CN112520258B

CN112520258B - Method for moving intelligent garbage can between charging station and stopping point

Info

Publication number: CN112520258B
Application number: CN201910876310.2A
Authority: CN
Inventors: 何明明; 查霞红; 赵凤丽
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-09-17
Filing date: 2019-09-17
Publication date: 2022-11-18
Anticipated expiration: 2039-09-17
Also published as: CN112520258A

Abstract

The invention provides a method for moving an intelligent garbage can between a charging station and a stop point and the intelligent garbage can, wherein the method comprises the following steps: 1) The intelligent garbage can moves towards the starting direction, whether a label exists or not is detected, if the label is not detected, the intelligent garbage can continues to move forwards, and if the label is detected, the step 2) is executed; 2) Judging whether an obstacle exists at a position which is a preset distance ahead of the position of the current label, if so, stopping at the position of the current label, and if not, executing the step 3); 3) Judging whether the position of the current label is a stop point corresponding to the current intelligent garbage can, if the position of the current label is the corresponding stop point, stopping at the current label, and if the position of the current label is not the corresponding stop point, returning to the step 1). Therefore, even if a plurality of intelligent garbage cans exist in a work site, the intelligent garbage cans can still automatically start from a charging station to a working position, and the intelligent garbage cans cannot interfere with each other.

Description

Method for moving intelligent garbage can between charging station and stopping point

Technical Field

The invention relates to the technical field of robots, in particular to a method for moving an intelligent garbage can between a charging station and a stop point and self-moving equipment.

Background

The intelligent trash can is configured to execute corresponding work at a working position, and the automatic walking device returns to a special charging station to charge as time goes on. At present, when work place has only an intelligent garbage bin, intelligent garbage bin can be nimble at charging station and operation position round trip movement, but, when work place has a plurality of intelligent garbage bins, a plurality of intelligent garbage bins need intercommunication could be safely round trip movement between charging station and operation position. If a communication fault exists in one intelligent garbage can, the other intelligent garbage cans are seriously interfered to move back and forth between a charging station and an operation position.

Disclosure of Invention

The present invention is directed to solving, at least in part, one of the technical problems in the related art.

To this end, a first object of the present invention is to propose a method for moving an intelligent trash can between a charging station and a parking point.

A second object of the present invention is to provide a method for moving an intelligent trash can between a charging station and a stop point.

The third purpose of the invention is to provide an intelligent garbage can.

A fourth object of the present invention is a computer-readable storage medium.

In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for moving an intelligent trash can between a charging station and a stop point, including:

1) The intelligent garbage can moves towards the starting direction, whether a label exists or not is detected, if the label is not detected, the intelligent garbage can continues to move forwards, and if the label is detected, the step 2) is executed;

2) Judging whether an obstacle exists at a position which is a preset distance ahead of the position of the current label, if so, stopping at the position of the current label, and if not, executing the step 3);

3) Judging whether the position of the current label is a stop point corresponding to the intelligent garbage can, if so, stopping at the current label, and if not, returning to the step 1).

Further, in step 3), determining whether the position of the current tag is the current stop point corresponding to the intelligent trash can includes:

setting the total number n of the intelligent garbage cans;

detecting the number m of the charging stations through which the intelligent garbage can passes;

if the number of the passing tags is detected to be larger than n-m-1, judging the position of the current tag to be the corresponding stop point;

and if the number of the passing tags is not larger than n-m-1, judging that the position of the current tag is not the corresponding stop point.

detecting whether another label exists at a preset distance in front of the position of the current label, if not, judging that the position of the current label is the corresponding stop point; if yes, judging that the position of the current label is not the corresponding stop point.

Further, the step 3) includes,

and the intelligent garbage can continuously moves forward for the preset distance, whether the label exists at the position is judged, if yes, the intelligent garbage can continuously moves forward, and if not, the intelligent garbage can retreats to the position of the current label.

Further, the method further comprises the steps of:

4) The intelligent garbage can moves towards the returning direction, whether the current position of the intelligent garbage can is a charging station or not is detected, if not, the intelligent garbage can continues to move forwards, and if yes, the step 5 is executed);

5) Judging whether an obstacle exists at a position located at a preset distance in front of the intelligent garbage can or not, if so, stopping the intelligent garbage can at a current charging station, and if not, executing the step 6);

6) And judging whether the current charging station is a stopping point corresponding to the intelligent garbage can, if so, stopping the intelligent garbage can at the current charging station, and if not, returning to the step 4).

Further, in step 6), the determining whether the current charging station is a stop point corresponding to the intelligent trash can includes:

setting the total number n of the intelligent garbage cans;

if the obstacle is found at the next charging station in front of the intelligent garbage can through judgment, the number m of the charging stations through which the intelligent garbage can passes is obtained;

judging whether the number of the charging stations is larger than or equal to the total number n of the intelligent garbage cans;

if so, determining that the current charging station is a stopping point corresponding to the intelligent garbage can;

if not, determining that the current charging station is not the stop point corresponding to the intelligent garbage can.

Further, in the step 6), the determining whether the current charging station is a stop point corresponding to the intelligent trash can includes:

controlling the intelligent garbage can to continuously move for a preset distance, judging whether the intelligent garbage can continuously move for the preset distance detects another charging station or not, and if not, judging that the current charging station is a stopping point corresponding to the intelligent garbage can; if yes, judging that the current charging station is not the stopping point corresponding to the intelligent garbage can.

Further, the method further comprises:

detecting whether an obstacle exists or not in the process that the intelligent garbage can moves towards the starting direction;

if the obstacle is detected, stopping the intelligent garbage can to move;

if the obstacle cannot be detected, the intelligent garbage can continues to move.

According to the method for moving the intelligent garbage cans between the charging station and the stop point, the intelligent garbage cans are controlled to move automatically between the charging station and the stop point, and even if a plurality of intelligent garbage cans exist in a working site, each intelligent garbage can still move automatically between the charging station and the stop point without communicating with other intelligent garbage cans.

In order to achieve the above object, a second aspect of the present invention provides a method for moving an intelligent trash can between a charging station and a stop point, including:

a) the intelligent garbage can moves towards a starting direction, whether a starting side label exists or not is detected, if the starting side label is detected, b) is executed, and if the starting side label is not detected, c) is executed;

b) Controlling the intelligent garbage can to move to the first stopping point according to the position relation between the starting side label and the first stopping point;

c) Detecting whether an obstacle exists in front of the intelligent garbage can or not, if so, executing d), and if not, returning to a);

d) Judging whether the current position of the intelligent garbage can is the corresponding parking position, if so, controlling the intelligent garbage can to park at the current position, and if not, executing e);

e) Judging whether the barrier leaves or not, if so, returning to the step a), and if not, executing the step f);

f) Stop waiting for a preset time, go back to e).

Further, in step d), the determining whether the current position of the intelligent trash can is the corresponding parking position includes:

acquiring the current travelling distance of the intelligent garbage can;

judging whether the travel distance is equal to L-K x d or not, wherein L is the distance between the charging station closest to the first stop point and the first stop point; k is a positive integer, and d is a preset distance;

if the travelling distance is equal to L-K x d, determining that the current position of the intelligent garbage can is the corresponding parking position;

and if the travelling distance is not equal to L-K x d, determining that the current position of the intelligent garbage can is not the corresponding parking position.

