CN108994855A - Rubbish periodic cleaning method and robot - Google Patents
Rubbish periodic cleaning method and robot Download PDFInfo
- Publication number
- CN108994855A CN108994855A CN201810927636.9A CN201810927636A CN108994855A CN 108994855 A CN108994855 A CN 108994855A CN 201810927636 A CN201810927636 A CN 201810927636A CN 108994855 A CN108994855 A CN 108994855A
- Authority
- CN
- China
- Prior art keywords
- rubbish
- target
- heap
- image
- robot
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F5/00—Gathering or removal of refuse otherwise than by receptacles or vehicles
Abstract
The present invention provides a kind of rubbish periodic cleaning method and robots, wherein this method comprises: Image Acquisition is carried out to target rubbish heap, to obtain the image of the target rubbish heap；It is identified based on image of the image recognition technology to the target rubbish heap, so that it is determined that rubbish included by target rubbish heap is classified；The rubbish in the target rubbish heap is sorted in classification based on the rubbish, and the rubbish of different classifications is cleared up to different garbage containing casees.Using the present invention, the efficiency of rubbish cleaning can be improved.
Description
Technical field
The present invention relates to artificial intelligence, and in particular to a kind of rubbish periodic cleaning method and robot.
Background technique
As the application demand of robot is continuously increased, artificial intelligence the relevant technologies are constantly progressive, the growth of hardware performance,
Service robot starts to move towards factory from laboratory in recent years, and develops from simple function to multifunctional personal robot.It mentions
To robot, a word often referred to recently is artificial intelligence.Artificial intelligence is the intelligence realized with computer similar to people
One subject of energy behavior.Robot itself is one of ultimate application target for artificial intelligence.
Traditional artificial intelligence is as a subject, the Dartmouth meeting originating from the 1950s, passes through later
It rises and fall sharply and quickly several times, achievement abundant is had accumulated in basic theory and method.From the Symbolic Computation System of early stage, it is to expert
System, then to the machine learning that the nineties grows up, big data analysis can be the scope of artificial intelligence.In image, language
The fields such as sound, search, data mining, social computing, and derived some relevant application studies.Wherein contacted with robot
It include closely more computer vision, voice and natural language processing, there are also intelligent bodies (Agent) etc..
It can consider following perception, cognition according to the progress of previous robot field and to the preliminary analysis of application
Technology will realize application.
1, three-dimensional navigation location technology.Regardless of robot, as long as removable, that is, need in family or other environment
Carry out navigator fix.Wherein SLAM (Simultaneous Localization and Ming) technology can carry out simultaneously positioning and
Figure is built, there are many technological accumulation in terms of academic research.But for real system, due to real-time low cost (such as nothing
Method uses more expensive radar equipment) requirement and home environment dynamic change (putting for article), thus it is fixed to navigation
Position technology proposes requirements at the higher level, still needs to further research and develop.
2, visual perception technology.It wherein include recognition of face, gesture identification, object identification skill related to Emotion identification etc.
Art.Visual perception technology is a very important technology of robot and people's interaction.
3, language interaction technique.It wherein include speech recognition, speech production, natural language understanding and Intelligent dialogue system
Deng.
4, character recognition technology.There are many text informations in life, such as the label information of books and newspapers and object, this also requires machine
Device people can carry out Text region by camera.With after traditional scanning identify text compared with, can by camera come
Carry out the identification of text.
5, cognitive techniques.Robot needs to be done step-by-step the cognitive functions such as planning, reasoning, memory, study and prediction, thus
Become more intelligent.
In terms of current present Research, the key technology that service robot faces has rapid progress, but there are also quite
More problems will solve.
Summary of the invention
The embodiment of the invention provides a kind of rubbish periodic cleaning method and robots, and the effect of rubbish cleaning can be improved
Rate.
The purpose of the embodiment of the present invention is that be achieved through the following technical solutions:
A kind of rubbish periodic cleaning method, comprising:
Image Acquisition is carried out to target rubbish heap, to obtain the image of the target rubbish heap；
It is identified based on image of the image recognition technology to the target rubbish heap, to rubbish included by target rubbish heap
Rubbish is classified；
The rubbish in the target rubbish heap is sorted in classification based on the rubbish, by the rubbish of different classifications
It clears up to different garbage containing casees.
Optionally, the method also includes:
Image Acquisition is carried out to the target rubbish heap periodically by remote camera, to obtain the target rubbish
The image of heap；
Classified based on image recognition technology to rubbish included by the target rubbish heap；
If rubbish included by the target rubbish heap includes the rubbish for needing to clear up immediately, the mesh is gone to immediately
It marks rubbish heap and carries out rubbish cleaning；
If rubbish included by the target rubbish heap does not include the rubbish for needing to clear up immediately, to pre-set rubbish
Rubbish clearance time point just goes to the target rubbish heap to carry out rubbish cleaning when reaching.
