CN106651664A - Garbage cleaning method and device - Google Patents

Garbage cleaning method and device Download PDF

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Publication number
CN106651664A
CN106651664A CN201611014876.7A CN201611014876A CN106651664A CN 106651664 A CN106651664 A CN 106651664A CN 201611014876 A CN201611014876 A CN 201611014876A CN 106651664 A CN106651664 A CN 106651664A
Authority
CN
China
Prior art keywords
sweeping robot
garbage bin
sweeping
intelligent garbage
rubbish
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201611014876.7A
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Chinese (zh)
Inventor
谢焱
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Xiaomi Mobile Software Co Ltd
Original Assignee
Beijing Xiaomi Mobile Software Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Xiaomi Mobile Software Co Ltd filed Critical Beijing Xiaomi Mobile Software Co Ltd
Priority to CN201611014876.7A priority Critical patent/CN106651664A/en
Publication of CN106651664A publication Critical patent/CN106651664A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
    • E01H1/04—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt taking- up the sweepings, e.g. for collecting, for loading
    • E01H1/047—Collecting apparatus characterised by the hopper or by means for unloading the hopper

Abstract

The invention relates to a garbage cleaning method and device. The method comprises the steps that existence of garbage within the preset range around an intelligent garbage can is detected; if the detection result indicates existence of garbage within the preset range around an intelligent garbage can, a first indication message carrying position information is transmitted to a floor cleaning robot, wherein the first indication message is used for indicating the floor cleaning robot to perform garbage cleaning according to the position information; and the position information is used for representing the position of the garbage. The problems in the prior art that cleaning is not timely and user energy is occupied due to the fact that the user manually starts the floor cleaning robot to perform garbage cleaning can be solved by the garbage cleaning method and device.

Description

Refuse sweeping method and device
Technical field
It relates to smart machine field, more particularly to refuse sweeping method and device.
Background technology
Along with the popularization of smart machine, the application of smart home is more and more extensive, for example：People can use sweeper Device people clean the room, and using intelligent garbage bin rubbish is held, and intelligent garbage bin carries out classifying etc. to rubbish.
In correlation technique, user typically when finding that there is rubbish in room, is opened when being cleaned the room using sweeping robot Dynamic sweeping robot so as to start to clean the room.
The content of the invention
To overcome problem present in correlation technique, present disclose provides a kind of refuse sweeping method and device.
According to the first aspect of the embodiment of the present disclosure, there is provided a kind of refuse sweeping method, including：
Whether there is rubbish in preset range around detection intelligent garbage bin；
If detecting in the preset range around the intelligent garbage bin has rubbish, send to sweeping robot and carry First instruction message of positional information, the first instruction message is used to indicate the sweeping robot according to the positional information Carry out refuse sweeping；The positional information is used to characterize the rubbish location.
In this embodiment, when having rubbish in the preset range detected around intelligent garbage bin, to sweeping robot Transmission carries the first instruction message of the positional information of rubbish so that sweeping robot to carry out rubbish according to the positional information clear Sweep, thus avoid user in correlation technique and manually start sweeping robot carries out refuse sweeping, cause to clean not The drawbacks of timely and occupancy user's energy, by sweeping robot linkage intelligent garbage bin, to the rubbish for easily refuse pollution occurring Bucket periphery is detected, and indicates that sweeping robot removes rubbish in time, and high efficiency smart improves Consumer's Experience.
In a kind of optional embodiment, whether there is rubbish in the preset range around the detection intelligent garbage bin, Including：
Detect in the preset range whether there is rubbish by sensor；
Or,
Image information in the preset range is gathered by camera, and is preset according to described image infomation detection In the range of whether have rubbish.
In this embodiment it is possible to pass through sensor or camera detection intelligent garbage bin around preset range in be It is no to have rubbish, you can be detected by different modes, so that the mode of rubbish detection is more flexible.
In a kind of optional embodiment, it is described detection intelligent garbage bin around preset range in whether have rubbish it Before, methods described also includes：
Second being sent to the sweeping robot and indicating message, the second instruction message is used to indicate the machine of sweeping the floor People is associated with the intelligent garbage bin；
Receive the sweeping robot and indicate the association messages that message sends according to described second, take in the association messages Device identification with the sweeping robot；
According to the device identification, the intelligent garbage bin and the sweeping robot are associated.
In this embodiment, the device identification that intelligent garbage bin sends according to sweeping robot, intelligent garbage bin and will sweep Floor-washing robot is associated, and the interrelational form is more simple, easily operated.
In a kind of optional embodiment, if the quantity of the sweeping robot is multiple；
Described to send to sweeping robot before the first instruction message for carrying positional information, methods described also includes：
Determine target sweeping robot；
It is described that the first instruction message for carrying positional information is sent to sweeping robot, including：
The the first instruction message for carrying the positional information is sent to the target sweeping robot.
In this embodiment, when there is multiple sweeping robots in user family, can support to select therein as desired Target sweeping robot performs cleaning task, supports the diversified demand of user.
In a kind of optional embodiment, the determination target sweeping robot, including：
Obtain the distance between multiple sweeping robots and described rubbish；
The most short sweeping robot of distance between the rubbish is defined as into the target sweeping robot.
In this embodiment, it is determined that performing cleaning as target sweeping robot apart from the nearest sweeping robot of rubbish Task, such that it is able to reach the purpose of cleaning in more energy efficient, most efficient mode.
In a kind of optional embodiment, the determination target sweeping robot, including：
Inquiry message is sent to multiple sweeping robots；
Receive the free mark carried for identifying whether in idle condition that multiple sweeping robots are returned The response message of information；
According to the free mark information, the target sweeping robot is determined.
In this embodiment, the sweeping robot in idle condition is defined as into target sweeping robot, it is possible thereby to Realize timely cleaning to rubbish, it is to avoid due to sweeping robot performing elsewhere clean and cause wait when Between.
According to the second aspect of the embodiment of the present disclosure, there is provided a kind of refuse sweeping method, including：
Receive the first instruction message for carrying positional information that intelligent garbage bin sends；It is described first instruction message be Detecting has the message sent during rubbish in the preset range around the intelligent garbage bin；The first instruction message is used to refer to Show that sweeping robot carries out refuse sweeping according to the positional information；The positional information is used to characterize the position residing for the rubbish Put；
Control the sweeping robot carries out refuse sweeping according to the positional information.
In this embodiment, there is rubbish in the preset range detected around intelligent garbage bin by receiving intelligent garbage bin When what is sent during rubbish carries the first instruction message of the positional information of rubbish, control sweeping robot enters according to the positional information Row refuse sweeping, thus avoid user in correlation technique and manually start sweeping robot carries out refuse sweeping, leads The drawbacks of cleaning not in time and take user's energy is caused, it is dirty to easily there is rubbish by sweeping robot linkage intelligent garbage bin The dustbin periphery of dye is detected, and indicates that sweeping robot removes rubbish in time, and high efficiency smart improves Consumer's Experience.
In a kind of optional embodiment, methods described also includes：
The second instruction message that the intelligent garbage bin sends is received, the second instruction message is used to indicate described sweeping the floor Robot is associated with the intelligent garbage bin；
Message is indicated according to described second, to the intelligent garbage bin association messages are sent, carried in the association messages There is the device identification of the sweeping robot, so that the intelligent garbage bin is according to the device identification, by the intelligent garbage Bucket and the sweeping robot are associated.
