CN108820633A - Mobile dustbin and its localization method, sanitation equipment localization method - Google Patents
Mobile dustbin and its localization method, sanitation equipment localization method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 86
- 230000004807 localization Effects 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000013507 mapping Methods 0.000 claims description 22
- 230000007613 environmental effect Effects 0.000 claims description 18
- 230000004888 barrier function Effects 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 10
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a kind of mobile dustbin and its localization method, sanitation equipment localization method.Wherein, this method includes：The signal that target object is sent in mobile dustbin detection target area；Above-mentioned mobile dustbin obtains the signal strength of above-mentioned signal；According to above-mentioned signal strength, the first location information of above-mentioned mobile dustbin is determined.The present invention solves the technical issues of existing intelligent garbage bin cannot achieve autonomous positioning.
Description
Technical field
The present invention relates to field of intelligent control technology, in particular to a kind of mobile dustbin and its localization method,
The localization method of sanitation equipment.
Background technique
Traditional dustbin refers to that one kind can be placed on fixed location, convenient for the tool of user's garbage throwing, for reality
Existing intelligence, existing legacy version intelligent garbage bin increases the function of automatic switch garbage mouth, in order to which user can basis
Voice or body language realize intelligent control dustbin.
But as smart home is more close to our life, and the proposition of " internet+" theory, existing intelligence
Can the disadvantage of dustbin seem more prominent, for example, existing intelligent garbage bin and cannot achieve autonomous positioning and contexture by self
Path can not effectively manage the location of intelligent garbage bin, not only be not carried out internet of things functional, it is also necessary to which consumption is a large amount of
Energy can not fundamentally improve garbage reclamation efficiency, this from the perspective of garbage reclamation efficiency and user experience
Intelligent garbage bin even also can not show a candle to traditional dustbin.
Aiming at the problem that above-mentioned existing intelligent garbage bin cannot achieve autonomous positioning, effective solution is not yet proposed at present
Scheme.
Summary of the invention
The embodiment of the invention provides a kind of mobile dustbin and its localization method, sanitation equipment localization method, with
At least solve the technical issues of existing intelligent garbage bin cannot achieve autonomous positioning.
According to an aspect of an embodiment of the present invention, a kind of localization method of mobile dustbin is provided, including：Mobile rubbish
Rubbish bucket detects the signal that target object is sent in target area；Above-mentioned mobile dustbin obtains the signal strength of above-mentioned signal；According to
According to above-mentioned signal strength, the first location information of above-mentioned mobile dustbin is determined.
Further, it is provided with electronic tag in above-mentioned target object, is provided with above-mentioned electronics in above-mentioned mobile dustbin
The identification equipment of label；The signal that target object is sent in mobile dustbin detection target area, including：Using above-mentioned mobile rubbish
Identification equipment in rubbish bucket detects the signal that the electronic tag in above-mentioned target object is sent.
Further, the above method further includes：During above-mentioned mobile dustbin is mobile, above-mentioned mobile rubbish is obtained
The first environment information of bucket local environment；The current location information of above-mentioned mobile dustbin is determined according to first environment information.
Further, it in the case where the quantity of above-mentioned electronic tag is one, according to above-mentioned signal strength, determines above-mentioned
The first location information of mobile dustbin, including：Obtain the first mapping of predetermined above-mentioned signal strength and first distance
Relationship, wherein above-mentioned first distance is the distance between above-mentioned mobile dustbin and above-mentioned target object；It is reflected according to above-mentioned first
Relationship is penetrated, determines the first location information of above-mentioned mobile dustbin.
Further, it in the case where the quantity of above-mentioned electronic tag is multiple, according to above-mentioned signal strength, determines above-mentioned
The first location information of mobile dustbin, including：The signal strength of multiple above-mentioned electronic tag signal transmitteds is calculated,
Obtain calculated result；Obtain the second mapping relations of above-mentioned calculated result and second distance, wherein above-mentioned second distance includes upper
State the distance between mobile dustbin and each above-mentioned electronic tag；According to above-mentioned second mapping relations, above-mentioned mobile rubbish is determined
The first location information of rubbish bucket.
Further, above-mentioned after the first location information for determining above-mentioned mobile dustbin according to above-mentioned signal strength
Method further includes：Obtain the target trajectory that above-mentioned mobile dustbin moves in above-mentioned target area；Determine above-mentioned target trajectory
Initial position and target position；It controls above-mentioned mobile dustbin and is moved to above-mentioned initial position from first position, and along above-mentioned
Target trajectory is moved to above-mentioned target position from above-mentioned initial position.
Further, above-mentioned while being moved to above-mentioned target position from above-mentioned initial position along above-mentioned target trajectory
Method further includes：Obtain the second environment information of above-mentioned mobile dustbin local environment；It is determined according to second environment information above-mentioned
Whether there are obstacles on target trajectory；If there are above-mentioned barriers on above-mentioned target trajectory, above-mentioned mobile dustbin is obtained
The first track moved in above-mentioned target area, wherein above-mentioned first track is above-mentioned mobile dustbin in mobile process
In, for evading the track of above-mentioned barrier；Above-mentioned mobile dustbin is controlled to be moved along above-mentioned first track.
