WO2016090827A1 - 垃圾清理方法及装置 - Google Patents

垃圾清理方法及装置 Download PDF

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Publication number
WO2016090827A1
WO2016090827A1 PCT/CN2015/078068 CN2015078068W WO2016090827A1 WO 2016090827 A1 WO2016090827 A1 WO 2016090827A1 CN 2015078068 W CN2015078068 W CN 2015078068W WO 2016090827 A1 WO2016090827 A1 WO 2016090827A1
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WO
WIPO (PCT)
Prior art keywords
garbage
monitoring
location information
robot
area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2015/078068
Other languages
English (en)
French (fr)
Inventor
张鹏飞
夏勇峰
王益冬
刘铁俊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xiaomi Inc
Original Assignee
Xiaomi Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xiaomi Inc filed Critical Xiaomi Inc
Priority to BR112015016506-0A priority Critical patent/BR112015016506B1/pt
Priority to JP2016563238A priority patent/JP6199507B2/ja
Priority to RU2015124673A priority patent/RU2624737C2/ru
Priority to MX2015008602A priority patent/MX354640B/es
Priority to US14/996,996 priority patent/US9862098B2/en
Publication of WO2016090827A1 publication Critical patent/WO2016090827A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
    • A47L9/2815—Parameters or conditions being sensed the amount or condition of incoming dirt or dust using optical detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Definitions

  • the present disclosure relates to the field of smart homes, and in particular, to a garbage cleaning method and apparatus.
  • a garbage robot is a household appliance that can automatically perform floor cleaning work in a room with a certain amount of artificial intelligence.
  • Garbage robots usually use an appointment cleaning method. That is, the user sets a specified time to the garbage robot, which is usually the time after the user leaves home. The garbage robot will start working at the specified time to complete the floor cleaning.
  • the embodiment of the present disclosure provides a garbage cleaning method and device.
  • the technical solution is as follows:
  • a garbage cleaning method comprising:
  • the location information of the garbage is sent to the garbage robot, and the garbage robot is used to clean the garbage according to the location information.
  • detecting whether there is garbage in the monitoring area according to the monitoring content includes:
  • obtaining location information of the garbage in the monitoring area includes:
  • obtaining location information of the garbage in the monitoring area includes:
  • the sample image is an image pre-recorded by the monitoring device when the garbage robot moves or stays in the monitoring area, and each The sample image is bound with the location information synchronously reported by the garbage robot;
  • the location information bound by the matched sample image is determined as the location information of the garbage in the monitoring area.
  • the method further includes:
  • Each sample image, the area where the garbage robot is located in each sample image, and the position information reported by the garbage robot are stored in a binding manner.
  • the method further includes:
  • the step of obtaining the location information of the garbage in the monitoring area is performed.
  • a garbage cleaning method comprising:
  • a garbage disposal apparatus comprising:
  • the obtaining module is configured to acquire monitoring content of the monitoring area
  • the detecting module is configured to detect whether there is garbage in the monitoring area according to the monitoring content
  • a location module configured to obtain location information of the garbage in the monitoring area if there is garbage in the monitoring area
  • the sending module is configured to send the location information of the garbage to the garbage robot, and the garbage robot is used to clean the garbage according to the location information.
  • the detection module includes:
  • the first detecting submodule is configured to determine, according to at least one frame image in the monitoring content, whether the motion of the user generates garbage; or
  • a second detecting sub-module configured to compare different areas between two frames of images in the monitoring content, and detect whether there is garbage in the monitoring area according to different areas;
  • the third detecting submodule is configured to detect whether the image in the monitoring content changes; if the image in the monitoring content changes, identify whether there is garbage in the changed image.
  • the location module includes:
  • Obtaining a sub-module configured to acquire an intersection edge between the wall and the ground in the monitoring area according to the monitoring content
  • a modeling sub-module configured to build on the ground based on the intersection between the wall and the ground in the monitored area mold
  • a calculation sub-module configured to calculate location information of the garbage in the modeled ground.
  • the location module includes:
  • the matching sub-module is configured to match the garbage area where the garbage is located in the monitoring content with the area where the garbage robot is located in the at least one sample image, and the sample image is pre-initiated by the monitoring device when the garbage robot moves or stays in the monitoring area Recorded images, and each sample image is bound with position information synchronously reported by the garbage robot;
  • the determining submodule is configured to determine the location information bound by the matched sample image as the location information of the garbage in the monitoring area when the matching is successful.
  • the apparatus further comprises:
  • a recording module configured to record at least one image of the garbage robot moving or staying in the monitoring area as a sample image
  • a receiving module configured to receive location information that is synchronously reported by the garbage robot during the recording process
  • An identification module configured to identify an area in which the garbage robot in each sample image is located
  • the storage module is configured to bind and store each sample image, the area where the garbage robot is located in each sample image, and the location information reported by the garbage robot.
  • the apparatus further comprises:
  • a ground detection module configured to detect whether the garbage is on the ground of the monitoring area
  • the location module is configured to locate the local garbage on the ground of the monitoring area, and perform the step of acquiring location information of the garbage in the monitoring area.
  • a garbage disposal apparatus comprising:
  • a receiving module configured to receive location information of the garbage sent by the monitoring device
  • the cleanup module is configured to clean up the garbage based on the location information.
  • a garbage disposal apparatus comprising:
  • a memory for storing executable instructions of the processor
  • processor is configured to:
  • the location information of the garbage is sent to the garbage robot, and the garbage robot is used to clean the garbage according to the location information.
  • a garbage disposal apparatus comprising:
  • a memory for storing executable instructions of the processor
  • processor is configured to:
  • the garbage is cleaned according to the location information; the problem of low cleaning efficiency of the garbage robot is solved; the garbage can be cleaned in time, and the garbage is accurately cleaned according to the location information.
  • FIG. 1 is a schematic structural diagram of an implementation environment involved in a garbage cleaning method according to an embodiment of the present disclosure.
  • FIG. 2 is a flow chart showing a garbage cleaning method according to an exemplary embodiment.
  • FIG. 3 is a flow chart showing a garbage cleaning method according to another exemplary embodiment.
  • FIG. 4A is a flowchart of a garbage cleaning method according to another exemplary embodiment.
  • FIG. 4B is a schematic diagram of a scenario involved in the garbage cleaning method provided in the embodiment shown in FIG. 4A.
  • FIG. 4C is a schematic diagram of a scenario involved in the garbage cleaning method provided in the embodiment shown in FIG. 4A.
  • 4D is a flow chart of step 404 of the garbage cleaning method provided by the embodiment shown in FIG. 4A.
  • FIG. 5A is a flowchart of a garbage cleaning method according to another exemplary embodiment.
  • FIG. 5B is a schematic diagram of a scenario involved in the garbage cleaning method provided in the embodiment shown in FIG. 5A.
  • FIG. 6A is a flowchart of a garbage cleaning method according to another exemplary embodiment.
  • FIG. 6B is a schematic diagram of a scenario involved in the garbage cleaning method provided in the embodiment shown in FIG. 6A.
  • FIG. 7 is a block diagram of a garbage disposal apparatus, according to an exemplary embodiment.
  • FIG. 8 is a block diagram of a garbage disposal apparatus according to another exemplary embodiment.
  • FIG. 9 is a block diagram of a garbage disposal apparatus, according to an exemplary embodiment.
  • FIG. 10 is a block diagram of a garbage disposal apparatus, according to an exemplary embodiment.
  • FIG. 11 is a block diagram of a garbage disposal apparatus according to another exemplary embodiment.
  • the implementation environment includes a monitoring device 120 and a garbage robot 140.
  • the monitoring device 120 can be a surveillance camera with some computing power.
  • the monitoring device 120 can also be a combination of a conventional surveillance camera and an electronic device with computing power.
  • the computing device can be a smart phone, a tablet, a personal computer or a server.
  • the monitoring device 120 can communicate with the garbage robot 140 via wireless signals.
  • the wireless signal may be any one of a Bluetooth signal, an infrared signal, a WIFI (WIreless-Fidelity) signal, and an acoustic signal.
  • the garbage robot 140 is a robot having garbage cleaning capability.
  • the garbage robot 140 may be a sweeping robot, a mopping robot, or the like.
  • FIG. 2 is a flowchart of a garbage cleaning method according to an exemplary embodiment. This embodiment is exemplified by the garbage cleaning method applied to the monitoring device in FIG. 1 .
  • the garbage cleaning method can include the following steps.
  • step 201 the monitoring content of the monitoring area is obtained.
  • step 202 it is detected whether there is garbage in the monitoring area according to the monitoring content.
  • step 203 if there is garbage in the monitoring area, the location information of the garbage in the monitoring area is obtained.
  • step 204 the location information of the garbage is sent to the garbage robot, and the garbage robot is used to clean the garbage according to the location information.
  • the garbage cleaning method obtains the monitoring content of the monitoring area; detects whether there is garbage in the monitoring area according to the monitoring content; if the garbage exists in the monitoring area, obtains the location information of the garbage in the monitoring area; The location information of the garbage is sent to the garbage robot, and the garbage robot is used to clean the garbage according to the location information of the garbage; the problem of low cleaning efficiency of the garbage robot is solved; the garbage can be cleaned in time, and the garbage is accurately cleaned according to the location information. The effect of garbage.
  • FIG. 3 is a flow chart showing a garbage cleaning method according to another exemplary embodiment. This embodiment is exemplified by the garbage cleaning method applied to the garbage robot in FIG. 1.
  • the garbage cleaning method can include the following steps.
  • step 301 location information of the garbage sent by the monitoring device is received.
