CN113003031B

CN113003031B - Garbage collection method, garbage collection robot and garbage collection system

Info

Publication number: CN113003031B
Application number: CN201911318533.3A
Authority: CN
Inventors: 孙秀峰
Original assignee: China Mobile Communications Group Co Ltd; China Mobile Group Liaoning Co Ltd
Current assignee: China Mobile Communications Group Co Ltd; China Mobile Group Liaoning Co Ltd
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2022-10-04
Anticipated expiration: 2039-12-19
Also published as: CN113003031A

Abstract

The invention discloses a garbage recycling method, a garbage recycling robot and a garbage recycling system. Wherein, the method comprises the following steps: receiving a scheduling instruction sent by a garbage scheduling management end in response to a garbage recycling request sent by a client; moving to the position of a service user according to the scheduling instruction; judging whether to open a garbage delivery box to the service user according to the authentication result of the service user; if yes, opening corresponding types of garbage delivery boxes to the service users based on user interaction operation, monitoring the garbage delivery process of the service users, moving to the positions of other service users or moving to a garbage recovery end based on scheduling instructions after delivery completion is monitored, providing convenience for the users to deliver garbage, enabling the garbage recovery robot to automatically find 'will' garbage of the users after the users put forward the requirement of throwing the garbage without spending too much time for finding the garbage boxes, achieving refined classification of the garbage based on user interaction operation, and improving the accurate garbage recovery rate.

Description

Garbage collection method, garbage collection robot and garbage collection system

Technical Field

The invention relates to the technical field of environmental protection, in particular to a garbage recycling method, a garbage recycling robot and a garbage recycling system.

Background

Because the society has higher and higher requirements on garbage delivery, the traditional mode of setting a plurality of garbage bins for fixed-point recovery does not meet the requirement of the times, and the improvement is urgently needed. Some countries or cities require that garbage is recycled at regular time, and the garbage is required to be not stained with the ground. The excessive and dense fixed dustbin can cause secondary pollution such as smell, liquid leakage, wind blowing scattering and the like, so the fixed dustbin should be reduced or even eliminated, and a sharp social contradiction is formed with the current situation that a large amount of garbage is generated after the consumption capacity of people is improved.

The existing scheme provides several intelligent garbage cleaning schemes, and the intelligent garbage cleaning schemes either require a user to actively search for a garbage can or require the user to passively wait for a garbage can robot, and can not realize garbage classification interaction with the user, so that the garbage recycling effect is poor.

Disclosure of Invention

In view of the above, embodiments of the present invention are proposed in order to provide a garbage collection method, a garbage collection robot, and a garbage collection system that overcome or at least partially solve the above problems.

According to an aspect of an embodiment of the present invention, there is provided a garbage recycling method, including:

receiving a scheduling instruction sent by a garbage scheduling management end in response to a garbage recycling request sent by a client;

moving to the position of a service user according to the scheduling instruction;

judging whether to open a garbage delivery box to the service user according to the authentication result of the service user;

if yes, opening a corresponding type of garbage delivery box to the service user based on user interaction operation, monitoring the garbage delivery process of the service user, and moving to the position of other service users or moving to a garbage recovery end based on a scheduling instruction after the completion of delivery is monitored.

According to another aspect of the embodiments of the present invention, there is provided a garbage collection robot including:

the receiving module is suitable for receiving a scheduling instruction sent by a garbage scheduling management end in response to a garbage recycling request sent by a client;

the mobile module is suitable for moving to the position of the service user according to the scheduling instruction;

the judging module is suitable for judging whether the service user opens the garbage delivery box according to the authentication result of the service user;

and the processing module is suitable for opening a corresponding type of garbage delivery box to the service user based on user interaction operation if the authentication result shows that the authentication is passed, monitoring the garbage delivery process of the service user, and moving to the position of other service users or moving to a garbage recovery end based on a scheduling instruction after the completion of the delivery is monitored.

According to another aspect of the embodiments of the present invention, there is provided a garbage recycling system, including: the garbage recycling robot, the client and the garbage scheduling management terminal are arranged;

the client is suitable for sending a garbage recycling request to the garbage scheduling management terminal;

and the garbage scheduling management terminal is suitable for responding to the garbage recovery request sent by the client and sending a scheduling instruction to the garbage recovery robot.

According to still another aspect of an embodiment of the present invention, there is provided a computing device including: the processor, the memory and the communication interface complete mutual communication through the communication bus;

the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the garbage collection method.

According to another aspect of the embodiments of the present invention, there is provided a computer storage medium, in which at least one executable instruction is stored, and the executable instruction causes a processor to perform an operation corresponding to the garbage collection method.

According to the scheme provided by the invention, the problem of convenience in the garbage throwing process of a user is solved, the user experience is improved, the user does not need to spend too much time for searching the garbage can, but after the requirement that the user needs to throw the garbage is provided, the garbage recycling robot can automatically find the garbage which is needed by the user, and great convenience is brought to the user under the condition that the user is inconvenient to actively search the garbage can or the garbage can cannot be found nearby; the problem of throw away the automation of rubbish in-process is solved, improve rubbish transportation turnover speed and resource utilization, after throwing away rubbish, what the user does not need to manage yet, and rubbish recycling robot can throw away rubbish to categorised recycle bin automatically, and degree of automation improves greatly, and user experience is better. The robot can classify the rubbish, and automatic clearance and charge after sending to the recycle bin are ready for next service. If the garbage capacity of the garbage recycling station is full, the municipal garbage collection vehicle can be automatically called to timely transport the garbage. The intelligent problem in the garbage throwing process is solved, the classification accuracy is improved, the garbage is effectively classified, the garbage is recycled and effectively treated, and the environment is protected; blind clearing is reduced, and labor cost is reduced.

