Cleaning Assistance System and Methods for Green Areas

Abstract

This invention discloses a cleaning assistance system and method for green areas. The system uses an intelligent recognition terminal to identify the current work scenario and display the corresponding cleaning strategy to cleaning personnel. It records the cleaning trajectory, locates the garbage accumulation points, and sends these locations to the cleaning equipment. The cleaning equipment then automatically plans its route based on the received garbage accumulation points, performs the cleaning operation, bags the accumulated garbage, and sends the location of the garbage bags to a garbage transfer device. Finally, the garbage transfer device automatically plans its route based on the received garbage bag locations to transfer the garbage bags. Throughout the entire cleaning process, cleaning personnel only need to perform the cleaning actions, without needing to bag or transfer the garbage, greatly reducing labor intensity. Furthermore, the use of image recognition, positioning, and path planning technologies enables human-machine collaborative operation, significantly improving cleaning efficiency and effectiveness.

Description

Technical Field

[0001] This invention relates to the field of green area cleaning technology, and in particular, to a cleaning auxiliary system and method for green areas. Background Technology

[0002] With the increasing urbanization and rising demands for a better living environment from urban residents, many cities have built numerous parks and green areas for residents to stroll and enjoy. As urbanization continues to progress, the government has increasingly higher requirements for the construction and operation of parks and green spaces, and stricter environmental standards. Currently, the cleaning of green areas is mainly done manually. Sanitation workers use tools such as leaf rakes to collect fallen leaves, garbage, and other types of waste, then bag or shovel them to designated garbage disposal areas. However, in urban landscape belts and large parks, the green areas are large, and there is often a mixture of grass, trees, and shrubs, making cleaning complex, leaving many unsanitary corners and making cleaning difficult. For example, garbage in bushes is hard to remove. This situation usually requires a large investment of manpower for concentrated or periodic cleaning, resulting in low overall cleaning efficiency, poor cleaning results, and high costs. Moreover, the sanitation sector currently faces labor shortages, with sanitation workers generally being older and unable to handle high-intensity sanitation work. Summary of the Invention

[0003] This invention provides a cleaning assistance system and method for green areas to solve the technical problems of low cleaning efficiency, poor cleaning effect, and high labor intensity in existing manual cleaning methods for green areas.

[0004] According to one aspect of the present invention, a cleaning assistance system for green areas is provided, comprising:

[0005] The intelligent identification terminal is used to identify the current work scene and obtain the corresponding cleaning strategy based on the identification result, which is then displayed to the cleaning and maintenance personnel. During the cleaning and maintenance personnel's cleaning operation of the green area, the cleaning trajectory is recorded and the location of garbage accumulation is located, and the garbage accumulation location is sent to the cleaning and maintenance equipment.

[0006] The cleaning and sanitation equipment is used to bag and process accumulated garbage. After receiving multiple garbage collection locations, it automatically plans the route, travels along the planned route, and sends the garbage bag storage location to the garbage transfer equipment.

[0007] Waste transfer equipment is used to transfer and process garbage bags. After receiving multiple garbage bag storage locations, it automatically plans a route and travels along the planned route to transfer the garbage bags.

[0008] Furthermore, the intelligent identification terminal is also used to analyze the cleaning trajectory of the cleaning staff to obtain the cleaned area, and to determine whether the cleaned area covers the green area. If not, the missed cleaning area is displayed to the cleaning staff.

[0009] Furthermore, when the intelligent recognition terminal identifies the current working scenario as the green belt on both sides of the urban motor vehicle lane, the cleaning strategy it displays is: to sweep the garbage into the non-motor vehicle lane or pedestrian walkway;

[0010] When the intelligent recognition terminal identifies the current work scene as a park, its cleaning strategy is to sweep the garbage into the pedestrian walkway.

[0011] Furthermore, each time the cleaning and sanitation equipment finishes bagging the garbage, it first determines whether the current position matches the preset position coordinates. If they do not match, it adjusts the garbage bag storage position. If they match, it sends the garbage bag storage position to the garbage transfer equipment.

[0012] Furthermore, the preset location coordinates are obtained through manual calibration or garbage bag location planning algorithms.

[0013] Furthermore, the garbage bag location planning algorithm is specifically as follows:

[0014] Identify unsuitable placement points on the road, set distance constraints between adjacent garbage bags, and plan garbage bag placement locations with unsuitable placement points as obstacles and the shortest possible vehicle travel distance as the objective.