Optionally, the rubbish for needing to clear up immediately includes: that can generate the rubbish of smell and may endanger personal peace
Full rubbish.
Optionally, the method also includes:
If rubbish included by the target rubbish heap includes the rubbish that may be endangered public security, alarm.
Optionally, the rubbish that may be endangered public security includes: that can distribute the rubbish of poison gas with radioactive rubbish
Rubbish and the rubbish that may be exploded.
A kind of robot of periodic cleaning rubbish, comprising:
Image acquisition units, for carrying out Image Acquisition to target rubbish heap, to obtain the image of the target rubbish heap；
Image identification unit, the target rubbish heap for being acquired based on image recognition technology to image acquisition units
Image carries out image recognition, classifies to rubbish included by the target rubbish heap；
Unit is cleared up, the rubbish in the target rubbish heap is sorted for the classification based on the rubbish, it will
The rubbish of different classifications is cleared up to different garbage containing casees.
Optionally, the robot further include:
Control unit carries out Image Acquisition to the target rubbish heap for periodically control remote camera, to obtain
Take the image of the target rubbish heap；
Receiving unit, the image of the target rubbish heap for receiving the remote camera acquisition；
Described image recognition unit, also with based on the image recognition technology target rubbish received to the receiving unit
Image carry out image recognition, so that it is determined that rubbish included by target rubbish heap is classified；
When processing unit for the rubbish included by the target rubbish heap includes the rubbish for needing to clear up immediately,
Go to the target rubbish heap to carry out rubbish cleaning immediately；The rubbish included by the target rubbish heap does not include needing i.e.
When the rubbish of Shi Qingli, the target rubbish heap is just gone to carry out rubbish when pre-set rubbish clearance time point reaches clear
Reason.
Optionally, the rubbish for needing to clear up immediately includes: that can generate the rubbish of smell and may endanger personal peace
Full rubbish.
Optionally, the robot further include:
Alarm unit, can for determining that rubbish included by the target rubbish heap includes in described image recognition unit
When the rubbish that can be endangered public security, alarm.
Optionally, the rubbish that may be endangered public security includes: that can distribute the rubbish of poison gas with radioactive rubbish
Rubbish and the rubbish that may be exploded.
From the above it can be seen that using rubbish method for cleaning provided in an embodiment of the present invention image can be carried out to target rubbish heap
Acquisition, so that it is determined that classification described in the rubbish for including in target rubbish heap is mentioned to be sorted based on the classification to rubbish
The high efficiency of rubbish cleaning.It is possible to further acquire image by remote camera, to include in target rubbish pair
When the rubbish for needing to clear up immediately, immediately rubbish can be cleared up, to avoid the work and life band to people
To influence；Further, it when including the rubbish for endangering personal safety in the target rubbish heap, can alarm, to drop
The injury that these low rubbish for endangering personal safety may generate the person.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow chart of rubbish periodic cleaning method provided by one embodiment of the present invention；
Fig. 2 is the structure chart of robot provided by one embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Rubbish periodic cleaning method provided in an embodiment of the present invention is first introduced, Fig. 1 describes one embodiment of the invention and mentions
The process of the rubbish periodic cleaning method of confession.As shown in Figure 1, this method may include:
101, Image Acquisition is carried out to target rubbish heap, to obtain the image of the target rubbish heap.
Wherein, more accurately the rubbish in target rubbish heap is sorted, the image of the target rubbish heap of acquisition can be with
It is multiple.
Wherein, in a kind of mode, such as the rubbish in target rubbish heap is fewer, can only carry out before rubbish is cleared up
The acquisition of image；In another embodiment, the rubbish such as in target rubbish heap is relatively more, then can be to carry out in cleaning
The acquisition of image, so as to identify, there is no the rubbish shown in the picture at the beginning.
Wherein, rubbish cleaning, which can be, periodically carries out, therefore garbage cleaning robot arrives at preset time point
Up to when, just go to target rubbish heap carry out rubbish cleaning.Therefore the method for Fig. 1 description, which can be, periodically carries out.
102, it is identified based on image of the image recognition technology to the target rubbish heap, to included by target rubbish heap
Rubbish classify.
Wherein, existing image recognition technology can be used in image recognition technology, and the embodiment of the present invention also can be used and mention
The image recognition technology of confession.Image recognition technology provided in an embodiment of the present invention be realized based on neural network model, such as
Can be convolutional neural networks (CNN:Convolutional Neural Network) model or Recognition with Recurrent Neural Network (RNN:
Recurrent Neural Networks) model, or it is also possible to deep neural network (DNN:Deep Neural
Networks) model.
Wherein, rubbish can be mainly divided into two major classes, i.e. recyclable rubbish and non-recyclable rubbish.