Further, the method further comprises the steps of:

g) The intelligent garbage can moves towards the return direction, whether a return side label exists or not is detected, if the return side label is detected, h) is executed, and if the return side label is not detected, i) is executed;

h) Detecting whether a charging station in front of the regression side tag has an obstacle or not, if so, stopping the intelligent garbage can on the charging station in back of the regression side tag, and if not, stopping the intelligent garbage can on the charging station in front of the regression side tag;

i) Detecting whether a charging station exists at the current position of the intelligent garbage can, if so, executing j), and if not, executing g);

j) And detecting whether a barrier exists at the next charging station in front of the intelligent garbage can or not, if not, returning to execute the step g, and if so, controlling the intelligent garbage can to stop at the current charging station.

Further, the method comprises the following steps:

k) The intelligent garbage can moves towards the returning direction, whether the current position of the intelligent garbage can is a charging station or not is detected, if not, the intelligent garbage can continues to move forwards, and if yes, the step l) is executed;

l) judging whether an obstacle exists at a position located at a preset distance in front of the intelligent garbage can, if so, stopping the intelligent garbage can at a current charging station, and if not, executing the step m);

m) judging whether the current charging station is a stopping point corresponding to the intelligent garbage can, if so, stopping the intelligent garbage can at the current charging station, and if not, returning to the step k).

Further, in the step l), the determining whether the current charging station is a stop point corresponding to the intelligent trash can includes:

setting the total number n of the intelligent garbage cans;

if the obstacle is found at the next charging station in front of the intelligent garbage can through judgment, the number of the charging stations passed by the intelligent garbage can is obtained;

Further, in step l), the determining whether the current charging station is a stop point corresponding to the intelligent trash can includes:

controlling the intelligent garbage can to continuously move for a preset distance, judging whether the intelligent garbage can continuously move for the preset distance to detect another charging station or not, and if not, judging that the current charging station is a stopping point corresponding to the intelligent garbage can; if yes, the current charging station is judged not to be the stopping point corresponding to the intelligent garbage can.

To achieve the above object, a third embodiment of the present invention provides an intelligent trash can, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the method for moving the intelligent trash can between a charging station and a stop point.

In order to achieve the above object, a fourth aspect of the present invention provides a computer-readable storage medium, wherein instructions of the storage medium, when executed by a processor, implement the method for moving the intelligent trash can between the charging station and the parking point as described above.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart of a method for moving an intelligent trash can between a charging station and a stop point according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the working area of an exemplary one intelligent trash can;

fig. 3 is a schematic flow chart of another method for moving an intelligent trash can between a charging station and a stop point according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of the working area of an exemplary two intelligent trash can;

fig. 5 is a schematic flow chart of another method for moving an intelligent trash can between a charging station and a stop point according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of the working area of an exemplary three intelligent trash can;

FIG. 7 is a schematic view of the working area of an exemplary four intelligent trash can;

fig. 8 is a schematic flow chart of another method for moving an intelligent trash can between a charging station and a stop point according to an embodiment of the present invention;

fig. 9 is a schematic flowchart of another method for moving an intelligent trash can between a charging station and a stop point according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of another intelligent trash can according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

The following describes a method for moving an intelligent trash can between a charging station and a stop point and the intelligent trash can according to an embodiment of the present invention with reference to the accompanying drawings.

Fig. 1 is a schematic flowchart of a method for moving an intelligent trash can between a charging station and a stop point according to an embodiment of the present invention. As shown in fig. 1, the method for moving the intelligent trash can between the charging station and the docking point comprises the following steps:

1) The intelligent garbage can moves towards the starting direction, whether a label exists or not is detected, if the label is not detected, the intelligent garbage can continues to move forwards, and if the label is detected, the step 2) is executed.

2) And judging whether an obstacle exists at a position which is a preset distance ahead of the position of the current label, if so, stopping at the position of the current label, and if not, executing the step 3).

The execution main body of the method for moving the intelligent garbage can between the charging station and the stop point is the intelligent garbage can, the intelligent garbage can is controlled to move autonomously between the charging station and the stop point, and even if a plurality of intelligent garbage cans exist in a working site, each intelligent garbage can still move autonomously between the charging station and the stop point without communicating with other intelligent garbage cans.

Specifically, the advancing direction of the intelligent garbage can is the starting direction and the returning direction respectively. The intelligent garbage can takes the operation position as a destination, and takes the advancing direction towards the operation position as a starting direction; the intelligent garbage can takes the charging station as a destination, and the traveling direction towards the charging station is a returning direction. Wherein, the operation position is the stop point that sets up according to the operation demand, and intelligent garbage bin stops and carries out the refuse treatment operation at the operation position.

Fig. 2 is a schematic diagram of the working area of the intelligent trash can of the first example. In fig. 2, there are three charging stations, namely, a charging station A1, a charging station A2, and a charging station A3. The garbage can comprises three intelligent garbage cans which are respectively an intelligent garbage can T1, an intelligent garbage can T2 and an intelligent garbage can T3. There are three working positions, namely, working position B1, working position B2, and working position B3.

Wherein, every operation position has all set up the label, every label has the incidence relation of one-to-one with corresponding operation position. When the intelligent garbage can detects the label, whether the corresponding operation position is reached or not can be known. The tag is used to identify the operation position, and the tag is, for example, an RFID (Radio Frequency Identification) tag, a two-dimensional code, a magnetic nail, or the like, but is not limited thereto. If the operation position has set up the RFID label, whether intelligent garbage bin can pass through the RFID system detection of carrying on has the RFID label subaerially. If the operation position has set up the two-dimensional code, whether intelligent garbage bin can detect subaerial two-dimensional code that exists through the camera and the two-dimensional code recognition technology of carrying on. If the operation position has set up the magnetism nail, whether the magnetism nail exists on the magnetic navigation sensor that intelligent garbage bin can carry on detects subaerially.

The application scenario addressed by the embodiment is a scenario in which the intelligent trash can moves toward the departure direction, and the invention of the embodiment aims to realize that each intelligent trash can departs from a respective charging station and arrives at a respective working position. Continuing with the example of fig. 2, the start point of the intelligent trash can T1 is the charging station A1, and the end point is B1. The starting point of the intelligent garbage can T2 is a charging station A2, and the terminal point is B2. The starting point of the intelligent garbage can T3 is a charging station A3, and the terminal point is B3.

Specifically, in step 1), when the intelligent trash can moves towards the departure direction, if the tag is detected, it indicates that the intelligent trash can reaches an operation position, and if the tag is not detected, it indicates that the intelligent trash can does not reach the operation position.

Further, in the process that the intelligent garbage can moves towards the starting direction, whether an obstacle exists or not is detected; if the intelligent garbage can detects that the obstacle exists, stopping the intelligent garbage can to move; if the obstacle cannot be detected, the intelligent garbage can continues to move.

Specifically, in step 2), the preset distance is a distance between adjacent working positions. Taking fig. 2 as an example, the distance between the working position B3 and the working position B2 and the distance between the working position B2 and the working position B1 are both preset distances.

