CN108415419A - Rubbish pick-up method, robot, electronic equipment and computer program product - Google Patents
Rubbish pick-up method, robot, electronic equipment and computer program product Download PDFInfo
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- CN108415419A CN108415419A CN201810068969.0A CN201810068969A CN108415419A CN 108415419 A CN108415419 A CN 108415419A CN 201810068969 A CN201810068969 A CN 201810068969A CN 108415419 A CN108415419 A CN 108415419A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000004590 computer program Methods 0.000 title claims abstract description 23
- 238000004140 cleaning Methods 0.000 claims abstract description 94
- 230000007613 environmental effect Effects 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 10
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000005295 random walk Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 230000006378 damage Effects 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000013527 convolutional neural network Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/04—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt taking- up the sweepings, e.g. for collecting, for loading
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Robotics (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of rubbish pick-up method, robot, electronic equipment and computer program products, are applied to mobile robot technology field, and this method includes determining cleaning area；The random search in cleaning area, determines whether search front has rubbish；If there is rubbish in front, rubbish is picked up；If front without rubbish, repeats the random search in cleaning area, determine whether search front has rubbish and subsequent step, until cleaning area is all searched for.Rubbish pick-up method provided by the invention, random search in cleaning area picks up rubbish, if front is without rubbish when determining that there is rubbish in search front, then continue the random search in cleaning area, until cleaning area all searched for, this method is only determining that the in the case of of having rubbish just picks up rubbish, without cleaning when no rubbish, realize intelligent recognition and the cleaning of rubbish, relative to the method that existing assimilating type simply cleans rubbish, resource consumption is reduced, the destruction to cleaning area is reduced.
Description
Technical field
The present invention relates to mobile robot technology field, more particularly to a kind of rubbish pick-up method, robot, electronic equipment
And computer program product.
Background technology
In today of economy rapid development, the living standard of people is continuously improved, but equally causes the discharge of rubbish
Amount is growing on and on, and increasing environmental pressure is caused, and seems campus, this kind of place for concentrating the stream of people in shop, street, daily all
A large amount of rubbish can be caused to occur, and the labour in order to allow these places that cleaning is kept to need to put into a large amount of sanitationman.Rubbish
Rubbish pickup robot will largely alleviate above-mentioned situation.
Refuse sweeping machine people mainly cleans formula completely at present, and cover type cleans, and the place of rubbish equally can be into
Row cleans, and the cleaning works for larger area region, such mode is not efficient enough or even not reasonable, such as lawn region,
Assimilating type cleans rubbish and may be damaged lawn simply, or a large amount of dust are sucked dustbin, this is entirely unnecessary.
Invention content
Destruction of the rubbish to cleaning area is cleaned in order to reduce assimilating type simply, the embodiment of the present invention provides a kind of rubbish
Pick-up method, robot, electronic equipment and computer program product.
In a first aspect, an embodiment of the present invention provides a kind of rubbish pick-up method, the method, including：
Determine cleaning area；
The random search in the cleaning area, determines whether search front has rubbish；
If there is rubbish in front, the rubbish is picked up；
If front without rubbish, repeats the random search in the cleaning area, determine whether search front has rubbish
Rubbish and subsequent step, until the cleaning area is all searched for.
Second aspect, an embodiment of the present invention provides a kind of electronic equipment, the electronic equipment includes：
Memory, one or more processors；Memory is connected with processor by communication bus；Processor is configured as
Execute the instruction in memory；It is stored in the storage medium for executing each step in above-mentioned first aspect the method
Instruction.
The third aspect, an embodiment of the present invention provides a kind of computers being used in combination with the electronic equipment including display
Program product, the computer program product include computer-readable storage medium and are embedded in computer program machine therein
System, the computer program mechanism includes the instruction for executing each step in above-mentioned first aspect the method.