  • the location information of the garbage is the monitoring content of the monitoring device acquiring the monitoring area, detecting whether there is garbage in the monitoring area according to the monitoring content, and acquiring information sent to the garbage robot if there is garbage in the monitoring area.
  • step 302 the garbage is cleaned according to the location information.
  • the garbage cleaning method provided by the embodiment is provided by the garbage robot receiving the monitoring device.
  • the location information of the garbage is cleaned according to the location information; the problem of low cleaning efficiency of the garbage robot is solved; the garbage can be cleaned in time, and the garbage is accurately cleaned according to the location information.
  • FIG. 4A is a flowchart of a garbage cleaning method according to another exemplary embodiment. This embodiment is exemplified by the garbage cleaning method applied to the implementation environment shown in FIG. 1 .
  • the garbage cleaning method can include the following steps.
  • step 401 the monitoring device acquires the monitoring content of the monitoring area.
  • the monitoring content can be an image or a video.
  • the surveillance camera captures an image or video of the monitored area.
  • the monitoring device is a combination of a surveillance camera and a computing capable electronic device
  • the electronic device acquires an image or video of the monitoring area through the surveillance camera.
  • the video can be regarded as a continuous frame image.
  • the monitoring device determines whether the user's action generates garbage according to at least one frame image in the monitoring content.
  • the monitoring device can determine whether the user's motion generates garbage based on at least one frame of the image.
  • this step may include the following steps.
  • the monitoring device identifies whether there is a user's action in at least one frame of the image.
  • At least one frame of image may be a continuous frame of frames in the surveillance video.
  • the at least one frame image may also be at least one frame image acquired every predetermined time interval, such as an image acquired every one second.
  • the monitoring device detects whether there is a moving object corresponding to the action.
  • the monitoring device identifies whether the moving object is garbage by using a preset garbage item feature library.
  • the monitoring device recognizes that the user has a waving motion 43 based on the at least one frame image 41, and the monitoring device also detects that there is a moving object 45 corresponding to the waving motion 43 in the image 41. Then, the monitoring device recognizes that the moving object 45 is a waste paper group by the preset garbage item feature library, and determines that garbage is generated in the monitoring area.
  • step 403 if there is garbage in the monitoring area, the monitoring device detects whether the garbage is located on the ground of the monitoring area.
  • the monitoring device detects whether the garbage is located on the ground of the monitoring area.
  • the monitoring device may pre-acquire an image 42 in which no moving object exists in the monitoring area.
  • the monitoring device identifies the various edge lines 44 in the image 42 by an edge detection algorithm and divides the image 42 into at least one region 46 according to various edge lines 44, and then the monitoring device is based on a preset ground feature library or user's
  • the manual setting operation identifies the ground area 48 in these areas 46.
  • the monitoring device can detect if the garbage is located in the ground area 48.
  • step 404 if the garbage is located on the ground of the monitoring area, the monitoring device obtains the location information of the garbage in the monitoring area.
  • this step may include the following steps, as shown in FIG. 4D.
  • Step 404a Acquire an intersection edge between the wall and the ground in the monitoring area according to the monitoring content.
  • the monitoring device acquires an intersection edge between the wall and the ground in the monitoring area by using an edge detection algorithm.
  • the monitoring device can also obtain an intersection edge between the wall and the wall in the monitoring area by using an edge detection algorithm.
  • step 404b the ground is modeled according to the intersection edge between the wall and the ground in the monitoring area.
  • the monitoring device models the ground in three dimensions according to the intersection edge between the wall and the ground and the intersection edge between the wall and the wall. Because the angles inside the house are usually right angles, the monitoring device can model the ground in the monitoring area according to the angle between the intersecting edges and the perspective principle.
  • the monitoring device can also convert the actual size of the ground according to the actual size of the static object and the screen size in the image.
  • Step 404c Calculate location information of the garbage in the modeled ground.
  • the monitoring device then calculates the location information of the garbage in the modeled ground.
  • step 404a and step 404b is not limited, and may also be performed at the initial setup time or idle time of the monitoring device.
  • step 405 the monitoring device transmits the location information of the garbage to the garbage robot.
  • the monitoring device can immediately send the location information of the garbage to the garbage robot.
  • the monitoring device can also send the location information of the garbage to the garbage robot when there is no moving object in the monitoring area.
  • the garbage robot When there is no moving object in the monitoring area, usually the user has left the area, and the cleaning work of the garbage robot does not affect the user.
  • step 406 the garbage robot receives location information of the garbage sent by the monitoring device.
  • step 407 the garbage robot cleans the garbage based on the location information.
  • the garbage robot moves to the ground area corresponding to the location information, and then the garbage robot cleans the garbage in the ground area.
  • the garbage cleaning method obtains the monitoring content of the monitoring area; detects whether there is garbage in the monitoring area according to the monitoring content; if the garbage exists in the monitoring area, obtains the location information of the garbage in the monitoring area; The location information of the garbage is sent to the garbage robot, and the garbage robot is used to clean the garbage according to the location information of the garbage; the problem of low cleaning efficiency of the garbage robot is solved; the garbage can be cleaned in time, and the garbage is accurately cleaned according to the location information. The effect of garbage.
  • the garbage cleaning method provided in this embodiment further determines whether the user's action has generated garbage through at least one frame image, and may trigger the garbage judgment mechanism only when there is a user action in the monitoring content, thereby improving the garbage judging efficiency of the monitoring device. , reducing the amount of meaningless work.
  • the garbage cleaning method provided by the embodiment further acquires the intersection edge between the wall and the ground in the monitoring area according to the monitoring content, and models the ground according to various intersecting edges in the monitoring area; the garbage can be accurately calculated. Location information in the monitoring area.
  • FIG. 5A is a flowchart of a garbage cleaning method according to another exemplary embodiment. This embodiment is exemplified by the garbage cleaning method applied to the implementation environment shown in FIG. 1 .
  • the garbage cleaning method can include the following steps.
  • step 501 the monitoring device acquires monitoring content of the monitoring area.
  • the monitoring content can be an image or a video.
  • the surveillance camera captures an image or video of the monitored area.
  • the monitoring device is a combination of a surveillance camera and a computing capable electronic device
  • the electronic device acquires an image or video of the monitoring area through the surveillance camera.
  • the video can be regarded as a continuous frame image.
  • step 502 the monitoring device compares different regions between the two frames of images in the monitored content.
  • the monitoring device first extracts two frames of images from the monitored content.
  • the two frames of images may be adjacent two frames of images in the video, such as an nth frame image and an n+1th frame image.
  • the two frames of images may also be adjacent two frames of images acquired at predetermined time intervals, such as an image of the tth second and an image of the t+5th second collected every 5 seconds.
  • One of the two frames of images is a background image of a moving object, and the other frame image is the latest image of the monitored content.
  • the background image of the non-moving object may be a background image monitored by the monitoring device after the user is not at home and the garbage robot performs an overall cleaning operation.
  • the monitoring device compares the different regions between the two frames of images.
  • the image 51 is a background image of a non-moving object
  • the image 52 is the latest image in the monitored content
  • the monitoring device compares the different regions 53 between the two frames of images.
  • step 503 the monitoring device detects whether there is garbage in the monitoring area according to the different area.
  • the monitoring device After detecting the different areas, the monitoring device identifies, for the image of the frame after the monitoring time in the two frames of images, the monitoring device identifies whether different areas in the image are garbage according to the preset garbage item feature library.
  • step 504 if there is garbage in the monitoring area, the monitoring device detects whether the garbage is located on the ground of the monitoring area.
  • the monitoring device detects whether the garbage is located on the ground area of the monitoring area. For the detection method, refer to step 403 above.
  • step 503 and step 504 the monitoring device detects whether different areas overlap with the ground area in the monitoring area, and if they overlap, performs the identification according to the preset garbage item feature library. The steps in whether different areas are garbage.
  • step 505 if the garbage is located on the ground of the monitoring area, the monitoring device acquires the location information of the garbage in the monitoring area.
  • step 404 For the manner in which the monitoring device obtains the location information of the garbage, refer to step 404 above.
  • step 506 the monitoring device transmits the location information of the garbage to the garbage robot.
  • the monitoring device can immediately send the location information of the garbage to the garbage robot.
  • the monitoring device can also send the location information of the garbage to the garbage robot when there is no moving object in the monitoring area.
  • the garbage robot When there is no moving object in the monitoring area, usually the user has left the area, and the cleaning work of the garbage robot does not affect the user.
  • the garbage robot receives the location information of the garbage sent by the monitoring device.
  • step 508 the garbage robot cleans the garbage based on the location information.
  • the garbage robot moves to the ground area corresponding to the location information, and then the garbage robot cleans the garbage in the ground area.
  • the garbage cleaning method obtains the monitoring content of the monitoring area; detects whether there is garbage in the monitoring area according to the monitoring content; if the garbage exists in the monitoring area, obtains the location information of the garbage in the monitoring area; The location information of the garbage is sent to the garbage robot, and the garbage robot is used to clean the garbage according to the location information; the problem of low cleaning efficiency of the garbage robot is solved; the garbage can be cleaned in time, and the garbage is accurately cleaned according to the location information. effect.
  • the garbage cleaning method provided by the embodiment further detects whether there is garbage in the monitoring area according to different regions in the two frames of images, and the calculation amount is small and the calculation speed is fast, which can be implemented on a monitoring device with weak computing capability, and Strong applicability.
  • FIG. 6A is a flowchart of a garbage cleaning method according to another exemplary embodiment. This embodiment is exemplified by the garbage cleaning method applied to the implementation environment shown in FIG. 1 .