Specifically, the position of the current label in front of the position is a preset distance, namely the next operation position, and if the next operation position has an obstacle, the next operation position is indicated to stop at another intelligent garbage can. At this time, the current intelligent trash can is parked at the current label. If no obstacle exists in the next operation position, whether the current intelligent garbage can stop at the current label or not needs to be judged.

Specifically, in step 3), if it is determined that the current tag is a stop point corresponding to the current intelligent trash can, the current intelligent trash stops at the current tag, and if it is determined that the current tag is not the stop point corresponding to the current intelligent trash can, the intelligent trash can continues to perform step 1).

Further, the step 3) includes,

In different application scenarios, the manner of judging whether the position of the current tag is a stop point corresponding to the current intelligent trash can is different, for example, as follows:

example one, whether the position of the current label is a stop point corresponding to the current intelligent garbage can is judged according to the total number of the intelligent garbage cans, the number of passing charging stations and the number of passing labels.

Specifically speaking, whether judging current label position includes for the stop point that current intelligent garbage bin corresponds: setting the total number n of the intelligent garbage cans; detecting the number m of the charging stations through which the intelligent garbage can passes; if the number of the passing tags is detected to be larger than n-m-1, judging the position of the current tag to be a corresponding stop point; and if the number of the passing tags is not larger than n-m-1, judging that the position of the current tag is not a corresponding stop point.

It should be noted that when the intelligent trash can moves towards the starting direction, the number of charging stations that the intelligent trash can passes through does not include the charging stations that the intelligent trash can currently stops.

Continuing with the example of fig. 2, the total number n of intelligent trash cans is 3. The starting point of the intelligent garbage can T1 is a charging station A1, and the terminal point is B1. When the intelligent garbage can T1 detects the label on the operation position B3, the number m of the charging stations passed by the intelligent garbage can is 0, the number of the passed labels is 1, the number 1 of the passed labels is not more than 3-0-1=2, and the operation position B3 is not the stop point of the intelligent garbage can T1. When the intelligent garbage can T1 detects the label on the operation position B2, the number m of the charging stations passed by the intelligent garbage can is 0, the number of the passed labels is 2, the number 2 of the passed labels is not more than 3-0-1=2, and the operation position B2 is not the stop point of the intelligent garbage can T1. When the intelligent garbage can T1 detects a label on the operation position B1, the number m of charging stations passed by the intelligent garbage can is 0, the number of passed labels is 3 and is larger than 3-0-1=2, and the operation position B1 is a stop point of the intelligent garbage can T1.

Continuing with the example of fig. 2, the total number n of intelligent trash cans is 3. The starting point of the intelligent garbage can T2 is a charging station A2, and the terminal point is B2. When the intelligent trash can T2 detects the label on the operation position B3, the number m of the passing charging stations of the intelligent trash can is 1 (the passing charging station is A1), the number of the passing label is 1, the number 1 of the passing label is not more than 3-1-1=1, and the operation position B3 is not the stop point of the intelligent trash can T2. When the intelligent garbage can T2 detects the label on the operation position B2, the number m of the charging stations passed by the intelligent garbage can is 1 (the number of the passed charging stations is A1), the number of the passed labels is 2, the number 2 of the passed labels is greater than 3-1-1=1, and the operation position B2 is a stop point of the intelligent garbage can T2.

Continuing with the example of fig. 3, the total number n of intelligent trash cans is 3. The starting point of the intelligent garbage can T3 is a charging station A3, and the terminal point is B3. When the intelligent garbage can T3 detects the label on the operation position B3, the number m of charging stations passed by the intelligent garbage can is 2 (the number of the passed charging stations is A1 and A2), the number of the passed labels is 1, the number 1 of the passed labels is greater than 3-2-1=0, and the operation position B3 is a stop point of the intelligent garbage can T3. Detecting whether another label exists at a preset distance in front of the position of the current label, and if not, judging the position of the current label to be the corresponding stop point; if yes, judging that the position of the current label is not the corresponding stop point.

Wherein the preset distance is the distance between adjacent working positions. Taking fig. 2 as an example, the distance between the working position B3 and the working position B2 and the distance between the working position B2 and the working position B1 are both preset distances.

Specifically, the intelligent garbage can continues to move forward for a preset distance from the current label, whether the label exists at the position is judged, if yes, the intelligent garbage can continues to move forward, and if not, the intelligent garbage can retreats to the position of the current label.

Continuing with the example of fig. 2, the start point of the intelligent trash can T1 is the charging station A1, and the end point is B1. When the intelligent garbage can T1 detects the label on the working position B3, if the position with the preset distance in front is detected, namely no obstacle exists on the working position B2, the intelligent garbage can T1 continuously moves the preset distance to the working position B2 and detects the label on the working position B2, and the last working position B3 is not the stop point of the intelligent garbage can T1. And so on, when the intelligent garbage can T1 is located at the label on the operation position B2 currently, if the position with the preset distance in front is detected, namely no obstacle exists on the operation position B1, the intelligent garbage can T1 continuously moves the preset distance to the operation position B1 and detects the label on the operation position B1, and the last operation position B2 is not the stop point of the intelligent garbage can T1. Analogize so on, when intelligent garbage bin T1 is located the label on operation position B3 at present, if detect the place ahead and predetermine the distance department and have no obstacle, intelligent garbage bin T1 continues to move the place ahead and predetermine the distance department but does not detect the label, explains that last operation position B1 is not intelligent garbage bin T1's stop point, and at this moment, intelligent garbage bin T1 returns and stops to operation position B1.

Continuing with the example of fig. 2, the start point of the intelligent trash can T2 is the charging station A2, and the end point is B2. When the intelligent garbage can T2 detects the label on the working position B3, if the position with the preset distance in front is detected, namely no obstacle exists on the working position B2, the intelligent garbage can T2 continuously moves the preset distance to the working position B2 and detects the label on the working position B2, and the last working position B3 is not the stop point of the intelligent garbage can T1. Analogize so on, when intelligent garbage bin T2 was located the label on the operation position B2 at present, if it has barrier (intelligent garbage bin T1) on the operation position B1 to detect the place ahead preset distance department, at this moment, intelligent garbage bin T2 berths at operation position B2.

Continuing with the example of fig. 2, the start point of the intelligent trash can T3 is the charging station A3, and the end point is B3. When the intelligent garbage can T3 detects a label on the operation position B3, the front preset distance position, namely the obstacle (namely the intelligent garbage can T2) on the operation position B2 is detected, and at the moment, the intelligent garbage can T3 stops at the operation position B3.

In this embodiment, through the scheme of many labels, realize operation position and intelligent garbage bin one-to-one, every intelligent garbage bin is through detecting the label, alright remove to the operation position of its correspondence and carry out the operation, and the procedure is simple, and control is convenient.

In order to facilitate understanding of the method for moving the intelligent trash can between the charging station and the stop point, the departure process of each intelligent trash can is described by taking fig. 2 as an example.

Specifically, the starting sequence is an intelligent garbage can T1, an intelligent garbage can T2 and an intelligent garbage can T3 in sequence.

