A charging robot and its control circuit

Abstract

The present invention discloses a charging robot and a control circuit thereof, comprising a robot body, a feeding port being arranged on the robot body, a driving unit and a rotatable tray mechanism being arranged in the robot body respectively, the driving unit being transmission-connected with the tray mechanism, an image recognition unit being arranged above the feeding port in the robot body, and a main control unit being electrically connected with the driving unit and the image recognition unit respectively in the robot body; the driving unit is used for driving the tray mechanism to rotate; the image recognition unit is used for identifying the type of tableware; the main control unit is used for calculating the charging and controlling the working states of the driving unit and the image recognition unit; when working, the staff puts the tableware into the robot body from the feeding port, the tableware is supported by the tray mechanism, the image recognition unit takes pictures of the tableware for classification processing, and then sends the classification information to the main control unit, and the main control unit calculates the final bill amount according to the classification information.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly relates to a billing robot and its control circuit. Background Art

[0002] Currently, buffet restaurants, Japanese cuisine restaurants, and hot pot restaurants on the market usually charge according to the number of plates. That is, the plates are used to distinguish the prices of dishes according to their colors, shapes, or sizes, and then the consumption amount of customers is counted by manual piecework. However, the method of manual piecework not only has low piecework efficiency but also is prone to problems of piecework errors, seriously affecting the consumption experience of customers.

[0003] Obviously, the existing technology still needs to be improved. Summary of the Invention

[0004] In view of the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a billing robot that can automatically count and recycle plates, improving the collection efficiency of restaurants.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A billing robot includes a robot body. An inlet is provided on the robot body. A driving unit and a rotatable tray mechanism are respectively arranged inside the robot body. The driving unit is in transmission connection with the tray mechanism. An image recognition unit is arranged above the inlet inside the robot body. A main control unit electrically connected to the driving unit and the image recognition unit is arranged inside the robot body. The driving unit is used to drive the tray mechanism to rotate. The image recognition unit is used to identify the types of tableware. The main control unit is used to calculate the bill and control the working states of the driving unit and the image recognition unit.

[0007] In the billing robot described above, the image recognition unit includes a camera and a vision processor. The camera and the vision processor are respectively connected to the robot body. The main control unit is electrically connected to the vision processor. The vision processor is used to identify and process the tableware images collected by the camera.

[0008] In the billing robot described above, a light source unit is arranged below the camera inside the robot body. The light source unit is electrically connected to the main control unit.

[0009] In the described billing robot, the tray mechanism includes a material supporting tray and a rotating shaft. The edge of the material supporting tray is connected to the inner wall of the robot body in a mating manner. The driving unit includes a motor, the motor is connected to the inner wall of the robot body through a fixing block, a driving gear is provided at the output end of the motor, and a driven gear meshing with the driving gear is provided on the rotating shaft.

[0010] In the described billing robot, a rotating ring is provided on the periphery of the material supporting tray, and a sliding groove mating with the rotating ring is provided on the inner wall of the robot body. A placing opening is provided on the rotating ring corresponding to the feeding port.

[0011] In the described billing robot, a positioning groove is provided on the material supporting tray, and a tableware detection unit is provided in the positioning groove. The tableware detection unit is electrically connected to the main control unit. The tableware detection unit is used to detect the placement condition of the tableware in the positioning groove.

[0012] In the described billing robot, a blanking groove is provided on one side of the material supporting tray, and a baffle frame is provided above the blanking groove. The baffle frame is connected to the fixing block. A collection bucket is provided below the material supporting tray inside the robot body.

[0013] In the described billing robot, a trigger rod is horizontally provided in the blanking groove, and a position detection unit for detecting the trigger rod is provided on the inner wall of the robot body. The position of the position detection unit is opposite to the position of the feeding port.

[0014] In the described billing robot, the billing robot further includes a human-computer interaction unit. The human-computer interaction unit is provided on the robot body, and the human-computer interaction unit is electrically connected to the main control unit.