Fourth aspect, an embodiment of the present invention provides a kind of rubbish pickup robot, the robot includes：Robot sheet
Body, sensor and decision system；
The environmental information is transmitted to described by the sensor, the environmental information for obtaining the robot body
Decision system；
It is random in the cleaning area to control the robot body for determining cleaning area for the decision system
Walking, meanwhile, determine whether search front has rubbish according to the environmental information；If there is rubbish in front, the machine is controlled
Human body picks up the rubbish, if front without rubbish, continues to control the robot body in the cleaning area at random
Walking and subsequent step, until the cleaning area is all searched for；
The robot body is walked and is picked up rubbish for the control based on the decision system.
It has the beneficial effect that：
In the embodiment of the present invention, by the random search in cleaning area, rubbish is picked up when determining that there is rubbish in search front
Rubbish, if the random search in cleaning area is continued in front without rubbish, until cleaning area is all searched for, this method only exists
It determines and just picks up rubbish in the case of having rubbish, without cleaning when no rubbish, realize intelligent recognition and the cleaning of rubbish, relatively
In the method that existing assimilating type simply cleans rubbish, resource consumption is reduced, the destruction to cleaning area is reduced.
Description of the drawings
Specific embodiments of the present invention are described below with reference to accompanying drawings, wherein：
Fig. 1 is a kind of rubbish pick-up method schematic diagram in the embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of random collision mode in the embodiment of the present invention；
Fig. 3 is a kind of rubbish pickup robot structural schematic diagram in the embodiment of the present invention；
Fig. 4 is another rubbish pick-up method schematic diagram in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of a kind of electronic equipment in the embodiment of the present invention.
Specific implementation mode
Refuse sweeping machine people mainly cleans formula completely at present, and cover type cleans, and the place of rubbish equally can be into
Row cleans, and the cleaning works for larger area region, such mode is not efficient enough or even not reasonable, such as lawn region,
Assimilating type cleans rubbish and may be damaged lawn simply, or a large amount of dust are sucked dustbin, this is entirely unnecessary.
Based on this, an embodiment of the present invention provides a kind of rubbish pick-up method, the random search in cleaning area works as determination
Rubbish is picked up in search front when having rubbish, if the random search in cleaning area is continued in front without rubbish, until cleaning area
It is all searched for, this method, without cleaning when no rubbish, realizes rubbish only determining that the in the case of of having rubbish just picks up rubbish
Intelligent recognition and cleaning, relative to existing assimilating type simply clean rubbish method, reduce resource consumption, reduce
Destruction to cleaning area.
Rubbish pick-up method provided by the invention, can be applied in rubbish pickup robot, which can
Automatic identification rubbish and pickup of classifying, have the function of automatic obstacle avoiding, the functions such as region overlay, can improve refuse sweeping efficiency with
And reduce human cost input.
Specifically, the rubbish pickup robot includes：Robot body, sensor and decision system.
1, robot body
Robot body is the main realization carrier of rubbish pick-up method of the present invention, for the control based on decision system into
Rubbish is walked and picked up to every trade.
Robot body can be cross-country wheeled robot, adapt to different environment, such as highway, meadow, campus
Deng.
In addition, robot body includes manipulator.Manipulator is located at the centre of robot body, has 3 joints and 1
Hand is accommodated, and accommodate hand to be mainly used for the control pickup rubbish based on decision system with 360 degree rotation.
2, sensor
Environmental information is transmitted to decision system, for decision by sensor, the environmental information for obtaining robot body
System controls robot body, picks up rubbish.
Sensor may include：Ultrasonic range finder sensor, RGB-D visual sensors.
Ultrasonic range finder sensor and RGB-D visual sensors are located at the front of robot body.
Preferably, ultrasonic range finder sensor and RGB-D visual sensors are located at the front upper position of robot body.
Ultrasonic range finder sensor and RGB-D visual sensors, for obtaining the object information in front of robot body.Such as use
In detection rubbish and avoiding barrier.
Ultrasonic range finder sensor can obtain robot body the distance between to objects in front.
