Garbage dumping method and device of unmanned sweeper, electronic equipment and storage medium

Abstract

The invention discloses a garbage dumping method and device of an unmanned sweeper, electronic equipment and a storage medium, and relates to the technical field of unmanned sweepers. The method comprises the steps that a management platform of a garbage station responds to a garbage dumping instruction of a target unmanned sweeper, and first attribute information of garbage loaded by the target unmanned sweeper is determined; candidate parking spaces are determined, and garbage can attribute information matched with the candidate parking spaces is determined; the candidate parking space is an idle parking space or a non-idle parking space on which the garbage dumping task of the unmanned sweeper is to be completed; and a target parking space is determined based on the first attribute information and the garbage can attribute information, and identification information of the target parking space is fed back to the target unmanned sweeper. According to the scheme of the embodiment of the invention, the target parking space can be quickly and accurately determined, so that the unmanned sweeper can accurately complete garbage dumping work, and the waiting time is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned cleaning vehicles, and in particular, to a method, device, electronic device, and storage medium for dumping garbage of an unmanned cleaning vehicle. Background Art

[0002] As an automated cleaning device, unmanned cleaning vehicles are widely used in the cleaning work of public places such as urban streets and parks. To ensure the normal operation of unmanned cleaning vehicles, when the garbage loading device in an unmanned cleaning vehicle is full of garbage or after completing a cleaning task, a nearby garbage station is selected to dump the garbage it has cleaned.

[0003] At present, the unmanned cleaning vehicle mainly automatically selects a garbage station and a parking space in the garbage station for garbage dumping; however, this method often fails to select a suitable garbage parking space, resulting in a long waiting time.

[0004] How to quickly and accurately determine the target parking space to enable the unmanned cleaning vehicle to precisely complete the garbage dumping work and reduce the waiting time is a key issue studied in the industry. Summary of the Invention

[0005] The present invention provides a method, device, electronic device, and storage medium for dumping garbage of an unmanned cleaning vehicle to quickly and accurately determine the target parking space to enable the unmanned cleaning vehicle to precisely complete the garbage dumping work and reduce the waiting time.

[0006] According to one aspect of the present invention, there is provided a method for dumping garbage of an unmanned cleaning vehicle, which is executed by a management platform of a garbage station, and the method includes:

[0007] In response to a garbage dumping instruction of a target unmanned cleaning vehicle, determining first attribute information of the garbage loaded by the target unmanned cleaning vehicle;

[0008] Determining candidate parking spaces and determining garbage bin attribute information matching the candidate parking spaces; the candidate parking spaces are idle parking spaces or non-idle parking spaces to be completed for the garbage dumping task of the unmanned cleaning vehicle;

[0009] Based on the first attribute information and the garbage bin attribute information, determining a target parking space and feeding back the identification information of the target parking space to the target unmanned cleaning vehicle.

[0010] According to another aspect of the present invention, there is provided a device for dumping garbage of an unmanned cleaning vehicle, which is deployed on a management platform of a garbage station, and the device includes:

[0011] The first attribute information determination module is configured to determine the first attribute information of the garbage loaded by the target unmanned sweeper in response to a garbage dumping instruction of the target unmanned sweeper;

[0012] The candidate parking space determination module is configured to determine candidate parking spaces and determine the garbage bin attribute information matching the candidate parking spaces; the candidate parking spaces are idle parking spaces or non-idle parking spaces to be completed with the garbage dumping task of the unmanned sweeper;

[0013] The target parking space determination module is configured to determine a target parking space based on the first attribute information and the garbage bin attribute information, and feedback the identification information of the target parking space to the target unmanned sweeper.

[0014] According to another aspect of the present invention, there is provided an electronic device, which includes:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the garbage dumping method of the unmanned sweeper according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the garbage dumping method of the unmanned sweeper according to any embodiment of the present invention when executed.

[0019] According to another aspect of the present invention, there is provided a computer program product including a computer program, and the computer program implements the garbage dumping method of the unmanned sweeper according to any embodiment of the present invention when executed by a processor.

[0020] The technical solution of the embodiment of the present invention is that the management platform of the garbage station responds to the garbage dumping instruction of the target unmanned sweeper, determines the first attribute information of the garbage loaded by the target unmanned sweeper; determines candidate parking spaces and determines the garbage bin attribute information matching the candidate parking spaces; the candidate parking spaces are idle parking spaces or non-idle parking spaces to be completed with the garbage dumping task of the unmanned sweeper; determines a target parking space based on the first attribute information and the garbage bin attribute information, and feedbacks the identification information of the target parking space to the target unmanned sweeper, which can quickly and accurately determine the target parking space so that the unmanned sweeper can precisely complete the garbage dumping work and reduce the waiting time.