[0015] The present invention also correspondingly provides a control circuit. The control circuit is used to realize the working control of the billing robot as described above. It includes a main control unit, an image recognition unit, a driving unit, a light source unit, a tableware detection unit, a position detection unit and a human-computer interaction unit. The main control unit includes a first chip U1. The digital output pin Qa0, the digital input pins Ia0, Ia1, Ia2 and Ia3 of the first chip U1 are respectively connected to the image recognition unit. The digital output pin Qa2 of the first chip U1 is connected to the driving unit. The digital output pin Qa1 of the first chip U1 is connected to the light source unit. The digital input pin Ib1 of the first chip U1 is connected to the tableware detection unit. The digital input pin Ib0 of the first chip U1 is connected to the position detection unit. The communication pin TCP / IP of the first chip U1 is connected to the human-computer interaction unit.

[0016] Beneficial effects:

[0017] The present invention provides a billing robot. When working, a staff member places tableware to be billed into the body of the robot through the feeding port. The tableware is supported by the tray mechanism. When the tableware enters the feeding port and is stably placed on the tray mechanism, the image recognition unit takes pictures and classifies the tableware, and then sends the classification information to the main control unit. The main control unit calculates the final menu amount according to the classification information. In addition, after the image recognition unit finishes taking pictures, the tray mechanism is driven by the driving unit to rotate to the other end inside the robot for discharging materials. After the discharging is completed, it resets to the feeding port to prepare for the next feeding. Description of the drawings

[0018] Figure 1 Schematic diagram of the overall structure of the billing robot provided by the present invention Figure 1 ;

[0019] Figure 2 Schematic diagram of the overall structure of the billing robot provided by the present invention Figure 2 ;

[0020] Figure 3 Schematic diagram of the disassembled structure of the billing robot provided by the present invention Figure 1 ;

[0021] Figure 4 Schematic diagram of the disassembled structure of the billing robot provided by the present invention Figure 2 ;

[0022] Figure 5 Schematic diagram of the internal structure of the billing robot provided by the present invention Figure 1 ;

[0023] Figure 6 Schematic diagram of the internal structure of the billing robot provided by the present invention Figure 2 ;

[0024] Figure 7 Schematic diagram of the structure of the tray mechanism in the billing robot provided by the present invention;

[0025] Figure 8 Circuit block diagram of the control circuit provided by the present invention;

[0026] Figure 9 Schematic diagram of the control circuit provided by the present invention.

[0027] Description of main component symbols: 1 - Robot body, 2 - Tray mechanism, 3 - Driving unit, 4 - Image recognition unit, 5 - Light source unit, 6 - Tableware detection unit, 7 - In-place detection unit, 8 - Human-machine interaction unit, 11 - Feeding port, 12 - Chute, 13 - Accommodation cavity, 14 - Collection bucket, 15 - Travel mechanism, 16 - Gate, 21 - Tray, 22 - Rotating shaft, 23 - Driven gear, 24 - Rotating ring, 25 - Placing opening, 26 - Positioning groove, 27 - Discharge chute, 28 - Trigger rod, 31 - Motor, 32 - Fixed block, 33 - Driving gear, 34 - Material blocking frame, 41 - Camera, 42 - Vision processor, 151 - Travel frame, 152 - Travel wheel, 153 - Travel motor. Detailed implementation

[0028] The present invention provides a billing robot and its control circuit. To make the objectives, technical solutions, and effects of the present invention clearer and more definite, the following further elaborates on the present invention with reference to the accompanying drawings and by way of examples. It should be understood that the specific examples described herein are only for explaining the present invention and are not used to limit the present invention.

[0029] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by terms such as "middle", "inner side", "outer side", etc. are the orientation or positional relationships of the present invention based on the drawings, and are only for facilitating the description of the present invention and simplifying the description. Additionally, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features.