In this embodiment, sweeping robot by the device identification of itself by being sent to intelligent garbage bin so that intelligence Dustbin is associated intelligent garbage bin and sweeping robot according to the device identification, and the interrelational form is more simple, be easy to Operation.
According to the third aspect of the embodiment of the present disclosure, there is provided a kind of refuse cleaner, including：
Detection module, is configured to detect in the preset range around intelligent garbage bin whether there is rubbish；
First sending module, is configured to detect the preset range around the intelligent garbage bin in the detection module When inside having rubbish, the first instruction message for carrying positional information is sent to sweeping robot, the first instruction message is used for Indicate that the sweeping robot carries out refuse sweeping according to the positional information；The positional information is used to characterize the rubbish institute The position at place.
In a kind of optional embodiment, the detection module includes：
First detection sub-module, is configured to sensor and detects in the preset range whether there is rubbish；
Or,
Collection submodule, is configured to the image information that camera is gathered in the preset range；
Second detection sub-module, is configured to according to the collection described image infomation detection that collects of submodule Whether there is rubbish in preset range.
In a kind of optional embodiment, described device also includes：
Second sending module, is configured to send the second instruction message to the sweeping robot, and described second indicates to disappear Cease for indicating that the sweeping robot is associated with the intelligent garbage bin；
Receiver module, is configured to receive the sweeping robot and is disappeared according to the association that the described second instruction message sends Breath, carries the device identification of the sweeping robot in the association messages；
Relating module, is configured to the device identification received according to the receiver module, by the intelligent garbage Bucket and the sweeping robot are associated.
In a kind of optional embodiment, if the quantity of the sweeping robot is multiple；
Described device also includes：
Determining module, is configured to determine that target sweeping robot；
First sending module includes：
First sending submodule, the target sweeping robot transmission for being configured to be determined to the determining module is taken With the positional information first instruction message.
In a kind of optional embodiment, the determining module includes：
Acquisition submodule, is configured to obtain the distance between multiple sweeping robots and described rubbish；
First determination sub-module, is configured to be defined as the most short sweeping robot of distance between the rubbish described Target sweeping robot.
In a kind of optional embodiment, the determining module includes：
Second sending submodule, is configured to send inquiry message to multiple sweeping robots；
Receiving submodule, is configured to carrying for identifying whether to be in for the multiple sweeping robots returns of reception The response message of the free mark information of idle condition；
Second determination sub-module, is configured to the free mark information received according to the receiving submodule, really The fixed target sweeping robot.
According to the fourth aspect of the embodiment of the present disclosure, there is provided a kind of refuse cleaner, including：
First receiver module, the first instruction for carrying positional information for being configured to receive intelligent garbage bin transmission disappears Breath；What the first instruction message sent when being and having rubbish in the preset range detected around the intelligent garbage bin disappears Breath；The first instruction message is used to indicate that sweeping robot carries out refuse sweeping according to the positional information；The position letter Cease for characterizing the rubbish location；
Control module, is configured to control institute's rheme that the sweeping robot is received according to first receiver module Confidence breath carries out refuse sweeping.
In a kind of optional embodiment, described device also includes：
Second receiver module, is configured to receive the second instruction message that the intelligent garbage bin sends, and described second refers to Show message for indicating that the sweeping robot is associated with the intelligent garbage bin；
3rd sending module, be configured to be received according to second receiver module described second indicates message, to The intelligent garbage bin sends association messages, and the device identification of the sweeping robot is carried in the association messages, so that The intelligent garbage bin is associated the intelligent garbage bin and the sweeping robot according to the device identification.
According to the 5th aspect of the embodiment of the present disclosure, there is provided a kind of intelligent garbage bin, including described in the above-mentioned third aspect Arbitrary refuse cleaner.
According to the 6th aspect of the embodiment of the present disclosure, there is provided a kind of sweeping robot, including described in above-mentioned fourth aspect Arbitrary refuse cleaner.
According to the 7th aspect of the embodiment of the present disclosure, there is provided a kind of refuse sweeping system, including above-mentioned 5th aspect is described Intelligent garbage bin and it is above-mentioned 6th aspect described in sweeping robot.
According to the eighth aspect of the embodiment of the present disclosure, there is provided a kind of refuse cleaner, including：
First processor；
For storing the first memory of first processor executable instruction；
Wherein, the first processor is configured to：
Whether there is rubbish in preset range around detection intelligent garbage bin；
When having rubbish in the preset range detected around the intelligent garbage bin, send to sweeping robot and carry First instruction message of positional information, the first instruction message is used to indicate the sweeping robot according to the positional information Carry out refuse sweeping；The positional information is used to characterize the rubbish location.
According to the 9th aspect of the embodiment of the present disclosure, there is provided a kind of refuse cleaner, including：
Second processing device；
For storing the second memory of second processing device executable instruction；
Wherein, the second processing device is configured to：
Receive the first instruction message for carrying positional information that intelligent garbage bin sends；It is described first instruction message be Detecting has the message sent during rubbish in the preset range around the intelligent garbage bin；The first instruction message is used to refer to Show that sweeping robot carries out refuse sweeping according to the positional information；The positional information is used to characterize the position residing for the rubbish Put；
Control the sweeping robot carries out refuse sweeping according to the positional information.
The technical scheme that embodiment of the disclosure is provided can include following beneficial effect：
When the disclosure has rubbish in the preset range detected around intelligent garbage bin, send to sweeping robot and carry There is the first instruction message of the positional information of rubbish, so that sweeping robot carries out refuse sweeping according to the positional information, thus Avoiding user in correlation technique and manually starting sweeping robot carries out refuse sweeping, causes to clean not in time and account for The drawbacks of with user's energy, by sweeping robot linkage intelligent garbage bin, the dustbin periphery to easily there is refuse pollution enters Row detection, and indicate that sweeping robot removes rubbish in time, high efficiency smart improves Consumer's Experience.
It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary and explanatory, not The disclosure can be limited.
Description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the enforcement for meeting the present invention Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is a kind of flow chart of the refuse sweeping method according to an exemplary embodiment；
Fig. 2 is the schematic diagram that a kind of intelligent garbage bin according to an exemplary embodiment detects rubbish；
Fig. 3 is the signal that a kind of intelligent garbage bin according to an exemplary embodiment detects rubbish by camera Figure；
Fig. 4 is a kind of flow chart of the refuse sweeping method for implementing to exemplify according to another exemplary；
Fig. 5 is a kind of flow chart of the refuse sweeping method according to further example embodiment；
Fig. 6 is a kind of flow chart of the refuse sweeping method according to another exemplary embodiment；
Fig. 7 is a kind of flow chart of the refuse sweeping method according to another exemplary embodiment；
Fig. 8 is a kind of signaling process figure of the refuse sweeping method according to another exemplary embodiment；
Fig. 9 is a kind of block diagram of the refuse cleaner according to an exemplary embodiment；
Figure 10 is a kind of block diagram of the refuse cleaner for implementing to exemplify according to another exemplary；
Figure 11 is a kind of block diagram of the refuse cleaner according to further example embodiment；
Figure 12 is a kind of block diagram of the refuse cleaner according to another exemplary embodiment；
Figure 13 is a kind of refuse cleaner block diagram according to another exemplary embodiment；
Figure 14 is a kind of block diagram of the refuse cleaner according to another exemplary embodiment；
Figure 15 is a kind of block diagram of the refuse cleaner according to another exemplary embodiment；
Figure 16 is a kind of block diagram of the refuse cleaner according to another exemplary embodiment；
Figure 17 is a kind of block diagram of the refuse cleaner according to another exemplary embodiment；
Figure 18 is a kind of block diagram of the refuse cleaner according to another exemplary embodiment；
Figure 19 is a kind of block diagram for refuse cleaner according to an exemplary embodiment.
