实验环境

（1）硬件环境

（2）软件环境

实验步骤

1. 启动虚拟机，在Windows电脑中，使用Vmware运行Ubuntu系统。
2. 找到路径 /Home/Dofbot/6.AI_Visual/7.Garbage identification.ipynb，右击选择用Jupyter Notebook启动，输入密码 shujia。
3. 按照代码单元顺序执行程序，启动垃圾识别功能。
4. 将垃圾物品置于摄像头前方，观察识别效果，系统会在物品区域绘制蓝色方框进行标记。
5. 实验结束后，通过程序退出功能关闭摄像头和识别进程。

实验结果

垃圾识别结果

主要代码

代码路径：/Home/Dofbot/6.AI_Visual/7.Garbage identification.ipynb

1. 模型导入与初始化（garbage_identify.py）：

#!/usr/bin/env python3
# coding: utf-8
import time
import torch
import rospy
import Arm_Lib
import cv2 as cv
import numpy as np
from time import sleep
from numpy import random

from utils.torch_utils import select_device
from models.experimental import attempt_load
from utils.general import non_max_suppression, scale_coords, xyxy2xywh, plot_one_box

# 模型路径
model_path = '/home/shujia/Dofbot/6.AI_Visual/model0.pt'
# 初始化设备
device = select_device()
# 加载模型
model = attempt_load(model_path, map_location=device)

2. 垃圾识别函数（single_garbage_identify.py）：

def single_garbage_run(self, image):
    '''
    执行垃圾识别函数
    :param image: 原始图像
    :return: 识别后的图像,识别信息(name, pos)
    '''
    while 1:
        self.frame = cv.resize(image, (640, 480))
        try: 
            self.garbage_getName()
        except Exception: 
            print("sqaure_pos empty")
        return self.frame

3. 垃圾名字与分类列表（single_garbage_identify.py）：

def garbage_getName(self):
    name = "None"
    if self.status == 'waiting':
        self.frame, msg = self.garbage_identify.garbage_run(self.frame)
        for key, pos in msg.items(): 
            name = key
        # 根据识别到的垃圾名称设置编号和类别
        if name == "Zip_top_can":              (self.garbage_num, self.garbage_class) = ('00', '01')
        if name == "Old_school_bag":           (self.garbage_num, self.garbage_class) = ('01', '01')
        if name == "Newspaper":                (self.garbage_num, self.garbage_class) = ('02', '01')
        if name == "Book":                     (self.garbage_num, self.garbage_class) = ('03', '01')
        if name == "Toilet_paper":             (self.garbage_num, self.garbage_class) = ('04', '02')
        if name == "Peach_pit":                (self.garbage_num, self.garbage_class) = ('05', '02')
        if name == "Cigarette_butts":          (self.garbage_num, self.garbage_class) = ('06', '02')
        if name == "Disposable_chopsticks":    (self.garbage_num, self.garbage_class) = ('07', '02')
        if name == "Egg_shell":                (self.garbage_num, self.garbage_class) = ('08', '03')
        if name == "Apple_core":               (self.garbage_num, self.garbage_class) = ('09', '03')
        if name == "Watermelon_rind":          (self.garbage_num, self.garbage_class) = ('10', '03')
        if name == "Fish_bone":                (self.garbage_num, self.garbage_class) = ('11', '03')
        if name == "Expired_tablets":          (self.garbage_num, self.garbage_class) = ('12', '04')
        if name == "Expired_cosmetics":        (self.garbage_num, self.garbage_class) = ('13', '04')
        if name == "Used_batteries":           (self.garbage_num, self.garbage_class) = ('14', '04')
        if name == "Syringe":                  (self.garbage_num, self.garbage_class) = ('15', '04')
        if name == "None":                     (self.garbage_num, self.garbage_class) = ('None', 'None')

4. 主线程（7.Garbage identification.ipynb）：

def camera():
    # 打开摄像头
    capture = cv.VideoCapture(0)
    # 当摄像头正常打开的情况下循环执行
    while capture.isOpened():
        try:
            _, img = capture.read()
            img = cv.resize(img, (640, 480))
            # 调用垃圾识别函数
            img = single_garbage.single_garbage_run(img)
            if model == 'Exit':
                cv.destroyAllWindows()
                capture.release()
                break
            # 更新图像显示
            imgbox.value = cv.imencode('.jpg', img)[1].tobytes()
        except KeyboardInterrupt:
            capture.release()

可识别垃圾类别说明：

垃圾名称	编号	类别代码	类别说明
Zip_top_can（易拉罐）、Old_school_bag（旧书包）、Newspaper（报纸）、Book（书籍）	00-03	01	可回收物
Toilet_paper（卫生纸）、Peach_pit（桃核）、Cigarette_butts（烟蒂）、Disposable_chopsticks（一次性筷子）	04-07	02	其他垃圾
Egg_shell（蛋壳）、Apple_core（苹果核）、Watermelon_rind（西瓜皮）、Fish_bone（鱼骨）	08-11	03	厨余垃圾
Expired_tablets（过期药片）、Expired_cosmetics（过期化妆品）、Used_batteries（废旧电池）、Syringe（注射器）	12-15	04	有害垃圾