[0030] Please refer to Figures 1 to 9 , the present invention provides a billing robot, including a robot body 1, on which a feeding port 11 is provided. Inside the robot body 1, a driving unit 3 and a rotatable tray mechanism 2 are respectively arranged. The driving unit 3 is in transmission connection with the tray mechanism 2. An image recognition unit 4 is arranged above the feeding port 11 inside the robot body 1. A main control unit electrically connected to the driving unit 3 and the image recognition unit 4 is arranged inside the robot body 1. The driving unit 3 is used to drive the tray mechanism 2 to rotate. The image recognition unit 4 is used to identify the types of tableware. The main control unit (not shown in the figure) is used to calculate the billing and control the working states of the driving unit 3 and the image recognition unit 4.

[0031] During actual use, the staff places the tableware to be billed into the robot body 1 from the feeding port 11. The tableware is supported by the tray mechanism 2. When the tableware enters the feeding port 11 and is stably placed on the tray mechanism 2, the image recognition unit 4 takes pictures and classifies the tableware, and then sends the classification information to the main control unit. The main control unit calculates the final menu amount according to the classification information. In addition, after the image recognition unit 4 finishes taking pictures, the tray mechanism 2 is driven by the driving unit 3 to rotate to the other end inside the robot body 1 for discharging. After discharging is completed, it returns to the feeding port 11 to prepare for the next feeding.

[0032] To facilitate the understanding of the entire calculation process, it is illustrated by the following example: Assume that the red disc is priced at 5 yuan, the blue disc is priced at 10 yuan, the red square plate is priced at 15 yuan, and the blue square plate is priced at 20 yuan. A certain customer's order is one red disc, one blue disc, one red square plate, and one blue square plate. When the customer needs to check out and be billed, the staff sequentially puts the red disc, blue disc, red square plate, and blue square plate into the robot body 1 one by one. The image recognition unit 4 identifies and differentiates the tableware one by one, and sends the classification information to the main control unit. The main control unit then accumulates the amounts in sequence, that is, 5 yuan for the red disc + 10 yuan for the blue disc + 15 yuan for the red square plate + 20 yuan for the blue square plate, so as to obtain the final amount of 50 yuan.

[0033] It should be noted that the image recognition unit 4 is based on the existing Omron vision detection system for work control, which will not be elaborated here.

[0034] As Figures 1 to 9 shown, further, the image recognition unit 4 includes a camera 41 and a vision processor 42. The camera 41 and the vision processor 42 are respectively connected to the robot body 1. The main control unit is electrically connected to the vision processor 42. The vision processor 42 is used to identify and process the tableware image collected by the camera 41. During use, when there is tableware under the camera 41, the camera 41 takes pictures of the tableware, and the vision processor 42 obtains the image information of the camera 41. Based on the Omron vision detection system, the image is subjected to brightness correction filtering, color averaging processing, template matching operation, and image classification. Finally, the output result is output to the main control unit in binary format in parallel. The main control unit then calculates the bill according to the received classification result.

[0035] In this embodiment, the model of the camera 41 is Omron FH-SC04, and the model of the vision processor 42 is Omron FH-SL550.

[0036] AsFigures 1 to 9 As shown in the figure, further, a light source unit 5 is disposed below the camera 41 inside the robot body 1; the light source unit 5 is electrically connected to the main control unit; the shooting environment of the camera 41 is adjusted through the light source unit 5, that is, the brightness inside the robot body 1 is increased, thereby improving the imaging quality of the camera 41; during use, when the camera 41 detects that there are tableware placed below it, the light source unit 5 is controlled to turn on through the main control unit, thereby increasing the ambient light brightness.

[0037] In this embodiment, the light source unit 5 is a ring-shaped LED lamp.