Specific embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Explained below is related to During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment Described in embodiment do not represent and the consistent all embodiments of the present invention.Conversely, they be only with it is such as appended The example of the consistent apparatus and method of some aspects described in detail in claims, the present invention.
Fig. 1 is a kind of flow chart of the refuse sweeping method according to an exemplary embodiment, as shown in figure 1, this reality Apply the refuse sweeping method that example is related to can be used in intelligent garbage bin, the refuse sweeping method is comprised the following steps.
In step s 11, detect in the preset range around intelligent garbage bin whether there is rubbish.
In step s 12, there is rubbish if detecting in the preset range around intelligent garbage bin, send out to sweeping robot The the first instruction message for carrying positional information, the first instruction message is sent to be used to indicate that the sweeping robot enters according to positional information Row refuse sweeping；The positional information is used to characterize rubbish location.
In the related, if having rubbish in room, user generally needs manually to open sweeping robot, It is set to clean room.However, because user needs manually to open sweeping robot, not only causing to clean not in time and account for With the energy of user.It is in the disclosed embodiments, default around intelligent garbage bin when detecting in order to solve this problem In the range of when having rubbish, the first instruction message will be sent to sweeping robot, carry for characterizing in the first instruction message The positional information of rubbish present position, after sweeping robot receives the first instruction message, will determine according to positional information Go out the position at rubbish place, and rubbish is cleaned.
Optionally, can be by the detection part (for example, infrared emitting part) of intelligent garbage bin setting to dustbin week Whether enclose in preset range has rubbish to be detected；Other third party devices can also be passed through to detecting around dustbin, For example, by the camera head that is arranged in room to carrying out whetheing there is the detection of rubbish around dustbin, and can detect When there is rubbish, camera head sends to sweeping robot and indicates message.
For example, Fig. 2 is a kind of schematic diagram of intelligent garbage bin detection rubbish according to an exemplary embodiment, As shown in Fig. 2 dash area therein is preset range, intelligent garbage bin will detect whether dash area has rubbish, if detection To there is rubbish, then the position of the rubbish can be sent to sweeping robot, so that sweeping robot carries out the cleaning of rubbish.
In addition, preset range can be configured according to actual conditions, can be for example 2m or 2.5m etc., for default model The concrete value enclosed, this is not restricted for the present embodiment.
The refuse sweeping method of the present embodiment, when having rubbish in the preset range detected around intelligent garbage bin, to Sweeping robot sends the first instruction message of the positional information for carrying rubbish, so that sweeping robot is according to the positional information Refuse sweeping is carried out, thus avoid user in correlation technique and manually start sweeping robot carries out refuse sweeping, Cause the drawbacks of cleaning not in time and take user's energy, by sweeping robot linkage intelligent garbage bin, to easily there is rubbish The dustbin periphery of pollution is detected, and indicates that sweeping robot removes rubbish in time, and high efficiency smart improves user's body Test.
Alternatively, on the basis of embodiment illustrated in fig. 1, detect in the preset range around intelligent garbage bin whether there is rubbish Rubbish, can include following several detection modes：
The first：Detect in preset range whether there is rubbish by sensor.
Specifically, the sensor can be infrared sensor, can be arranged on the outer surface of intelligent garbage bin, or, Can be arranged on other equipment.For example, by arranging infrared sensor on intelligent garbage bin, you can detection intelligent garbage Whether there is rubbish in preset range around bucket.With continued reference to shown in Fig. 2, the dash area in Fig. 2 is infrared sensor Detection range.Detected it is, of course, also possible to pass through other and can perceive the sensor for whether having abnormal rubbish in preset range, For the particular type of sensor, this is not restricted for the present embodiment.
Second：Image information in preset range is gathered by camera, and according to the default model of image information detection Whether there is rubbish in enclosing.
It is alternatively possible to install camera on intelligent garbage bin, the image letter in preset range is gathered by camera Breath, for example, can pass through to take pictures or scan mode is acquired, after image information is collected, will be according to the image information Judge whether there is rubbish in preset range.Or, it is also possible to by environment to be cleaned arrange other camera heads come The rubbish situation around dustbin is obtained, for example, in the camera that a corner in room is installed.Fig. 3 is exemplary according to one A kind of intelligent garbage bin that enforcement is exemplified detects the schematic diagram of rubbish by camera, as shown in figure 3, can be in intelligent garbage The surrounding of bucket installs camera, to obtain the rubbish situation of intelligent garbage bin surrounding environment, so as to detect whether dash area has Rubbish.
In this embodiment it is possible to pass through sensor or camera detection intelligent garbage bin around preset range in be It is no to have rubbish, you can be detected by different modes, so that the mode of rubbish detection is more flexible.
Fig. 4 is a kind of flow chart of the refuse sweeping method for implementing to exemplify according to another exemplary, and the method can be used for In intelligent garbage bin, the present embodiment is to detecting in the preset range around intelligent garbage bin on the basis of above-described embodiment It is no to have before rubbish, the embodiment for being first associated intelligent garbage bin and sweeping robot is needed, elaborate, such as Fig. 4 Shown, the refuse sweeping method is comprised the following steps：
In step S41, send second to sweeping robot and indicate message, the second instruction message is used to indicate sweeper Device people is associated with intelligent garbage bin.
In the present embodiment, intelligent garbage bin sends second and indicates message to sweeping robot, to indicate sweeping robot Perform with intelligent garbage bin and associate.Wherein it is possible to be that an intelligent garbage bin indicates to disappear to a sweeping robot transmission second Breath, or an intelligent garbage bin send second and indicate message to multiple sweeping robots simultaneously.
In step S42, receive sweeping robot and indicate the association messages that message sends according to second, in the association messages Carry the device identification of sweeping robot.
In the present embodiment, sweeping robot, can be by after the second instruction message for receiving intelligent garbage bin transmission The device identification of itself carries and intelligent garbage bin is sent in association messages.
In step S43, according to device identification, intelligent garbage bin and sweeping robot are associated.
In the present embodiment, intelligent garbage bin is according to the device identification for receiving, by intelligent garbage bin and device identification pair The sweeping robot answered is associated.During concrete implementation, interrelational form can include bluetooth connection, Wireless Fidelity (Wireless-Fidelity；Referred to as WIFI) connect or network signal (such as 4G networks).
It should be noted that before intelligent garbage bin and sweeping robot are associated, intelligent garbage bin can determine whether Whether itself and sweeping robot are under same scene.For example, if intelligent garbage bin and sweeping robot will be by blue When tooth connected mode is associated, because bluetooth connection needs the intelligent garbage bin and sweeping robot ability in the range of certain distance Can be connected to work(, such as within 100 meters etc., therefore, judging intelligent garbage bin and sweeping robot whether in same field When under scape, it is only necessary to judge the distance between intelligent garbage bin and sweeping robot whether less than predetermined threshold value, i.e. intelligent garbage Whether bucket and sweeping robot are attached by bluetooth, if being attached by bluetooth, illustrate to be in Under same scene.If intelligent garbage bin and sweeping robot will be associated by WIFI connected modes, can be by sentencing Whether whether disconnected intelligent garbage bin and sweeping robot are connected to same WIFI accounts, so as to judge both sides in same field Scape, if being connected to same WIFI accounts, intelligent garbage bin and sweeping robot are in same scene.If intelligent garbage bin When will be associated by network signal (such as 4G networks) with sweeping robot, intelligence can be obtained by network real-time satellite positioning The geographical position of energy dustbin and sweeping robot, and judge whether the distance between intelligent garbage bin and sweeping robot are less than Predetermined threshold value, so as to whether judge both sides in same scene, if the distance between intelligent garbage bin and sweeping robot are little In predetermined threshold value, then both are under same scene.