Further, after controlling above-mentioned mobile dustbin and being moved along above-mentioned first track, the above method is also wrapped
It includes：Obtain the third environmental information of above-mentioned mobile dustbin local environment；Above-mentioned mobile rubbish is determined according to third environmental information
The second location information of bucket；It controls above-mentioned mobile dustbin and is moved to above-mentioned target trajectory from the second position, and along above-mentioned target
Track continues to move to.
According to another aspect of an embodiment of the present invention, a kind of localization method of sanitation equipment is additionally provided, including：Environmental sanitation is set
The signal that target object is sent in standby detection target area；Above-mentioned sanitation equipment obtains the signal strength of above-mentioned signal；According to upper
Signal strength is stated, the current location of above-mentioned sanitation equipment is positioned.
According to another aspect of an embodiment of the present invention, a kind of mobile dustbin is additionally provided, including：Identify equipment, setting
In mobile dustbin, the signal for sending to the target object in target area is detected, and obtains above-mentioned signal
Signal strength；Positioning device is connect with above-mentioned identification equipment, for determining above-mentioned mobile dustbin according to above-mentioned signal strength
First location information.
According to another aspect of an embodiment of the present invention, a kind of positioning device of mobile dustbin is additionally provided, including：Detection
Module, for detecting the signal that target object is sent in target area；Module is obtained, the signal for obtaining above-mentioned signal is strong
Degree；Determining module, for determining the first location information of above-mentioned mobile dustbin according to above-mentioned signal strength.
According to another aspect of an embodiment of the present invention, a kind of storage medium is additionally provided, above-mentioned storage medium includes storage
Program, wherein above procedure executes the localization method of the above-mentioned mobile dustbin of any one.
According to another aspect of an embodiment of the present invention, a kind of processor is additionally provided, above-mentioned processor is used to run program,
Wherein, the localization method of the above-mentioned mobile dustbin of any one is executed when above procedure is run.
In embodiments of the present invention, by the way of autonomous positioning, target in target area is detected by mobile dustbin
The signal that object is sent；Above-mentioned mobile dustbin obtains the signal strength of above-mentioned signal；According to above-mentioned signal strength, determine above-mentioned
The first location information of mobile dustbin, has reached intelligent garbage bin autonomous positioning, the high purpose of positioning accuracy, to realize
The effectively technical effect of the location information of management dustbin, and then solve existing intelligent garbage bin and cannot achieve autonomous positioning
The technical issues of.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is a kind of step flow chart of the localization method of mobile dustbin according to an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of a scenario of the localization method of optional mobile dustbin according to an embodiment of the present invention；
Fig. 3 is a kind of step flow chart of the localization method of optional mobile dustbin according to an embodiment of the present invention；
Fig. 4 is a kind of step flow chart of the localization method of optional mobile dustbin according to an embodiment of the present invention；
Fig. 5 is a kind of step flow chart of the localization method of optional mobile dustbin according to an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of mobile dustbin according to an embodiment of the present invention；
Fig. 7 is a kind of step flow chart of the localization method of sanitation equipment according to an embodiment of the present invention；And
Fig. 8 is a kind of structural schematic diagram of the positioning device of mobile dustbin according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Firstly, understand the embodiment of the present invention for convenience, below will to part term involved in the present invention or noun into
Row illustrates：
Less radio-frequency (RFID) equipment：It is a kind of communication technology, specific objective can be identified by radio signals and is read
Related data is write, without establishing mechanical or optical contact between identifying system and specific objective.
Fence：Refer to a kind of surrounding anti-theft alarm system, including electronic fence host, front end accessory, rear end control
System three parts are installed generally along original enclosure wall.
Embodiment 1
According to embodiments of the present invention, a kind of localization method embodiment of mobile dustbin is provided, it should be noted that
The step of process of attached drawing illustrates can execute in a computer system such as a set of computer executable instructions, also,
It, in some cases, can be to be different from shown in sequence execution herein although logical order is shown in flow charts
The step of out or describing.
Fig. 1 is a kind of step flow chart of the localization method of mobile dustbin according to an embodiment of the present invention, such as Fig. 1 institute
Show, this method comprises the following steps：
Step S102, mobile dustbin detect the signal that target object is sent in target area.
Optionally, above-mentioned mobile dustbin can be the dustbin of any one type or shape, for example, intelligent garbage
Bucket；Target area can be room area or the specified region of outdoor, wherein identification can be set in above-mentioned dustbin and set
It is standby, for example, less radio-frequency RFID recognition device；Above-mentioned target object can be fence, can along original enclosure wall into
Row installation.
Also, be provided on above-mentioned fence the identifiable electronic tag of above-mentioned RFID recognition device (electronic tag
Quantity can be one or more), it is can be, but not limited between RFID recognition device and electronic tag through signal (for example, nothing
Line electric signal) connection.
