Article classified placement method, area setting method and self-moving cleaning equipment

Abstract

The invention provides an article classified placement method, a region setting method and a self-moving cleaning device, and the method comprises the steps: setting a plurality of placement regions in a map in advance, and enabling the placement regions to be used for the placement of different types of movable articles, and when the self-moving cleaning device recognizes the movable articles in a cleaning process, carrying out the recognition of the movable articles. The target placement area corresponding to the article category of the movable article can be determined, and the movable article is moved to the target placement area through the mechanical arm module. According to the self-moving cleaning equipment, classified placement of objects can be achieved, the labor intensity of manual classification of a user is reduced, the garbage classification treatment efficiency and accuracy are improved, secondary pollution cannot be caused, and the problem that in the prior art, a single storage area is used for storing different types of garbage is solved; the technical problems of low garbage classification treatment efficiency and secondary pollution exist in the prior art.

Description

Technical Field

[0001] The present application relates to the field of automation, and particularly to a method for classifying and placing items, a method for setting areas, and a self - moving cleaning device. Background Art

[0002] A self - moving cleaning device refers to a mechanical device that can autonomously or remotely complete cleaning tasks through automation technology and intelligent design. Currently, with the development of technology, some self - moving cleaning devices are equipped with robotic arms. When encountering movable obstacles (such as socks, fruit peels, or toys, etc.) during the cleaning process, the self - moving cleaning device can pick up the items with the robotic arm and transport the items to a designated location.

[0003] However, currently, the method of picking up objects by the robotic arm of the self - moving cleaning device cannot handle obstacles with a large volume (such as milk cartons and plastic bottles, etc.). In addition, currently, the self - moving cleaning device usually places all items in the same area. The disadvantage of this method is that it cannot distinguish different types of items, resulting in low efficiency of garbage classification and treatment. At the same time, it may also cause secondary pollution, increasing the workload and complexity of subsequent garbage treatment. Summary of the Invention

[0004] The present application provides a method for classifying and placing items, a method for setting areas, and a self - moving cleaning device, which solves the technical problems that the existing method of using a single storage area to store different types of garbage has low efficiency in garbage classification and treatment and causes secondary pollution.

[0005] In a first aspect, the present application provides a method for classifying and placing items. The method for classifying and placing items is applicable to a self - moving cleaning device. The self - moving cleaning device includes a robotic arm module and an image acquisition module. The method for classifying and placing items includes:

[0006] Obtain area setting information, and according to the area setting information, determine a plurality of placement areas and the item categories corresponding to the placement areas in a map corresponding to the working area;

[0007] During the process of performing sorting and cleaning tasks, collect environmental images of the working area through the image acquisition module;

[0008] Identify the items in the working area according to the environmental images;

[0009] When it is identified that the item is a movable item, determine the corresponding target placement area in the map according to the target item category of the movable item;

[0010] Move the movable item through the robotic arm module and move it to the target placement area, and place the movable item in the target placement area through the robotic arm module.

[0011] Wherein, the self - moving cleaning device includes a communication module, the self - moving cleaning device is wirelessly connected to a terminal device, and the obtaining of the area setting information includes:

[0012] Receive the area setting information sent by the terminal device.

[0013] Wherein, the self - moving cleaning device includes a communication module, the self - moving cleaning device is wirelessly connected to a server, and the obtaining of the area setting information includes:

[0014] Obtain the pre - stored area setting information from the server.

[0015] Wherein, the moving of the movable item through the robotic arm module and moving it to the target placement area includes:

[0016] Based on the target image corresponding to the movable item collected by the image acquisition module, determine the size information of the movable item;

[0017] Move the movable item through the robotic arm module in a moving manner corresponding to the size information and move it to the target placement area.

[0018] Wherein, the determination method of the moving manner corresponding to the size information is as follows:

[0019] In the case where it is determined according to the size information that the size of the movable item exceeds the preset size, determine the corresponding moving manner as pushing the movable item;

[0020] In the case where it is determined according to the size information that the size of the movable item is less than or equal to the preset size, determine the corresponding moving manner as clamping the movable item.

[0021] Wherein, each placement area is provided with a storage space for placing the movable item, the storage space is provided with a delivery part, the delivery part is arranged on the side of the storage space close to the outside, the delivery part is provided with a lid for closing the corresponding storage space, and the storage space is also used to control the opening and closing of each lid; the placing of the movable item in the target placement area through the robotic arm module includes:

[0022] Generate and send an open - lid message to the target storage space in the target placement area so that the target storage space opens the lid according to the open - lid message;

[0023] Place the movable item into the target storage space through the robotic arm module.

[0024] Wherein, each of the placement areas is provided with a storage space for placing the movable item. The storage space is provided with a delivery part, and the delivery part is arranged on the side of the storage space close to the outside. The delivery part is provided with a lid for closing the corresponding storage space, and the lid is configured to open when subjected to an external force and close when the external force is withdrawn. Placing the movable item into the target placement area through the robotic arm module includes:

[0025] Apply an external force to the lid of the target storage space in the target placement area to open the lid corresponding to the target storage space;

[0026] After placing the movable item into the target storage space through the robotic arm module, withdraw the external force applied to the lid so that the lid corresponding to the target storage space closes.

[0027] In a second aspect, the present application provides a method for setting areas. The area setting method is applicable to a terminal device. The terminal device is wirelessly connected to a self - moving cleaning device that executes the item classification and placement method described in the first aspect and is also wirelessly connected to a server. The area setting method includes:

[0028] In response to a map display instruction, obtain a map corresponding to the working area of the self - moving cleaning device and visualize it. The map is pre - constructed by the self - moving cleaning device;

[0029] In response to an area setting instruction, determine the position information of the placement area in the map and determine the item category corresponding to the placement area;

[0030] In response to an information sending instruction, generate area setting information based on the position information of the placement area in the map and the item category corresponding to the placement area, and send the area setting information to the self - moving cleaning device or upload it to the server.