In step S44, detect in the preset range around intelligent garbage bin whether there is rubbish.
In step S45, if detect in the preset range around intelligent garbage bin having rubbish, send out to sweeping robot The the first instruction message for carrying positional information, the first instruction message is sent to be used to indicate that the sweeping robot enters according to positional information Row refuse sweeping；The positional information is used to characterize rubbish location.
Step S44- step S45 is similar with step S11- step S12, and here is omitted.
The refuse sweeping method of the present embodiment, when having rubbish in the preset range detected around intelligent garbage bin, to Sweeping robot sends the first instruction message of the positional information for carrying rubbish, so that sweeping robot is according to the positional information Refuse sweeping is carried out, thus avoid user in correlation technique and manually start sweeping robot carries out refuse sweeping, Cause the drawbacks of cleaning not in time and take user's energy, by sweeping robot linkage intelligent garbage bin, to easily there is rubbish The dustbin periphery of pollution is detected, and indicates that sweeping robot removes rubbish in time, and high efficiency smart improves user's body Test.In addition, the device identification that intelligent garbage bin sends according to sweeping robot, intelligent garbage bin and sweeping robot are closed Connection, the interrelational form is more simple, easily operated.
Fig. 5 is a kind of flow chart of the refuse sweeping method according to further example embodiment, and the method can be used for In intelligent garbage bin, the present embodiment on the basis of embodiment illustrated in fig. 1, if the quantity of pair sweeping robot for it is multiple, such as What determines target sweeping robot from multiple sweeping robots, and sends the first instruction message to the target sweeping robot Embodiment, elaborates, as shown in figure 5, the refuse sweeping method is comprised the following steps：
In step s 51, detect in the preset range around intelligent garbage bin whether there is rubbish.
In step S52, if detect in the preset range around intelligent garbage bin having rubbish, it is determined that target sweeper Device people.
In the present embodiment, if sweeping robot has multiple, intelligent garbage bin will be needed from multiple sweeping robots Target sweeping robot is determined, to indicate that the target sweeping robot carries out refuse sweeping.During concrete implementation, intelligence Dustbin can determine target sweeping robot by following several ways：
The first：The distance between multiple sweeping robots and intelligent garbage bin are obtained, and will be between intelligent garbage bin The most short sweeping robot of distance is defined as target sweeping robot.
In the disclosed embodiments, intelligent garbage bin can pass through to obtain the distance between sweeping robot and rubbish, from And determine target sweeping robot.Specifically, intelligent garbage bin can send request message to multiple sweeping robots, respectively sweep the floor Robot would know that the distance between itself and rubbish according to the request message by sensor, and the distance of acquisition is taken Band returns to intelligent garbage bin in response message, and so, intelligent garbage bin would know that between each sweeping robot and rubbish Distance, it is possible thereby to determine the most short sweeping robot of distance between rubbish, and the sweeping robot is defined as into mesh Mark sweeping robot.Wherein, sweeping robot can obtain the distance between itself and rubbish by infrared sensor, it is also possible to The distance between itself and rubbish are obtained by range sensor, certainly, sweeping robot can also be obtained by other means The distance between itself and rubbish, for specific acquisition modes, this is not restricted for the present embodiment.
Adopt in this way, due to by determine apart from the nearest sweeping robot of rubbish be used as target sweeping robot come Cleaning task is performed, such that it is able to reach the purpose of cleaning in more energy efficient, most efficient mode.
Second：Inquiry message is sent to multiple sweeping robots, receive multiple sweeping robots returns carries use In the response message for identifying whether the free mark information in idle condition, and according to the free mark information, determine target Sweeping robot.
In the disclosed embodiments, intelligent garbage bin can send inquiry message, each sweeper to multiple sweeping robots Whether device people will detect itself in idle condition after the inquiry message is received.In actual applications, sweeping robot Can be detected by judging whether itself is powered, it is also possible to detected by position sensor, certainly, sweeping robot Can also by other means detect itself whether in idle condition.If sweeping robot detects itself in idle shape State, then can carry free mark information and intelligent garbage bin is sent in response message.Wherein, free mark information can be with For one or several specific characters or character string.
Intelligent garbage bin is receiving the response message that each sweeping robot sends, it is determined that being now in sweeping for idle condition Floor-washing robot, and the sweeping robot is defined as into target sweeping robot.
Adopt in this way, due to the sweeping robot in idle condition is defined as into target sweeping robot, thus The timely cleaning to rubbish can be realized, it is to avoid because sweeping robot is performing elsewhere the wait for cleaning and causing Time.
In step S53, the first instruction message for carrying positional information is sent to target sweeping robot, first indicates Message is used to indicate that target sweeping robot carries out refuse sweeping according to positional information；The positional information is used to characterize residing for rubbish Position.
In the disclosed embodiments, intelligent garbage bin only will sweep the floor after target sweeping robot is determined to target Robot sends first and indicates message, and the target sweeping robot is received after the positional information in the first instruction message, according to The positional information is cleaned to rubbish.
The refuse sweeping method of the present embodiment, when having rubbish in the preset range detected around intelligent garbage bin, to Sweeping robot sends the first instruction message of the positional information for carrying rubbish, so that sweeping robot is according to the positional information Refuse sweeping is carried out, thus avoid user in correlation technique and manually start sweeping robot carries out refuse sweeping, Cause the drawbacks of cleaning not in time and take user's energy, by sweeping robot linkage intelligent garbage bin, to easily there is rubbish The dustbin periphery of pollution is detected, and indicates that sweeping robot removes rubbish in time, and high efficiency smart improves user's body Test.In addition, when there is multiple sweeping robots in user family, can support to select target sweeping robot therein as desired Cleaning task is performed, the diversified demand of user is supported.
Fig. 6 is a kind of flow chart of the refuse sweeping method according to another exemplary embodiment, as shown in fig. 6, should Method can be used in sweeping robot, and the refuse sweeping method is comprised the following steps：
In step S61, the first instruction message for carrying positional information that intelligent garbage bin sends is received；First finger Show the message that message sends when being and having rubbish in the preset range detected around intelligent garbage bin；The first instruction message is used Refuse sweeping is carried out according to positional information in instruction sweeping robot；The positional information is used to characterize rubbish location.
In step S62, control sweeping robot carries out refuse sweeping according to positional information.
In the embodiment, first can be received by sweeping robot and indicate message, and receive the first instruction message Control itself afterwards to be cleaned at rubbish position；Or, or other instructions of third party's terminal devices reception first Message, and control sweeping robot and cleaned at rubbish position.For example, third party's terminal device can be mobile phone Terminal etc..
In the disclosed embodiments, when having rubbish in the preset range detected around intelligent garbage bin, will be sent One indicates message, and the positional information for characterizing rubbish present position is carried in the first instruction message, is receiving intelligence After the first instruction message that dustbin sends, control sweeping robot and the position that rubbish is located determined according to positional information, And reach the position rubbish is cleaned.