To intelligent garbage bin T1, because intelligent garbage bin T1 is the first intelligent garbage bin of starting, each operation position does not berth intelligent garbage bin promptly.

Specifically, the intelligent garbage can T1 moves towards the starting direction and detects whether a label exists or not; when the intelligent garbage can T1 detects the label on the operation position B3, the intelligent garbage can T1 continuously detects that no barrier exists at a position which is a preset distance in front of the operation position B3, namely the operation position B2; the intelligent garbage can T1 judges whether the operation position B3 is a stop point of the intelligent garbage can or not, and the judgment result is that the operation position B3 is not the stop point of the intelligent garbage can; the intelligent garbage can T1 continues to move to the working position B2 and detects a label on the working position B2, and the intelligent garbage can T1 detects that no barrier exists at a position which is a preset distance in front of the working position B2, namely the working position B3; the intelligent garbage can T1 judges whether the operation position B2 is a stop point of the intelligent garbage can, and the judgment result shows that the operation position B2 is not the stop point of the intelligent garbage can; the intelligent garbage can T1 continuously moves to the operation position B1 and detects a label on the operation position B1, the intelligent garbage can T1 detects that the position in front of the operation position B1 is a preset distance, namely no barrier exists on the operation position B1, and the intelligent garbage can T1 judges that the operation position B1 is a stop point and stops on the operation position B1.

To intelligent garbage bin T2, because intelligent garbage bin T2 is the intelligent garbage bin of second departure, intelligent garbage bin T1 has been berthed on operation position B1.

Specifically, the intelligent garbage can T2 moves towards the starting direction, and whether a label exists or not is detected; when the intelligent garbage can T2 detects the label on the operation position B3, the intelligent garbage can T2 detects that no barrier exists at a preset distance in front of the operation position B3, namely the operation position B2; the intelligent garbage can T2 judges whether the operation position B3 is a stop point of the intelligent garbage can or not, and the judgment result is that the operation position B3 is not the stop point of the intelligent garbage can; the intelligent garbage can T2 continuously moves to the operation position B2 and detects a label on the operation position B2, the intelligent garbage can T2 detects that the position of a preset distance in front of the operation position B2, namely an obstacle (the intelligent garbage can T1) exists on the operation position B3, and at the moment, the intelligent garbage can T2 stops at the operation position B2.

To intelligent garbage bin T3, because intelligent garbage bin T3 is the intelligent garbage bin of third departure, intelligent garbage bin T1 has been berthhed on operation position B1, intelligent garbage bin T2 has been berthhed on operation position B2.

Specifically, the intelligent garbage can T3 moves towards the starting direction and detects whether a label exists or not; when the intelligent garbage can T3 detects the label on the operation position B3, the intelligent garbage can T3 detects that the position of the front preset distance of the operation position B3 is the obstacle on the operation position B2, and at the moment, the intelligent garbage can T3 stops at the operation position B3.

The method for moving the intelligent garbage can between the charging station and the stop point, provided by the embodiment of the invention, comprises the following steps: 1) The intelligent garbage can moves towards the starting direction, whether a label exists or not is detected, if the label is not detected, the intelligent garbage can continues to move forwards, and if the label is detected, the step 2) is executed; 2) Judging whether an obstacle exists at a position which is a preset distance ahead of the position of the current label, if so, stopping at the position of the current label, and if not, executing the step 3); 3) Judging whether the position of the current label is a stop point corresponding to the intelligent garbage can, if the position of the current label is the corresponding stop point, stopping at the current label, and if the position of the current label is not the corresponding stop point, returning to the step 1). Therefore, the intelligent garbage can be automatically started from the charging station to the operation position, even if a plurality of intelligent garbage cans exist in a work place, each intelligent garbage can does not need to be communicated with other intelligent garbage cans, the intelligent garbage can still be automatically started from the charging station to the operation position, and the intelligent garbage cans cannot interfere with one another.

Fig. 3 is a schematic flowchart of another method for moving an intelligent trash can between a charging station and a stop point according to an embodiment of the present invention. As shown in fig. 3, based on the embodiment shown in fig. 1, the method for moving the intelligent trash can between the charging station and the stop point further includes the following steps:

5) Judging whether an obstacle exists at a preset distance in front of the intelligent garbage can or not, if so, stopping the intelligent garbage can at a current charging station, and if not, executing the step 6);

Fig. 4 is a schematic diagram of the working area of an exemplary two-way intelligent trash can. In fig. 4, there are three charging stations, namely, a charging station A1, a charging station A2, and a charging station A3. The garbage can comprises three intelligent garbage cans which are respectively an intelligent garbage can T1, an intelligent garbage can T2 and an intelligent garbage can T3. There are three working positions, namely, working position B1, working position B2, and working position B3.

The application scenario targeted by the embodiment is a scenario in which the intelligent trash can moves towards the regression direction. The invention of the embodiment aims to realize that each intelligent garbage can arrives at each charging station from each working position. Continuing with the example of fig. 4, the start point of the intelligent trash can T1 is B1, and the end point is the charging station A1. The starting point of the intelligent garbage can T2 is B2, and the terminal point is a charging station A2. The starting point of the intelligent garbage can T3 is B3, and the terminal point is a charging station A3.

Specifically, in the step 4), the mode of detecting whether the current position of the intelligent garbage can is the charging station is not limited.

For example, the intelligent trash can stores a boundary map in advance, the boundary map records the position information of the charging stations, the intelligent trash can detects the position information of the intelligent trash can in real time through a GPS (global positioning system), a Beidou satellite system and the like carried by the intelligent trash can, and compares the position information with the position information of the charging stations in the boundary map, if the position information is consistent, the current position of the intelligent trash can is the position of the charging stations, and if the position information is not consistent, the current position of the intelligent trash can is not the position of the charging stations.

For another example, whether the current position of the intelligent trash can is the position of the charging station is judged by whether the intelligent trash can contacts the charging interface of the charging station. The intelligent garbage can is in contact with a charging interface of a charging station, and the current position of the intelligent garbage can is the position of the charging station; on the contrary, the intelligent garbage can is in contact with a charging interface of the charging station, and the current position of the intelligent garbage can is not the position of the charging station.

Specifically, in step 5), the preset distance is a distance between adjacent charging stations. Taking fig. 4 as an example, the distance between the charging station A1 and the charging station A2 and the distance between the charging station A2 and the charging station A3 are both preset distances.

Specifically, if the current position of the intelligent trash can is a charging station, an obstacle exists at the position of the preset distance in front of the intelligent trash can, and it is indicated that another intelligent trash can is parked at the next charging station. At this time, the current intelligent trash can stops at the current charging station. If there is not the barrier in place of the preset distance in the place ahead, whether need judge intelligent garbage bin can stop at present charging station at this moment.

Specifically, in step 6), in different application scenarios, the manner of determining whether the current charging station is a stop point corresponding to the intelligent trash can is different, for example, the following:

example one, whether the current charging station is a stop point corresponding to the intelligent garbage can is judged according to the total number of the intelligent garbage cans and the number of the charging stations.

