Waste recovery robot and waste recovery robot control method

Abstract

The present application discloses a waste recovery robot and a control method for the waste recovery robot, and the present application belongs to the field of robotics. The robot includes: a main body; a moving component; an image acquisition component for acquiring images of a trash bin; a controller for identifying the trash bin image and generating a hooking instruction if dirt is identified; a recovery component for hooking out the trash bag in response to the hooking instruction; a controller for generating a rotation instruction; a recovery component for rotating in a first direction and moving to a second position in response to the rotation instruction; a controller for generating a packaging instruction; a packaging component for packaging the limited interval of the trash bag in response to the packaging instruction; a controller for generating a recycling instruction; a recovery component for moving to a third position and rotating in a second direction in response to the recycling instruction. This solution can automatically identify trash bins filled with dirt and realize fully automatic and unmanned garbage packaging, sealing, and recycling, thereby improving work efficiency and reducing operating costs.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and specifically relates to a waste recovery robot and a control method for the waste recovery robot. Background Art

[0002] To reduce the adverse health effects of traditional waste packaging and sealing on cleaning staff, waste recycling robots have been introduced in hospitals and infectious isolation facilities. These robots efficiently and automatically complete the task, eliminating the risk of direct exposure to harmful bacteria and odorous gases, and improving overall work efficiency.

[0003] Traditional waste recycling robots require an operator to guide the robot to a designated location via a remote control device or computer device, and then the operator controls the robot via the remote control device or computer device to pack, seal, and recycle the garbage in sequence.

[0004] However, relying on operators to control robots for garbage packaging, sealing, and recycling results in low efficiency, increased labor costs, and the robots become inoperable if the connection signal is lost. Therefore, how to enable robots to automatically complete garbage packaging, sealing, and recycling tasks is an urgent problem to be solved in this field. Summary of the Invention

[0005] The embodiments of the present application provide a waste recycling robot and a control method for the waste recycling robot, with the purpose of resolving the problem in the prior art that the robot requires operator control to perform garbage packaging, garbage sealing, and garbage recycling, resulting in low efficiency and high labor costs for garbage packaging, garbage sealing, and garbage recycling. A waste recycling robot can automatically identify whether there is a garbage can containing garbage, and when there is a garbage can containing garbage, it can perform fully automatic, unmanned garbage packaging, sealing, and recycling. This improves work efficiency and reduces operating costs.

[0006] In a first aspect, an embodiment of the present application provides a waste recovery robot, the robot comprising:

[0007] ontology;

[0008] A moving component is provided at the lower end of the body;

[0009] An image acquisition component is provided on at least one side of the body for acquiring images of the trash bin;

[0010] A controller connected to the image acquisition component, configured to recognize the image of the trash can and generate a pick-up instruction if dirt is found in the trash can;

[0011] A recycling component is connected to the controller and is used to move to a first position in response to the hooking instruction, open the trash bin lid, and hook out the trash bag;

[0012] The controller is used to generate a rotation instruction after the recycling component removes the garbage bag;

[0013] The recovery assembly is configured to rotate in a first direction in response to the rotation instruction to wrap around and position the opening of the garbage bag, and move to a second position;

[0014] The controller is further configured to generate a packaging instruction;

[0015] a packaging component, disposed on a side of the body and connected to the controller, the packaging component being configured to, in response to the packaging instruction, package the limited interval of the garbage bag after the recycling component moves to the second position;

[0016] The controller is further configured to generate a recycling instruction;

[0017] The recycling component is used to move to a third position in response to the recycling instruction and rotate in a second direction to recycle the garbage bag to a preset position.

[0018] Furthermore, the recycling component includes:

[0019] a rotating motor, configured to rotate from an initialization position according to a preset number of revolutions in response to the rotation instruction;

[0020] At least two hooks are connected to the rotating shaft of the rotating motor through a fixed plate, and are used to hook the bag opening of the garbage bag and wrap the garbage bag around the at least two hooks during the rotation of the rotating motor;

[0021] The clamping claw is arranged below the rotating motor and is used to perform a clamping action after receiving a rotation instruction to squeeze out excess air in the garbage bag during the rotation of the rotating motor and form a limit interval between the clamping claw and the at least two hooks.

[0022] Furthermore, the recycling component further includes:

[0023] a baffle, disposed on one side of the fixed disk, and rotating along with the fixed disk during the rotation of the rotary motor;

[0024] The sensing component is used to transmit an identification signal to the controller when it identifies that the baffle is blocking the signal, so that the controller controls the rotating motor to stop rotating according to the identification signal so as to stop at the initialization position.

[0025] Furthermore, the packaging component includes:

[0026] The U-shaped nail mouth sealer is used to seal the limited interval of the garbage bag using U-shaped nails according to the packaging instruction.

[0027] Furthermore, the robot further comprises:

[0028] A garbage bag recycling box is arranged at the preset position; the garbage bag recycling box comprises a box cover and a box body;

[0029] The robot further comprises:

[0030] The cover opening assembly is connected to the controller and is used to move to the fourth position in response to the recycling instruction to open the cover of the garbage bag recycling box.