The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and in order that the technical solutions of the embodiments of the present invention can be clearly understood, the embodiments of the present invention can be implemented according to the content of the description, and the above and other objects, features, and advantages of the embodiments of the present invention can be more clearly understood, the following detailed description of the embodiments of the present invention is given.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the embodiments of the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 shows an interaction diagram of a garbage collection method according to an embodiment of the present invention;

FIG. 2 is a flow chart of a garbage recycling method according to another embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a garbage collection robot according to an embodiment of the present invention;

fig. 4 shows a schematic structural diagram of a garbage recycling system provided in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a computing device provided by an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

Fig. 1 shows an interaction diagram of a garbage collection method according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:

step S101, the client sends a garbage collection request to a garbage scheduling management end.

The garbage recovery method provided by the invention is a scheme for providing garbage recovery service for users in a certain range, and the applied environment is generally a closed or semi-closed environment, such as: scenic spots, amusement parks, golf courses, expressway service areas, blocks, road sections and the like which are not suitable for setting too many fixed garbage recycling points. The garbage recycling robot moves in a small range in the area, and the client is required to be in the area range when garbage recycling is carried out.

The client is an APP with a garbage collection reservation function, and a user can perform garbage collection before requesting a garbage collection robot through the client.

Specifically, the service user may send the garbage collection request to the garbage scheduling management end by the client, for example, the service user sends the garbage collection request to the garbage scheduling management end by triggering a "reserved garbage collection" button provided by the client, which is only an example and does not have any limiting effect here. The garbage collection request may carry the current location of the service user. In addition, the client needs to send the position of the service user to the garbage scheduling management terminal in real time, so that the garbage collection robot can still find the service user after the service user moves to other positions, and garbage collection service is provided for the service user.

In an optional embodiment of the present invention, the garbage recycling request may further carry a garbage type (where the garbage type is a classification defined by the user for the garbage), a garbage quantity, a garbage name, a garbage size, and the like, for example, 1 liter of kitchen garbage, 20CM long, 20CM wide, 20CM high, two No. 5 batteries of harmful garbage, several recyclable garbage bags, and the like. The information can be submitted by a user in a voice mode, a text input mode, a menu clicking mode or a photographing intelligent recognition mode.

In the optional implementation mode, the user submits the description information when sending the garbage collection request through the client, so that the garbage scheduling management terminal can determine the garbage type which the user wants to deliver in advance according to the description information provided by the client, and the garbage scheduling management terminal can effectively screen the garbage collection robot according to the description information.

In an optional implementation manner of the present invention, the client may further obtain relevant information of the scheduled garbage collection robot returned by the garbage scheduling management end, for example, a location of the garbage collection robot, an estimated arrival time, a remaining capacity of the garbage collection robot, a number of the garbage collection robot, and the like, so that a user can clearly obtain the information of the garbage collection robot through the client.

In addition, the client can also feed back user evaluation information to the scheduling management end, wherein the user can write the evaluation information through the client after using the garbage collection service, and the evaluation information can comprise the evaluation on the quality of the service, and can also comprise proposed improvement suggestions and the like.

And step S102, the garbage scheduling management terminal responds to the garbage recycling request sent by the client terminal and sends a scheduling instruction to the garbage recycling robot.

After receiving the garbage collection request sent by the client, the garbage scheduling management end returns information to be authenticated, which may be, for example, a verification code, a two-dimensional code, etc., to the client, where the information to be authenticated is a certificate for the garbage collection robot to open a garbage delivery box to a service user. In addition, the garbage scheduling management terminal also sends a scheduling instruction to the garbage collection robot in response to the garbage collection request sent by the client, and the scheduling instruction is used for scheduling the garbage collection robot to serve the user to collect the garbage. The dispatching instruction carries the position of the service user, so that the garbage recycling robot can conveniently move to the position of the service user.

In an optional implementation manner of the present invention, if a garbage collection request sent by a client carries description information of garbage, a garbage scheduling management end may select a suitable garbage collection robot based on the description information, first, the garbage scheduling management end may perform screening according to a state of the garbage collection robot, and screen a garbage collection robot in an "idle state" from a plurality of garbage collection robots, and then screen a garbage collection robot capable of meeting a requirement of a garbage type thrown by a service user from the garbage collection robot in the "idle state", for example, the service user wants to deliver four kinds of garbage at the same time, and a garbage collection robot in a certain "idle state" is already filled with three kinds of garbage, and only one kind of garbage can be thrown, and at this time, it may be considered that the garbage collection robot does not meet the requirement, where the requirement of the service user may relate to a garbage type, a garbage amount, and the like; and finally, after screening out the garbage collection robot which meets the requirements of the service user and is in an idle state, screening out the garbage collection robot which is closest to the service user by combining the position of the service user and the position of the garbage collection robot. It should be noted that, if any single garbage collection robot cannot meet the requirements of the service users during the second screening, and a plurality of garbage collection robots combined to meet the requirements of the service users can be screened, the garbage collection robots screened at the last time will be a plurality of garbage collection robots, and the garbage scheduling management end will send scheduling instructions to the garbage collection robots.

In addition, the garbage scheduling management end can plan a driving route of the garbage recovery robot according to the position of the service user and the position of the selected garbage recovery robot, and the driving route of the garbage recovery robot is carried in the scheduling instruction, so that the garbage recovery robot can move to the position of the service user according to the driving route.

And step S103, the garbage collection robot moves to the position of the service user according to the scheduling instruction.

The garbage recycling robot automatically moves to the position of the service user according to the scheduling instruction sent by the garbage scheduling management end so as to receive the garbage delivered by the service user, and can find the service user in an accurate automatic driving mode and transport the garbage to the garbage recycling end. For example, the scheduling instruction carries a driving route of the garbage collection robot, so that the garbage collection robot can move to the position of the service user according to the driving route. The garbage recycling robot is a small robot which is added with a garbage recycling function, has various garbage delivery boxes and can be driven automatically, small scattered garbage can be recycled, a box door of the garbage delivery box of the garbage recycling robot is closed under a common condition, the garbage delivery box is used for preventing a service user from throwing garbage according to a classification requirement, and the box door is opened according to a requirement only after a classification result is determined.