As an alternative embodiment, can be detected by the RFID recognition device being arranged in mobile dustbin
Signal transmitted by the one or more electronic tags being arranged on fence.
Step S104, above-mentioned mobile dustbin obtain the signal strength of above-mentioned signal.
Optionally, above-mentioned mobile dustbin can obtain label signal by the identification equipment being arranged in mobile dustbin
Signal strength.
Step S106 determines the first location information of above-mentioned mobile dustbin according to above-mentioned signal strength.
Optionally, above-mentioned mobile rubbish can be determined by positioning device (for example, GPS positioning device, Beidou positioning device)
The first location information of rubbish bucket, above-mentioned first location information can be the initial position message or present bit of above-mentioned mobile dustbin
Confidence breath, that is, the method for the autonomous positioning based on above-mentioned steps S102 into step S106, can appoint under any circumstance
When between, realize the autonomous positioning of information the location of current to mobile dustbin, one kind provided herein have from
The intelligent mobile dustbin of master positioning function facilitates administrative staff to move it and is managed and controls.
In an alternative embodiment, it is provided with electronic tag in above-mentioned target object, is set in above-mentioned mobile dustbin
It is equipped with the identification equipment of above-mentioned electronic tag；The signal that target object is sent in mobile dustbin detection target area, including：It adopts
With the identification equipment in above-mentioned mobile dustbin, the signal that the electronic tag in above-mentioned target object is sent is detected.
A kind of following optional embodiment explains the autonomic positioning method of mobile dustbin provided herein
Explanation：Fig. 2 is a kind of schematic diagram of a scenario of the localization method of optional mobile dustbin according to an embodiment of the present invention, such as Fig. 2
It is shown, when mobile dustbin be in a target area (it should be noted that the target area is for mobile dustbin,
Can be circumstances not known) in when, above-mentioned mobile dustbin can be moved since a unknown position behind above-mentioned target area,
Firstly, the RFID recognition device inside mobile dustbin initialization, and utilize the electricity being arranged on RFID technique identification fence
Subtab carries out the autonomous positioning of mobile dustbin, meanwhile, the processor inside above-mentioned mobile dustbin is also based on currently
The environmental information (can be for by the sensor environmental information collected being arranged in mobile dustbin) got establishes environment
Map, and realization autonomous is carried out using the path planning function of mobile dustbin.
When starting mobile by planned trajectory under control of the mobile dustbin in the Global motion planning device of inside setting, Ke Yili
Around the sensor (for example, sensor of the types such as ultrasonic sensor, infrared sensor) identification object region
Environment judges the object of surrounding, the reposition to self-position is realized, when needing avoidance, as shown in Fig. 2, mesh
Someone's (or object) on mark track is it may be considered that need avoidance, then rely on and plan the first rail in real time under the control of sector planning device
Mark (path in a short time) positions current location according to freedom positioning system, turns again to target after completing the first track
Start to move under the control of Global motion planning device on track, the autonomous of mobile dustbin is realized with this, also, move in judgement
When dynamic dustbin needs to terminate positioning, then terminate to position, if without terminating positioning, then returning just after primary positioning is completed
Beginningization RFID device re-starts positioning.
Wherein, in above-mentioned mobile dustbin include autonomous positioning based on RFID recognition device, supplemented by multisensor
System not only has the advantages that registration, also with the advantage of low power consumption and low cost.
In embodiments of the present invention, by the way of autonomous positioning, target in target area is detected by mobile dustbin
The signal that object is sent；Above-mentioned mobile dustbin obtains the signal strength of above-mentioned signal；According to above-mentioned signal strength, determine above-mentioned
The first location information of mobile dustbin, has reached intelligent garbage bin autonomous positioning, the high purpose of positioning accuracy, to realize
The effectively technical effect of the location information of management dustbin, and then solve existing intelligent garbage bin and cannot achieve autonomous positioning
The technical issues of.
In an alternative embodiment, in the case where the quantity of above-mentioned electronic tag is one, according to above-mentioned signal
Intensity determines the first location information of above-mentioned mobile dustbin, including：
Step S202 obtains the first mapping relations of predetermined above-mentioned signal strength and first distance, wherein above-mentioned
First distance is the distance between above-mentioned mobile dustbin and above-mentioned target object.
Step S204 determines the first location information of above-mentioned mobile dustbin according to above-mentioned first mapping relations.
As a kind of optional embodiment, if only including an electronic tag in above-mentioned fence, can set in advance
Set the first mapping of the signal strength and first distance (that is, mobile the distance between dustbin and target object) of electronic tag
Relationship, and then according to above-mentioned first mapping relations, it can accurately obtain the first location information of above-mentioned mobile dustbin.
In an alternative embodiment, Fig. 3 is a kind of determining for optional mobile dustbin according to an embodiment of the present invention
The step flow chart of position method, as shown in figure 3, in the case where the quantity of above-mentioned electronic tag is multiple, according to above-mentioned signal
Intensity determines the first location information of above-mentioned mobile dustbin, including：
Step S302 calculates the signal strength of multiple above-mentioned electronic tag signal transmitteds, obtains calculated result.
