CN112173497A - Control method and device of garbage collection equipment - Google Patents
Control method and device of garbage collection equipment Download PDFInfo
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- CN112173497A CN112173497A CN202011247599.0A CN202011247599A CN112173497A CN 112173497 A CN112173497 A CN 112173497A CN 202011247599 A CN202011247599 A CN 202011247599A CN 112173497 A CN112173497 A CN 112173497A
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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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- 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
- B65F1/1468—Means for facilitating the transport of the receptacle, e.g. wheels, rolls
- B65F1/1473—Receptacles having wheels
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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
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/128—Data transmitting means
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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
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/138—Identification means
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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
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/165—Remote controls
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Abstract
The application provides a control method and device of garbage collection equipment, and belongs to the technical field of big data. The method comprises the following steps: acquiring a target image sent by a shooting device, wherein the target image comprises environmental information and a target position where a target object is located; and controlling the garbage collection device to move from the current position to the target position to collect the garbage in the position area under the condition that the environment information identifies that the position area of the target object has the garbage. In the application, the server identifies that the garbage exists in the position area of the target object, the garbage collection device is controlled to move to the target position, the target object is not required to independently walk to the garbage collection device to throw the garbage, the life of the target object is facilitated, and the convenience of the life of the target object is improved.
Description
Technical Field
The application relates to the technical field of big data, in particular to a control method and device of garbage collection equipment.
Background
At present, smart homes are deeply entered into daily life of people, and great convenience is brought to daily life of people. The intelligent garbage can belongs to an intelligent household, and when people stand in front of the intelligent garbage can, the intelligent garbage can automatically open the can cover without manually opening the can cover, so that the intelligent garbage can has sanitation and convenience.
The existing garbage throwing method also needs people to walk to the garbage can to throw the garbage, or the garbage can is taken to a position where the garbage needs to be dumped, so that the garbage throwing method brings inconvenience to life of people under the condition that the people are inconvenient to walk.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for controlling a garbage collecting device, so as to solve the problem of inconvenience in throwing garbage. The specific technical scheme is as follows:
in a first aspect, a method for controlling a garbage collection apparatus is provided, the method comprising:
acquiring a target image sent by a shooting device, wherein the target image comprises environmental information and a target position where a target object is located;
and controlling the garbage collection device to move from the current position to the target position to collect the garbage in the position area under the condition that the environment information identifies that the position area of the target object has the garbage.
Optionally, the environment information includes a handheld object of the target object and a target action, and the identifying that the garbage exists in the location area of the target object through the environment information includes:
determining a target action of the target object in the case that the handheld object is identified to belong to an unobvious junk object;
and confirming that the position area of the target object has garbage under the condition that the target action is determined to be the target action type.
Optionally, the target action includes a hand action, and in a case that it is determined that the target action is a target action type, the confirming that the garbage exists in the location area of the target object includes:
and when the hand motion is recognized as the first motion type, confirming that garbage exists in the position area of the target object.
Optionally, the target action includes a face action, and in a case that it is determined that the target action is a target action type, the confirming that the location area of the target object is junk includes:
and when the hand motion is recognized as a second motion type and the face motion is recognized as a third motion type, confirming that garbage exists in the position area of the target object, wherein the first motion type, the second motion type and the third motion type are different.
Optionally, the identifying that the location area of the target object is junk through the environment information includes:
and confirming that the position area of the target object has rubbish under the condition that the target position is identified to be in the area of the preset position and the shape of the article in the preset position belongs to the irregular shape.
Optionally, the identifying the hand action as the first action type comprises:
inputting a hand motion image into a target motion recognition model to obtain a recognition result output by the target motion recognition model, wherein the target recognition model is obtained by training an initial motion recognition model by using a training image sample marked with a motion type, the hand motion image is an image extracted from the target image and containing the hand motion, and the recognition result is used for representing the hand motion as a first motion type.
Optionally, before inputting the motion type of the hand motion into a motion recognition model, the method further comprises:
acquiring the training image sample and an annotation result of the training image sample, wherein the annotation result is used for indicating the action type of the hand action in the training image sample;
inputting the training image sample into the initial motion recognition model to obtain a recognition result output by the initial motion recognition model, wherein the recognition result is used for indicating the motion type of the hand motion in the training image sample;
and under the condition that the labeling result is inconsistent with the identification result, adjusting model parameters of the initial action identification model to obtain the target action identification model, wherein the identification result output by the target action identification model is consistent with the labeling result.