The garbage recycling robot can apply existing unmanned technology on the market. The unmanned technology mainly comprises technologies such as computer vision, high-precision map and positioning, multi-sensor fusion, intelligent decision planning and the like, the unmanned technology realizes control of driving equipment through an electronic technology, a sensor can sense the depth of objects on the road in 360 degrees, and a control system senses environmental information in real time, for example, senses the surrounding environment through a camera, a laser radar, a millimeter wave radar, a GPS, a Beidou and other systems, so that automatic obstacle avoidance is carried out. The garbage collection robot can deviate from a driving route, the position of the service user is sent to the garbage collection robot in real time, the garbage collection robot can automatically plan the driving route when the garbage collection robot deviates from the driving route, and the garbage collection robot can smoothly reach the position of the service user. The garbage collection robot in this embodiment serves only a closed or semi-closed parcel area environment and does not need to travel at high speed as in an unmanned vehicle.

In actual life, the service user may move to other positions, so that the garbage scheduling management end can plan the driving route again and feed back the driving route to the garbage collection robot when the position of the service user changes, and the garbage collection robot can smoothly reach the position of the service user.

And step S104, the garbage recycling robot acquires information to be authenticated corresponding to the service user and reports the information to be authenticated to a garbage scheduling management terminal.

When the garbage recycling robot reaches the position near the service user, the service user can be prompted in a voice mode and a flashing indicating lamp mode, and the garbage recycling robot is used after waiting for authentication of the service user.

If the information to be authenticated is a verification code, the service user can input the verification code received by the client into the garbage collection robot, for example, the verification code is input through a touch screen key of the garbage collection robot; if the information to be authenticated is a two-dimensional code, the two-dimensional code can be displayed to the garbage collection robot by the client, the garbage collection robot identifies the two-dimensional code, and the garbage collection robot reports the identifying code or the identifying two-dimensional code to the garbage scheduling management terminal after acquiring the identifying code or the identifying two-dimensional code, so that the garbage scheduling management terminal can verify the identifying code.

And step S105, the garbage scheduling management terminal authenticates the service user according to the information to be authenticated and returns an authentication result to the garbage recycling robot.

And the garbage scheduling management terminal authenticates the service user according to the information to be authenticated after acquiring the authentication information, mainly compares whether the information to be authenticated provided by the service user is the same as the information sent to the service user by the garbage scheduling management terminal, and returns an authentication result to the garbage recycling robot, wherein the authentication result is classified as authentication passing or authentication failing.

And S106, if the garbage recycling robot determines that the authentication result is that the authentication is passed, acquiring description information describing the garbage to be delivered by the service user, and reporting the description information to a garbage scheduling management terminal.

When the garbage collection robot determines that the authentication result is that the authentication is passed, it may prompt the service user to perform garbage description, for example, to describe a garbage type, such as: plastic packaging, cartons, food waste, batteries, clothes and the like. The garbage recycling robot obtains the description information describing the garbage to be delivered of the service user and reports the description information to the garbage scheduling management terminal.

In the above description, it is stated that the description information may be provided to the garbage scheduling management end at the time of reservation, and the garbage delivered by the service user may be changed to facilitate garbage collection, and the service user may be further required to perform garbage description here.

And S107, the garbage scheduling management terminal determines the delivery garbage classification of the user according to the description information and returns the delivery garbage classification of the user to the garbage recycling robot.

The garbage scheduling management end is a universal management platform in a wide range, can serve one small region, can serve a large range such as a whole city and a whole country, and provides service for a plurality of regional regions in the range. The garbage scheduling management end is provided with an AI garbage automatic classification program, and the principle of the garbage scheduling management end is to establish a garbage classification recognition library, and a classification list is preset for each type of garbage for matching. After the garbage scheduling management terminal obtains the description information, the description information can be compared with a preset classification list, so that the delivery garbage classification of the user is determined, and the delivery garbage classification of the user is returned to the garbage recycling robot.

And S108, the garbage recycling robot opens a corresponding garbage delivery box to the service user according to the user delivery garbage classification.

And after receiving the user delivery garbage classification returned by the garbage scheduling management end, the garbage recycling robot opens a garbage delivery box corresponding to the user delivery garbage classification for the service user, and simultaneously prompts the service user to deliver the garbage into the garbage delivery box of the XX classification.

And step S109, the garbage recycling robot acquires images of the service user and the garbage to be delivered to obtain a first garbage image, and uploads the first garbage image and the garbage information acquired before the garbage delivery is finished to a garbage scheduling management terminal.

In order to supervise the service user to correctly deliver the garbage and avoid the situation of misclassification of the garbage, the garbage recycling robot can acquire images of the service user and the garbage to be delivered before the service user delivers the garbage to obtain a first garbage image, wherein the first garbage image is an image of the garbage held by the service user, so that the service user can trace which garbage is delivered by which service user under the situation of misclassification of the garbage, and the garbage recycling robot can be used as evidence to avoid the denial of the service user.

The garbage recycling robot can further collect garbage information of garbage delivered by a service user, for example, the garbage information can be collected by a sensor arranged in the garbage recycling robot, and the collected garbage information and a first garbage image are uploaded to a garbage scheduling management end.

Step S110, the garbage scheduling management terminal identifies the garbage type according to the first garbage image and the garbage information; judging whether the garbage type returned by the garbage scheduling management end is matched with the user delivery garbage classification; if not, returning to the correct garbage type;

after receiving the first garbage image and the garbage information, the garbage scheduling management end identifies the garbage type according to the first garbage image and the garbage information, and stores the user delivery garbage classification identified after the description information reported by the user is reported by the user.

And step S111, the garbage collection robot broadcasts the garbage delivery error information carrying the correct garbage types to the service user and opens a garbage delivery box corresponding to the correct garbage types to the service user so as to guide the user to deliver the garbage correctly.

