Garbage cleaning control method and system of commercial cleaning robot

Abstract

The invention discloses a garbage cleaning control method and system for a commercial cleaning robot, and the method comprises the steps: triggering a garbage cleaning task of the commercial cleaning robot based on the garbage type and spatial position of garbage, and guaranteeing the precision and timeliness of the garbage cleaning task of the commercial cleaning robot. Further, the commercial cleaning robot automatically cleans the garbage along the cleaning path; after the commercial cleaning robot completes cleaning of the garbage, the environment camera is triggered to conduct secondary shooting on the spatial position of the garbage, the cleaning state of the garbage is determined based on recognition of the shot image, the commercial cleaning robot conducts self-cleaning on the garbage, the cleaning condition of the garbage is controlled in interaction with the environment camera, and the cleaning efficiency of the garbage is improved. Therefore, the garbage cleaning effect of the commercial cleaning robot and the garbage review effect of the environment camera are guaranteed, and the cleaning efficiency of the commercial cleaning robot and the task management and control effect of the commercial cleaning robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of commercial cleaning robots, and in particular to a method and system for controlling the cleaning of garbage by a commercial cleaning robot. Background Art

[0002] With the development of science and technology, commercial cleaning robots are gradually used in people's lives to clean garbage in indoor spaces. In the existing technology, commercial cleaning robots use their own cameras to shoot garbage and cannot interact with each camera. They cannot learn the spatial location of garbage based on the camera, which affects the autonomous cleaning of garbage by commercial cleaning robots. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a method and system for controlling the cleaning of garbage by a commercial cleaning robot, which locates an environmental camera associated with the commercial cleaning robot; collects garbage images based on the environmental camera; determines the corresponding garbage type based on the recognition of the garbage image, and marks the spatial position of the garbage; triggers the commercial cleaning robot to perform a cleaning task on the garbage based on the garbage type and spatial position of the garbage, which is compatible with the overall consideration of the garbage type and spatial position of the garbage, and ensures the accuracy and timeliness of the commercial cleaning robot's cleaning task on the garbage.

[0004] Furthermore, in the garbage cleaning task, the moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot. When the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage and the area covered by the garbage. The commercial cleaning robot autonomously cleans the garbage along the cleaning path. After the commercial cleaning robot completes the cleaning of the garbage, the environmental camera is triggered to take a second photo of the spatial position of the garbage, and the cleaning status of the garbage is determined based on the recognition of the captured image. The commercial cleaning robot autonomously cleans the garbage and controls the cleaning status of the garbage in the interaction with the environmental camera, thereby ensuring the cleaning effect of the commercial cleaning robot on the garbage and the review effect of the environmental camera on the garbage, thereby improving the cleaning efficiency of the commercial cleaning robot and the task management and control effect of the commercial cleaning robot.

[0005] The embodiment of the present invention provides a method for controlling the cleaning of garbage by a commercial cleaning robot, which is applied to a scenario in which the cleaning of garbage by a commercial cleaning robot is controlled;

[0006] The method for controlling the cleaning of garbage by the commercial cleaning robot comprises:

[0007] Locating environmental cameras associated with commercial cleaning robots;

[0008] Collect garbage images based on environmental cameras;

[0009] Determine the corresponding garbage type based on the recognition of the garbage image and mark the spatial location of the garbage;

[0010] Triggering the commercial cleaning robot to perform a cleaning task on the garbage based on the garbage type and spatial location of the garbage;

[0011] In the garbage cleaning task, a moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot. When the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage. The commercial cleaning robot autonomously cleans the garbage along the cleaning path.

[0012] After the commercial cleaning robot finishes cleaning the garbage, it triggers the environmental camera to take a second photo of the spatial position of the garbage, and determines the cleaning status of the garbage based on the recognition of the captured image.

[0013] Optionally, the positioning of an environmental camera associated with a commercial cleaning robot includes:

[0014] Collect interaction signals of commercial cleaning robots;

[0015] Determine each environment camera based on the analysis of the interaction signal of the commercial cleaning robot;

[0016] Build corresponding association states based on commercial cleaning robots and various environmental cameras;

[0017] Real-time monitoring of the working status of each environmental camera;

[0018] The corresponding association level is determined according to the working status of each environmental camera and the current position of the commercial cleaning robot, and the corresponding response weight is matched according to different association levels.

[0019] Optionally, collecting garbage images based on an environment camera includes:

[0020] Freeze the corresponding environment camera;

[0021] Traverse the environment cameras and determine the working status of the environment cameras;

[0022] When the environment camera is in working state, the dynamic camera space is determined according to the spatial position of the environment camera, the model of the environment camera and the camera range of the environment camera;

[0023] Traversing the dynamic camera space, and determining the space type and space area of ​​the dynamic camera space according to the traversal of the dynamic camera space;

[0024] Determine the camera mode of the environment camera according to the model of the environment camera, the space type of the dynamic camera space, and the space area;

[0025] The environment camera is triggered to shoot the dynamic camera space according to the shooting mode of the environment camera, and the garbage image is collected.