[0031] In a second aspect, an embodiment of the present application provides a control method for a waste recovery robot, the method comprising:

[0032] During the process of the mobile component moving along the preset route, the image of the trash can is collected by the image acquisition component and transmitted to the controller; wherein the image acquisition component is arranged on at least one side of the body;

[0033] The controller receives and recognizes the trash bin image, and generates a pick-up instruction if dirt is recognized;

[0034] The recycling component responds to the hooking instruction, moves to the first position, opens the trash bin cover, and hooks out the trash bag;

[0035] After the recycling component takes out the garbage bag, a rotation instruction is generated by the controller;

[0036] The recycling assembly responds to the rotation instruction by rotating in a first direction to wrap around and limit the bag opening of the garbage bag, and then moves to a second position;

[0037] generating a packaging instruction by the controller;

[0038] The limited interval of the garbage bag is sealed by a sealing component in response to the sealing instruction; wherein the sealing component is arranged on the side of the body and connected to the controller;

[0039] generating a recycling instruction by the controller;

[0040] The recycling component responds to the recycling instruction, moves to the third position, and rotates in the second direction to recycle the garbage bag to the preset position.

[0041] Furthermore, the recovery assembly includes: a rotating motor, at least two hooks connected to the rotating shaft of the rotating motor through a fixed disk, and a clamping claw arranged below the rotating motor;

[0042] Accordingly, the recycling component responds to the rotation instruction and rotates in a first direction to wrap around and limit the bag opening of the garbage bag, including:

[0043] The rotary motor rotates from an initialization position to a first direction according to a preset number of revolutions based on the rotation instruction to wrap the garbage bag around the at least two hooks, and the clamping claw performs a clamping action to squeeze out excess air in the garbage bag during the rotation of the rotary motor and form a limit interval between the clamping claw and the at least two hooks.

[0044] Furthermore, before the recycling assembly responds to the rotation instruction and rotates in a first direction to wrap around and position the opening of the garbage bag, the method further includes:

[0045] The sensing component identifies the blocking signal of the baffle and transmits the identification signal to the controller, so that the controller controls the rotating motor to stop rotating according to the identification signal, so that the rotating motor stops at the initialization position; wherein, the baffle is arranged on one side of the fixed disk; and rotates with the fixed disk during the rotation of the rotating motor.

[0046] Furthermore, the packaging component responds to the packaging instruction to package the limited interval of the garbage bag, including:

[0047] The U-shaped stapler is used to seal the limited interval of the garbage bag using U-shaped staples according to the packaging instruction.

[0048] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the first aspect.

[0049] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0050] In a fifth aspect, an embodiment of the present application provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the method described in the first aspect.

[0051] In an embodiment of the present application, the main body; a moving component is provided at the lower end of the main body; an image acquisition component is provided on at least one side of the main body for acquiring an image of the trash can; a controller is connected to the image acquisition component and is used to identify the image of the trash can, and if it is identified that there is dirt, a hooking instruction is generated; a recycling component is connected to the controller and is used to move to a first position in response to the hooking instruction, open the trash can lid, and hook out the trash bag; the controller is used to generate a rotation instruction after the recycling component takes out the trash bag; the recycling component is used to rotate in a first direction in response to the rotation instruction to wrap and limit the bag opening of the trash bag, and move to a second position; the controller is also used to generate a packaging instruction; a packaging component is provided on the side of the main body and is connected to the controller, and the packaging component is used to respond to the packaging instruction and, after the recycling component moves to the second position, seal the limit interval of the trash bag; the controller is also used to generate a recycling instruction; the recycling component is used to move to a third position in response to the recycling instruction and rotate in a second direction to recycle the trash bag to a preset position. The waste recycling robot can automatically identify whether there is a trash can filled with waste and, when there is a trash can filled with waste, perform fully automatic, unmanned garbage packaging, sealing, and recycling, thereby improving work efficiency and reducing operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a schematic structural diagram of the waste recovery robot provided in Example 1 of the present application;

[0053] Figure 2 This is a design diagram of the recycling component of the waste recycling robot provided in Example 2 of the present application;

[0054] Figure 3 This is a schematic structural diagram of the recycling component of the waste recycling robot provided in Example 3 of the present application;

[0055] Figure 4 This is a design diagram of the packaging component of the waste recovery robot provided in Example 4 of the present application;

[0056] Figure 5 This is a structural diagram of the trash bin and lid opening assembly of the waste recovery robot provided in Example 5 of the present application;

[0057] Figure 6 This is a flow chart of the control method of the waste recovery robot provided in Example 6 of this application.