For example, recyclable rubbish may include: waste paper, plastics, five major class of glass, metal and cloth.Wherein, waste paper is main
It include: newspaper, periodical, books, various wrapping papers etc..However it should be noted that paper handkerchief and lavatory paper can not be returned by force very much due to water-soluble
It receives.Plastics include: various polybags, plastic foam, plastics package, disposable plastic fast food container tableware, duroplasts, plastic tooth brush,
Plastic cup, mineral water bottle etc..Glass specifically includes that various vials, chunk glass, mirror, thermos flask etc..Metal object includes:
It mainly include pop can, tin can etc..Cloth specifically includes that discarded clothes, tablecloth, washcloth, school bag, shoes etc..These rubbish
It is recycled by integrated treatment, it is possible to reduce resource is saved in pollution.If 1 ton of waste paper of every recycling can make 850 kilograms of paper, section
300 kilograms of timber are saved, is produced than equivalent and reduces pollution 74%；Every 1 ton of plastic beverage bottle of recycling can get 0.7 ton of secondary raw materials；
1 ton of scrap iron and steel of every recycling can refine 0.9 ton of steel, than reducing air pollution 75% with ore smelting save the cost 47%, reduce
97% water pollution and solid waste.
Recyclable rubbish does not specifically include that rubbish from cooking and Other Waste.
Such as rubbish from cooking may include the foodstuffs wastes such as leftovers leftovers, bone, dish green tops, pericarp.
Other rubbish may include: brick and tile ceramics, dregs, toilet waste paper, the paper handkerchief etc. in addition to above-mentioned a few class rubbish
It is difficult to the waste recycled and shell, dust.Take sanitary landfills that can effectively reduce to underground water, surface water, soil and air
Pollution.Wherein, it may include poisonous and harmful rubbish in Other Waste, contain the heavy metal to human health, toxic
Substance or to environment cause reality endanger or potential hazard waste.Including battery, fluorescent tube, light bulb, mercury
Thermometer, paint kettle, part household electrical appliances, Expired drug, expired cosmetics etc..These rubbish generally use at individually recycling or landfill
Reason.
103, the rubbish in the target rubbish heap is sorted in the classification based on the rubbish, by different classifications
Rubbish is cleared up to different garbage containing casees.
Garbage cleaning robot includes mechanical arm, can be divided by the mechanical arm the rubbish in target rubbish heap
It picks and clears up to different garbage containing casees, so as to which different garbage transporting to different rubbish is cleared up point.
Since some rubbish may impact environment or personal safety, such as rubbish from cooking may become quickly
Matter needs to carry out rubbish from cooking immediately clear to generate niff, therefore in order to not influence the work and life of people
Reason.Such as certain poisonous and harmful substances may impact personal safety, such as can generate instead with radioactive rubbish
Penetrating property ray can cause great harm personal safety, it is therefore desirable to cleaning immediately.Such as some rubbish can generate poison gas
Body, it is also possible to personal safety be caused great harm, therefore be also required to clear up immediately；Also some rubbish might have explosion
Risk, to can endanger public security, therefore be also required to clear up immediately.
It is understood that for radioactive rubbish, it is possible to create the rubbish of toxic gas has risk of explosion
Rubbish can alarm if garbage cleaning robot can not be handled, to allow professional to clear up relevant rubbish
Rubbish.Simultaneously as these rubbish may cause damages to personal safety, garbage cleaning robot can also be in target rubbish heap week
Setting warning line, or setting warning mark are enclosed, so that someone be avoided to be strayed into the danger zone around target rubbish heap.
Therefore, optionally, in order to clear up the rubbish for needing to clear up in time in time, in one embodiment of the present invention
In, the method also includes:
Image Acquisition is carried out to the target rubbish heap periodically by remote camera, to obtain the target rubbish
The image of heap；
Classified based on image recognition technology to rubbish included by the target rubbish heap；
If rubbish included by the target rubbish heap includes the rubbish for needing to clear up immediately, the mesh is gone to immediately
It marks rubbish heap and carries out rubbish cleaning；
If rubbish included by the target rubbish heap does not include the rubbish for needing to clear up immediately, to pre-set rubbish
Rubbish clearance time point just goes to the target rubbish heap to carry out rubbish cleaning when reaching.
Wherein the rubbish for needing to clear up immediately includes: that can generate the rubbish of smell and may endanger personal safety
Rubbish.
Further, if rubbish included by the target rubbish heap includes the rubbish that may be endangered public security,
The method also includes: it alarms.The alarm can be carried out using pre-set mode, such as be called pre-set
Alarm number can also activate alarm bell etc..
Wherein, the rubbish that may be endangered public security includes: that can distribute the rubbish of poison gas with radioactive rubbish
With the rubbish that may be exploded.