  • the garbage cleaning method can include the following steps.
  • the monitoring device records at least one image of the garbage robot moving or staying in the monitoring area as a sample image.
  • Some garbage robots generate position information of the ground themselves.
  • the garbage robot uses multi-point matrix positioning technology to use matrix coordinates to represent the position information of the ground.
  • the monitoring device can utilize the location information generated by the garbage robot itself.
  • the monitoring device when the garbage robot is in the cleaning operation state, records at least one image of the garbage robot moving or staying in the monitoring area as a sample image. For example, when the garbage robot starts working, it sends a start signal to the monitoring device; after receiving the start signal, the monitoring device uses at least one image in the monitoring content as a sample image.
  • step 602 the monitoring device receives the location information that the garbage robot synchronously reports during the recording process.
  • the garbage robot can simultaneously report its own location information.
  • An exemplary location information includes "reporting time: xx xx xx xx xx minutes xx seconds, location information: matrix coordinates (x, y)".
  • the monitoring device receives the location information that the garbage robot synchronously reports during the recording process.
  • step 603 the monitoring device identifies the area in which the garbage robot is located in each sample image.
  • the top cover feature of the garbage robot can be preset in the monitoring device, and the area of the garbage robot is identified in the sample image by using the roof feature of the garbage robot.
  • step 604 the monitoring device binds and stores each sample image, the area where the garbage robot is located in each sample image, and the position information reported by the garbage robot.
  • Table 1 exemplarily shows the binding relationship stored by the monitoring device.
  • step 605 the monitoring device acquires the monitoring content of the monitoring area.
  • the monitoring device acquires the monitoring content of the monitoring area, and the monitoring content may be an image or a video.
  • the surveillance camera captures an image or video of the monitored area.
  • the monitoring device is a combination of a surveillance camera and a computing capable electronic device
  • the electronic device acquires an image or video of the monitoring area through the surveillance camera.
  • the video can be regarded as a continuous frame image.
  • step 606 the monitoring device detects whether the image in the monitored content has changed.
  • the monitoring device can detect whether a change has occurred between two adjacent frames of images.
  • the monitoring device detects whether the image in the monitored content changes compared to the background image of the no moving object.
  • the background image of the non-moving object may be a background image monitored by the monitoring device after the user is not at home and the garbage robot performs an overall cleaning operation.
  • step 607 if the image in the monitoring content changes, the monitoring device identifies whether there is garbage in the changed image.
  • the monitoring device identifies whether there is garbage in the changed image according to the preset garbage item feature library.
  • step 608 if there is garbage in the monitoring area, the monitoring device detects whether the garbage is located on the ground of the monitoring area.
  • the monitoring device detects whether the garbage is located on the ground area of the monitoring area. For the detection method, refer to step 403 above.
  • the monitoring device detects whether the ground area in the image of the monitoring content has changed, and if the ground area changes, the image after the recognition changes is performed. The step of whether there is garbage in it.
  • step 609 if the garbage is located on the ground of the monitoring area, the monitoring device matches the garbage area where the garbage is located in the monitoring content with the area where the garbage robot is located in at least one sample image.
  • the sample image is an image pre-recorded by the monitoring device when the garbage robot moves or stays in the monitoring area, and each sample image is bound with position information synchronously reported by the garbage robot.
  • the monitoring device matches the garbage area 63 in which the garbage is located in the monitoring content 61 with the area 64 in which the garbage robot is located in the sample image 62.
  • the matching means that the coincidence degree of the two areas exceeds a preset threshold.
  • the sample image 61 in Fig. 6B may be the sample image 1 in Table 1.
  • step 610 when the matching is successful, the monitoring device determines the location information bound by the matched sample image as the location information of the garbage in the monitoring area.
  • the monitoring device determines the matrix coordinates (x1, y1) as garbage in the monitoring area. location information.
  • step 611 the monitoring device transmits the location information of the garbage to the garbage robot.
  • the monitoring device can immediately send the location information of the garbage to the garbage robot.
  • the monitoring device can also send the location information of the garbage to the garbage robot when there is no moving object in the monitoring area.
  • the garbage robot When there is no moving object in the monitoring area, usually the user has left the area, and the cleaning work of the garbage robot does not affect the user.
  • the garbage robot receives location information of the garbage sent by the monitoring device.
  • step 613 the garbage robot cleans the garbage based on the location information.
  • the garbage robot moves to the ground area corresponding to the location information, and then the garbage robot cleans the garbage in the ground area.
  • the garbage cleaning method obtains the monitoring content of the monitoring area; Monitoring the content detection monitoring area for garbage; if there is garbage in the monitoring area, obtaining the location information of the garbage in the monitoring area; sending the location information of the garbage to the garbage robot, and the garbage robot is used for cleaning the garbage according to the location information;
  • the problem of low cleaning efficiency of the garbage robot is achieved; the garbage can be cleaned in time, and the effect of accurately cleaning the garbage according to the location information is achieved.
  • the garbage cleaning method provided by the embodiment further completes the location information acquisition of the garbage by using the location information generated by the garbage robot itself, thereby reducing the calculation amount of the location information of the monitoring device itself to generate the garbage, and reducing the monitoring.
  • the computing power requirements of the device are not limited to the above-described garbage cleaning method.
  • FIG. 4A, FIG. 5A, and FIG. 6A respectively show a manner of detecting whether there is garbage in the monitoring area according to the monitoring content, that is, three different detection modes;
  • FIG. 4A and FIG. 6A also respectively show A method for obtaining location information of garbage in a monitoring area, that is, two different acquisition methods.
  • the three different detection modes and the two different acquisition modes can be arbitrarily combined into six different embodiments, which are easily understood by those skilled in the art according to the embodiments of FIG. 4A, FIG. 5A and FIG. 6A, and the present disclosure I will not repeat them one by one.
  • FIG. 7 is a block diagram of a garbage cleaning apparatus that can be implemented as part or all of a monitoring device by software, hardware, or a combination of both, according to an exemplary embodiment.
  • the garbage cleaning device can include:
  • the obtaining module 720 is configured to acquire monitoring content of the monitoring area
  • the detecting module 740 is configured to detect whether there is garbage in the monitoring area according to the monitoring content
  • the location module 760 is configured to obtain location information of the garbage in the monitoring area if there is garbage in the monitoring area;
  • the sending module 780 is configured to send the location information of the garbage to the garbage robot, and the garbage robot is configured to clean the garbage according to the location information.
  • the garbage cleaning device obtains the monitoring content of the monitoring area; detects whether there is garbage in the monitoring area according to the monitoring content; and if the monitoring area has garbage, acquires the location information of the garbage in the monitoring area;
  • the location information of the garbage is sent to the garbage robot, and the garbage robot is used to clean the garbage according to the location information; the problem of low cleaning efficiency of the garbage robot is solved; the garbage can be cleaned in time, and the garbage is accurately cleaned according to the location information. effect.
  • FIG. 8 is a block diagram of a garbage cleaning device that can be implemented as part or all of a monitoring device by software, hardware, or a combination of both, according to an exemplary embodiment.
  • the garbage cleaning device can include:
  • the obtaining module 720 is configured to acquire monitoring content of the monitoring area
  • the detecting module 740 is configured to detect whether there is garbage in the monitoring area according to the monitoring content
  • the location module 760 is configured to obtain location information of the garbage in the monitoring area if there is garbage in the monitoring area;
  • the sending module 780 is configured to send the location information of the garbage to the garbage robot, and the garbage robot is configured to clean the garbage according to the location information.
  • the detecting module 740 includes:
  • the first detecting sub-module 742 is configured to determine, according to at least one frame image in the monitoring content, whether the motion of the user generates garbage; or
  • the second detecting sub-module 744 is configured to compare different areas between two frames of images in the monitoring content, and detect whether there is garbage in the monitoring area according to different areas; or
  • the third detecting sub-module 746 is configured to detect whether there is an area in the background in the monitoring content that changes; if there is an area that changes, detect whether there is garbage in the monitoring area according to the changed area.
  • the location module 760 includes:
  • the obtaining submodule 762 is configured to acquire an intersection edge between the wall and the ground in the monitoring area according to the monitoring content;
  • a modeling sub-module 764 configured to model the ground based on an intersection edge between the wall and the ground in the monitored area
  • a calculation sub-module 766 is configured to calculate location information of the garbage in the modeled ground.
  • the location module 760 includes:
  • a matching sub-module 761 configured to match a garbage area in which the garbage is located in the monitoring content with an area in which the garbage robot is located in at least one sample image, wherein the sample image is the garbage robot An image pre-recorded by the monitoring device during movement or staying in the monitoring area, and each sample image is bound with position information synchronously reported by the garbage robot;
  • the determining sub-module 763 is configured to determine the location information bound by the matched sample image as the location information of the garbage in the monitoring area when the matching is successful.
  • the device further includes:
  • a recording module 712 configured to record at least one image of the garbage robot moving or staying in the monitoring area as a sample image
  • the receiving module 714 is configured to receive location information that is synchronously reported by the garbage robot during the recording process
  • An identification module 716 configured to identify an area in which the garbage robot in each sample image is located
  • the storage module 718 is configured to bind and store each sample image, the area where the garbage robot is located in each sample image, and the location information reported by the garbage robot.
  • the device further includes:
  • a ground detection module 790 configured to detect whether the garbage is located on the ground of the monitoring area
  • the location module 760 is configured to locate the local garbage on the ground of the monitoring area, and perform the step of acquiring location information of the garbage in the monitoring area.
