CN109288455B - Garbage cleaning method and device - Google Patents

Garbage cleaning method and device Download PDF

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Publication number
CN109288455B
CN109288455B CN201811117603.4A CN201811117603A CN109288455B CN 109288455 B CN109288455 B CN 109288455B CN 201811117603 A CN201811117603 A CN 201811117603A CN 109288455 B CN109288455 B CN 109288455B
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garbage
road surface
image
type
parameter
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CN109288455A (en
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张德兆
王肖
霍舒豪
李晓飞
张放
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Beijing Idriverplus Technologies Co Ltd
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Beijing Idriverplus Technologies Co Ltd
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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  • Image Processing (AREA)

Abstract

The invention relates to a garbage cleaning method and a device, comprising the following steps: acquiring a garbage image in a detection area on a cleaned road surface; performing garbage type identification on the garbage image to obtain garbage type information of all garbage in the garbage image; calling a garbage type list, and inquiring garbage type parameters corresponding to the garbage type information in the garbage type list; calculating the road surface cleanliness of the cleaned road surface according to the garbage type parameters and the road surface area of the detection area; acquiring a cleaning brush rotating speed parameter and a dust collection strength parameter corresponding to the pavement cleanliness; determining the rotating speed and the dust collection intensity of the cleaning brush; acquiring garbage position information, obstacle position information between a cleaning device and garbage according to radar data, and generating a cleaning path and a direction control signal according to the current position information of the cleaning device, the obstacle position information and the garbage position information: and controlling the cleaning device to clean the garbage according to the cleaning path according to the direction control signal.

Description

Garbage cleaning method and device
Technical Field
The invention relates to the technical field of data processing, in particular to a garbage cleaning method and device.
Background
An automatic driving automobile is also called an unmanned automobile, a computer driving automobile or a wheeled mobile robot, and is an intelligent automobile which realizes unmanned driving through a computer system. The automatic driving automobile depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can operate the motor vehicle automatically and safely without any active operation of human.
In the prior art, for an automatic driving vehicle without a human carrying function, such as a sweeping robot, etc., the automatic driving vehicle can only work in a fixed area through a unified sweeping mode, and cannot perform differential processing on different swept objects, the sweeping function is realized in a single mode, energy waste is easily caused, and the sweeping task completion efficiency is low.
Disclosure of Invention
The invention aims to provide a garbage cleaning method and a garbage cleaning device aiming at the defects in the prior art.
In order to achieve the above object, in a first aspect, the present invention provides a garbage cleaning method, including:
acquiring a garbage image in a detection area on a cleaned road surface, wherein the garbage image comprises an image of single garbage and an image of a garbage set consisting of a plurality of garbage;
performing garbage type identification on the garbage image to obtain garbage type information of all garbage in the garbage image;
calling a garbage type list, wherein the garbage type list records the corresponding relation between the garbage type information and the garbage type parameter;
inquiring the garbage type parameter corresponding to the garbage type information in the garbage type list;
calculating the road surface cleanliness of the cleaned road surface according to the garbage type parameters and the road surface area of the detection area;
acquiring a cleaning brush rotating speed parameter and a dust collection strength parameter corresponding to the pavement cleanliness;
determining the rotating speed of the cleaning brush according to the cleaning brush rotating speed parameter, and determining the dust collection intensity of the cleaning device according to the dust collection intensity parameter;
acquiring garbage position information and obstacle position information between the cleaning device and the garbage according to radar data, and generating a cleaning path and a direction control signal according to the current position information of the cleaning device, the obstacle position information and the garbage position information:
and controlling the cleaning device to clean the garbage according to the cleaning path according to the direction control signal.
Further, the acquiring of the garbage image in the detection area on the cleaned road specifically includes:
the cleaning device controls the image acquisition equipment to rotate by a preset angle according to the angle control signal;
determining the detection area according to the acquisition range of the image acquisition equipment and the preset angle, and acquiring an object image in the detection area;
and extracting object characteristic information of the object image, and extracting the garbage image from the object image according to the object characteristic information.
Further, the identifying the spam image specifically includes:
extracting shape feature information of the garbage image, and comparing the shape feature information with garbage feature information in the garbage feature database to obtain a comparison result;
and determining the garbage type information according to the comparison result.