From the above it can be seen that using rubbish method for cleaning provided in an embodiment of the present invention image can be carried out to target rubbish heap
Acquisition, so that it is determined that classification described in the rubbish for including in target rubbish heap is mentioned to be sorted based on the classification to rubbish
The high efficiency of rubbish cleaning.It is possible to further acquire image by remote camera, to include in target rubbish pair
When the rubbish for needing to clear up immediately, immediately rubbish can be cleared up, to avoid the work and life band to people
To influence；Further, it when including the rubbish for endangering personal safety in the target rubbish heap, can alarm, to drop
The injury that these low rubbish for endangering personal safety may generate the person.
In one embodiment of the invention, the image recognition technology is deployed in neural network, neural network
It can be made of multiple neurons.In the neural network, the image recognition technology algorithm can be expressed as institute
The calculating formula stated:
M=f (pi+ λ)=f (Api+ λ), i=0 ..., n-1
Wherein, m indicates the garbage classification identified, piIndicate the image of acquisition, the quantity of the image of acquisition is n, λ table
Show Dynamic gene, the Dynamic gene according to different rubbish heaps have it is different (such as the adjustment of resident living area and factory district because
Son is different, and factory district has difference according to the difference of factory products type and/or the range of work of factory again), f () is indicated
Be the corresponding activation primitive of neuron, A is the corresponding module parameter of activation primitive.In one embodiment, activation primitive f
() specifically can be sigmoid function, i.e. the form that f () can be expressed as:
Wherein, the module parameter of activation primitive f () is trained in advance, and module parameter A has in one embodiment
Body can be by training function training to obtain as follows:
Wherein, M is the parameter of trained function, and N is the quantity of threedimensional model in training set, pnIt is rubbish in training set
The picture of heap, λnIt is the Dynamic gene in training set.
Fig. 2 describes a kind of structure of the robot of periodic cleaning rubbish provided by one embodiment of the present invention, wherein should
Robot can be used to implement the rubbish periodic cleaning method of previous embodiment offer.As shown in Fig. 2, the robot can wrap
It includes:
Image acquisition units 201, for carrying out Image Acquisition to target rubbish heap, to obtain the figure of the target rubbish heap
Picture.
Wherein, more accurately the rubbish in target rubbish heap is sorted, the image of the target rubbish heap of acquisition can be with
It is multiple.
Wherein, in a kind of mode, such as the rubbish in target rubbish heap is fewer, can only carry out before rubbish is cleared up
The acquisition of image；In another embodiment, the rubbish such as in target rubbish heap is relatively more, then can be to carry out in cleaning
The acquisition of image, so as to identify, there is no the rubbish shown in the picture at the beginning.
Wherein, rubbish cleaning, which can be, periodically carries out, therefore garbage cleaning robot arrives at preset time point
Up to when, just go to target rubbish heap carry out rubbish cleaning.
Image identification unit 202, the target rubbish for being acquired based on image recognition technology to image acquisition units 201
The image of rubbish heap carries out image recognition, classifies to rubbish included by the target rubbish heap.
Wherein, existing image recognition technology can be used in image recognition technology, and the embodiment of the present invention also can be used and mention
The image recognition technology of confession.Image recognition technology provided in an embodiment of the present invention be realized based on neural network model, such as
Can be convolutional neural networks (CNN:Convolutional Neural Network) model or Recognition with Recurrent Neural Network (RNN:
Recurrent Neural Networks) model, or it is also possible to deep neural network (DNN:Deep Neural
Networks) model.
Wherein, rubbish can be mainly divided into two major classes, i.e. recyclable rubbish and non-recyclable rubbish.
For example, recyclable rubbish may include: waste paper, plastics, five major class of glass, metal and cloth.Wherein, waste paper is main
It include: newspaper, periodical, books, various wrapping papers etc..However it should be noted that paper handkerchief and lavatory paper can not be returned by force very much due to water-soluble
It receives.Plastics include: various polybags, plastic foam, plastics package, disposable plastic fast food container tableware, duroplasts, plastic tooth brush,
Plastic cup, mineral water bottle etc..Glass specifically includes that various vials, chunk glass, mirror, thermos flask etc..Metal object includes:
It mainly include pop can, tin can etc..Cloth specifically includes that discarded clothes, tablecloth, washcloth, school bag, shoes etc..These rubbish
It is recycled by integrated treatment, it is possible to reduce resource is saved in pollution.If 1 ton of waste paper of every recycling can make 850 kilograms of paper, section
300 kilograms of timber are saved, is produced than equivalent and reduces pollution 74%；Every 1 ton of plastic beverage bottle of recycling can get 0.7 ton of secondary raw materials；
1 ton of scrap iron and steel of every recycling can refine 0.9 ton of steel, than reducing air pollution 75% with ore smelting save the cost 47%, reduce
97% water pollution and solid waste.
Recyclable rubbish does not specifically include that rubbish from cooking and Other Waste.