  • the garbage cleaning device obtains the monitoring content of the monitoring area; detects whether there is garbage in the monitoring area according to the monitoring content; and if the monitoring area has garbage, acquires the location information of the garbage in the monitoring area;
  • the location information of the garbage is sent to the garbage robot, and the garbage robot is used to clean the garbage according to the location information; the problem of low cleaning efficiency of the garbage robot is solved; the garbage can be cleaned in time, and the garbage is accurately cleaned according to the location information. effect.
  • the garbage cleaning device provided by the embodiment further acquires the intersection edge between the wall and the ground in the monitoring area according to the monitoring content, and models the ground according to the intersection edge between the wall and the ground in the monitoring area; Accurately calculate the location information of the garbage in the monitoring area.
  • the garbage cleaning device provided in this embodiment further detects whether there is garbage in the monitoring area according to different regions in the two frames of images, and the calculation amount is small and the calculation speed is fast, which can be implemented on a monitoring device with weak computing capability, and Strong applicability.
  • the garbage cleaning device provided by the embodiment further completes the location information acquisition of the garbage by using the position information generated by the garbage robot itself by the monitoring device, thereby reducing the calculation amount of the position information of the monitoring device itself to generate the garbage, and reducing the monitoring The computing power requirements of the device.
  • FIG. 9 is a block diagram of a garbage disposal apparatus that can be implemented as part or all of a garbage robot by software, hardware, or a combination of both, according to an exemplary embodiment.
  • the garbage cleaning device can include:
  • the receiving module 920 is configured to receive location information of the garbage sent by the monitoring device.
  • the location information of the garbage is the monitoring content of the monitoring device acquiring the monitoring area, detecting whether there is garbage in the monitoring area according to the monitoring content, and acquiring information sent to the garbage robot if there is garbage in the monitoring area.
  • the cleanup module 940 is configured to clean the garbage based on the location information.
  • the garbage cleaning device receives the garbage location information sent by the monitoring device by the garbage robot, and cleans the garbage according to the location information; and solves the problem that the garbage robot has low cleaning efficiency; It can clean up the garbage in time and accurately clean up the effect of the garbage based on the location information.
  • FIG. 10 is a block diagram of a garbage disposal apparatus 1000, according to an exemplary embodiment.
  • device 1000 can be a combination of a surveillance camera, a surveillance camera and a server, a surveillance camera and a mobile terminal.
  • apparatus 1000 can include one or more of the following components: processing component 1002, memory 1004, a power component 1006, and a communication component 1016.
  • Processing component 1002 typically controls the overall operation of device 1000, address resolution, data transceiving, and flow control operations.
  • Processing component 1002 can include one or more processors 1018 to execute instructions to perform all or part of the steps of the above described methods.
  • processing component 1002 can include one or more modules to facilitate interaction between component 1002 and other components.
  • the memory 1004 is configured to store various types of data to support operation at the device 1000. Examples of such data include instructions for any application or method operating on device 1000, user data, and the like.
  • the memory 1004 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable. Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Disk or Optical Disk. Also stored in memory 1004 is one or more modules that are configured to be executed by the one or more processors 1018 to perform all or part of the steps of the above-described garbage cleanup method.
  • Power component 1006 provides power to various components of device 1000.
  • Power component 1006 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 1000.
  • Communication component 1016 is configured to facilitate wired or wireless communication between device 1000 and other devices.
  • the device 1000 can establish a wireless network based on a communication standard, such as a WiFi network.
  • the communication component 1016 transmits a broadcast signal or broadcast associated information to the outside via a broadcast channel.
  • apparatus 1000 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation for performing the above-described garbage cleanup method.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic component implementation for performing the above-described garbage cleanup method.