Further, the calculating the road surface cleanliness of the cleaned road surface according to the garbage type parameter and the road surface area of the detection area specifically includes:
when the garbage image is the image of single garbage, according to a formula
Figure BDA0001807721600000021
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, and a is the garbage type parameter.
Further, the calculating the road surface cleanliness of the cleaned road surface according to the garbage type parameter and the road surface area of the detection area specifically includes:
when the garbage image is an image of a garbage set formed by a plurality of garbage, according to a formula
Figure BDA0001807721600000031
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, aiIs a garbage category parameter.
Further, the method further comprises:
and acquiring the garbage size information according to the garbage image and the garbage position information.
Further, the method further comprises:
calling a garbage type-size list, wherein the garbage type-size list records the corresponding relation between the garbage size information and the garbage size parameter;
and inquiring the garbage size parameter corresponding to the garbage size information in the garbage type-size list.
Further, the method further comprises:
when the garbage image is the image of single garbage, according to a formula
Figure BDA0001807721600000032
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, a is the garbage type parameter, and b is the garbage size parameter.
Further, the method further comprises:
when the garbage image is an image of a garbage set formed by a plurality of garbage, according to a formula
Figure BDA0001807721600000033
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, aiAs a parameter of the kind of refuse, biAnd (4) garbage size parameters.
In a second aspect, the present invention provides a waste sweeping device, the device comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a garbage image in a detection area on a cleaning road surface, and the garbage image comprises an image of single garbage and an image of a garbage set formed by a plurality of garbage;
the identification module is used for identifying the garbage types of the garbage images to obtain the garbage type information of all garbage in the garbage images;
the calling module is used for calling a garbage type list, and the garbage type list records the corresponding relation between the garbage type information and the garbage type parameter;
the query module is used for querying the garbage type parameter corresponding to the garbage type information in the garbage type list;
the calculation module is used for calculating the road surface cleanliness of the cleaned road surface according to the garbage type parameters and the road surface area of the detection area;
the second acquisition module is used for acquiring a cleaning brush rotating speed parameter and a dust collection intensity parameter corresponding to the road surface cleanliness;
the determining module is used for determining the rotating speed of the cleaning brush according to the rotating speed parameter of the cleaning brush and determining the dust collection intensity of the cleaning device according to the dust collection intensity parameter;
a generating module, configured to obtain garbage position information and obstacle position information between the cleaning device and the garbage according to radar data, and generate a cleaning path and a direction control signal according to the current position information of the cleaning device, the obstacle position information, and the garbage position information:
and the control module is used for controlling the cleaning device to clean the garbage according to the cleaning path according to the direction control signal.
The garbage cleaning method and the garbage cleaning device provided by the invention can determine the road surface cleanliness according to the garbage type and the road surface area, determine the rotating speed and the dust absorption intensity of the cleaning brush according to the road surface cleanliness, and generate the cleaning path and the direction control signal according to the current position information, the obstacle position information and the garbage position information of the cleaning device to control the cleaning device to clean garbage according to the cleaning path. The method and the device provided by the invention can determine the cleaning intensity according to the type of the cleaned garbage, so that the energy is reasonably utilized, and the cleaning efficiency is improved.
Drawings
Fig. 1 is a flowchart of a garbage cleaning method according to an embodiment of the present invention;
fig. 2 is a schematic view of a garbage cleaning apparatus according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a garbage cleaning method according to an embodiment of the present invention. As shown in fig. 1, the method specifically comprises the following steps:
step 101, acquiring a garbage image in a detection area on a cleaned road surface;
specifically, the image acquisition equipment rotates by a preset angle; determining a detection area according to the acquisition range and the preset angle of the image acquisition equipment, and acquiring an object image in the detection area; extracting object characteristic information of the object image, and extracting a garbage image from the object image according to the object characteristic information, wherein the garbage image comprises an image of single garbage and an image of a garbage set formed by a plurality of garbage.