[0058] Figure 7 This is a structural diagram of the electronic device provided in Example 7 of the present application. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solutions and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. It should also be noted that, for ease of description, only parts related to the present application, not all of the contents, are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0060] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0061] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0062] The waste recovery robot, device, equipment and medium provided in the embodiments of the present application are described in detail below with reference to specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0063] Example 1

[0064] Figure 1 This is a schematic diagram of the structure of the waste recovery robot provided in Example 1 of this application. Figure 1 As shown, specifically including the following:

[0065] Ontology 101;

[0066] A moving assembly 102 is provided at the lower end of the body;

[0067] An image acquisition component 103 is provided on at least one side of the body for acquiring images of the trash bin;

[0068] The controller 104 is connected to the image acquisition component and is used to identify the image of the trash can and generate a hook instruction if it is identified that there is dirt in it;

[0069] The recycling component 105 is connected to the controller and is used to respond to the hooking instruction, move to the first position, open the trash can lid, and hook out the trash bag;

[0070] The controller 104 is used to generate a rotation instruction after the recycling component removes the garbage bag;

[0071] The recovery component 105 is configured to rotate in a first direction in response to the rotation instruction to wrap around and position the opening of the garbage bag, and move to a second position;

[0072] The controller 104 is further configured to generate a packaging instruction;

[0073] A packaging component 106 is provided on the side of the body and connected to the controller, and is used to respond to the packaging instruction and seal the limited interval of the garbage bag after the recycling component moves to the second position;

[0074] The controller 104 is further configured to generate a recycling instruction;

[0075] The recycling component 105 is configured to move to a third position in response to the recycling instruction and rotate in a second direction to recycle the garbage bag to a preset position.

[0076] First, the usage scenario of this solution can be to use a waste recycling robot to identify whether there is a trash can containing waste, and when the presence of a trash can containing waste is identified, the garbage in the trash can is packaged, sealed and recycled.

[0077] In this embodiment, the main body of the waste recovery robot refers to the robot's main structure, which can include components such as the mechanical structure, sensors, and actuators. The mechanical structure is the framework and skeleton that supports the entire robot, and can include the chassis, robotic arms, and joints. The chassis is responsible for bearing the robot's weight and providing a stable mobile platform. The robotic arms and joints are used to perform waste recovery tasks, such as collecting garbage and processing waste.

[0078] The waste recycling robot is equipped with various sensors to perceive the environment and the information needed to perform its tasks. Specifically, these sensors include cameras, lidar, infrared sensors, and ultrasonic sensors. Cameras provide visual perception, helping the robot identify waste and the environment; lidar and ultrasonic sensors measure distances and detect obstacles.

[0079] Actuators are the power source of a waste recovery robot, driving the mechanical structure to complete tasks. Specifically, they can include electric motors and hydraulic systems. Electric motors are typically used to drive wheels or joints in the robot's arms, enabling the robot's movement and motion.

[0080] The mobility component refers to the part of the waste recovery robot used for movement, and can include wheeled mobility, tracked mobility, and combined wheel-leg mobility. Wheeled mobility involves the robot being equipped with multiple wheels, allowing for free movement on flat surfaces. Tracked mobility provides greater stability on uneven surfaces. Combined wheel-leg mobility combines wheels and legs, enabling more flexible movement across a variety of terrains.

[0081] The image acquisition component may be a device on the waste recycling robot, specifically, one or more cameras or other sensors for capturing images of the trash bin or environmental information.

[0082] The controller is the core processing unit of the waste recycling robot and can be an MCU (Micro Controller Unit), smart terminal, or embedded system. It receives and processes the trash bin images captured by the image acquisition component, recognizes and processes the images, and controls the robot to complete the garbage packaging, sealing, and recycling tasks.

[0083] The trash bin image may be visual information of the trash bin captured by the image acquisition component, and may include information such as the appearance of the trash bin and the status of the trash bin cover.

[0084] Dirt can be garbage, waste or polluting material contained inside the trash can.

[0085] The hook instruction can be an instruction generated by the controller after recognizing the image of the trash can. When the controller recognizes that there is dirt in the trash can, it will generate a hook instruction to trigger the operation of the recycling component.

[0086] The controller can pre-store a map of the robot's desired route and use it to control its movement based on the map. As the robot moves, the image acquisition component captures real-time images of the trash bin and transmits them to the controller. Specifically, a weight sensor can be installed on the bottom of the trash bin or its supporting structure to measure the weight of the trash inside. The weight sensor can be a pressure sensor, a weighing sensor, or a load cell. A set of indicator lights is then connected to a brightness controller, which can be a microcontroller, single-chip microcomputer, or other suitable electronic control device. The weight sensor transmits the measured trash weight information to the brightness controller. The brightness controller calculates the weight data and determines how many indicator light grids should be illuminated. Based on the brightness controller's calculations, the corresponding number of indicator lights can be illuminated. For example, if the trash in the bin is light, only one or two indicator lights may be illuminated. If the trash is heavy, more indicator lights may illuminate, displaying different brightness levels. Specifically, LEDs can be used as indicator lights.

[0087] Before the robot is put into operation, model training can be performed in advance. Specifically, a dataset of images of trash bins in different states, including images with the trash bin light on and off, is collected. These images are then preprocessed, including image resizing, color space conversion, and noise reduction. Computer vision techniques are then used to extract useful features from the preprocessed images, including color, texture, and shape. The extracted features and their corresponding labels (i.e., the presence or absence of dirt and light on / off) are used as training data to train a machine learning model, such as a support vector machine (SVM) or a convolutional neural network (CNN). After training the model on a portion of the data, the model is evaluated on another portion to check its accuracy and generalization ability. If the model performance is unsatisfactory, parameter adjustments and optimization can be performed. Finally, the trained model is embedded in the controller. When a new trash bin image is input, the controller invokes the model for recognition. Based on the indicator light recognition results, the controller determines whether the trash bin contains dirt. If dirt is present, a pick-up instruction is generated and sent to the recycling component. Among them, the controller can calculate the path from the current position to the first position based on the robot's dynamic characteristics, minimizing factors such as moving distance and time, and determine the actions that the recycling component needs to perform based on the design of the trash can, and write this path and the actions that need to be performed into the hook instruction.