[0026] Optionally, the determining the corresponding garbage type based on the recognition of the garbage image and marking the spatial location of the garbage includes:

[0027] freeze-frame rubbish images;

[0028] Determine a plurality of sub-images based on the junk image and a corresponding image partitioning model;

[0029] Determining corresponding garbage features based on simultaneous recognition of multiple sub-images;

[0030] Build a garbage model based on multiple garbage features and corresponding locations;

[0031] Determining a corresponding garbage type based on the identification of the garbage model;

[0032] After the garbage model is identified, the spatial position of the garbage is marked according to the shooting angle of the garbage image, the backgrounds of the multiple sub-images and the appearance of the garbage model.

[0033] Optionally, the triggering of the commercial cleaning robot to perform a cleaning task on the garbage based on the garbage type and spatial location of the garbage includes:

[0034] Freeze-frame garbage model;

[0035] The waste type and spatial location of the associated waste;

[0036] Construct a corresponding garbage information set based on the garbage type and spatial location of the garbage;

[0037] A corresponding cleaning signal is matched according to the garbage information set, and the cleaning task of the commercial cleaning robot to clean the garbage is triggered according to the cleaning signal.

[0038] Optionally, in the garbage cleaning task, a moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot, and when the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage, and the commercial cleaning robot autonomously cleans the garbage along the cleaning path, including:

[0039] Freeze the task of cleaning the garbage;

[0040] Matching the spatial location of the garbage and the current location of the commercial cleaning robot according to the screening of the cleaning task of the garbage;

[0041] Traversing the commercial cleaning robot, and determining the current task of the commercial cleaning robot according to the traversal of the commercial cleaning robot, if the current task of the commercial cleaning robot is in a completed state, determining the moving path according to the spatial position of the garbage and the current position of the commercial cleaning robot;

[0042] The commercial cleaning robot dynamically moves along the moving path until the commercial cleaning robot is located at the periphery of the spatial location of the garbage.

[0043] Optionally, in the garbage cleaning task, a moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot, and when the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage, and the commercial cleaning robot autonomously cleans the garbage along the cleaning path, further comprising:

[0044] When the commercial cleaning robot is located around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage;

[0045] The commercial cleaning robot autonomously cleans the garbage along the cleaning path. At this time, it performs targeted cleaning according to the garbage type and spatial location of the garbage, matches the corresponding cleaning mode based on the garbage type and garbage model, and monitors the cleaning effect of the garbage in real time to trigger the commercial cleaning robot's additional cleaning.

[0046] Optionally, after the commercial cleaning robot completes cleaning the garbage, the environmental camera is triggered to take a second photo of the spatial position of the garbage, and the cleaning state of the garbage is determined based on recognition of the captured image, including:

[0047] After the commercial cleaning robot completes cleaning of the garbage, the commercial cleaning robot outputs a cleaning completion signal to the corresponding environmental camera;

[0048] Triggering the state adjustment of the environmental camera according to the cleaning completion signal;

[0049] The environmental camera is adjusted from the dynamic shooting state to the garbage positioning detection state.

[0050] Optionally, after the commercial cleaning robot completes cleaning of the garbage, the environmental camera is triggered to take a second photo of the spatial position of the garbage, and the cleaning state of the garbage is determined based on recognition of the captured image, further comprising:

[0051] When the environmental camera is in the garbage location detection state, the environmental camera takes a second shot of the spatial location of the garbage;

[0052] Collecting the captured image based on the secondary shooting of the environment camera;

[0053] The cleaning state of the garbage is determined based on the recognition of the captured image; at this time, if there is no garbage in the captured image, the garbage is in a completely clean state, and the start of the next task of the commercial cleaning robot is triggered.

[0054] In addition, an embodiment of the present invention further provides a cleaning control system for a commercial cleaning robot to clean garbage, and the cleaning control system for the commercial cleaning robot to clean garbage includes:

[0055] a positioning module for locating an environmental camera associated with a commercial cleaning robot;

[0056] A collection module, used for collecting garbage images based on an environmental camera;

[0057] A garbage identification module is used to determine the corresponding garbage type based on the recognition of the garbage image and mark the spatial location of the garbage;

[0058] A task module, used for triggering the commercial cleaning robot to perform a cleaning task on the garbage based on the garbage type and spatial location of the garbage;

[0059] An autonomous cleaning module is used to determine a moving path according to the spatial position of the garbage and the current position of the commercial cleaning robot in the garbage cleaning task, and when the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage, and the commercial cleaning robot autonomously cleans the garbage along the cleaning path;

[0060] The secondary shooting module is used to trigger the environmental camera to take a secondary shot of the spatial position of the garbage after the commercial cleaning robot completes the cleaning of the garbage, and determine the cleaning status of the garbage based on the recognition of the captured image.