RGB-D visual sensors (such as RGB-D video cameras) can obtain the depth image of objects in front.
In addition to this, sensor further includes：GPS (Global Positioning System, global positioning system) and
IMU (Inertial measurement unit, Inertial Measurement Unit).
GPS and IMU is located on the chassis of robot body, and the location information for obtaining robot body is positioned.
If indoors or the weak position of GPS signal, can also be positioned using RGB-D SLAM.
3, decision system
Decision system picks up rubbish for executing rubbish pick-up method provided by the invention, to control robot body.
Referring to Fig. 1, which is：
101, determine cleaning area.
102, the random search in cleaning area determines whether search front has rubbish.
Decision system controls robot body random walk in cleaning area, meanwhile, it is determined and is searched for according to environmental information
Whether front has rubbish.
Specifically, decision system is obtained by ultrasonic range finder sensor and RGB-D visual sensors in front of robot body
Object information, according in front of robot body object information determine search front whether have rubbish.
There are many ways to rubbish identifies, for example, by the way of deep learning, pass through CNN (Convolutional
Neural Network, convolutional neural networks) the certain sample size of training rubbish image, generate rubbish identification model, will surpass
The object information in front of robot body that sound ranging sensor and RGB-D visual sensors obtain is input to rubbish identification mould
Type identifies whether as rubbish.For another example using the target identification method of traditional view-based access control model, by the way of characteristic matching
Identify the object information in front of ultrasonic range finder sensor and the robot body that RGB-D visual sensors obtain, it is determined whether be
Rubbish.
103, if there is rubbish in front, pick up rubbish.
If front has rubbish, decision system to control robot body and pick up rubbish.Specifically decision system control machinery
Hand picks up rubbish.
If there is 1 rubbish in front, using the rubbish as target, robot body is controlled close to the rubbish by decision system
Rubbish, and control machinery hand picks up the rubbish.
If there are multiple rubbish in front, the depth information for the objects in front that can be obtained according to RGB-D visual sensors, using most
Short distance preferential principle chooses rubbish and using the rubbish as target, controls robot body by decision system and lean on one by one
The nearly rubbish simultaneously picks up.
Rubbish pickup robot further includes dustbin, wherein the quantity of dustbin is identical as preset rubbish type, each
A dustbin, for storing a type of rubbish.For example, rubbish pickup robot includes 2 dustbins, 1 dustbin is deposited
Recyclable rubbish is put, 1 dustbin stores not recyclable rubbish.
At this point, decision system can determine position and the class of front rubbish according to the object information in front of robot body
Type controls robot body walking according to the position of front rubbish, so that front rubbish is located within the scope of the pickup of manipulator, control
Manipulator pickup processed front rubbish, and front rubbish is put into dustbin corresponding with its type by control machinery hand.
For example, the rubbish position that decision system is identified according to RGB-D visual sensors, control robot body walking,
So that target rubbish is located at the specified region in image, such as in the middle part of image, then according to depth information, determine target rubbish and
The distance of robot location so that manipulator can just touch rubbish, then be rotated according to rubbish type control machinery hand
To the position of the dustbin of storage the type rubbish, pickup and the recycling action of rubbish are completed.
104, if front without rubbish, repeats the random search in cleaning area, determine whether search front has rubbish
Rubbish and subsequent step, until cleaning area is all searched for.
If front repeats step 102, step 103 and step 104 without rubbish, decision system, to continue control machine
Whether device human body random walk in cleaning area, search front have rubbish, close to rubbish and rubbish are picked up if having rubbish,
Continue the random walk in cleaning area if no rubbish and search for, until cleaning area is all searched for.
Rubbish pickup robot can be potentially encountered obstacle in walking, decision system can also be according to robot body in front of
Object information determines whether search front has barrier, if there is barrier in search front, it is determined that can pass through direction, control machine
People realizes the intelligent barrier avoiding of rubbish pickup robot according to the direction walking that can pass through.