Such as rubbish from cooking may include the foodstuffs wastes such as leftovers leftovers, bone, dish green tops, pericarp.
Other rubbish may include: brick and tile ceramics, dregs, toilet waste paper, the paper handkerchief etc. in addition to above-mentioned a few class rubbish
It is difficult to the waste recycled and shell, dust.Take sanitary landfills that can effectively reduce to underground water, surface water, soil and air
Pollution.Wherein, it may include poisonous and harmful rubbish in Other Waste, contain the heavy metal to human health, toxic
Substance or to environment cause reality endanger or potential hazard waste.Including battery, fluorescent tube, light bulb, mercury
Thermometer, paint kettle, part household electrical appliances, Expired drug, expired cosmetics etc..These rubbish generally use at individually recycling or landfill
Reason.
Unit 203 is cleared up, the rubbish in the target rubbish heap is sorted for the classification based on the rubbish, with
The rubbish of different classifications is cleared up to different garbage containing casees.
The cleaning unit 203 can be mechanical arm, can be carried out by the mechanical arm to the rubbish in target rubbish heap
It sorts and clears up to different garbage containing casees, so as to which different garbage transporting to different rubbish is cleared up point.
Since some rubbish may impact environment or personal safety, such as rubbish from cooking may become quickly
Matter needs to carry out rubbish from cooking immediately clear to generate niff, therefore in order to not influence the work and life of people
Reason.Such as certain poisonous and harmful substances may impact personal safety, such as can generate instead with radioactive rubbish
Penetrating property ray can cause great harm personal safety, it is therefore desirable to cleaning immediately.Such as some rubbish can generate poison gas
Body, it is also possible to personal safety be caused great harm, therefore be also required to clear up immediately；Also some rubbish might have explosion
Risk, to can endanger public security, therefore be also required to clear up immediately.
It is understood that for radioactive rubbish, it is possible to create the rubbish of toxic gas has risk of explosion
Rubbish can alarm if garbage cleaning robot can not be handled, to allow professional to clear up relevant rubbish
Rubbish.Simultaneously as these rubbish may cause damages to personal safety, garbage cleaning robot can also be in target rubbish heap week
Setting warning line, or setting warning mark are enclosed, so that someone be avoided to be strayed into the danger zone around target rubbish heap.
Optionally, in one embodiment, robot shown in Fig. 2 can also include:
Control unit 204 carries out Image Acquisition to the target rubbish heap for periodically control remote camera, with
Obtain the image of the target rubbish heap；
Receiving unit 205, the image of the target rubbish heap for receiving the remote camera acquisition；
Described image recognition unit 202 is also used based on image recognition technology to the received mesh of the receiving unit 205
The image for marking rubbish carries out image recognition, classifies to rubbish included by target rubbish heap；
Processing unit 206 includes the rubbish for needing to clear up immediately for the rubbish included by the target rubbish heap
When, go to the target rubbish heap to carry out rubbish cleaning immediately；The rubbish included by the target rubbish heap does not include needing
When the rubbish to clear up immediately, the target rubbish heap is just gone to carry out rubbish when pre-set rubbish clearance time point reaches
Rubbish cleaning.Wherein, the rubbish for needing to clear up immediately includes: that can generate the rubbish of smell and may endanger personal safety
Rubbish.
Optionally, in one embodiment, robot shown in Fig. 2 can also include:
Alarm unit 207, for determining rubbish packet included by the target rubbish heap in described image recognition unit 202
When having included the rubbish that may be endangered public security, alarm.Wherein, the rubbish that may be endangered public security includes: tool
Active rubbish can distribute the rubbish of poison gas and the rubbish that may be exploded.
From the above it can be seen that using the robot of periodic cleaning rubbish provided in an embodiment of the present invention, it can be to target rubbish heap
Carry out Image Acquisition, so that it is determined that classification described in the rubbish for including in target rubbish heap, thus based on the classification to rubbish into
Row sorting, improves the efficiency of rubbish cleaning.It is possible to further acquire image by remote camera, thus in target rubbish
When including the rubbish for needing to clear up immediately in rubbish pair, immediately rubbish can be cleared up, to avoid the work to people
Make and life affects；Further, when including the rubbish for endangering personal safety in the target rubbish heap, Neng Goubao
It is alert, to reduce the injury that the rubbish that these endanger personal safety may generate the person.
The contents such as the information exchange between each unit module, implementation procedure in above-mentioned robot, due to side of the present invention
Method embodiment is based on same design, and for details, please refer to the description in the embodiment of the method for the present invention, and details are not described herein again.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, above-mentioned program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, above-mentioned storage medium can be magnetic
Dish, CD, read-only memory (ROM:Read-Only Memory) or random access memory (RAM:Random
Access Memory) etc..
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its thought of the invention；At the same time, for those skilled in the art, according to this hair
Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage
Solution is limitation of the present invention.