[0015] In addition, the present invention also provides a cleaning assistance method for green areas, which employs the cleaning assistance system described above and includes the following:

[0016] The intelligent recognition terminal identifies the current work scene and obtains the corresponding cleaning strategy based on the recognition results, which is then displayed to the cleaning and maintenance personnel. During the cleaning and maintenance personnel's cleaning operation of the green area, the cleaning trajectory is recorded and the location of garbage accumulation is located, and the garbage accumulation location is sent to the cleaning and maintenance equipment.

[0017] After receiving multiple garbage collection points, the cleaning and maintenance equipment automatically plans its route, travels along the planned route, and sends the garbage bag storage location to the garbage transfer equipment.

[0018] After receiving multiple garbage bag storage locations, the garbage transfer equipment automatically plans its route, travels along the planned route, and transfers the garbage bags.

[0019] Furthermore, the following content is included after the cleaning staff completes the cleaning work:

[0020] Based on the cleaning trajectory analysis of the cleaning staff, the cleaned areas are obtained, and it is determined whether the cleaned areas cover the green areas. If not, the missed areas are displayed to the cleaning staff.

[0021] Furthermore, when the current work scenario is identified as the green belt on both sides of the urban motor vehicle lane, the cleaning strategy displayed is: sweep the garbage into the non-motor vehicle lane or pedestrian walkway;

[0022] When the current work scenario is identified as a park, the cleaning strategy displayed is: sweep the trash into the pedestrian walkway.

[0023] Furthermore, each time the cleaning and sanitation equipment finishes bagging the garbage, it first determines whether the current position matches the preset position coordinates. If they do not match, it adjusts the garbage bag storage position. If they match, it sends the garbage bag storage position to the garbage transfer equipment.

[0024] The present invention has the following effects:

[0025] The green area cleaning assistance system of this invention uses an intelligent recognition terminal to intelligently identify the current work scene and display corresponding cleaning strategies to cleaning personnel based on the recognition results. During the cleaning operation, the system records the cleaning trajectory and locates garbage accumulation points, sending these locations to the cleaning equipment. The cleaning equipment then automatically plans its route based on the received garbage accumulation points, performs cleaning operations along the planned path, bags the accumulated garbage, and sends the location of the garbage bags to the garbage transfer equipment. Finally, the garbage transfer equipment automatically plans its route based on the received garbage bag locations, travels along the planned path, and transfers the garbage bags. Throughout the entire cleaning process, cleaning personnel only need to perform cleaning actions, eliminating the need for garbage bagging and transfer, significantly reducing labor intensity. Furthermore, the use of image recognition, positioning, and path planning technologies enables human-machine collaborative operation, greatly improving cleaning efficiency and effectiveness.

[0026] In addition, the cleaning assistance method for green areas of the present invention also has the above-mentioned advantages.

[0027] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0028] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0029] Figure 1 This is a schematic diagram of the module structure of the cleaning assistance system for green areas according to a preferred embodiment of the present invention.

[0030] Figure 2 This is a flowchart illustrating a cleaning assistance method for green areas according to another embodiment of the present invention. Detailed Implementation

[0031] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0032] like Figure 1 As shown, a preferred embodiment of the present invention provides a cleaning assistance system for green areas, including an intelligent identification terminal, which is used to identify the current work scene and obtain the corresponding cleaning strategy based on the identification result and display it to the cleaning staff. During the cleaning operation of the cleaning staff in the green area, the cleaning trajectory is recorded and the garbage accumulation location is located, and the garbage accumulation location is sent to the cleaning equipment.

[0033] The cleaning and sanitation equipment is used to bag and process accumulated garbage. After receiving multiple garbage collection locations, it automatically plans the route, travels along the planned route, and sends the garbage bag storage location to the garbage transfer equipment.

[0034] Waste transfer equipment is used to transfer and process garbage bags. After receiving multiple garbage bag storage locations, it automatically plans a route and travels along the planned route to transfer the garbage bags.