In addition, preset range can be configured according to actual conditions, can be for example 2m or 2.5m etc., for default model The concrete value enclosed, this is not restricted for the present embodiment.
The refuse sweeping method of the present embodiment, by receiving intelligent garbage bin presetting around intelligent garbage bin is being detected In the range of send when having rubbish the positional information for carrying rubbish the first instruction message when, control sweeping robot is according to this Positional information carries out refuse sweeping, and thus avoid user in correlation technique and manually start sweeping robot carries out rubbish Rubbish is cleaned, and causes the drawbacks of cleaning not in time and take user's energy, by sweeping robot linkage intelligent garbage bin, to easily sending out The dustbin periphery of raw refuse pollution is detected, and indicates that sweeping robot removes rubbish in time, and high efficiency smart improves use Experience at family.
Fig. 7 is a kind of flow chart of the refuse sweeping method according to another exemplary embodiment, and the method can be used for In sweeping robot, first instruction of the present embodiment on the basis of embodiment illustrated in fig. 6, to sending in reception intelligent garbage bin Before message, how the embodiment for being associated intelligent garbage bin and sweeping robot, elaborates, as shown in fig. 7, should Refuse sweeping method is comprised the following steps：
In step S71, the second instruction message that intelligent garbage bin sends is received, the second instruction message is swept for instruction Floor-washing robot is associated with intelligent garbage bin.
In step S72, message is indicated according to second, to intelligent garbage bin association messages are sent, taken in the association messages Device identification with sweeping robot, so that intelligent garbage bin is according to device identification, by intelligent garbage bin and sweeping robot It is associated.
In the disclosed embodiments, sweeping robot receive intelligent garbage bin transmission second instruction message after, The device identification of itself can be carried and intelligent garbage bin is sent in association messages.Equipment of the intelligent garbage bin according to receiving Mark, intelligent garbage bin and the corresponding sweeping robot of device identification are associated.During concrete implementation, affiliated party Formula can include bluetooth connection, WIFI connections or network signal (such as 4G networks).
The refuse sweeping method of the present embodiment, by receiving intelligent garbage bin presetting around intelligent garbage bin is being detected In the range of send when having rubbish the positional information for carrying rubbish the first instruction message when, control sweeping robot is according to this Positional information carries out refuse sweeping, and thus avoid user in correlation technique and manually start sweeping robot carries out rubbish Rubbish is cleaned, and causes the drawbacks of cleaning not in time and take user's energy, by sweeping robot linkage intelligent garbage bin, to easily sending out The dustbin periphery of raw refuse pollution is detected, and indicates that sweeping robot removes rubbish in time, and high efficiency smart improves use Experience at family.In addition, sweeping robot by the device identification of itself by being sent to intelligent garbage bin so that intelligent garbage bin according to The device identification, intelligent garbage bin and sweeping robot are associated, and the interrelational form is more simple, easily operated.
Fig. 8 is a kind of signaling process figure of the refuse sweeping method according to another exemplary embodiment, such as Fig. 8 institutes Show, with two sweeping robots, respectively sweeping robot A and sweeping robot B in the present embodiment, and by sweeper Device people sends inquiry message, and the sweeping robot A in idle condition is illustrated as a example by target sweeping robot, should Refuse sweeping method is comprised the following steps：
In step S81, intelligent garbage bin sends second and indicates message to sweeping robot A and sweeping robot B respectively.
Wherein, the second instruction message is used to indicate that sweeping robot is associated with intelligent garbage bin.
In step S82, sweeping robot A and sweeping robot B indicates that message sends to intelligent garbage bin according to second Association messages.
Wherein, the device identification of sweeping robot is carried in association messages.
In step S83, intelligent garbage bin according to device identification, respectively by intelligent garbage bin and sweeping robot A, intelligence Dustbin and sweeping robot B are associated.
In step S84, whether there is rubbish in the preset range around intelligent garbage bin detection intelligent garbage bin.
In step S85, if detect having rubbish in the preset range around intelligent garbage bin, intelligent garbage bin difference Inquiry message is sent to sweeping robot A and sweeping robot B.
In a step s 86, sweeping robot A and sweeping robot B send to intelligent garbage bin carry available free mark respectively The response message of knowledge information.
Wherein, the free mark information representation A for carrying in the response message of sweeping robot A is in " free time " state；Sweep The free mark information representation B carried in the response message of floor-washing robot B is in " busy " state.
In step S87, intelligent garbage bin is swept the floor sweeping robot A as target machine according to free mark information People.
In step S88, intelligent garbage bin sends the first instruction message for carrying positional information to sweeping robot A.
In step S89, sweeping robot A carries out refuse sweeping according to positional information.
Wherein, positional information is used to characterize rubbish location.
The refuse sweeping method of the present embodiment, when having rubbish in the preset range detected around intelligent garbage bin, to Sweeping robot sends the first instruction message of the positional information for carrying rubbish, so that sweeping robot is according to the positional information Refuse sweeping is carried out, thus avoid user in correlation technique and manually start sweeping robot carries out refuse sweeping, Cause the drawbacks of cleaning not in time and take user's energy, by sweeping robot linkage intelligent garbage bin, to easily there is rubbish The dustbin periphery of pollution is detected, and indicates that sweeping robot removes rubbish in time, and high efficiency smart improves user's body Test.
Below according to the embodiment of the present disclosure, there is provided a kind of refuse cleaner, for performing above-mentioned refuse sweeping side Method.
Fig. 9 is a kind of block diagram of the refuse cleaner according to an exemplary embodiment, as shown in figure 9, the rubbish Clearing apparatus includes the sending module 12 of detection module 11 and first.
Detection module 11 is configured to detect in the preset range around intelligent garbage bin whether there is rubbish；
First sending module 12 is configured to detect the default model around the intelligent garbage bin in the detection module When having rubbish in enclosing, the first instruction message for carrying positional information is sent to sweeping robot, described first indicates that message is used Refuse sweeping is carried out according to the positional information in the instruction sweeping robot；The positional information is used to characterize the rubbish Location.
In this embodiment, when detection module 11 has rubbish in the preset range detected around intelligent garbage bin, the One sending module 12 sends the first instruction message of the positional information for carrying rubbish to sweeping robot, so that sweeping robot Refuse sweeping is carried out according to the positional information, user in correlation technique is thus avoid and is manually started sweeping robot Refuse sweeping is carried out, causes the drawbacks of cleaning not in time and take user's energy, by sweeping robot linkage intelligent garbage bin, Dustbin periphery to easily there is refuse pollution is detected, and indicates that sweeping robot removes rubbish in time, and high efficiency smart is carried High Consumer's Experience.
Wherein, as shown in Figure 10, Figure 10 is a kind of frame of the refuse cleaner for implementing to exemplify according to another exemplary Figure, on the basis of embodiment illustrated in fig. 9, the detection module 11 includes the first detection sub-module 111, or, gather submodule The detection sub-module 113 of block 112 and second；
First detection sub-module 111 is configured to sensor and detects in the preset range whether there is rubbish；
Or,
Collection submodule 112 is configured to the image information that camera is gathered in the preset range；
Second detection sub-module 113 is configured to the described image information inspection collected according to the collection submodule 112 Whether survey in the preset range has rubbish.
In this embodiment it is possible to pass through sensor or camera detection intelligent garbage bin around preset range in be It is no to have rubbish, you can be detected by different modes, so that the mode of rubbish detection is more flexible.