And after receiving the correct garbage type, the garbage recycling robot broadcasts the garbage delivery error information carrying the correct garbage type to the service user and opens a garbage delivery box corresponding to the correct garbage type to the service user so as to guide the user to deliver the garbage correctly. For example, a spam delivery error message could be "you might be misclassified, the spam might be of the XXX type asking you if you adhere to your classification? ".

And scientifically classifying and guiding the user under the incorrect condition by comparing whether the garbage classification is correct or not, and performing punishment according to the fact that the situation is serious.

And step S112, after the service user finishes garbage delivery, the garbage recycling robot acquires images of delivered garbage to obtain a second garbage image, and reports the second garbage image and the garbage delivery box to a garbage scheduling management terminal in a classified manner.

And after the service user finishes garbage delivery, the garbage recovery robot acquires images of delivered garbage to obtain a second garbage image, and reports the second garbage image and the garbage delivery box to a garbage scheduling management terminal in a classified manner.

And S113, the garbage scheduling management end identifies whether the garbage delivery is correct according to the second garbage image and the classification of the garbage delivery box, and if not, the garbage state of the corresponding garbage is marked as a suspicious state.

After receiving the second garbage image and the classification of the garbage delivery box, the garbage scheduling management end identifies whether the garbage delivery is correct according to the second garbage image and the classification of the garbage delivery box, for example, finds out the identified garbage type, matches the identified garbage type with the classification of the garbage delivery box, and if not, marks the garbage state of the corresponding garbage as a suspicious state and stores the suspicious state.

And step S114, the garbage collection robot acquires and stores the garbage information which is marked as the in-doubt state and returned by the garbage scheduling management terminal.

The garbage recycling robot acquires and stores garbage information which is returned by the garbage scheduling management end and marked as a suspicious state, so that the garbage recycling end can conveniently verify the suspicious garbage when dumping the garbage.

And step S115, the garbage collection robot moves to a garbage collection end based on the scheduling instruction.

The garbage recycling robot can automatically return to the garbage recycling end after garbage collection is finished, and dumping is performed according to garbage categories. The garbage collection robot returns to which garbage yard is determined by the garbage scheduling management end, the garbage collection robot corresponds to a default garbage collection end, and if the garbage capacity of the default garbage collection end is too high, the garbage scheduling management end can assign another garbage collection end to the garbage collection robot, so that excessive garbage is prevented.

And step S116, the garbage collection end verifies the type of garbage in the garbage collection robot in the in-doubt state, and feeds back the verification result to the garbage scheduling management end.

The garbage collection end can check whether the garbage collection robot stores garbage in the in-doubt state or not, if the garbage in the in-doubt state exists, the type of the garbage in the in-doubt state can be verified based on the garbage classification list, and if the type is verified to be correct, the in-doubt information is eliminated; and if the service user is determined to be classified wrongly, feeding back correct classification, continuing to verify the garbage in the next in-doubt state, and feeding back a verification result to the garbage scheduling management end after all verification is finished. Wherein the verification result comprises: eliminating the doubt information part and determining the correct classification of the feedback after doubt. After the verification is completed, the garbage collection robot dumps the garbage according to the garbage classification. The embodiment mainly treats the classification of small scattered garbage, so the total amount of the garbage is not large, and the amount of the garbage in the 'doubt-in-doubt' state after intelligent sorting is less, so the verification workload of a garbage recovery end is not excessively increased.

In step S117, the garbage scheduling manager maintains the service user garbage classification history file according to the verification result, and feeds back the verification result to the client.

The garbage scheduling management end receives the verification result returned by the garbage recovery end, maintains the service user garbage classification historical file according to the verification result, for example, records the service user using time, place, classification correctness and other information, and simultaneously feeds back the classification error condition to the client, thereby playing the role of warning and guiding and facilitating the next correct delivery of the service user.

And step S118, the garbage collection end monitors the current garbage capacity and reports the current garbage capacity to the garbage scheduling management end.

A plurality of garbage collection terminals may be set up in a parcel to serve the same parcel according to geographical conditions, and the garbage collection terminals are responsible for collecting garbage collected by the garbage collection robots in the parcel, and performing maintenance such as daily cleaning and charging on the garbage collection terminals. Meanwhile, the garbage recovery end has a capacity state monitoring function, and reports the current garbage capacity to the garbage scheduling management end, so that a statistic and decision basis is provided for the garbage scheduling management end. The garbage recycling end estimates the current capacity of garbage based on the length and width information of the garbage recycling end by compressing the garbage and then compressing the garbage by the height of the descending compression arm and combining the modes of infrared camera detection, ultrasonic detection and the like.

And step S119, the garbage scheduling management terminal judges whether to send a garbage clearing message to the garbage clearing terminal according to the current garbage capacity.

In scenes such as scenic spots and the like, the number of tourists is large, the garbage is generated and distributed unevenly every day, every hour and every place, the fluctuation amount is large, and therefore timely cleaning is needed to avoid the situation that the garbage is accumulated like a mountain.

In addition, the garbage scheduling management terminal can estimate the remaining time of the remaining capacity for providing garbage collection based on the current garbage capacity and the length and width information of the garbage collection terminal, and can give an early warning to the information such as the arrival time of the garbage collection terminal. For example, an early warning time is set by properly prolonging the time length of collecting the garbage by calling the garbage collection end, and when the remaining time is less than the early warning time, the garbage collection end can automatically send a garbage collection message to the garbage collection end. The spam message may be a short message, a telephone voice message, or a mail message, and is not limited herein.

The garbage clearing message can carry garbage capacity information of the garbage recovery end, the name of the garbage recovery end and the position of the garbage recovery end, and therefore the garbage clearing end can conveniently carry out garbage clearing arrangement based on the information. For example, when kitchen garbage in the garbage recovery end is full and other types of garbage are far from full, the garbage cleaning end only needs to send a transport vehicle for the kitchen garbage, and the transport vehicle of the corresponding type is accurately sent according to the garbage type, so that scientific and reasonable cleaning time can be set, the burden of a sanitation department is reduced, and the utilization rate of municipal garbage cleaning resources is improved.