[0088] Recycling components can be parts or modules in a robot that are used to recycle or process waste. These components can include sensors, robotic arms, collection containers, and processing units.

[0089] The trash bin cover may be a cover on the trash bin, which is used to cover the opening portion of the trash bin to prevent garbage from overflowing and to prevent odor from emitting.

[0090] The garbage bag can be a plastic bag or other material bag used to carry garbage. When the recycling component executes the hook instruction, it will open the garbage bin cover and hook the garbage bag, so that the garbage can be recycled.

[0091] The first position may be the position where the recycling component is located when performing the task of opening the trash can lid. Specifically, it may be a preset position or an initialization position of the recycling component. When the recycling component is in this position, it can just perform the task of opening the trash can lid.

[0092] When the recycling component receives a hooking instruction, it first needs to parse the hooking instruction, extract the movement path and the required action, and then move to the first position according to the movement path. Once at the first position, the recycling component can move according to the required action. Specifically, it can use a robotic arm or other appropriate device to open the trash can lid. Once the trash can lid is opened, a suitable gripper or clamp can be used to hook the trash bag out of the trash can.

[0093] The rotation instruction may be an instruction generated by a controller for controlling the rotation direction and angle of the recovery component.

[0094] The first direction may be clockwise, that is, the recovery component rotates in a clockwise direction.

[0095] The second position refers to the position where the recycling component needs to be moved to after the garbage bag is wrapped and limited. Specifically, the second position may be the position where the garbage bag is encapsulated.

[0096] After the recycling component has retrieved the garbage bag, it sends a completion signal to the controller. Upon receiving this signal, the controller generates a rotation command, causing the recycling component to rotate in a first direction while simultaneously wrapping and securing the bag's opening to the recycling component. After wrapping and securing the bag, the recycling component moves the bag to a second position according to the controller's instructions.

[0097] The packaging assembly may refer to a specific component or device used to package a garbage bag, which can fix the bag opening of the garbage bag within a specific interval to ensure that the garbage bag will not loosen or spread out during subsequent transportation and processing.

[0098] The sealing instructions may include instructions for controlling the motion and force of the recovery assembly to ensure that the trash bag is securely sealed within the restricted area.

[0099] The restraint zone may refer to a specific area or position within the recycling assembly where the garbage bag is secured. In the second position, the recycling assembly needs to restrain and seal the opening of the garbage bag within the specific zone to ensure that the garbage bag does not become loose or untied during subsequent handling and processing.

[0100] After the recycling component moves the garbage bag to the second location, the controller generates a sealing instruction and transmits it to the sealing component. Upon receiving the instruction, the sealing component uses sensors or a vision system to determine the position of the garbage bag's opening, ensuring it is within the appropriate sealing area. A suitable device is then used to seal the garbage bag's opening, securing it within the sealing area. During the sealing process, appropriate force is applied to ensure the bag is securely sealed. Sensors monitor the sealing status in real time to ensure that the bag is complete and meets the specified requirements.

[0101] The recycling instruction may be an instruction generated by the controller, and is used to control the movement and action of the recycling component to implement the recycling operation of the garbage bag.

[0102] The third position refers to a specific position to which the recycling component needs to be moved, for example, it may be a position directly above the trash can carried by the robot.

[0103] The second direction may be a direction opposite to the first direction. If the first direction is a clockwise direction, the second direction is a counterclockwise direction.

[0104] The preset location may refer to a specific location where the garbage bags need to be recycled, for example, it may be the location of a garbage bin carried by the robot.

[0105] Once packaging is complete, the controller generates a recycling instruction based on the recycling component's trajectory, the direction it needs to rotate, and the action being performed, and sends it to the recycling component. Upon receiving the recycling instruction, the recycling component can move to a third position based on the instructions generated by the controller. In the third position, the recycling component rotates in the second direction to untangle the garbage bag. Once untangled, the garbage bag automatically falls into the robot's trash can. While the recycling component is performing the recycling action, sensors can also be installed to monitor the recycling status in real time to ensure that the garbage bag has been successfully recovered and reached the predetermined location.