[0031] In a third aspect, the present application provides a self - moving cleaning device, which includes a processor, a memory, a robotic arm module, and an image acquisition module;

[0032] The memory is used to store a computer program and transmit the computer program to the processor;

[0033] The processor is used to execute the item classification and placement method described in the first aspect according to the instructions in the computer program.

[0034] Fourthly, the present application provides a terminal device, which includes a processor and a memory. The terminal device is wirelessly connected to a self - moving cleaning device that executes the item classification and placement method described in the first aspect and is also wirelessly connected to a server;

[0035] The memory is used to store a computer program and transmit the computer program to the processor;

[0036] The processor is used to execute the area setting method described in the second aspect according to the instructions in the computer program.

[0037] Fifthly, the present application provides a storage medium storing computer - executable instructions. When the computer - executable instructions are executed by a computer processor, they are used to execute the item classification and placement method described in the first aspect or the area setting method described in the second aspect.

[0038] The present application provides an item classification and placement method, an area setting method and a self - moving cleaning device. By pre - setting multiple placement areas in a map for placing movable items of different item categories in the present application, when the self - moving cleaning device identifies a movable item during the cleaning process, it will determine a target placement area corresponding to the item category of the movable item, and move the movable item to the target placement area through a robotic arm module. In the present application, the self - moving cleaning device can achieve the classification and placement of items, reduce the labor intensity of manual classification by users, improve the efficiency and accuracy of garbage classification and treatment, and will not cause secondary pollution, solving the technical problems of low efficiency of garbage classification and treatment and secondary pollution existing in the prior art method of using a single storage area to store different categories of garbage. Description of the Drawings

[0039] Figure 1 It is a schematic flow chart of an item classification and placement method provided by an embodiment of the present invention.

[0040] Figure 2 It is a schematic flow chart of an area setting method provided by an embodiment of the present invention.

[0041] Figure 3 It is a schematic diagram of a user interface of an APP provided by an embodiment of the present invention.

[0042] Figure 4 It is a schematic diagram of displaying a map in the user interface provided by an embodiment of the present invention.

[0043] Figure 5 It is one of the schematic diagrams of a "placement area information" window provided by an embodiment of the present invention.

[0044] Figure 6Schematic diagram of a selection box in a map provided by an embodiment of the present invention.

[0045] Figure 7 Second schematic diagram of a "placement area information" window provided by an embodiment of the present invention.

[0046] Figure 8 Schematic diagram of a placement area set by a user in a map provided by an embodiment of the present invention.

[0047] Figure 9 Schematic diagram of transmission area setting information provided by an embodiment of the present invention.

[0048] Figure 10 Schematic diagram of an item movement path planned by a self - moving cleaning device provided by an embodiment of the present invention.

[0049] Figure 11 Schematic diagram of the structure of a storage space provided by an embodiment of the present invention

[0050] Figure 12 Circuit schematic diagram of a self - moving cleaning device provided by an embodiment of the present invention.

[0051] Figure 13 Circuit schematic diagram of a terminal device provided by an embodiment of the present invention. Detailed implementation manners

[0052] The following description and the accompanying drawings fully illustrate specific embodiments of the present application, enabling those skilled in the art to practice them. The embodiments merely represent possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations can vary. Parts and features of some embodiments can be included in or replace parts and features of other embodiments. The scope of the embodiments of the present application includes the entire scope of the claims and all available equivalents of the claims. Herein, each embodiment can be individually or collectively referred to by the term "invention" for convenience only, and if in fact more than one invention is disclosed, it is not intended to automatically limit the scope of the application to any single invention or inventive concept. Herein, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method or device comprising a series of elements includes not only those elements but also other elements not expressly listed. Each embodiment herein is described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the structures, products, etc. disclosed in the embodiments, since they correspond to the parts disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0053] In the prior art, during the process of a self-moving cleaning device performing a cleaning task, it can pick up an item with a robotic arm and then transport the item to a designated position. However, by the method of picking up an object with a robotic arm, for relatively large obstacles (such as milk cartons and plastic bottles, etc.), since the robotic arm cannot pick them up, the self-moving cleaning device cannot handle them. Additionally, currently, after the self-moving cleaning device picks up a moving item, it generally transports all the items to the same area. The disadvantage of this method is that it cannot distinguish different types of items, and different types of garbage are all concentrated in the same area, resulting in low efficiency in subsequent garbage classification and treatment. Moreover, the garbage concentrated in the same area may also cause secondary pollution, increasing the subsequent treatment workload.

[0054] Based on this, to solve the above technical problems, an embodiment of the present invention provides an item classification and placement method, as Figure 1 shown, Figure 1Schematic flowchart of an article classification and placement method provided by an embodiment of the present invention. The article classification and placement method provided by the embodiment of the present invention is applicable to a self - moving cleaning device, and the self - moving cleaning device can be a device with an automatic cleaning function such as a floor sweeping robot, a mopping machine, a vacuum cleaner, etc. In this embodiment, the self - moving cleaning device includes a robotic arm module and an image acquisition module. The robotic arm module is used to grab articles, and the image acquisition module is used to acquire images and analyze the images. Specifically, the robotic arm module includes a robotic arm, a driving motor, a controller, and related sensors, etc. The controller is used to control the movement of the robotic arm through the driving motor. The related sensors monitor parameters such as the position, speed, and force of the robotic arm in real time and feedback them to the controller to improve the accuracy and stability of the controller's control of the robotic arm. The specific structure of the robotic arm module can refer to the prior art and will not be elaborated in this embodiment. The image acquisition module includes a camera and an image processor. The camera is installed on the body of the self - moving cleaning device, for example, set in the front of the self - moving cleaning device to acquire images in the traveling direction of the self - moving cleaning device. The image processor analyzes and processes the images acquired by the camera. For example, the image processor uses deep - learning algorithms to analyze the images and identify the article categories corresponding to the articles. The article categories include common garbage categories such as paper, plastic, metal, glass, etc.