In detection of obstacles, can based on the object information in front of robot body, by the way of feature detection, or
Barrier is determined whether by the way of based on depth map and ultrasound fusion.If there is barrier, can be sought according to depth image
It looks for the direction that can pass through, chooses distance is farthest in depth map place as direction of advance.
In addition, rubbish pickup robot is also possible to walk out cleaning area in walking, in order to ensure that the rubbish of this motion picks up
Robot is taken to work in cleaning area, while in order to ensure that cleaning area is all searched for, decision system can also be picked up in rubbish
While taking robot to work, determine whether current search position exceeds the boundary of cleaning area, it is random to revolve if exceeding boundary
Gyration returns to cleaning area.
Specifically, the location information that decision system is obtained according to GPS and IMU, determines whether the current location of robot surpasses
Go out the boundary of cleaning area, if exceeding, walks on after controlling robot body Random-Rotation angle, so that robot body
Return to cleaning area.
Such as random collision mode shown in Fig. 2, decision system specify zone boundary according to GPS coordinate, work as decision system
It determines that robot encounters zone boundary, then controls robot body Random-Rotation certain angle, return in cleaning area, random mode
Search cleaning area in rubbish.For another example according to the mode of vision-based detection, the boundary of detection zone (passes through image procossing
Mode extract marginal information, as soon as obtain the boundary on piece lawn), decision system determines that robot encounters edge and controls robot
Ontology Random-Rotation certain angle returns, and continues to search for, until rubbish pickup is completed in cleaning area.
In addition, decision system is located in robot body；Alternatively, decision system is located at high in the clouds, machine is obtained by cloud
Environmental information around device human body, and robot body is controlled by cloud, i.e., rubbish pickup robot of the invention can
Think cloud robot.
In specific implementation, a kind of realization method of rubbish pickup robot of the invention can be robot shown in 3,
Wherein, 1 is robot body, 4 is ultrasonic range finder sensor, 5 is RGB-D cameras, 6 is GPS, and 7 be IMU, and 3 be manipulator, 2
For dustbin.
Ultrasonic range finder sensor 4, RGB-D cameras 5, GPS6, the sensors such as IMU7 realize the perception of environment, manipulator 3
For the pickup of rubbish, dustbin 2 is used for the storage of rubbish.
Rubbish pickup flow shown in Fig. 4 may be implemented in robot shown in Fig. 3.Detect whether robot exceeds regional edge
Boundary, if exceeding borderline region, decision system returns and enters non-cleaning area by robot is controlled；If without departing from boundary,
Decision system will detect whether front has rubbish, if not detecting rubbish, robot will move on, while avoidance；Such as
Fruit detects rubbish, will be target control robot using rubbish close to rubbish, and control machinery hand picks up rubbish, then moves on
Robot；Whole process constantly repeats, until rubbish cleans out in region.
Advantageous effect：
The embodiment of the present invention picks up rubbish by the random search in cleaning area when determining that there is rubbish in search front,
If the random search in cleaning area is continued in front without rubbish, until cleaning area is all searched for, this method is only in determination
It just picks up rubbish in the case of having rubbish, without cleaning when no rubbish, intelligent recognition and the cleaning of rubbish is realized, relative to existing
Some methods that assimilating type cleans rubbish simply, reduce resource consumption, reduce the destruction to cleaning area.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of electronic equipment, referring to Fig. 5, electronic equipment packet
It includes：
Memory 501, one or more processors 502；And transmitting-receiving subassembly 503, memory, processor and transmitting-receiving group
Part 503 is connected by communication bus (being the explanation carried out for I/O buses with communication bus in the embodiment of the present invention)；The storage
The instruction for executing following each steps is stored in medium：
Determine cleaning area；
The random search in cleaning area, determines whether search front has rubbish；
If there is rubbish in front, rubbish is picked up；
If front without rubbish, repeats the random search in cleaning area, determine search front whether have rubbish and
Subsequent step, until cleaning area is all searched for.