In a specific embodiment, the visual field of the camera at the top end of the cleaning device is a sector with a central angle of 60 degrees, the camera is controlled to rotate 60 degrees leftwards or rightwards according to an angle control signal, the detection range of the camera is a detection area corresponding to a 180-degree visual field range, object images in the 180-degree visual field range can be collected, multi-frame images are fused according to characteristics of shapes, colors, motion states and the like of objects, and it can be determined which objects in the images are garbage to be cleaned, such as leaves, paper sheets, packaging bags, mineral water bottles and the like, wherein the garbage pile comprises single garbage and a plurality of garbage.
The cleaning device is a small unmanned vehicle, can sense the surrounding environment in specific and closed environments and realize low-speed automatic driving, and realizes an automatic cleaning task for a specified area in the automatic driving process. The top end of the cleaning device is provided with a camera for collecting images of the surrounding environment; the periphery of the sensor is provided with a laser radar, a millimeter wave radar and an ultrasonic radar which are used for measuring the distance of surrounding obstacles; the bottom end is provided with a pair of cleaning brushes and dust suction equipment.
102, performing garbage type identification on the garbage image to obtain garbage type information of all garbage in the garbage image;
specifically, extracting shape characteristic information of the garbage image, and comparing the shape characteristic information with garbage characteristic information in a garbage characteristic database to obtain a comparison result; and determining the garbage type information according to the comparison result.
The junk feature database is a database established according to shape features of junk images in the collected multiple image data. When the garbage image to be identified is identified, extracting shape characteristic information and comparing the shape characteristic information with garbage characteristic information in a garbage characteristic database, and determining garbage type information according to the compared similarity. The specific implementation mode can be used for carrying out garbage recognition based on a correlation algorithm learned by an artificial intelligence AI self-learning.
Step 103, calling a garbage type list, wherein the garbage type list records the corresponding relation between the garbage type information and the garbage type parameter; inquiring the garbage type parameter corresponding to the garbage type information in the garbage type list;
assigning values to the garbage of each type in advance to obtain garbage type parameters corresponding to the garbage type information, and assigning values according to different garbage qualities, wherein the larger the garbage assignment value is, otherwise, the smaller the garbage assignment value is.
Establishing a corresponding relationship between the garbage type information and the corresponding garbage type parameter to generate a garbage type list, and querying the garbage type information obtained in the step 102 in the garbage type list to obtain the garbage type parameter corresponding to the garbage type information.
104, calculating the road surface cleanliness of the cleaned road surface according to the garbage type parameters and the road surface area of the detection area;
the calculation of the road surface cleanliness includes the following two cases:
and when the garbage image is the image of single garbage, calculating the road surface cleanliness according to the road surface area of the cleaned road surface and the garbage type parameter of the single garbage.
In particular, according to the formula
Figure BDA0001807721600000061
Calculating the road surface cleanliness of the cleaned road surface(ii) a Wherein theta is the road surface cleanliness, S is the road surface area, and a is the garbage type parameter.
And when the garbage image is an image of a garbage collection consisting of a plurality of garbage, calculating the cleanliness of the road surface according to the sum of the road surface area of the cleaned road surface and the garbage type parameters of all the garbage in the garbage collection.
In particular, according to the formula
Figure BDA0001807721600000071
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, aiIs a garbage category parameter.
The road surface area of the cleaned road surface can be calculated according to the floor area of a plurality of frames of images collected by the image collecting device, wherein fixed obstacles (such as buildings, public facilities, flower beds and lawns) which do not need to be cleaned are removed.
In addition, the cleanliness can be calculated by taking the size factor of the garbage into consideration.
Specifically, the garbage size information is obtained according to the garbage image and the garbage position information. The garbage position information includes the relative position of the garbage and the cleaning device, the angle position of the camera shooting the garbage and the like.
And setting corresponding garbage size parameters aiming at different sizes of each type of garbage in advance, wherein each type of garbage corresponds to a plurality of garbage size information, and each type of garbage size information corresponds to a garbage size parameter. For example, the garbage type parameter corresponding to the packaging bag is 2, the size information corresponding to the garbage of the packaging bag is three-medium size, namely large, medium and small, the garbage size parameter corresponding to the large packaging bag is set to be 2, the garbage size parameter corresponding to the medium packaging bag is 1, and the garbage size parameter corresponding to the small packaging bag is 0.