[0106] In an embodiment of the present application, the main body; a moving component is provided at the lower end of the main body; an image acquisition component is provided on at least one side of the main body for acquiring an image of the trash can; a controller is connected to the image acquisition component and is used to identify the image of the trash can, and if it is identified that there is dirt, a hooking instruction is generated; a recycling component is connected to the controller and is used to move to a first position in response to the hooking instruction, open the trash can lid, and hook out the trash bag; the controller is used to generate a rotation instruction after the recycling component takes out the trash bag; the recycling component is used to rotate in a first direction in response to the rotation instruction to wrap and limit the bag opening of the trash bag, and move to a second position; the controller is also used to generate a packaging instruction; a packaging component is provided on the side of the main body and is connected to the controller, and the packaging component is used to respond to the packaging instruction and, after the recycling component moves to the second position, seal the limit interval of the trash bag; the controller is also used to generate a recycling instruction; the recycling component is used to move to a third position in response to the recycling instruction and rotate in a second direction to recycle the trash bag to a preset position. The waste recycling robot can automatically identify whether there is a trash can filled with waste and, when there is a trash can filled with waste, perform fully automatic, unmanned garbage packaging, sealing, and recycling, thereby improving work efficiency and reducing operating costs.

[0107] Example 2

[0108] Figure 2 This is a design diagram of the recycling component of the waste recycling robot provided in Example 2 of this application. Figure 2 As shown, specifically including the following:

[0109] The rotating motor 201 is configured to rotate from an initial position according to a preset number of revolutions according to the rotation instruction;

[0110] At least two hooks 202 are connected to the rotating shaft of the rotary motor through a fixed plate, and are used to hook the bag opening of the garbage bag and wrap the garbage bag around the at least two hooks during the rotation of the rotary motor;

[0111] The clamping jaw 203 is arranged below the rotating motor and is used to perform a clamping action after receiving a rotation instruction to squeeze out excess air in the garbage bag during the rotation of the rotating motor and form a limit interval between the clamping jaw and the at least two hooks.

[0112] In this embodiment, the rotating motor can be a motor that can convert electrical energy into rotational motion. It can be controlled by electrical signals to achieve rotation, and can include a DC motor, an AC motor, a stepping motor, etc.

[0113] The initialization position may be the position of the initial state of the rotating motor. Before the rotating motor is operated, the motor shaft is returned to a known initial position, which is the initialization position.

[0114] A controller can send a rotation command to a rotating motor, including the desired number of rotations and direction. Upon receiving the rotation command, the motor begins rotating according to the preset number of revolutions. The motor's control system controls parameters such as current, voltage, or frequency to precisely control the rotation. During rotation, the motor's control system monitors the rotation angle or position of the shaft. An encoder or other position sensor can accurately count the number of rotations. When the number of rotations reaches the set value, the motor stops. After the motor completes the preset number of rotations, it sends a completion signal to the controller, notifying it of the end of the rotation task.

[0115] The hook may be a device for hooking the opening of a garbage bag, and may be composed of a hook-shaped component for fixing and grabbing the opening of the garbage bag for subsequent processing and transportation.

[0116] The rotating shaft can be the main component of a rotating motor. It is the axis of rotation of the motor and is used to support and transmit the rotating force.

[0117] The fixing plate can be used to connect the hook to the rotating shaft of the rotating motor, and can have a hole or a threaded hole so that the hook can be fixed thereto by bolts or threads. In this way, the hook can rotate with the rotation of the rotating motor and perform the function of hooking and winding the garbage bag.

[0118] When the motor begins rotating, the hook rotates accordingly. The hook's hooked portion is used to grab the opening of the garbage bag. The motor can control the direction and speed of rotation to lift the hook and the bag's opening. Once the bag's opening is engaged, the motor continues rotating, wrapping the bag around the hook. As it rotates, the hook rotates around the bag's opening, securing it to the hook.

[0119] A gripper is a device used to grip, hold, and secure objects, typically consisting of two or more movable jaws that can be brought together or closed during a clamping action and opened during a release action.

[0120] The gripper motor can be used to drive the gripper to open and close. The controller sends control commands to the gripper motor. These commands tell the gripper motor which action to perform, as well as parameters such as the speed and force of the action. When the gripper motor receives the command to open, it rotates the output shaft, moving the gripper's jaws apart, thereby opening the gripper. When the gripper motor receives the command to close, it rotates the output shaft, moving the gripper's jaws closer together, thereby closing the gripper. Gripper force control can also be achieved by controlling the output torque or current. To ensure accurate control and stability of the gripper, the gripper motor can be equipped with sensors to monitor the gripper's status and position. These sensors provide feedback, allowing the controller to adjust the gripper's movements in real time.

[0121] In this embodiment, the recycling component automatically squeezes out air and straightens the excess portion of the garbage bag, reducing the bag's volume, facilitating subsequent handling, and improving garbage packaging efficiency. It also prevents contamination and odor, improving environmental conditions during the garbage disposal process.

[0122] Example 3

[0123] Figure 3 This is a structural diagram of the recovery component of the waste recovery robot provided in Example 3 of the present application.

[0124] like Figure 3 As shown, specifically including the following:

[0125] The baffle 301 is provided on one side of the fixed disk and rotates along with the fixed disk during the rotation of the rotary motor;

[0126] The sensing component 302 is configured to transmit an identification signal to the controller when identifying the blocking signal, so that the controller controls the rotating motor to stop rotating according to the identification signal, so as to stop at the initialization position.

[0127] In this solution, the baffle can be a thin sheet or plate-like component used to block or limit the movement of an object. The baffle is arranged on one side of the fixed disk, and rotates with the fixed disk during the rotation of the rotating motor to play a certain blocking or limiting role.