Claims (10)
1. a kind of rubbish periodic cleaning method characterized by comprising
Image Acquisition is carried out to target rubbish heap, to obtain the image of the target rubbish heap；
Identified based on image of the image recognition technology to the target rubbish heap, to rubbish included by target rubbish heap into
Row classification；
The rubbish in the target rubbish heap is sorted in classification based on the rubbish, and the rubbish of different classifications is cleared up
To different garbage containing casees.
2. method as claimed in claim 1, which is characterized in that the method also includes:
Image Acquisition is carried out to the target rubbish heap periodically by remote camera, to obtain the target rubbish heap
Image；
Classified based on image recognition technology to rubbish included by the target rubbish heap；
If rubbish included by the target rubbish heap includes the rubbish for needing to clear up immediately, the target rubbish is gone to immediately
Rubbish heap carries out rubbish cleaning；
It is clear to pre-set rubbish if rubbish included by the target rubbish heap does not include the rubbish for needing to clear up immediately
Reason time point just goes to the target rubbish heap to carry out rubbish cleaning when reaching.
3. method according to claim 2, which is characterized in that the rubbish for needing to clear up immediately includes: that can generate smell
Rubbish and the rubbish of personal safety may be endangered.
4. the method as described in claims 1 to 3 is any, which is characterized in that the method also includes:
If rubbish included by the target rubbish heap includes the rubbish that may be endangered public security, alarm.
5. method as claimed in claim 4, which is characterized in that the rubbish that may be endangered public security includes: to have to put
The rubbish of penetrating property can distribute the rubbish of poison gas and the rubbish that may be exploded.
6. a kind of robot of periodic cleaning rubbish characterized by comprising
Image acquisition units, for carrying out Image Acquisition to target rubbish heap, to obtain the image of the target rubbish heap；
Image identification unit, the image of the target rubbish heap for being acquired based on image recognition technology to image acquisition units
Image recognition is carried out, is classified to rubbish included by the target rubbish heap；
Unit is cleared up, the rubbish in the target rubbish heap is sorted for the classification based on the rubbish, it will be different
The rubbish of classification is cleared up to different garbage containing casees.
7. robot as claimed in claim 6, which is characterized in that the robot further include:
Control unit carries out Image Acquisition to the target rubbish heap for periodically control remote camera, to obtain
State the image of target rubbish heap；
Receiving unit, the image of the target rubbish heap for receiving the remote camera acquisition；
Described image recognition unit, also with the figure based on the image recognition technology target rubbish received to the receiving unit
As carrying out image recognition, classify to rubbish included by target rubbish heap；
When processing unit for the rubbish included by the target rubbish heap includes the rubbish for needing to clear up immediately, immediately
Go to the target rubbish heap to carry out rubbish cleaning；The rubbish included by the target rubbish heap does not include that needs are immediately clear
When the rubbish of reason, the target rubbish heap is just gone to carry out rubbish cleaning when pre-set rubbish clearance time point reaches.
8. robot as claimed in claim 7, which is characterized in that the rubbish for needing to clear up immediately includes: that can generate gas
The rubbish of taste and the rubbish that personal safety may be endangered.
9. the robot as described in claim 6 to 8 is any, which is characterized in that the robot further include:
Alarm unit, for determining that rubbish included by the target rubbish heap includes possible danger in described image recognition unit
When the rubbish of evil public safety, alarm.