In a second aspect, there is provided a control apparatus for a waste collection device, the apparatus comprising:
the device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a target image sent by a shooting device, and the target image comprises environmental information and a target position where a target object is located;
and the control module is used for controlling the garbage collection equipment to move from the current position to the target position to collect the garbage in the position area under the condition that the environment information identifies that the position area of the target object has the garbage.
In a third aspect, an electronic device is provided, which includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing any of the method steps described herein when executing the program stored in the memory.
In a fourth aspect, a computer-readable storage medium is provided, having stored thereon a computer program which, when being executed by a processor, carries out any of the method steps.
The embodiment of the application has the following beneficial effects:
the embodiment of the application provides a control method of garbage collection equipment, which comprises the following steps: acquiring a target image sent by a shooting device, wherein the target image comprises environmental information and a target position where a target object is located; and controlling the garbage collection device to move from the current position to the target position to collect the garbage in the position area under the condition that the garbage exists in the position area of the target object is identified through the environment information. In the application, the server identifies that the garbage exists in the position area of the target object, the garbage collection device is controlled to move to the target position, the target object is not required to independently walk to the garbage collection device to throw the garbage, the life of the target object is facilitated, and the convenience of the life of the target object is improved.
Of course, not all of the above advantages need be achieved in the practice of any one product or method of the present application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flowchart of a method for controlling a garbage collection apparatus according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a method for identifying that spam exists in a location area of a target object according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control device of a garbage collection apparatus according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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.
The embodiment of the application provides a control method of a garbage collection device, which can be applied to a server and is used for controlling the garbage collection device to automatically move to a target position for garbage collection.
The following describes a control method of a garbage collection apparatus provided in an embodiment of the present application in detail with reference to a specific embodiment, as shown in fig. 1, the specific steps are as follows:
step 101: and acquiring the target image transmitted by the shooting device.
The target image comprises environment information and a target position where the target object is located.
In the embodiment of the application, a target object moves in a target area, a plurality of shooting devices are arranged in the target area to shoot pictures, a shot target image is sent to a server, the target image comprises environment information of the target area, the environment information comprises map information of the target area, and after the server receives the map information, a map model of the target area is built through modeling, and the position of each article in the map is identified. Since the target object is also within the target area, the server may also identify a target location of the target object in the target area. Optionally, when the map information is updated, the server reconstructs the map model according to the updated map information.
Illustratively, the target area is a room of a target object, a shooting device is arranged in the room, the shooting device can shoot information such as tables, chairs, users and articles on the tables in the room, and the shot pictures are sent to a server, and the server constructs a map model of the room according to the pictures, wherein the map model can be a three-dimensional model.
The environment information also comprises a handheld object of the target object, hand movements and face movements of the target object, an object in a position area where the target object is located, and the like. The environment information includes all environment information within the target area that the photographing device can photograph.
Step 102: and controlling the garbage collection device to move from the current position to the target position to collect the garbage in the position area under the condition that the garbage exists in the position area of the target object is identified through the environment information.
The server analyzes environmental information in the target image after acquiring the target image, and if the server identifies that garbage exists in the position area of the target object and indicates that the target object has the intention of throwing the garbage, the server controls the garbage collection device to automatically move from the current position to the position of the target object, so that the garbage can be conveniently put into the garbage collection device under the condition that the target object does not move.
Wherein the garbage collection device can be a garbage can with wheels.
In the application, the server identifies that the garbage exists in the position area of the target object, the garbage collection device is controlled to move to the target position, the target object is not required to independently walk to the garbage collection device to throw the garbage, the life of the target object is facilitated, and the convenience of the life of the target object is improved.
As an alternative implementation, as shown in fig. 2, the environment information includes a handheld object of the target object and a target action, and the identifying that the spam exists in the location area of the target object through the environment information includes:
step 201: and in the case that the handheld object is identified to belong to an unobvious junk object, determining the target action of the target object.