Specifically speaking, judge whether the charging station of present place is the stop that intelligent garbage bin corresponds includes: setting the total number n of the intelligent garbage cans; if the situation that an obstacle exists at a preset distance in front of the intelligent garbage can is judged and known, the number of charging stations through which the intelligent garbage can passes is obtained; judging whether the number of the charging stations is larger than or equal to the total number n of the intelligent garbage cans; if so, determining that the current charging station is a stopping point corresponding to the intelligent garbage can; if not, determining that the current charging station is not the stop point corresponding to the intelligent garbage can.

Continuing with fig. 4 as an example, the returning sequence is sequentially the intelligent trash can T3, the intelligent trash can T2, and the intelligent trash can T1, and the total number n of the intelligent trash cans is 3.

The starting point of the intelligent garbage can T3 is B3, and the terminal point is a charging station A3. The intelligent garbage can T3 is the first intelligent garbage can that returns, and no intelligent garbage can exists on each charging station.

When intelligent garbage bin T3 removed to charging station A1 to detect place ahead preset distance department and charging station A2 department is the barrier-free thing, at this moment get into and judge whether charging station A1 is intelligent garbage bin T3's terminal point: at this moment, the number m of the charging stations through which the intelligent garbage can T3 passes is 1, the number m of the charging stations through which the intelligent garbage can T3 passes is smaller than the total number n of the intelligent garbage can, and at this moment, it is judged that the charging station A1 is not the terminal point of the intelligent garbage can T3.

When intelligent garbage bin T3 continued to move to charging station A2 to detect the place ahead and predetermine distance department and be charging station A3 department barrier-free, whether entering this moment judges charging station A2 is intelligent garbage bin T3's terminal point: at this moment, the number m of the charging stations through which the intelligent garbage can T3 passes is 2, the number m of the charging stations through which the intelligent garbage can T3 passes is smaller than the total number n of the intelligent garbage can, and at this moment, it is judged that the charging station A2 is not the terminal point of the intelligent garbage can T3.

When intelligent garbage bin T3 continued to move to charging station A3 to detect the place ahead and predetermine distance department and not have the barrier, whether entering this moment and judging charging station A3 is intelligent garbage bin T3's terminal point: at this moment, the number m of the charging stations through which the intelligent garbage can T3 passes is 3, the number m of the charging stations through which the intelligent garbage can T3 passes is equal to the total number n of the intelligent garbage can, and at this moment, the charging station A3 is judged to be the terminal point of the intelligent garbage can T3.

The starting point of the intelligent garbage can T2 is B2, and the terminal point is a charging station A2. The intelligent garbage can T2 is a second regression intelligent garbage can, and an intelligent garbage can T3 is already arranged at the charging station A3.

When intelligent garbage bin T2 removed to charging station A1 to detect place ahead preset distance department and charging station A2 department is the barrier-free thing, at this moment get into and judge whether charging station A1 is intelligent garbage bin T2's terminal point: at this moment, the number m of the charging stations through which the intelligent garbage can T2 passes is 1, the number m of the charging stations through which the intelligent garbage can T2 passes is smaller than the total number n of the intelligent garbage can, and at this moment, it is judged that the charging station A1 is not the terminal point of the intelligent garbage can T3.

When the intelligent garbage can T3 continues to move to the charging station A2, and the obstacle is detected at the position of the front preset distance, namely the position of the charging station A3, and the fact that the charging station A2 is the end point of the intelligent garbage can T3 is judged.

The starting point of the intelligent garbage can T1 is B1, and the terminal point is a charging station A1. The intelligent garbage can T3 is an intelligent garbage can of a third regression, the intelligent garbage can T3 is already arranged at the charging station A3, and the intelligent garbage can T2 is already arranged at the charging station A2.

When the intelligent garbage can T1 moves to the charging station A1, and the obstacle is detected at the position with the preset distance in front, namely the position of the charging station A2, and the fact that the charging station A1 is the end point of the intelligent garbage can T1 is judged.

Example two, judging whether the charging station where the current charging station is located is the stopping point corresponding to the intelligent trash can includes: controlling the intelligent garbage can to continuously move for a preset distance, judging whether the intelligent garbage can continuously move for the preset distance detects another charging station or not, and if not, judging that the current charging station is a stopping point corresponding to the intelligent garbage can; if yes, judging that the current charging station is not the stopping point corresponding to the intelligent garbage can.

When the intelligent garbage can T3 moves to the charging station A1, and the place with the preset distance in front is detected, namely no obstacle is located at the charging station A2, the intelligent garbage can T3 continues to move the preset distance, and after the preset distance continues to be moved, the intelligent garbage can T3 detects the charging station A2, and then the fact that the charging station A1 is not the terminal point of the intelligent garbage can T3 is judged.

The intelligent garbage can T3 starts to move from the charging station A2 for the preset distance continuously, and after the intelligent garbage can T3 continues to move for the preset distance, the charging station A2 is judged not to be the terminal point of the intelligent garbage can T3 if the charging station A3 detects the charging station A3.

The intelligent garbage can T3 starts to move from the charging station A3 for the preset distance continuously, after the preset distance is moved continuously, the intelligent garbage can T3 does not detect the charging station, it is judged that the charging station A3 is the terminal point of the intelligent garbage can T3, and at the moment, the intelligent garbage can T3 backs to the charging station A3 to stop.

The starting point of the intelligent garbage can T2 is B2, and the terminal point is a charging station A2. The intelligent garbage can T2 is the second intelligent garbage can which returns, and an intelligent garbage can T3 is arranged at the charging station A3.

When the intelligent garbage can T2 moves to the charging station A1, and the place with the preset distance in front is detected, namely no obstacle is located at the charging station A2, the intelligent garbage can T2 continues to move the preset distance, and after the preset distance continues to be moved, the intelligent garbage can T2 detects the charging station A2, and then the fact that the charging station A1 is not the terminal point of the intelligent garbage can T2 is judged.

Meanwhile, the intelligent garbage can T2 detects that the place with the preset distance in front, namely the charging station A3, is provided with an obstacle (the intelligent garbage can T3), and the charging station A2 is judged to be the terminal point of the intelligent garbage can T2.

The method for moving the intelligent garbage can between the charging station and the stop point, provided by the embodiment of the invention, comprises the following steps: 4) The intelligent garbage can moves towards the returning direction, whether the current position of the intelligent garbage can is a charging station or not is detected, if not, the intelligent garbage can continues to move forwards, and if yes, the step 5 is executed); 5) Judging whether an obstacle exists at a preset distance in front of the intelligent garbage can or not, if so, stopping the intelligent garbage can at a current charging station, and if not, executing the step 6); 6) And judging whether the current charging station is a stopping point corresponding to the intelligent garbage can or not, if so, stopping the intelligent garbage can at the current charging station, otherwise, returning to the step 4). From this, realize that intelligent garbage bin can return to the charging station automatically, even there are a plurality of intelligent garbage bins in the work place, every intelligent garbage bin need not to communicate with other intelligent garbage bins, still can return to the charging station automatically, can not mutual interference between a plurality of intelligent garbage bins.

Fig. 5 is a schematic flow chart of another method for moving an intelligent trash can between a charging station and a stop point according to an embodiment of the present invention. As shown in fig. 5, the method for moving the intelligent trash can between the charging station and the docking point includes the following steps:

a) the intelligent garbage can moves towards a starting direction, whether a starting side label exists is detected, if the starting side label is detected, b) is executed, and if the starting side label is not detected, c) is executed;

f) Stop waiting for a preset time, go back to e).