[0128] The sensing component may be a device for sensing and acquiring environmental information, and may include a sensor and an encoder, etc. The sensing component may detect an occlusion signal of the barrier, that is, sense whether the barrier blocks a specific area or position.

[0129] The shield block signal can be a signal generated by the sensing component to indicate that the shield is blocking a specific area or position. When the shield blocks the field of view or detection area of ​​the sensing component, the sensing component generates the shield block signal.

[0130] The identification signal may be a specific signal generated by the sensing component and used to transmit the sensed information to the controller. Specifically, when the baffle blocks the operation of the sensing component, the sensing component may transmit the identification signal to the controller.

[0131] When the rotating motor begins to rotate, the fixed disk and baffle rotate with it. When the sensing component detects a baffle blocking signal, it sends an identification signal to the controller. Specifically, this signal can be transmitted via electrical signals or data communication. Upon receiving the identification signal from the sensing component, the controller issues a command to stop the rotating motor. The rotating motor stops rotating according to the controller's command and stops at the initialization position, where the hook just hooks onto the garbage bag.

[0132] In this solution, the sensing component senses that the baffle is blocking the bag and sends a signal to the controller, causing the controller to control the rotating motor to stop working. This allows the hook to be placed in a position where it can hook the garbage bag. There is no need for manual control of the hook position, which improves work efficiency and accuracy and reduces operating costs.

[0133] Example 4

[0134] Figure 4 This is a design diagram of the packaging component of the waste recovery robot provided in Example 4 of this application. Figure 4 As shown, specifically including the following:

[0135] The U-shaped stapler 401 is used to seal the limited area of ​​the garbage bag using U-shaped staples according to the packaging instruction.

[0136] In this embodiment, the U-shaped stapler may be a device for fixing a U-shaped staple on an object, and is used to seal or fix a garbage bag.

[0137] A U-shaped staple may be a staple having a U-shaped shape, which is used to secure an object by being driven into both sides of the object when sealing or fixing.

[0138] The controller can issue control commands to the tying motor, instructing the motor to perform its work. This command can include parameters such as the motor's start and stop, rotation direction, and speed. When the controller sends the start command, the tying motor begins to rotate. The tying motor is the power source for driving the U-shaped stapler, which can be electrically driven. The rotation of the tying motor is transmitted to the U-shaped stapler through a mechanical structure, enabling the U-shaped stapler to operate. The U-shaped staples in the U-shaped stapler are inserted into the opening of the garbage bag and then securely fixed there by a fixing device, thereby sealing the garbage bag. During the operation of the tying motor, the controller can monitor the operating status of the U-shaped stapler using feedback devices such as sensors or encoders. When the sealing operation is completed, or after a predetermined number of sealing cycles is reached, the controller sends a stop command to the tying motor, causing it to stop rotating. This completes the operation of the U-shaped stapler, completing the sealing of the garbage bag.

[0139] In this embodiment, the U-shaped nail mouth device is used to automatically complete the garbage bag sealing work, eliminating the need for manual sealing, thereby improving work efficiency, reducing the probability of workers inhaling harmful gases, and improving the safety of workers.

[0140] Example 5

[0141] Figure 5 This is a structural diagram of the trash bin and lid opening assembly of the waste recycling robot provided in Example 5 of this application. Figure 5 As shown, specifically including the following:

[0142] The robot further comprises:

[0143] The garbage bag recycling box 501 is arranged at the preset position; the garbage bag recycling box includes a box cover and a box body;

[0144] The robot further comprises:

[0145] The lid opening component 502 is connected to the controller and is used to move to the fourth position in response to the recycling instruction to open the lid of the garbage bag recycling box.

[0146] In this embodiment, the garbage bag recycling box can be a container for collecting and storing garbage bags or waste. It can be used to temporarily store garbage when the robot performs recycling tasks and facilitate subsequent processing and recycling.

[0147] The lid is the upper cover of a garbage bag collection bin, typically covering the opening of the bin to prevent the garbage from being scattered or affected by the external environment. The lid can be openable and closable to facilitate the placement of garbage bags or the removal of collected garbage bags.

[0148] The box body can be the main part of the garbage bag recycling box, and it is a container with a large space for accommodating garbage bags or waste. The box body can have an opening so as to put in the garbage bags or waste.

[0149] The preset position can refer to the location where the robot places the garbage bag recycling box in advance when performing the garbage collection task. It can be convenient for the robot to place the collected garbage bags at the predetermined position within the robot's working area.

[0150] The lid opening assembly can be a device for opening the lid of a garbage bag recycling bin and can be driven by an electric or pneumatic mechanism to automatically open the garbage bin.

[0151] The fourth position can refer to the position of the trash can that the robot carries and can open the lid. In this position, the lid opening assembly can open the lid of the garbage bag recycling box, thereby allowing the robot to easily put the garbage bag into the trash can.