The server analyzes the handheld object of the target object in the target image, if the server judges that the handheld object is obvious garbage, the server indicates that the handheld object holds the garbage object in the hand, and the server controls the garbage collection device to move to the target position for garbage collection; if the server determines that the handheld object is not obviously junk, the server needs to further determine the target action of the target object to make further determination.
Optionally, the server analyzes the handheld item as a non-obvious junk item through the three-dimensional model. The server establishes a three-dimensional model and sets a size threshold of an article in the three-dimensional model. The server analyzes the size information of the handheld article, and if the server judges that the size information of the handheld article exceeds a size threshold value in the three-dimensional model, the handheld article is a large article and is not an obvious junk article. If the server determines that the size information of the hand-held object does not exceed the size threshold in the three-dimensional model, the object is a small object and may be garbage, but further determination is needed.
For example, if the handheld object is an electric fan and the size of the electric fan exceeds a size threshold, the server determines that the electric fan is not an obvious garbage object; if the handheld article is a tissue or a plastic bag, and the size of the tissue or the plastic bag is smaller than the size threshold, the server determines that the tissue or the plastic bag is possibly a garbage article, and further determines the action of the target object.
Step 202: and if the target action is determined to be the target action type, confirming that the position area of the target object has garbage.
The method comprises the steps that a server obtains a target action of a target object, analyzes the action type of the target action, and indicates that garbage exists in a position area of the target object if the server judges that the action type of the target action belongs to the target action type; and if the server judges that the action type of the target action does not belong to the target action type, indicating that the position area of the target object does not have garbage. Wherein the target action type is an action behavior of the target action.
As an optional implementation manner, the target action includes a hand action, and in a case that the target action is determined to be the target action type, the determining that the position area of the target object has the garbage includes: when the manual operation is recognized as the first operation type, it is confirmed that the position area of the target object has garbage.
In the embodiment of the application, the target action comprises a hand action, the server identifies whether the action type of the hand action is a first action type, and if the action type of the hand action is the first action type, the server indicates that the hand of the target object currently has garbage; if the server identifies that the action type of the hand action is not the first action type, the situation that the hands of the target object do not have garbage currently is indicated. Wherein the first type of motion is a peeling or scraping motion.
Illustratively, the first action type is actions such as peeling and cutting, and the server indicates that the position area of the target object has garbage if the server determines that the hand of the target object is doing the actions such as peeling and cutting, and indicates that the position area of the target object has no garbage if the hand determined by the target object is not doing the actions such as peeling and cutting.
As an optional implementation, the target action includes a face action, and in a case where the target action is determined to be of the target action type, the confirming that the location area of the target object is junk includes: when the hand movement is recognized as a second movement type and the face movement is recognized as a third movement type, it is confirmed that garbage exists in the position area of the target object, wherein the first movement type, the second movement type and the third movement type are different.
The server identifies whether the hand movement of the target object is of a second movement type and the face movement is of a third movement type, and if the server determines that the hand movement is of the second movement type and the face movement is of the third movement type, the server confirms that the position area of the target object has rubbish; if the server determines that the hand motion is not the second motion type or the face motion is not the third motion type, it is confirmed that the position area of the target object is free from garbage. The second action type is the action of the hands which are continuously close to and far away from the face, and the third action type is the opening and closing action of the mouth of the face or the occlusion action of facial muscles.
For example, if the server recognizes that the hand of the target object is continuously close to or away from the face and the mouth is continuously opened and closed, it indicates that the target object is eating and the probability of the area where the target object is located being garbage is high.
As an optional implementation, the identifying that the location area of the target object is junk through the environment information includes: and when the target position is identified to be in the area of the preset position and the shape of the article in the preset position belongs to the irregular shape, confirming that the position area of the target object has rubbish.
The server identifies the preset position and the target position of the target object, and if the server judges that the target position is in the area of the preset position and the shape of the article in the preset position belongs to an irregular shape, the fact that the position area of the target object has rubbish is indicated. The preset position is a position where articles can be placed, such as a table position or a tea table position. The irregularly shaped articles have scattered shapes and no specific shapes, such as scattered fruit peels, crumpled paper towels and the like.