[0055] It can be understood that the self - moving cleaning device provided in this embodiment further includes a driving module, a positioning module, a charging module, etc. The components involving electronic control in these modules are all controlled by the processor of the self - moving cleaning device. It can be understood that the driving module, the positioning module, and the charging module can all be implemented in a manner referring to the relevant self - moving cleaning device technical field. The specific installation methods and basic working principles will not be elaborated here, and the corresponding working contents will not be elaborated either. For example, the process of returning to the base station for charging through the charging module after cleaning is not elaborated.

[0056] The article classification and placement method provided by the embodiment of the present invention includes:

[0057] Step 101: Obtain area setting information. According to the area setting information, determine multiple placement areas and the article categories corresponding to the placement areas in the map corresponding to the working area.

[0058] In this embodiment, the self - moving cleaning device first needs to obtain area setting information. The area setting information includes the position information of multiple placement areas preset by the user and the item categories corresponding to the placement areas. It should be noted that the position information of the placement area includes the position of the placement area in the map of the working area of the self - moving cleaning device. The map of the working area can be pre - constructed by the self - moving cleaning device collecting environmental information during the process of performing sorting and cleaning tasks in the working area. It can be understood that the self - moving cleaning device is generally equipped with an environmental collection module, and the self - moving cleaning device constructs a map based on the environmental information collected by the environmental collection module. For example, the environmental collection module can include a laser sensor and a vision sensor, etc. When the self - moving cleaning device performs sorting and cleaning tasks in the working area, it will emit laser beams through the laser sensor and measure the reflection time to obtain the distance information of the surrounding environment. At the same time, it will capture environmental images through the vision sensor to provide details such as the shape and color of objects. After that, the self - moving cleaning device will fuse the data from different sensors, extract key features from the fused data, such as the positions and shapes of walls, furniture, obstacles, etc. Finally, it will use the SLAM algorithm to construct a map based on its own positioning information and the extracted key features, and mark obstacles, walls, etc. on the map.

[0059] The item category corresponding to the placement area is used to characterize the item category that can be placed in the placement area. For example, the item category can be common garbage categories such as paper, plastic, metal, glass, etc. Each placement area corresponds to one item category. For example, one placement area is used to place items of the glass category, and another placement area is used to place items of the plastic category, etc. In addition, the number of placement areas and the area of each placement area can be set according to actual needs. In practical applications, the number and volume of the placement areas can be adjusted according to the garbage generation situation and classification requirements of different families. For example, for a family that generates more plastic garbage, the area of the placement area corresponding to the plastic category can be appropriately increased; for a family that pays attention to metal recycling, the area of the placement area corresponding to the metal category can be increased.

[0060] In addition, there are multiple ways for the self - moving cleaning device in this embodiment to obtain the area setting information. For example, the area setting information can be sent from the terminal device to the self - moving cleaning device, or the self - moving cleaning device can actively obtain it from the cloud. In one embodiment, the self - moving cleaning device further includes a communication module. The self - moving cleaning device is wirelessly connected to the mobile terminal through the communication module. The specific type of the communication module can be set according to actual needs. For example, the communication module can be a WIFI module. The self - moving cleaning device is wirelessly connected to the mobile terminal through WIFI communication to perform data transmission with the mobile terminal. Correspondingly, obtaining the area setting information includes: receiving the area setting information sent by the terminal device. That is, in this embodiment, the user can, by interacting with the terminal device, set the range, position of the placement area and the item category corresponding to the placement area in the terminal device. Then the terminal device generates the corresponding area setting information according to the user's settings and sends the area setting information to the self - moving cleaning device, and the self - moving cleaning device then parses the area setting information. In another embodiment, the self - moving cleaning device can also be wirelessly connected to the server through the communication module. Correspondingly, obtaining the area setting information includes: obtaining the pre - stored area setting information from the server. That is, before the self - moving cleaning device executes the sorting and cleaning tasks, it can automatically obtain the area setting information from the server, where the area setting information is pre - uploaded to the server by the user. For example, after the user sets the placement area and the corresponding item category on the terminal device, the user generates the area setting information and uploads it to the server through the terminal device. Specifically, the embodiment of the present invention further provides an area setting method, as Figure 2 shown Figure 2 is a schematic flowchart of an area setting method provided by an embodiment of the present invention. The area setting method is applicable to a terminal device. The terminal device can be a portable device such as a computer, a mobile phone or a tablet, and the terminal device is wirelessly connected to the above - mentioned self - moving cleaning device and wirelessly connected to the server. The area setting method provided by the embodiment of the present invention includes:

[0061] Step 201, in response to a map display instruction, obtain the map corresponding to the working area of the self - moving cleaning device and visualize it. The map is pre - constructed by the self - moving cleaning device.