[0061] In an embodiment of the present invention, through the method in the embodiment of the present invention, the environmental camera associated with the commercial cleaning robot is located; garbage images are collected based on the environmental camera; the corresponding garbage type is determined based on the recognition of the garbage image, and the spatial position of the garbage is marked; based on the garbage type and spatial position of the garbage, the commercial cleaning robot is triggered to perform a cleaning task for the garbage, which is compatible with the overall consideration of the garbage type and spatial position of the garbage, and ensures the accuracy and timeliness of the commercial cleaning robot's cleaning task for the garbage.

[0062] Furthermore, in the garbage cleaning task, the moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot. When the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage and the area covered by the garbage. The commercial cleaning robot autonomously cleans the garbage along the cleaning path. After the commercial cleaning robot completes the cleaning of the garbage, the environmental camera is triggered to take a second photo of the spatial position of the garbage, and the cleaning status of the garbage is determined based on the recognition of the captured image. The commercial cleaning robot autonomously cleans the garbage and controls the cleaning status of the garbage in the interaction with the environmental camera, thereby ensuring the cleaning effect of the commercial cleaning robot on the garbage and the review effect of the environmental camera on the garbage, thereby improving the cleaning efficiency of the commercial cleaning robot and the task management and control effect of the commercial cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0064] Figure 1 is a flow chart of a method for controlling the cleaning of garbage by a commercial cleaning robot in an embodiment of the present invention;

[0065] Figure 2 is a flow chart of S11 in the method for controlling the cleaning of garbage by a commercial cleaning robot in an embodiment of the present invention;

[0066] Figure 3 is a flow chart of S12 in the method for controlling the cleaning of garbage by a commercial cleaning robot in an embodiment of the present invention;

[0067] Figure 4 is a flow chart of S13 in the method for controlling the cleaning of garbage by a commercial cleaning robot in an embodiment of the present invention;

[0068] Figure 5 is a flow chart of S14 in the method for controlling the cleaning of garbage by a commercial cleaning robot in an embodiment of the present invention;

[0069] Figure 6 is a flow chart of S15 in the method for controlling the cleaning of garbage by a commercial cleaning robot in an embodiment of the present invention;

[0070] Figure 7is a flow chart of S16 in the method for controlling the cleaning of garbage by a commercial cleaning robot in an embodiment of the present invention;

[0071] Figure 8 Schematic diagram of the structure of a control system for cleaning garbage by a commercial cleaning robot in an embodiment of the present invention;

[0072] Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] See also Figures 1 to 9 , a method for controlling the cleaning of garbage by a commercial cleaning robot, which is applied to the cleaning control scene of the commercial cleaning robot; the method for controlling the cleaning of garbage by a commercial cleaning robot includes:

[0075] Step S11: locating an environmental camera associated with the commercial cleaning robot;

[0076] Step S12: collecting garbage images based on the environment camera;

[0077] Step S13: determining the corresponding garbage type based on the recognition of the garbage image, and marking the spatial location of the garbage;

[0078] Step S14: triggering the commercial cleaning robot to perform a cleaning task on the garbage based on the garbage type and spatial location of the garbage;

[0079] Step S15: In the garbage cleaning task, a moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot. When the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage. The commercial cleaning robot autonomously cleans the garbage along the cleaning path.

[0080] Step S16: After the commercial cleaning robot completes the cleaning of the garbage, the environmental camera is triggered to take a second photo of the spatial position of the garbage, and the cleaning status of the garbage is determined based on the recognition of the captured image.

[0081] In an embodiment of the present invention, through the method in the embodiment of the present invention, the environmental camera associated with the commercial cleaning robot is located; garbage images are collected based on the environmental camera; the corresponding garbage type is determined based on the recognition of the garbage image, and the spatial position of the garbage is marked; based on the garbage type and spatial position of the garbage, the commercial cleaning robot is triggered to perform a cleaning task for the garbage, which is compatible with the overall consideration of the garbage type and spatial position of the garbage, and ensures the accuracy and timeliness of the commercial cleaning robot's cleaning task for the garbage.

[0082] Furthermore, in the garbage cleaning task, the moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot. When the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage and the area covered by the garbage. The commercial cleaning robot autonomously cleans the garbage along the cleaning path. After the commercial cleaning robot completes the cleaning of the garbage, the environmental camera is triggered to take a second photo of the spatial position of the garbage, and the cleaning status of the garbage is determined based on the recognition of the captured image. The commercial cleaning robot autonomously cleans the garbage and controls the cleaning status of the garbage in the interaction with the environmental camera, thereby ensuring the cleaning effect of the commercial cleaning robot on the garbage and the review effect of the environmental camera on the garbage, thereby improving the cleaning efficiency of the commercial cleaning robot and the task management and control effect of the commercial cleaning robot.