[0035] It can be understood that the intelligent recognition terminal is a portable image acquisition terminal, equipped with components such as a camera, processor, and positioning module. Cleaning personnel can wear it while cleaning green areas to collect and analyze images of the current work scene. Upon arrival at the cleaning site, personnel can manually identify the current work scene and set it on the intelligent recognition terminal, which will then display the corresponding cleaning strategy. Alternatively, the current work scene can be determined by image recognition of the captured images. The specific image recognition process is existing technology and will not be elaborated here. As an example, the current work scene can be analyzed by identifying key items or their relative positions in different work scenes. For instance, identifying multiple lane lines in the captured image indicates that the current work scene is a green belt along both sides of an urban motor vehicle lane; identifying benches in the captured image indicates that the current work scene is a park. Then, cleaning staff clean the green areas according to the cleaning strategy displayed by the intelligent recognition terminal. They can use tools such as leaf rakes to collect fallen leaves and trash. Optionally, to reduce labor intensity and improve cleaning efficiency, in this invention, cleaning staff use backpack blowers to blow away the trash. During the cleaning process, the intelligent recognition terminal records the cleaning trajectory in real time and locates multiple trash accumulation points based on the trajectory. It is understood that the intersection of multiple cleaning trajectories is generally a trash accumulation point. Therefore, when the number of cleaning trajectories involved in a certain trajectory intersection point reaches a preset threshold, the intersection point is identified as a trash accumulation point, and the coordinates of the trash accumulation location are sent to the cleaning equipment. After receiving multiple trash accumulation locations, the cleaning equipment automatically plans a path, preferably using the A* algorithm, and then proceeds according to the planned path to perform the cleaning operation. It also bags the trash at the multiple accumulation locations and sends the location of the trash bags to the waste transfer equipment. It is understood that the cleaning and sanitation equipment typically stops while bagging garbage, therefore the location where the equipment stops is considered the garbage bag storage location. However, in other embodiments of the invention, when the cleaning and sanitation equipment has filled at least two piles of garbage into one garbage bag, the location where the equipment stops may not be the garbage bag storage location. In this case, the cleaning and sanitation equipment obtains its current location after each bagging operation and sends this location as the garbage bag storage location to the garbage transfer equipment. Upon receiving multiple garbage bag storage locations, the garbage transfer equipment automatically plans its route using the A* algorithm and travels along the planned path to transfer the multiple garbage bags to a nearby garbage transfer station.The cleaning and maintenance equipment is a miniaturized cleaning and maintenance equipment, and the garbage transfer equipment is a small, fast cleaning vehicle, which can be well adapted to the narrow road area in green areas. In addition, both can be operated in an unmanned or manned manner, with unmanned operation being preferred.

[0036] It is understood that the green area cleaning assistance system in this embodiment intelligently identifies the current work scene through an intelligent recognition terminal, and displays the corresponding cleaning strategy to the cleaning staff based on the recognition results. During the cleaning operation, the system records the cleaning trajectory and locates the garbage accumulation points, sending these locations to the cleaning equipment. The cleaning equipment then automatically plans its route based on the received garbage accumulation points, performs cleaning operations along the planned route, bags the accumulated garbage, and sends the location of the garbage bags to the garbage transfer equipment. Finally, the garbage transfer equipment automatically plans its route based on the received garbage bag locations, travels along the planned route, and transfers the garbage bags. Throughout the entire cleaning process, the cleaning staff only need to perform cleaning actions, without needing to bag or transfer garbage, greatly reducing labor intensity. Furthermore, the use of image recognition, positioning, and path planning technologies enables human-machine collaborative operation, significantly improving cleaning efficiency and effectiveness.

[0037] Optionally, the intelligent identification terminal is also used to analyze the cleaning trajectory of the cleaning staff to obtain the cleaned area, and to determine whether the cleaned area covers the green area. If not, the missed cleaning area is displayed to the cleaning staff.

[0038] It is understandable that after the cleaning staff completes their cleaning work, the intelligent recognition terminal can analyze the size of the cleaned area based on the cleaning staff's cleaning trajectory. For example, the area enclosed by the cleaning trajectory can be considered the cleaned area, and then compared with the size of the green area to determine whether the cleaned area covers the green area. If not, the missed area is displayed to the cleaning staff to instruct them to clean the missed area, preventing any omissions and further ensuring the cleaning effect. The size of the green area can be obtained by analyzing a panoramic image of the work scene taken by the intelligent recognition terminal.

[0039] Specifically, when the intelligent recognition terminal identifies the current work scenario as a green belt on both sides of an urban motor vehicle lane, its cleaning strategy is as follows: using a backpack blower to blow fallen leaves and other garbage from the motor vehicle lane towards both sides of the road into the non-motor vehicle lane or pedestrian walkway near the green belt. When the intelligent recognition terminal identifies the current work scenario as a park, its cleaning strategy is as follows: using a backpack blower to blow fallen leaves and other garbage from the inside out into the pedestrian walkway.