Wherein, as shown in figure 11, Figure 11 is a kind of frame of the refuse cleaner according to further example embodiment Figure, on the basis of embodiment illustrated in fig. 9, described device also includes：Second sending module 13, receiver module 14 and relating module 15；
Second sending module 13 is configured to send the second instruction message to the sweeping robot, and described second indicates to disappear Cease for indicating that the sweeping robot is associated with the intelligent garbage bin；
Receiver module 14 is configured to receive the sweeping robot and is disappeared according to the association that the described second instruction message sends Breath, carries the device identification of the sweeping robot in the association messages；
Relating module 15 is configured to the device identification received according to the receiver module 14, by the intelligent rubbish Rubbish bucket and the sweeping robot are associated.
In this embodiment, the device identification that intelligent garbage bin sends according to sweeping robot, intelligent garbage bin and will sweep Floor-washing robot is associated, and the interrelational form is more simple, easily operated.
Wherein, as shown in figure 12, Figure 12 is a kind of frame of the refuse cleaner according to another exemplary embodiment Figure, on the basis of embodiment illustrated in fig. 9, if the quantity of the sweeping robot is multiple；Described device also includes：Determine mould Block 16；
Determining module 16 is configured to determine that target sweeping robot；
First sending module 12 includes：
The target sweeping robot that first sending submodule 121 is configured to be determined to the determining module 16 is sent out Send the first instruction message for carrying the positional information.
In this embodiment, when there is multiple sweeping robots in user family, can support to select therein as desired Target sweeping robot performs cleaning task, supports the diversified demand of user.
Wherein, as shown in figure 13, Figure 13 is a kind of refuse cleaner block diagram according to another exemplary embodiment, On the basis of embodiment illustrated in fig. 12, the determining module 16 includes：The determination sub-module 162 of acquisition submodule 161 and first.
Acquisition submodule 161 is configured to obtain the distance between multiple sweeping robots and described rubbish；
First determination sub-module 162 is configured to for the most short sweeping robot of distance between the rubbish to be defined as institute State target sweeping robot.
In this embodiment, it is determined that performing cleaning as target sweeping robot apart from the nearest sweeping robot of rubbish Task, such that it is able to reach the purpose of cleaning in more energy efficient, most efficient mode.
Wherein, as shown in figure 14, Figure 14 is a kind of frame of the refuse cleaner according to another exemplary embodiment Figure, on the basis of embodiment illustrated in fig. 12, the determining module 16 includes：Second sending submodule 163, receiving submodule 164 and second determination sub-module 165.
Second sending submodule 161 is configured to send inquiry message to multiple sweeping robots；
Receiving submodule 162 is configured to receive that multiple sweeping robots return carries for identifying whether place In the response message of the free mark information of idle condition；
The free mark that second determination sub-module 163 is configured to be received according to the receiving submodule 162 is believed Breath, determines the target sweeping robot.
In this embodiment, the sweeping robot in idle condition is defined as into target sweeping robot, it is possible thereby to Realize timely cleaning to rubbish, it is to avoid due to sweeping robot performing elsewhere clean and cause wait when Between.
Figure 15 is a kind of block diagram of the refuse cleaner according to another exemplary embodiment, as shown in figure 15, should Refuse cleaner includes the first receiver module 21 and control module 22；
First receiver module 21 is configured to receive first instruction for carrying positional information of intelligent garbage bin transmission and disappears Breath；What the first instruction message sent when being and having rubbish in the preset range detected around the intelligent garbage bin disappears Breath；The first instruction message is used to indicate that sweeping robot carries out refuse sweeping according to the positional information；The position letter Cease for characterizing the rubbish location；
Control module 22 is configured to control the institute that the sweeping robot is received according to first receiver module 21 Stating positional information carries out refuse sweeping.
In this embodiment, the first receiver module 21 is being detected around intelligent garbage bin by receiving intelligent garbage bin When having the first instruction message of the positional information for carrying rubbish sent during rubbish in preset range, the control of control module 22 is swept Floor-washing robot carries out refuse sweeping according to the positional information, thus avoid user in correlation technique and manually starts and sweeps Floor-washing robot carries out refuse sweeping, causes the drawbacks of cleaning not in time and take user's energy, is linked intelligence by sweeping robot Energy dustbin, the dustbin periphery to easily there is refuse pollution is detected, and indicates that sweeping robot removes rubbish in time, high Effect intelligence, improves Consumer's Experience.
Wherein, as shown in figure 16, Figure 16 is a kind of frame of the refuse cleaner according to another exemplary embodiment Figure, on the basis of embodiment illustrated in fig. 15, described device also includes：Second receiver module 23 and the 3rd sending module 24.
Second receiver module 23 is configured to receive the second instruction message that the intelligent garbage bin sends, and described second refers to Show message for indicating that the sweeping robot is associated with the intelligent garbage bin；
3rd sending module 24 is configured to the second instruction message received according to second receiver module 23, Association messages are sent to the intelligent garbage bin, the device identification of the sweeping robot is carried in the association messages, with Make the intelligent garbage bin according to the device identification, the intelligent garbage bin and the sweeping robot are associated.
In this embodiment, sweeping robot by the device identification of itself by being sent to intelligent garbage bin so that intelligence Dustbin is associated intelligent garbage bin and sweeping robot according to the device identification, and the interrelational form is more simple, be easy to Operation.
With regard to the device in above-described embodiment, wherein modules perform the concrete mode of operation in relevant the method Embodiment in be described in detail, explanation will be not set forth in detail herein.
According to the embodiment of the present disclosure, a kind of intelligent garbage bin, including above-mentioned Fig. 9 are additionally provided to the arbitrary rubbish described in 14 Clearing apparatus.
According to the embodiment of the present disclosure, a kind of sweeping robot, including above-mentioned Figure 15 are additionally provided to the arbitrary rubbish described in 16 Rubbish clearing apparatus.
According to the embodiment of the present disclosure, additionally provide a kind of refuse sweeping system, including any of the above-described kind of intelligent garbage bin and Any one sweeping robot.
According to the embodiment of the present disclosure, a kind of refuse cleaner is additionally provided, as shown in figure 17, the refuse cleaner bag Include：
First processor；
For storing the first memory of first processor executable instruction；
Wherein, the first processor is configured to：
Whether there is rubbish in preset range around detection intelligent garbage bin；
When having rubbish in the preset range detected around the intelligent garbage bin, send to sweeping robot and carry First instruction message of positional information, the first instruction message is used to indicate the sweeping robot according to the positional information Carry out refuse sweeping；The positional information is used to characterize the rubbish location.
The refuse cleaner of the present embodiment, processor has rubbish in the preset range detected around intelligent garbage bin When, transmitter sends the first instruction message for carrying positional information to sweeping robot, so that sweeping robot is according to the position Confidence breath carries out refuse sweeping, and thus avoid user in correlation technique and manually start sweeping robot carries out rubbish The phenomenon of cleaning, so as to improve Consumer's Experience.
According to the embodiment of the present disclosure, a kind of refuse cleaner is additionally provided, as shown in figure 18, the refuse cleaner bag Include：
Second processing device；
For storing the second memory of second processing device executable instruction；
Wherein, the second processing device is configured to：
Receive the first instruction message for carrying positional information that intelligent garbage bin sends；It is described first instruction message be Detecting has the message sent during rubbish in the preset range around the intelligent garbage bin；The first instruction message is used to refer to Show that sweeping robot carries out refuse sweeping according to the positional information；The positional information is used to characterize the position residing for the rubbish Put；
Control the sweeping robot carries out refuse sweeping according to the positional information.