Optionally, this method further includes：
After determining boundary of the current search position beyond cleaning area, Random-Rotation angle returns to cleaning area.
It is understandable to be, in the specific implementation, in order to realize general object of the present invention, it is above-mentioned not necessarily
Right needing includes above-mentioned transmitting-receiving subassembly 503.
Advantageous effect：
Electronic equipment provided in an embodiment of the present invention is by the random search in cleaning area, when there is rubbish in determining search front
Rubbish is picked up when rubbish, if the random search in cleaning area is continued in front without rubbish, until cleaning area is all searched for,
This method, without cleaning when no rubbish, realizes the intelligent recognition of rubbish only determining that the in the case of of having rubbish just picks up rubbish
And cleaning reduces resource consumption, reduces to cleaning area relative to the method that existing assimilating type simply cleans rubbish
Destruction.
In another aspect, the embodiment of the present invention additionally provides a kind of calculating being used in combination with the electronic equipment including display
Machine program product, the computer program product include computer-readable storage medium and are embedded in computer program therein
Mechanism, the computer program mechanism include the instruction for executing following each steps：
Determine cleaning area；
The random search in cleaning area, determines whether search front has rubbish；
If there is rubbish in front, rubbish is picked up；
If front without rubbish, repeats the random search in cleaning area, determine search front whether have rubbish and
Subsequent step, until cleaning area is all searched for.
Optionally, this method further includes：
After determining boundary of the current search position beyond cleaning area, Random-Rotation angle returns to cleaning area.
Advantageous effect：
Computer program product provided in an embodiment of the present invention is by the random search in cleaning area, before determining search
Rubbish picks up when having rubbish in side, if the random search in cleaning area is continued in front without rubbish, until cleaning area is by whole
Search, this method, without cleaning when no rubbish, realize the intelligence of rubbish only determining that the in the case of of having rubbish just picks up rubbish
Identification and cleaning reduce resource consumption relative to the method that existing assimilating type simply cleans rubbish, reduce to cleaning
The destruction in region.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Claims (10)
1. a kind of rubbish pick-up method, which is characterized in that the method, including：
Determine cleaning area；
The random search in the cleaning area, determines whether search front has rubbish；
If there is rubbish in front, the rubbish is picked up；
If front without rubbish, repeats the random search in the cleaning area, determine search front whether have rubbish and
Subsequent step, until the cleaning area is all searched for.
2. according to the method described in claim 1, it is characterized in that, the method, further includes：
After determining boundary of the current search position beyond the cleaning area, Random-Rotation angle returns to the cleaning area.
3. a kind of electronic equipment, which is characterized in that the electronic equipment includes：
Memory, one or more processors；Memory is connected with processor by communication bus；Processor is configured as executing
Instruction in memory；The finger that each step in 1 or 2 the methods is required for perform claim is stored in the storage medium
It enables.
4. a kind of computer program product being used in combination with the electronic equipment including display, the computer program product packet
It includes computer-readable storage medium and is embedded in computer program mechanism therein, the computer program mechanism includes being used for
Perform claim requires the instruction of each step in 1 or 2 the methods.
5. a kind of rubbish pickup robot, which is characterized in that the robot includes：Robot body, sensor and decision system
System；
The environmental information is transmitted to the decision by the sensor, the environmental information for obtaining the robot body
System；
The decision system controls robot body random walk in the cleaning area for determining cleaning area,
Meanwhile determining whether search front has rubbish according to the environmental information；If there is rubbish in front, the robot body is controlled
Pick up the rubbish, if front without rubbish, continue to control the robot body in the cleaning area random walk with
And subsequent step, until the cleaning area is all searched for；
The robot body is walked and is picked up rubbish for the control based on the decision system.