[0083] refer to Figure 2 , in step S11, locating an environmental camera associated with the commercial cleaning robot;

[0084] In the specific implementation process of the present invention, the specific steps may be:

[0085] S111: Collecting interaction signals of commercial cleaning robots;

[0086] S112: determining each environmental camera according to analysis of the interaction signal of the commercial cleaning robot;

[0087] S113: Building corresponding association states based on the commercial cleaning robot and each environmental camera;

[0088] S114: monitor the working status of each environment camera in real time;

[0089] S115: Determine a corresponding association level according to the working status of each environmental camera and the current position of the commercial cleaning robot, and match a corresponding response weight according to different association levels.

[0090] In an embodiment of the present application, the interaction signals of a commercial cleaning robot are collected and introduced, and the interaction signals of the commercial cleaning robot are controlled, so that each environmental camera is determined based on the analysis of the interaction signals of the commercial cleaning robot, and the interaction between the commercial cleaning robot and each environmental camera is realized, thereby building a corresponding association state based on the commercial cleaning robot and each environmental camera.

[0091] Furthermore, the working status of each environmental camera is monitored in real time, and overall management and control are performed for each environmental camera, so as to make full use of each environmental camera to shoot the environment. At the same time, the corresponding association level is determined according to the working status of each environmental camera and the current position of the commercial cleaning robot, and the corresponding response weight is matched according to different association levels, so as to realize the response level of each environmental camera and the commercial cleaning robot according to different response weights, and ensure the response level of each environmental camera and the commercial cleaning robot.

[0092] refer to Figure 3 , in step S12, collecting garbage images based on the environment camera;

[0093] In the specific implementation process of the present invention, the specific steps may be:

[0094] S121: freeze the corresponding environment camera;

[0095] S122: traverse the environment cameras and determine the working status of the environment cameras;

[0096] S123: when the environment camera is in a working state, determining a dynamic camera space according to a spatial position of the environment camera, a model of the environment camera, and a camera range of the environment camera;

[0097] S124: traversing the dynamic camera space, and determining the space type and space area of ​​the dynamic camera space according to the traversal of the dynamic camera space;

[0098] S125: Determine a camera mode of the environment camera according to the model of the environment camera, the space type of the dynamic camera space, and the space area;

[0099] S126: triggering the environment camera to shoot the dynamic shooting space according to the shooting mode of the environment camera, and collecting garbage images.

[0100] In an embodiment of the present application, the corresponding environment camera is frozen, the environment cameras are traversed, and the working status of the environment camera is determined to control the working status of the environment camera. At this time, when the environment camera is in working state, the dynamic camera space is determined according to the spatial position of the environment camera, the model of the environment camera and the camera range of the environment camera, which is compatible with the overall consideration of the spatial position of the environment camera, the model of the environment camera and the camera range of the environment camera, and realizes multi-dimensional control of the spatial position of the environment camera, the model of the environment camera and the camera range of the environment camera, thereby ensuring the accuracy of the dynamic camera space.

[0101] Therefore, the dynamic camera space is traversed, and the spatial type and spatial area of ​​the dynamic camera space are determined according to the traversal of the dynamic camera space, and the spatial type and spatial area of ​​the dynamic camera space are introduced, so that the camera mode of the environmental camera is determined according to the model of the environmental camera, the spatial type and spatial area of ​​the dynamic camera space, and the multiple interactions of the model of the environmental camera, the spatial type and spatial area of ​​the dynamic camera space are realized, the accuracy of the camera mode of the environmental camera is ensured, and the targeted shooting of the dynamic camera space is realized. Then, according to the camera mode of the environmental camera, the environmental camera is triggered to shoot the dynamic camera space and collect garbage images, thereby ensuring the timely collection of garbage images and realizing the synchronous control of each dynamic camera space.

[0102] refer to Figure 4 , in step S13, in the floor cleaning space, the corresponding garbage type is determined based on the recognition of the garbage image, and the spatial position of the garbage is marked;

[0103] In the specific implementation process of the present invention, the specific steps may be:

[0104] S131: Freeze-frame garbage image;

[0105] S132: determining a plurality of sub-images based on the junk image and a corresponding image segmentation model;

[0106] S133: determining corresponding garbage features based on synchronous identification of multiple sub-images;

[0107] S134: constructing a garbage model according to a plurality of garbage features and corresponding locations;

[0108] S135: Determine the corresponding garbage type based on the identification of the garbage model;

[0109] S136: After the garbage model is identified, the spatial position of the garbage is marked according to the shooting angle of the garbage image, the backgrounds of the multiple sub-images, and the appearance of the garbage model.