[0021] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0023] Figure 1 is a flowchart of a garbage dumping method for an unmanned sweeper according to Embodiment 1 of the present invention;

[0024] Figure 2 is a flowchart of a garbage dumping method for an unmanned sweeper according to Embodiment 2 of the present invention;

[0025] Figure 3 is a flowchart of a garbage dumping method for an unmanned sweeper according to Embodiment 3 of the present invention;

[0026] Figure 4 is a flowchart of another garbage dumping method for an unmanned sweeper according to Embodiment 3 of the present invention;

[0027] Figure 5 is a schematic diagram of the working process of a garbage management platform according to Embodiment 3 of the present invention;

[0028] Figure 6 is a schematic structural diagram of a garbage dumping device for an unmanned sweeper according to Embodiment 4 of the present invention;

[0029] Figure 7 is a schematic structural diagram of an electronic device for implementing the garbage dumping method of the unmanned sweeper according to the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] In order to enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1 is a flowchart of a garbage dumping method for an unmanned sweeper according to Embodiment 1 of the present invention. This embodiment is applicable to the situation of determining a suitable parking space for dumping the garbage loaded by the unmanned sweeper. This method can be executed by the garbage dumping device of the unmanned sweeper. The garbage dumping device of the unmanned sweeper can be implemented in the form of hardware and / or software, and the garbage dumping device of the unmanned sweeper can be configured in an in-vehicle computer or a vehicle control terminal and other electronic devices deployed on the unmanned sweeper. As Figure 1 shown, the method includes:

[0034] Step 110, in response to a garbage dumping instruction of a target unmanned sweeper, determine first attribute information of the garbage loaded by the target unmanned sweeper.

[0035] Among them, the target unmanned sweeper can be any unmanned sweeper that is performing a cleaning operation or an unmanned sweeper that has completed the operation. In this embodiment, it is not limited thereto.

[0036] It can be understood that when the quality or volume of the garbage loaded by the garbage loading device (garbage bin) of the unmanned sweeper reaches a set threshold, for example, reaches 90% or 95% of the volume of the garbage loading device, etc., a garbage dumping instruction can be automatically generated and sent to the management platform of the garbage station.

[0037] It should be noted that the management platform of the garbage station involved in this embodiment can manage multiple garbage stations at the same time. For example, it can manage 5 garbage stations in the target area at the same time; among them, the target area can be XX Community or XX Street, etc. In this embodiment, it is not limited thereto.

[0038] Optionally, in this embodiment, after receiving the garbage dumping instruction of the target unmanned sweeper, the management platform of the garbage station can further determine the first attribute information of the garbage loaded by the target unmanned sweeper; wherein, the first attribute information may include the category information of the loaded garbage, for example, it may be kitchen waste, other waste or hazardous waste, etc.; it may also include the quality information of the loaded garbage, for example, 1200 kg, 500 kg or 2000 kg, etc.; it may also include the volume information of the loaded garbage, for example, 5 cubic meters, 10 cubic meters or 30 cubic meters, etc., which is not limited in this embodiment.

[0039] In this embodiment, the first attribute information of the loaded garbage can be obtained by the sensors installed in the garbage loading device of the target unmanned sweeper; exemplarily, the category information of the loaded garbage can be determined by an image sensor; the volume information of the loaded garbage can be determined by an ultrasonic sensor; the quality information of the loaded garbage can be determined by a piezoelectric sensor or a weighing sensor.

[0040] Step 120: Determine candidate parking spaces and determine the garbage bin attribute information matching the candidate parking spaces.

[0041] Among them, the candidate parking spaces are idle parking spaces or non-idle parking spaces waiting to complete the garbage dumping task of the unmanned sweeper; in this embodiment, the number of candidate parking spaces can be one or multiple, which is not limited in this embodiment.

[0042] In this embodiment, the garbage bin attribute information may include the category information of the garbage contained in the garbage bin, or may include the remaining capacity information of the garbage bin, that is, the volume of the garbage that the garbage bin can still contain.

[0043] Optionally, in this embodiment, the management platform of the garbage station can obtain the occupancy status of each parking space in the garbage station in real time and determine the idle parking spaces according to the occupancy status of each parking space. Exemplarily, the parking spaces in which no unmanned sweeper is parked, that is, the unoccupied parking spaces, can be determined as candidate parking spaces.

[0044] In another alternative implementation of this embodiment, if the management platform of the garbage station does not detect an unoccupied parking space, then the completion status of the garbage dumping tasks of the unmanned sweepers in each parking space can be determined. If the garbage dumping task of the unmanned sweeper in the first parking space has been completed by ninety percent, that is, only ten percent of the garbage remains undumped in the garbage loading device of this unmanned sweeper, then the first parking space can also be determined as a candidate parking space.