[0062] In this embodiment, when the user needs to set the placement area, the user first needs to send a map display instruction to the terminal device so that the terminal device displays the map corresponding to the working area of the self - moving cleaning device in the user interface. Exemplarily, an APP adapted to the self - moving cleaning device is installed in the terminal device. The user can realize functions such as status viewing and management of the self - moving cleaning device through the APP in the terminal device. As Figure 3 shown Figure 3A schematic diagram of the user interface of an APP provided by an embodiment of the present invention. Figure 3 In the figure, the user interface of the APP displays a "Status" button. After the user clicks the "Status" button, the APP will display status information related to the self - moving cleaning device. In addition, a "Map" button is also displayed in the user interface. After the user clicks the "Map" button, a map display instruction can be sent to the APP, and the APP obtains and displays the map. It should be noted that in this embodiment, the map is pre - constructed by the self - moving cleaning device and is synchronously updated each time the self - moving cleaning device performs sorting and cleaning tasks. In one embodiment, after the self - moving cleaning device constructs or updates the map, it can upload the map to the server. After the APP responds to the map display instruction, it obtains the map from the server and displays the map in the user interface. In another embodiment, after the self - moving cleaning device constructs or updates the map, it can also directly send the map to the terminal device. The APP caches the map locally on the terminal device and, after responding to the map display instruction, obtains the map from the local of the terminal device and displays the map in the user interface. Exemplarily, as Figure 4 shown, Figure 4 A schematic diagram of displaying a map in the user interface provided by an embodiment of the present invention. Figure 4 In the figure, 10 is the self - moving cleaning device and 20 is the base station.

[0063] Step 202: In response to the area setting instruction, determine the position information of the placement area in the map and determine the item category corresponding to the placement area.

[0064] After the terminal device displays the map, the user can further set a placement area in the map displayed in the user interface of the APP by issuing an area setting instruction to the APP, including setting the position range of the placement area and setting the item category corresponding to the placement area, etc. Exemplarily, in the Figure 4 shown user interface, a "Settings" icon is also displayed in the upper right corner of the map. After the user clicks the "Settings" icon, a "Placement Area Information" window will pop up in the user interface. The first - level menu of the "Placement Area Information" window displays the placement areas that the user has set. The user can view and edit the relevant information of the placement area (including the position, name, and corresponding item category of the placement area, etc.) in the "Placement Area Information" window, as Figure 5 shown, Figure 5One of the schematic diagrams of a "placement area information" window provided by an embodiment of the present invention. After the user clicks the "Add" button in the "placement area information" window, a new placement area can be added. At this time, the user interface will redisplay the map, and the user can set the placement area on the map through gestures. For example, the user can zoom in and out on the map through gestures, and the map will display a corresponding selection box, and the size of the selection box will decrease or increase accordingly with the zoom of the user's gesture. The size of the selection box corresponds to the size of the placement area on the map, as Figure 6 shown Figure 6 One of the schematic diagrams of a selection box in the map provided by an embodiment of the present invention, Figure 6 The dashed box in is the selection box. After the user determines the size of the selection box, the user can also move the selection box on the map through gestures to determine the specific position of the placement area. After the user determines the size and the specific position of the selection box on the map, the APP can determine the position information of the placement area according to the size of the selection box and its position on the map, and redisplay the "placement area information" window, and display the position information of the placement area set by the user in the secondary menu of the "placement area information" window. At the same time, the user can further set the name information of the placement area and the corresponding item category in the secondary menu of the "placement area information" window, so as to complete the setting of the placement area, as Figure 7 shown Figure 7 One of the schematic diagrams of a "placement area information" window provided by an embodiment of the present invention. After the setting is completed, the APP can determine the placement area set by the user on the map and the item category corresponding to the placement area. Similarly, the user can set other placement areas in the same way, which will not be elaborated in this embodiment. In one embodiment, as Figure 8 shown Figure 8 One of the schematic diagrams of the placement area set by the user on the map provided by an embodiment of the present invention, Figure 8 The dashed area in is the placement area set by the user, where the item category corresponding to placement area A is glass, the item category corresponding to placement area B is metal, and the item category corresponding to placement area C is paper products.

[0065] Step 203: In response to the information sending instruction, generate area setting information based on the position information of the placement area on the map and the item category corresponding to the placement area, and send the area setting information to the self-moving cleaning device or upload it to the server.

[0066] After the user sets the placement area in the map, the user can control the APP to generate corresponding area setting information according to the set placement area by sending an information sending instruction to the APP of the terminal device, and send the area setting information to the self-moving cleaning device or upload it to the server. For example, after the user sets the placement area, the user can click the "Area Synchronization" button in the first-level menu of the "Placement Area Information" window through a gesture, and the APP can generate area setting information according to the position information of the placement area set by the user in the map and the item category corresponding to the placement area, and send the area setting information to the self-moving cleaning device or upload it to the server. In one embodiment, as Figure 9 shown Figure 9 is a schematic diagram of transmitting area setting information provided by an embodiment of the present invention. After the terminal device 40 sends the area setting information to the server in the cloud, the self-moving cleaning device 10 obtains the area setting information from the server.

[0067] As described above, an embodiment of the present invention provides a method for setting a placement area. In the embodiment of the present invention, after the map is displayed on the terminal device, the user customizes the placement area on the map, so that the user can quickly locate and set the placement area. The operation is intuitive and easy to understand, conforms to the human spatial cognition habit, is applicable to various user groups, and improves the user experience and the management efficiency of the placement area. In addition, by intelligently managing the placement area, the space can be utilized more effectively, object stacking can be avoided, and the environment can be kept clean.

[0068] The above is the specific process of the user setting the placement area in the terminal device. After the self-moving cleaning device obtains the area setting information, it can determine the position information of multiple placement areas and the item categories corresponding to the placement areas in the pre-constructed map.