Step S304 obtains the second mapping relations of above-mentioned calculated result and second distance, wherein above-mentioned second distance packet
Include the distance between above-mentioned mobile dustbin and each above-mentioned electronic tag.
Step S306 determines the first location information of above-mentioned mobile dustbin according to above-mentioned second mapping relations.
It, can be to current if in above-mentioned fence including multiple electronic tags as a kind of optional embodiment
RFID device it is available to the signal strengths of multiple electronic tag signal transmitteds calculated, obtain a calculating knot
Fruit, and according to preset each calculated result and second distance (that is, between mobile dustbin and each electronic tag
Distance) between the second mapping relations, and then can accurately obtain above-mentioned mobile dustbin according to above-mentioned second mapping relations
First location information.
In addition, if the quantity of above-mentioned electronic tag is 3, it can also be according to available 3 arrived of current RFID device
The signal strength of a electronic tag signal transmitted carries out triangulation calculation, obtains above-mentioned calculated result.
The mobile dustbin of a kind of indoor intelligent with autonomous positioning function provided herein, in original intelligent rubbish
On the basis of rubbish bucket, technology combined of multi-sensor information based on RFID technique supplemented by other sensors is utilized, it can be with
Realize the function of the autonomous positioning in target area, which not only facilitates administrative staff or user management moves dustbin
Position, while more having the advantages that the high and low power consumption of positioning accuracy, low cost.
In an alternative embodiment, Fig. 4 is a kind of determining for optional mobile dustbin according to an embodiment of the present invention
The step flow chart of position method, as shown in figure 4, the above method further includes following method and step：
Step S402 obtains the of above-mentioned mobile dustbin local environment during above-mentioned mobile dustbin is mobile
One environmental information；
Step S404 determines the current location information of above-mentioned mobile dustbin according to first environment information.
It as a kind of optional embodiment, can be, but not limited to that sensor is arranged in above-mentioned mobile dustbin, for example, super
The sensor of the types such as sonic sensor, infrared sensor.It, can be by upper during above-mentioned mobile dustbin is mobile
The first environment information that sensor obtains above-mentioned mobile dustbin local environment is stated, and then can be determined according to first environment information
The current location information of above-mentioned mobile dustbin.
In an alternative embodiment, Fig. 5 is a kind of determining for optional mobile dustbin according to an embodiment of the present invention
The step flow chart of position method, as shown in figure 5, determining the first position of above-mentioned mobile dustbin according to above-mentioned signal strength
After information, the above method further includes following method and step：
Step S502 obtains the target trajectory that above-mentioned mobile dustbin moves in above-mentioned target area；
Step S504 determines the initial position and target position of above-mentioned target trajectory；
Step S506 controls above-mentioned mobile dustbin from first position and is moved to above-mentioned initial position, and along above-mentioned target
Track is moved to above-mentioned target position from above-mentioned initial position.
As a kind of optional embodiment, the target track that above-mentioned mobile dustbin can be moved in the target area in advance
Mark is planned, namely predefines the target trajectory of mobile dustbin.
Based on method and step provided by above-mentioned steps S502 to step S506, above-mentioned mobile dustbin is being obtained above-mentioned
After the target trajectory moved in target area, the initial position (starting point) and target position of above-mentioned target trajectory can be determined
(terminal), and control mobile dustbin and be moved to the initial position in target trajectory from current location, and then can control above-mentioned
Mobile dustbin is moved to target position from above-mentioned initial position, through the above steps, may be implemented to control mobile dustbin from
Current location is moved to target trajectory, and is moved along the target trajectory planned in advance.
In an alternative embodiment, above-mentioned target position is being moved to from above-mentioned initial position along above-mentioned target trajectory
While, the above method further includes following method and step：
Step S602 obtains the second environment information of above-mentioned mobile dustbin local environment.
It should be noted that above-mentioned second environment information can be, but not limited to the acquisition modes with above-mentioned first environment information
Unanimously, herein " first ", " second " is used to distinguish similar objects, without for describing specific sequence or successive time
Sequence, it should be appreciated that above-mentioned first environment information and second environment information are interchangeable under appropriate circumstances.
Step S604 determines that whether there are obstacles on above-mentioned target trajectory according to second environment information.
In above-mentioned steps S604, can be, but not limited to by the sensors of the types such as ultrasonic wave, infrared ray it is determining with it is upper
The object in mobile dustbin local environment is stated at a distance from target trajectory and the location of above-mentioned object determines target track
Whether there are obstacles on mark, wherein if there are above-mentioned objects on above-mentioned target trajectory, it is determined that the object is barrier；If
Above-mentioned object is not on target trajectory, but the distance between the object and target trajectory are less than preset threshold, then still really
The fixed object is barrier.
Step S606 obtains above-mentioned mobile dustbin in above-mentioned mesh if there are above-mentioned barriers on above-mentioned target trajectory
The first track moved in mark region.
