技术领域technical field
本发明涉及智能控制技术领域，具体而言，涉及一种移动路径的确定方法和移动垃圾桶。The invention relates to the technical field of intelligent control, in particular to a method for determining a moving path and a moving trash can.
背景技术Background technique
传统垃圾桶是指一种可以被放置在固定地点，便于用户投放垃圾的工具，为了实现智能化，现有的旧版本智能垃圾桶增加了自动开关垃圾口的功能，以便于用户可以根据语音或者肢体语言，实现智能控制垃圾桶。The traditional trash can refers to a tool that can be placed in a fixed place to facilitate users to put garbage. In order to achieve intelligence, the existing old version of the smart trash can has the function of automatically opening and closing the garbage port, so that users can use it according to voice or Body language realizes intelligent control of the trash can.
但是，随着智能家居更加贴近我们的生活，以及“互联网+”理念的提出，现有的智能垃圾桶的劣势显得更加突出，例如，现有的智能垃圾桶在移动过程中，例如收集垃圾的过程中，移动垃圾桶无法实现自动避障，因而，在移动垃圾桶的自主移动的过程中容易因碰撞人或者物体，造成移动垃圾桶自身的损坏，还有可能损坏移动垃圾桶所碰撞到的人或者物体，影响用户的使用体验。However, as smart homes get closer to our lives and the concept of "Internet +" is put forward, the disadvantages of existing smart trash cans become more prominent. During the process, the mobile trash can cannot automatically avoid obstacles. Therefore, during the autonomous movement of the mobile trash can, it is easy to cause damage to the mobile trash can itself due to collisions with people or objects, and may also damage the objects that the mobile trash can collides with. People or objects affect the user experience.
针对上述的问题，目前尚未提出有效的解决方案。For the above problems, no effective solution has been proposed yet.
发明内容Contents of the invention
本发明实施例提供了一种移动路径的确定方法和移动垃圾桶，以至少解决现有的移动垃圾桶无法实现在移动过程中自动避障的技术问题。Embodiments of the present invention provide a method for determining a moving path and a mobile trash can, so as to at least solve the technical problem that the existing mobile trash can cannot automatically avoid obstacles during the moving process.
根据本发明实施例的一个方面，提供了一种移动路径的确定方法，包括：移动垃圾桶检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；在上述目标物体为上述第一目标物体的情况下，获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。According to an aspect of an embodiment of the present invention, a method for determining a moving path is provided, including: moving a trash can to detect a target object in a target area, wherein the target object includes at least one of the following: a first target object, a second Target object: in the case that the above-mentioned target object is the above-mentioned first target object, obtain the first distance between the above-mentioned mobile trash can and the above-mentioned first target object, and the distance between the above-mentioned mobile trash can when bypassing the above-mentioned first target object Available path width: according to the above-mentioned first distance and the above-mentioned available path width, the moving path of the above-mentioned mobile trash can is determined, wherein the above-mentioned moving path is a path for the above-mentioned mobile trash can to avoid the above-mentioned first target object during the moving process.
进一步地，在确定上述移动垃圾桶的移动路径之后，上述方法还包括：上述移动垃圾桶按照上述移动路径进行移动；上述移动垃圾桶检测当前所处位置是否避开上述第一目标物体；在判断结果为是的情况下，上述移动垃圾桶移动至原始移动路径，并按照上述原始移动路径进行移动。Further, after determining the moving path of the above-mentioned mobile trash can, the above-mentioned method further includes: the above-mentioned mobile trash can moves according to the above-mentioned moving path; the above-mentioned mobile trash can detects whether the current position avoids the above-mentioned first target object; If the result is yes, the above-mentioned mobile trash can moves to the original moving path, and moves according to the above-mentioned original moving path.
进一步地，在上述目标物体为上述第二目标物体的情况下，上述方法还包括：获取上述移动垃圾桶与上述第二目标物体之间的第二距离；依据上述第二距离，控制上述移动垃圾桶停止移动。Further, when the above-mentioned target object is the above-mentioned second target object, the above-mentioned method further includes: obtaining a second distance between the above-mentioned mobile garbage can and the above-mentioned second target object; The barrel stops moving.
进一步地，在控制上述移动垃圾桶停止移动之后，上述方法还包括：检测上述移动垃圾桶是否已执行垃圾接收任务；在已执行上述垃圾接收任务的情况下，控制上述移动垃圾桶继续移动至目标位置。Further, after controlling the above-mentioned mobile trash can to stop moving, the above-mentioned method also includes: detecting whether the above-mentioned mobile trash can has performed the garbage receiving task; if the above-mentioned garbage receiving task has been performed, controlling the above-mentioned mobile trash can to continue to move to the target Location.
进一步地，依据上述第一距离和上述路径宽度，确定上述移动垃圾桶的移动路径之前，上述方法还包括：判断上述第一距离是否小于或等于预定距离，以及上述可用路径宽度是否大于或等于预定宽度；依据判断结果判断是否触发确定上述移动垃圾桶的移动路径，其中，上述预定宽度的取值取决于上述移动垃圾桶的宽度和上述移动垃圾桶的宽度的预定倍数；其中，在上述第一距离小于或等于上述预定距离，以及上述可用路径宽度大于或等于上述预定宽度的情况下，触发确定上述移动垃圾桶的移动路径；在上述第一距离大于上述预定距离，或上述可用路径宽度小于上述预定宽度的情况下，控制上述移动垃圾桶停止移动。Further, before determining the moving path of the mobile trash can according to the above-mentioned first distance and the above-mentioned path width, the above-mentioned method further includes: judging whether the above-mentioned first distance is less than or equal to a predetermined distance, and whether the above-mentioned available path width is greater than or equal to a predetermined distance. Width; judge whether to trigger and determine the movement path of the above-mentioned mobile trash can according to the judgment result, wherein the value of the above-mentioned predetermined width depends on the width of the above-mentioned mobile trash can and the predetermined multiple of the width of the above-mentioned mobile trash can; wherein, in the above-mentioned first When the distance is less than or equal to the above-mentioned predetermined distance, and the above-mentioned available path width is greater than or equal to the above-mentioned predetermined width, triggering to determine the moving path of the above-mentioned mobile trash can; Under the situation of predetermined width, control above-mentioned mobile dustbin to stop moving.
进一步地，上述移动垃圾桶通过如下方式移动垃圾桶检测目标区域内的目标物体：上述移动垃圾桶检测上述目标区域内是否存在上述目标物体；在检测结果为是的情况下，获取上述目标物体的图像数据；依据上述图像数据，确定上述目标物体为上述第一目标物体或上述第二目标物体。Further, the above-mentioned mobile trash can detects the target object in the target area by moving the trash can in the following manner: the above-mentioned mobile trash can detects whether the above-mentioned target object exists in the above-mentioned target area; Image data: determining the target object as the first target object or the second target object according to the image data.
根据本发明实施例的一个方面，提供了一种移动垃圾桶，包括：检测装置，设置于移动垃圾桶中，用于检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；处理器，与上述检测装置连接，用于在上述目标物体为上述第一目标物体的情况下，获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。According to an aspect of an embodiment of the present invention, there is provided a mobile trash can, including: a detection device, disposed in the mobile trash can, for detecting a target object in a target area, wherein the target object includes at least one of the following: The first target object, the second target object; the processor, connected to the detection device, used to acquire the second target object between the mobile trash can and the first target object when the target object is the first target object A distance, and the available path width of the above-mentioned mobile trash can when bypassing the above-mentioned first target object; according to the above-mentioned first distance and the above-mentioned available path width, the moving path of the above-mentioned mobile trash can is determined, wherein the above-mentioned moving path is the above-mentioned moving During the moving process, the trash can avoids the path of the above-mentioned first target object.
根据本发明实施例的一个方面，提供了一种移动路径的确定装置，包括：检测模块，用于检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；获取模块，用于在上述目标物体为上述第一目标物体的情况下，获取移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；确定模块，用于依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。According to an aspect of an embodiment of the present invention, a device for determining a moving path is provided, including: a detection module configured to detect a target object in a target area, wherein the target object includes at least one of the following: a first target object, The second target object; an acquisition module, used to acquire the first distance between the mobile trash can and the above-mentioned first target object when the above-mentioned target object is the above-mentioned first target object, and the above-mentioned mobile trash can is bypassing the above-mentioned The available path width of the first target object; a determining module, configured to determine the moving path of the mobile trash can according to the above-mentioned first distance and the above-mentioned available path width, wherein the above-mentioned moving path is during the moving process of the above-mentioned mobile trash can, A path that avoids the first target object above.
根据本发明实施例的一个方面，提供了一种存储介质，上述存储介质包括存储的程序，其中，在上述程序运行时控制上述存储介质所在设备执行以下功能：检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；在上述目标物体为上述第一目标物体的情况下，获取移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。According to an aspect of an embodiment of the present invention, there is provided a storage medium, the above-mentioned storage medium includes a stored program, wherein, when the above-mentioned program is running, the device where the above-mentioned storage medium is located is controlled to perform the following function: detect a target object in a target area, wherein , the above-mentioned target object includes at least one of the following: a first target object and a second target object; in the case that the above-mentioned target object is the above-mentioned first target object, obtain the first distance between the mobile trash can and the above-mentioned first target object , and the available path width of the above-mentioned mobile trash can when bypassing the above-mentioned first target object; according to the above-mentioned first distance and the above-mentioned available path width, the moving path of the above-mentioned mobile trash can is determined, wherein the above-mentioned moving path is the above-mentioned mobile trash can During the movement, avoid the path of the above-mentioned first target object.
根据本发明实施例的一个方面，提供了一种处理器，上述处理器用于运行程序，其中，上述程序运行时执行以下功能：检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；在上述目标物体为上述第一目标物体的情况下，获取移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。According to an aspect of an embodiment of the present invention, there is provided a processor, the above-mentioned processor is used to run a program, wherein the above-mentioned program executes the following function when running: detecting a target object in a target area, wherein the above-mentioned target object includes at least one of the following One: the first target object and the second target object; when the above-mentioned target object is the above-mentioned first target object, obtain the first distance between the mobile trash can and the above-mentioned first target object, and the above-mentioned mobile trash can The available path width when the above-mentioned first target object is opened; according to the above-mentioned first distance and the above-mentioned available path width, the moving path of the above-mentioned mobile trash can is determined, wherein the above-mentioned moving path is that the above-mentioned mobile trash can avoids the above-mentioned The path of the first target object.