[0038] As Figures 1 to 9 shown in the figure, further, the tray mechanism 2 includes a material supporting tray 21 and a rotating shaft 22, and the edge of the material supporting tray 21 is cooperatively connected to the inner wall of the robot body 1; the driving unit 3 includes a motor 31, the motor 31 is connected to the inner wall of the robot body 1 through a fixing block 32, a driving gear 33 is disposed at the output end of the motor 31, and a driven gear 23 meshing with the driving gear 33 is disposed on the rotating shaft 22; during use, the driving gear 33 is driven to rotate through the driving unit 3, and the driving gear 33 drives the material supporting tray 21 to rotate along the inner wall of the robot body 1 through the driven gear 23 and the rotating shaft 22, thereby realizing the transfer action of the material supporting tray 21 for the tableware.

[0039] As Figures 1 to 9 shown in the figure, further, a rotating ring 24 is disposed on the periphery of the material supporting tray 21, and a sliding groove 12 cooperatively connected to the rotating ring 24 is disposed on the inner wall of the robot body 1; a placing port 25 corresponding to the feeding port 11 is disposed on the rotating ring 24; the material supporting tray 21 is guided through the cooperation of the rotating ring 24 and the sliding groove 12; during use, when the placing port 25 rotates to the feeding port 11, the staff can place the tableware on the material supporting tray 21, and it is convenient for the staff to take and place the tableware through the placing port 25.

[0040] As Figures 1 to 9As shown, further, a positioning groove 26 is provided on the tray 21, and a tableware detection unit 6 is provided in the positioning groove 26; the tableware detection unit 6 is electrically connected to the main control unit; the tableware detection unit 6 is used to detect the placement of tableware in the positioning groove 26; during use, when the staff places the tableware on the positioning groove 26, the tableware is pre-positioned through the positioning groove 26. At the same time, when the bottom of the tableware presses against the bottom of the positioning groove 26, the tableware detection unit 6 detects that tableware has entered the interior of the robot body 1 and sends a signal indicating the arrival of the tableware to the main control unit, and the main control unit then controls the image recognition unit 4 to take pictures and process the tableware according to the arrival signal.

[0041] In this embodiment, the tableware detection unit 6 is a fiber optic sensor, and the fiber optic sensor is electrically connected to the main control unit.

[0042] As Figures 1 to 9 As shown, further, a blanking groove 27 is provided on one side of the tray 21, and a material blocking frame 34 is provided above the blanking groove 27; the material blocking frame 34 is connected to the fixed block 32; a collection bucket 14 is provided below the tray 21 inside the robot body 1; when the tray 21 rotates, if the tableware above it rotates to the material blocking frame 34, the material blocking frame 34 will block the tableware, and the tableware will remain stationary at this time, while the tray 21 continues to rotate. When the blanking groove 27 rotates below the tableware, the tableware will fall into the collection bucket 14 through the blanking groove 27 for recycling.

[0043] In this embodiment, the tray 21 is semi-circular, and the corresponding blanking groove 27 is also semi-circular.

[0044] In one embodiment, at least one mounting post is provided at the top of the material blocking frame 34, and a mounting groove for mating connection with the mounting post is provided at the bottom of the fixed block 32; the quick connection between the material blocking frame 34 and the fixed block 32 is realized by the cooperation of the mounting post and the mounting groove.

[0045] In one embodiment, a receiving cavity 13 is provided below the tray mechanism 2 inside the robot body 1, the collection bucket 14 is provided in the receiving cavity 13, and a gate 16 is provided on one side of the receiving cavity 13. The gate 16 is slidably connected to the outer wall of the robot body 1.

[0046] Specifically, an opening and closing groove for mating connection with the gate 16 is provided on the outer wall of the robot body 1.

[0047] As Figures 1 to 9As shown, further, a [component not specified in the original] 28 is horizontally arranged in the blanking chute 27, and a position detection unit 7 for detecting the [component not specified in the original] 28 is arranged on the inner wall of the robot body 1. The position of the position detection unit 7 is opposite to the position of the feeding port 11. The blanking condition of the material supporting tray 21 is detected by detecting the position of the [component not specified in the original] 28 through the position detection unit 7. When the position detection unit 7 detects the [component not specified in the original] 28, it is determined that the material supporting tray 21 has completely passed the material blocking rack 34, that is, the material supporting tray 21 has rotated one week and the placing port 25 has been reset to the feeding port 11.