Specifically, the advancing direction of intelligence garbage bin is direction of departure and regression direction respectively. The intelligent garbage can takes the operation position as a destination, and takes the advancing direction towards the operation position as a starting direction; the intelligent garbage can takes the charging station as a destination, and the traveling direction towards the charging station is a returning direction. The operation position is a stop point set according to operation requirements, and the intelligent garbage can stops at the operation position to perform garbage disposal operation.

Fig. 6 is a schematic diagram of the working area of an exemplary three intelligent trash can. Fig. 7 is a schematic diagram of the working area of an exemplary four smart trash can. In fig. 6 to 7, there are three charging stations, that is, a charging station A1, a charging station A2, and a charging station A3. The garbage can comprises three intelligent garbage cans which are respectively an intelligent garbage can T1, an intelligent garbage can T2 and an intelligent garbage can T3. A label is arranged at the operation position B3, and the label at the operation position B3 is recorded as a starting side label; a label is provided at a position B2 between the charging station A2 and the charging station A3, and the label at the position B2 is referred to as a return-side label. When the intelligent garbage cans move towards the starting direction, the starting point of each intelligent garbage can is a charging station shown in fig. 6, and the ending point of each intelligent garbage can is each working position shown in fig. 7. When the intelligent garbage cans move towards the returning direction, the starting point of each intelligent garbage can is each working position shown in fig. 7, and the ending point is a charging station shown in fig. 6.

The tag is, for example, an RFID (Radio Frequency Identification) tag, a two-dimensional code, a magnetic pin, or the like, but is not limited thereto. If set up the RFID label on ground, whether intelligent garbage bin can detect subaerially to have the RFID label through the RFID system of carrying on. If subaerial set up the two-dimensional code, intelligent garbage bin can detect subaerially whether there is the two-dimensional code through camera and the two-dimensional code recognition technology of carrying on. If set up the magnetism nail on the ground, whether the magnetism nail exists on the magnetic navigation sensor that intelligent garbage bin can carry on detects ground.

Specifically, in step a), when the intelligent garbage bin moves towards the departure direction, if the departure-side tag is detected, it indicates that the intelligent garbage bin reaches one operation position, and if the departure-side tag is not detected, it indicates that the intelligent garbage bin does not reach one operation position.

Specifically, in step b), the starting side tag is arranged on a first stop point, the first stop point is a working position, and the intelligent garbage can is stopped at the first stop point to perform garbage disposal operation.

Specifically, in step c), if the intelligent garbage can detects that an obstacle exists in front of the intelligent garbage can, whether the intelligent garbage can stops at the current position needs to be judged. If no obstacle is detected in front, the method returns to a) to continue moving.

Specifically, in the step d), the manner of judging whether the current position of the intelligent garbage can is the corresponding parking position is not limited.

As an example, the determining whether the current position of the intelligent trash can is the corresponding parking position includes:

acquiring the current travelling distance of the intelligent garbage can;

and if the travel distance is not equal to L-K x d, determining that the current position of the intelligent garbage can is not the corresponding parking position.

Wherein, predetermine distance d and berth at the distance between the intelligent garbage bin that the operation position is adjacent. For example, taking fig. 7 as an example, the distance between the intelligent trash cans T1 and T2 is a preset distance.

Wherein K is a positive integer.

The starting point of the record of the travel distance is the charging station closest to the first stop point, namely the travel distance is recorded when each intelligent garbage can reaches the charging station closest to the first stop point. The charging station closest to the first stop point is the charging station which is passed by the intelligent garbage can finally when the intelligent garbage can moves forwards in the starting direction.

Taking fig. 6 as an example, the charging station closest to the first stop is charging station A3. The intelligent garbage can T3, the intelligent garbage can T2 and the intelligent garbage can T3 are sequentially started, and the intelligent garbage can T3 starts from a charging station A3 until the intelligent garbage can reaches an operation position B3; the intelligent trash can T2 starts from the charging station A2, passes through the charging station A3 and reaches the operation position. The intelligent trash can T1 starts from the charging station A1, passes through the charging stations A2 and A3, and reaches the operation position.

Taking fig. 7 as an example, each intelligent trash can reaches various working positions, wherein the travel distance recorded by the intelligent trash can T3 from the charging station A3 is L. The travel distance recorded by the intelligent garbage can T2 from the charging station A3 is L-d. The travel distance recorded by the intelligent garbage can T1 from the charging station A3 is L-2d.

Specifically, in the step e) and the step f), in the starting process of the intelligent garbage can, a barrier may be in front, and then the intelligent garbage can stops waiting for a period of time and starts again. The preset time is set according to the actual situation, and the preset time is 3 seconds, for example.

In order to facilitate understanding of the method for moving the intelligent trash can between the charging station and the stop point according to the embodiment of the present invention, the departure process of each intelligent trash can is described with reference to fig. 6 and 7.

To intelligent garbage bin T3:

the intelligent garbage can T3 starts from the charging station A3, and because the intelligent garbage can T3 starts for the first time, no obstacle (no other intelligent garbage can) exists on the starting path, the intelligent garbage can T3 moves until the position of the starting side label is detected, namely the working position B3, and the intelligent garbage can T3 stops at the working position B3.

To intelligent garbage bin T2:

intelligence garbage bin T2 starts from charging station A2, and when intelligence garbage bin T2 arrived charging station A3, the distance of marcing begins to take notes, has the barrier (being intelligent garbage bin T3) when intelligence garbage bin T2 detected the place ahead to it is L-d to determine the distance of marcing, at this moment, the position that intelligence garbage bin T2 belonged to is its corresponding operation position, and intelligence garbage bin T2 stops on the effect position that corresponds.

To intelligent garbage bin T1:

intelligence garbage bin T1 starts from charging station A1, and when intelligence garbage bin T1 arrived charging station A3, the distance of marcing begins to take notes, has the barrier (intelligent garbage bin T2 promptly) in the place ahead when intelligence garbage bin T1 detects to it is L-2d to determine the distance of marcing, at this moment, the position that intelligence garbage bin T2 belonged to is its corresponding operation position, and intelligence garbage bin T2 stops on the effect position that corresponds.

In this embodiment, through the scheme of single label (setting out the side label), alright realize that each garbage bin sets out to its operation position that corresponds on, need not to set up a plurality of labels, control is convenient, low cost.

The method for moving the intelligent garbage can between the charging station and the stop point comprises the following steps: a) the intelligent garbage can moves towards a starting direction, whether a starting side label exists is detected, if the starting side label is detected, b) is executed, and if the starting side label is not detected, c) is executed; b) Controlling the intelligent garbage can to move to the first stopping point according to the position relation between the starting side label and the first stopping point; c) Detecting whether an obstacle exists in front of the intelligent garbage can or not, if so, executing d), and if not, returning to a); d) Judging whether the current position of the intelligent garbage can is the corresponding parking position, if so, controlling the intelligent garbage can to park at the current position, and if not, executing e); e) Judging whether the barrier leaves or not, if so, returning to the step a), and if not, executing the step f); f) Stop waiting for a preset time, go back to e). From this, realize that intelligent garbage bin can follow the charging station automatically and start to specific position, even there are a plurality of intelligent garbage bins in the work place, every intelligent garbage bin need not to communicate with other intelligent garbage bins, still can follow the charging station automatically and start to specific position, can not mutual interference between a plurality of intelligent garbage bins.