在本发明实施例中，通过移动垃圾桶检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；在上述目标物体为上述第一目标物体的情况下，获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径，达到了移动垃圾桶在移动过程中自动避障的目的，从而实现了提高移动垃圾桶的智能性，提升用户体验的技术效果，进而解决了现有的移动垃圾桶无法实现在移动过程中自动避障的技术问题。In an embodiment of the present invention, the target object in the target area is detected by moving the trash can, wherein the target object includes at least one of the following: a first target object and a second target object; the target object is the first target object In the case of , obtain the first distance between the above-mentioned mobile trash can and the above-mentioned first target object, and the available path width of the above-mentioned mobile trash can when bypassing the above-mentioned first target object; according to the above-mentioned first distance and the above-mentioned available path Width, to determine the moving path of the above-mentioned mobile trash can, wherein, the above-mentioned moving path is the path of avoiding the above-mentioned first target object during the moving process of the above-mentioned mobile trash can, so as to achieve the purpose of automatic obstacle avoidance of the mobile trash can during the moving process , thereby achieving the technical effect of improving the intelligence of the mobile trash can and improving user experience, and then solving the technical problem that the existing mobile trash can cannot automatically avoid obstacles during the movement process.
附图说明Description of drawings
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention. In the attached picture:
图1是根据本发明实施例的一种移动路径的确定方法的流程图；FIG. 1 is a flowchart of a method for determining a moving path according to an embodiment of the present invention;
图2是根据本发明实施例的一种可选的移动垃圾桶的定位方法的场景示意图；FIG. 2 is a schematic diagram of a scene of an optional positioning method for a mobile trash can according to an embodiment of the present invention;
图3是根据本发明实施例的另一种移动路径的确定方法的流程图；FIG. 3 is a flowchart of another method for determining a moving path according to an embodiment of the present invention;
图4是根据本发明实施例的一种移动垃圾桶的结构示意框图；Fig. 4 is a structural schematic block diagram of a mobile trash can according to an embodiment of the present invention;
图5是根据本发明实施例的一种移动路径的确定装置的结构示意图；以及FIG. 5 is a schematic structural diagram of an apparatus for determining a moving path according to an embodiment of the present invention; and
图6是根据本发明实施例的另一种移动路径的确定装置的结构示意图。Fig. 6 is a schematic structural diagram of another device for determining a moving path according to an embodiment of the present invention.
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.
实施例Example
根据本发明实施例，提供了一种移动路径的确定方法的实施例，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。According to an embodiment of the present invention, an embodiment of a method for determining a moving path is provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and , although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.
需要说明的是，本申请所提供的移动路径的确定方法可以在移动垃圾桶上实施，其中，该移动垃圾桶可以为有自动避障功能的室内智能移动垃圾桶，在原有的智能垃圾桶上利用多传感器信息融合的技术，实现了在路径规划自主移动中自动避障的功能。该功能不仅有助于管理智能垃圾桶的位置，在减少智能垃圾桶本身损伤的同时也减少了对其周围人或物造成的损伤。It should be noted that the method for determining the moving path provided in this application can be implemented on a mobile trash can, wherein the mobile trash can can be an indoor intelligent mobile trash can with automatic obstacle avoidance function, and the original intelligent trash can Using the technology of multi-sensor information fusion, the function of automatic obstacle avoidance in path planning and autonomous movement is realized. This function not only helps to manage the position of the smart trash can, but also reduces the damage to the people or things around it while reducing the damage to the smart trash can itself.
图1是根据本发明实施例的一种移动路径的确定方法的流程图，如图1所示，该方法包括如下步骤：Fig. 1 is a flowchart of a method for determining a moving path according to an embodiment of the present invention. As shown in Fig. 1, the method includes the following steps:
步骤S102，移动垃圾桶检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体。Step S102, moving the trash can to detect target objects in the target area, wherein the target objects include at least one of the following: a first target object and a second target object.
可选的，上述移动垃圾桶可以为任意一种类型或形状的垃圾桶，例如，智能垃圾桶；目标区域可以为室内区域或者室外的指定区域，指定区域可以为移动垃圾桶的可行动区域；上述目标物体的类型可以为：不可自主移动物体(例如：柱子、沙发、桌子、椅子等)、植物、动物或人等。Optionally, the above-mentioned mobile trash can can be any type or shape of trash can, for example, a smart trash can; the target area can be an indoor area or an outdoor designated area, and the designated area can be an actionable area of the mobile trash can; The type of the above-mentioned target object may be: non-autonomous moving object (for example: pillar, sofa, table, chair, etc.), plant, animal or person, etc.
作为一种可选的实施例，本申请中的移动垃圾桶可以依据设置在移动垃圾桶中的检测装置、图像采集装置采集上述目标物体的图像数据，进而与检测装置、图像采集装置连接的处理器确定上述目标物体的类型，该检测装置可以为光传感器、该图像采集装置还可以为设置在目标区域内的图像采集装置，其中，图像采集装置可以为摄像头。As an optional embodiment, the mobile trash can in this application can collect the image data of the above-mentioned target object according to the detection device and the image acquisition device arranged in the mobile trash can, and then process the connection with the detection device and the image acquisition device The detector determines the type of the above-mentioned target object, the detection device may be a light sensor, and the image acquisition device may also be an image acquisition device arranged in the target area, wherein the image acquisition device may be a camera.
在上述步骤S102中，上述第一目标物体为：不可自主移动物体、植物、动物等；上述第二目标物体为人，例如，可以是用户、玩耍的小朋友等。In the above step S102, the first target object is: an object that cannot move independently, a plant, an animal, etc.; the second target object is a person, for example, a user, a child playing, etc.
步骤S104，在上述目标物体为上述第一目标物体的情况下，获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度。Step S104, if the above-mentioned target object is the above-mentioned first target object, obtain the first distance between the above-mentioned mobile trash can and the above-mentioned first target object, and the distance between the above-mentioned mobile trash can when bypassing the above-mentioned first target object Available path widths.
在一种可选的实施例中，若上述目标物体为第一目标物体(例如：沙发)的情况下，沙发不会自主移动，因而需要移动垃圾桶避开上述第一目标物体。In an optional embodiment, if the above-mentioned target object is the first target object (for example: sofa), the sofa will not move autonomously, so the trash can needs to be moved to avoid the above-mentioned first target object.
步骤S106，依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。Step S106: Determine the moving path of the mobile trash can according to the first distance and the available path width, wherein the moving path is a path that avoids the first target object during the moving process of the mobile trash can.
在本申请中的上述可选实施例中，若上述判断结果为避开上述第一目标物体，则移动垃圾桶重新自主规划新的移动路径，并沿新的移动路径进行移动；例如：移动垃圾桶可以通过超声波传感器判断与第一目标物体的距离，以及移动垃圾桶在绕开第一目标物体时的可用路径宽度，如果可用路径宽度大于或等于移动垃圾桶的宽度的倍数(例如：1.5倍)，移动垃圾桶内的处理器规划短期的移动路径，并沿该移动路径进行移动以完成避障。In the above optional embodiment of the present application, if the above-mentioned judgment result is to avoid the above-mentioned first target object, the mobile trash can re-plans a new moving path autonomously, and moves along the new moving path; for example: mobile garbage The bucket can judge the distance from the first target object through the ultrasonic sensor, and the available path width of the mobile trash can when bypassing the first target object, if the available path width is greater than or equal to the multiple of the width of the mobile trash can (for example: 1.5 times ), the processor in the mobile trash can plans a short-term movement path, and moves along the movement path to complete obstacle avoidance.
在另一种可选的实施例中，若上述目标物体为第二目标物体(例如：用户)的情况下，由于移动垃圾桶的特性，可以存在用户投掷垃圾的情况，或者用户发现自己挡在移动垃圾桶的移动可用路径，则用户可以自行走开避开移动垃圾桶。In another optional embodiment, if the above-mentioned target object is a second target object (for example: a user), due to the characteristics of the mobile trash can, there may be situations where the user throws garbage, or the user finds himself in the If there is no mobile available path for the mobile trash can, the user can walk away to avoid the mobile trash can.
在本发明实施例中，通过移动垃圾桶检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；在上述目标物体为上述第一目标物体的情况下，获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径，达到了移动垃圾桶在移动过程中自动避障的目的，从而实现了提高移动垃圾桶的智能性，提升用户体验的技术效果，进而解决了现有的移动垃圾桶无法实现在移动过程中自动避障的技术问题。In an embodiment of the present invention, the target object in the target area is detected by moving the trash can, wherein the target object includes at least one of the following: a first target object and a second target object; the target object is the first target object In the case of , obtain the first distance between the above-mentioned mobile trash can and the above-mentioned first target object, and the available path width of the above-mentioned mobile trash can when bypassing the above-mentioned first target object; according to the above-mentioned first distance and the above-mentioned available path Width, to determine the moving path of the above-mentioned mobile trash can, wherein, the above-mentioned moving path is the path of avoiding the above-mentioned first target object during the moving process of the above-mentioned mobile trash can, so as to achieve the purpose of automatic obstacle avoidance of the mobile trash can during the moving process , thereby achieving the technical effect of improving the intelligence of the mobile trash can and improving user experience, and then solving the technical problem that the existing mobile trash can cannot automatically avoid obstacles during the movement process.
在一种可选的实施例中，在确定上述移动垃圾桶的移动路径之后，上述方法还包括：In an optional embodiment, after determining the moving path of the above-mentioned mobile trash can, the above-mentioned method further includes:
步骤S202，上述移动垃圾桶按照上述移动路径进行移动；Step S202, the above-mentioned mobile trash can is moved according to the above-mentioned moving path;
步骤S204，上述移动垃圾桶检测当前所处位置是否避开上述第一目标物体；Step S204, the above-mentioned mobile trash can detects whether the current location avoids the above-mentioned first target object;
步骤S206，在判断结果为是的情况下，上述移动垃圾桶移动至原始移动路径，并按照上述原始移动路径进行移动。Step S206, if the judgment result is yes, the above-mentioned mobile trash can moves to the original moving path, and moves according to the above-mentioned original moving path.