And generating a next-level list of the garbage category list and a garbage category-size list according to the garbage category information, the garbage size information and the garbage size parameter, and inquiring the garbage size parameter corresponding to the garbage size information in the garbage category-size list.
When the garbage image is the image of single garbage, according to the formula
Figure BDA0001807721600000072
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, a is the garbage type parameter, and b is the garbage size parameter.
When the garbage image is an image of a garbage collection consisting of a plurality of garbage, according to a formula
Figure BDA0001807721600000073
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, aiAs a parameter of the kind of refuse, biAnd (4) garbage size parameters.
105, acquiring a cleaning brush rotating speed parameter and a dust collection strength parameter corresponding to the road surface cleanliness;
and presetting a cleaning brush rotating speed parameter and a dust collection intensity parameter corresponding to the cleaning degree value. The larger the cleaning degree value is, the smaller the set cleaning brush rotation speed is, and the weaker the dust collection intensity is. On the contrary, the larger the set rotating speed of the cleaning brush is, the stronger the dust collection intensity is. And (3) generating a corresponding relation list of the cleaning degree value, the cleaning brush rotating speed parameter and the dust collection intensity parameter in advance, and inquiring the cleaning brush rotating speed parameter and the dust collection intensity parameter corresponding to the cleaning degree value in the list after the cleaning degree value is obtained through calculation in the step 104.
106, determining the rotating speed of the cleaning brush according to the rotating speed parameter of the cleaning brush, and determining the dust collection intensity of the cleaning device according to the dust collection intensity parameter;
a pair of cleaning brushes is installed at the bottom end of the cleaning device, a dust collection hole of dust collection equipment is formed between the two cleaning brushes, the rotation speed of the two cleaning brushes rotating in the same phase is controlled according to the rotation speed parameters of the cleaning brushes, the garbage is cleaned under the dust collection space of the dust collection equipment, and the dust collection intensity is controlled according to the dust collection intensity parameters, so that the dust collection equipment can suck the garbage into a garbage can in the cleaning device through the dust collection space.
Step 107, acquiring garbage position information and obstacle position information between the cleaning device and the garbage according to the radar data, and generating a cleaning path and a direction control signal according to the current position information of the cleaning device, the obstacle position information and the garbage position information:
the method comprises the steps that position information of a cleaning device is obtained according to a positioning module in the cleaning device, relative position information of obstacles, garbage and the cleaning device around the cleaning device is obtained according to laser radars, millimeter wave radars and ultrasonic radars which are arranged on the periphery of the cleaning device, a cleaning path for avoiding the obstacles and a direction control signal for controlling the movement direction of the cleaning device are generated by the cleaning device according to the position of the obstacles and the position of the garbage, and the direction control signal comprises a control signal for controlling the cleaning device to move forwards, backwards, turn left, turn right and the like.
And step 108, controlling the cleaning device to clean the garbage according to the cleaning path according to the direction control signal.
Specifically, the cleaning device is controlled to move according to the generated cleaning path, the cleaning device is controlled to turn forwards, backwards, leftwards and rightwards according to the direction control signal to avoid the obstacle, the cleaning device moves to the position above the position of the garbage, the cleaning brush and the dust collection equipment are started, and the garbage is cleaned into the garbage bin in the cleaning device through the cooperation of the cleaning brush and the dust collection equipment.
The garbage cleaning method provided by the invention determines the road surface cleanliness according to the garbage type and the road surface area, determines the rotating speed and the dust absorption intensity of the cleaning brush according to the road surface cleanliness, and generates the cleaning path and the direction control signal according to the current position information, the obstacle position information and the garbage position information of the cleaning device to control the cleaning device to clean the garbage according to the cleaning path. The method provided by the invention determines the cleaning intensity according to the type of the cleaned garbage, so that the energy is reasonably utilized, and the cleaning efficiency is improved.