[0040] Optionally, after each garbage bagging process, the cleaning and sanitation equipment first determines whether its current location matches preset coordinates. If they do not match, the garbage bag storage location is adjusted; if they match, the garbage bag storage location is sent to the garbage transfer equipment. The preset coordinates are obtained through manual calibration or a garbage bag location planning algorithm. Specifically, the garbage bag location planning algorithm involves: identifying unsuitable placement points on the road, setting distance constraints between adjacent garbage bags, and using these unsuitable points as obstacles and minimizing vehicle travel distance as the objective for garbage bag location planning. Unsuitable placement points are generally traffic hotspots or road intersections, such as intersections or pedestrian crossings. Garbage accumulation at these locations would obstruct normal travel, therefore they are treated as obstacles and avoided during location planning.

[0041] It is understood that in this invention, the garbage bag placement is planned with constraints such as the location of non-placeable points and the distance between adjacent garbage bags, and with the goal of minimizing the travel distance. This not only ensures that the garbage bag placement is reasonable and improves the efficiency of garbage bag transportation, but also minimizes the impact on people's normal travel.

[0042] In addition, such as Figure 2 As shown, another embodiment of the present invention also provides a cleaning assistance method for green areas, preferably employing the cleaning assistance system described above, comprising the following:

[0043] Step S1: Use the intelligent recognition terminal to identify the current work scene and obtain the corresponding cleaning strategy based on the recognition result, and display it to the cleaning staff. During the cleaning staff's cleaning operation of the green area, record the cleaning trajectory and locate the garbage accumulation location, and send the garbage accumulation location to the cleaning equipment.

[0044] Step S2: After receiving multiple garbage collection locations, the cleaning and maintenance equipment automatically plans its route, travels along the planned route, and sends the garbage bag storage location to the garbage transfer equipment;

[0045] Step S3: After receiving multiple garbage bag storage locations, the garbage transfer equipment automatically plans its route, travels along the planned route, and transfers the garbage bags.

[0046] It is understood that the green area cleaning assistance method in this embodiment uses an intelligent recognition terminal to intelligently identify the current work scene and display the corresponding cleaning strategy to the cleaning staff based on the recognition results. During the cleaning operation, the cleaning staff records the cleaning trajectory and locates the garbage accumulation points, sending these locations to the cleaning equipment. Then, the cleaning equipment automatically plans its route based on the received multiple garbage accumulation points, performs cleaning operations along the planned route, bags the accumulated garbage, and sends the location of the garbage bags to the garbage transfer equipment. Finally, the garbage transfer equipment automatically plans its route based on the received garbage bag locations, travels along the planned route, and transfers the garbage bags. Throughout the entire cleaning operation, the cleaning staff only need to perform cleaning actions, without needing to bag or transfer garbage, greatly reducing labor intensity. Furthermore, the use of image recognition, positioning, and path planning technologies enables human-machine collaborative operation, significantly improving cleaning efficiency and effectiveness.

[0047] Optionally, the following may also be included after the cleaning staff has completed the cleaning work:

[0048] Based on the cleaning trajectory analysis of the cleaning staff, the cleaned areas are obtained, and it is determined whether the cleaned areas cover the green areas. If not, the missed areas are displayed to the cleaning staff.

[0049] It is understandable that after the cleaning staff completes their cleaning work, the intelligent recognition terminal can analyze the size of the cleaned area based on the cleaning staff's cleaning trajectory. For example, the area enclosed by the cleaning trajectory can be considered the cleaned area, and then compared with the size of the green area to determine whether the cleaned area covers the green area. If not, the missed area is displayed to the cleaning staff to instruct them to clean the missed area, preventing any omissions and further ensuring the cleaning effect. The size of the green area can be obtained by analyzing a panoramic image of the work scene taken by the intelligent recognition terminal.

[0050] It is understood that in step S1, when the current work scenario is identified as the green belt on both sides of the urban motor vehicle lane, the cleaning strategy is to sweep the garbage into the non-motor vehicle lane or pedestrian walkway.

[0051] When the current work scenario is identified as a park, the cleaning strategy displayed is: sweep the trash into the pedestrian walkway.

[0052] Optionally, after each garbage bagging process, the cleaning and sanitation equipment first determines whether the current position matches the preset position coordinates. If they do not match, the garbage bag storage position is adjusted; if they match, the garbage bag storage position is sent to the garbage transfer equipment.

[0053] The preset location coordinates are obtained through manual calibration or a garbage bag placement planning algorithm. The garbage bag placement planning algorithm specifically involves: identifying unsuitable placement points on the road, setting distance constraints between adjacent garbage bags, and using these unsuitable points as obstacles and minimizing vehicle travel distance as the objective for garbage bag placement planning. These unsuitable placement points are generally traffic hotspots or road intersections, such as intersections or pedestrian crossings. If garbage accumulates at these locations, it will affect people's normal travel; therefore, they will be avoided as obstacles during placement planning. In this invention, using the locations of unsuitable placement points and the distance between adjacent garbage bags as constraints, and minimizing travel distance as the objective for garbage bag placement planning, not only ensures a reasonable arrangement of garbage bag placement points and improves garbage bag transportation efficiency, but also minimizes the impact on people's normal travel.