在上述步骤S206中，上述原始移动路径为从起始位置出发，移动至目标位置的移动路径，也即原始规划的移动路径。In the above step S206, the above-mentioned original moving path is a moving path starting from the starting position and moving to the target position, that is, the originally planned moving path.
以下一种可选的实施例，对本申请所提供的移动垃圾桶的自主定位方法进行解释说明：图2是根据本发明实施例的一种可选的移动垃圾桶的定位方法的场景示意图，如图2所示，当移动垃圾桶处于一个目标区域(需要说明的是，该目标区域对于移动垃圾桶而言，可以为未知环境)中时，上述移动垃圾桶可以从上述目标区域后的一个未知位置开始移动，首先，移动垃圾桶初始化内部的RFID识别设备，并利用RFID技术识别电子围栏上设置的电子标签，进行移动垃圾桶的自主定位，同时，上述移动垃圾桶内部的处理器还可以基于当前获取到的环境信息(可以为通过移动垃圾桶中设置的传感器所采集的环境信息)建立环境地图，并利用移动垃圾桶的路径规划功能进行实现自主移动。The following optional embodiment explains the autonomous positioning method of the mobile trash can provided in this application: FIG. 2 is a schematic diagram of a scenario of an optional mobile trash can positioning method according to an embodiment of the present invention, as shown in As shown in Figure 2, when the mobile trash can is in a target area (it should be noted that the target area can be an unknown environment for the mobile trash can), the above-mentioned mobile trash can can be from an unknown environment behind the above-mentioned target area. The location starts to move. First, the mobile trash can initializes the internal RFID identification equipment, and uses RFID technology to identify the electronic tags set on the electronic fence, and performs autonomous positioning of the mobile trash can. At the same time, the processor inside the mobile trash can can also be based on The currently acquired environmental information (which can be the environmental information collected by the sensors set in the mobile trash can) establishes an environmental map, and uses the path planning function of the mobile trash can to realize autonomous movement.
当移动垃圾桶在内部设置的处理器的控制下开始按规划轨迹移动时，可以利用上述传感器(例如，超声波传感器、红外线传感器等类型的传感器)识别目标区域的周围环境，对周围的目标物体进行判断，实现对自身位置的再次定位，当需要避障时，如图2所示，原始移动路径上存在第一目标物体则可以认为需要避障，再依靠处理器实时规划移动路径(短期内的路径)，在完成避障之后，根据自主定位系统定位当前位置，再次回到原始移动路径上在全局规划器的控制下开始移动，以此实现移动垃圾桶的避障。When the mobile garbage can starts to move according to the planned trajectory under the control of the processor provided inside, the above-mentioned sensors (such as sensors such as ultrasonic sensors and infrared sensors) can be used to identify the surrounding environment of the target area, and the surrounding target objects can be detected. Judgment, to realize the repositioning of its own position, when obstacle avoidance is required, as shown in Figure 2, if there is the first target object on the original moving path, it can be considered that obstacle avoidance is needed, and then rely on the processor to plan the moving path in real time (short-term Path), after completing the obstacle avoidance, locate the current position according to the autonomous positioning system, return to the original moving path again and start moving under the control of the global planner, so as to realize the obstacle avoidance of the mobile trash can.
基于本申请提供的上述移动路径的确定方法，可以利用移动垃圾桶的自动避障功能，使移动垃圾桶在自主移动的过程中，减少因碰撞而造成的损坏，同时也减少了对其他人或物体的损坏，提高了移动垃圾桶的使用寿命和用户使用体验。Based on the method for determining the above-mentioned moving path provided by this application, the automatic obstacle avoidance function of the mobile trash can can be used to reduce damage caused by collisions during the autonomous movement of the mobile trash can, and at the same time reduce damage to other people or The damage of the object improves the service life and user experience of the mobile trash can.
作为一种可选的实施例，当移动垃圾桶在内部设置的处理器的控制下开始按规划轨迹移动时，可以利用上述传感器(例如，超声波传感器、红外线传感器等类型的传感器)识别目标区域的周围环境，对周围的目标物体进行判断，实现对自身位置的再次定位，当需要避障时，如图2所示，当移动垃圾桶检测到原始移动路径上存在第一目标物体，则可以认为需要避障，再依靠处理器实时规划移动路径(短期内的路径)，在完成避障之后，根据自主定位系统定位当前位置，再次回到原始移动路径上在全局规划器的控制下开始移动，以此实现移动垃圾桶的避障。As an optional embodiment, when the mobile trash can starts to move according to the planned trajectory under the control of the processor provided inside, the above-mentioned sensors (such as ultrasonic sensors, infrared sensors, etc.) can be used to identify the location of the target area. The surrounding environment, judge the surrounding target objects, and realize the repositioning of its own position. When it is necessary to avoid obstacles, as shown in Figure 2, when the mobile trash can detects that there is the first target object on the original moving path, it can be considered Need to avoid obstacles, and then rely on the processor to plan the moving path in real time (short-term path). After completing the obstacle avoidance, locate the current position according to the autonomous positioning system, return to the original moving path again and start moving under the control of the global planner. In this way, the obstacle avoidance of the mobile trash can is realized.
在一种可选的实施例中，在上述目标物体为上述第二目标物体的情况下，获取与上述第二目标物体之间的第二距离；依据上述第二距离，控制上述移动垃圾桶停止移动。In an optional embodiment, when the above-mentioned target object is the above-mentioned second target object, the second distance between the above-mentioned second target object and the above-mentioned second target object is obtained; according to the above-mentioned second distance, the above-mentioned mobile trash can is controlled to stop move.
可选的，上述第二距离可以为0.5m,0.3m等，但并不限于此，以可以实现本申请实施例为准。Optionally, the above-mentioned second distance may be 0.5 m, 0.3 m, etc., but is not limited thereto, and the embodiment of the present application may be implemented.
在一种可选的实施例中，在控制上述移动垃圾桶停止移动之后，上述方法还包括：检测上述移动垃圾桶是否已执行垃圾接收任务；在已执行上述垃圾接收任务的情况下，控制上述移动垃圾桶继续移动至目标位置。In an optional embodiment, after controlling the above-mentioned mobile trash can to stop moving, the above-mentioned method further includes: detecting whether the above-mentioned mobile trash can has performed the garbage receiving task; The mobile trash can continues to move to the target position.
在本申请所提供的一种可选的实施例中，当处理器处理上述图像数据之后，如果该目标物体的形状特征属于人体的形状特征，确定该目标物体为第二目标物体，同时红外传感器反馈的信息经过处理器处理发现符合人体的体温特征，移动垃圾桶通过超声波传感器判断与人的距离，在适当位置停下，在完成收垃圾任务后或者人自行走开之后，再次向规定目标位置移动，完成垃圾收集和避障。In an optional embodiment provided in the present application, after the processor processes the above image data, if the shape feature of the target object belongs to the shape feature of the human body, it is determined that the target object is the second target object, and the infrared sensor The feedback information is processed by the processor and found to be in line with the body temperature characteristics of the human body. The mobile trash can judges the distance from the person through the ultrasonic sensor, stops at an appropriate position, and then moves to the specified target position again after completing the garbage collection task or after the person walks away. Move, complete garbage collection and avoid obstacles.
在一种可选的实施例中，依据上述第一距离和上述路径宽度，确定上述移动垃圾桶的移动路径之前，上述方法还包括：In an optional embodiment, before determining the moving path of the mobile trash can according to the first distance and the path width, the method further includes:
步骤S302，判断上述第一距离是否小于或等于预定距离，以及上述可用路径宽度是否大于或等于预定宽度。Step S302, judging whether the first distance is less than or equal to a predetermined distance, and whether the available path width is greater than or equal to a predetermined width.
可选的，上述预定距离可以为0.5m,0.3m等，但并不限于此，以可以实现本申请实施例为准。Optionally, the foregoing predetermined distance may be 0.5 m, 0.3 m, etc., but is not limited thereto, and the embodiment of the present application may be implemented.
其中，上述预定宽度的取值取决于上述移动垃圾桶的宽度和上述移动垃圾桶的宽度的预定倍数，例如，预定倍数可以为1.5倍。Wherein, the value of the predetermined width depends on the width of the mobile trash can and a predetermined multiple of the width of the mobile trash can, for example, the predetermined multiple may be 1.5 times.
步骤S304，依据判断结果判断是否触发确定上述移动垃圾桶的移动路径。Step S304, judging whether to trigger the determination of the moving path of the above-mentioned mobile trash can according to the judging result.
在一种可选的实施例中，在上述第一距离小于或等于上述预定距离，以及上述可用路径宽度大于或等于上述预定宽度的情况下，触发确定上述移动垃圾桶的移动路径；在上述第一距离大于上述预定距离，或上述可用路径宽度小于上述预定宽度的情况下，控制上述移动垃圾桶停止移动。In an optional embodiment, when the above-mentioned first distance is less than or equal to the above-mentioned predetermined distance, and the above-mentioned available path width is greater than or equal to the above-mentioned predetermined width, triggering the determination of the moving path of the above-mentioned mobile trash can; When a distance is greater than the predetermined distance, or the available path width is smaller than the predetermined width, the mobile trash can is controlled to stop moving.
作为一种可选的实施例，移动垃圾桶可以通过超声波传感器判断与第一目标物体的距离，以及移动垃圾桶在绕开第一目标物体时的可用路径宽度，如果可用路径宽度大于或等于移动垃圾桶的宽度的倍数(例如：1.5倍)，移动垃圾桶内的处理器规划短期的移动路径，并沿该移动路径进行移动以完成避障。As an optional embodiment, the mobile trash can can judge the distance to the first target object through the ultrasonic sensor, and the available path width of the mobile trash can when bypassing the first target object, if the available path width is greater than or equal to the mobile Multiples of the width of the trash can (for example: 1.5 times), the processor in the mobile trash can plans a short-term movement path, and moves along the movement path to complete obstacle avoidance.