Fig. 8 is a schematic flowchart of another method for moving an intelligent trash can between a charging station and a stop point according to an embodiment of the present invention. As shown in fig. 8, on the basis of the embodiment shown in fig. 5, the method for moving the intelligent trash can between the charging station and the parking point further comprises the following steps:

g) The intelligent garbage can moves towards a regression direction, whether a regression side tag exists is detected, if the regression side tag is detected, h) is executed, and if the regression side tag is not detected, i) is executed;

h) Detecting whether a charging station in front of the return side tag has an obstacle or not, if so, stopping the intelligent garbage can at the charging station behind the return side tag, and if not, stopping the intelligent garbage can at the charging station in front of the return side tag;

The application scenario targeted by the embodiment is a scenario in which the intelligent trash can moves towards the regression direction. The invention of the embodiment aims to realize that each intelligent garbage can arrives at each charging station from each working position.

Specifically, the return-side tag is set according to an actual situation, and the return-side tag may be set between any two charging stations, or may be set in front of or behind a charging station closest to the first stop point. As shown in fig. 6 and 7, the return-side tab is provided between the charging stations A2 and A3.

In order to facilitate understanding of the method for moving the intelligent trash cans between the charging station and the stop point according to the embodiment of the present invention, a regression process of each intelligent trash can is described with reference to fig. 6 and 7.

To intelligent garbage bin T3:

the intelligent garbage can T3 starts to return to the charging station A3 from the operation position B3, as the intelligent garbage can T3 returns for the first time, no obstacle (no other intelligent garbage can) exists on a return path, the intelligent garbage can T3 moves until the position of the return side tag is detected, the obstacle-free state of the front charging station A3 is detected, and the intelligent garbage can T3 moves to the front charging station A3 and stops.

To intelligent garbage bin T2:

the intelligent garbage can T2 starts to return from the operation position where the intelligent garbage can T2 is located, the intelligent garbage can T2 moves all the time until the position where the return side tag is located is detected, the front charging station A3 is detected to be provided with an obstacle (namely the intelligent garbage can T3), and the intelligent garbage can T2 retreats to the charging station A2 located behind the return side tag and stops.

To intelligent garbage bin T1:

the intelligent garbage can T1 starts to return from the operation position where the intelligent garbage can T1 is located, when the intelligent garbage can T1 detects that the current position is the charging station A1, the intelligent garbage can T1 detects that a front charging station, namely A2, is provided with an obstacle (namely the intelligent garbage can T2), and the intelligent garbage can stops on the charging station A1.

In this embodiment, through the scheme of single label (setting up and returning the side label), alright realize that each garbage bin returns to its charging station department that corresponds, need not to set up a plurality of labels, and control is convenient, low cost.

The method for moving the intelligent garbage can between the charging station and the stop point, provided by the embodiment of the invention, further comprises the following steps: g) The intelligent garbage can moves towards the return direction, whether a return side label exists or not is detected, if the return side label is detected, h) is executed, and if the return side label is not detected, i) is executed; h) Detecting whether a charging station in front of the regression side tag has an obstacle or not, if so, stopping the intelligent garbage can on the charging station in back of the regression side tag, and if not, stopping the intelligent garbage can on the charging station in front of the regression side tag; i) Detecting whether a charging station exists at the current position of the intelligent garbage can, if so, executing j), and if not, executing g); j) And detecting whether a barrier exists at the next charging station in front of the intelligent garbage can or not, if not, returning to execute the step g, and if so, controlling the intelligent garbage can to stop at the current charging station. From this, realize that intelligent garbage bin can return to the charging station automatically, even there are a plurality of intelligent garbage bins in the work place, every intelligent garbage bin need not to communicate with other intelligent garbage bins, still can return to the charging station automatically, can not mutual interference between a plurality of intelligent garbage bins.

Fig. 9 is a schematic flowchart of another method for moving an intelligent trash can between a charging station and a stop point according to an embodiment of the present invention. As shown in fig. 9, on the basis of the embodiment shown in fig. 5, the method for moving the intelligent trash can between the charging station and the stop point further comprises the following steps:

l) judging whether an obstacle exists at a preset distance in front of the intelligent garbage can, if so, stopping the intelligent garbage can at a current charging station, and if not, executing the step m);

m) judging whether the current charging station is a stopping point corresponding to the intelligent garbage can, if so, stopping the intelligent garbage can at the current charging station, and if not, returning to the step k). The application scenario targeted by the embodiment is a scenario in which the intelligent trash can moves towards the regression direction. The invention of the embodiment aims to realize that each intelligent garbage can starts from a specific position to reach a charging station. Continuing with fig. 6 and 7 as an example, fig. 7 illustrates that before returning, each intelligent trash can is in its respective working position, and fig. 6 illustrates that after returning, each intelligent trash can is in its respective charging station. The return terminal of the intelligent garbage can T1 is a charging station A1, the return terminal of the intelligent garbage can T2 is a charging station A2, and the return terminal of the intelligent garbage can T3 is a charging station A3.

Specifically, in the step k), the mode of detecting whether the current position of the intelligent garbage can is the charging station is not limited.

Specifically, in step l), the preset distance is a distance between adjacent charging stations. Taking fig. 6 and 7 as an example, the distance between the charging station A1 and the charging station A2 and the distance between the charging station A2 and the charging station A3 are both preset distances.

Specifically, in step m), in different application scenarios, the manner of determining whether the current charging station is a stop point corresponding to the intelligent trash can is different, for example, as follows:

in the first example, whether the current charging station is a stop point corresponding to the intelligent garbage can is judged according to the total number of the intelligent garbage cans and the number of the charging stations.

Specifically speaking, whether the charging station that judges present place is the parking point that intelligent garbage bin corresponds includes: setting the total number n of the intelligent garbage cans; if judging that an obstacle is located at a preset distance in front of the intelligent garbage can, acquiring the number of charging stations passed by the intelligent garbage can; judging whether the number of the charging stations is larger than or equal to the total number n of the intelligent garbage cans; if so, determining that the current charging station is a stopping point corresponding to the intelligent garbage can; if not, determining that the current charging station is not the stop point corresponding to the intelligent garbage can.

Continuing with fig. 7 as an example, the returning sequence is sequentially the intelligent trash can T3, the intelligent trash can T2, and the intelligent trash can T1, and the total number n of the intelligent trash cans is 3.

To intelligent garbage bin T3: the intelligent garbage can T3 is the first intelligent garbage can that returns, and no intelligent garbage can exists on each charging station.

Example two, judging whether the charging station where the current location is the stop point corresponding to the intelligent trash can includes: controlling the intelligent garbage can to continuously move for a preset distance, judging whether the intelligent garbage can continuously move for the preset distance detects another charging station or not, and if not, judging that the current charging station is a stopping point corresponding to the intelligent garbage can; if yes, the current charging station is judged not to be the stopping point corresponding to the intelligent garbage can.