[0054] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A cleaning assistance system for green areas, characterized in that, include: The intelligent identification terminal is used to identify the current work scene and obtain the corresponding cleaning strategy based on the identification result, which is then displayed to the cleaning and maintenance personnel. During the cleaning and maintenance personnel's cleaning operation of the green area, the cleaning trajectory is recorded and the location of garbage accumulation is located, and the garbage accumulation location is sent to the cleaning and maintenance equipment. The cleaning and sanitation equipment is used to bag and process accumulated garbage. After receiving multiple garbage collection locations, it automatically plans the route, travels along the planned route, and sends the garbage bag storage location to the garbage transfer equipment. Waste transfer equipment is used to transfer and process garbage bags. After receiving multiple garbage bag storage locations, it automatically plans a route and travels along the planned route to transfer the garbage bags.

2. The cleaning assistance system for green areas as described in claim 1, characterized in that, The intelligent identification terminal is also used to analyze the cleaning trajectory of the cleaning staff to obtain the cleaned area, and to determine whether the cleaned area covers the green area. If not, the missed cleaning area is displayed to the cleaning staff.

3. The cleaning assistance system for green areas as described in claim 1, characterized in that, When the intelligent recognition terminal identifies the current working scenario as the green belt on both sides of the urban motor vehicle lane, the cleaning strategy it displays is: sweep the garbage into the non-motor vehicle lane or pedestrian walkway. When the intelligent recognition terminal identifies the current work scene as a park, its cleaning strategy is to sweep the garbage into the pedestrian walkway.

4. The cleaning assistance system for green areas as described in claim 1, characterized in that, Each time the cleaning and sanitation equipment finishes bagging the garbage, it first determines whether the current position matches the preset position coordinates. If they do not match, it adjusts the garbage bag storage position. If they match, it sends the garbage bag storage position to the garbage transfer equipment.

5. The cleaning assistance system for green areas as described in claim 4, characterized in that, The preset location coordinates are obtained through manual calibration or garbage bag location planning algorithms.

6. The cleaning assistance system for green areas as described in claim 5, characterized in that, The specific algorithm for planning the location of garbage bags is as follows: Identify unsuitable placement points on the road, set distance constraints between adjacent garbage bags, and plan garbage bag placement locations with unsuitable placement points as obstacles and the shortest possible vehicle travel distance as the objective.

7. A method for assisting in cleaning a green area, employing the cleaning assistance system as described in any one of claims 1 to 6, characterized in that, Includes the following: The intelligent recognition terminal identifies the current work scene and obtains the corresponding cleaning strategy based on the recognition results, which is then displayed to the cleaning and maintenance personnel. During the cleaning and maintenance personnel's cleaning operation of the green area, the cleaning trajectory is recorded and the location of garbage accumulation is located, and the garbage accumulation location is sent to the cleaning and maintenance equipment. After receiving multiple garbage collection points, the cleaning and maintenance equipment automatically plans its route, travels along the planned route, and sends the garbage bag storage location to the garbage transfer equipment. After receiving multiple garbage bag storage locations, the garbage transfer equipment automatically plans its route, travels along the planned route, and transfers the garbage bags.

8. The method for assisting in cleaning green areas as described in claim 7, characterized in that, After the cleaning staff completes the cleaning work, the following content is also included: Based on the cleaning trajectory analysis of the cleaning staff, the cleaned areas are obtained, and it is determined whether the cleaned areas cover the green areas. If not, the missed areas are displayed to the cleaning staff.

9. The cleaning assistance method for green areas as described in claim 7, characterized in that, When the current work scenario is identified as the green belt on both sides of the urban motor vehicle lane, the cleaning strategy displayed is: sweep the garbage into the non-motor vehicle lane or pedestrian walkway; When the current work scenario is identified as a park, the cleaning strategy displayed is: sweep the trash into the pedestrian walkway.

10. The cleaning assistance method for green areas as described in claim 7, characterized in that, Each time the cleaning and sanitation equipment finishes bagging the garbage, it first determines whether the current position matches the preset position coordinates. If they do not match, it adjusts the garbage bag storage position. If they match, it sends the garbage bag storage position to the garbage transfer equipment.

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