Illustratively, if the server identifies that the handheld object of the target object is an obvious trash object, the garbage collection device is controlled to move to the target position, if the handheld object is identified as an unobvious trash object, whether the hand action of the target object is a peeling or cutting action is identified, if the server identifies that the target object is performing the peeling or cutting action, the garbage collection device is controlled to move to the target position, if the target object is not performing the peeling or cutting action, whether the hand of the target object is continuously close to or away from the face and the mouth is continuously opened and closed, if the server determines that the hand of the target object is continuously close to or away from the face and the mouth is continuously opened and closed, indicating that the target object is eating, the garbage collection device is controlled to move to the target position, if the server determines that the hand of the target object is not continuously close to or away from the face, or the mouth part is not opened and closed continuously, the garbage collection device is controlled not to move.
And if the server identifies that the target object is located in the position area of the table or the tea table and the table or the tea table has garbage articles, controlling the garbage collection equipment to move to the target position.
As an alternative embodiment, recognizing the manual action as the first action type includes: inputting a hand motion image into a target motion recognition model to obtain a recognition result output by the target motion recognition model, wherein the target recognition model is obtained by training an initial motion recognition model by using a training image sample marked with a motion type, the hand motion image is an image extracted from the target image and containing hand motion, and the recognition result is used for representing the hand motion as a first motion type.
After the server acquires the target image, a hand action image containing hand actions is extracted from the target image, then the hand action image is input into the target action recognition model, and a recognition result output by the target action recognition model is obtained and used for representing the hand actions as a first action type.
The server identifies whether the hand motion is the second motion type and identifies whether the face motion is the third motion type, and the identification model is also adopted for identification, which is not described herein again.
As an optional implementation, before inputting the motion type of the hand motion into the motion recognition model, the method further comprises: acquiring a training image sample and an annotation result of the training image sample, wherein the annotation result is used for indicating the action type of the hand action in the training image sample; inputting the training image sample into an initial action recognition model to obtain a recognition result output by the initial action recognition model, wherein the recognition result is used for indicating the action type of the hand action in the training image sample; and under the condition that the labeling result is inconsistent with the recognition result, adjusting the model parameters of the initial action recognition model to obtain a target action recognition model, wherein the recognition result output by the target action recognition model is consistent with the labeling result.
And the server inputs the training image sample into the initial action recognition model to obtain a recognition result output by the initial action recognition model, and if the labeling result is inconsistent with the recognition result, the model parameters of the initial action recognition model are adjusted until the recognition result is consistent with the labeling result to obtain the target action recognition model.
Based on the same technical concept, an embodiment of the present application further provides a control device of a garbage collection apparatus, as shown in fig. 3, the control device includes:
a first obtaining module 301, configured to obtain a target image sent by a shooting device, where the target image includes environment information and a target position where a target object is located;
and the control module 302 is configured to control the garbage collection device to move from the current location to the target location to collect garbage in the location area when it is identified that the location area of the target object has garbage through the environment information.
Optionally, the environment information includes a handheld object of the target object and the target action, and the control module 302 includes:
the first determination unit is used for determining the target action of the target object under the condition that the handheld object is identified to belong to the unobvious junk object;
and a first confirming unit, configured to confirm that the location area of the target object is junk if the target action is determined to be the target action type.
Optionally, the target action comprises a hand action, and the first confirmation unit comprises:
and a first confirming subunit, configured to confirm that the location area of the target object has garbage, if the hand movement is recognized as the first action type.
Optionally, the target action comprises a facial action, and the first confirmation unit comprises:
and a second confirming subunit, configured to confirm that the position area of the target object has garbage when the hand movement is recognized as the second action type and the face movement is recognized as the third action type, where the first action type, the second action type, and the third action type are different.
Optionally, the control module 302 comprises:
and the second confirming unit is used for confirming that garbage exists in the position area of the target object under the condition that the target position is in the area of the preset position and the shape of the article in the preset position belongs to the irregular shape.
Optionally, the first acknowledgement subunit comprises:
and the input submodule is used for inputting the hand motion image into a target motion recognition model to obtain a recognition result output by the target motion recognition model, wherein the target recognition model is obtained by training the initial motion recognition model by using a training image sample labeled with the motion type, the hand motion image is an image which is extracted from the target image and contains the hand motion, and the recognition result is used for representing the hand motion as a first motion type.