[0069] Step 102, during the process of performing the sorting and cleaning task, collect the environmental image of the working area through the image acquisition module.

[0070] After the self-moving cleaning device determines the position information of the placement area and the item category corresponding to the placement area, the self-moving cleaning device can perform the sorting and cleaning task. The sorting and cleaning task includes a cleaning task and an item sorting task, etc. The cleaning task is used to clean the working area, and the item sorting task is used to sort the items in the working area. Specifically, before the self-moving cleaning device performs the sorting and cleaning task, the self-moving cleaning device needs to plan an operation path in the map. After the operation path planning is completed, the self-moving cleaning device can perform the sorting and cleaning task, and move along the operation path during the process of performing the sorting and cleaning task, and collect the environmental image of the working area in real time through the image acquisition module.

[0071] Step 103: Identify the items in the working area based on the environmental image.

[0072] After collecting the environmental image, the self - moving cleaning device needs to identify the items in the working area according to the collected environmental image. For example, the self - moving cleaning device can input the environmental image into a pre - trained item recognition model to identify the items in the environmental image through the item recognition model and output relevant information such as the name and position of the items. The item recognition model can be obtained by training a deep - learning neural network. For specific details, reference can be made to the prior art and will not be elaborated in this embodiment.

[0073] Step 104: When the identified item is a movable item, determine the corresponding target placement area in the map according to the target item category of the movable item.

[0074] After identifying the item from the environmental image, the self - moving cleaning device needs to further determine whether the identified item is a movable object. A movable item is an item that can be moved by the robotic arm of the self - moving cleaning device. For example, movable items can be paper, slippers, fruit peels, toys, and stationery, etc. In one embodiment, when the self - moving cleaning device identifies a movable item, it can extract the item contour features from the image and perform similarity matching with a preset movable item model. When the confidence level > 85%, the item is determined to be a movable item. While identifying the movable item based on the environmental image, it is also necessary to identify the target item category of the movable item in the environmental image. For example, a pre - trained deep - learning neural network can be used to identify the target item category of the movable item. For specific details, reference can be made to the prior art and will not be elaborated in this embodiment.

[0075] After determining the target object category corresponding to the movable item, the self - moving cleaning device needs to determine the target placement area corresponding to the movable item according to the target item category of the movable item. Exemplarily, for the Figure 8 shown placement area, when the target item category of the movable item identified by the self - moving cleaning device is paper products, the self - moving cleaning device determines the target placement area as placement area C in the map and determines the target position information corresponding to placement area C.

[0076] Step 105: Move the movable item through the robotic arm module and move it to the target placement area, and place the movable item into the target placement area through the robotic arm module.

[0077] After determining the target placement area on the map, the self-moving cleaning device can plan an item movement path to move to the target placement area based on the target position information of the target placement area. The item movement path is the path for transporting the movable item to the target placement area. Specifically, the self-moving cleaning device needs to plan an item movement path based on its current position information on the map and the target position information of the target placement area, and move to the target placement area according to the item movement path. Exemplarily, as Figure 10 shown, Figure 10 is a schematic diagram of an item movement path planned by a self-moving cleaning device provided in an embodiment of the present invention. After the self-moving cleaning device 10 identifies the paper box Z, it plans an item movement path to move to the placement area C according to its current position. In addition, during the movement of the self-moving cleaning device, it is necessary to move the movable item through the robotic arm module to synchronously move the movable item to the target placement area. For example, the self-moving cleaning device can grip or push the movable object through the robotic arm of the robotic arm module and then move along the item movement path. After reaching the target placement area, the movable item is placed into the target placement area through the robotic arm.

[0078] In addition, it is found in the actual operation process that when the size of the movable item is relatively large, due to the limitation of the mechanical structure of the robotic arm, the self-moving cleaning device may not be able to grip the movable item with the robotic arm. At this time, the self-moving cleaning device needs to change the movement mode of the movable object so as to successfully move the movable object. In one embodiment, moving the movable item through the robotic arm module and moving it to the target placement area in step 105 includes:

[0079] Step 1051: Determine the size information of the movable item based on the target image corresponding to the movable item collected by the image acquisition module.

[0080] In this embodiment, before moving the movable object, the self-moving cleaning device needs to obtain the target image corresponding to the movable item collected by the image acquisition module and determine the size information of the movable item according to the target image. The specific process of identifying the size of an object based on an image can refer to the prior art and will not be elaborated in this embodiment.

[0081] Step 1052: Move the movable item to the target placement area through the robotic arm module in a movement mode corresponding to the size information.

[0082] After determining the size information of the movable object, the self - moving cleaning device can determine the corresponding moving method according to the size information of the movable object. Specifically, when it is determined according to the size information that the size of the movable object exceeds the preset size, the corresponding moving method is determined to be pushing the movable object. When it is determined according to the size information that the size of the movable object is less than or equal to the preset size, the corresponding moving method is determined to be clamping the movable object. The preset size is the reference value for the self - moving cleaning device to judge the moving method, which is usually jointly determined by the load - bearing capacity of the robotic arm and the mechanical structure limitation of the robotic arm. Exemplarily, the preset size can be 0.3m×0.3m×0.2m (length×width×height). If the size of the movable object exceeds the preset size, the pushing logic is triggered; otherwise, the clamping logic is triggered. For example, when the self - moving cleaning device detects a cardboard box with dimensions of 0.5m×0.4m×0.3m, it determines that the corresponding moving method for the cardboard box is pushing. At this time, the robotic arm can be controlled to contact the bottom of the cardboard box to slowly push the cardboard box synchronously during subsequent movement. When the self - moving cleaning device detects a key with dimensions of 0.1m×0.1m×0.1m, it determines that the corresponding moving method for the key is clamping. At this time, the robotic arm can be controlled to clamp the key.