[0110] In an embodiment of the present application, a garbage image is frozen; and a plurality of sub-images are determined based on the garbage image and a corresponding image segmentation model. At this time, the image segmentation model is trained based on previous image data, and a plurality of sub-images are introduced, so that corresponding garbage features are determined based on synchronous recognition of the plurality of sub-images, so as to construct a garbage model according to the plurality of garbage features and the corresponding positions, thereby ensuring the accuracy of the garbage model.

[0111] Therefore, the corresponding garbage type is determined based on the recognition of the garbage model. After the garbage model is recognized, the spatial position of the garbage is marked according to the shooting angle of the garbage image, the background of multiple sub-images and the appearance of the garbage model. This is compatible with the overall control of the shooting angle of the garbage image, the background of multiple sub-images and the appearance of the garbage model, and realizes multi-dimensional control of the shooting angle of the garbage image, the background of multiple sub-images and the appearance of the garbage model, thereby ensuring the accuracy of marking the spatial position of the garbage.

[0112] refer to Figure 5 , S14: triggering the commercial cleaning robot to perform a cleaning task on the garbage based on the garbage type and spatial location of the garbage;

[0113] In the specific implementation process of the present invention, the specific steps may be:

[0114] S141: freeze frame garbage model;

[0115] S142: garbage type and spatial location of associated garbage;

[0116] S143: constructing a corresponding garbage information set based on the garbage type and spatial location of the garbage;

[0117] S144: Matching a corresponding cleaning signal according to the garbage information set, and triggering the commercial cleaning robot to perform a cleaning task on the garbage according to the cleaning signal.

[0118] In an embodiment of the present application, an environmental camera associated with a commercial cleaning robot is located; garbage images are collected based on the environmental camera; the corresponding garbage type is determined based on the recognition of the garbage image, and the spatial position of the garbage is marked; and the commercial cleaning robot is triggered to perform a cleaning task for the garbage based on the garbage type and spatial position of the garbage, which is compatible with the overall consideration of the garbage type and spatial position of the garbage, and ensures the accuracy and timeliness of the commercial cleaning robot's cleaning task for the garbage.

[0119] At this point, freeze the garbage model; associate the garbage type and spatial location of the garbage, control the garbage type and spatial location of the garbage, and build a corresponding garbage information set based on the garbage type and spatial location of the garbage, so as to facilitate overall control of the garbage information set.

[0120] Therefore, a garbage information set is introduced, and the garbage information set is further processed to match the corresponding cleaning signal according to the garbage information set, and the cleaning task of the commercial cleaning robot for the garbage is triggered according to the cleaning signal. The cleaning task of the commercial cleaning robot for the garbage is introduced, and the execution of the cleaning task of the commercial cleaning robot for the garbage is realized. At the same time, it is compatible with the overall consideration of the garbage type and spatial location of the garbage, and ensures the accuracy and timeliness of the cleaning task of the commercial cleaning robot for the garbage.

[0121] refer to Figure 6 , S15: In the garbage cleaning task, a moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot. When the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage. The commercial cleaning robot autonomously cleans the garbage along the cleaning path;

[0122] In the specific implementation process of the present invention, the specific steps may be:

[0123] S151: freeze the cleaning task of the garbage;

[0124] S152: matching the spatial position of the garbage and the current position of the commercial cleaning robot according to the screening of the cleaning task of the garbage;

[0125] S153: traversing the commercial cleaning robot, and determining the current task of the commercial cleaning robot according to the traversal of the commercial cleaning robot, and if the current task of the commercial cleaning robot is in a completed state, determining a moving path according to the spatial position of the garbage and the current position of the commercial cleaning robot;

[0126] S154: the commercial cleaning robot dynamically moves along the moving path until the commercial cleaning robot is located around the spatial position of the garbage;

[0127] S155: when the commercial cleaning robot is located around the spatial position of the garbage, constructing a corresponding cleaning path based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage;

[0128] S156: The commercial cleaning robot autonomously cleans the garbage along the cleaning path. At this time, targeted cleaning is performed according to the garbage type and spatial location of the garbage, the corresponding cleaning mode is matched based on the garbage type and garbage model, and the cleaning effect of the garbage is monitored in real time to trigger the commercial cleaning robot to perform additional cleaning.

[0129] At this time, the cleaning task of the garbage is frozen; the spatial position of the garbage and the current position of the commercial cleaning robot are matched according to the screening of the cleaning task of the garbage, and the spatial position of the garbage and the current position of the commercial cleaning robot are introduced.

[0130] At the same time, the commercial cleaning robot is traversed, and the current task of the commercial cleaning robot is determined based on the traversal of the commercial cleaning robot. If the current task of the commercial cleaning robot is in a completed state, the moving path is determined based on the spatial position of the garbage and the current position of the commercial cleaning robot, thereby ensuring the accuracy of the moving path.