Fig. 2 is a schematic view of a garbage cleaning apparatus according to a second embodiment of the present invention. As shown in fig. 2, the apparatus includes: the system comprises a first acquisition module 21, an identification module 22, a calling module 23, a query module 24, a calculation module 25, a second acquisition module 26, a determination module 27, a generation module 28 and a control module 29;
the first acquisition module 21 is configured to acquire a trash image in a detection area on a cleaned road surface, where the trash image includes an image of a single trash and an image of a trash set formed by a plurality of trash;
the identification module 22 is configured to perform trash type identification on the trash image to obtain trash type information of all trash in the trash image;
the calling module 23 calls a garbage type list, wherein the garbage type list records the corresponding relation between the garbage type information and the garbage type parameter;
the query module 24 is configured to query the garbage type parameter corresponding to the garbage type information in the garbage type list;
the calculation module 25 is used for calculating the road surface cleanliness of the cleaned road surface according to the garbage type parameters and the road surface area of the detection area;
the second obtaining module 26 is used for obtaining a cleaning brush rotating speed parameter and a dust collection intensity parameter corresponding to the road surface cleanliness;
a determining module 27, configured to determine a rotation speed of the cleaning brush according to the rotation speed parameter of the cleaning brush, and determine a dust collection intensity of the cleaning device according to the dust collection intensity parameter;
a generating module 28, configured to obtain garbage position information and obstacle position information between the cleaning device and the garbage according to the radar data, and generate a cleaning path and a direction control signal according to the current position information of the cleaning device, the obstacle position information, and the garbage position information:
and the control module 29 is used for controlling the cleaning device to clean the garbage according to the cleaning path according to the direction control signal.
The first obtaining module 21 is specifically configured to: controlling the image acquisition equipment to rotate by a preset angle according to the angle control signal; determining a detection area according to the acquisition range and the preset angle of the image acquisition equipment, and acquiring an object image in the detection area; and extracting object characteristic information of the object image, and extracting a garbage image from the object image according to the object characteristic information.
The identification module 22 is specifically configured to: extracting shape characteristic information of the garbage image, and comparing the shape characteristic information with garbage characteristic information in a garbage characteristic database to obtain a comparison result; and determining the garbage type information according to the comparison result.
The calculation module 25 is specifically configured to:
when the garbage image is the image of single garbage, according to the formula
Figure BDA0001807721600000101
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, and a is the garbage type parameter.
When the garbage image is an image of a garbage collection consisting of a plurality of garbage, according to a formula
Figure BDA0001807721600000102
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, aiIs a garbage category parameter.
In addition, the device also comprises a third acquisition module for acquiring the garbage size information according to the garbage image and the garbage position information.
The calling module 23 is further configured to: calling a garbage type-size list, wherein the garbage type-size list records the corresponding relation between the garbage size information and the garbage size parameter; and inquiring the garbage size parameter corresponding to the garbage size information in the garbage type-size list.
The calculation module 25 is further configured to:
when the garbage image is the image of single garbage, according to the formula
Figure BDA0001807721600000103
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, a is the garbage type parameter, and b is the garbage size parameter.
When the garbage image is an image of a garbage collection consisting of a plurality of garbage, according to a formula
Figure BDA0001807721600000111
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, aiAs a parameter of the kind of refuse, biAnd (4) garbage size parameters.
The specific working process of the garbage cleaning device provided in the second embodiment of the present application corresponds to the garbage cleaning method provided in the first embodiment, and details are not described here.
The garbage cleaning device provided by the invention determines the road surface cleanliness according to the garbage type and the road surface area, determines the rotating speed and the dust absorption intensity of the cleaning brush according to the road surface cleanliness, generates the cleaning path and the direction control signal according to the current position information, the obstacle position information and the garbage position information of the cleaning device, and cleans garbage according to the cleaning path according to the direction control signal. The device provided by the invention determines the cleaning intensity according to the type of the cleaned garbage, so that the energy is reasonably utilized, and the cleaning efficiency is improved.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. A method of cleaning waste, the method comprising:
acquiring a garbage image in a detection area on a cleaned road surface, wherein the garbage image comprises an image of single garbage and an image of a garbage set consisting of a plurality of garbage;
performing garbage type identification on the garbage image to obtain garbage type information of all garbage in the garbage image;
calling a garbage type list, wherein the garbage type list records the corresponding relation between the garbage type information and the garbage type parameter;
inquiring the garbage type parameter corresponding to the garbage type information in the garbage type list;
calculating the road surface cleanliness of the cleaned road surface according to the garbage type parameters and the road surface area of the detection area;
acquiring a cleaning brush rotating speed parameter and a dust collection strength parameter corresponding to the pavement cleanliness;
determining the rotating speed of the cleaning brush according to the cleaning brush rotating speed parameter, and determining the dust collection intensity of the cleaning device according to the dust collection intensity parameter;
acquiring garbage position information and obstacle position information between the cleaning device and the garbage according to radar data, and generating a cleaning path and a direction control signal according to the current position information of the cleaning device, the obstacle position information and the garbage position information:
and controlling the cleaning device to clean the garbage according to the cleaning path according to the direction control signal.