[0083] After determining the corresponding moving method of the movable object, the self - moving cleaning device can move according to the object moving path, and control the robotic arm module to move the movable object in the corresponding moving method during the movement, so as to transport the movable object to the target placement area. By determining the moving method corresponding to the movable object based on the size information of the movable object in the embodiment of the present invention, when the self - moving cleaning device faces a movable object with a larger size, it can adopt an appropriate method to move the movable object, thereby endowing the self - moving cleaning device with the ability to classify and organize larger - sized items, and improving the user experience.

[0084] On the basis of the above - mentioned embodiment, each placement area is provided with a storage space for placing movable objects. The storage space is provided with a delivery part. The delivery part is arranged on the side of the storage space close to the outside. The delivery part is provided with a lid for closing the corresponding storage space. The storage space is also used to control the opening and closing of each lid; putting the movable object into the target placement area by the robotic arm module in step 105 includes:

[0085] Step 1053: Generate and send an open - lid message to the target storage space in the target placement area, so that the target storage space opens the lid according to the open - lid message.

[0086] Step 1054: Put the movable object into the target storage space through the robotic arm module.

[0087] In one embodiment, a storage space for placing movable items is provided in each placement area. The storage space can be a box constructed of metal or composite materials. The storage space is provided with a delivery part, which is an entrance for putting movable items. The delivery part is located on the side or top of the storage space close to the outside. The delivery part is provided with a lid for closing the corresponding storage space. The lid and the delivery part can be connected by a hinge. By default, the lid is in a closed state and is flush with the surface of the storage space when closed. The storage space can control the opening and closing of each lid. Exemplarily, as Figure 11 shown Figure 11 FIG. 3 is a schematic structural diagram of a storage space provided by an embodiment of the present invention. The inside of the storage space 30 can be used to place movable items. A delivery part is provided on the side of the storage space 30, and a lid 31 is provided on the delivery part. In addition, a communication module is provided inside the storage space, and the storage space can communicate with the self-moving cleaning device through the communication module.

[0088] After the self-moving cleaning device moves the movable item to the target placement area, it generates an open-lid message and sends the open-lid message to the target storage space in the target placement area. After receiving the open-lid message, the target storage space opens the lid so that the self-moving cleaning device can put the movable item into the target storage space through the robotic arm module. In another embodiment, after the self-moving cleaning device finishes placing the movable item, it can also send a close-lid message to the target storage space, and the target storage space closes the lid according to the close-lid message.

[0089] In another embodiment, a storage space for placing movable items is provided in each placement area. The storage space is provided with a delivery part. The delivery part is arranged on the side of the storage space close to the outside. The delivery part is provided with a lid for closing the corresponding storage space. The lid is configured to open when subjected to an external force and close when the external force is withdrawn; putting the movable item into the target placement area through the robotic arm module includes:

[0090] Step 1055: Apply an external force to the lid of the target storage space in the target placement area to open the lid corresponding to the target storage space.

[0091] Step 1056: After putting the movable item into the target storage space through the robotic arm module, withdraw the external force applied to the lid so that the lid corresponding to the target storage space closes.

[0092] In another embodiment, the lid provided on the storage space needs to be opened by an external force. Exemplarily, a rotating shaft is further provided on the housing of the storage space. The lid is movably connected to the rotating shaft and can rotate around the rotating shaft. At the same time, an elastic reset element is also provided on the rotating shaft. When no external force acts, the lid closes the delivery part of the storage space. When an external force pushes the lid to rotate around the rotating shaft, the rotating shaft rotates against the elastic force of the elastic reset element, and the delivery part is exposed. After the external force is withdrawn, the stored energy of the elastic reset element is released, causing the rotating shaft to rotate in the reverse direction to drive the lid to reset, thereby closing the delivery part again.

[0093] Specifically, after the self - moving cleaning device moves the movable item to the target placement area, it controls the robotic arm module to apply an external force to the lid of the target storage space to open the corresponding lid of the target storage space. After the lid is opened, the self - moving cleaning device controls the robotic arm module to put the movable item into the target storage space through the delivery part (during this process, it is necessary to keep applying an external force to the lid), and completes the placement of the movable item. After the self - moving cleaning device puts the movable item into the target storage space, it controls the robotic arm module to withdraw the external force applied to the lid, so that the corresponding lid of the target storage space closes.

[0094] In another embodiment, a linkage assembly corresponding to the lid is further provided at the bottom of the storage space. The linkage assembly is arranged on one side of the bottom of the storage space close to the outside. The self - moving cleaning device can apply an external force to the lid by pushing the linkage assembly. To facilitate the self - moving cleaning device to push the linkage assembly, the linkage assembly is usually arranged directly below the lid and the set height is matched with the height of the self - moving cleaning device. Specifically, when the linkage assembly is pushed by an external force, the linkage assembly can drive the corresponding lid to open. When the external force is withdrawn, the linkage assembly can drive the lid to close through an automatic reset mechanism. In one embodiment, the linkage assembly can be arranged on the side of the storage space in the form of a protruding button, which is convenient for the self - moving cleaning device to push. After the self - moving cleaning device moves the movable item to the target placement area, it moves to directly below the target storage space and pushes the target linkage assembly of the target storage space to open the lid of the target storage space. Then the self - moving cleaning device puts the movable item into the target storage space through the robotic arm module. After putting the movable item into the target storage space, the self - moving cleaning device can move away from the target linkage assembly, thereby withdrawing the external force applied to the target linkage assembly, so that the target linkage assembly closes the lid of the target storage space through the automatic reset mechanism.