[0152] When the garbage bag is packaged, the controller can generate a recycling instruction and pass it to the lid opening component, instructing it to open the lid. The recycling instruction can include information such as the action that the lid opening component needs to perform and the preset path planning. The lid opening component can then move to the fourth position carrying the garbage bin according to the preset path planning or program execution, that is, the position where the garbage bin can be opened. At the fourth position, the lid opening component will perform the action of opening the lid of the garbage bin. The lid of the garbage bin can be automatically opened by an electric or pneumatic mechanism. When the lid of the garbage bin is opened, the robot can put the collected garbage bags into the garbage bin. After the garbage bags are put into the garbage bin, the lid opening component can also perform the operation of closing the lid of the garbage bin. This ensures that the garbage bin is properly closed.

[0153] In this embodiment, the lid opening assembly can realize automated garbage collection, reduce labor costs, and improve recycling efficiency. It also reduces the time for manual contact with garbage, avoids workers from inhaling garbage odor, and improves safety.

[0154] Example 6

[0155] Figure 6 This is a flow chart of the control method of the waste recovery robot provided in Example 6 of the present application.

[0156] like Figure 6 As shown, the specific steps include:

[0157] S601, during the process of the mobile component moving along the preset route, the image acquisition component captures an image of the trash can and transmits it to the controller; wherein the image acquisition component is disposed on at least one side of the body;

[0158] S602, receiving and identifying the trash bin image through the controller, and generating a pick-up instruction if dirt is identified;

[0159] S603, the recycling component responds to the hooking instruction, moves to the first position, opens the trash can lid, and hooks out the trash bag;

[0160] S604, after the recycling component takes out the garbage bag, generating a rotation instruction through the controller;

[0161] S605, the recycling assembly responds to the rotation instruction, rotates in a first direction to wrap around and position the opening of the garbage bag, and moves to a second position;

[0162] S606, generating a packaging instruction by the controller;

[0163] S607, responding to the packaging instruction by using a packaging component to seal the limited interval of the garbage bag; wherein the packaging component is provided on a side of the body and connected to the controller;

[0164] S608, generating a recycling instruction by the controller;

[0165] S609: The recycling component responds to the recycling instruction, moves to the third position, and rotates in the second direction to recycle the garbage bag to the preset position.

[0166] Furthermore, the recovery assembly includes: a rotating motor, at least two hooks connected to the rotating shaft of the rotating motor through a fixed disk, and a clamping claw arranged below the rotating motor;

[0167] Accordingly, the recycling component responds to the rotation instruction and rotates in a first direction to wrap around and limit the bag opening of the garbage bag, including:

[0168] The rotary motor rotates from an initialization position to a first direction according to a preset number of revolutions based on the rotation instruction to wrap the garbage bag around the at least two hooks, and the clamping claw performs a clamping action to squeeze out excess air in the garbage bag during the rotation of the rotary motor and form a limit interval between the clamping claw and the at least two hooks.

[0169] Furthermore, before the recycling assembly responds to the rotation instruction and rotates in a first direction to wrap around and position the opening of the garbage bag, the method further includes:

[0170] The sensing component identifies the blocking signal of the baffle and transmits the identification signal to the controller, so that the controller controls the rotating motor to stop rotating according to the identification signal, so that the rotating motor stops at the initialization position; wherein, the baffle is arranged on one side of the fixed disk; and rotates with the fixed disk during the rotation of the rotating motor.

[0171] Furthermore, the packaging component responds to the packaging instruction to package the limited interval of the garbage bag, including:

[0172] The U-shaped stapler is used to seal the limited interval of the garbage bag using U-shaped staples according to the packaging instruction.

[0173] In an embodiment of the present application, in the process of moving along a preset route by the moving component, the image of the trash can is collected by the image acquisition component and transmitted to the controller; wherein, the image acquisition component is arranged on at least one side of the main body; the trash can image is received and identified by the controller, and if it is identified that there is dirt, a hooking instruction is generated; the recycling component responds to the hooking instruction, moves to the first position, opens the trash can lid, and hooks out the trash bag; after the recycling component takes out the trash bag, a rotation instruction is generated by the controller; the recycling component responds to the rotation instruction, rotates in a first direction to wrap and limit the bag opening of the trash bag, and moves to a second position; a packaging instruction is generated by the controller; the packaging component responds to the packaging instruction to package the limit interval of the trash bag; wherein, the packaging component is arranged on the side of the main body and connected to the controller; the controller generates a recycling instruction; the recycling component responds to the recycling instruction, moves to a third position, and rotates in a second direction to recycle the trash bag to the preset position. The control method for the waste recycling robot can automatically identify whether a trash can is filled with waste and, when a trash can is filled with waste, perform fully automatic, unmanned garbage packaging, sealing, and recycling. This improves work efficiency and reduces operating costs.

[0174] Example 7

[0175] like Figure 7 As shown, an embodiment of the present application also provides an electronic device 700, including a processor 701, a memory 702, and a program or instruction stored in the memory 702 and executable on the processor 701. When the program or instruction is executed by the processor 701, the various processes of the above-mentioned waste recovery robot device embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0176] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0177] Example 8

[0178] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned waste recovery robot device embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0179] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0180] Embodiment 9

[0181] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned waste recovery robot device embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0182] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0183] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0184] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0185] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

[0186] The above are only preferred embodiments of the present application and the technical principles employed. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that are possible for those skilled in the art will not depart from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments and may include more other equivalent embodiments without departing from the concept of the present application. The scope of the present application is determined by the scope of the claims.