[0131] Therefore, the commercial cleaning robot dynamically moves along the moving path until the commercial cleaning robot is located around the spatial position of the garbage; when the commercial cleaning robot is located around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type and the area covered by the garbage, and the garbage is controlled according to the cleaning path, so that the commercial cleaning robot can autonomously clean the garbage along the cleaning path.

[0132] Furthermore, the commercial cleaning robot autonomously cleans the garbage along the cleaning path. At this time, targeted cleaning is performed according to the garbage type and spatial location of the garbage, the corresponding cleaning mode is matched based on the garbage type and garbage model of the garbage, and the cleaning effect of the garbage is monitored in real time to trigger the commercial cleaning robot's supplementary cleaning.

[0133] refer to Figure 7 , S16: After the commercial cleaning robot completes the cleaning of the garbage, the environmental camera is triggered to take a second photo of the spatial position of the garbage, and the cleaning status of the garbage is determined based on the recognition of the captured image;

[0134] In the specific implementation process of the present invention, the specific steps may be:

[0135] S161: After the commercial cleaning robot completes cleaning the garbage, the commercial cleaning robot outputs a cleaning completion signal to the corresponding environmental camera;

[0136] S162: Triggering state adjustment of the environment camera according to the cleaning completion signal;

[0137] S163: The environmental camera is adjusted from the dynamic shooting state to the garbage positioning detection state;

[0138] S164: When the environment camera is in the garbage location detection state, the environment camera performs a secondary shooting of the spatial location of the garbage;

[0139] S165: collecting the captured image based on the secondary shooting of the environment camera;

[0140] S166: Determine the cleaning status of the garbage based on the recognition of the captured image; at this time, if there is no garbage in the captured image, the garbage is in a completely clean state, and triggers the start of the next task of the commercial cleaning robot.

[0141] During the specific implementation of the present invention, in the garbage cleaning task, the moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot. When the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage and the area covered by the garbage. The commercial cleaning robot autonomously cleans the garbage along the cleaning path. After the commercial cleaning robot completes the cleaning of the garbage, the environmental camera is triggered to take a second photo of the spatial position of the garbage, and the cleaning status of the garbage is determined based on the recognition of the captured image. The commercial cleaning robot autonomously cleans the garbage and controls the cleaning status of the garbage in the interaction with the environmental camera, thereby ensuring the cleaning effect of the commercial cleaning robot on the garbage and the review effect of the environmental camera on the garbage, thereby improving the cleaning efficiency of the commercial cleaning robot and the task management and control effect of the commercial cleaning robot.

[0142] At this time, after the commercial cleaning robot completes cleaning the garbage, the commercial cleaning robot outputs a cleaning completion signal to the corresponding environmental camera; the state adjustment of the environmental camera is triggered according to the cleaning completion signal, so as to adjust the state of the environmental camera and trigger a second shot of the environmental camera.

[0143] Therefore, the environmental camera is adjusted from the dynamic shooting state to the garbage positioning detection state; when the environmental camera is in the garbage positioning detection state, the environmental camera takes a second shot of the spatial position of the garbage, ensuring that the environmental camera rechecks the spatial position of the garbage.

[0144] Furthermore, the captured image is collected based on the secondary shooting of the environmental camera; the cleaning status of the garbage is determined based on the recognition of the captured image; at this time, if there is no garbage in the captured image, the garbage is in a completely clean state, and the start of the next task of the commercial cleaning robot is triggered.

[0145] Therefore, the commercial cleaning robot cleans the garbage autonomously and controls the cleaning status of the garbage in the interaction with the environmental camera, thereby ensuring the cleaning effect of the commercial cleaning robot on the garbage and the review effect of the environmental camera on the garbage, improving the cleaning efficiency of the commercial cleaning robot and the task management and control effect of the commercial cleaning robot.

[0146] In an embodiment of the present invention, through the method in the embodiment of the present invention, the environmental camera associated with the commercial cleaning robot is located; garbage images are collected based on the environmental camera; the corresponding garbage type is determined based on the recognition of the garbage image, and the spatial position of the garbage is marked; based on the garbage type and spatial position of the garbage, the commercial cleaning robot is triggered to perform a cleaning task for the garbage, which is compatible with the overall consideration of the garbage type and spatial position of the garbage, and ensures the accuracy and timeliness of the commercial cleaning robot's cleaning task for the garbage.

[0147] Furthermore, in the garbage cleaning task, the moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot. When the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage and the area covered by the garbage. The commercial cleaning robot autonomously cleans the garbage along the cleaning path. After the commercial cleaning robot completes the cleaning of the garbage, the environmental camera is triggered to take a second photo of the spatial position of the garbage, and the cleaning status of the garbage is determined based on the recognition of the captured image. The commercial cleaning robot autonomously cleans the garbage and controls the cleaning status of the garbage in the interaction with the environmental camera, thereby ensuring the cleaning effect of the commercial cleaning robot on the garbage and the review effect of the environmental camera on the garbage, thereby improving the cleaning efficiency of the commercial cleaning robot and the task management and control effect of the commercial cleaning robot.