[0095] As described above, by providing a lid in each storage space in the embodiments of the present invention, the volatilization of peculiar smell can be effectively inhibited, and the probability of secondary pollution can be reduced. In addition, when the self - moving cleaning device needs to place a movable item, it only needs to open the lid of the corresponding target storage space, which can further reduce the risk of secondary pollution caused by the exposure of all storage spaces.

[0096] Based on the above embodiments, it further includes:

[0097] Step 106, when moving the movable item to the target placement area, return to the position where the movable item was originally recognized, and continue to perform sorting and cleaning tasks based on the operation path.

[0098] In one embodiment, after the self - moving cleaning device moves to the target placement area and places the movable item in the target placement area through the robotic arm module, the self - moving cleaning device needs to move back to the position where the movable item was previously recognized, and continue to move according to the originally planned operation path to perform sorting and cleaning tasks, so as to ensure the complete execution of the sorting and cleaning tasks.

[0099] As described above, the embodiments of the present invention provide a method for classifying and placing items. In the embodiments of the present invention, multiple placement areas are pre - set in the map for placing movable items of different item categories. When the self - moving cleaning device recognizes a movable item during the cleaning process, it will determine the target placement area corresponding to the item category of the movable item, and move the movable item to the target placement area through the robotic arm module. In the embodiments of the present invention, the self - moving cleaning device can realize the classified placement of items, reduce the labor intensity of manual classification by users, improve the efficiency and accuracy of garbage classification, and will not cause secondary pollution, solving the technical problems of low efficiency of garbage classification and secondary pollution existing in the prior art when using a single storage area to store different categories of garbage.

[0100] This embodiment also provides a self - moving cleaning device, as Figure 12 shown Figure 12 is a circuit schematic diagram of a self - moving cleaning device provided by an embodiment of the present invention. The self - moving cleaning device 10 includes a processor 300, a memory 301, a robotic arm module 303, and an image acquisition module 304.

[0101] The memory 301 is used to store the computer program 302 and transmit the computer program 302 to the processor 300;

[0102] The processor 300 is used to execute the steps in the above - mentioned method embodiment for classifying and placing items according to the instructions in the computer program 302.

[0103] Exemplarily, the computer program 302 can be divided into one or more modules / units. One or more modules / units are stored in the memory 301 and executed by the processor 300 to complete the present application. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 302 in the self - moving cleaning device 10.

[0104] The self - moving cleaning device 10 may include, but is not limited to, the processor 300 and the memory 301. Those skilled in the art can understand that Figure 12 merely being examples of the self - moving cleaning device 10, they do not constitute a limitation on the self - moving cleaning device 10. It may include more or fewer components than shown in the figure, or combine certain components, or have different components.

[0105] The so - called processor 300 may be a central processing unit (CPU), or may also be other general - purpose processors, digital signal processors (DSPs), application - specific integrated circuits (ASICs), field - programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general - purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0106] The memory 301 may be an internal storage unit of the self - moving cleaning device 10, such as the hard disk or memory of the self - moving cleaning device 10. The memory 301 may also be an external storage device of the self - moving cleaning device 10, such as a plug - in hard disk equipped on the self - moving cleaning device 10, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 301 may also include both the internal storage unit and the external storage device of the self - moving cleaning device 10. The memory 301 is used to store the computer program and other programs and data required by the self - moving cleaning device 10. The memory 301 may also be used to temporarily store the data that has been output or will be output.

[0107] This embodiment also provides a terminal device, as Figure 13 shown Figure 13A circuit schematic diagram of a terminal device provided by an embodiment of the present invention. The terminal device 40 includes a processor 400 and a memory 401. The terminal device 40 is wirelessly connected to a self-moving cleaning device that executes the above-mentioned item classification and placement method and is wirelessly connected to a server.

[0108] The memory 401 is used to store a computer program 402 and transmit the computer program 402 to the processor 400;

[0109] The processor 400 is used to execute the steps in the above-mentioned embodiment of a region setting method according to the instructions in the computer program 402.

[0110] Exemplarily, the computer program 402 can be divided into one or more modules / units. One or more modules / units are stored in the memory 401 and executed by the processor 400 to complete the present application. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 402 in the terminal device 40.

[0111] The terminal device 40 can be a computing device such as a desktop computer, a notebook, and a palm computer. The terminal device 40 may include, but is not limited to, a processor 400 and a memory 401. Those skilled in the art can understand that Figure 13 merely examples of the terminal device 40, which do not constitute a limitation to the terminal device 40. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the terminal device 40 may further include input / output devices, network access devices, buses, etc.

[0112] The so-called processor 400 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0113] The memory 401 may be an internal storage unit of the terminal device 40, such as the hard disk or memory of the terminal device 40. The memory 401 may also be an external storage device of the terminal device 40, such as a plug-in hard disk equipped on the terminal device 40, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 401 may also include both the internal storage unit and the external storage device of the terminal device 40. The memory 401 is used to store computer programs and other programs and data required by the terminal device 40. The memory 401 may also be used to temporarily store the data that has been output or will be output.

[0114] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices and apparatuses can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again.

[0115] In addition, the embodiment of the present application further provides a storage medium containing computer-executable instructions. The computer-executable instructions are used to perform the relevant operations in the item classification and placement method or the area setting method provided in any embodiment of the present application when executed by a computer processor, and have corresponding functions and beneficial effects.

[0116] Those skilled in the art should understand that the embodiments of the present application may be provided as a method, a system, or a computer program product.