[0045] Optionally, in this embodiment, after determining the candidate parking spaces, the garbage bin attribute information matching the candidate parking spaces can be further determined; it can be understood that one or more garbage bins can be deployed on the side or the tail of each parking space so that the unmanned sweeper can achieve garbage dumping at the parking space.

[0046] In an alternative implementation of this embodiment, the image of the garbage bin can be collected by a camera and the image can be recognized to obtain the color information of the garbage bin. Further, the type of garbage that the garbage bin can hold can be determined according to the color information of the garbage bin; ultrasonic signals can also be sent to the garbage bin by an ultrasonic sensor fixed above the garbage bin, and the remaining amount information of the garbage bin can be further determined according to the feedback signal.

[0047] Step 130: Determine the target parking space based on the first attribute information and the garbage bin attribute information, and feed back the identification information of the target parking space to the target unmanned sweeper.

[0048] Among them, the identification information of the target parking space may include the location information, number information, or route information of the target parking space, etc., which is not limited in this embodiment.

[0049] Optionally, in this embodiment, after determining the first attribute information of the garbage loaded by the target unmanned sweeper and the garbage bin attribute information matching each candidate parking space, the target parking space can be further determined based on the first attribute information and the garbage bin attribute information; exemplarily, the first attribute information can be respectively matched with the attribute information of the garbage bin, and further, the target parking space in the candidate parking spaces can be determined according to the matching result; further, the identification information of the target parking space can be fed back to the target unmanned sweeper so that the target unmanned sweeper can drive to the target parking space for garbage dumping.

[0050] The technical solution of this embodiment is that the management platform of the garbage station responds to the garbage dumping instruction of the target unmanned sweeper to determine the first attribute information of the garbage loaded by the target unmanned sweeper; determine the candidate parking spaces, and determine the garbage bin attribute information matching the candidate parking spaces; the candidate parking spaces are idle parking spaces or non-idle parking spaces waiting to complete the garbage dumping task of the unmanned sweeper; determine the target parking space based on the first attribute information and the garbage bin attribute information, and feed back the identification information of the target parking space to the target unmanned sweeper, which can quickly and accurately determine the target parking space so that the unmanned sweeper can precisely complete the garbage dumping work and reduce the waiting time.

[0051] Embodiment Two

[0052] Figure 2It is a flowchart of a garbage dumping method for an unmanned sweeper according to Embodiment 2 of the present invention. This embodiment further refines the above technical solution, and the technical solution in this embodiment can be combined with each optional solution in one or more of the above embodiments. As Figure 2 shown, the method includes:

[0053] Step 210, in response to a garbage dumping instruction of a target unmanned sweeper, determine first attribute information of the garbage loaded by the target unmanned sweeper.

[0054] Among them, the first attribute information of the garbage loaded by the target unmanned sweeper may include: category information, mass information, or volume information, etc., which is not limited in this embodiment.

[0055] Optionally, in this embodiment, determining the first attribute information of the garbage loaded by the target unmanned sweeper may include: acquiring an internal image of the garbage loading device of the target unmanned sweeper through an image sensor, and identifying the internal image to obtain the category information of the garbage loaded by the target unmanned sweeper; or, determining the current weight of the target unmanned sweeper through a weighing device, and determining the weight information of the garbage loaded by the target unmanned sweeper based on the difference between the current weight and the initial weight of the target unmanned sweeper; or, determining the height of the garbage loaded by the garbage loading device of the target unmanned sweeper through an ultrasonic sensor, and determining the volume information of the garbage loaded by the target unmanned sweeper according to the height.

[0056] In an alternative implementation manner of this embodiment, an internal image of the garbage loading device may be collected through an image sensor installed above the inside of the garbage loading device (garbage bin). Further, the collected internal image may be identified to obtain the category information of the garbage loaded by the target unmanned sweeper.

[0057] In another alternative implementation manner of this embodiment, the current weight (weight with garbage) of the target unmanned sweeper may be determined through a weighing device installed on the ground, and the weight information of the garbage loaded by the target unmanned sweeper may be determined based on the difference between the current weight and the initial weight (weight without garbage) of the target unmanned sweeper.

[0058] In another alternative implementation manner of this embodiment, an ultrasonic sensor installed above the inside of the garbage loading device may emit an ultrasonic signal to the bottom, and the height of the loaded garbage may be determined according to the feedback signal. Further, the volume information of the garbage loaded by the target unmanned sweeper may be determined according to the height of the garbage.