Claims

1. A waste recovery robot, characterized in that: The robot comprises: ontology; A moving component is provided at the lower end of the body; An image acquisition component is provided on at least one side of the body for acquiring images of the trash bin; A controller connected to the image acquisition component, configured to recognize the image of the trash can and generate a pick-up instruction if dirt is found in the trash can; A recycling component is connected to the controller and is used to move to a first position in response to the hooking instruction, open the trash bin lid, and hook out the trash bag; The controller is used to generate a rotation instruction after the recycling component removes the garbage bag; The recovery assembly is configured to rotate in a first direction in response to the rotation instruction to wrap around and position the opening of the garbage bag, and move to a second position; The controller is further configured to generate a packaging instruction; a packaging component, disposed on a side of the body and connected to the controller, the packaging component being configured to, in response to the packaging instruction, package the limited interval of the garbage bag after the recycling component moves to the second position; The controller is further configured to generate a recycling instruction; The recycling assembly is configured to move to a third position in response to the recycling instruction and rotate in a second direction to recycle the garbage bag to a preset position; The recycling component comprises: a rotating motor, configured to rotate from an initialization position according to a preset number of revolutions in response to the rotation instruction; At least two hooks are connected to the rotating shaft of the rotating motor through a fixed plate, and are used to hook the bag opening of the garbage bag and wrap the garbage bag around the at least two hooks during the rotation of the rotating motor; A clamping claw is provided below the rotating motor and is used to perform a clamping action after receiving a rotation instruction, so as to squeeze out excess air in the garbage bag during the rotation of the rotating motor and form a limit interval between the clamping claw and the at least two hooks; The packaging component includes: The U-shaped nail mouth sealer is used to seal the limited interval of the garbage bag using U-shaped nails according to the packaging instruction.

2. The waste recovery robot according to claim 1, characterized in that: The recycling component further includes: a baffle, disposed on one side of the fixed disk, and rotating along with the fixed disk during the rotation of the rotary motor; The sensing component is used to transmit an identification signal to the controller when it identifies that the baffle is blocking the signal, so that the controller controls the rotating motor to stop rotating according to the identification signal so as to stop at the initialization position.

3. The waste recovery robot according to claim 1, characterized in that: The robot further comprises: A garbage bag recycling box is arranged at the preset position; the garbage bag recycling box comprises a box cover and a box body; The robot further comprises: The cover opening assembly is connected to the controller and is used to move to the fourth position in response to the recycling instruction to open the cover of the garbage bag recycling box.

4. A control method for a waste recovery robot, characterized in that: The method is performed by a waste recovery robot according to any one of claims 1 to 3, and the method comprises: During the process of the mobile component moving along the preset route, the image of the trash can is collected by the image acquisition component and transmitted to the controller; wherein the image acquisition component is arranged on at least one side of the body; The controller receives and recognizes the trash bin image, and generates a pick-up instruction if dirt is recognized; The recycling component responds to the hooking instruction, moves to the first position, opens the trash bin cover, and hooks out the trash bag; After the recycling component takes out the garbage bag, a rotation instruction is generated by the controller; The recycling assembly responds to the rotation instruction by rotating in a first direction to wrap around and limit the bag opening of the garbage bag, and then moves to a second position; generating a packaging instruction by the controller; The limited interval of the garbage bag is sealed by a sealing component in response to the sealing instruction; wherein the sealing component is arranged on the side of the body and connected to the controller; generating a recycling instruction by the controller; The recycling component responds to the recycling instruction by moving to a third position and rotating in a second direction to recycle the garbage bag to a preset position; The recovery assembly includes: a rotating motor, at least two hooks connected to the rotating shaft of the rotating motor through a fixed disk, and a clamping claw arranged below the rotating motor; Accordingly, the recycling component responds to the rotation instruction and rotates in a first direction to wrap around and limit the bag opening of the garbage bag, including: The rotary motor rotates in a first direction according to the rotation instruction from an initial position according to a preset number of revolutions to wrap the garbage bag around the at least two hooks, and the clamping jaws perform a clamping action to squeeze excess air in the garbage bag during the rotation of the rotary motor and form a limited interval between the clamping jaws and the at least two hooks; The method includes: encapsulating the limited interval of the garbage bag by the encapsulation component in response to the encapsulation instruction, including: The U-shaped stapler is used to seal the limited interval of the garbage bag using U-shaped staples according to the packaging instruction.

5. The control method of the waste recovery robot according to claim 4, characterized in that: Before the recycling assembly responds to the rotation instruction and rotates in a first direction to wrap around and position the opening of the garbage bag, the method further includes: The sensing component identifies the blocking signal of the baffle and transmits the identification signal to the controller, so that the controller controls the rotating motor to stop rotating according to the identification signal, so that the rotating motor stops at the initialization position; wherein, the baffle is arranged on one side of the fixed disk; and rotates with the fixed disk during the rotation of the rotating motor.

6. An electronic device, characterized in that: It comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the waste recovery robot as described in any one of claims 4-5.

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