  • non-transitory computer readable storage medium comprising instructions, such as a memory 1004 comprising instructions executable by processor 1018 of apparatus 1000 to perform the above described garbage removal method.
  • the non-transitory computer readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.
  • FIG. 11 is a block diagram of a garbage disposal apparatus 1100, according to an exemplary embodiment.
  • the device 1100 may be a sweeping robot, a mopping robot, or the like.
  • device 1100 can include one or more of the following components: processing component 1102, memory 1104, power component 1106, motion component 1108, cleaning component 1110, and communication component 1116.
  • Processing component 1102 typically controls the overall operation of device 1100, address resolution, data transceiving, and flow control operations.
  • Processing component 1102 can include one or more processors 1118 to execute instructions to perform all or part of the steps of the above described methods.
  • the processing component 1102 can include one or more modules for ease of use The interaction between component 1102 and other components.
  • Memory 1104 is configured to store various types of data to support operation at device 1100. Examples of such data include instructions for any application or method operating on device 1100, user data, and the like.
  • the memory 1104 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable. Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Disk or Optical Disk. Also stored in memory 1104 is one or more modules that are configured to be executed by the one or more processors 1118 to perform all or part of the steps of the above-described garbage removal method.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM Electrically erasable programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Dis
  • Power component 1106 provides power to various components of device 1100.
  • Power component 1106 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 1100.
  • the motion assembly 1108 is a mechanical device for providing the device 1100 with mobility capabilities.
  • the motion assembly 1108 can be a roller, a track or a mechanical foot.
  • the cleaning assembly 1110 is a mechanical device for cleaning up trash.
  • the cleaning assembly 1110 can be a vacuum assembly, a sweep assembly, or a mopping assembly.
  • Communication component 1116 is configured to facilitate wired or wireless communication between device 1100 and other devices.
  • the device 1100 can establish a wireless network based on a communication standard, such as a WiFi network.
  • the communication component 1116 transmits a broadcast signal or broadcast associated information to the outside via a broadcast channel.
  • apparatus 1100 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation for performing the above-described garbage cleanup method.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic component implementation for performing the above-described garbage cleanup method.
  • non-transitory computer readable storage medium comprising instructions, such as a memory 1104 comprising instructions executable by processor 1118 of apparatus 1100 to perform the above described garbage removal method.
  • the non-transitory computer readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.

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Abstract

本公开是关于一种垃圾清理方法及装置，属于智能家居领域。所述方法包括：获取监控区域的监控内容；根据监控内容检测监控区域是否存在垃圾；若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；将该垃圾的位置信息发送给垃圾机器人，垃圾机器人用于根据位置信息对垃圾进行清理。本公开解决了垃圾机器人的清理效率较低的问题；达到了可以及时清理垃圾，并且根据垃圾的位置信息精确地清理垃圾的效果。

Description

垃圾清理方法及装置
本申请基于申请号为CN 2014107643948、申请日为2014年12月11日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及智能家居领域，特别涉及一种垃圾清理方法及装置。
背景技术
垃圾机器人是能够凭借一定的人工智能，自动在房间内完成地板清理工作的家用电器。
垃圾机器人通常采用预约清理方式。也即用户向垃圾机器人设定一指定时间，该指定时间通常是用户离开家后的时间。垃圾机器人会在该指定时间开始工作，完成地板清理。
发明内容
为了解决相关技术中垃圾机器人的清理效率较低的问题，本公开实施例提供了一种垃圾清理方法及装置。所述技术方案如下：
根据本公开实施例的第一方面，提供一种垃圾清理方法，该方法包括：
获取监控区域的监控内容；
根据监控内容检测监控区域是否存在垃圾；
若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；
将垃圾的位置信息发送给垃圾机器人，垃圾机器人用于根据位置信息对垃圾进行清理。
在一个实施例中，根据监控内容检测监控区域是否存在垃圾，包括：
根据监控内容中的至少一帧图像判断用户的动作是否产生垃圾；或，
对比监控内容中的两帧图像之间的不同区域，根据不同区域检测监控区域是否存在垃圾；或，
检测监控内容中的图像是否发生变化；若监控内容的图像发生变化，则识别发生变化后的图像中是否存在垃圾。
在一个实施例中，获取垃圾在监控区域中的位置信息，包括：
根据监控内容获取监控区域中的墙体与地面之间的相交边缘；
根据监控区域中的墙体与地面之间的相交边缘对地面进行建模；
计算垃圾在建模后的地面中的位置信息。
在一个实施例中，获取垃圾在监控区域中的位置信息，包括：
将垃圾在监控内容中所处的垃圾区域与至少一个样本图像中垃圾机器人所处的区域进行匹配，样本图像是垃圾机器人在监控区域中运动或停留时由监控设备预先记录的图像，且每个样本图像绑定有垃圾机器人同步上报的位置信息；
在匹配成功时，将匹配的样本图像所绑定的位置信息确定为垃圾在监控区域中的位置信息。
在一个实施例中，该方法还包括：
记录垃圾机器人在监控区域中运动或停留时的至少一个图像作为样本图像；
接收垃圾机器人在记录过程中同步上报的位置信息；
识别每个样本图像中的垃圾机器人所处的区域；
将每个样本图像、每个样本图像中垃圾机器人所处的区域以及垃圾机器人同步上报的位置信息进行绑定存储。
在一个实施例中，该方法还包括：
检测垃圾是否位于监控区域的地面上；
若垃圾位于监控区域的地面上，执行获取垃圾在监控区域中的位置信息的步骤。
根据本公开实施例的第二方面，提供了一种垃圾清理方法，该方法包括：
接收监控设备发送的垃圾的位置信息；
根据位置信息对垃圾进行清理。
根据本公开实施例的第三方面，提供了一种垃圾清理装置，该装置包括：
获取模块，被配置为获取监控区域的监控内容；
检测模块，被配置为根据监控内容检测监控区域是否存在垃圾；
位置模块，被配置为若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；
发送模块，被配置为将垃圾的位置信息发送给垃圾机器人，垃圾机器人用于根据位置信息对垃圾进行清理。
在一个实施例中，检测模块，包括：
第一检测子模块，被配置为根据监控内容中的至少一帧图像判断用户的动作是否产生垃圾；或，
第二检测子模块，被配置为对比监控内容中的两帧图像之间的不同区域，根据不同区域检测监控区域是否存在垃圾；或，
第三检测子模块，被配置为检测监控内容中的图像是否发生变化；若监控内容中的图像发生变化，则识别发生变化后的图像中是否存在垃圾。
在一个实施例中，位置模块，包括：
获取子模块，被配置为根据监控内容获取监控区域中的墙体与地面之间的相交边缘；
建模子模块，被配置为根据监控区域中的墙体与地面之间的相交边缘对地面进行建 模；