2. The method according to claim 1, wherein said acquiring images of debris in a detection zone on the swept road surface comprises in particular:
the cleaning device controls the image acquisition equipment to rotate by a preset angle according to the angle control signal;
determining the detection area according to the acquisition range of the image acquisition equipment and the preset angle, and acquiring an object image in the detection area;
and extracting object characteristic information of the object image, and extracting the garbage image from the object image according to the object characteristic information.
3. The method according to claim 1, wherein the identifying the spam image specifically comprises:
extracting shape feature information of the garbage image, and comparing the shape feature information with garbage feature information in the garbage feature database to obtain a comparison result;
and determining the garbage type information according to the comparison result.
4. The method according to claim 1, wherein said calculating the road surface cleanliness of the cleaned road surface from the debris type parameter and the road surface area of the detection zone specifically comprises:
when the garbage image is the image of single garbage, according to a formula
Figure FDA0001807721590000021
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, and a is the garbage type parameter.
5. The method according to claim 1, wherein said calculating the road surface cleanliness of the cleaned road surface from the debris type parameter and the road surface area of the detection zone specifically comprises:
when the garbage image is an image of a garbage set formed by a plurality of garbage, according to a formula
Figure FDA0001807721590000022
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, aiIs a garbage category parameter.
6. The method of claim 1, further comprising:
and acquiring the garbage size information according to the garbage image and the garbage position information.
7. The method of claim 6, further comprising:
calling a garbage type-size list, wherein the garbage type-size list records the corresponding relation between the garbage size information and the garbage size parameter;
and inquiring the garbage size parameter corresponding to the garbage size information in the garbage type-size list.
8. The method of claim 7, further comprising:
when the garbage image is the image of single garbage, according to a formula
Figure FDA0001807721590000023
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, a is the garbage type parameter, and b is the garbage size parameter.
9. The method of claim 7, further comprising:
when the garbage image is an image of a garbage set formed by a plurality of garbage, according to a formula
Figure FDA0001807721590000031
Calculating the road surface cleanliness of the cleaned road surface; wherein theta is the road surface cleanliness, S is the road surface area, aiAs a parameter of the kind of refuse, biAnd (4) garbage size parameters.
10. A refuse collection device, characterized in that it comprises:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a garbage image in a detection area on a cleaning road surface, and the garbage image comprises an image of single garbage and an image of a garbage set formed by a plurality of garbage;
the identification module is used for identifying the garbage types of the garbage images to obtain the garbage type information of all garbage in the garbage images;
the calling module is used for calling a garbage type list, and the garbage type list records the corresponding relation between the garbage type information and the garbage type parameter;
the query module is used for querying the garbage type parameter corresponding to the garbage type information in the garbage type list;
the calculation module is used for calculating the road surface cleanliness of the cleaned road surface according to the garbage type parameters and the road surface area of the detection area;
the second acquisition module is used for acquiring a cleaning brush rotating speed parameter and a dust collection intensity parameter corresponding to the road surface cleanliness;
the determining module is used for determining the rotating speed of the cleaning brush according to the rotating speed parameter of the cleaning brush and determining the dust collection intensity of the cleaning device according to the dust collection intensity parameter;
a generating module, configured to obtain garbage position information and obstacle position information between the cleaning device and the garbage according to radar data, and generate a cleaning path and a direction control signal according to the current position information of the cleaning device, the obstacle position information, and the garbage position information:
and the control module is used for controlling the cleaning device to clean the garbage according to the cleaning path according to the direction control signal.
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