[0059] Step 220, determine candidate parking spaces.

[0060] Optionally, in this embodiment, determining candidate parking spaces may include: obtaining the status information of each parking space, determining each available parking space according to the status information, and determining each available parking space as the candidate parking space; in the case where the number of available parking spaces determined according to the status information is 0, determining the current working information of each parking space, determining the first non-available parking spaces for the garbage dumping tasks of the unmanned sweeper to be completed according to the current working information, and determining each first non-available parking space as the candidate parking space.

[0061] Among them, the first non-available parking space may be a parking space where the garbage dumping task has reached a set threshold. The set threshold may be 80%, 85% or 90%, etc., and this embodiment does not limit it; for example, if the garbage dumping task of the unmanned sweeper in the target parking space has been completed by 95% (the remaining garbage amount is 5%), then the target parking space may be determined as the first non-available parking space.

[0062] Among them, the status information of the parking space can be used to represent the occupancy situation of the parking space. For example, occupied or unoccupied; for example, in this embodiment, 0 can be used to represent that the parking space is unoccupied, and 1 can be used to represent that the parking space is occupied.

[0063] In an alternative implementation manner of this embodiment, after obtaining the status information of each parking space in the garbage station, the available parking spaces that are not occupied can be further determined according to the status information of each parking space.

[0064] In another alternative implementation manner of this embodiment, if it is determined that the number of available parking spaces is 0, that is, all the parking spaces in the parking lot have unmanned sweepers performing garbage dumping work, then the completion situation of the garbage dumping tasks of the unmanned sweepers in each parking space can be further determined. If the completion amount of the garbage dumping work has exceeded the set threshold, then the parking space can be determined as the candidate parking space.

[0065] In another alternative implementation manner of this embodiment, if it is determined that the number of available parking spaces is 0, then the remaining garbage amount of the unmanned sweeper in each parking space can be further determined. When the remaining garbage amount of the target unmanned sweeper is less than the second set threshold, the parking space where the target unmanned sweeper is parked can be determined as the candidate parking space; among them, the second set threshold can be a weight threshold such as 10 kg or 20 kg, or a ratio threshold such as 10% or 5%, and this embodiment does not limit it.

[0066] Step 230, determining the trash can attribute information matching the candidate parking space.

[0067] Optionally, in this embodiment, after determining each candidate parking space, sensor data of a target sensor matching the candidate parking space may be further obtained, and the remaining amount information of the trash can may be determined according to the sensor data; the target sensor is used to collect data of the trash can matching the candidate parking space; alternatively, image data of a target trash can matching the candidate parking space is obtained, and the category information of the trash can is determined according to the image data.

[0068] Among them, the target sensor may be a camera, an ultrasonic sensor, an infrared sensor, etc., and it is not limited in this embodiment.

[0069] In an optional implementation manner of this embodiment, an ultrasonic signal may be emitted from the top to the bottom of the garbage loading device by an ultrasonic sensor, and the remaining amount information of the trash can matching the candidate parking space is determined based on the emitted ultrasonic signal and the feedback signal.

[0070] In another optional implementation manner of this embodiment, image data inside the target trash can may be collected by a camera, and the remaining amount information of the trash can matching the candidate parking space is determined according to the internal image data; alternatively, image data outside the target trash can may be collected by a camera, and the category information of the trash can matching the candidate parking space is determined according to the external image data; exemplarily, it may be determined whether the trash in the trash can is hazardous waste or non-hazardous waste according to the color or icon of the trash can.

[0071] Step 240: Match the first attribute information with each of the trash can attribute information; when it is determined that the first attribute information matches the target trash can attribute information, the candidate parking space corresponding to the target trash can attribute information is determined as the target parking space.

[0072] Optionally, in this embodiment, after determining the first attribute information of the garbage loaded by the target unmanned sweeper and the trash can attribute information matching each candidate parking space, the target parking space may be further determined based on the first attribute information and the trash can attribute information.

[0073] In a specific implementation, the first attribute information can be matched with the attribute information of the trash can; for example, the category information in the first attribute information can be matched with the category information in the attribute information of the trash can, or the volume information in the first attribute information can be matched with the remaining capacity information in the attribute information of the trash can; for example, if the category information in the first attribute information is consistent with the category information in the attribute information of the target trash can, and at the same time the volume information in the first attribute information is less than or equal to the remaining capacity information in the attribute information of the target trash can, then it can be determined that the first attribute information matches the attribute information of the target trash can. Further, the parking space where the target trash can is placed can be determined as the target parking space.

[0074] Step 250, feedback the identification information of the target parking space to the target unmanned sweeper.