实施例2Example 2
根据本发明实施例，提供了另一种移动路径的确定方法的实施例，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。According to an embodiment of the present invention, another embodiment of a method for determining a moving path is provided. It should be noted that the steps shown in the flow charts of the drawings can be executed in a computer system such as a set of computer-executable instructions, Also, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.
图3是根据本发明实施例的另一种移动路径的确定方法的流程图，如图3所示，该方法包括如下步骤：FIG. 3 is a flow chart of another method for determining a moving path according to an embodiment of the present invention. As shown in FIG. 3 , the method includes the following steps:
步骤S402，移动垃圾桶确定目标区域内目标物体的类型。Step S402, moving the trash can to determine the type of the target object in the target area.
可选的，上述移动垃圾桶可以为任意一种类型或形状的垃圾桶，例如，智能垃圾桶；目标区域可以为室内区域或者室外的指定区域，指定区域可以为移动垃圾桶的可行动区域；上述目标物体的类型可以为：不可自主移动物体(例如：柱子、沙发、桌子、椅子等)、植物、动物或人等。Optionally, the above-mentioned mobile trash can can be any type or shape of trash can, for example, a smart trash can; the target area can be an indoor area or an outdoor designated area, and the designated area can be an actionable area of the mobile trash can; The type of the above-mentioned target object may be: non-autonomous moving object (for example: pillar, sofa, table, chair, etc.), plant, animal or person, etc.
作为一种可选的实施例，本申请中的移动垃圾桶可以依据设置在移动垃圾桶中的检测装置、图像采集装置采集上述目标物体的图像数据，进而与检测装置、图像采集装置连接的处理器确定上述目标物体的类型，该检测装置可以为光传感器、该图像采集装置还可以为设置在目标区域内的图像采集装置，其中，图像采集装置可以为摄像头。As an optional embodiment, the mobile trash can in this application can collect the image data of the above-mentioned target object according to the detection device and the image acquisition device arranged in the mobile trash can, and then process the connection with the detection device and the image acquisition device The detector determines the type of the above-mentioned target object, the detection device may be a light sensor, and the image acquisition device may also be an image acquisition device arranged in the target area, wherein the image acquisition device may be a camera.
步骤S404，上述移动垃圾桶依据上述目标物体的类型判断是否避开上述目标物体。In step S404, the mobile trash can determines whether to avoid the target object according to the type of the target object.
在上述步骤S404中，上述移动垃圾桶可以依据设置在移动垃圾桶中的处理器判断是否避开上述目标物体。In the above step S404, the mobile trash can may determine whether to avoid the target object according to a processor disposed in the mobile trash can.
在一种可选的实施例中，上述目标物体的类型为不可自主移动物体、植物、动物的情况下，则确定避开上述目标物体；若上述目标物体为人的情况下，由于移动垃圾桶的特性，可以存在用户投掷垃圾的情况，或者用户发现自己挡在移动垃圾桶的移动可用路径，则用户可以自行走开避开移动垃圾桶。因此，移动垃圾桶无需避开用户(人)，并在合适的位置停下来，等待用户投掷垃圾之后或者用户走开之后，再沿原始移动路径进行移动。In an optional embodiment, when the type of the above-mentioned target object is an unmovable object, a plant, or an animal, it is determined to avoid the above-mentioned target object; if the above-mentioned target object is a person, due to the Features, there may be a situation where the user throws garbage, or the user finds himself in the mobile available path of the mobile trash can, then the user can walk away to avoid the mobile trash can. Therefore, the mobile trash can does not need to avoid the user (person), and stops at a suitable location, waits for the user to throw the trash or the user walks away, and then moves along the original moving path.
步骤S406，上述移动垃圾桶依据判断结果确定对应的移动路径。Step S406, the mobile trash can determines the corresponding moving path according to the judgment result.
在上述步骤S406中，上述移动垃圾桶可以依据设置在移动垃圾桶中的处理器依据判断结果确定对应的移动路径。In the above step S406, the mobile trash can may determine a corresponding moving path according to a judgment result by a processor disposed in the mobile trash can.
本申请中，作为一种可选的实施例，若上述判断结果为避开上述目标物体，则移动垃圾桶重新自主规划新的移动路径，并沿新的移动路径进行移动；若上述判断结果为无需避开上述目标物体，则移动垃圾桶在合适的位置停止移动，并在执行完垃圾接收任务，或者当前的目标物体移动之后，移动垃圾桶继续移动至目标位置(例如：垃圾收集点、充电桩等位置)。In this application, as an optional embodiment, if the above judgment result is to avoid the above target object, then the mobile trash can re-plans a new movement path autonomously, and moves along the new movement path; if the above judgment result is Without avoiding the above-mentioned target objects, the mobile trash can stops moving at a suitable position, and after the garbage receiving task is completed, or the current target object moves, the mobile trash can continues to move to the target position (for example: garbage collection point, charging piles, etc.).
以下一种可选的实施例，对本申请所提供的移动垃圾桶的自主定位方法进行解释说明：仍如图2所示，当移动垃圾桶处于一个目标区域(需要说明的是，该目标区域对于移动垃圾桶而言，可以为未知环境)中时，上述移动垃圾桶可以从上述目标区域后的一个未知位置开始移动，首先，移动垃圾桶初始化内部的RFID识别设备，并利用RFID技术识别电子围栏上设置的电子标签，进行移动垃圾桶的自主定位，同时，上述移动垃圾桶内部的处理器还可以基于当前获取到的环境信息(可以为通过移动垃圾桶中设置的传感器所采集的环境信息)建立环境地图，并利用移动垃圾桶的路径规划功能进行实现自主移动。The following optional embodiment explains the autonomous positioning method of the mobile trash can provided in the present application: still as shown in Figure 2, when the mobile trash can is in a target area (it should be noted that the target area is for As far as the mobile trash can is concerned, it can be in an unknown environment), the above-mentioned mobile trash can can start to move from an unknown position behind the above-mentioned target area, first, the mobile trash can initializes the internal RFID identification device, and uses RFID technology to identify the electronic fence The electronic tag set on the mobile trash can is used for autonomous positioning of the mobile trash can. At the same time, the processor inside the mobile trash can can also be based on the currently acquired environmental information (which can be environmental information collected by the sensor set in the mobile trash can) Establish an environmental map, and use the path planning function of the mobile trash can to realize autonomous movement.
当移动垃圾桶在内部设置的处理器的控制下开始按规划轨迹移动时，可以利用上述传感器(例如，超声波传感器、红外线传感器等类型的传感器)识别目标区域的周围环境，对周围的目标物体进行判断，实现对自身位置的再次定位，当需要避障时，如图2所示，原始移动路径上存在第一目标物体则可以认为需要避障，再依靠处理器实时规划移动路径(短期内的路径)，在完成避障之后，根据自主定位系统定位当前位置，再次回到原始移动路径上在全局规划器的控制下开始移动，以此实现移动垃圾桶的避障。When the mobile garbage can starts to move according to the planned trajectory under the control of the processor provided inside, the above-mentioned sensors (such as sensors such as ultrasonic sensors and infrared sensors) can be used to identify the surrounding environment of the target area, and the surrounding target objects can be detected. Judgment, to realize the repositioning of its own position, when obstacle avoidance is required, as shown in Figure 2, if there is the first target object on the original moving path, it can be considered that obstacle avoidance is needed, and then rely on the processor to plan the moving path in real time (short-term Path), after completing the obstacle avoidance, locate the current position according to the autonomous positioning system, return to the original moving path again and start moving under the control of the global planner, so as to realize the obstacle avoidance of the mobile trash can.
基于本申请提供的上述移动路径的确定方法，可以利用移动垃圾桶的自动避障功能，使移动垃圾桶在自主移动的过程中，减少因碰撞而造成的损坏，同时也减少了对其他人或物体的损坏，提高了移动垃圾桶的使用寿命和用户使用体验。Based on the method for determining the above-mentioned moving path provided by this application, the automatic obstacle avoidance function of the mobile trash can can be used to reduce damage caused by collisions during the autonomous movement of the mobile trash can, and at the same time reduce damage to other people or The damage of the object improves the service life and user experience of the mobile trash can.
在本发明实施例中，通过移动垃圾桶确定目标区域内目标物体的类型；上述移动垃圾桶依据上述目标物体的类型判断是否避开上述目标物体；上述移动垃圾桶依据判断结果确定对应的移动路径，达到了移动垃圾桶在移动过程中自动避障的目的，从而实现了提高移动垃圾桶的智能性，提升用户体验的技术效果，进而解决了现有的移动垃圾桶无法实现在移动过程中自动避障的技术问题。In the embodiment of the present invention, the type of the target object in the target area is determined by moving the trash can; the above-mentioned mobile trash can judges whether to avoid the above-mentioned target object according to the type of the above-mentioned target object; the above-mentioned mobile trash can determines the corresponding moving path according to the judgment result , to achieve the purpose of automatic obstacle avoidance in the moving process of the mobile trash can, thereby realizing the technical effect of improving the intelligence of the mobile trash can and improving the user experience, and then solving the problem that the existing mobile trash can cannot automatically avoid obstacles during the moving process. Technical issues with obstacle avoidance.
在一种可选的实施例中，上述移动垃圾桶依据上述目标物体的类型判断是否避开上述目标物体包括：In an optional embodiment, the above-mentioned mobile trash can judging whether to avoid the above-mentioned target object according to the type of the above-mentioned target object includes:
步骤S502，在上述目标物体为第一目标物体的情况下，上述移动垃圾桶避开上述第一目标物体；Step S502, if the target object is the first target object, the moving trash can avoids the first target object;
步骤S504，在上述目标物体为第二目标物体的情况下，上述移动垃圾桶无需避开上述第二目标物体。Step S504, if the target object is the second target object, the moving trash can need not avoid the second target object.
在上述步骤S502步骤S504中，上述第一目标物体为：不可自主移动物体、植物、动物等；上述第二目标物体为人，例如，可以是用户、玩耍的小朋友等。In the above step S502 and step S504, the above-mentioned first target object is: an unmovable object, a plant, an animal, etc.; the above-mentioned second target object is a person, for example, a user, a child playing, etc.