In a kind of optional embodiment provided herein, above-mentioned first track is a short-term track, is used for
Above-mentioned mobile dustbin evades the track of above-mentioned barrier in the process of moving, that is, there are upper on above-mentioned target trajectory
In the case where stating barrier, the first rail that a mobile dustbin moves in target trajectory can be determined or planned again
Mark.
Step S608 controls above-mentioned mobile dustbin and is moved along above-mentioned first track.
S602 to step S608 through the above steps is moving dustbin in the process of moving, is evading target track
On barrier, then can control mobile dustbin and moved along the first track, in order to which mobile dustbin encounters barrier,
Cause unnecessary trouble.
In an alternative embodiment, after controlling above-mentioned mobile dustbin and being moved along above-mentioned first track,
The above method further includes：
Step S702 obtains the third environmental information of above-mentioned mobile dustbin local environment.
It should be noted that above-mentioned third environmental information can be, but not limited to and above-mentioned first environment information, second environment
The acquisition modes of information are consistent, and " first " herein, " second ", " third " are only used for distinguishing similar object, without being used for
The specific sequence of description or precedence, it should be appreciated that above-mentioned first environment information, second environment information and third environmental information
It is interchangeable under appropriate circumstances.
Step S704 determines the second location information of above-mentioned mobile dustbin according to third environmental information；
Step S706 controls above-mentioned mobile dustbin from the second position and is moved to above-mentioned target trajectory, and along above-mentioned target
Track continues to move to.
In an alternative embodiment, said second position can be presently in position for above-mentioned mobile dustbin, on
Stating second location information also is the information for moving dustbin and being presently in position.
It still needs to it is noted that the above-mentioned environmental information according to mobile dustbin local environment, determines above-mentioned mobile rubbish
Bucket current location information mode can be, but not limited to it is consistent with the mode referred to before, that is, can be, but not limited to upper
It states in mobile dustbin and sensor is set, for example, the sensor of the types such as ultrasonic sensor, infrared sensor, Jin Erke
To obtain the second environment information of above-mentioned mobile dustbin local environment by the sensor, and mobile dustbin is controlled from
Two positions are moved to above-mentioned target trajectory, and continue to move to along above-mentioned target trajectory.
Through the above steps, after above-mentioned mobile dustbin avoidance terminates, target can be back to from current location again
On track, continuation is moved along target trajectory, deviates target trajectory to avoid mobile dustbin, it is difficult to complete recycling task.
Based on the above embodiment, the application is advised by the function of the increase autonomous positioning in mobile dustbin in conjunction with path
The function of drawing, embodies " internet+" theory conscientiously, while also improving and managing the efficient of control to autonomous dustbin
Change, inherently improves the rate of recovery of rubbish.
A kind of intelligent mobile dustbin with autonomous positioning function provided herein may be implemented according to planning road
Line moves freely, avoiding barrier, reduces the damage to barrier, effectively improves the collection rate of rubbish；Facilitate administrative staff couple
Its movement is managed and controls；Notified in time when the rubbish scale of construction reaches limitation, easy cleaning rubbish personnel clear up in time or
Recycle rubbish；And administrative staff and automatic charging can be notified in time in the battery capacity deficiency of mobile dustbin.
Embodiment 2
According to embodiments of the present invention, it additionally provides a kind of for implementing the mobile rubbish of the localization method of above-mentioned mobile dustbin
Rubbish bucket, Fig. 6 is a kind of structural schematic diagram of mobile dustbin according to an embodiment of the present invention, as shown in fig. 6, above-mentioned mobile rubbish
Bucket, including：Identify equipment 60 and positioning device 62, wherein
Identify equipment 60, be set in mobile dustbin, for in target area target object send signal into
Row detection, and obtain the signal strength of above-mentioned signal；Positioning device 62 is connect with above-mentioned identification equipment, for according to above-mentioned letter
Number intensity, determines the first location information of above-mentioned mobile dustbin.
As a kind of optional embodiment, above-mentioned mobile dustbin can be the dustbin of any one type or shape,
Target area can be room area or the specified region of outdoor, wherein above-mentioned identification can be set in above-mentioned dustbin
Equipment 60, for example, less radio-frequency RFID recognition device；Above-mentioned target object can be fence, can enclose along original
Wall is installed.
Also, be provided on above-mentioned fence the identifiable electronic tag of above-mentioned RFID recognition device (electronic tag
Quantity can be one or more), it is can be, but not limited between RFID recognition device and electronic tag through signal (for example, nothing
Line electric signal) connection.
In an alternative embodiment, above-mentioned mobile dustbin can be by being arranged in the above-mentioned knowledge moved in dustbin
Other equipment 60 obtains the signal strength of label signal, and by above-mentioned positioning device 62 (for example, the positioning of GPS positioning device, Beidou
Device) determine that the first location information of above-mentioned mobile dustbin, above-mentioned first location information can be above-mentioned mobile dustbin
Initial position message or current location information.