[0075] Optionally, in this embodiment, after determining the target parking space, the location information of the target parking space can be further feedback to the target unmanned sweeper, so that the target unmanned sweeper can drive to the target parking space based on this location information.

[0076] In another alternative implementation of this embodiment, after determining the target parking space, the path information for the target unmanned sweeper to drive to the target parking space can be further generated according to the location information of the target parking space, and this path information can be feedback to the target unmanned sweeper. In this way, the target unmanned sweeper does not need to perform path planning and can directly drive to the target parking space according to the received path information to dump garbage.

[0077] The solution of this embodiment obtains the status information of each parking space, determines each idle parking space according to each of the status information, and determines each of the idle parking spaces as the candidate parking space; in the case where the number of idle parking spaces determined according to each of the status information is 0, determines the current working information of each of the parking spaces, determines the first non-idle parking space for the trash dumping task of the to-be-completed unmanned sweeper according to each of the current working information, and determines each of the first non-idle parking spaces as the candidate parking space. Different candidate parking spaces can be determined according to different occupancy situations of the parking spaces, which can ensure the rapid completion of the trash dumping task of the target unmanned sweeper and improve the execution efficiency of the trash dumping task.

[0078] Optionally, based on the above technical solution, the garbage dumping method of the unmanned sweeper may further include: during the process of the target unmanned sweeper dumping garbage, real-time detection of the remaining amount information of the target trash can matching the target parking space; when the remaining amount information of the target trash can is less than or equal to the set remaining amount threshold, sending an instruction to the target unmanned sweeper to stop dumping garbage; in response to the completion instruction of the replacement of the target trash can, sending a continue dumping garbage instruction to the target unmanned sweeper.

[0079] Among them, the set remaining amount threshold may be a mass threshold, for example, 2 kg or 5 kg, etc., or a remaining height threshold, for example, 5 cm or 10 cm, etc. In this embodiment, it is not limited thereto.

[0080] In an alternative implementation manner of this embodiment, during the process of the target unmanned sweeper dumping garbage, the remaining amount information of the target trash can can be detected in real time. If it is detected that the remaining amount information of the target trash can is 4 kg, which is less than the set remaining amount threshold of 5 kg, an instruction to stop dumping garbage can be sent to the target unmanned sweeper, and relevant robots or staff can be prompted to replace the target trash can. After the replacement is completed, the target unmanned sweeper can be instructed to continue dumping garbage.

[0081] In another alternative implementation manner of this embodiment, during the process of the target unmanned sweeper dumping garbage, if it is detected that the remaining height of the target trash can is 6 cm, which is less than the set remaining height threshold of 10 cm, an instruction to stop dumping garbage can be sent to the target unmanned sweeper, and relevant robots or staff can be prompted to replace the target trash can. After the replacement is completed, the target unmanned sweeper can be instructed to continue dumping garbage.

[0082] The advantage of such a setting is that it can prevent the phenomenon of garbage overflow caused by the target trash can being full and unable to continue to hold garbage, and can improve the completion accuracy of the garbage dumping task of the unmanned sweeper.

[0083] Embodiment III

[0084] Figure 3 It is a flowchart of a garbage dumping method of an unmanned sweeper provided according to Embodiment III of the present invention. This embodiment further refines the above technical solution, and the technical solution in this embodiment can be combined with each alternative solution in one or more of the above embodiments. As Figure 3 shown, the method includes:

[0085] Step 310, in response to the garbage dumping instruction of the target unmanned sweeper, determine the first attribute information of the garbage loaded by the target unmanned sweeper.

[0086] Step 320: Determine candidate parking spaces and determine the trash can attribute information matching the candidate parking spaces.

[0087] Step 330: When the trash can attribute information matching the first candidate parking space reaches a set threshold, generate a prompt message to replace the trash can at the first candidate parking space; feedback the prompt message to the target robot so that the target robot replaces the trash can at the first candidate parking space.

[0088] Among them, the first candidate parking space can be any candidate parking space, and it is not limited in this embodiment.

[0089] In this embodiment, the set threshold can be a quality threshold, for example, 2 kg or 5 kg, etc., or a remaining height threshold, for example, 5 cm or 10 cm, etc., and it is not limited in this embodiment.

[0090] In this embodiment, the target robot can be any idle robot in the garbage station, and it is not limited in this embodiment either.

[0091] Optionally, in an alternative implementation of this embodiment, after determining the attribute information of the trash can at the first candidate parking space, if it is determined that the remaining capacity information of the target trash can matching the first candidate parking space reaches the set threshold, then a prompt message to replace the trash can at the first candidate parking space can be generated. Further, the prompt message can be sent to the target robot so that the target robot replaces the trash can.

