CN-121974061-A - Autonomous discharging method and device, electronic equipment and storage medium

CN121974061ACN 121974061 ACN121974061 ACN 121974061ACN-121974061-A

Abstract

The invention provides an autonomous discharging method, an autonomous discharging device, electronic equipment and a storage medium, which relate to the technical field of autonomous discharging and are used for discharging from a loading and unloading type garbage truck to a movable garbage station, wherein the loading and unloading type garbage truck comprises a box body lifting oil cylinder, a tail camera and a scraping plate mechanism; the method comprises the steps of obtaining pressure signals of a box body lifting oil cylinder and image data collected by a tail camera, determining an estimated value of the weight of garbage in a self-loading garbage truck box body based on the pressure signals, identifying the garbage filling state in a garbage hopper of a mobile garbage station based on the image data, generating a discharging control instruction based on the estimated value and the garbage filling state, controlling the box body lifting oil cylinder to execute lifting or stopping action based on the discharging control instruction, and synchronously controlling a scraper mechanism to execute opening or closing action so as to perform autonomous discharging. In the mode, manual intervention is not needed, the single dumping quantity can be automatically controlled, garbage overflow is avoided, and the discharging efficiency and the operation safety are remarkably improved.

Inventors

Ding Jiaan
GU RUI
HUANG CHUNLONG
LIU RENXIN

Assignees

南京金龙客车制造有限公司

Dates

Publication Date: 20260505
Application Date: 20260409

Claims (10)

1. The automatic unloading method is characterized by being used for unloading from a loading and unloading type garbage truck to a movable garbage station, wherein the loading and unloading type garbage truck comprises a box body lifting oil cylinder, a tail camera and a scraper mechanism, and the method comprises the following steps: acquiring a pressure signal of the box lifting oil cylinder and image data acquired by the tail camera; determining an estimate of the weight of the refuse within the self-loading truck bed based on the pressure signal; identifying a waste fill status within a waste bin of a mobile waste station based on the image data; Generating a discharge control instruction based on the estimated value and the waste filling state; And controlling the lifting oil cylinder of the box body to execute lifting or stopping action based on the unloading control instruction, and synchronously controlling the scraper mechanism to execute opening or closing action so as to perform autonomous unloading.
2. The method of claim 1, wherein the determining an estimate of the weight of the refuse within the self-loading truck bed based on the pressure signal comprises: Based on the cylinder diameter, the rod diameter and the lifting angle of the box body lifting oil cylinder, and combining the pressure signals, determining the real-time output force of the box body lifting oil cylinder in the current lifting state; Acquiring a gravity center position parameter of the box body under the current lifting angle; Based on the real-time output force and the gravity center position parameter, establishing a moment balance equation of the box body; The estimate is determined based on the torque balance equation.
3. The method of claim 2, wherein the identifying a waste fill status within a waste bin of a mobile waste station based on the image data comprises: Extracting a contour region of the trash bin from the image data; Identifying pixel characteristics of garbage accumulation in the outline area, and comparing the pixel characteristics with background pixel characteristics of the garbage hopper in an empty hopper state to obtain a comparison result; determining the current filling rate of the garbage hopper based on the comparison result; and determining the garbage filling state based on the current filling rate and a preset overflow threshold value.
4. A method according to claim 3, wherein said generating a discharge control instruction based on said estimated value and said waste filling status comprises: comparing the estimated value with a preset single dumping weight threshold value; And if the estimated value reaches the single dumping weight threshold value or the garbage filling state is an overflow state, the dumping control instruction is a dumping stopping instruction, and otherwise, the dumping control instruction is a dumping continuing instruction.
5. The method of claim 4, wherein the controlling the squeegee mechanism to perform an opening or closing action comprises: before the box body lifting oil cylinder starts lifting to topple over, controlling the scraper mechanism to operate to a closed position so as to block the garbage from flowing out; When the unloading control instruction is the continuous dumping instruction, controlling the scraper mechanism to operate to an opening position, and allowing garbage to be dumped; when the unloading control instruction is the dumping stopping instruction, controlling the scraper mechanism to operate to a closed position, and controlling the lifting oil cylinder of the box body to stop lifting or start descending.
6. The method of claim 4, wherein the method of setting the single dump weight threshold comprises: the method comprises the steps of obtaining the effective volume of a garbage hopper of a mobile garbage station in advance and the average density of garbage types to be dumped; determining a single maximum holding weight for the trash bin based on the effective volume and the average density; The single dump weight threshold is determined based on the single maximum holding weight and a pre-set safety factor.
7. The method of claim 4, wherein prior to the acquiring the pressure signal of the tank lift ram and the image data acquired by the tail camera, the method further comprises: Receiving a model identification of a mobile garbage station to be sent to, which is input by a user; invoking the garbage bucket volume parameter and the recommended dumping control parameter corresponding to the model identification from a pre-stored database; And setting the single dumping weight threshold and the overflow threshold of the discharging operation based on the garbage bucket volume parameter and the dumping control parameter.
8. The automatic unloading device is characterized by being used for unloading from a loading and unloading type garbage truck to a movable garbage station, wherein the loading and unloading type garbage truck comprises a box body lifting oil cylinder, a tail camera and a scraper mechanism, and the device comprises: The data acquisition module is used for acquiring pressure signals of the box lifting oil cylinder and image data acquired by the tail camera; an estimated value determining module for determining an estimated value of the weight of the refuse in the self-loading and unloading type refuse container body based on the pressure signal; The garbage filling state identification module is used for identifying the garbage filling state in the garbage hopper of the mobile garbage station based on the image data; The unloading control instruction generation module is used for generating an unloading control instruction based on the estimated value and the garbage filling state; And the automatic discharging module is used for controlling the lifting oil cylinder of the box body to execute lifting or stopping action based on the discharging control instruction and synchronously controlling the scraper mechanism to execute opening or closing action so as to perform automatic discharging.
9. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the autonomous discharge method of any of claims 1-7.
10. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the autonomous discharge method of any one of claims 1 to 7.