[0048] In this embodiment, the position detection unit 7 is a Hall sensor.

[0049] As Figures 1 to 9 As shown, further, the billing robot further includes a human-machine interaction unit 8. The human-machine interaction unit 8 is arranged on the robot body 1 and is electrically connected to the main control unit. The menu billing amount is displayed through the human-machine interaction unit 8. In one embodiment, the human-machine interaction unit 8 is provided with a price calculation button, a clearing button, a price calculation working indicator light, a clearing button indicator light, tableware images, a tableware quantity output port, and a total price output box. When the clearing button is pressed, all output boxes are cleared. When the price calculation button is pressed, the robot is started. When the vision processor 42 detects the type and quantity of tableware, the information is sent to the main control unit, and the main control unit then sends the information to the human-machine interaction unit 8, and the human-machine interaction unit 8 then displays the price calculation result.

[0050] In this embodiment, the human-machine interaction unit 8 is a touch screen of model TPC7062Ti.

[0051] In addition, the billing robot further includes a traveling mechanism 15. The traveling mechanism 15 is arranged at the bottom of the robot body 1 and is rotationally connected to the robot body 1.

[0052] In one embodiment, a steering motor is arranged at the bottom of the robot body 1, and the output shaft of the steering motor is in transmission connection with the traveling mechanism 15.

[0053] Specifically, the traveling mechanism 15 includes a traveling frame 151 and traveling wheels 152 distributed at the four corners of the traveling frame 151. The traveling wheels 152 are connected to the traveling frame 151 through traveling motors 153. The traveling frame 151 is in transmission connection with the output shaft of the steering motor.

[0054] As Figures 8 to 9As shown in the figure, the present invention also correspondingly provides a control circuit, which is used to realize the working control of the billing robot as described above. It includes a main control unit, an image recognition unit 4, a driving unit 3, a light source unit 5, a tableware detection unit 6, a position detection unit 7 and a human-machine interaction unit 8. The main control unit includes a first chip U1. The digital output pin Qa0, digital input pins Ia0, Ia1, Ia2 and Ia3 of the first chip U1 are respectively connected to the image recognition unit 4. The digital output pin Qa2 of the first chip U1 is connected to the driving unit 3. The digital output pin Qa1 of the first chip U1 is connected to the light source unit 5. The digital input pin Ib1 of the first chip U1 is connected to the tableware detection unit 6. The digital input pin Ib0 of the first chip U1 is connected to the position detection unit 7. The communication pin TCP / IP of the first chip U1 is connected to the human-machine interaction unit 8.

[0055] In this embodiment, the first chip U1 is a Siemens PLC, and the model is CPU 1214CDC / DC / DC.

[0056] During operation, the first chip U1 sends an execution signal to the image recognition unit 4 through the digital output pin Qa0. That is, when the image recognition unit 4 receives the execution signal, it starts to work. When the image recognition unit 4 receives this execution signal, it takes pictures of the tableware to obtain the image information of the tableware. Subsequently, based on the Omron vision detection system, the image is subjected to brightness correction filtering, color averaging processing, template matching operation and image classification. Finally, the output result is output in parallel to the first chip U1 through the digital input pins Ia0, Ia1, Ia2 and Ia3 in binary format. The main control unit then performs bill calculation according to the received classification result and sends the calculation result to the human-machine interaction unit 8 through the communication pin TCP / IP for display. In addition, the first chip U1 sends a pulse signal to the driving unit 3 through the digital output pin Qa2 to control the working state of the driving unit 3. The first chip U1 also sends a control signal to the light source unit 5 through the digital output pin Qa1 to control the lighting state of the light source unit 5. The first chip U1 also receives the detection result signal of the position detection unit 7 through the digital input pin Ib0 to obtain the position situation of the tray mechanism 2. The first chip U1 also receives the detection result signal of the tableware detection unit 6 through the digital input pin Ib1 to judge whether there is tableware on the tray mechanism 2.