计算子模块，被配置为计算垃圾在建模后的地面中的位置信息。
在一个实施例中，位置模块，包括：
匹配子模块，被配置为将垃圾在监控内容中所处的垃圾区域与至少一个样本图像中垃圾机器人所处的区域进行匹配，样本图像是垃圾机器人在监控区域中运动或停留时由监控设备预先记录的图像，且每个样本图像绑定有垃圾机器人同步上报的位置信息；
确定子模块，被配置为在匹配成功时，将匹配的样本图像所绑定的位置信息确定为垃圾在监控区域中的位置信息。
在一个实施例中，该装置还包括：
记录模块，被配置为记录垃圾机器人在监控区域中运动或停留时的至少一个图像作为样本图像；
接收模块，被配置为接收垃圾机器人在记录过程中同步上报的位置信息；
识别模块，被配置为识别每个样本图像中的垃圾机器人所处的区域；
存储模块，被配置为将每个样本图像、每个样本图像中垃圾机器人所处的区域以及垃圾机器人同步上报的位置信息进行绑定存储。
在一个实施例中，该装置还包括：
地面检测模块，被配置为检测垃圾是否位于监控区域的地面上；
位置模块，被配置为当地面垃圾位于监控区域的地面上，执行获取垃圾在监控区域中的位置信息的步骤。
根据本公开实施例的第四方面，提供了一种垃圾清理装置，该装置包括：
接收模块，被配置为接收监控设备发送的垃圾的位置信息；
清理模块，被配置为根据位置信息对垃圾进行清理。
根据本公开实施例的第五方面，提供了一种垃圾清理装置，该装置包括：
处理器；
用于存储处理器的可执行指令的存储器；
其中，处理器被配置为：
获取监控区域的监控内容；
根据监控内容检测监控区域是否存在垃圾；
若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；
将垃圾的位置信息发送给垃圾机器人，垃圾机器人用于根据位置信息对垃圾进行清理。
根据本公开实施例的第六方面，提供了一种垃圾清理装置，该装置包括：
处理器；
用于存储处理器的可执行指令的存储器；
其中，处理器被配置为：
接收监控设备发送的垃圾的位置信息；
根据位置信息对垃圾进行清理。
本公开实施例提供的技术方案可以包括以下有益效果：
通过获取监控区域的监控内容；根据监控内容检测监控区域是否存在垃圾；若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；将该垃圾的位置信息发送给垃圾机器人，垃圾机器人用于根据位置信息对垃圾进行清理；解决了垃圾机器人的清理效率较低的问题；达到了可以及时清理垃圾，并且根据位置信息精确地清理垃圾的效果。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1是根据本公开实施例示出的垃圾清理方法所涉及的一种实施环境的结构示意图。
图2是根据一示例性实施例示出的一种垃圾清理方法的流程图。
图3是根据另一示例性实施例示出的一种垃圾清理方法的流程图。
图4A是根据另一示例性实施例示出的一种垃圾清理方法的流程图。
图4B是图4A所示实施例提供的垃圾清理方法所涉及的一种场景示意图。
图4C是图4A所示实施例提供的垃圾清理方法所涉及的一种场景示意图。
图4D是图4A所示实施例提供的垃圾清理方法中步骤404的流程图。
图5A是根据另一示例性实施例示出的一种垃圾清理方法的流程图。
图5B是图5A所示实施例提供的垃圾清理方法所涉及的一种场景示意图。
图6A是根据另一示例性实施例示出的一种垃圾清理方法的流程图。
图6B是图6A所示实施例提供的垃圾清理方法所涉及的一种场景示意图。
图7是根据一示例性实施例示出的一种垃圾清理装置的框图。
图8是根据另一示例性实施例示出的一种垃圾清理装置的框图。
图9是根据一示例性实施例示出的一种垃圾清理装置的框图。
图10是根据一示例性实施例示出的一种垃圾清理装置的框图。
图11是根据另一示例性实施例示出的一种垃圾清理装置的框图。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图 时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
图1是根据本公开实施例示出的垃圾清理方法所涉及的一种实施环境的结构示意图。该实施环境包括监控设备120和垃圾机器人140。
监控设备120可以是具有一定计算能力的监控摄像头。监控设备120还可以是普通监控摄像头与具有计算能力的电子设备的组合。该具有计算能力的电子设备可以是智能手机、平板电脑、个人电脑或服务器等。
监控设备120可以通过无线信号与垃圾机器人140通信。该无线信号可以是蓝牙信号、红外信号、WIFI(WIreless-Fidelity，无线保真)信号和声波信号中的任意一种。
垃圾机器人140是具有垃圾清理能力的机器人。垃圾机器人140可以是扫地机器人、拖地机器人等。
图2是根据一示例性实施例示出的一种垃圾清理方法的流程图，本实施例以该垃圾清理方法应用于图1中的监控设备中来举例说明。该垃圾清理方法可以包括如下几个步骤。
在步骤201中，获取监控区域的监控内容。
在步骤202中，根据监控内容检测监控区域是否存在垃圾。
在步骤203中，若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息。
在步骤204中，将垃圾的位置信息发送给垃圾机器人，该垃圾机器人用于根据该位置信息对垃圾进行清理。
综上所述，本实施例提供的垃圾清理方法，通过获取监控区域的监控内容；根据监控内容检测监控区域是否存在垃圾；若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；将该垃圾的位置信息发送给垃圾机器人，垃圾机器人用于根据垃圾的位置信息对垃圾进行清理；解决了垃圾机器人的清理效率较低的问题；达到了可以及时清理垃圾，并且根据位置信息精确地清理垃圾的效果。
图3是根据另一示例性实施例示出的一种垃圾清理方法的流程图，本实施例以该垃圾清理方法应用于图1中的垃圾机器人中来举例说明。该垃圾清理方法可以包括如下几个步骤。
在步骤301中，接收监控设备发送的垃圾的位置信息。
该垃圾的位置信息是监控设备获取监控区域的监控内容，根据监控内容检测监控区域是否存在垃圾，若监控区域存在垃圾，则获取并发送给垃圾机器人的信息。
在步骤302中，根据该位置信息对垃圾进行清理。
综上所述，本实施例提供的垃圾清理方法，通过由垃圾机器人接收监控设备发送的垃 圾的位置信息，根据位置信息对垃圾进行清理；解决了垃圾机器人的清理效率较低的问题；达到了可以及时清理垃圾，并且根据位置信息精确地清理垃圾的效果。
图4A是根据另一示例性实施例示出的一种垃圾清理方法的流程图，本实施例以该垃圾清理方法应用于图1所示的实施环境来举例说明。该垃圾清理方法可以包括如下几个步骤。
在步骤401中，监控设备获取监控区域的监控内容。
监控内容可以是图像或者视频。
当监控设备是监控摄像头时，监控摄像头拍摄得到监控区域的图像或视频。
当监控设备是监控摄像头与具有计算能力的电子设备的组合时，电子设备通过监控摄像头获取监控区域的图像或视频。
其中，视频可以视为是连续的一帧帧图像。
在步骤402中，监控设备根据监控内容中的至少一帧图像判断用户的动作是否产生垃圾。
由于垃圾主要是因为用户的动作所产生的，监控设备可以根据至少一帧图像来判断用户的动作是否产生垃圾。
作为一种示例性的实现方式，本步骤可以包括如下步骤。
第一，监控设备识别至少一帧图像中是否存在用户的动作。
至少一帧图像可以是监控视频中的连续的一帧帧图像。至少一帧图像还可以是每隔预定时间间隔采集到的至少一帧图像，比如每隔1秒采集到的图像。
第二，若存在用户的动作，则监控设备检测是否存在与该动作对应的运动物体。
第三，若存在与该动作对应的运动物体，则监控设备通过预设垃圾物品特征库识别该运动物体是否为垃圾。
比如，如图4B所示，监控设备根据至少一帧图像41识别出用户存在挥手动作43，监控设备还检测出图像41中存在与该挥手动作43对应的运动物体45。然后，监控设备通过预设垃圾物品特征库识别出该运动物体45是废纸团，则确定监控区域中产生了垃圾。
在步骤403中，若监控区域存在垃圾，则监控设备检测该垃圾是否位于监控区域的地面上。
由于垃圾机器人通常只能对地面上的垃圾进行处理，可选地，监控设备检测该垃圾是否位于监控区域的地面上。
作为一种示例性的实施方式，如图4C所示，监控设备可以预先采集一张监控区域中不存在运动物体的图像42。然后监控设备通过边缘检测算法识别出该图像42中的各种边缘线条44，并根据各种边缘线条44将图像42划分为至少一个区域46，然后监控设备根据预设的地面特征库或用户的手动设置操作识别出这些区域46中的地面区域48。
监控设备可以检测垃圾是否位于地面区域48中。
在步骤404中，若该垃圾位于监控区域的地面上，则监控设备获取垃圾在监控区域中的位置信息。
作为一种示例性的实现方式，本步骤可以包括如下步骤，如图4D所示。
步骤404a，根据监控内容获取监控区域中的墙体与地面之间的相交边缘。
监控设备通过边缘检测算法获取监控区域中的墙体与地面之间的相交边缘。可选地，监控设备还可以通过边缘检测算法获取监控区域中的墙体与墙体之间的相交边缘。
步骤404b，根据监控区域中的墙体与地面之间的相交边缘对地面进行建模。
监控设备根据墙体与地面之间的相交边缘以及墙体与墙体之间的相交边缘对地面进行三维空间建模。因为房屋内部的夹角通常都是直角，监控设备根据不同相交边缘之间的夹角以及透视原理，可以建模出监控区域中的地面。在监控区域中的家具、家电等静态物体是预设物体库中的物体时，监控设备还可以根据该静态物体的实际尺寸和图像中的画面尺寸换算出地面的实际尺寸。
步骤404c，计算该垃圾在建模后的地面中的位置信息。
然后，监控设备计算垃圾在建模后的地面中的位置信息。
需要说明的是，步骤404a和步骤404b的执行时机不限，还可以在监控设备的初次设置时间或者空闲时间执行。
在步骤405中，监控设备将垃圾的位置信息发送给垃圾机器人。
监控设备可以立即将该垃圾的位置信息发送给垃圾机器人。
监控设备还可以在监控区域中不存在运动物体时，将该垃圾的位置信息发送给垃圾机器人。当监控区域中不存在运动物体时，通常用户已经离开该区域，垃圾机器人的清理工作不会影响到用户。
在步骤406中，垃圾机器人接收监控设备发送的垃圾的位置信息。
在步骤407中，垃圾机器人根据该位置信息对垃圾进行清理。
垃圾机器人运动到该位置信息所对应的地面区域，然后垃圾机器人对该地面区域中的垃圾进行清理。
综上所述，本实施例提供的垃圾清理方法，通过获取监控区域的监控内容；根据监控内容检测监控区域是否存在垃圾；若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；将该垃圾的位置信息发送给垃圾机器人，垃圾机器人用于根据垃圾的位置信息对垃圾进行清理；解决了垃圾机器人的清理效率较低的问题；达到了可以及时清理垃圾，并且根据位置信息精确地清理垃圾的效果。
本实施例提供的垃圾清理方法，还通过至少一帧图像来判断用户的动作是否产生了垃圾，可以仅在监控内容中存在用户的动作时才触发垃圾判断机制，提高了监控设备的垃圾判断效率，减少了无意义的工作量。
本实施例提供的垃圾清理方法，还通过根据监控内容获取监控区域中的墙体与地面之间的相交边缘，根据监控区域中的各种相交边缘对地面进行建模；可以准确地计算出垃圾 在监控区域中的位置信息。
图5A是根据另一示例性实施例示出的一种垃圾清理方法的流程图，本实施例以该垃圾清理方法应用于图1所示的实施环境来举例说明。该垃圾清理方法可以包括如下几个步骤。
在步骤501中，监控设备获取监控区域的监控内容。
监控内容可以是图像或者视频。
当监控设备是监控摄像头时，监控摄像头拍摄得到监控区域的图像或视频。
当监控设备是监控摄像头与具有计算能力的电子设备的组合时，电子设备通过监控摄像头获取监控区域的图像或视频。
其中，视频可以视为是连续的一帧帧图像。
在步骤502中，监控设备对比监控内容中的两帧图像之间的不同区域。
监控设备先从监控内容中提取两帧图像。
该两帧图像可以是视频中相邻的两帧图像，比如，第n帧图像和第n+1帧图像。
该两帧图像还可以是每隔预设时间间隔采集到的相邻两帧图像，比如，每隔5秒采集到的第t秒的图像和第t+5秒的图像。
该两帧图像中的一帧图像是无运动物体的背景图像，另一帧图像是监控内容中的最近一张图像。该无运动物体的背景图像可以是监控设备在用户不在家且垃圾机器人做完一次整体清理工作后所监控到的背景图像。
监控设备对比得出该两帧图像之间的不同区域。