In an optional implementation manner of the present invention, after completing the garbage delivery of the service user, the garbage collection robot may send the capacity of the current garbage delivery box to the garbage scheduling management end, and the garbage scheduling management end may send a scheduling instruction to the next service user to the garbage collection robot when determining that the capacity of the garbage collection robot is not full, and the garbage collection robot goes to the next service user to collect the garbage based on the scheduling instruction sent by the garbage scheduling management end to the next service user.

In an optional implementation manner of the present invention, the service user may also be authenticated through face recognition, and specifically, the garbage collection robot may collect a face image of the service user, and upload the collected face image to the garbage scheduling management end for authentication.

In an optional embodiment of the present invention, when the service user does not subscribe the garbage collection robot through the client and the garbage collection robot just passes through the service user, the service user may call the garbage collection robot by voice or a specific motion gesture, and guide the garbage collection robot to the service user for garbage delivery. In addition, an opening gesture can be set for each type of garbage delivery box, and after the service user makes a corresponding opening gesture, the corresponding type of garbage delivery box is opened for the service user.

In an optional implementation manner of the present invention, a user may view the state of the garbage collection robot through the client, for example, the position, capacity information, and the like of the garbage collection robot, so that when the garbage collection robot is close to a service user, the service user can actively cater to the service user to save time.

In an alternative embodiment of the invention, the throw classification of each dustbin of the refuse retrieval robot may be varied to accommodate the problem of uneven growth of different types of refuse. For example, if the interior of an original garbage can containing toxic and harmful garbage is emptied, and the recoverable garbage amount is particularly large, the garbage scheduling management end can temporarily change the attribute of the garbage delivery box of the garbage recovery robot into the recoverable garbage delivery box, and then the attribute is presented to a service user by matching with appearance information such as change marks, colors, patterns and the like on the appearance. After the type of the garbage delivery box is changed, the garbage delivery process of the service user cannot be changed.

The embodiment can also authenticate the identity of the service user by means of third-party software, so that the user does not need to install a corresponding APP.

The following takes a scene of a scenic spot as an example, and introduces a garbage recycling scheme in detail:

the service user A has installed the client APP in the life at ordinary times to adapt to use the APP to recycle garbage at any time in various specific scenes in the life. When the service user A arrives at a scenic area, the scenic area is found to be a parcel capable of supporting the scheme through APP positioning and is ready to be used in the visiting process, and when the service user A walks to a special corner of a large scenic area, some garbage, including kitchen garbage, recoverable garbage, harmful garbage and other garbage, is generated in the visiting process. The service user A has strong environmental awareness (or because the garbage throwing is likely to face heavy penalties), knows the importance of garbage classification and is not willing to throw the garbage at any place, so that the APP can know the fixed garbage can condition and distribution state at a time. After the APP is opened, the garbage collection box condition of the whole scenic spot can be known first, the fact that no fixed garbage box exists nearby is found, the state of the nearest garbage box is full, or only one type of garbage can be thrown in, other types of garbage can be thrown to a farther garbage box, and the garbage collection robot cannot leave the place temporarily due to some reasons (such as care of old people and children and continuous playing of seats for occupation and the like), so that the garbage collection robot is reserved through the APP.

1. Through APP reservation garbage collection robot, send garbage collection request to garbage scheduling management end, the reservation in-process describes type, state, the quantity of rubbish thrown to garbage scheduling management end, for example: 1 liter of kitchen garbage, 20CM of length, 20CM of width and 20CM of height of other garbage, two No. 5 batteries of harmful garbage and a plurality of recyclable garbage bags. The described process of garbage can be carried out in various ways, such as: voice recognition, character input, menu clicking, and intelligent recognition after photographing. And after the description is completed, submitting the description to a garbage scheduling management terminal. The description information is submitted to facilitate the garbage scheduling management end to schedule the garbage collection robot. The garbage scheduling management terminal obtains basic information such as the real-time position of the service user A, the name of the service user A, the mobile phone number and the like.

2. The garbage scheduling management end firstly returns a digital verification code (or a two-dimensional code) to the service user A at the APP end for identity authentication. And simultaneously, selecting a proper garbage recycling robot for the service user A in the parcel. Firstly, selecting a garbage collection robot, and firstly, seeing which garbage collection robots are in idle states; secondly, looking at which of the idle garbage collection robots can meet the requirements of the garbage types thrown by the service user A, if the robot is filled with three types of garbage, only one type of garbage can be thrown, but the service user A throws four types of garbage at the same time, and the garbage collection robot is considered to not meet the requirements. When the garbage type and the residual estimated capacity of a certain robot simultaneously meet the requirements of customers, the robot passes the second round of screening. And finally, selecting a garbage collection robot closest to the service user A from the garbage collection robots screened in the second round to provide service for the service user A, and sending a scheduling instruction to the garbage collection robot to provide service for the service user A.

3. And after receiving the scheduling instruction, the garbage collection robot goes to the position of the service user A. In the process, the garbage scheduling management end feeds the position and the estimated arrival time of the garbage collection robot back to the service user A in real time, and the service user A can know the progress of the garbage collection robot through the APP.

4. When the garbage collection robot arrives at a predetermined place and comes near the service user a, the service user a may be called by voice, flash, or the like, and at the same time, the service user a is notified of the arrival through the APP.

5. After the service user A obtains the notification, the service user A can further use gestures, voice and the like to direct the garbage recycling robot to approach and perform classification interaction. The verification code can be input on a touch screen key of the garbage recycling robot, the two-dimensional code can be provided to enable the garbage recycling robot to scan, and the verification code can be read out through voice to achieve identity verification. And the garbage recycling robot transmits the authentication information to the garbage scheduling management end for verification, and informs the garbage recycling robot that the verification is passed after the verification is passed. The garbage recycling robot starts to open a box cover of the garbage delivery box according to the requirement of the garbage scheduling management end (when the service user is considered to make an appointment, the submitted description information can be used for identifying the delivery garbage classification of the user, the box cover of the garbage delivery box is opened according to the delivery garbage classification of the corresponding user, if the user needs to deliver other types of garbage, the description information can be submitted again, and the garbage recycling robot uploads the description information to the garbage scheduling management end to identify the garbage types).