[0057] Specifically, the control circuit further includes a power supply unit, which is a 24V power supply unit and is electrically connected to the main control unit, the image recognition unit 4, the driving unit 3, the light source unit 5, the tableware detection unit 6, and the human-computer interaction unit 8 respectively. The power supply unit is used to supply power to the main control unit, the image recognition unit 4, the driving unit 3, the light source unit 5, the tableware detection unit 6, and the human-computer interaction unit 8.

[0058] In this embodiment, the power supply unit mainly consists of a switch S1, a 24V lithium battery BT1, a capacitor C1, a light-emitting diode D1, and a resistor R1. The capacitor C1 is used to filter the 24V lithium battery BT1, the resistor R1 is used to limit the working current of the light-emitting diode D1, and the light-emitting diode D1 is used to indicate the power-on state.

[0059] As Figure 9 shown, in this embodiment, the light source unit 5 includes a relay K1, a ring light source LED1, and a variable resistor RP1. The positive electrode of the ring light source LED1 is connected to the pin 2 of the relay K1, the negative electrode of the ring light source LED1 is connected to the pin 4 of the relay K1 through the variable resistor RP1, and the pin 3 of the relay K1 is connected to the digital output pin Qa1 of the first chip U1. The relay K1 is used to connect and disconnect the power supply of the ring light source LED1, and the variable resistor RP1 is used to adjust the brightness of the ring light source; during use, the first chip U1 sends a control signal to the relay K1 through the digital output pin Qa1 to adjust the on / off of the relay K1 and the resistance value of the variable resistor RP1.

[0060] As Figure 9 shown, in this embodiment, the image recognition unit 4 mainly consists of a camera 41 and a vision processor 42. The model of the camera 41 is Omron FH-SC04, the model of the vision processor 42 is the control chip of Omron FH-SL550. The camera 41 is connected to the vision processor 42 through its communication interface CH1. The vision processor 42 is connected to the digital input pins Ia0 - Ia3 of the first chip U1 through the digital input pin DI1 and the digital output pins DO1 - DO4, and the digital input pin DI1 of the vision processor 42 is connected to the digital output pin Qa0 of the first chip U1.

[0061] As Figure 9 shown, in this embodiment, the human-computer interaction unit 8 mainly consists of a touch screen U3. The model of the touch screen U3 is Kun Tongtai TPC7062Ti. The touch screen U3 is connected to the first chip U1 through its TCP / IP communication interface.

[0062] As Figure 9As shown, in this embodiment, the in-place detection unit 7 mainly consists of a Hall sensor SC1. Pin 1 of the Hall sensor SC1 is connected to the digital input pin Ib0 of the first chip U1, and pin 2 of the Hall sensor SC1 is grounded.

[0063] As Figure 9 shown, in this embodiment, the tableware detection unit 6 mainly consists of an optical fiber sensor SC2. Pin 1 of the optical fiber sensor SC2 is connected to the digital input pin Ib1 of the first chip U1, pin 2 of the optical fiber sensor SC2 is connected to the 24V potential of the power supply unit, and pin 3 of the optical fiber sensor SC2 is grounded.

[0064] As Figure 9 shown, in this embodiment, the driving unit 3 mainly consists of a relay K2 and a motor 31. Pin 3 of the relay K2 is connected to the digital output pin Qa2 of the first chip U1, and the relay K2 is used to connect and disconnect the power supply of the motor 31.

[0065] The power supply unit circuit is characterized in that it consists of a switch S1, a 24V lithium battery BT1, a capacitor C1, a light-emitting diode D1, and a resistor R1. The capacitor C1 is used for filtering, the resistor R1 is used to limit the working current of the light-emitting diode D1, and the light-emitting diode D1 is used to indicate the power-on state.