In embodiments of the present invention, by the way of autonomous positioning, by identifying equipment 60, it is set to mobile dustbin
In, the signal for sending to the target object in target area detects, and obtains the signal strength of above-mentioned signal；Positioning
Device 62 is connect with above-mentioned identification equipment, for determining the first position letter of above-mentioned mobile dustbin according to above-mentioned signal strength
Breath, has reached intelligent garbage bin autonomous positioning, the high purpose of positioning accuracy, to realize the position letter of effectively management dustbin
The technical effect of breath, and then solve the technical issues of existing intelligent garbage bin cannot achieve autonomous positioning.
It should be noted that the specific structure of mobile dustbin shown in Fig. 6 in the application is only signal, specifically answering
Used time, the mobile dustbin in the application can have more or few structures than mobile dustbin shown in fig. 6.
Still need to the positioning it is noted that any one optional or preferred mobile dustbin in above-described embodiment 1
Method can move provided by the present embodiment and execute or realize in dustbin.
In addition, still it should be noted that the optional or preferred embodiment of the present embodiment may refer to the phase in embodiment 1
Description is closed, details are not described herein again.
Embodiment 3
According to embodiments of the present invention, a kind of embodiment of the localization method of sanitation equipment is additionally provided, Fig. 7 is according to this hair
The step flow chart of the localization method of a kind of sanitation equipment of bright embodiment, as shown in fig. 7, this method comprises the following steps：
Step S702, sanitation equipment detect the signal that target object is sent in target area.
Optionally, above-mentioned sanitation equipment can be the sanitation equipment of any one type or shape, for example, can be environmental sanitation
Equipment, mobile mop etc..
Target area can be room area or the specified region of outdoor, wherein can be set in above-mentioned dustbin
Equipment is identified, for example, less radio-frequency RFID recognition device；Above-mentioned target object can be fence, can be along original
Enclosure wall is installed.
Also, be provided on above-mentioned fence the identifiable electronic tag of above-mentioned RFID recognition device (electronic tag
Quantity can be one or more), it is can be, but not limited between RFID recognition device and electronic tag through signal (for example, nothing
Line electric signal) connection.
As an alternative embodiment, electricity can be detected by the RFID recognition device being arranged in sanitation equipment
Signal transmitted by the one or more electronic tags being arranged on sub- fence.
Step S704, above-mentioned sanitation equipment obtain the signal strength of above-mentioned signal.
Optionally, above-mentioned sanitation equipment can obtain the letter of label signal by the identification equipment being arranged in sanitation equipment
Number intensity.
Step S706 positions the current location of above-mentioned sanitation equipment according to above-mentioned signal strength.
Optionally, it can determine that above-mentioned environmental sanitation is set by positioning device (for example, GPS positioning device, Beidou positioning device)
Standby first location information, above-mentioned first location information can be the initial position message or present bit confidence of above-mentioned sanitation equipment
Breath, that is, the method for the autonomous positioning based on above-mentioned steps S102 into step S106, can under any circumstance any when
Between, realize that the autonomous positioning of information the location of current to sanitation equipment, one kind provided herein have autonomous positioning
The intelligent sanitation equipment of function facilitates administrative staff to move it and is managed and controls.
In addition, still it should be noted that the optional or preferred embodiment of the present embodiment may refer to the phase in embodiment 1
Description is closed, details are not described herein again.
Embodiment 3
According to embodiments of the present invention, it additionally provides a kind of for implementing the device of the localization method of above-mentioned mobile dustbin
Embodiment, Fig. 8 are a kind of structural schematic diagrams of the positioning device of mobile dustbin according to an embodiment of the present invention, as shown in figure 8,
The positioning device of above-mentioned mobile dustbin, including：Detection module 80 obtains module 82 and determining module 84, wherein
Detection module 80, for detecting the signal that target object is sent in target area；Module 82 is obtained, for obtaining
State the signal strength of signal；Determining module 84, for determining the first position of above-mentioned mobile dustbin according to above-mentioned signal strength
Information.
It should be noted that above-mentioned modules can be realized by software or hardware, for example, for the latter,
It can be accomplished by the following way：Above-mentioned modules can be located in same processor；Alternatively, above-mentioned modules are with any
Combined mode is located in different processors.
Herein it should be noted that above-mentioned detection module 80, acquisition module 82 and determining module 84 correspond in embodiment 1
Step S102 to step S106, above-mentioned module is identical as example and application scenarios that corresponding step is realized, but is not limited to
1 disclosure of that of above-described embodiment.It should be noted that above-mentioned module may operate in computer as a part of device
In terminal.
It should be noted that the optional or preferred embodiment of the present embodiment may refer to the associated description in embodiment 1,
Details are not described herein again.
The positioning device of above-mentioned mobile dustbin can also include processor and memory, and above-mentioned detection module 80 obtains
Modulus block 82 and determining module 84 etc. store in memory as program unit, execute storage in memory by processor
Above procedure unit realize corresponding function.