在一种可选的实施例中，若上述目标物体为第一目标物体(例如：沙发)的情况下，沙发不会自主移动，因而需要移动垃圾桶避开上述第一目标物体。In an optional embodiment, if the above-mentioned target object is the first target object (for example: sofa), the sofa will not move autonomously, so the trash can needs to be moved to avoid the above-mentioned first target object.
在另一种可选的实施例中，若上述目标物体为第二目标物体(例如：用户)的情况下，由于移动垃圾桶的特性，可以存在用户投掷垃圾的情况，或者用户发现自己挡在移动垃圾桶的移动可用路径，则用户可以自行走开避开移动垃圾桶。In another optional embodiment, if the above-mentioned target object is a second target object (for example: a user), due to the characteristics of the mobile trash can, there may be situations where the user throws garbage, or the user finds himself in the If there is no mobile available path for the mobile trash can, the user can walk away to avoid the mobile trash can.
在一种可选的实施例中，在上述判断结果为：上述移动垃圾桶避开上述第一目标物体的情况下，上述移动垃圾桶依据判断结果确定对应的移动路径包括：In an optional embodiment, when the judgment result is: the mobile trash can avoids the first target object, determining the corresponding movement path of the mobile trash can according to the judgment result includes:
步骤S602，获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度。Step S602, obtaining a first distance between the above-mentioned mobile trash can and the above-mentioned first target object, and an available path width of the above-mentioned mobile trash can when bypassing the above-mentioned first target object.
步骤S604，依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。Step S604: Determine the moving path of the mobile trash can according to the first distance and the available path width, wherein the moving path is a path that avoids the first target object during the moving process of the mobile trash can.
若上述判断结果为避开上述第一目标物体，则移动垃圾桶重新自主规划新的移动路径，并沿新的移动路径进行移动；例如：移动垃圾桶可以通过超声波传感器判断与第一目标物体的距离，以及移动垃圾桶在绕开第一目标物体时的可用路径宽度，如果可用路径宽度大于或等于移动垃圾桶的宽度的倍数(例如：1.5倍)，移动垃圾桶内的处理器规划短期的移动路径，并沿该移动路径进行移动以完成避障。If the result of the above judgment is to avoid the above-mentioned first target object, then the mobile trash can re-plans a new moving path autonomously, and moves along the new moving path; for example: the mobile trash can can judge the distance between the first target object and Distance, and the available path width of the mobile trash can when bypassing the first target object, if the available path width is greater than or equal to the multiple of the width of the mobile trash can (for example: 1.5 times), the processor in the mobile trash can plans short-term Moving path, and move along the moving path to complete obstacle avoidance.
在一种可选的实施例中，上述移动垃圾桶通过如下方式确定上述目标物体的类型：In an optional embodiment, the above-mentioned mobile trash can determines the type of the above-mentioned target object in the following manner:
步骤S702，上述移动垃圾桶检测上述目标区域内是否存在上述目标物体。In step S702, the mobile trash can detects whether the target object exists in the target area.
在上述步骤S702中，在移动垃圾桶沿原始移动路径移动的过程中，可以通过设置在移动垃圾桶中的传感器检测上述目标区域内是否存在目标物体。In the above step S702, during the process of moving the mobile trash can along the original moving path, a sensor arranged in the mobile trash can can detect whether there is a target object in the target area.
步骤S704，在检测结果为是的情况下，获取上述目标物体的图像数据。Step S704, if the detection result is yes, acquire the image data of the above-mentioned target object.
在上述步骤S704中，当存在目标物体在传感器的感知范围内时，也即，目标区域内存在目标物体；移动垃圾桶中的处理器可以调用图像采集装置，获取图像采集装置传回的图像数据。In the above step S704, when there is a target object within the sensing range of the sensor, that is, there is a target object in the target area; the processor in the mobile trash can can call the image acquisition device to obtain the image data returned by the image acquisition device .
步骤S706，依据上述图像数据，确定上述目标物体为上述第一目标物体或上述第二目标物体。Step S706, according to the image data, determine that the target object is the first target object or the second target object.
在上述步骤S706中，移动垃圾桶中的处理器可以通过图像采集装置传回的图像数据进行图像处理，进而移动垃圾桶可以依据该图像数据信息判断目标物体的形状，确定上述目标物体为上述第一目标物体或上述第二目标物体。In the above step S706, the processor in the mobile trash can can perform image processing through the image data sent back by the image acquisition device, and then the mobile trash can can judge the shape of the target object according to the image data information, and determine that the target object is the above-mentioned first A target object or the above-mentioned second target object.
为理解本申请所提供的移动路径的确定方法，以下通过一种可选的实施例对本申请进行解释说明：In order to understand the method for determining the moving path provided by the present application, the following uses an optional embodiment to explain the present application:
在移动垃圾桶(智能移动垃圾桶)沿原始移动路径移动的过程中，当存在目标物体在传感器的感知范围内时，可以移动垃圾桶中的处理器可以调用图像采集装置，通过图像采集装置传回的图像数据信息进行图像处理，进而移动垃圾桶可以依据该图像数据信息判断目标物体的形状。During the movement of the mobile trash can (intelligent mobile trash can) along the original moving path, when there is a target object within the sensing range of the sensor, the processor in the mobile trash can can call the image acquisition device, and transmit the image through the image acquisition device. The returned image data information is used for image processing, and then the mobile trash can can judge the shape of the target object according to the image data information.
在一种可选的实施例中，如果该目标物体的形状特征不属于系统内设定的人的形状特征，确定该目标物体为第一目标物体，则移动垃圾桶通过超声波传感器判断与第一目标物体的距离，以及移动垃圾桶在绕开第一目标物体时的可用路径宽度，如果可用路径宽度大于或等于移动垃圾桶的宽度的倍数(例如：1.5倍)，移动垃圾桶内的处理器规划短期路径，完成避障；当移动垃圾桶识别到可用路径宽度小于移动垃圾桶的宽度的1.5倍时，或被人群包围时，移动垃圾桶自动停止移动，不再前进。In an optional embodiment, if the shape feature of the target object does not belong to the shape feature of the person set in the system, it is determined that the target object is the first target object, and the mobile trash can is judged by the ultrasonic sensor to be the same as the first target object. The distance of the target object, and the available path width of the mobile trash can when bypassing the first target object, if the available path width is greater than or equal to the multiple of the width of the mobile trash can (for example: 1.5 times), the processor in the mobile trash can Plan a short-term path and complete obstacle avoidance; when the mobile trash can recognizes that the available path width is less than 1.5 times the width of the mobile trash can, or is surrounded by crowds, the mobile trash can automatically stops moving and does not move forward.
其中，在上述可选的实施例中，若上述第一目标物体在移动垃圾桶的左侧，则执行右避障子程序；若上述第一目标物体在移动垃圾桶的左侧前方或前方，则执行避左前障碍程序；若上述第一目标物体在移动垃圾桶的右侧前方，则执行避右前障碍程序；若上述第一目标物体在移动垃圾桶的右侧，则执行左避障子程序。Wherein, in the above optional embodiment, if the above-mentioned first target object is on the left side of the moving trash can, then execute the right obstacle avoidance subroutine; if the above-mentioned first target object is on the left side or in front of the moving trash can, then Execute the left front obstacle avoidance program; if the above-mentioned first target object is in front of the right side of the moving trash can, then execute the right front obstacle avoidance program; if the above-mentioned first target object is on the right side of the moving trash can, then execute the left obstacle avoidance subroutine.
在另一种可选的实施例中，当处理器处理上述图像数据之后，如果该目标物体的形状特征属于人体的形状特征，确定该目标物体为第二目标物体，同时红外传感器反馈的信息经过处理器处理发现符合人体的体温特征，移动垃圾桶通过超声波传感器判断与人的距离，在适当位置停下，在完成收垃圾任务后或者人自行走开之后，再次向规定目标位置移动，完成垃圾收集和避障。In another optional embodiment, after the processor processes the above image data, if the shape feature of the target object belongs to the shape feature of the human body, it is determined that the target object is the second target object, and the information fed back by the infrared sensor passes through The processor processes and finds that it matches the body temperature characteristics of the human body. The mobile trash can judges the distance from the person through the ultrasonic sensor, stops at the appropriate position, and moves to the specified target position again after completing the garbage collection task or after the person walks away by himself to complete the garbage collection. Collect and avoid obstacles.
需要说明的是，上述倍数可以但不限于为1.5倍，为了保障移动垃圾桶在避障的过程中，减少因碰撞而造成的损坏，上述倍数还可以为大于1.5的任意数值，此处并不具体限定。It should be noted that the above multiple can be, but not limited to, 1.5 times. In order to ensure that the mobile trash can reduces damage caused by collisions during the obstacle avoidance process, the above multiple can also be any value greater than 1.5. Specific limits.
实施例3Example 3
根据本发明实施例，还提供了一种用于实施上述移动路径的确定方法的移动垃圾桶的实施例，图4是根据本发明实施例的一种移动垃圾桶的结构示意框图，如图4所示，上述移动垃圾桶，包括：检测装置40和处理器42，其中，According to an embodiment of the present invention, an embodiment of a mobile trash can for implementing the method for determining the above-mentioned moving path is also provided. FIG. 4 is a schematic structural block diagram of a mobile trash can according to an embodiment of the present invention, as shown in FIG. 4 As shown, the above-mentioned mobile trash can includes: a detection device 40 and a processor 42, wherein,
检测装置40，设置于移动垃圾桶中，用于检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；处理器42，与上述检测装置40连接，用于在上述目标物体为上述第一目标物体的情况下，获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。The detection device 40 is arranged in the mobile trash can and is used to detect the target object in the target area, wherein the above-mentioned target object includes at least one of the following: a first target object, a second target object; a processor 42, and the above-mentioned detection device 40 connections, used to obtain the first distance between the mobile trash can and the first target object when the target object is the first target object, and the mobile trash can is bypassing the first target object The available path width at the time; according to the above-mentioned first distance and the above-mentioned available path width, determine the moving path of the above-mentioned mobile trash can, wherein, the above-mentioned moving path is the path of avoiding the above-mentioned first target object during the moving process of the above-mentioned mobile trash can .