Description

Autonomous discharging method and device, electronic equipment and storage medium Technical Field The present invention relates to the field of autonomous unloading technologies, and in particular, to an autonomous unloading method, an apparatus, an electronic device, and a storage medium. Background The self-loading and unloading garbage truck is a common sanitation vehicle for collecting and transporting urban household garbage, and is used for loading garbage through a bucket lifting mechanism and a compression mechanism and then driving to a transfer station for unloading. Currently, refuse transfer stations are often provided with a plurality of mobile refuse stations for temporary storage of refuse. In the related art, the unloading mode needs an operator to manually control the lifting angle of the box body and the opening degree of the scraping plate according to experience, and the unloading mode is repeated for multiple times so as to unload the garbage into the station. The operation mode relying on manual judgment not only requires drivers to frequently adjust the executing mechanism, has high labor intensity and low operation efficiency, but also is difficult to accurately control because of single dumping quantity, and is extremely easy to cause the condition that garbage overflows and pollutes or is not dumped in place, thereby influencing the normal operation of the transfer station. Disclosure of Invention Accordingly, the present invention aims to provide an autonomous unloading method, apparatus, electronic device and storage medium, which can automatically control single dumping amount without manual intervention, avoid garbage overflow, and remarkably improve unloading efficiency and operation safety. In a first aspect, the embodiment of the invention provides an autonomous unloading method for unloading from a loading and unloading garbage truck to a movable garbage station, wherein the loading and unloading garbage truck comprises a box body lifting oil cylinder, a tail camera and a scraping plate mechanism; the method comprises the steps of obtaining pressure signals of a box body lifting oil cylinder and image data collected by a tail camera, determining an estimated value of the weight of garbage in a self-loading garbage truck box body based on the pressure signals, identifying the garbage filling state in a garbage hopper of a mobile garbage station based on the image data, generating a discharging control instruction based on the estimated value and the garbage filling state, controlling the box body lifting oil cylinder to execute lifting or stopping action based on the discharging control instruction, and synchronously controlling a scraper mechanism to execute opening or closing action so as to perform autonomous discharging. In a preferred embodiment of the invention, the method for determining the estimated value of the garbage weight in the self-loading garbage truck box based on the pressure signal comprises the steps of determining the real-time output force of the truck lifting oil cylinder in the current lifting state based on the cylinder diameter, the rod diameter and the lifting angle of the truck lifting oil cylinder and combining the pressure signal, acquiring the gravity center position parameter of the truck lifting oil cylinder in the current lifting state, establishing a moment balance equation of the truck based on the real-time output force and the gravity center position parameter, and determining the estimated value based on the moment balance equation. In a preferred embodiment of the invention, the identification of the filling state of the garbage in the garbage hopper of the mobile garbage station based on the image data comprises the steps of extracting a contour area of the garbage hopper from the image data, identifying pixel characteristics of garbage accumulation in the contour area, comparing the pixel characteristics with background pixel characteristics of the garbage hopper in an empty hopper state to obtain a comparison result, determining the current filling rate of the garbage hopper based on the comparison result, and determining the filling state of the garbage based on the current filling rate and a preset overflow threshold. In a preferred embodiment of the present invention, the generating the discharge control instruction based on the estimated value and the garbage filling state includes comparing the estimated value with a preset single dump weight threshold, if the estimated value reaches the single dump weight threshold or the garbage filling state is an overflow state, the discharge control instruction is a stop dumping instruction, otherwise, the discharge control instruction is a continue dumping instruction. In the preferred embodiment of the invention, the control scraper mechanism performs opening or closing actions, and comprises controlling the scraper mechanism to move to a closed position to stop the outflow of garbage b