if the weight on the fork of the target automatic navigation vehicle is greater than a weight threshold, conveying the waste to a waste recovery workshop; If the weight on the fork of the target automatic navigation vehicle is smaller than or equal to a weight threshold value, judging whether the waiting time is larger than a second preset time interval or not; And if the waiting time is longer than a second preset time interval, controlling the target automatic navigation vehicle to return to the garage.
7. 7. The method according to claim 1, wherein if the video data contains a target color, identifying whether the object corresponding to the target color is a moving object through delay detection comprises: If the video data contains the target color, identifying whether the region containing the target color in the video data is larger than a region threshold value; If the area containing the target color in the video data is larger than the area threshold value, identifying whether the object corresponding to the target color is a moving object or not through delay detection.
8. 8. A waste recycling device, the device comprising: The system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring video data of a target area shot by a camera, and the target area refers to a waste storage area of a waste recycling platform corresponding to the camera; The first identification module is used for identifying whether the video data contains a target color or not, wherein the target color is used for indicating the corresponding color of the waste bag; The second identification module is used for identifying whether an object corresponding to the target color is a moving object or not through delay detection if the video data contains the target color; A generation module for generating a waste recycling sheet when the object corresponding to the target color is not a moving object, the waste recycling sheet including a waste storage area position of a waste recycling station; or the second recognition module is used for determining whether the object corresponding to the target color is waste or not through edge detection aiming at the edge shape of the object corresponding to the target color if the video data contains the target color; or the generation module is used for generating a waste recycling sheet when the object corresponding to the target color is waste; The second acquisition module is used for acquiring the position of the idle automatic navigation vehicle; the determining module is used for selecting an automatic navigation vehicle closest to the waste storage area position according to the waste storage area position corresponding to the waste recovery list and the idle automatic navigation vehicle position, and determining the automatic navigation vehicle as a target automatic navigation vehicle; And the control module is used for sending the waste storage area position to the target automatic navigation vehicle, controlling the target automatic navigation vehicle to travel to the waste storage area position to load and take the waste, and transporting the waste to a waste recycling workshop.
9. 9. An electronic device comprising a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the electronic device is in operation, the machine-readable instructions being executable by the processor to perform the steps of the method of recycling waste material according to any one of claims 1 to 7.
10. 10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the method for recycling waste material according to any one of claims 1 to 7.

Description

Method and device for recycling waste Technical Field The application relates to the technical field of industrial automation, in particular to a method and a device for recycling waste. Background In the operation process of the wrapping workshop, a large amount of waste is generated, so that the waste needs to be recovered regularly, in the prior art, the waste generated in the production process needs to be manually determined when to be recovered, the recovery efficiency is influenced, and the accuracy of statistics on the frequency of recovering the waste is influenced. Disclosure of Invention In view of the above, the present application aims to provide at least a method and a device for recycling waste, which solve the technical problem that the waste recycling list needs to be manually generated in the prior art by identifying a target color in video data to generate the waste recycling list, thereby achieving the technical effect of improving efficiency. The application mainly comprises the following aspects: in a first aspect, an embodiment of the present application provides a method for recycling waste materials, including obtaining video data of a target area captured by a camera, the target area being a waste material storage area of a waste material recycling platform corresponding to the camera, identifying whether the video data contains a target color, identifying whether an object corresponding to the target color is a moving object through delay detection if the video data contains the target color, generating a waste material recycling sheet if the object corresponding to the target color is not the moving object, the waste material recycling sheet including a waste material storage area position of the waste material recycling platform, obtaining a position of an idle automatic navigation vehicle, selecting the automatic navigation vehicle closest to the waste material storage area position according to the waste material storage area position corresponding to the waste material recycling sheet and the position of the idle automatic navigation vehicle, determining the closest to the waste material storage area position as the target automatic navigation vehicle, transmitting the waste material storage area position to the target automatic navigation vehicle, controlling the target automatic navigation vehicle to travel to the waste material storage area position to load the waste material, and transporting the waste material to the waste material recycling workshop. Optionally, before acquiring the position of the idle automatic navigation vehicle, the method further comprises judging whether an unexecuted waste recycling list exists according to a first preset time interval, judging whether the idle automatic navigation vehicle exists according to the time sequence of the unexecuted waste recycling list if the unexecuted waste recycling list exists, and acquiring the position of the idle automatic navigation vehicle if the idle automatic navigation vehicle exists. The method comprises the steps of acquiring electric quantity of the idle automatic navigation vehicle, judging whether the electric quantity is larger than an electric quantity threshold value, calculating a distance difference value between the position of the waste storage area and the position of the automatic navigation vehicle with the electric quantity larger than the electric quantity threshold value, and selecting the automatic navigation vehicle with the smallest distance difference value as the target automatic navigation vehicle. Optionally, the method comprises the steps of sending the waste storage area position to a target automatic navigation vehicle, controlling the target automatic navigation vehicle to travel to the waste storage area position for carrying waste, and transporting the waste to a waste recycling workshop, wherein the method comprises the steps of sending the waste storage area position to the target automatic navigation vehicle, controlling the target automatic navigation vehicle to travel to the waste storage area position; and controlling the fork of the target automatic navigation vehicle to be aligned with the tray jack, loading and taking the tray and transporting the tray to a waste recycling workshop. Optionally, after the position of the idle automatic navigation vehicle is acquired, the method further comprises the steps of identifying whether the number of the executing waste recovery orders is smaller than a preset number, randomly selecting a waste recovery platform except the waste recovery platform corresponding to the executing waste recovery orders as a target waste recovery platform if the number of the executing waste recovery orders is smaller than the preset number, generating the waste recovery orders comprising the waste storage area positions corresponding to the target waste recovery platform, and controlling the target automatic navigation vehicle to drive to the was