在本发明实施例中，通过检测装置40，设置于移动垃圾桶中，用于检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；处理器42，与上述检测装置40连接，用于在上述目标物体为上述第一目标物体的情况下，获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径，达到了移动垃圾桶在移动过程中自动避障的目的，从而实现了提高移动垃圾桶的智能性，提升用户体验的技术效果，进而解决了现有的移动垃圾桶无法实现在移动过程中自动避障的技术问题。In the embodiment of the present invention, the detection device 40 is installed in the mobile trash can to detect the target object in the target area, wherein the target object includes at least one of the following: a first target object and a second target object; The processor 42 is connected to the detection device 40, and is used to obtain the first distance between the mobile trash can and the first target object when the target object is the first target object, and the distance between the mobile trash can and the first target object. The available path width when bypassing the above-mentioned first target object; according to the above-mentioned first distance and the above-mentioned available path width, the moving path of the above-mentioned mobile trash can is determined, wherein the above-mentioned moving path is during the moving process of the above-mentioned mobile trash can. Opening the path of the above-mentioned first target object achieves the purpose of automatically avoiding obstacles during the moving process of the mobile trash can, thereby realizing the technical effect of improving the intelligence of the mobile trash can and improving the user experience, and then solving the problem of existing mobile trash cans. The barrel cannot realize the technical problem of automatic obstacle avoidance in the process of moving.
可选的，上述目标物体的类型包括至少如下之一：第一目标物体和第二目标物体。其中，上述第一目标物体为：不可自主移动物体、植物、动物等；上述第二目标物体为人，例如，可以是用户、玩耍的小朋友等。Optionally, the above-mentioned type of the target object includes at least one of the following: a first target object and a second target object. Wherein, the above-mentioned first target object is: an object that cannot move autonomously, a plant, an animal, etc.; the above-mentioned second target object is a person, for example, it may be a user, a child playing, etc.
在一种可选的实施例中，若上述目标物体为第一目标物体(例如：沙发)的情况下，沙发不会自主移动，因而需要移动垃圾桶避开上述第一目标物体。In an optional embodiment, if the above-mentioned target object is the first target object (for example: sofa), the sofa will not move autonomously, so the trash can needs to be moved to avoid the above-mentioned first target object.
在另一种可选的实施例中，若上述目标物体为第二目标物体(例如：用户)的情况下，由于移动垃圾桶的特性，可以存在用户投掷垃圾的情况，或者用户发现自己挡在移动垃圾桶的移动可用路径，则用户可以自行走开避开移动垃圾桶。In another optional embodiment, if the above-mentioned target object is a second target object (for example: a user), due to the characteristics of the mobile trash can, there may be situations where the user throws garbage, or the user finds himself in the If there is no mobile available path for the mobile trash can, the user can walk away to avoid the mobile trash can.
在一种可选的实施例中，上述检测装置40包括：In an optional embodiment, the detection device 40 includes:
激光检测器，用于检测上述目标区域内是否存在上述目标物体；A laser detector, used to detect whether the above-mentioned target object exists in the above-mentioned target area;
测距传感器，用于获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度。The ranging sensor is configured to obtain a first distance between the mobile trash can and the first target object, and an available path width of the mobile trash can when it bypasses the first target object.
其中，上述测距传感器可以为超声波传感器。Wherein, the above distance measuring sensor may be an ultrasonic sensor.
在另一种可选的实施例中，上述移动垃圾桶还包括：图像采集装置，与处理器连接，用于获取上述目标物体的图像数据，并将获取到的图像数据传输至处理器中。In another optional embodiment, the mobile trash can further includes: an image acquisition device connected to the processor, configured to acquire image data of the target object, and transmit the acquired image data to the processor.
需要说明的是，本申请中的图4中所示移动垃圾桶的具体结构仅是示意，在具体应用时，本申请中的移动垃圾桶可以比图4所示的移动垃圾桶具有多或少的结构。It should be noted that the specific structure of the mobile trash can shown in Figure 4 in this application is only for illustration, and in specific applications, the mobile trash can in this application can have more or less Structure.
需要说明的是，上述实施例1和2中的任意一种可选的或优选的移动路径的确定方法，均可以在本实施例所提供的移动垃圾桶中执行或实现。本实施例的可选或优选实施方式可以参见实施例1和2中的相关描述，此处不再赘述。It should be noted that any optional or preferred method for determining the moving path in Embodiments 1 and 2 above can be executed or realized in the mobile trash can provided in this embodiment. For optional or preferred implementation manners of this embodiment, reference may be made to relevant descriptions in Embodiments 1 and 2, and details are not repeated here.
实施例4Example 4
根据本发明实施例，还提供了一种用于实施上述移动路径的确定方法的装置的实施例，图5是根据本发明实施例的一种移动路径的确定装置的结构示意图，如图5所示，上述移动路径的确定装置，包括：第一确定模块50、判断模块52、第二确定模块54，其中，According to an embodiment of the present invention, an embodiment of a device for implementing the above method for determining a moving path is also provided. FIG. 5 is a schematic structural diagram of a device for determining a moving path according to an embodiment of the present invention, as shown in FIG. 5 As shown, the above-mentioned device for determining the moving path includes: a first determination module 50, a judgment module 52, and a second determination module 54, wherein,
第一确定模块50，用于确定目标区域内目标物体的类型；判断模块52，用于依据上述目标物体的类型判断是否避开上述目标物体；第二确定模块54，用于依据判断结果确定对应的移动路径。The first determination module 50 is used to determine the type of the target object in the target area; the judgment module 52 is used to judge whether to avoid the above-mentioned target object according to the type of the above-mentioned target object; the second determination module 54 is used to determine the corresponding object according to the judgment result. path of movement.
需要说明的是，上述各个模块是可以通过软件或硬件来实现的，例如，对于后者，可以通过以下方式实现：上述各个模块可以位于同一处理器中；或者，上述各个模块以任意组合的方式位于不同的处理器中。It should be noted that each of the above-mentioned modules can be realized by software or hardware. For example, for the latter, it can be realized in the following manner: each of the above-mentioned modules can be located in the same processor; or, each of the above-mentioned modules can be implemented in any combination on a different processor.
此处需要说明的是，上述第一确定模块50、判断模块52、第二确定模块54对应于实施例2中的步骤S302至步骤S306，上述模块与对应的步骤所实现的实例和应用场景相同，但不限于上述实施例2所公开的内容。需要说明的是，上述模块作为装置的一部分可以运行在计算机终端中。It should be noted here that the above-mentioned first determining module 50, judging module 52, and second determining module 54 correspond to steps S302 to S306 in Embodiment 2, and the examples and application scenarios implemented by the above-mentioned modules are the same as those of the corresponding steps , but not limited to the content disclosed in the above-mentioned embodiment 2. It should be noted that, as a part of the device, the above modules can run in the computer terminal.
需要说明的是，本实施例的可选或优选实施方式可以参见实施例1和2中的相关描述，此处不再赘述。It should be noted that, for optional or preferred implementation manners of this embodiment, reference may be made to relevant descriptions in Embodiments 1 and 2, which will not be repeated here.
实施例5Example 5
根据本发明实施例，还提供了另一种用于实施上述移动路径的确定方法的装置的实施例，图6是根据本发明实施例的另一种移动路径的确定装置的结构示意图，如图6所示，上述移动路径的确定装置，包括：检测模块60、获取模块62、第三确定模块64，其中，According to an embodiment of the present invention, another embodiment of an apparatus for implementing the above method for determining a moving path is provided. FIG. 6 is a schematic structural diagram of another apparatus for determining a moving path according to an embodiment of the present invention, as shown in FIG. As shown in 6, the above-mentioned device for determining the moving path includes: a detection module 60, an acquisition module 62, and a third determination module 64, wherein,
检测模块60，用于检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；获取模块62，用于在上述目标物体为上述第一目标物体的情况下，获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；第三确定模块64，用于依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。The detection module 60 is used to detect the target object in the target area, wherein the target object includes at least one of the following: a first target object and a second target object; an acquisition module 62 is used to detect the target object when the target object is the first target In the case of an object, obtain the first distance between the above-mentioned mobile trash can and the above-mentioned first target object, and the available path width of the above-mentioned mobile trash can when bypassing the above-mentioned first target object; the third determination module 64 is used to A moving path of the mobile trash can is determined according to the first distance and the available path width, wherein the moving path is a path that avoids the first target object during the moving process of the mobile trash can.
需要说明的是，上述各个模块是可以通过软件或硬件来实现的，例如，对于后者，可以通过以下方式实现：上述各个模块可以位于同一处理器中；或者，上述各个模块以任意组合的方式位于不同的处理器中。It should be noted that each of the above-mentioned modules can be realized by software or hardware. For example, for the latter, it can be realized in the following manner: each of the above-mentioned modules can be located in the same processor; or, each of the above-mentioned modules can be implemented in any combination on a different processor.
此处需要说明的是，上述检测模块60、获取模块62、第三确定模块64对应于实施例1中的步骤S102至步骤S106，上述模块与对应的步骤所实现的实例和应用场景相同，但不限于上述实施例1所公开的内容。需要说明的是，上述模块作为装置的一部分可以运行在计算机终端中。It should be noted here that the detection module 60, the acquisition module 62, and the third determination module 64 correspond to steps S102 to S106 in Embodiment 1, and the examples and application scenarios implemented by the above modules are the same as those of the corresponding steps, but It is not limited to the content disclosed in Embodiment 1 above. It should be noted that, as a part of the device, the above modules can run in the computer terminal.
需要说明的是，本实施例的可选或优选实施方式可以参见实施例1和2中的相关描述，此处不再赘述。It should be noted that, for optional or preferred implementation manners of this embodiment, reference may be made to relevant descriptions in Embodiments 1 and 2, which will not be repeated here.
此外，上述的任意一种移动路径的确定装置还可以包括处理器和存储器，上述第一确定模块50、判断模块52、第二确定模块54、检测模块60、获取模块62、第三确定模块64等均作为程序单元存储在存储器中，由处理器执行存储在存储器中的上述程序单元来实现相应的功能。In addition, the device for determining any of the above-mentioned moving paths may also include a processor and a memory, the above-mentioned first determination module 50, judgment module 52, second determination module 54, detection module 60, acquisition module 62, third determination module 64 etc. are stored in the memory as program units, and the processor executes the above program units stored in the memory to realize corresponding functions.