Include kernel in processor, is gone in memory to transfer corresponding program unit by kernel, above-mentioned kernel can be set
One or more.Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM)
And/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes at least one
Storage chip.
The embodiment of the present application also provides a kind of storage mediums.Optionally, in the present embodiment, above-mentioned storage medium includes
The program of storage, wherein it is mobile that equipment where controlling above-mentioned storage medium in above procedure operation executes any one of the above
The localization method of dustbin.
Optionally, in the present embodiment, above-mentioned storage medium can be located in computer network in computer terminal group
In any one terminal, or in any one mobile terminal in mobile terminal group.
The embodiment of the present application also provides a kind of processors.Optionally, in the present embodiment, above-mentioned processor is for running
Program, wherein above procedure executes the localization method of the mobile dustbin of any one of the above when running.
The embodiment of the present application provides a kind of equipment, equipment include processor, memory and storage on a memory and can
The program run on a processor, processor realize following steps when executing program：Mesh in mobile dustbin detection target area
Mark the signal that object is sent；Above-mentioned mobile dustbin obtains the signal strength of above-mentioned signal；According to above-mentioned signal strength, in determination
State the first location information of mobile dustbin.
It optionally, can also be using the identification equipment in above-mentioned mobile dustbin, detection when above-mentioned processor executes program
The signal that electronic tag in above-mentioned target object is sent.
It optionally, can also be during above-mentioned mobile dustbin be mobile, in acquisition when above-mentioned processor executes program
State the first environment information of mobile dustbin local environment；The present bit of above-mentioned mobile dustbin is determined according to first environment information
Confidence breath.
Optionally, when above-mentioned processor executes program, can also obtain predetermined above-mentioned signal strength with first away from
From the first mapping relations, wherein above-mentioned first distance be the distance between above-mentioned mobile dustbin and above-mentioned target object；According to
According to above-mentioned first mapping relations, the first location information of above-mentioned mobile dustbin is determined.
It optionally, can also be to the signal of multiple above-mentioned electronic tag signal transmitteds when above-mentioned processor executes program
Intensity is calculated, and calculated result is obtained；Obtain the second mapping relations of above-mentioned calculated result and second distance, wherein above-mentioned
Second distance includes the distance between above-mentioned mobile dustbin and each above-mentioned electronic tag；According to above-mentioned second mapping relations,
Determine the first location information of above-mentioned mobile dustbin.
Optionally, when above-mentioned processor executes program, above-mentioned mobile dustbin can also be obtained in above-mentioned target area
Mobile target trajectory；Determine the initial position and target position of above-mentioned target trajectory；Above-mentioned mobile dustbin is controlled from first
Position is moved to above-mentioned initial position, and is moved to above-mentioned target position from above-mentioned initial position along above-mentioned target trajectory.
Optionally, when above-mentioned processor executes program, the second ring of above-mentioned mobile dustbin local environment can also be obtained
Border information；Determine that whether there are obstacles on above-mentioned target trajectory according to second environment information；If existing on above-mentioned target trajectory
Above-mentioned barrier then obtains the first track that above-mentioned mobile dustbin moves in above-mentioned target area, wherein above-mentioned first rail
Mark be above-mentioned mobile dustbin in the process of moving, for evading the track of above-mentioned barrier；Control above-mentioned mobile dustbin
It is moved along above-mentioned first track.
Optionally, when above-mentioned processor executes program, the third ring of above-mentioned mobile dustbin local environment can also be obtained
Border information；The second location information of above-mentioned mobile dustbin is determined according to third environmental information；Control above-mentioned mobile dustbin from
The second position is moved to above-mentioned target trajectory, and continues to move to along above-mentioned target trajectory.
Present invention also provides a kind of computer program products, when executing on data processing equipment, are adapted for carrying out just
The program of beginningization there are as below methods step：The signal that target object is sent in mobile dustbin detection target area；Above-mentioned movement
Dustbin obtains the signal strength of above-mentioned signal；According to above-mentioned signal strength, the first position letter of above-mentioned mobile dustbin is determined
Breath.
It optionally, can also be using the identification in above-mentioned mobile dustbin when above-mentioned computer program product executes program
Equipment detects the signal that the electronic tag in above-mentioned target object is sent.
It optionally, can also be in the process of above-mentioned mobile dustbin movement when above-mentioned computer program product executes program
In, obtain the first environment information of above-mentioned mobile dustbin local environment；Above-mentioned mobile rubbish is determined according to first environment information
The current location information of bucket.
Optionally, when above-mentioned computer program product executes program, predetermined above-mentioned signal strength can also be obtained
With the first mapping relations of first distance, wherein above-mentioned first distance is between above-mentioned mobile dustbin and above-mentioned target object
Distance；According to above-mentioned first mapping relations, the first location information of above-mentioned mobile dustbin is determined.