6. And the garbage scheduling management terminal sequentially sends instructions for opening different types of garbage delivery boxes to the garbage collection robot according to the requirements described in advance by the service user A. And opening the box cover of a garbage delivery box every time, and sequentially putting the garbage delivery box according to the prompt by a service user. After the cover is opened, the service user A is guided to deliver the correct category by voice. In the delivery process, a service user A is photographed, a sensor in a box senses garbage information and reports the garbage information to a garbage scheduling management end, the garbage scheduling management end intelligently judges the garbage type, and when the garbage delivered by the service user A is doubtful and the service user A is likely to deliver errors, the garbage recovery robot prompts the service user A to confirm the garbage. And if the intelligent delivery garbage type meets the requirement, feeding back 'delivery is correct' to the service user A. And marking the in-doubt state of the in-doubt garbage, and returning the in-doubt state to the garbage recycling robot for storage, wherein the in-doubt state is used for prompting proper treatment in a recycling link.

7. And if the garbage recycling robot still has a large amount of residual space for putting after the garbage putting of the service user A is finished, setting the state of the garbage recycling robot to be an idle state, and waiting for a garbage scheduling management end to issue a scheduling instruction to serve other service users, wherein the service process of the garbage recycling robot is the same as that of the service user A. If the robot has the residual capacity which is not large or even full, the garbage scheduling management end can appoint the garbage collection robot to return to a garbage collection end in the fragment area. If the fragment area is large, a plurality of garbage collection ends may be involved, and in the process of selecting the garbage collection end for the robot by the garbage scheduling management end, the remaining capacity and distance of each type of garbage of the garbage collection end need to be considered, and a closer garbage collection end with a large enough free capacity is selected.

8. And the garbage recovery end checks the garbage delivery box and then confirms whether the classification is correct or not, feeds back a further proper result to the garbage scheduling management end, and feeds back the last time whether a certain type of garbage of the service user A is correct or not to the garbage scheduling management end. If the classification is incorrect, the reason of the classification error is explained for the service user, the service user is guided to carry out correct classification next time, and information such as points, grades and the like obtained by the client garbage classification is fed back.

9. And the garbage recovery end monitors the current garbage capacity and reports the current garbage capacity to the garbage scheduling management end.

10. And when the garbage scheduling management end judges that a certain type of garbage at the garbage collection end tends to be saturated, the garbage scheduling management end sends a garbage cleaning message to the garbage clearing end, and the garbage clearing end sends a recovery vehicle of a proper type to clear the garbage.

According to the scheme provided by the invention, the problem of convenience in the process of throwing the garbage by the user is solved, the user experience is improved, the user does not need to spend too much time for searching the garbage can, but puts forward the requirement of throwing the garbage by himself, the garbage recycling robot can automatically find the garbage which is 'needed' by the user, and great convenience is brought to the user under the condition that the user is not convenient to actively search the garbage can or cannot find the garbage can nearby; the problem of throw away the automation of rubbish in-process is solved, improve rubbish transportation turnover speed and resource utilization, after throwing away rubbish, what the user does not need to manage yet, and rubbish recycling robot can throw away rubbish to categorised recycle bin automatically, and degree of automation improves greatly, and user experience is better. The robot can classify the rubbish, send to automatic clearance and charge behind the recycle bin, prepare for next service. If the garbage capacity of the garbage recycling station is full, the municipal garbage collection vehicle can be automatically called to timely transport the garbage. The intelligent problem in the garbage throwing process is solved, the classification accuracy is improved, the garbage is effectively classified, the garbage is recycled and effectively treated, and the environment is protected; blind clearing is reduced, and labor cost is reduced.

Fig. 2 shows a flowchart of a garbage recycling method according to another embodiment of the present invention. As shown in fig. 2, the method comprises the steps of:

step S201, receiving a scheduling instruction sent by the garbage scheduling manager in response to the garbage collection request sent by the client.

And step S202, moving to the position of the service user according to the scheduling instruction.

Step S203, judging whether to open a garbage delivery box to the service user according to the authentication result of the service user, if so, executing step S204.

And S204, opening corresponding types of garbage delivery boxes to the service users based on user interaction operation, monitoring the garbage delivery process of the service users, and moving to the positions of other service users or moving to a garbage recovery end based on a scheduling instruction after the completion of the delivery is monitored.

In an optional embodiment of the present invention, the opening of the corresponding type of the trash receptacle to the service user based on the user interaction further comprises:

obtaining description information describing to-be-delivered garbage of a service user;

reporting the description information to a garbage scheduling management end so that the garbage scheduling management end can determine the delivery garbage classification of the user according to the description information;

receiving the user delivery garbage classification returned by the garbage scheduling management end, and opening a corresponding garbage delivery box to the service user according to the user delivery garbage classification.

In an optional embodiment of the present invention, the determining whether to open the junk box to the service user according to the authentication result of the service user further comprises:

acquiring information to be authenticated corresponding to a service user, and reporting the information to be authenticated to a garbage scheduling management terminal so that the garbage scheduling management terminal can authenticate the service user according to the information to be authenticated;

and obtaining an authentication result, and if the authentication result shows that the authentication passes, opening a corresponding type of garbage delivery box to the service user.