参考图5B，图像51为无运动物体的背景图像，图像52为监控内容中的最近一张图像，监控设备对比得出该两帧图像之间的不同区域53。
在步骤503中，监控设备根据该不同区域检测监控区域是否存在垃圾。
监控设备在检测出不同区域后，对于两帧图像中监控时间在后的一帧图像，监控设备根据预设垃圾物品特征库识别该图像中的不同区域是否为垃圾。
在步骤504中，若监控区域存在垃圾，则监控设备检测垃圾是否位于监控区域的地面上。
由于垃圾机器人通常只能对地面上的垃圾进行处理，可选地，监控设备检测垃圾是否位于监控区域的地面区域上。检测方式可以参考上述步骤403。
需要说明的是，步骤503和步骤504的一种可替代的实现方式为：监控设备检测不同区域是否与监控区域中的地面区域重合，若重合，再执行根据预设垃圾物品特征库识别该图像中的不同区域是否为垃圾的步骤。
在步骤505中，若垃圾位于监控区域的地面上，则监控设备获取该垃圾在监控区域中的位置信息。
监控设备获取垃圾的位置信息的方式，可以参考上述步骤404。
在步骤506中，监控设备将该垃圾的位置信息发送给垃圾机器人。
监控设备可以立即将该垃圾的位置信息发送给垃圾机器人。
监控设备还可以在监控区域中不存在运动物体时，将该垃圾的位置信息发送给垃圾机器人。当监控区域中不存在运动物体时，通常用户已经离开该区域，垃圾机器人的清理工作不会影响到用户。
在步骤507中，垃圾机器人接收监控设备发送的垃圾的位置信息。
在步骤508中，垃圾机器人根据该位置信息对垃圾进行清理。
垃圾机器人运动到该位置信息所对应的地面区域，然后垃圾机器人对该地面区域中的垃圾进行清理。
综上所述，本实施例提供的垃圾清理方法，通过获取监控区域的监控内容；根据监控内容检测监控区域是否存在垃圾；若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；将该垃圾的位置信息发送给垃圾机器人，垃圾机器人用于根据位置信息对垃圾进行清理；解决了垃圾机器人的清理效率较低的问题；达到了可以及时清理垃圾，并且根据位置信息精确地清理垃圾的效果。
本实施例提供的垃圾清理方法，还通过根据两帧图像中的不同区域来检测监控区域中是否存在垃圾，计算量小且计算速度快，能够在计算能力较弱的监控设备上实现，有较强的适用性。
图6A是根据另一示例性实施例示出的一种垃圾清理方法的流程图，本实施例以该垃圾清理方法应用于图1所示的实施环境来举例说明。该垃圾清理方法可以包括如下几个步骤。
在步骤601中，监控设备记录垃圾机器人在监控区域中运动或停留时的至少一个图像作为样本图像。
一些垃圾机器人中自身会生成地面的位置信息，比如垃圾机器人采用多点矩阵定位技术采用矩阵坐标来表示地面的位置信息。监控设备可以利用垃圾机器人自身生成的位置信息。
作为一种示例性的实施方式，在垃圾机器人处于清理工作状态时，监控设备记录垃圾机器人在监控区域中运动或停留时的至少一个图像作为样本图像。比如，垃圾机器人开始工作时，向监控设备发送一个开始信号；监控设备接收到该开始信号后，将监控内容中的至少一个图像作为样本图像。
在步骤602中，监控设备接收垃圾机器人在记录过程中同步上报的位置信息。
在该过程中，垃圾机器人可以同步上报自身的位置信息。一条示例性的位置信息包括“上报时间：xx年xx月xx日xx时xx分xx秒，位置信息：矩阵坐标(x，y)”。
对应地，监控设备接收垃圾机器人在该记录过程中同步上报的位置信息。
在步骤603中，监控设备识别每个样本图像中的垃圾机器人所处的区域。
监控设备中可以预先设置有垃圾机器人的顶盖特征，利用垃圾机器人的顶盖特征在样本图像中识别垃圾机器人所处的区域。
在步骤604中，监控设备将每个样本图像、每个样本图像中垃圾机器人所处的区域以及垃圾机器人同步上报的位置信息进行绑定存储。
表一示例性地示出了监控设备所存储的绑定关系。
Figure PCTCN2015078068-appb-000001
表一
在步骤605中，监控设备获取监控区域的监控内容。
在正常的监控过程中，监控设备获取监控区域的监控内容，监控内容可以是图像或者视频。
当监控设备是监控摄像头时，监控摄像头拍摄得到监控区域的图像或视频。
当监控设备是监控摄像头与具有计算能力的电子设备的组合时，电子设备通过监控摄像头获取监控区域的图像或视频。
其中，视频可以视为是连续的一帧帧图像。
在步骤606中，监控设备检测监控内容中的图像是否发生变化。
监控设备可以检测相邻的两帧图像之间是否发生了变化。
或者，监控设备检测监控内容中的图像相比于无运动物体的背景图像是否发生变化。该无运动物体的背景图像可以是监控设备在用户不在家且垃圾机器人做完一次整体清理工作后所监控到的背景图像。
在步骤607中，若监控内容中的图像发生变化，则监控设备识别发生变化后的图像中是否存在垃圾。
监控设备根据预设垃圾物品特征库识别发生变化后的图像中是否存在垃圾。
在步骤608中，若监控区域存在垃圾，则监控设备检测垃圾是否位于监控区域的地面上。
由于垃圾机器人通常只能对地面上的垃圾进行处理，可选地，监控设备检测垃圾是否位于监控区域的地面区域上。检测方式可以参考上述步骤403。
需要说明的是，步骤606至608的一种可替代的实现方式为：监控设备检测监控内容的图像中的地面区域是否发生了变化，若地面区域发生了变化，再执行识别发生变化后的图像中是否存在垃圾的步骤。
在步骤609中，若垃圾位于监控区域的地面上，则监控设备将垃圾在监控内容中所处的垃圾区域与至少一个样本图像中垃圾机器人所处的区域进行匹配。
该样本图像是垃圾机器人在监控区域中运动或停留时由监控设备预先记录的图像，且每个样本图像绑定有垃圾机器人同步上报的位置信息。
如图6B所示，监控设备将垃圾在监控内容61中所处的垃圾区域63，与样本图像62中垃圾机器人所处的区域64进行匹配。该匹配是指两个区域的重合度超过预设阈值。图6B中的样本图像61可以是表一中的样本图像1。
在步骤610中，在匹配成功时，监控设备将匹配的样本图像所绑定的位置信息确定为垃圾在监控区域中的位置信息。
假设垃圾区域63与垃圾机器人所处的区域64匹配，该垃圾机器人所处的区域64是表一中的样本图像1，则监控设备将矩阵坐标(x1，y1)确定为垃圾在监控区域中的位置信息。
在步骤611中，监控设备将垃圾的位置信息发送给垃圾机器人。
监控设备可以立即将该垃圾的位置信息发送给垃圾机器人。
监控设备还可以在监控区域中不存在运动物体时，将该垃圾的位置信息发送给垃圾机器人。当监控区域中不存在运动物体时，通常用户已经离开该区域，垃圾机器人的清理工作不会影响到用户。
在步骤612中，垃圾机器人接收监控设备发送的垃圾的位置信息。
在步骤613中，垃圾机器人根据该位置信息对垃圾进行清理。
垃圾机器人运动到该位置信息所对应的地面区域，然后垃圾机器人对该地面区域中的垃圾进行清理。
综上所述，本实施例提供的垃圾清理方法，通过获取监控区域的监控内容；根据 监控内容检测监控区域是否存在垃圾；若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；将该垃圾的位置信息发送给垃圾机器人，垃圾机器人用于根据位置信息对垃圾进行清理；解决了垃圾机器人的清理效率较低的问题；达到了可以及时清理垃圾，并且根据位置信息精确地清理垃圾的效果。
本实施例提供的垃圾清理方法，还通过监控设备利用垃圾机器人自身生成的位置信息来完成垃圾的位置信息的获取工作，减少了监控设备自身来生成垃圾的位置信息的计算量，降低了对监控设备的计算能力的要求。
需要补充说明的是，图4A、图5A、图6A分别示出了一种根据监控内容检测监控区域是否存在垃圾的方式，也即三种不同的检测方式；图4A和图6A还分别示出了一种获取垃圾在监控区域中的位置信息的获取方式，也即两种不同的获取方式。该三种不同的检测方式和两种不同的获取方式可以任意组合成为6种不同的实施例，此乃本领域技术人员根据图4A、图5A、图6A实施例所易于思及的，本公开不再一一赘述。
下述为本公开装置实施例，可以用于执行本公开方法实施例。对于本公开装置实施例中未披露的细节，请参照本公开方法实施例。
图7是根据一示例性实施例示出的一种垃圾清理装置的框图，该垃圾清理装置可以通过软件、硬件或者两者的结合实现成为监控设备的部分或者全部。该垃圾清理装置可以包括：
获取模块720，被配置为获取监控区域的监控内容；
检测模块740，被配置为根据监控内容检测监控区域是否存在垃圾；
位置模块760，被配置为若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；
发送模块780，被配置为将垃圾的位置信息发送给垃圾机器人，该垃圾机器人用于根据位置信息对垃圾进行清理。
综上所述，本实施例提供的垃圾清理装置，通过获取监控区域的监控内容；根据监控内容检测监控区域是否存在垃圾；若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；将该垃圾的位置信息发送给垃圾机器人，垃圾机器人用于根据位置信息对垃圾进行清理；解决了垃圾机器人的清理效率较低的问题；达到了可以及时清理垃圾，并且根据位置信息精确地清理垃圾的效果。
图8是根据一示例性实施例示出的一种垃圾清理装置的框图，该垃圾清理装置可以通过软件、硬件或者两者的结合实现成为监控设备的部分或者全部。该垃圾清理装置可以包括：
获取模块720，被配置为获取监控区域的监控内容；
检测模块740，被配置为根据监控内容检测监控区域是否存在垃圾；
位置模块760，被配置为若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；
发送模块780，被配置为将垃圾的位置信息发送给垃圾机器人，该垃圾机器人用于根据位置信息对垃圾进行清理。
可选地，检测模块740，包括：
第一检测子模块742，被配置为根据监控内容中的至少一帧图像判断用户的动作是否产生垃圾；或，
第二检测子模块744，被配置为对比监控内容中的两帧图像之间的不同区域，根据不同区域检测监控区域是否存在垃圾；或，
第三检测子模块746，被配置为检测监控内容中的背景是否存在发生变化的区域；若存在发生变化的区域，则根据发生变化的区域检测监控区域是否存在垃圾。
可选地，位置模块760，包括：
获取子模块762，被配置为根据监控内容获取监控区域中的墙体与地面之间的相交边缘；
建模子模块764，被配置为根据监控区域中的墙体与地面之间的相交边缘对地面进行建模；
计算子模块766，被配置为计算垃圾在建模后的地面中的位置信息。
可选地，位置模块760，包括：
匹配子模块761，被配置为将所述垃圾在所述监控内容中所处的垃圾区域与至少一个样本图像中所述垃圾机器人所处的区域进行匹配，所述样本图像是所述垃圾机器人在所述监控区域中运动或停留时由监控设备预先记录的图像，且每个样本图像绑定有所述垃圾机器人同步上报的位置信息；
确定子模块763，被配置为在匹配成功时，将匹配的所述样本图像所绑定的位置信息确定为所述垃圾在所述监控区域中的位置信息。
可选地，该装置还包括：
记录模块712，被配置为记录垃圾机器人在监控区域中运动或停留时的至少一个图像作为样本图像；
接收模块714，被配置为接收垃圾机器人在记录过程中同步上报的位置信息；
识别模块716，被配置为识别每个样本图像中的垃圾机器人所处的区域；
存储模块718，被配置为将每个样本图像、每个样本图像中垃圾机器人所处的区域以及垃圾机器人同步上报的位置信息进行绑定存储。
可选地，该装置还包括：
地面检测模块790，被配置为检测垃圾是否位于监控区域的地面上；
位置模块760，被配置为当地面垃圾位于监控区域的地面上，执行获取垃圾在监控区域中的位置信息的步骤。
综上所述，本实施例提供的垃圾清理装置，通过获取监控区域的监控内容；根据监控内容检测监控区域是否存在垃圾；若监控区域存在垃圾，则获取垃圾在监控区域中的位置信息；将该垃圾的位置信息发送给垃圾机器人，垃圾机器人用于根据位置信息对垃圾进行清理；解决了垃圾机器人的清理效率较低的问题；达到了可以及时清理垃圾，并且根据位置信息精确地清理垃圾的效果。
本实施例提供的垃圾清理装置，还通过根据监控内容获取监控区域中的墙体与地面之间的相交边缘，根据监控区域中的墙体与地面之间的相交边缘对地面进行建模；可以准确地计算出垃圾在监控区域中的位置信息。
本实施例提供的垃圾清理装置，还通过根据两帧图像中的不同区域来检测监控区域中是否存在垃圾，计算量小且计算速度快，能够在计算能力较弱的监控设备上实现，有较强的适用性。