处理器中包含内核，由内核去存储器中调取相应的程序单元，上述内核可以设置一个或以上。存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)，存储器包括至少一个存储芯片。The processor includes a kernel, and the kernel fetches corresponding program units from the memory, and one or more kernels can be provided. Memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes at least one memory chip.
本申请实施例还提供了一种存储介质。可选地，在本实施例中，上述存储介质包括存储的程序，其中，在上述程序运行时控制上述存储介质所在设备执行上述任意一种移动路径的确定方法。The embodiment of the present application also provides a storage medium. Optionally, in this embodiment, the above-mentioned storage medium includes a stored program, wherein when the above-mentioned program is running, the device where the above-mentioned storage medium is located is controlled to execute any one of the above-mentioned methods for determining the moving path.
可选地，在本实施例中，上述存储介质可以位于计算机网络中计算机终端群中的任意一个计算机终端中，或者位于移动终端群中的任意一个移动终端中，上述存储介质包括存储的程序。Optionally, in this embodiment, the above-mentioned storage medium may be located in any computer terminal in the computer terminal group in the computer network, or in any mobile terminal in the mobile terminal group, and the above-mentioned storage medium includes stored programs.
可选地，在程序运行时控制存储介质所在设备执行以下功能：移动垃圾桶确定目标区域内目标物体的类型；上述移动垃圾桶依据上述目标物体的类型判断是否避开上述目标物体；上述移动垃圾桶依据判断结果确定对应的移动路径。Optionally, when the program is running, the device where the storage medium is located is controlled to perform the following functions: the mobile trash can determines the type of the target object in the target area; the mobile trash can judges whether to avoid the target object according to the type of the target object; the mobile trash can The bucket determines the corresponding moving path according to the judgment result.
可选地，在程序运行时控制存储介质所在设备执行以下功能：在上述目标物体为第一目标物体的情况下，上述移动垃圾桶避开上述第一目标物体；在上述目标物体为第二目标物体的情况下，上述移动垃圾桶无需避开上述第二目标物体。Optionally, when the program is running, the device where the storage medium is located is controlled to perform the following functions: when the above-mentioned target object is the first target object, the above-mentioned mobile trash can avoid the above-mentioned first target object; when the above-mentioned target object is the second target object In the case of an object, the mobile trash can does not need to avoid the second target object.
可选地，在程序运行时控制存储介质所在设备执行以下功能：获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。Optionally, when the program is running, the device where the storage medium is located is controlled to perform the following functions: obtain the first distance between the above-mentioned mobile trash can and the above-mentioned first target object, and the distance between the above-mentioned mobile trash can when it bypasses the above-mentioned first target object. Available path width: according to the above-mentioned first distance and the above-mentioned available path width, the moving path of the above-mentioned mobile trash can is determined, wherein the above-mentioned moving path is a path for the above-mentioned mobile trash can to avoid the above-mentioned first target object during the moving process.
可选地，在程序运行时控制存储介质所在设备执行以下功能：上述移动垃圾桶检测上述目标区域内是否存在上述目标物体；在检测结果为是的情况下，获取上述目标物体的图像数据；依据上述图像数据，确定上述目标物体为上述第一目标物体或上述第二目标物体。Optionally, when the program is running, the device where the storage medium is located is controlled to perform the following functions: the above-mentioned mobile trash can detects whether the above-mentioned target object exists in the above-mentioned target area; if the detection result is yes, acquire the image data of the above-mentioned target object; In the image data, it is determined that the target object is the first target object or the second target object.
可选地，在程序运行时控制存储介质所在设备执行以下功能：移动垃圾桶检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；在上述目标物体为上述第一目标物体的情况下，获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。Optionally, when the program is running, the device where the storage medium is located is controlled to perform the following function: moving the trash can to detect the target object in the target area, wherein the target object includes at least one of the following: a first target object, a second target object; When the above-mentioned target object is the above-mentioned first target object, obtain the first distance between the above-mentioned mobile trash can and the above-mentioned first target object, and the available path width of the above-mentioned mobile trash can when bypassing the above-mentioned first target object; A moving path of the mobile trash can is determined according to the first distance and the available path width, wherein the moving path is a path that avoids the first target object during the moving process of the mobile trash can.
可选地，在程序运行时控制存储介质所在设备执行以下功能：上述移动垃圾桶按照上述移动路径进行移动；上述移动垃圾桶检测当前所处位置是否避开上述第一目标物体；在判断结果为是的情况下，上述移动垃圾桶移动至原始移动路径，并按照上述原始移动路径进行移动。Optionally, when the program is running, the device where the storage medium is located is controlled to perform the following functions: the above-mentioned mobile trash can moves according to the above-mentioned moving path; the above-mentioned mobile trash can detects whether the current position avoids the above-mentioned first target object; In the case of yes, the above-mentioned mobile trash can moves to the original moving path, and moves according to the above-mentioned original moving path.
可选地，在程序运行时控制存储介质所在设备执行以下功能：获取上述移动垃圾桶与上述第二目标物体之间的第二距离；依据上述第二距离，控制上述移动垃圾桶停止移动。Optionally, when the program is running, the device where the storage medium is located is controlled to perform the following functions: obtain the second distance between the above-mentioned mobile trash can and the above-mentioned second target object; control the above-mentioned mobile trash can to stop moving according to the above-mentioned second distance.
可选地，在程序运行时控制存储介质所在设备执行以下功能：检测上述移动垃圾桶是否已执行垃圾接收任务；在已执行上述垃圾接收任务的情况下，控制上述移动垃圾桶继续移动至目标位置。Optionally, when the program is running, control the device where the storage medium is located to perform the following functions: detect whether the above-mentioned mobile trash can has performed the garbage receiving task; if the above-mentioned garbage receiving task has been performed, control the above-mentioned mobile trash can to continue to move to the target position .
可选地，在程序运行时控制存储介质所在设备执行以下功能：判断上述第一距离是否小于或等于预定距离，以及上述可用路径宽度是否大于或等于预定宽度；依据判断结果判断是否触发确定上述移动垃圾桶的移动路径，其中，上述预定宽度的取值取决于上述移动垃圾桶的宽度和上述移动垃圾桶的宽度的预定倍数；其中，在上述第一距离小于或等于上述预定距离，以及上述可用路径宽度大于或等于上述预定宽度的情况下，触发确定上述移动垃圾桶的移动路径；在上述第一距离大于上述预定距离，或上述可用路径宽度小于上述预定宽度的情况下，控制上述移动垃圾桶停止移动。Optionally, when the program is running, control the device where the storage medium is located to perform the following functions: judge whether the above-mentioned first distance is less than or equal to the predetermined distance, and whether the above-mentioned available path width is greater than or equal to the predetermined width; judge whether to trigger and determine the above-mentioned movement according to the judgment result The moving path of the garbage can, wherein the value of the predetermined width depends on the width of the mobile garbage can and the predetermined multiple of the width of the mobile garbage can; wherein, when the first distance is less than or equal to the predetermined distance, and the available When the path width is greater than or equal to the predetermined width, trigger the determination of the moving path of the mobile trash can; if the first distance is greater than the predetermined distance, or the available path width is smaller than the predetermined width, control the mobile trash can stop moving.
本申请实施例还提供了一种处理器。可选地，在本实施例中，上述处理器用于运行程序，其中，上述程序运行时执行上述任意一种移动路径的确定方法。The embodiment of the present application also provides a processor. Optionally, in this embodiment, the above-mentioned processor is configured to run a program, wherein, when the above-mentioned program is running, any one of the above-mentioned methods for determining the moving path is executed.
本申请实施例提供了一种设备，设备包括处理器、存储器及存储在存储器上并可在处理器上运行的程序，处理器执行程序时实现以下步骤：移动垃圾桶确定目标区域内目标物体的类型；上述移动垃圾桶依据上述目标物体的类型判断是否避开上述目标物体；上述移动垃圾桶依据判断结果确定对应的移动路径。An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored on the memory and operable on the processor. When the processor executes the program, the following steps are implemented: moving the trash can to determine the location of the target object in the target area type; the above-mentioned mobile trash can judges whether to avoid the above-mentioned target object according to the type of the above-mentioned target object; the above-mentioned mobile trash can determines the corresponding moving path according to the judgment result.
可选地，上述处理器执行程序时，还可以在上述目标物体为第一目标物体的情况下，上述移动垃圾桶避开上述第一目标物体；在上述目标物体为第二目标物体的情况下，上述移动垃圾桶无需避开上述第二目标物体。Optionally, when the above-mentioned processor executes the program, if the above-mentioned target object is the first target object, the above-mentioned mobile trash can avoid the above-mentioned first target object; , the above-mentioned mobile trash can does not need to avoid the above-mentioned second target object.
可选地，上述处理器执行程序时，还可以获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。Optionally, when the above-mentioned processor executes the program, it may also obtain the first distance between the above-mentioned mobile trash can and the above-mentioned first target object, and the available path width of the above-mentioned mobile trash can when bypassing the above-mentioned first target object; A moving path of the mobile trash can is determined according to the first distance and the available path width, wherein the moving path is a path that avoids the first target object during the moving process of the mobile trash can.
可选地，上述处理器执行程序时，还可以上述移动垃圾桶检测上述目标区域内是否存在上述目标物体；在检测结果为是的情况下，获取上述目标物体的图像数据；依据上述图像数据，确定上述目标物体为上述第一目标物体或上述第二目标物体。Optionally, when the processor executes the program, the mobile trash can can also detect whether the target object exists in the target area; if the detection result is yes, acquire the image data of the target object; according to the image data, The above-mentioned target object is determined as the above-mentioned first target object or the above-mentioned second target object.
本申请还提供了一种处理器，当在数据处理设备上执行时，适于执行初始化有如下方法步骤的程序：移动垃圾桶检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；在上述目标物体为上述第一目标物体的情况下，获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。The present application also provides a processor, which, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: moving the trash can to detect a target object in a target area, wherein the target object includes at least one of the following One: the first target object, the second target object; in the case that the above-mentioned target object is the above-mentioned first target object, obtain the first distance between the above-mentioned mobile trash can and the above-mentioned first target object, and the above-mentioned mobile trash can The available path width when bypassing the above-mentioned first target object; according to the above-mentioned first distance and the above-mentioned available path width, determine the moving path of the above-mentioned mobile trash can, wherein, the above-mentioned moving path is during the moving process of the above-mentioned mobile trash can, avoiding The path of the first target object above.