The refuse cleaner of the present embodiment, receiver is being detected around intelligent garbage bin by receiving intelligent garbage bin Preset range in send when having rubbish carry positional information the first instruction message when, processor is according to the positional information Refuse sweeping is carried out, thus avoid user in correlation technique and manually start sweeping robot carries out refuse sweeping Phenomenon, so as to improve Consumer's Experience.
Figure 19 is a kind of block diagram for refuse cleaner according to an exemplary embodiment.For example, device 800 Can be mobile phone, computer, digital broadcast terminal, messaging devices, game console, tablet device, Medical Devices, Body-building equipment, personal digital assistant etc..
With reference to Figure 19, device 800 can include following one or more assemblies：Process assembly 802, memory 804, power supply Component 806, multimedia groupware 808, audio-frequency assembly 810, the interface 812 of input/output (I/O), sensor cluster 814, and Communication component 816.
The integrated operation of the usual control device 800 of process assembly 802, such as with display, call, data communication, phase Machine operates and records the associated operation of operation.Process assembly 802 can refer to including one or more processors 820 to perform Order, to complete all or part of step of above-mentioned method.Additionally, process assembly 802 can include one or more modules, just Interaction between process assembly 802 and other assemblies.For example, process assembly 802 can include multi-media module, many to facilitate Interaction between media component 808 and process assembly 802.
Memory 804 is configured to store various types of data to support the operation in equipment 800.These data are shown Example includes the instruction of any application program for operating on device 800 or method, and contact data, telephone book data disappears Breath, picture, video etc..Memory 804 can be by any kind of volatibility or non-volatile memory device or their group Close and realize, such as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM) is erasable to compile Journey read-only storage (EPROM), programmable read only memory (PROM), read-only storage (ROM), magnetic memory, flash Device, disk or CD.
Power supply module 806 provides electric power for the various assemblies of device 800.Power supply module 806 can include power management system System, one or more power supplys, and other generate, manage and distribute the component that electric power is associated with for device 800.
Multimedia groupware 808 is included in the screen of one output interface of offer between described device 800 and user.One In a little embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen Curtain may be implemented as touch-screen, to receive the input signal from user.Touch panel includes one or more touch sensings Device is with the gesture on sensing touch, slip and touch panel.The touch sensor can not only sensing touch or sliding action Border, but also detect and the touch or slide related duration and pressure.In certain embodiments, many matchmakers Body component 808 includes a front-facing camera and/or post-positioned pick-up head.When equipment 800 be in operator scheme, such as screening-mode or During video mode, front-facing camera and/or post-positioned pick-up head can receive outside multi-medium data.Each front-facing camera and Post-positioned pick-up head can be a fixed optical lens system or with focusing and optical zoom capabilities.
Audio-frequency assembly 810 is configured to output and/or input audio signal.For example, audio-frequency assembly 810 includes a Mike Wind (MIC), when device 800 is in operator scheme, such as call model, logging mode and speech recognition mode, microphone is matched somebody with somebody It is set to reception external audio signal.The audio signal for being received can be further stored in memory 804 or via communication set Part 816 sends.In certain embodiments, audio-frequency assembly 810 also includes a loudspeaker, for exports audio signal.
, to provide interface between process assembly 802 and peripheral interface module, above-mentioned peripheral interface module can for I/O interfaces 812 To be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and lock Determine button.
Sensor cluster 814 includes one or more sensors, and the state for providing various aspects for device 800 is commented Estimate.For example, sensor cluster 814 can detect the opening/closed mode of equipment 800, and the relative positioning of component is for example described Component is the display and keypad of device 800, and sensor cluster 814 can be with 800 1 components of detection means 800 or device Position change, user is presence or absence of with what device 800 was contacted, the orientation of device 800 or acceleration/deceleration and device 800 Temperature change.Sensor cluster 814 can include proximity transducer, be configured to be detected when without any physical contact The presence of object nearby.Sensor cluster 814 can also include optical sensor, such as CMOS or ccd image sensor, for into As used in application.In certain embodiments, the sensor cluster 814 can also include acceleration transducer, gyro sensors Device, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 816 is configured to facilitate the communication of wired or wireless way between device 800 and other equipment.Device 800 can access based on the wireless network of communication standard, such as WiFi, 2G or 3G, or combinations thereof.In an exemplary enforcement In example, communication component 816 receives the broadcast singal or broadcast related information from external broadcasting management system via broadcast channel. In one exemplary embodiment, the communication component 816 also includes near-field communication (NFC) module, to promote junction service.Example Such as, NFC module can be based on RF identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra broadband (UWB) technology, Bluetooth (BT) technology and other technologies are realizing.
In the exemplary embodiment, device 800 can be by one or more application specific integrated circuits (ASIC), numeral letter Number processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components realizations, for performing said method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided Such as include the memory 804 of instruction, above-mentioned instruction can be performed to complete said method by the processor 820 of device 800.For example, The non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk With optical data storage devices etc..
A kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by intelligent garbage bin When reason device is performed so that intelligent garbage bin is able to carry out a kind of refuse sweeping method, and methods described includes：
Whether there is rubbish in preset range around detection intelligent garbage bin；
If detecting in the preset range around the intelligent garbage bin has rubbish, send to sweeping robot and carry First instruction message of positional information, the first instruction message is used to indicate the sweeping robot according to the positional information Carry out refuse sweeping；The positional information is used to characterize the rubbish location.
Another kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by sweeping robot During computing device so that sweeping robot is able to carry out a kind of refuse sweeping method, methods described includes：
Receive the first instruction message for carrying positional information that intelligent garbage bin sends；It is described first instruction message be Detecting has the message sent during rubbish in the preset range around the intelligent garbage bin；The first instruction message is used to refer to Show that sweeping robot carries out refuse sweeping according to the positional information；The positional information is used to characterize the position residing for the rubbish Put；
Control the sweeping robot carries out refuse sweeping according to the positional information.
Those skilled in the art will readily occur to its of the present invention after considering specification and putting into practice invention disclosed herein Its embodiment.The application is intended to any modification of the present invention, purposes or adaptations, these modifications, purposes or Person's adaptations follow the general principle of the present invention and including the undocumented common knowledge in the art of the disclosure Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by following Claims are pointed out.
It should be appreciated that the precision architecture for being described above and being shown in the drawings is the invention is not limited in, and And can without departing from the scope carry out various modifications and changes.The scope of the present invention is only limited by appending claims System.

Claims (21)

1. a kind of refuse sweeping method, it is characterised in that include：
Whether there is rubbish in preset range around detection intelligent garbage bin；
If detecting in the preset range around the intelligent garbage bin has rubbish, send to sweeping robot and carry position First instruction message of information, the first instruction message is used to indicate that the sweeping robot is carried out according to the positional information Refuse sweeping；The positional information is used to characterize the rubbish location.
2. method according to claim 1, it is characterised in that be in the preset range around the detection intelligent garbage bin It is no to have rubbish, including：
Detect in the preset range whether there is rubbish by sensor；
Or,
Image information in the preset range, and the preset range according to described image infomation detection are gathered by camera Inside whether there is rubbish.
3. method according to claim 1 and 2, it is characterised in that the preset range around the detection intelligent garbage bin Inside whether have before rubbish, methods described also includes：
To the sweeping robot send second indicate message, it is described second instruction message be used for indicate the sweeping robot with The intelligent garbage bin is associated；
Receive the sweeping robot and indicate the association messages that message sends according to described second, carry in the association messages The device identification of the sweeping robot；
According to the device identification, the intelligent garbage bin and the sweeping robot are associated.