[0092] The solution of this embodiment, after determining the attribute information of the trash can at the first candidate parking space, if it is determined that the trash can attribute information matching the first candidate parking space reaches the set threshold, a prompt message to replace the trash can at the first candidate parking space can be generated; feedback the prompt message to the target robot so that the target robot replaces the trash can at the first candidate parking space, can replace the nearly full trash cans at each parking space in real time, and provide a basis for ensuring the effective progress of the garbage dumping work of the unmanned sweeper.

[0093] To better understand the garbage dumping method of the unmanned sweeper involved in this embodiment, Figure 4 is a flowchart of another garbage dumping method of the unmanned sweeper provided according to Embodiment 3 of the present invention, which mainly includes:

[0094] Step 410: The visual camera detects the garbage dumping parking space information in real time;

[0095] Step 411: Whether there is a trash can;

[0096] If yes, execute Step 420;

[0097] Otherwise, execute step 430;

[0098] Step 420: The visual algorithm identifies the remaining capacity of the trash can;

[0099] Step 421: Whether the threshold is reached;

[0100] If yes, execute step 430;

[0101] Otherwise, execute step 423;

[0102] Step 423: Whether there is a vehicle at the trash disposal parking space;

[0103] If yes, execute step 430;

[0104] Otherwise, execute step 425;

[0105] Step 430: Update the trash disposal parking space as unavailable;

[0106] Step 425: Update the trash disposal parking space as available;

[0107] Step 426: Dispatch the robot to transfer the current trash can;

[0108] Step 440: Dispatch the robot to place a trash can that meets the specifications;

[0109] Figure 5 It is a schematic diagram of the working process of a trash management platform provided in Embodiment 3 of the present invention, which mainly includes:

[0110] Step 510: The unmanned sweeper alarms when the trash is full;

[0111] Step 520: Receive the alarm and dispatch the unmanned sweeper to the parking area of the trash station;

[0112] Step 530: After the unmanned sweeper arrives at the parking area, obtain the available trash disposal parking space;

[0113] Step 540: Whether there is an available trash disposal parking space;

[0114] If yes, execute step 550;

[0115] Otherwise, execute step 560;

[0116] Step 550: The unmanned sweeper performs the trash disposal scheduling operation;

[0117] Step 560: Wait;

[0118] In this embodiment, during the working process of the trash management platform, step 570 can also be executed simultaneously;

[0119] Step 570: The current garbage truck finishes its operation and leaves.

[0120] Step 571: Visually identify whether the garbage bin is not full.

[0121] If it is not full, execute Step 572.

[0122] Step 572: Publish the available status of the parking space and the remaining capacity status of the garbage bin.

[0123] Step 573: Push relevant parking space information based on the queuing information of the garbage truck and the required garbage bin capacity.

[0124] The solution of this embodiment can achieve resource sharing among multiple different garbage truck suppliers, reduce input costs, unify site management, facilitate the management of smart cities, and avoid the docking of various systems; fully intelligent unmanned operation, transfer and replacement of trash cans, and cleaning and replacement are achieved through linkage with intelligent robot devices; it is willing to improve the utilization efficiency of garbage stations.

[0125] Embodiment 4

[0126] Figure 6 It is a schematic structural diagram of a garbage dumping device for a garbage truck provided according to Embodiment 3 of the present invention. As Figure 6 shown, this device can be deployed on the management platform of a garbage station. The device includes: a first attribute information determination module 610, a candidate parking space determination module 620, and a target parking space determination module 630.

[0127] The first attribute information determination module 610 is configured to determine the first attribute information of the garbage loaded by the target garbage truck in response to the garbage dumping instruction of the target garbage truck.

[0128] The candidate parking space determination module 620 is configured to determine candidate parking spaces and determine the garbage bin attribute information matching the candidate parking spaces; the candidate parking spaces are idle parking spaces or non-idle parking spaces for which the garbage dumping tasks of the garbage trucks to be completed are pending.

[0129] The target parking space determination module 630 is configured to determine the target parking space based on the first attribute information and the garbage bin attribute information, and feedback the identification information of the target parking space to the target garbage truck.

[0130] In the solution of this embodiment, the first attribute information determination module determines the first attribute information of the garbage loaded in the target unmanned sweeper in response to the garbage dumping instruction of the target unmanned sweeper; the candidate parking space determination module determines the candidate parking spaces and determines the garbage can attribute information matching the candidate parking spaces; the target parking space determination module determines the target parking space based on the first attribute information and the garbage can attribute information, and feeds back the identification information of the target parking space to the target unmanned sweeper, so as to quickly and accurately determine the target parking space, enabling the unmanned sweeper to precisely complete the garbage dumping work and reducing the waiting time.