In an optional implementation manner of the present invention, the monitoring of the service user garbage delivery process further includes:

acquiring images of a service user and garbage to be delivered to obtain a first garbage image;

uploading the first garbage image and garbage information collected before garbage delivery is completed to a garbage scheduling management end so that the garbage scheduling management end can identify the garbage type according to the first garbage image and the garbage information; judging whether the garbage type returned by the garbage scheduling management end is matched with the user delivery garbage classification; if not, returning to the correct garbage type;

and broadcasting the garbage delivery error information carrying the correct garbage type to the service user and opening a garbage delivery box corresponding to the correct garbage type to the service user so as to guide the user to deliver the garbage correctly.

In an optional embodiment of the present invention, after broadcasting the wrong garbage delivery information carrying the correct garbage type to the service user and opening the garbage delivery box corresponding to the correct garbage type to the service user, the method further includes:

after the garbage delivery is finished, image acquisition is carried out on the delivered garbage to obtain a second garbage image;

the second garbage image and the garbage delivery box are reported to a garbage scheduling management end in a classified mode so that the garbage scheduling management end can identify whether garbage delivery is correct or not according to the second garbage image and the garbage delivery box in a classified mode, and if not, the garbage state of corresponding garbage is marked to be a suspicious state;

and acquiring and storing the garbage information which is marked as the in-doubt state and returned by the garbage scheduling management terminal.

According to the scheme provided by the invention, the problem of convenience in the process of throwing the garbage by the user is solved, the user experience is improved, the user does not need to spend too much time for searching the garbage can, but puts forward the requirement of throwing the garbage by himself, the garbage recycling robot can automatically find the garbage which is 'needed' by the user, and great convenience is brought to the user under the condition that the user is not convenient to actively search the garbage can or cannot find the garbage can nearby; the problem of throw away the automation of rubbish in-process is solved, improve rubbish transportation turnover speed and resource utilization, after throwing away rubbish, what the user need not manage yet, and rubbish recycling robot can throw away rubbish to categorised recycle bin automatically, and degree of automation improves greatly, and user experience is better. The robot can classify the rubbish, send to automatic clearance and charge behind the recycle bin, prepare for next service. If the garbage capacity of the garbage recycling station is full, the municipal garbage collection vehicle can be automatically called to timely transport the garbage. The intelligent problem in the garbage throwing process is solved, the classification accuracy is improved, the garbage is effectively classified, the garbage is recycled and effectively treated, and the environment is protected; blind clearing is reduced, and labor cost is reduced.

Fig. 3 shows a schematic structural diagram of a garbage collection robot according to an embodiment of the present invention. As shown in fig. 3, the garbage collection robot 300 includes: a receiving module 301, a moving module 302, a judging module 303 and a processing module 304.

The receiving module 301 is adapted to receive a scheduling instruction sent by the garbage scheduling management end in response to the garbage collection request sent by the client;

a moving module 302, adapted to move to a location where the service user is located according to the scheduling instruction;

the judging module 303 is suitable for judging whether to open a garbage delivery box to the service user according to the authentication result of the service user;

and the processing module 304 is adapted to open a corresponding type of garbage delivery box to the service user based on user interaction operation if the authentication result indicates that the authentication is passed, monitor the garbage delivery process of the service user, and move to the position of other service users or move to a garbage recovery end based on a scheduling instruction after the completion of the delivery is monitored.

In an alternative embodiment of the invention, the processing module is further adapted to: obtaining description information describing to-be-delivered garbage of a service user;

In an optional embodiment of the invention, the determining module is further adapted to: acquiring information to be authenticated corresponding to a service user, and reporting the information to be authenticated to a garbage scheduling management terminal so that the garbage scheduling management terminal can authenticate the service user according to the information to be authenticated; obtaining an authentication result;

the processing module is further adapted to: and if the authentication result shows that the authentication is passed, opening the corresponding type of garbage delivery box to the service user.

In an alternative embodiment of the invention, the processing module is further adapted to: acquiring images of a service user and garbage to be delivered to obtain a first garbage image;

uploading the first garbage image and garbage information collected before garbage delivery is completed to a garbage scheduling management end so that the garbage scheduling management end can identify the garbage type according to the first garbage image and the garbage information; judging whether the garbage type returned by the garbage scheduling management end is matched with the user delivery garbage classification or not; if not, returning to the correct garbage type;

In an alternative embodiment of the invention, the processing module is further adapted to: after the garbage delivery is finished, image acquisition is carried out on the delivered garbage to obtain a second garbage image;

According to the scheme provided by the invention, the problem of convenience in the garbage throwing process of a user is solved, the user experience is improved, the user does not need to spend too much time for searching the garbage can, but after the requirement that the user needs to throw the garbage is provided, the garbage recycling robot can automatically find the garbage which is needed by the user, and great convenience is brought to the user under the condition that the user is inconvenient to actively search the garbage can or the garbage can cannot be found nearby; the problem of throw away the automation of rubbish in-process is solved, improve rubbish transportation turnover speed and resource utilization, after throwing away rubbish, what the user need not manage yet, and rubbish recycling robot can throw away rubbish to categorised recycle bin automatically, and degree of automation improves greatly, and user experience is better. The robot can classify the rubbish, send to automatic clearance and charge behind the recycle bin, prepare for next service. If the garbage capacity of the garbage recycling station is full, the municipal garbage collection vehicle can be automatically called to timely transport the garbage. The intelligent problem in the garbage throwing process is solved, the classification accuracy is improved, the garbage is effectively classified, the garbage is recycled and effectively treated, and the environment is protected; blind clearing is reduced, and labor cost is reduced.

Fig. 4 shows a schematic structural diagram of the garbage recycling system provided in the embodiment of the present invention. As shown in fig. 4, the system includes: the garbage collection robot 300, the client 401, and the garbage scheduling management terminal 402 in the embodiment shown in fig. 3;

the client 401 is adapted to send a garbage collection request to a garbage scheduling management end;

the garbage scheduling management terminal 402 is adapted to send scheduling instructions to the garbage collection robot 300 in response to the garbage collection request sent by the client.