10. robot as claimed in claim 9, which is characterized in that the rubbish that may be endangered public security includes: to have
Radioactive rubbish can distribute the rubbish of poison gas and the rubbish that may be exploded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810927636.9A CN108994855A (en) | 2018-08-15 | 2018-08-15 | Rubbish periodic cleaning method and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810927636.9A CN108994855A (en) | 2018-08-15 | 2018-08-15 | Rubbish periodic cleaning method and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108994855A true CN108994855A (en) | 2018-12-14 |
Family
ID=64592911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810927636.9A Pending CN108994855A (en) | 2018-08-15 | 2018-08-15 | Rubbish periodic cleaning method and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108994855A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110436082A (en) * | 2019-08-08 | 2019-11-12 | 上海萃钛智能科技有限公司 | A kind of Intelligent refuse classification identification suggestion device, system and method |
| CN110497419A (en) * | 2019-07-15 | 2019-11-26 | 广州大学 | Building castoff sorting machine people |
| CN110516625A (en) * | 2019-08-29 | 2019-11-29 | 华育昌(肇庆)智能科技研究有限公司 | A kind of method, system, terminal and the storage medium of rubbish identification classification |
| CN111218911A (en) * | 2019-12-17 | 2020-06-02 | 苏州奥创智能科技有限公司 | Energy-saving system and energy-saving method applied to road sweeping cleaning vehicle |
| CN111414926A (en) * | 2019-01-04 | 2020-07-14 | 卓望数码技术（深圳）有限公司 | Intelligent garbage classification method and device, storage medium and robot |
| WO2020220674A1 (en) * | 2019-04-28 | 2020-11-05 | 宿迁海沁节能科技有限公司 | Deep learning method for garbage identification and classification processing based on subconvolution hyper-correlation |
| CN111922035A (en) * | 2020-07-16 | 2020-11-13 | 重庆智禾环境科技有限责任公司 | Device for collecting and conveying kitchen waste and method for treating kitchen waste |
| CN112429444A (en) * | 2020-11-02 | 2021-03-02 | 武汉理工大学 | Garbage recycling robot and control method thereof |
| CN113796783A (en) * | 2021-09-26 | 2021-12-17 | 黄福平 | Household environment control management system based on artificial intelligence |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201807539U (en) * | 2010-08-19 | 2011-04-27 | 付毅 | Digitalized garbage monitoring and classifying terminal |
| CN201997485U (en) * | 2011-04-12 | 2011-10-05 | 朱建功 | Garbage auto-separation device |
| CN105564864A (en) * | 2015-12-18 | 2016-05-11 | 美的集团股份有限公司 | Garbage can, garbage sorting method for garage can and garbage sorting system for garage can |
| CN105772407A (en) * | 2016-01-26 | 2016-07-20 | 耿春茂 | Waste classification robot based on image recognition technology |
| CN107092914A (en) * | 2017-03-23 | 2017-08-25 | 广东数相智能科技有限公司 | Refuse classification method, device and system based on image recognition |
| CN107222672A (en) * | 2017-07-11 | 2017-09-29 | 合肥康之恒机械科技有限公司 | A kind of intelligent garbage bin management system |
| CN206546593U (en) * | 2016-07-06 | 2017-10-10 | 余正贤 | House refuse intelligent classification reclaims cloud identifying system |
| CN107480643A (en) * | 2017-08-18 | 2017-12-15 | 潘金文 | A kind of robot of Intelligent refuse classification processing |
| CN107516128A (en) * | 2017-06-12 | 2017-12-26 | 南京邮电大学 | A kind of flowers recognition methods of the convolutional neural networks based on ReLU activation primitives |
| CN107609598A (en) * | 2017-09-27 | 2018-01-19 | 武汉斗鱼网络科技有限公司 | Image authentication model training method, device and readable storage medium storing program for executing |
| CN107679525A (en) * | 2017-11-01 | 2018-02-09 | 腾讯科技（深圳）有限公司 | Image classification method, device and computer-readable recording medium |
| CN107877521A (en) * | 2017-11-06 | 2018-04-06 | 广西富迈科技有限公司 | Article identifies and processing method, robot terminal and storage medium |
| CN108133178A (en) * | 2017-12-08 | 2018-06-08 | 重庆广睿达科技有限公司 | A kind of intelligent environment monitoring system and method based on image identification |
| KR20180076854A (en) * | 2016-12-28 | 2018-07-06 | 한국생산기술연구원 | Pick Up Robot System and Control Method thereof |
-
2018
- 2018-08-15 CN CN201810927636.9A patent/CN108994855A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201807539U (en) * | 2010-08-19 | 2011-04-27 | 付毅 | Digitalized garbage monitoring and classifying terminal |
| CN201997485U (en) * | 2011-04-12 | 2011-10-05 | 朱建功 | Garbage auto-separation device |
| CN105564864A (en) * | 2015-12-18 | 2016-05-11 | 美的集团股份有限公司 | Garbage can, garbage sorting method for garage can and garbage sorting system for garage can |
| CN105772407A (en) * | 2016-01-26 | 2016-07-20 | 耿春茂 | Waste classification robot based on image recognition technology |
| CN206546593U (en) * | 2016-07-06 | 2017-10-10 | 余正贤 | House refuse intelligent classification reclaims cloud identifying system |
| KR20180076854A (en) * | 2016-12-28 | 2018-07-06 | 한국생산기술연구원 | Pick Up Robot System and Control Method thereof |
| CN107092914A (en) * | 2017-03-23 | 2017-08-25 | 广东数相智能科技有限公司 | Refuse classification method, device and system based on image recognition |