本实施例提供的垃圾清理装置，还通过监控设备利用垃圾机器人自身生成的位置信息来完成垃圾的位置信息的获取工作，减少了监控设备自身来生成垃圾的位置信息的计算量，降低了对监控设备的计算能力的要求。
图9是根据一示例性实施例示出的一种垃圾清理装置的框图，该垃圾清理装置可以通过软件、硬件或者两者的结合实现成为垃圾机器人的部分或者全部。该垃圾清理装置可以包括：
接收模块920，被配置为接收监控设备发送的垃圾的位置信息。该垃圾的位置信息是监控设备获取监控区域的监控内容，根据监控内容检测监控区域是否存在垃圾，若监控区域存在垃圾，则获取并发送给垃圾机器人的信息。
清理模块940，被配置为根据位置信息对垃圾进行清理。
综上所述，本实施例提供的垃圾清理装置，通过由垃圾机器人接收监控设备发送的垃圾的位置信息，根据位置信息对垃圾进行清理；解决了垃圾机器人的清理效率较低的问题；达到了可以及时清理垃圾，并且根据位置信息精确地清理垃圾的效果。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
图10是根据一示例性实施例示出的一种垃圾清理装置1000的框图。例如，装置1000可以是监控摄像头、监控摄像头与服务器的组合、监控摄像头与移动终端的组合。
参照图10，装置1000可以包括以下一个或多个组件：处理组件1002，存储器 1004，电源组件1006，以及通信组件1016。
处理组件1002通常控制装置1000的整体操作，地址解析、数据收发以及流量控制等操作。处理组件1002可以包括一个或多个处理器1018来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件1002可以包括一个或多个模块，便于处理组件1002和其他组件之间的交互。
存储器1004被配置为存储各种类型的数据以支持在装置1000的操作。这些数据的示例包括用于在装置1000上操作的任何应用程序或方法的指令，用户数据等。存储器1004可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。存储器1004中还存储有一个或多个模块，该一个或多个模块被配置成由该一个或多个处理器1018执行，以完成上述垃圾清理方法的全部或部分步骤。
电源组件1006为装置1000的各种组件提供电力。电源组件1006可以包括电源管理系统，一个或多个电源，及其他与为装置1000生成、管理和分配电力相关联的组件。
通信组件1016被配置为便于装置1000和其他设备之间有线或无线方式的通信。装置1000可以建立基于通信标准的无线网络，如WiFi网络。在一个示例性实施例中，通信组件1016经由广播信道向外部发送广播信号或广播相关信息。
在示例性实施例中，装置1000可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述垃圾清理方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器1004，上述指令可由装置1000的处理器1018执行以完成上述垃圾清理方法。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
图11是根据一示例性实施例示出的一种垃圾清理装置1100的框图。例如，装置1100可以是扫地机器人，拖地机器人等。
参照图11，装置1100可以包括以下一个或多个组件：处理组件1102，存储器1104，电源组件1106，运动组件1108，清理组件1110以及通信组件1116。
处理组件1102通常控制装置1100的整体操作，地址解析、数据收发以及流量控制等操作。处理组件1102可以包括一个或多个处理器1118来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件1102可以包括一个或多个模块，便于处 理组件1102和其他组件之间的交互。
存储器1104被配置为存储各种类型的数据以支持在装置1100的操作。这些数据的示例包括用于在装置1100上操作的任何应用程序或方法的指令，用户数据等。存储器1104可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。存储器1104中还存储有一个或多个模块，该一个或多个模块被配置成由该一个或多个处理器1118执行，以完成上述垃圾清理方法的全部或部分步骤。
电源组件1106为装置1100的各种组件提供电力。电源组件1106可以包括电源管理系统，一个或多个电源，及其他与为装置1100生成、管理和分配电力相关联的组件。
运动组件1108是用于为装置1100提供移动能力的机械装置。运动组件1108可以是滚轮、履带或者机械脚。
清理组件1110是用于清理垃圾的机械装置。清理组件1110可以是吸尘组件、清扫组件或拖地组件。
通信组件1116被配置为便于装置1100和其他设备之间有线或无线方式的通信。装置1100可以建立基于通信标准的无线网络，如WiFi网络。在一个示例性实施例中，通信组件1116经由广播信道向外部发送广播信号或广播相关信息。
在示例性实施例中，装置1100可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述垃圾清理方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器1104，上述指令可由装置1100的处理器1118执行以完成上述垃圾清理方法。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (16)

  1. 一种垃圾清理方法，其特征在于，所述方法包括：
    获取监控区域的监控内容；
    根据所述监控内容检测所述监控区域是否存在垃圾；
    若所述监控区域存在垃圾，则获取所述垃圾在所述监控区域中的位置信息；
    将所述垃圾的所述位置信息发送给垃圾机器人，所述垃圾机器人用于根据所述位置信息对所述垃圾进行清理。
  2. 根据权利要求1的方法，其特征在于，所述根据所述监控内容检测所述监控区域是否存在垃圾，包括：
    根据所述监控内容中的至少一帧图像判断用户的动作是否产生了垃圾；或，
    对比所述监控内容中的两帧图像之间的不同区域，根据所述不同区域检测所述监控区域是否存在垃圾；或，
    检测所述监控内容中的图像是否发生变化；若所述监控内容中的图像发生变化，则识别发生变化后的所述图像中是否存在垃圾。
  3. 根据权利要求1所述的方法，其特征在于，所述获取所述垃圾在所述监控区域中的位置信息，包括：
    根据所述监控内容获取所述监控区域中的墙体与地面之间的相交边缘；
    根据所述监控区域中的墙体与地面之间的相交边缘对所述地面进行建模；
    计算所述垃圾在建模后的所述地面中的位置信息。
  4. 根据权利要求1所述的方法，其特征在于，所述获取所述垃圾在所述监控区域中的位置信息，包括：
    将所述垃圾在所述监控内容中所处的垃圾区域与至少一个样本图像中所述垃圾机器人所处的区域进行匹配，所述样本图像是所述垃圾机器人在所述监控区域中运动或停留时由监控设备预先记录的图像，且每个样本图像绑定有所述垃圾机器人同步上报的位置信息；
    在匹配成功时，将匹配的所述样本图像所绑定的位置信息确定为所述垃圾在所述监控区域中的位置信息。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    记录所述垃圾机器人在所述监控区域中运动或停留时的至少一个图像作为所述样本图像；
    接收所述垃圾机器人在记录过程中同步上报的位置信息；
    识别每个所述样本图像中的所述垃圾机器人所处的区域；
    将每个所述样本图像、每个所述样本图像中所述垃圾机器人所处的区域以及所述垃圾机器人同步上报的位置信息进行绑定存储。
  6. 根据权利要求1至5任一所述的方法，其特征在于，所述方法还包括：
    检测所述垃圾是否位于所述监控区域的地面上；
    若所述垃圾位于所述监控区域的地面上，执行所述获取所述垃圾在所述监控区域中的位置信息的步骤。
  7. 一种垃圾清理方法，其特征在于，所述方法包括：
    接收监控设备发送的垃圾的位置信息；
    根据所述位置信息对所述垃圾进行清理。
  8. 一种垃圾清理装置，其特征在于，所述装置包括：
    获取模块，被配置为获取监控区域的监控内容；
    检测模块，被配置为根据所述监控内容检测所述监控区域是否存在垃圾；
    位置模块，被配置为若所述监控区域存在垃圾，则获取所述垃圾在所述监控区域中的位置信息；
    发送模块，被配置为将所述垃圾的所述位置信息发送给垃圾机器人，所述垃圾机器人用于根据所述位置信息对所述垃圾进行清理。
  9. 根据权利要求8的装置，其特征在于，所述检测模块，包括：
    第一检测子模块，被配置为根据所述监控内容中的至少一帧图像判断用户的动作是否产生垃圾；或，
    第二检测子模块，被配置为对比所述监控内容中的两帧图像之间的不同区域，根据所述不同区域检测所述监控区域是否存在垃圾；或，
    第三检测子模块，被配置为检测所述监控内容中的图像是否发生变化；若所述监控内容中的图像发生变化，则识别发生变化后的所述图像中是否存在垃圾。
  10. 根据权利要求8所述的装置，其特征在于，所述位置模块，包括：
    获取子模块，被配置为根据所述监控内容获取所述监控区域中的墙体与地面之间的相交边缘；
    建模子模块，被配置为根据所述监控区域中的墙体与地面之间的相交边缘对所述地面进行建模；
    计算子模块，被配置为计算所述垃圾在建模后的所述地面中的位置信息。
  11. 根据权利要求8所述的装置，其特征在于，所述位置模块，包括：
    匹配子模块，被配置为将所述垃圾在所述监控内容中所处的垃圾区域与至少一个样本图像中所述垃圾机器人所处的区域进行匹配，所述样本图像是所述垃圾机器人在所述监控区域中运动或停留时由监控设备预先记录的图像，且每个样本图像绑定有所述垃圾机器人同步上报的位置信息；
    确定子模块，被配置为在匹配成功时，将匹配的所述样本图像所绑定的位置信息确定为所述垃圾在所述监控区域中的位置信息。
  12. 根据权利要求11所述的装置，其特征在于，所述装置还包括：
    记录模块，被配置为记录所述垃圾机器人在所述监控区域中运动或停留时的至少一个图像作为所述样本图像；
    接收模块，被配置为接收所述垃圾机器人在记录过程中同步上报的位置信息；
    识别模块，被配置为识别每个所述样本图像中的所述垃圾机器人所处的区域；
    存储模块，被配置为将每个所述样本图像、每个所述样本图像中所述垃圾机器人所处的区域以及所述垃圾机器人同步上报的位置信息进行绑定存储。
  13. 根据权利要求8至12任一所述的装置，其特征在于，所述装置还包括：
    地面检测模块，被配置为检测所述垃圾是否位于所述监控区域的地面上；
    所述位置模块，被配置为当所述地面所述垃圾位于所述监控区域的地面上，执行所述获取所述垃圾在所述监控区域中的位置信息的步骤。
  14. 一种垃圾清理装置，其特征在于，所述装置包括：
    接收模块，被配置为接收监控设备发送的垃圾的位置信息；
    清理模块，被配置为根据所述位置信息对所述垃圾进行清理。
  15. 一种垃圾清理装置，其特征在于，所述装置包括：
    处理器；
    用于存储所述处理器的可执行指令的存储器；
    其中，所述处理器被配置为：
    获取监控区域的监控内容；
    根据所述监控内容检测所述监控区域是否存在垃圾；
    若所述监控区域存在垃圾，则获取所述垃圾在所述监控区域中的位置信息；
    将所述垃圾的所述位置信息发送给垃圾机器人，所述垃圾机器人用于根据所述位置信息对所述垃圾进行清理。
  16. 一种垃圾清理装置，其特征在于，所述装置包括：
    处理器；
    用于存储所述处理器的可执行指令的存储器；
    其中，所述处理器被配置为：
    接收监控设备发送的垃圾的位置信息；
    根据所述位置信息对所述垃圾进行清理。
PCT/CN2015/078068 2014-12-11 2015-04-30 垃圾清理方法及装置 Ceased WO2016090827A1 (zh)

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