[0148] See also Figure 8 , Figure 8 It is a schematic diagram of the structure of a garbage cleaning control system of a commercial cleaning robot in an embodiment of the present invention.

[0149] like Figure 8 As shown, a commercial cleaning robot cleaning control system for garbage, the commercial cleaning robot cleaning control system for garbage includes:

[0150] A positioning module 21, used to locate an environmental camera associated with the commercial cleaning robot;

[0151] A collection module 22, used for collecting garbage images based on an environmental camera;

[0152] A garbage identification module 23, used to determine the corresponding garbage type based on the recognition of the garbage image and mark the spatial location of the garbage;

[0153] A task module 24, used for triggering the commercial cleaning robot to perform a cleaning task on the garbage based on the garbage type and spatial location of the garbage;

[0154] The autonomous cleaning module 25 is used to determine the moving path according to the spatial position of the garbage and the current position of the commercial cleaning robot in the garbage cleaning task, and when the commercial cleaning robot is around the spatial position of the garbage, build a corresponding cleaning path based on the commercial cleaning robot, the garbage type of the garbage and the area covered by the garbage, and the commercial cleaning robot autonomously cleans the garbage along the cleaning path;

[0155] The secondary shooting module 26 is used to trigger the environmental camera to take a secondary shot of the spatial position of the garbage after the commercial cleaning robot completes the cleaning of the garbage, and determine the cleaning status of the garbage based on the recognition of the captured image.

[0156] See also Fig. 9 , refer to the following Fig. 9 The electronic device 40 according to this embodiment of the present invention will be described. Fig. 9 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0157] like Fig. 9 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0158] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0159] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0160] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0161] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0162] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0163] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a multi-parameter sensor device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0164] Those skilled in the art can understand that all or some of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0165] In addition, the above is a detailed introduction to the cleaning control method and system for garbage by the commercial cleaning robot provided in the embodiments of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; for general technicians in this field, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for controlling the cleaning of garbage by a commercial cleaning robot, characterized in that: Applied to the cleaning and control scenarios of garbage by commercial cleaning robots; The method for controlling the cleaning of garbage by the commercial cleaning robot comprises: Locating environmental cameras associated with commercial cleaning robots; Collect garbage images based on environmental cameras; Determine the corresponding garbage type based on the recognition of the garbage image and mark the spatial location of the garbage; Triggering the commercial cleaning robot to perform a cleaning task on the garbage based on the garbage type and spatial location of the garbage; In the garbage cleaning task, a moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot. When the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage. The commercial cleaning robot autonomously cleans the garbage along the cleaning path. After the commercial cleaning robot finishes cleaning the garbage, it triggers the environmental camera to take a second photo of the spatial position of the garbage, and determines the cleaning status of the garbage based on the recognition of the captured image.

2. The method for controlling the cleaning of garbage by a commercial cleaning robot according to claim 1, characterized in that: The positioning of an environmental camera associated with a commercial cleaning robot includes: Collect interaction signals of commercial cleaning robots; Determine each environment camera based on the analysis of the interaction signal of the commercial cleaning robot; Build corresponding association states based on commercial cleaning robots and various environmental cameras; Real-time monitoring of the working status of each environmental camera; The corresponding association level is determined according to the working status of each environmental camera and the current position of the commercial cleaning robot, and the corresponding response weight is matched according to different association levels.

3. The method for controlling the cleaning of garbage by a commercial cleaning robot according to claim 2, characterized in that: The collecting of garbage images based on the environment camera includes: Freeze the corresponding environment camera; Traverse the environment cameras and determine the working status of the environment cameras; When the environment camera is in working state, the dynamic camera space is determined according to the spatial position of the environment camera, the model of the environment camera and the camera range of the environment camera; Traversing the dynamic camera space, and determining the space type and space area of ​​the dynamic camera space according to the traversal of the dynamic camera space; Determine the camera mode of the environment camera according to the model of the environment camera, the space type of the dynamic camera space, and the space area; The environment camera is triggered to shoot the dynamic camera space according to the shooting mode of the environment camera, and the garbage image is collected.

4. The method for controlling the cleaning of garbage by a commercial cleaning robot according to claim 3, characterized in that: The method of determining the corresponding garbage type based on the recognition of the garbage image and marking the spatial location of the garbage includes: freeze-frame rubbish images; Determine a plurality of sub-images based on the junk image and a corresponding image partitioning model; Determining corresponding garbage features based on simultaneous recognition of multiple sub-images; Build a garbage model based on multiple garbage features and corresponding locations; Determining a corresponding garbage type based on the identification of the garbage model; After the garbage model is identified, the spatial position of the garbage is marked according to the shooting angle of the garbage image, the backgrounds of the multiple sub-images and the appearance of the garbage model.