Optionally, when above-mentioned computer program product executes program, can also believe transmitted by multiple above-mentioned electronic tags
Number signal strength calculated, obtain calculated result；The second mapping relations of above-mentioned calculated result and second distance are obtained,
In, above-mentioned second distance includes the distance between above-mentioned mobile dustbin and each above-mentioned electronic tag；It is reflected according to above-mentioned second
Relationship is penetrated, determines the first location information of above-mentioned mobile dustbin.
Optionally, when above-mentioned computer program product executes program, above-mentioned mobile dustbin can also be obtained in above-mentioned mesh
The target trajectory moved in mark region；Determine the initial position and target position of above-mentioned target trajectory；Control above-mentioned mobile rubbish
Bucket is moved to above-mentioned initial position from first position, and is moved to above-mentioned target position from above-mentioned initial position along above-mentioned target trajectory
It sets.
Optionally, when above-mentioned computer program product executes program, above-mentioned mobile dustbin local environment can also be obtained
Second environment information；Determine that whether there are obstacles on above-mentioned target trajectory according to second environment information；If above-mentioned target track
There are above-mentioned barriers on mark, then obtain the first track that above-mentioned mobile dustbin moves in above-mentioned target area, wherein on
State the first track be above-mentioned mobile dustbin in the process of moving, for evading the track of above-mentioned barrier；Control above-mentioned shifting
Dynamic dustbin is moved along above-mentioned first track.
Optionally, when above-mentioned computer program product executes program, above-mentioned mobile dustbin local environment can also be obtained
Third environmental information；The second location information of above-mentioned mobile dustbin is determined according to third environmental information；Control above-mentioned movement
Dustbin is moved to above-mentioned target trajectory from the second position, and continues to move to along above-mentioned target trajectory.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes：USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of localization method of mobile dustbin, which is characterized in that including：
The signal that target object is sent in mobile dustbin detection target area；
The mobile dustbin obtains the signal strength of the signal；
According to the signal strength, the first location information of the mobile dustbin is determined.
2. localization method according to claim 1, which is characterized in that be provided with electronic tag, institute in the target object
State the identification equipment that the electronic tag is provided in mobile dustbin；Target object hair in mobile dustbin detection target area
The signal sent, including：
Using the identification equipment in the mobile dustbin, the signal that the electronic tag in the target object is sent is detected.
3. localization method according to claim 1, which is characterized in that the method also includes：
During the mobile dustbin is mobile, the first environment information of the mobile dustbin local environment is obtained；
The current location information of the mobile dustbin is determined according to first environment information.
4. localization method according to claim 2, which is characterized in that the situation for being one in the quantity of the electronic tag
Under, according to the signal strength, determine the first location information of the mobile dustbin, including：
Obtain the first mapping relations of the predetermined signal strength and first distance, wherein the first distance is institute
State the distance between mobile dustbin and the target object；
According to first mapping relations, the first location information of the mobile dustbin is determined.
5. localization method according to claim 2, which is characterized in that the electronic tag quantity be multiple situations
Under, according to the signal strength, determine the first location information of the mobile dustbin, including：
The signal strength of multiple electronic tag signal transmitteds is calculated, calculated result is obtained；
Obtain the second mapping relations of the calculated result and second distance, wherein the second distance includes the mobile rubbish
The distance between rubbish bucket and each electronic tag；
According to second mapping relations, the first location information of the mobile dustbin is determined.
6. localization method according to claim 1, which is characterized in that according to the signal strength, determine the movement
After the first location information of dustbin, the method also includes：
Obtain the target trajectory that the mobile dustbin moves in the target area；
Determine the initial position and target position of the target trajectory；
It controls the mobile dustbin and is moved to the initial position from first position, and along the target trajectory from the starting
Position is moved to the target position.
7. localization method according to claim 6, which is characterized in that moved along the target trajectory from the initial position
While moving to the target position, the method also includes：
Obtain the second environment information of the mobile dustbin local environment；
Determine that whether there are obstacles on the target trajectory according to second environment information；
If obtaining what the mobile dustbin moved in the target area there are the barrier on the target trajectory
First track, wherein first track be the mobile dustbin in the process of moving, for evading the barrier
Track；
The mobile dustbin is controlled to be moved along first track.
8. localization method according to claim 7, which is characterized in that controlling the mobile dustbin along first rail
After mark carries out movement, the method also includes：
Obtain the third environmental information of the mobile dustbin local environment；
The second location information of the mobile dustbin is determined according to third environmental information；
It controls the mobile dustbin and is moved to the target trajectory from the second position, and continued to move to along the target trajectory.
9. a kind of localization method of sanitation equipment, which is characterized in that including：
Sanitation equipment detects the signal that target object is sent in target area；
The sanitation equipment obtains the signal strength of the signal；
According to the signal strength, the current location of the sanitation equipment is positioned.
10. a kind of mobile dustbin, which is characterized in that including：
It identifying equipment, is set in mobile dustbin, the signal for sending to the target object in target area detects,
And obtain the signal strength of the signal；
Positioning device is connect with the identification equipment, for determining the first of the mobile dustbin according to the signal strength
Location information.
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Application publication date: 20181116 |