6. robot according to claim 5, which is characterized in that the sensor includes：Ultrasonic range finder sensor, RGB-
D visual sensors；
The ultrasonic range finder sensor and the RGB-D visual sensors are located at the front of the robot body, for obtaining
Object information in front of the robot body；
The decision system, for determining whether search front has rubbish according to the object information in front of the robot body,
If there are multiple rubbish in search front, it is determined that near the rubbish of the robot body, control the robot body pickup
The rubbish near the robot body；
The decision system, for determining whether search front has obstacle according to the object information in front of the robot body
Object, if there is barrier in search front, it is determined that can pass through direction, control the robot according to the direction walking of passing through.
7. robot according to claim 6, which is characterized in that the sensor further includes：Global position system GPS,
Inertial Measurement Unit IMU；
The GPS and IMU is located on the chassis of the robot body, and the position for obtaining the robot body is believed
Breath；
Whether the decision system is additionally operable to determine the current location of the robot beyond described clear according to the positional information
The boundary in reason region walks on if exceeding after controlling the robot body Random-Rotation angle, so that the robot
Ontology returns to the cleaning area.
8. robot according to claim 7, which is characterized in that the robot body is cross-country wheeled robot sheet
Body；
The robot body includes manipulator；
The manipulator is located at the centre of the robot body, has 3 joints and 1 aid hand, and the aid hand 360
Degree rotation；
The decision system picks up rubbish for controlling the manipulator；
The manipulator picks up rubbish for the control based on the decision system.
9. robot according to claim 8, which is characterized in that the robot further includes dustbin, the dustbin
Quantity it is identical as preset rubbish type；
Each dustbin, for storing a type of rubbish；
The decision system, position and class for determining front rubbish according to the object information in front of the robot body
Type controls the robot body according to the position of front rubbish and walks, so that the front rubbish is located at the manipulator
It picks up in range, controls the manipulator and pick up the front rubbish, and control the manipulator and be put into the front rubbish
In dustbin corresponding with its type.
10. according to the robot described in claim 5 to 9 any claim, which is characterized in that the decision system is located at institute
It states in robot body；Alternatively,
The decision system is located at high in the clouds, obtains the environmental information around the robot body by cloud, and pass through cloud
Robot body described in technical controlling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068969.0A CN108415419A (en) | 2018-01-24 | 2018-01-24 | Rubbish pick-up method, robot, electronic equipment and computer program product |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068969.0A CN108415419A (en) | 2018-01-24 | 2018-01-24 | Rubbish pick-up method, robot, electronic equipment and computer program product |
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|---|---|
| CN108415419A true CN108415419A (en) | 2018-08-17 |
Family
ID=63126342
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|---|---|---|---|
| CN201810068969.0A Pending CN108415419A (en) | 2018-01-24 | 2018-01-24 | Rubbish pick-up method, robot, electronic equipment and computer program product |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN109246353A (en) * | 2018-09-07 | 2019-01-18 | 百度在线网络技术（北京）有限公司 | Catching method |
| CN109466725A (en) * | 2018-10-11 | 2019-03-15 | 重庆邮电大学 | It is a kind of that system is salvaged based on the intelligent floater of neural network and image recognition |