When the intelligent garbage can T3 moves to the charging station A1, and detects that the position of the front preset distance, namely the position of the charging station A2, has no obstacle, the intelligent garbage can T3 continues to move the preset distance, and after the intelligent garbage can T3 continues to move the preset distance, the charging station A2 is detected, and then the charging station A1 is judged not to be the terminal point of the intelligent garbage can T3.

The intelligent garbage can T3 starts to move for the preset distance from the charging station A2, and after the intelligent garbage can T3 detects the charging station A3 after the preset distance continues to move, it is judged that the charging station A2 is not the terminal point of the intelligent garbage can T3.

The intelligent garbage can T3 starts to move from the charging station A3 for the preset distance continuously, after the preset distance continues to move, the intelligent garbage can T3 does not detect the charging station, the fact that the charging station A3 is the terminal point of the intelligent garbage can T3 is judged, and at the moment, the intelligent garbage can T3 returns to the charging station A3 to stop.

The method for moving the intelligent garbage can between the charging station and the stop point, provided by the embodiment of the invention, further comprises the following steps: k) The intelligent garbage can moves towards the returning direction, whether the current position of the intelligent garbage can is a charging station or not is detected, if not, the intelligent garbage can continues to move forwards, and if yes, the step l) is executed; l) judging whether an obstacle exists at a preset distance in front of the intelligent garbage can, if so, stopping the intelligent garbage can at a current charging station, and if not, executing the step m); m) judging whether the current charging station is a stopping point corresponding to the intelligent garbage can, if so, stopping the intelligent garbage can at the current charging station, and if not, returning to the step k). From this, realize that intelligent garbage bin can follow the charging station automatically and start to specific position, even there are a plurality of intelligent garbage bins in the work place, every intelligent garbage bin need not to communicate with other intelligent garbage bins, still can follow the charging station automatically and start to specific position, can not mutual interference between a plurality of intelligent garbage bins.

Fig. 10 is a schematic structural diagram of an intelligent trash can according to an embodiment of the present invention. This intelligent garbage bin includes:

memory 1001, processor 1002, and computer programs stored on memory 1001 and executable on processor 1002.

The processor 1002, when executing the program, implements the method of moving the intelligent trash can between the charging station and the docking point provided in the above embodiments.

Further, intelligent garbage bin still includes:

a communication interface 1003 for communicating between the memory 1001 and the processor 1002.

A memory 1001 for storing computer programs that may be run on the processor 1002.

Memory 1001 may include high-speed RAM memory and may also include non-volatile memory (e.g., at least one disk memory).

The processor 1002 is configured to execute the program to implement the method for moving the intelligent trash can between the charging station and the stop point according to the above embodiments.

If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The 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 in FIG. 10, but that does not indicate only one bus or one type of bus.

Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.

The processor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention.

The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of moving an intelligent trash can between a charging station and a docking point as described above.

The invention also provides a computer program product, which when executed by an instruction processor implements a method for moving an intelligent trash can between a charging station and a docking point as described above.

In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A method of moving an intelligent trash can between a charging station and a docking point, comprising the steps of:

1) The intelligent garbage can moves towards a starting direction, whether a label exists or not is detected, if the label is not detected, the intelligent garbage can continues to move forwards, and if the label is detected, the step 2) is executed, wherein the label is arranged on each operation position, and each label and the corresponding operation position have a one-to-one corresponding association relationship;

3) Judging whether the position of the current label is a current stopping point corresponding to the intelligent garbage can, if the position of the current label is the corresponding stopping point, stopping at the current label, and if the position of the current label is not the corresponding stopping point, returning to the step 1), wherein the preset distance is the distance between adjacent operation positions.

2. The moving method as claimed in claim 1,

in step 3), judging whether the position of the current tag is the current stop point corresponding to the intelligent garbage can includes:

setting the total number n of the intelligent garbage cans;

3. The moving method of claim 1,

detecting whether another label is arranged at a position which is a preset distance in front of the position of the current label, if not, judging that the position of the current label is the corresponding stop point; if yes, judging that the position of the current label is not the corresponding stop point.

4. The moving method according to claim 1, wherein the step 3) includes,

5. The mobile method according to claim 1, characterized in that the method further comprises the steps of:

4) The intelligent garbage can moves towards the return direction, whether the current position of the intelligent garbage can is a charging station or not is detected, if not, the intelligent garbage can continues to move forwards, and if yes, the step 5) is executed;

6. The moving method of claim 5,

in step 6), the step of judging whether the current charging station is a stopping point corresponding to the intelligent garbage can includes:

setting the total number n of the intelligent garbage cans;

7. The moving method of claim 5,

8. The mobile method of claim 1, further comprising:

if the obstacle is detected, stopping the intelligent garbage can to move;

9. A method of moving an intelligent trash can between a charging station and a docking point, comprising the steps of:

a) the intelligent garbage can moves towards a starting direction, whether a starting side label exists is detected, if the starting side label is detected, b) is executed, and if the starting side label is not detected, c) is executed, wherein the starting side label is arranged on a first stop point;

f) Stop waiting for a preset time, go back to e).

10. The moving method as claimed in claim 9,

in the step d), the judging whether the current position of the intelligent garbage can is the corresponding parking position comprises:

acquiring the current travelling distance of the intelligent garbage can;

judging whether the travel distance is equal to L-K x d or not, wherein L is the distance between the charging station closest to the first stop point and the first stop point; k is a positive integer, d is a preset distance, and the preset distance is the distance between adjacent intelligent garbage cans parked at the operation position;

if the travel distance is equal to L-K x d, determining that the current position of the intelligent garbage can is the corresponding parking position;

11. The moving method as claimed in claim 9, further comprising the steps of:

g) The intelligent garbage can moves towards a returning direction, whether a returning side label exists or not is detected, if the returning side label is detected, h) is executed, and if the returning side label is not detected, i) is executed, wherein the returning side label is arranged between adjacent charging stations;

12. The moving method as claimed in claim 9, further comprising the steps of:

l) judging whether an obstacle exists at a preset distance in front of the intelligent garbage can, if so, stopping the intelligent garbage can at the current charging station, and if not, executing the step m), wherein the preset distance is the distance between adjacent charging stations;

13. The moving method of claim 12,

in the step l), the step of judging whether the current charging station is a stopping point corresponding to the intelligent trash can includes:

setting the total number n of the intelligent garbage cans;

if judging that a barrier is located at the next charging station in front of the intelligent garbage can, acquiring the number of the charging stations passed by the intelligent garbage can;

14. The moving method according to claim 12, wherein the step i) of determining whether the current charging station is a stop point corresponding to the intelligent trash can comprises:

15. An intelligent garbage can, comprising:

memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program implements a method of moving an intelligent trash can between a charging station and a docking point according to any of claims 1-8 or a method of moving an intelligent trash can between a charging station and a docking point according to any of claims 9-14.

16. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method of moving an intelligent trash can according to any one of claims 1-8 or the method of moving an intelligent trash can according to any one of claims 9-14 between a charging station and a docking point.