[0131] In an alternative implementation of this embodiment, the first attribute information includes: category information, quality information, or volume information;

[0132] Correspondingly, the first attribute information determination module 310 is specifically configured to obtain the internal image of the garbage loading device of the target unmanned sweeper through an image sensor, identify the internal image, and obtain the category information of the garbage loaded in the target unmanned sweeper;

[0133] Or, determine the current weight of the target unmanned sweeper through a weighing device, and determine the weight information of the garbage loaded in the target unmanned sweeper based on the difference between the current weight and the initial weight of the target unmanned sweeper;

[0134] Or, determine the height of the garbage loaded in the garbage loading device of the target unmanned sweeper through an ultrasonic sensor, and determine the volume information of the garbage loaded in the target unmanned sweeper according to the height.

[0135] In an alternative implementation of this embodiment, the candidate parking space determination module 320 is specifically configured to obtain the status information of each parking space, determine each available parking space according to the status information, and determine each available parking space as the candidate parking space;

[0136] In the case where the number of available parking spaces determined according to the status information is 0, determine the current working information of each parking space, determine the first non-available parking space for the garbage dumping task of the to-be-completed unmanned sweeper according to the current working information, and determine each first non-available parking space as the candidate parking space.

[0137] In an alternative implementation of this embodiment, the candidate parking space determination module 320 is further specifically configured to obtain the sensor data of the target sensor matching the candidate parking space, and determine the remaining amount information of the garbage can according to the sensor data; the target sensor is used to collect data of the garbage can matching the candidate parking space;

[0138] Alternatively, obtain the image data of the target trash can that matches the candidate parking space, and determine the category information of the trash can according to the image data.

[0139] In an alternative implementation of this embodiment, the target parking space determination module 330 is specifically configured to match the first attribute information with each of the trash can attribute information;

[0140] When it is determined that the first attribute information matches the target trash can attribute information, determine the candidate parking space corresponding to the target trash can attribute information as the target parking space.

[0141] In an alternative implementation of this embodiment, the trash dumping device of the unmanned sweeper further includes: a prompt information generation module, configured to generate a prompt information for replacing the trash can of the first candidate parking space when the trash can attribute information matching the first candidate parking space reaches a set threshold;

[0142] Feed back the prompt information to the target robot, so that the target robot replaces the trash can of the first candidate parking space.

[0143] In an alternative implementation of this embodiment, the trash dumping device of the unmanned sweeper further includes: a trash can replacement module, configured to detect the remaining amount information of the target trash can that matches the target parking space in real time during the process of the target unmanned sweeper dumping trash;

[0144] When the remaining amount information of the target trash can is less than or equal to a set remaining amount threshold, send an instruction to the target unmanned sweeper to stop dumping trash;

[0145] In response to the completion instruction of the replacement of the target trash can, send a continue dumping trash instruction to the target unmanned sweeper.

[0146] The trash dumping device of the unmanned sweeper provided by the embodiments of the present invention can execute the trash dumping method of the unmanned sweeper provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0147] Embodiment Five

[0148] Figure 7FIG. 0 shows a schematic structural diagram of an electronic device 10 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0149] As Figure 7 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0150] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0151] The processor 11 may be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the garbage dumping method of the unmanned sweeper, which is executed by the management platform of the garbage station and includes: in response to the garbage dumping instruction of the target unmanned sweeper, determining the first attribute information of the garbage loaded by the target unmanned sweeper; determining candidate parking spaces and determining the garbage bin attribute information matching the candidate parking spaces; the candidate parking spaces being idle parking spaces or non-idle parking spaces to be completed with the garbage dumping tasks of the unmanned sweeper; determining the target parking space based on the first attribute information and the garbage bin attribute information, and feeding back the identification information of the target parking space to the target unmanned sweeper.

[0152] In some embodiments, the garbage dumping method of the unmanned sweeper may be implemented as a computer program, which is tangibly included in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the garbage dumping method of the unmanned sweeper described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute the garbage dumping method of the unmanned sweeper by any other suitable means (e.g., by means of firmware).

[0153] The various embodiments of the systems and technologies described above herein may be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs, which may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, and may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0154] A computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0155] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0156] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0157] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0158] A computing system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs that run on respective computers and have a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0159] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0160] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

[0161] An embodiment of the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the method for detecting a database provided in any embodiment of the present application.

[0162] In the process of implementing the computer program product, computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or, alternatively, can be connected to an external computer (e.g., by using an Internet service provider to connect through the Internet).