| CN109483533A (en) * | 2018-11-05 | 2019-03-19 | 长沙中联重科环境产业有限公司 | Control method, device and the robot of robot for environmental sanitation operation |
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| CN110336979A (en) * | 2019-06-24 | 2019-10-15 | 盛皓月 | A kind of mountain forest intelligent garbage monitoring governing system |
| CN110485345A (en) * | 2019-09-16 | 2019-11-22 | 福建工程学院 | A kind of garbage cleaning vehicle and rubbish method for cleaning |
| CN110640759A (en) * | 2019-10-05 | 2020-01-03 | 苏州亨允晟机电科技有限公司 | Full-automatic garbage picking robot |
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| CN111539280A (en) * | 2020-04-15 | 2020-08-14 | 深圳一清创新科技有限公司 | Road surface cleaning method and device based on automatic driving technology and computer equipment |
| CN114424911A (en) * | 2022-01-23 | 2022-05-03 | 深圳市银星智能科技股份有限公司 | Cleaning method and mobile equipment |
| CN114851194A (en) * | 2022-04-26 | 2022-08-05 | 北京市商汤科技开发有限公司 | Object picking method and device of cleaning robot and related equipment and storage medium thereof |
| CN115444304A (en) * | 2022-08-18 | 2022-12-09 | 东莞市品佳智能科技有限公司 | Control method and system of handheld dust collector, handheld dust collector and storage medium |
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|---|---|---|---|---|
| CN108376241A (en) * | 2018-01-26 | 2018-08-07 | 深圳市易成自动驾驶技术有限公司 | Rubbish pick-up method, rubbish pickup vehicle and computer readable storage medium |
| CN109246353A (en) * | 2018-09-07 | 2019-01-18 | 百度在线网络技术（北京）有限公司 | Catching method |
| CN109246353B (en) * | 2018-09-07 | 2020-02-18 | 百度在线网络技术（北京）有限公司 | Fishing method |
| CN109466725A (en) * | 2018-10-11 | 2019-03-15 | 重庆邮电大学 | It is a kind of that system is salvaged based on the intelligent floater of neural network and image recognition |
| CN109483533A (en) * | 2018-11-05 | 2019-03-19 | 长沙中联重科环境产业有限公司 | Control method, device and the robot of robot for environmental sanitation operation |
| WO2020093767A1 (en) * | 2018-11-05 | 2020-05-14 | 长沙中联重科环境产业有限公司 | Robot control method and device for sanitation work, and robot |
| WO2020103696A1 (en) * | 2018-11-19 | 2020-05-28 | 苏州宝时得电动工具有限公司 | Automatic walking device and control method therefor |
| CN109685849A (en) * | 2018-12-27 | 2019-04-26 | 南京苏美达智能技术有限公司 | A kind of the out-of-bounds determination method and system of mobile robot |
| CN110059767A (en) * | 2019-04-28 | 2019-07-26 | 宿迁海沁节能科技有限公司 | One kind identifying classification processing deep learning method based on the super relevant rubbish of time convolution |
| CN110336979A (en) * | 2019-06-24 | 2019-10-15 | 盛皓月 | A kind of mountain forest intelligent garbage monitoring governing system |
| CN110485345A (en) * | 2019-09-16 | 2019-11-22 | 福建工程学院 | A kind of garbage cleaning vehicle and rubbish method for cleaning |
| CN110640759A (en) * | 2019-10-05 | 2020-01-03 | 苏州亨允晟机电科技有限公司 | Full-automatic garbage picking robot |
| CN110640759B (en) * | 2019-10-05 | 2020-06-23 | 云笈智能科技(天津)有限公司 | Full-automatic road garbage picking robot and using method thereof |
| CN111539280A (en) * | 2020-04-15 | 2020-08-14 | 深圳一清创新科技有限公司 | Road surface cleaning method and device based on automatic driving technology and computer equipment |
| CN111539280B (en) * | 2020-04-15 | 2024-04-09 | 深圳一清创新科技有限公司 | Road surface cleaning method and device based on automatic driving technology and computer equipment |
| CN114424911A (en) * | 2022-01-23 | 2022-05-03 | 深圳市银星智能科技股份有限公司 | Cleaning method and mobile equipment |
| CN114424911B (en) * | 2022-01-23 | 2024-01-30 | 深圳银星智能集团股份有限公司 | Cleaning method and mobile device |
| CN114851194A (en) * | 2022-04-26 | 2022-08-05 | 北京市商汤科技开发有限公司 | Object picking method and device of cleaning robot and related equipment and storage medium thereof |
| CN115444304A (en) * | 2022-08-18 | 2022-12-09 | 东莞市品佳智能科技有限公司 | Control method and system of handheld dust collector, handheld dust collector and storage medium |
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