[0066] In summary, during operation, the staff places the tableware to be charged into the robot body 1 from the feeding port 11. The tableware is supported by the tray mechanism 2. When the tableware enters the feeding port 11 and is stably placed on the tray mechanism 2, the image recognition unit 4 takes pictures and classifies the tableware, and then sends the classification information to the main control unit. The main control unit calculates the final menu amount according to the classification information. In addition, after the image recognition unit 4 finishes taking pictures, the tray mechanism 2 is driven by the driving unit 3 to rotate to the other end inside the robot body 1 for discharging, and then resets to the feeding port 11 to prepare for the next feeding.

[0067] It can be understood that for those of ordinary skill in the art, equivalent substitutions or changes can be made according to the technical solutions and inventive concepts of the present invention, and all such changes or substitutions should fall within the protection scope of the appended claims of the present invention.

Claims

1. A billing robot, characterized in that, It includes a robot body, on which there is a feeding port. Inside the robot body, there are respectively a driving unit and a rotatable tray mechanism. The driving unit is in transmission connection with the tray mechanism. Above the feeding port inside the robot body, there is an image recognition unit. Inside the robot body, there is a main control unit electrically connected to the driving unit and the image recognition unit respectively. The driving unit is used to drive the tray mechanism to rotate. The image recognition unit is used to identify the types of tableware. The main control unit is used to calculate the charge and control the working states of the driving unit and the image recognition unit. The tray mechanism includes a material supporting tray and a rotating shaft. The edge of the material supporting tray is in mating connection with the inner wall of the robot body. The driving unit includes a motor, which is connected to the inner wall of the robot body through a fixing block. The output end of the motor is provided with a driving gear, and the rotating shaft is provided with a driven gear meshing with the driving gear. A rotating ring is arranged on the periphery of the material supporting tray, and a sliding groove mating with the rotating ring is arranged on the inner wall of the robot body. A placing opening corresponding to the feeding port is arranged on the rotating ring. A positioning groove is arranged on the material supporting tray, and a tableware detection unit is arranged in the positioning groove. The tableware detection unit is electrically connected to the main control unit. The tableware detection unit is used to detect the placement situation of the tableware in the positioning groove. A blanking groove is arranged on one side of the material supporting tray, and a material blocking rack is arranged above the blanking groove. The material blocking rack is connected to the fixing block. Inside the robot body, a collection bucket is arranged below the material supporting tray. A triggering rod is horizontally arranged in the blanking groove, and a position detection unit for detecting the triggering rod is arranged on the inner wall of the robot body. The position of the position detection unit is opposite to the position of the feeding port.

2. The charging robot according to claim 1, characterized in that, The image recognition unit includes a camera and a vision processor, which are respectively connected to the robot body. The main control unit is electrically connected to the vision processor. The vision processor is used to identify and process the tableware images collected by the camera.

3. The charging robot according to claim 2, wherein A light source unit is arranged below the camera inside the robot body. The light source unit is electrically connected to the main control unit.

4. The billing robot according to claim 1, characterized in that, The billing robot further includes a human-computer interaction unit, which is arranged on the robot body and is electrically connected to the main control unit.

5. A control circuit, characterized in that, For realizing the working control of the charging robot described in claim 4, the control circuit includes a main control unit, an image recognition unit, a driving unit, a light source unit, a tableware detection unit, a position detection unit and a human-computer interaction unit. The main control unit includes a first chip U1. The digital output pin Qa0, the digital input pin Ia0, the digital input pin Ia1, the digital input pin Ia2 and the digital input pin Ia3 of the first chip U1 are respectively connected to the image recognition unit. The digital output pin Qa2 of the first chip U1 is connected to the driving unit. The digital output pin Qa1 of the first chip U1 is connected to the light source unit. The digital input pin Ib1 of the first chip U1 is connected to the tableware detection unit. The digital input pin Ib0 of the first chip U1 is connected to the position detection unit. The communication pin TCP / IP of the first chip U1 is connected to the human-computer interaction unit.

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