Optionally, the apparatus further comprises:
the second acquisition module is used for acquiring the training image sample and the labeling result of the training image sample, wherein the labeling result is used for indicating the action type of the hand action in the training image sample;
the input module is used for inputting the training image sample into the initial action recognition model to obtain a recognition result output by the initial action recognition model, wherein the recognition result is used for indicating the action type of the hand action in the training image sample;
and the adjusting module is used for adjusting the model parameters of the initial action recognition model to obtain a target action recognition model under the condition that the labeling result is inconsistent with the recognition result, wherein the recognition result output by the target action recognition model is consistent with the labeling result.
Based on the same technical concept, the embodiment of the present invention further provides an electronic device, as shown in fig. 4, including a processor 401, a communication interface 402, a memory 403 and a communication bus 404, where the processor 401, the communication interface 402, and the memory 403 complete mutual communication through the communication bus 404,
a memory 403 for storing a computer program;
the processor 401 is configured to implement the above steps when executing the program stored in the memory 403.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
In a further embodiment provided by the present invention, there is also provided a computer readable storage medium having stored therein a computer program which, when executed by a processor, implements the steps of any of the methods described above.
In a further embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the methods of the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of controlling a waste collection device, the method comprising:
acquiring a target image sent by a shooting device, wherein the target image comprises environmental information and a target position where a target object is located;
and controlling the garbage collection device to move from the current position to the target position to collect the garbage in the position area under the condition that the environment information identifies that the position area of the target object has the garbage.
2. The method of claim 1, wherein the environment information comprises a handheld object and a target action of the target object, and wherein the identifying that the location area of the target object is junk through the environment information comprises:
determining a target action of the target object in the case that the handheld object is identified to belong to an unobvious junk object;
and confirming that the position area of the target object has garbage under the condition that the target action is determined to be the target action type.
3. The method of claim 2, wherein the target action comprises a hand action, and wherein confirming that the location area of the target object is junk if the target action is determined to be of a target action type comprises:
and when the hand motion is recognized as the first motion type, confirming that garbage exists in the position area of the target object.
4. The method of claim 3, wherein the target action comprises a facial action, and wherein confirming that the location area of the target object is junk if the target action is determined to be of a target action type comprises:
and when the hand motion is recognized as a second motion type and the face motion is recognized as a third motion type, confirming that garbage exists in the position area of the target object, wherein the first motion type, the second motion type and the third motion type are different.
5. The method of claim 1, wherein the identifying that the location area of the target object is junk through the environment information comprises:
and confirming that the position area of the target object has rubbish under the condition that the target position is identified to be in the area of the preset position and the shape of the article in the preset position belongs to the irregular shape.
6. The method of claim 3, wherein the identifying the hand action as a first action type comprises:
inputting a hand motion image into a target motion recognition model to obtain a recognition result output by the target motion recognition model, wherein the target recognition model is obtained by training an initial motion recognition model by using a training image sample marked with a motion type, the hand motion image is an image extracted from the target image and containing the hand motion, and the recognition result is used for representing the hand motion as a first motion type.
7. The method of claim 6, wherein prior to entering the motion type of the hand motion into a motion recognition model, the method further comprises:
acquiring the training image sample and an annotation result of the training image sample, wherein the annotation result is used for indicating the action type of the hand action in the training image sample;
inputting the training image sample into the initial motion recognition model to obtain a recognition result output by the initial motion recognition model, wherein the recognition result is used for indicating the motion type of the hand motion in the training image sample;
and under the condition that the labeling result is inconsistent with the identification result, adjusting model parameters of the initial action identification model to obtain the target action identification model, wherein the identification result output by the target action identification model is consistent with the labeling result.
8. A control device for a waste collection apparatus, the device comprising:
the device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a target image sent by a shooting device, and the target image comprises environmental information and a target position where a target object is located;
and the control module is used for controlling the garbage collection equipment to move from the current position to the target position to collect the garbage in the position area under the condition that the environment information identifies that the position area of the target object has the garbage.
9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1 to 7 when executing a program stored in the memory.
10. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 7.
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