5. The method for controlling the cleaning of garbage by a commercial cleaning robot according to claim 4, characterized in that: The method of triggering the commercial cleaning robot to perform a cleaning task on the garbage based on the type and spatial location of the garbage includes: Freeze-frame garbage model; The waste type and spatial location of the associated waste; Construct a corresponding garbage information set based on the garbage type and spatial location of the garbage; A corresponding cleaning signal is matched according to the garbage information set, and the cleaning task of the commercial cleaning robot to clean the garbage is triggered according to the cleaning signal.

6. The method for controlling the cleaning of garbage by a commercial cleaning robot according to claim 5, characterized in that: In the garbage cleaning task, a moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot. When the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage. The commercial cleaning robot autonomously cleans the garbage along the cleaning path, including: Freeze the task of cleaning the garbage; Matching the spatial location of the garbage and the current location of the commercial cleaning robot according to the screening of the cleaning task of the garbage; Traversing the commercial cleaning robot, and determining the current task of the commercial cleaning robot according to the traversal of the commercial cleaning robot, if the current task of the commercial cleaning robot is in a completed state, determining the moving path according to the spatial position of the garbage and the current position of the commercial cleaning robot; The commercial cleaning robot dynamically moves along the moving path until the commercial cleaning robot is located at the periphery of the spatial location of the garbage.

7. The method for controlling the cleaning of garbage by a commercial cleaning robot according to claim 6, characterized in that: In the garbage cleaning task, a moving path is determined according to the spatial position of the garbage and the current position of the commercial cleaning robot. When the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage. The commercial cleaning robot autonomously cleans the garbage along the cleaning path, and further includes: When the commercial cleaning robot is located around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage; The commercial cleaning robot autonomously cleans the garbage along the cleaning path. At this time, it performs targeted cleaning according to the garbage type and spatial location of the garbage, matches the corresponding cleaning mode based on the garbage type and garbage model, and monitors the cleaning effect of the garbage in real time to trigger the commercial cleaning robot's additional cleaning.

8. The method for controlling the cleaning of garbage by a commercial cleaning robot according to claim 7, characterized in that: After the commercial cleaning robot completes the cleaning of the garbage, the environmental camera is triggered to take a second photo of the spatial position of the garbage, and the cleaning state of the garbage is determined based on the recognition of the captured image, including: After the commercial cleaning robot completes cleaning of the garbage, the commercial cleaning robot outputs a cleaning completion signal to the corresponding environmental camera; Triggering the state adjustment of the environmental camera according to the cleaning completion signal; The environmental camera is adjusted from the dynamic shooting state to the garbage positioning detection state.

9. The method for controlling the cleaning of garbage by a commercial cleaning robot according to claim 8, characterized in that: After the commercial cleaning robot completes the cleaning of the garbage, the environmental camera is triggered to take a second photo of the spatial position of the garbage, and the cleaning state of the garbage is determined based on the recognition of the captured image, and further includes: When the environmental camera is in the garbage location detection state, the environmental camera takes a second shot of the spatial location of the garbage; Collecting the captured image based on the secondary shooting of the environment camera; The cleaning state of the garbage is determined based on the recognition of the captured image; at this time, if there is no garbage in the captured image, the garbage is in a completely clean state, and the start of the next task of the commercial cleaning robot is triggered.

10. A commercial cleaning robot cleaning control system for garbage, characterized in that: The cleaning control system of the commercial cleaning robot for garbage is applied to the cleaning control method of the commercial cleaning robot for garbage as claimed in any one of claims 1 to 9, and the cleaning control system of the commercial cleaning robot for garbage includes: a positioning module for locating an environmental camera associated with a commercial cleaning robot; A collection module, used for collecting garbage images based on an environmental camera; A garbage identification module is used to determine the corresponding garbage type based on the recognition of the garbage image and mark the spatial location of the garbage; A task module, used for triggering the commercial cleaning robot to perform a cleaning task on the garbage based on the garbage type and spatial location of the garbage; An autonomous cleaning module is used to determine a moving path according to the spatial position of the garbage and the current position of the commercial cleaning robot in the garbage cleaning task, and when the commercial cleaning robot is around the spatial position of the garbage, a corresponding cleaning path is constructed based on the commercial cleaning robot, the garbage type of the garbage, and the area covered by the garbage, and the commercial cleaning robot autonomously cleans the garbage along the cleaning path; The secondary shooting module is used to trigger the environmental camera to take a secondary shot of the spatial position of the garbage after the commercial cleaning robot completes the cleaning of the garbage, and determine the cleaning status of the garbage based on the recognition of the captured image.

Images