[0117] Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes. The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, so that the instructions executed by the processors of the computer or other programmable data processing devices generate for implementing in the process Figure 1 each process or multiple processes and / or blocks Figure 1means for the functions specified in one or more boxes. These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured article including an instruction means that implements the process Figure 1 one process or multiple processes and / or boxes Figure 1 means for the functions specified in one or more boxes. These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide for implementing the process Figure 1 one process or multiple processes and / or boxes Figure 1 means for the functions specified in one or more boxes.

[0118] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory. The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

[0119] Computer-readable media includes permanent and non-permanent, removable and non-removable media and can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other categories of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0120] It should also be noted that the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, commodity or device comprising the element.

[0121] Note that the above is only the preferred embodiment of the embodiments of the present invention and the technical principles applied. Those skilled in the art will understand that the embodiments of the present invention are not limited to the specific embodiments described herein. Various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the embodiments of the present invention. Therefore, although the embodiments of the present invention have been described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments. Without departing from the concept of the embodiments of the present invention, more other equivalent embodiments can be included, and the scope of the embodiments of the present invention is determined by the scope of the appended claims.

Claims

1. A method for placing objects by classification, characterized in that: The method for classifying and placing objects is applicable to a self-moving cleaning device, which includes a mechanical arm module and an image acquisition module. The method for classifying and placing objects includes: Acquire area setting information, and determine, in a map corresponding to the work area, a plurality of placement areas and item categories corresponding to the placement areas according to the area setting information; In the process of performing the cleaning task, the image acquisition module acquires the environment image of the working area; identifying objects in the working area according to the environment image; When the object is identified as a movable object, determining a corresponding target placement area in the map according to the target object category of the movable object; The movable object is moved to the target placement area by the robotic arm module, and the movable object is placed in the target placement area by the robotic arm module.

2. The method for placing items by classification according to claim 1, characterized in that: The self-moving cleaning device includes a communication module, the self-moving cleaning device is wirelessly connected to the terminal device, and the obtaining of the area setting information includes: Receive the area setting information sent by the terminal device.

3. The method for placing items by classification according to claim 1, characterized in that: The self-moving cleaning device includes a communication module, the self-moving cleaning device is wirelessly connected to a server, and the obtaining of the area setting information includes: The pre-stored regional setting information is obtained from the server.

4. The method for placing items by classification according to claim 1, characterized in that: The method of moving the movable object to the target placement area by the robotic arm module includes: Determining size information of the movable object based on the target image corresponding to the movable object acquired by the image acquisition module; The movable object is moved by the robotic arm module in a moving manner corresponding to the size information and moved to the target placement area.

5. The method for placing items by classification according to claim 4, characterized in that: The movement mode corresponding to the size information is determined as follows: In the case where it is determined according to the size information that the size of the movable object exceeds a preset size, determining that the corresponding moving method is to push the movable object; When it is determined according to the size information that the size of the movable object is less than or equal to the preset size, the corresponding moving method is determined to be clamping the movable object.

6. The method for placing objects by classification according to claim 1, characterized in that: Each of the placement areas is provided with a storage space for placing the movable items, the storage space is provided with a delivery portion, the delivery portion is provided on a side of the storage space close to the outside, the delivery portion is provided with a lid for closing the corresponding storage space, and the storage space is also used to control the opening and closing of each of the lids; Placing the movable object into the target placement area by the robotic arm module includes: Generate and send cover opening information to the target storage space of the target placement area, so that the target storage space opens the cover according to the cover opening information; The movable object is placed into the target storage space by the robotic arm module.

7. The method for placing objects by classification according to claim 1, characterized in that: Each of the placement areas is provided with a storage space for placing the movable items, the storage space is provided with a delivery part, the delivery part is provided on a side of the storage space close to the outside, the delivery part is provided with a lid for closing the corresponding storage space, the lid is configured to open when subjected to an external force and close when the external force is removed; the method of placing the movable items into the target placement area by the robotic arm module includes: Applying external force to a lid of a target storage space in the target placement area to open the lid corresponding to the target storage space; After the movable object is placed into the target storage space by the robot arm module, the external force applied to the cover is cancelled so that the cover corresponding to the target storage space is closed.

8. A method for setting a region, characterized in that: The area setting method is applicable to a terminal device, the terminal device is wirelessly connected to a self-moving cleaning device that performs the method for classifying and placing objects according to any one of claims 1 to 7 and is wirelessly connected to a server, and the area setting method includes: In response to a map display instruction, obtaining and visualizing a map corresponding to a working area of ​​the self-moving cleaning device, the map being pre-constructed by the self-moving cleaning device; In response to the area setting instruction, determining location information of the placement area in the map and determining the category of the item corresponding to the placement area; In response to the information sending instruction, area setting information is generated based on the location information of the placement area in the map and the category of items corresponding to the placement area, and the area setting information is sent to the self-mobile cleaning device or uploaded to the server.

9. A self-moving cleaning device, characterized in that: The self-moving cleaning device includes a processor, a memory, a mechanical arm module and an image acquisition module; The memory is used to store a computer program and transmit the computer program to the processor; The processor is used to execute the method for classifying and placing objects according to any one of claims 1 to 7 according to the instructions in the computer program.

10. A terminal device, characterized in that: The terminal device comprises a processor and a memory, and the terminal device is wirelessly connected to a self-moving cleaning device that performs the method for classifying and placing objects according to any one of claims 1 to 7 and is wirelessly connected to a server; The memory is used to store a computer program and transmit the computer program to the processor; The processor is configured to execute the area setting method according to claim 8 according to instructions in the computer program.

Images