[0163] It should be noted that in the embodiments of the present application, certain industry-existing solutions such as certain software, components, models, etc. may be mentioned. They should be considered exemplary, and their purpose is only to illustrate the feasibility in the implementation of the technical solution of the present application, but it does not mean that the applicant has already or necessarily used this solution.

[0164] Note that the above is only the preferred embodiment of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for dumping garbage by an unmanned sweeper, executed by a management platform of a garbage station, characterized in that: The method comprises: In response to a garbage dumping instruction of a target unmanned sweeper, determining first attribute information of garbage loaded by the target unmanned sweeper; Determine a candidate parking space and determine the attribute information of a trash can matching the candidate parking space; the candidate parking space is an idle parking space, or a non-idle parking space for which a garbage dumping task of an unmanned sweeper is to be completed; A target parking space is determined based on the first attribute information and the trash can attribute information, and identification information of the target parking space is fed back to the target unmanned sweeper.

2. The garbage dumping method of the unmanned sweeper according to claim 1, characterized in that: The first attribute information includes: category information, quality information or volume information; Accordingly, the first attribute information of the garbage loaded by the target unmanned sweeper is determined, including: Acquire an internal image of the garbage loading device of the target unmanned sweeper through an image sensor, identify the internal image, and obtain category information of the garbage loaded by the target unmanned sweeper; Alternatively, the current weight of the target unmanned sweeper is determined by a weighing device, and the weight information of the garbage loaded by the target unmanned sweeper is determined based on the difference between the current weight and the initial weight of the target unmanned sweeper; Alternatively, the height of the garbage loaded by the garbage loading device of the target unmanned sweeper is determined by an ultrasonic sensor, and the volume information of the garbage loaded by the target unmanned sweeper is determined based on the height.

3. The garbage dumping method of the unmanned sweeper according to claim 1, characterized in that: The determining of the candidate parking spaces comprises: Acquire status information of each parking space, determine each vacant parking space according to each status information, and determine each vacant parking space as the candidate parking space; When the number of vacant parking spaces determined according to each of the status information is 0, the current working information of each of the parking spaces is determined, and the first non-vacant parking space for the garbage dumping task of the unmanned sweeper to be completed is determined according to each of the current working information, and each of the first non-vacant parking spaces is determined as the candidate parking space.

4. The method for dumping garbage by an unmanned sweeper according to claim 3, characterized in that: The determining of the trash can attribute information matching the candidate parking space includes: Acquire sensor data of a target sensor that matches the candidate parking space, and determine the remaining amount information of the trash can according to the sensor data; the target sensor is used to collect data of the trash can that matches the candidate parking space; Alternatively, image data of a target trash can matching the candidate parking space is acquired, and category information of the trash can is determined according to the image data.

5. The garbage dumping method of an unmanned sweeper according to claim 1, characterized in that: The determining of the target parking space based on the first attribute information and the trash can attribute information includes: Matching the first attribute information with the attribute information of each trash can; When it is determined that the first attribute information matches the target trash can attribute information, the candidate parking space corresponding to the target trash can attribute information is determined as the target parking space.

6. The garbage dumping method of the unmanned sweeper according to claim 1, characterized in that: After determining the trash can attribute information matching the candidate parking space, the method further includes: When the attribute information of the trash can matching the first candidate parking space reaches a set threshold, a prompt message for replacing the trash can of the first candidate parking space is generated; The prompt information is fed back to the target robot so that the target robot replaces the trash can of the first candidate parking space.

7. The garbage dumping method of an unmanned sweeper according to claim 1, characterized in that: The method further comprises: During the process of the target unmanned sweeper dumping garbage, real-time detection of the remaining information of the target garbage bin matching the target parking space; When the remaining amount information of the target trash can is less than or equal to the set remaining amount threshold, an instruction to stop dumping trash is sent to the target unmanned sweeper; In response to the target trash can replacement completion instruction, a continue dumping trash instruction is sent to the target unmanned sweeper.

8. A garbage dumping device for an unmanned sweeper, deployed on a management platform of a garbage station, characterized in that: The device comprises: A first attribute information determination module, configured to determine first attribute information of garbage loaded by the target unmanned sweeper in response to a garbage dumping instruction of the target unmanned sweeper; A candidate parking space determination module is used to determine a candidate parking space and determine the attribute information of a trash can matching the candidate parking space; the candidate parking space is an idle parking space, or a non-idle parking space for which a garbage dumping task of an unmanned sweeper is to be completed; A target parking space determination module is used to determine a target parking space based on the first attribute information and the garbage bin attribute information, and feed back identification information of the target parking space to the target unmanned sweeper.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the garbage dumping method of the unmanned sweeper according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the garbage dumping method of the unmanned sweeper according to any one of claims 1 to 7 when executed.

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