4. method according to claim 1, it is characterised in that if the quantity of the sweeping robot is multiple；
Described to send to sweeping robot before the first instruction message for carrying positional information, methods described also includes：
Determine target sweeping robot；
It is described that the first instruction message for carrying positional information is sent to sweeping robot, including：
The the first instruction message for carrying the positional information is sent to the target sweeping robot.
5. method according to claim 4, it is characterised in that the determination target sweeping robot, including：
Obtain the distance between multiple sweeping robots and described rubbish；
The most short sweeping robot of distance between the rubbish is defined as into the target sweeping robot.
6. method according to claim 4, it is characterised in that the determination target sweeping robot, including：
Inquiry message is sent to multiple sweeping robots；
Receive the free mark information carried for identifying whether in idle condition that multiple sweeping robots are returned Response message；
According to the free mark information, the target sweeping robot is determined.
7. a kind of refuse sweeping method, it is characterised in that include：
Receive the first instruction message for carrying positional information that intelligent garbage bin sends；The first instruction message is in detection The message sent when having rubbish in the preset range to around the intelligent garbage bin；The first instruction message is swept for instruction Floor-washing robot carries out refuse sweeping according to the positional information；The positional information is used to characterize the rubbish location；
Control the sweeping robot carries out refuse sweeping according to the positional information.
8. method according to claim 7, it is characterised in that methods described also includes：
The second instruction message that the intelligent garbage bin sends is received, the second instruction message is used to indicate the machine of sweeping the floor People is associated with the intelligent garbage bin；
Message is indicated according to described second, to the intelligent garbage bin association messages are sent, carried in the association messages State the device identification of sweeping robot so that the intelligent garbage bin is according to the device identification, by the intelligent garbage bin and The sweeping robot is associated.
9. a kind of refuse cleaner, it is characterised in that include：
Detection module, is configured to detect in the preset range around intelligent garbage bin whether there is rubbish；
First sending module, has in the preset range for being configured to detect around the intelligent garbage bin in the detection module During rubbish, the first instruction message for carrying positional information is sent to sweeping robot, the first instruction message is used to indicate The sweeping robot carries out refuse sweeping according to the positional information；The positional information is used to characterize residing for the rubbish Position.
10. device according to claim 9, it is characterised in that the detection module includes：
First detection sub-module, is configured to sensor and detects in the preset range whether there is rubbish；
Or,
Collection submodule, is configured to the image information that camera is gathered in the preset range；
Second detection sub-module, is configured to be preset according to the collection described image infomation detection that collects of submodule In the range of whether have rubbish.
11. devices according to claim 9 or 10, it is characterised in that described device also includes：
Second sending module, is configured to send the second instruction message to the sweeping robot, and described second indicates that message is used It is associated with the intelligent garbage bin in the instruction sweeping robot；
Receiver module, is configured to receive the sweeping robot according to the described second association messages for indicating message transmission, institute State the device identification that the sweeping robot is carried in association messages；
Relating module, is configured to the device identification received according to the receiver module, by the intelligent garbage bin and The sweeping robot is associated.
12. devices according to claim 9, it is characterised in that if the quantity of the sweeping robot is multiple；
Described device also includes：
Determining module, is configured to determine that target sweeping robot；
First sending module includes：
First sending submodule, the target sweeping robot transmission for being configured to be determined to the determining module is carried First instruction message of the positional information.
13. devices according to claim 12, it is characterised in that the determining module includes：
Acquisition submodule, is configured to obtain the distance between multiple sweeping robots and described rubbish；
First determination sub-module, is configured to for the most short sweeping robot of distance between the rubbish to be defined as the target Sweeping robot.
14. devices according to claim 12, it is characterised in that the determining module includes：
Second sending submodule, is configured to send inquiry message to multiple sweeping robots；
Receiving submodule, is configured to carrying for identifying whether in the free time for the multiple sweeping robots returns of reception The response message of the free mark information of state；
Second determination sub-module, is configured to the free mark information received according to the receiving submodule, determines institute State target sweeping robot.
15. a kind of refuse cleaners, it is characterised in that include：
First receiver module, is configured to receive the first instruction message for carrying positional information that intelligent garbage bin sends；Institute State the message sent when the first instruction message is and has rubbish in the preset range detected around the intelligent garbage bin；It is described First instruction message is used to indicate that sweeping robot carries out refuse sweeping according to the positional information；The positional information is used for table Levy the rubbish location；
Control module, is configured to control the position letter that the sweeping robot is received according to first receiver module Breath carries out refuse sweeping.
16. devices according to claim 15, it is characterised in that described device also includes：
Second receiver module, is configured to receive the second instruction message that the intelligent garbage bin sends, and described second indicates to disappear Cease for indicating that the sweeping robot is associated with the intelligent garbage bin；
3rd sending module, be configured to be received according to second receiver module described second indicates message, to described Intelligent garbage bin sends association messages, the device identification of the sweeping robot is carried in the association messages, so that described Intelligent garbage bin is associated the intelligent garbage bin and the sweeping robot according to the device identification.
17. a kind of intelligent garbage bins, it is characterised in that include：Refuse cleaner described in any one of claim 9 to 14.
18. a kind of sweeping robots, it is characterised in that include：Refuse cleaner described in claim 15 or 16.
19. a kind of refuse sweeping systems, it is characterised in that include：Intelligent garbage bin and claim described in claim 17 Sweeping robot described in 18.
20. a kind of refuse cleaners, it is characterised in that include：
First processor；
For storing the first memory of first processor executable instruction；
Wherein, the first processor is configured to：
Whether there is rubbish in preset range around detection intelligent garbage bin；
When having rubbish in the preset range detected around the intelligent garbage bin, send to sweeping robot and carry position First instruction message of information, the first instruction message is used to indicate that the sweeping robot is carried out according to the positional information Refuse sweeping；The positional information is used to characterize the rubbish location.
21. a kind of refuse cleaners, it is characterised in that include：
Second processing device；
For storing the second memory of second processing device executable instruction；
Wherein, the second processing device is configured to：
Receive the first instruction message for carrying positional information that intelligent garbage bin sends；The first instruction message is in detection The message sent when having rubbish in the preset range to around the intelligent garbage bin；The first instruction message is swept for instruction Floor-washing robot carries out refuse sweeping according to the positional information；The positional information is used to characterize the rubbish location；
Control the sweeping robot carries out refuse sweeping according to the positional information.
CN201611014876.7A 2016-11-18 2016-11-18 Garbage cleaning method and device Pending CN106651664A (en)

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CN108737788A (en) * 2018-06-05 2018-11-02 北京智行者科技有限公司 A kind of image information processing method
CN110641881A (en) * 2019-09-29 2020-01-03 北京智行者科技有限公司 Driverless garbage classification cleaning method
CN111603096A (en) * 2019-02-25 2020-09-01 江苏美的清洁电器股份有限公司 Charging station and information processing method
CN112520268A (en) * 2020-12-17 2021-03-19 珠海市一微半导体有限公司 Intelligent mobile garbage can system and control method thereof
CN112562351A (en) * 2020-12-03 2021-03-26 江西台德智慧科技有限公司 Intelligent glasses based on intelligent recognition
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CN115796804A (en) * 2023-02-07 2023-03-14 知鱼智联科技股份有限公司 Intelligent monitoring and management method and system for multidimensional linkage environmental data

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Application publication date: 20170510