In an alternative embodiment of the invention, the system further comprises: a waste recovery end 403;

the garbage recycling end 403 is adapted to monitor the current garbage capacity and report the current garbage capacity to the garbage scheduling management end;

the garbage scheduling management terminal is further adapted to: and judging whether to send a garbage cleaning message to the garbage cleaning end or not according to the current garbage capacity.

The embodiment of the invention provides a nonvolatile computer storage medium, wherein at least one executable instruction is stored in the computer storage medium, and the computer executable instruction can execute the garbage collection method in any method embodiment.

Fig. 5 is a schematic structural diagram of a computing device according to an embodiment of the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the computing device.

As shown in fig. 5, the computing device may include: a processor (processor), a Communications Interface (Communications Interface), a memory (memory), and a Communications bus.

Wherein: the processor, the communication interface, and the memory communicate with each other via a communication bus. A communication interface for communicating with network elements of other devices, such as clients or other servers. The processor is configured to execute the program, and may specifically execute the relevant steps in the above garbage collection method embodiment for the computing device.

In particular, the program may include program code comprising computer operating instructions.

The processor may be a central processing unit CPU or an Application Specific Integrated Circuit ASIC or one or more Integrated circuits configured to implement embodiments of the present invention. The computing device includes one or more processors, which may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.

And the memory is used for storing programs. The memory may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

The program may specifically be configured to cause the processor to perform the garbage collection method in any of the above-described method embodiments. For specific implementation of each step in the program, reference may be made to corresponding steps and corresponding descriptions in units in the foregoing garbage collection embodiment, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.

The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. In addition, embodiments of the present invention are not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of embodiments of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best modes of embodiments of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components according to embodiments of the present invention. Embodiments of the invention may also be implemented as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing embodiments of the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. Embodiments of the invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specified otherwise.

Claims

1. A method of waste recovery comprising:

if yes, opening corresponding types of garbage delivery boxes to the service users based on user interaction operation, monitoring the garbage delivery process of the service users, and moving to the positions of other service users or moving to a garbage recovery end based on the scheduling instruction after delivery completion is monitored;

wherein the opening of the corresponding type of the trash delivery box to the service user based on the user interaction further comprises:

obtaining the description information describing the garbage to be delivered of the service user;

reporting the description information to the garbage scheduling management terminal so that the garbage scheduling management terminal determines the delivery garbage classification of the user according to the description information;

receiving user delivery garbage classification returned by the garbage scheduling management terminal, and opening a corresponding garbage delivery box to a service user according to the user delivery garbage classification;

the monitoring of the service user garbage delivery process further comprises: acquiring images of service users and garbage to be delivered to obtain a first garbage image;

uploading the first garbage image and garbage information collected before garbage delivery is completed to a garbage scheduling management end, so that the garbage scheduling management end can identify the garbage type according to the first garbage image and the garbage information; judging whether the garbage type returned by the garbage scheduling management end is matched with the user delivery garbage classification or not; if not, returning a correct garbage type, wherein the garbage information comprises: garbage weight, garbage odor information and garbage humidity information;

broadcasting the garbage delivery error information carrying the correct garbage type to the service user and opening a garbage delivery box corresponding to the correct garbage type to the service user so as to guide the user to deliver the garbage correctly;

after broadcasting the garbage delivery error information carrying the correct garbage type to the service user and opening the garbage delivery box corresponding to the correct garbage type to the service user, the method further comprises the following steps:

the second garbage image and the garbage delivery box are reported to a garbage scheduling management end in a classified mode, so that the garbage scheduling management end can identify whether garbage delivery is correct or not according to the second garbage image and the garbage delivery box in a classified mode, and if not, the garbage state of corresponding garbage is marked as a suspicion state;

and acquiring and storing the garbage information which is returned by the garbage scheduling management terminal and marked as the in-doubt state.

2. The method of claim 1, wherein the determining whether to open a spam delivery box to the service user according to the authentication result of the service user further comprises:

acquiring information to be authenticated corresponding to the service user, and reporting the information to be authenticated to the garbage scheduling management terminal so that the garbage scheduling management terminal can authenticate the service user according to the information to be authenticated;

3. A garbage collection robot, comprising:

the judging module is suitable for judging whether to open the garbage delivery box to the service user according to the authentication result of the service user;

the processing module is suitable for opening a corresponding type of garbage delivery box to the service user based on user interaction operation if the authentication result shows that the authentication is passed, monitoring the garbage delivery process of the service user, and moving to the position of other service users or moving to a garbage recovery end based on the scheduling instruction after the delivery is monitored to be completed;

the processing module is further adapted to: obtaining description information describing to-be-delivered garbage of the service user;

acquiring images of service users and garbage to be delivered to obtain a first garbage image;

uploading the first garbage image and garbage information collected before garbage delivery is completed to a garbage scheduling management end so that the garbage scheduling management end can identify the garbage type according to the first garbage image and the garbage information; judging whether the garbage type returned by the garbage scheduling management end is matched with the user delivery garbage classification or not; if not, returning a correct garbage type, wherein the garbage information comprises: garbage weight, garbage smell information and garbage humidity information;

the processing module is further adapted to: after the garbage delivery is finished, image acquisition is carried out on the delivered garbage to obtain a second garbage image;

4. A waste recovery system comprising: the garbage collection robot, the client, the garbage scheduling manager of claim 3;

and the garbage scheduling management terminal is suitable for responding to a garbage recovery request sent by the client and sending a scheduling instruction to the garbage recovery robot.

5. The system of claim 4, further comprising: a garbage recycling end;

the garbage recycling end is suitable for monitoring the current garbage capacity and reporting the current garbage capacity to the garbage scheduling management end;

the garbage scheduling management terminal is further adapted to: and judging whether to send a garbage cleaning message to the garbage cleaning end according to the current garbage capacity.

6. A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;

the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the garbage collection method according to any one of claims 1-2.

7. A computer storage medium having stored therein at least one executable instruction for causing a processor to perform operations corresponding to the garbage collection method of any one of claims 1-2.