可选地，上述处理器执行程序时，还可以上述移动垃圾桶按照上述移动路径进行移动；上述移动垃圾桶检测当前所处位置是否避开上述第一目标物体；在判断结果为是的情况下，上述移动垃圾桶移动至原始移动路径，并按照上述原始移动路径进行移动。Optionally, when the above-mentioned processor executes the program, the above-mentioned mobile trash can can also move according to the above-mentioned moving path; the above-mentioned mobile trash can detects whether the current position avoids the above-mentioned first target object; if the judgment result is yes , the above-mentioned moving trash can moves to the original moving path, and moves according to the above-mentioned original moving path.
可选地，上述处理器执行程序时，还可以获取上述移动垃圾桶与上述第二目标物体之间的第二距离；依据上述第二距离，控制上述移动垃圾桶停止移动。Optionally, when the above-mentioned processor executes the program, it may also obtain a second distance between the above-mentioned mobile trash can and the above-mentioned second target object; according to the above-mentioned second distance, control the above-mentioned mobile trash can to stop moving.
可选地，上述处理器执行程序时，还可以检测上述移动垃圾桶是否已执行垃圾接收任务；在已执行上述垃圾接收任务的情况下，控制上述移动垃圾桶继续移动至目标位置。Optionally, when the above-mentioned processor executes the program, it can also detect whether the above-mentioned mobile garbage can has performed the garbage receiving task; if the above-mentioned garbage receiving task has been performed, control the above-mentioned mobile garbage can to continue to move to the target position.
可选地，上述处理器执行程序时，还可以判断上述第一距离是否小于或等于预定距离，以及上述可用路径宽度是否大于或等于预定宽度；依据判断结果判断是否触发确定上述移动垃圾桶的移动路径，其中，上述预定宽度的取值取决于上述移动垃圾桶的宽度和上述移动垃圾桶的宽度的预定倍数；其中，在上述第一距离小于或等于上述预定距离，以及上述可用路径宽度大于或等于上述预定宽度的情况下，触发确定上述移动垃圾桶的移动路径；在上述第一距离大于上述预定距离，或上述可用路径宽度小于上述预定宽度的情况下，控制上述移动垃圾桶停止移动。Optionally, when the above-mentioned processor executes the program, it can also judge whether the above-mentioned first distance is less than or equal to the predetermined distance, and whether the above-mentioned available path width is greater than or equal to the predetermined width; judge whether to trigger and determine the movement of the above-mentioned mobile trash can according to the judgment result Path, wherein, the value of the predetermined width depends on the width of the mobile trash can and the predetermined multiple of the width of the mobile trash can; wherein, the first distance is less than or equal to the predetermined distance, and the available path width is greater than or When it is equal to the predetermined width, trigger the determination of the moving path of the mobile trash can; if the first distance is greater than the predetermined distance, or the available path width is smaller than the predetermined width, control the mobile trash can to stop moving.
本申请还提供了一种计算机程序产品，当在数据处理设备上执行时，适于执行初始化有如下方法步骤的程序：移动垃圾桶确定目标区域内目标物体的类型；上述移动垃圾桶依据上述目标物体的类型判断是否避开上述目标物体；上述移动垃圾桶依据判断结果确定对应的移动路径。The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: moving the trash can to determine the type of the target object in the target area; The type of object determines whether to avoid the above-mentioned target object; the above-mentioned mobile trash can determines the corresponding moving path according to the judgment result.
可选地，上述计算机程序产品执行程序时，还可以在上述目标物体为第一目标物体的情况下，上述移动垃圾桶避开上述第一目标物体；在上述目标物体为第二目标物体的情况下，上述移动垃圾桶无需避开上述第二目标物体。Optionally, when the above-mentioned computer program product executes the program, if the above-mentioned target object is the first target object, the above-mentioned mobile trash can avoid the above-mentioned first target object; Next, the above-mentioned mobile trash can does not need to avoid the above-mentioned second target object.
可选地，上述计算机程序产品执行程序时，还可以获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。Optionally, when the above-mentioned computer program product executes the program, it may also obtain the first distance between the above-mentioned mobile trash can and the above-mentioned first target object, and the available path width of the above-mentioned mobile trash can when bypassing the above-mentioned first target object ; According to the above-mentioned first distance and the above-mentioned available path width, determine the moving path of the above-mentioned mobile trash can, wherein, the above-mentioned moving path is a path that avoids the above-mentioned first target object during the moving process of the above-mentioned mobile trash can.
可选地，上述计算机程序产品执行程序时，还可以上述移动垃圾桶检测上述目标区域内是否存在上述目标物体；在检测结果为是的情况下，获取上述目标物体的图像数据；依据上述图像数据，确定上述目标物体为上述第一目标物体或上述第二目标物体。Optionally, when the above-mentioned computer program product executes the program, the above-mentioned mobile trash can can also detect whether the above-mentioned target object exists in the above-mentioned target area; if the detection result is yes, acquire the image data of the above-mentioned target object; , determining that the target object is the first target object or the second target object.
本申请还提供了一种计算机程序产品，当在数据处理设备上执行时，适于执行初始化有如下方法步骤的程序：移动垃圾桶检测目标区域内的目标物体，其中，上述目标物体包括如下至少之一：第一目标物体、第二目标物体；在上述目标物体为上述第一目标物体的情况下，获取上述移动垃圾桶与上述第一目标物体之间的第一距离，以及上述移动垃圾桶在绕开上述第一目标物体时的可用路径宽度；依据上述第一距离和上述可用路径宽度，确定上述移动垃圾桶的移动路径，其中，上述移动路径为上述移动垃圾桶在移动过程中，避开上述第一目标物体的路径。The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: moving the trash can to detect a target object in the target area, wherein the target object includes at least the following One: the first target object, the second target object; in the case that the above-mentioned target object is the above-mentioned first target object, obtain the first distance between the above-mentioned mobile trash can and the above-mentioned first target object, and the above-mentioned mobile trash can The available path width when bypassing the above-mentioned first target object; according to the above-mentioned first distance and the above-mentioned available path width, the moving path of the above-mentioned mobile trash can is determined, wherein the above-mentioned moving path is during the moving process of the above-mentioned mobile trash can. Open the path above the first target object.
可选地，上述计算机程序产品执行程序时，还可以上述移动垃圾桶按照上述移动路径进行移动；上述移动垃圾桶检测当前所处位置是否避开上述第一目标物体；在判断结果为是的情况下，上述移动垃圾桶移动至原始移动路径，并按照上述原始移动路径进行移动。Optionally, when the above-mentioned computer program product executes the program, the above-mentioned mobile trash can can also be moved according to the above-mentioned moving path; the above-mentioned mobile trash can detects whether the current position avoids the above-mentioned first target object; if the judgment result is yes Next, the above-mentioned mobile trash can moves to the original moving path, and moves according to the above-mentioned original moving path.
可选地，上述计算机程序产品执行程序时，还可以获取上述移动垃圾桶与上述第二目标物体之间的第二距离；依据上述第二距离，控制上述移动垃圾桶停止移动。Optionally, when the above-mentioned computer program product executes the program, it may also obtain a second distance between the above-mentioned mobile trash can and the above-mentioned second target object; according to the above-mentioned second distance, control the above-mentioned mobile trash can to stop moving.
可选地，上述计算机程序产品执行程序时，还可以检测上述移动垃圾桶是否已执行垃圾接收任务；在已执行上述垃圾接收任务的情况下，控制上述移动垃圾桶继续移动至目标位置。Optionally, when the above-mentioned computer program product executes the program, it can also detect whether the above-mentioned mobile trash can has performed the garbage receiving task; if the above-mentioned garbage receiving task has been performed, control the above-mentioned mobile trash can to continue to move to the target position.
可选地，上述计算机程序产品执行程序时，还可以判断上述第一距离是否小于或等于预定距离，以及上述可用路径宽度是否大于或等于预定宽度；依据判断结果判断是否触发确定上述移动垃圾桶的移动路径，其中，上述预定宽度的取值取决于上述移动垃圾桶的宽度和上述移动垃圾桶的宽度的预定倍数；其中，在上述第一距离小于或等于上述预定距离，以及上述可用路径宽度大于或等于上述预定宽度的情况下，触发确定上述移动垃圾桶的移动路径；在上述第一距离大于上述预定距离，或上述可用路径宽度小于上述预定宽度的情况下，控制上述移动垃圾桶停止移动。Optionally, when the above-mentioned computer program product executes the program, it can also judge whether the above-mentioned first distance is less than or equal to the predetermined distance, and whether the above-mentioned available path width is greater than or equal to the predetermined width; judge whether to trigger the determination of the above-mentioned mobile trash can according to the judgment result. A moving path, wherein the value of the predetermined width depends on the width of the mobile trash can and a predetermined multiple of the width of the mobile trash can; wherein, when the first distance is less than or equal to the predetermined distance, and the available path width is greater than Or when it is equal to the predetermined width, trigger the determination of the moving path of the mobile trash can; if the first distance is greater than the predetermined distance, or the available path width is smaller than the predetermined width, control the mobile trash can to stop moving.
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.
在本发明的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the above-mentioned embodiments of the present invention, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.
在本申请所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed technical content can be realized in other ways. Wherein, the device embodiments described above are only illustrative. For example, the division of the units may be a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or may be Integrate into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of units or modules may be in electrical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes. .
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that, for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.
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| CN201810427261.XACN109018762A (en) | 2018-05-07 | 2018-05-07 | The determination method of movement routine and mobile dustbin |
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| CN201810427261.XACN109018762A (en) | 2018-05-07 | 2018-05-07 | The determination method of movement routine and mobile dustbin |
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| CN109018762Atrue CN109018762A (en) | 2018-12-18 |
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| CN201810427261.XAPendingCN109018762A (en) | 2018-05-07 | 2018-05-07 | The determination method of movement routine and mobile dustbin |
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