| CN107516128A (en) * | 2017-06-12 | 2017-12-26 | 南京邮电大学 | A kind of flowers recognition methods of the convolutional neural networks based on ReLU activation primitives |
| CN107222672A (en) * | 2017-07-11 | 2017-09-29 | 合肥康之恒机械科技有限公司 | A kind of intelligent garbage bin management system |
| CN107480643A (en) * | 2017-08-18 | 2017-12-15 | 潘金文 | A kind of robot of Intelligent refuse classification processing |
| CN107609598A (en) * | 2017-09-27 | 2018-01-19 | 武汉斗鱼网络科技有限公司 | Image authentication model training method, device and readable storage medium storing program for executing |
| CN107679525A (en) * | 2017-11-01 | 2018-02-09 | 腾讯科技（深圳）有限公司 | Image classification method, device and computer-readable recording medium |
| CN107877521A (en) * | 2017-11-06 | 2018-04-06 | 广西富迈科技有限公司 | Article identifies and processing method, robot terminal and storage medium |
| CN108133178A (en) * | 2017-12-08 | 2018-06-08 | 重庆广睿达科技有限公司 | A kind of intelligent environment monitoring system and method based on image identification |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111414926A (en) * | 2019-01-04 | 2020-07-14 | 卓望数码技术（深圳）有限公司 | Intelligent garbage classification method and device, storage medium and robot |
| WO2020220674A1 (en) * | 2019-04-28 | 2020-11-05 | 宿迁海沁节能科技有限公司 | Deep learning method for garbage identification and classification processing based on subconvolution hyper-correlation |
| CN110497419A (en) * | 2019-07-15 | 2019-11-26 | 广州大学 | Building castoff sorting machine people |
| CN110436082A (en) * | 2019-08-08 | 2019-11-12 | 上海萃钛智能科技有限公司 | A kind of Intelligent refuse classification identification suggestion device, system and method |
| CN110436082B (en) * | 2019-08-08 | 2022-03-04 | 上海萃钛智能科技有限公司 | Intelligent garbage classification recognition prompting device, system and method |
| CN110516625A (en) * | 2019-08-29 | 2019-11-29 | 华育昌(肇庆)智能科技研究有限公司 | A kind of method, system, terminal and the storage medium of rubbish identification classification |
| CN111218911A (en) * | 2019-12-17 | 2020-06-02 | 苏州奥创智能科技有限公司 | Energy-saving system and energy-saving method applied to road sweeping cleaning vehicle |
| CN111218911B (en) * | 2019-12-17 | 2021-11-12 | 苏州奥创智能科技有限公司 | Energy-saving system and energy-saving method applied to road sweeping cleaning vehicle |
| CN111922035A (en) * | 2020-07-16 | 2020-11-13 | 重庆智禾环境科技有限责任公司 | Device for collecting and conveying kitchen waste and method for treating kitchen waste |
| CN112429444A (en) * | 2020-11-02 | 2021-03-02 | 武汉理工大学 | Garbage recycling robot and control method thereof |
| CN113796783A (en) * | 2021-09-26 | 2021-12-17 | 黄福平 | Household environment control management system based on artificial intelligence |
| CN113796783B (en) * | 2021-09-26 | 2022-10-25 | 黄福平 | Household environment control management system based on artificial intelligence |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108994855A (en) | Rubbish periodic cleaning method and robot | |
| CN109201518A (en) | A kind of equipment and storage medium of periodic cleaning rubbish | |
| CN103552788B (en) | Concentrating type rubbish identifies assembly and automatic sorting garbage bin thereof automatically | |
| CN104443921A (en) | Intelligent garbage classification throwing, collecting and utilizing system | |
| CN107697501B (en) | Garbage recycling method and system | |
| CN108190290A (en) | A kind of garbage classification device and its application process | |
| CN203402565U (en) | Trash can capable of classifying trash | |
| CN103318582A (en) | Automatic classification trash can | |
| Husni et al. | Garbage monitoring and warning system | |
| CN113076805A (en) | Robot-based garbage treatment method and system | |
| Seshie et al. | Municipal solid waste characterisation and quantification as a measure towards effective waste management in the Takoradi Sub-Metro, Ghana | |
| CN110316486A (en) | A kind of wisdom dustbin | |
| Aurpa | Characterization of MSW and plastic waste volume estimation during COVID-19 pandemic | |
| CN108423332A (en) | The dustbin that automatic classification is delivered | |
| Jahan et al. | Automated Waste Segregation System using IoT | |
| Yorkina et al. | Separate collecting system of garbage: problems and prospects | |
| Nebbach | Physical characterization of household waste at source in Kenitra City (Morocco) | |
| Poojary et al. | Classification of garbage for robtic system using deep learning techniques | |
| CN205708269U (en) | A kind of indoor four classification garbage can being easily installed transport | |
| Mamari et al. | Deep neural network based composting processing technology: A solution for municipality and fertilizer companies | |
| CN216003913U (en) | Intelligent garbage can based on deep learning | |
| Hardter et al. | Waste management blueprint for the Galápagos Islands | |
| CN117522388B (en) | Intelligent sanitation processing method for urban environment | |
| Zach | An Analysis of a Waste Audit performed on UNL Campus Buildings | |
| Terekhova et al. | Territory of innovation ideas, technologies and creative solutions in the eco-world |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181214 |
|
| WD01 | Invention patent application deemed withdrawn after publication |