Intelligent household multifunctional movable cleaning and classifying garbage can

Abstract

The invention relates to the technical field of intelligent homes, in particular to a multifunctional intelligent movable cleaning and classifying garbage can. Comprising a floor sweeping robot base, a hollow frame installed on the floor sweeping robot base through a base connecting cover, a sealing top cover installed at the top end of the hollow frame through linear electric drive lifting rods distributed in a triangular shape, and an L-shaped side door installed on the hollow frame through an L-shaped side door switch connecting rod. The three-layer circular ring connecting frame is fixedly installed at the top end of the hollow frame, and the ceramic antifouling funnel and the rotating gear disc are installed on the three-layer circular ring connecting frame from top to bottom. And finally, the rear roller mop cleans the ground, an annular ultraviolet sterilization lamp is arranged in the garbage classification device, meanwhile, multiple sealing protection is conducted on the side wall and an inlet of the garbage can, and the purpose of environmental sanitation and health is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of smart home, and provides a multifunctional mobile cleaning and sorting trash can for smart home. Background Art

[0002] Smart home refers to the use of modern technologies, Internet technologies, and Internet of Things (IoT) devices, etc., to enable various household appliances, devices, and systems in the home to be interconnected, intelligent, and achieve automated control. Through the smart home system, users can conveniently perform remote monitoring and management, improving the comfort, safety, and energy management efficiency of home life.

[0003] Most trash cans on the market currently have a single function. For people who pursue a better life, advocate green, low-carbon environmental protection, and have a large living area, they need to buy multiple trash cans, which not only occupy a large amount of household space, but also require more energy to organize and cost a relatively high fee.

[0004] Currently, few trash cans on the market are equipped with artificial intelligence voice interaction, and there are even fewer trash can designs that can be summoned by voice. Although there are already intelligent trash cans that can achieve garbage classification on the market, most of them are outdoor robots with a single function and a large volume. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of the prior art and solve the problem that most trash cans on the existing market have a single function.

[0006] The technical solution adopted by the present invention to solve its technical problems is: a multifunctional mobile cleaning and sorting trash can for smart home, including a floor sweeping robot base, a hollow frame installed on the floor sweeping robot base through a base connection cover, a sealed top cover installed on the top of the hollow frame through a triangularly distributed linear electric drive lifting rod, an L-shaped side door installed on the hollow frame through an L-shaped side door switch connecting rod, a three-layer ring connecting frame fixedly installed on the top of the hollow frame, a ceramic anti-fouling funnel and a rotating gear disk installed on the three-layer ring connecting frame from top to bottom; A vacuum cleaner inlet is provided in the middle of the bottom end of the floor sweeping robot base. Two symmetrically arranged electric drive rear wheels are installed at the rear of the bottom end of the floor sweeping robot base. A steering wheel is installed at the front of the bottom end of the floor sweeping robot base. Rotating brooms symmetrically installed on the floor sweeping robot base are provided on both the left and right sides of the steering wheel. A trash bin is provided inside the floor sweeping robot base. A charging interface, a pinhole socket, a USB socket, and a trapezoidal socket are respectively provided on the outside of the floor sweeping robot base. A visual sensor and a laser sensor are installed in front of the floor sweeping robot base. A roller mop is installed at the rear end of the bottom of the floor sweeping robot base in the direction symmetrical to the rotating broom; A sector-shaped trash can is slidably installed around the hollow frame through a card slot. There are three sector-shaped trash cans in total, including a recyclable waste sector-shaped trash can, an other waste sector-shaped trash can, and a hazardous waste sector-shaped trash can. Both the left and right ends of the three sector-shaped trash cans are respectively embedded into three card slots of the hollow frame through trash can installation sliders. The hollow frame is internally embedded with sensors, a controller, a central large battery, and a linear motor for controlling the linear electric drive lifting rod. There are three sensors, a controller, a central large battery, and a linear motor for controlling the linear electric drive lifting rod, and they are distributed in a triangle. The sealed top cover includes an ashtray bottom cover with a switch installed in the center of the sealed top cover. An ashtray is fixedly installed in the middle of the top of the sealed top cover. An ashtray bottom cover switch control servo is installed at the lower left of the ashtray. Ashtray cigarette resting card slots are provided around the top of the ashtray. The L-shaped side door is connected to the L-shaped side door switch control servo through an L-shaped side door switch connecting rod. The L-shaped side door switch connecting rod and the L-shaped side door switch control servo are installed through fastening bolts. An L-shaped side door fixing block connected to the L-shaped side door switch connecting rod is fixedly installed at the left end of the L-shaped side door. An L-shaped side door inner bucket cover is fixedly installed at the lower end of the inner side of the L-shaped side door. A servo motor is arranged inside the three-layer ring connecting frame. A small gear is installed at the output end of the servo motor. A large gear is fixedly installed inside the three-layer ring connecting frame around the rotating gear disk, and the large gear is meshed and connected with the small gear. Around the inside of the rotating gear disk, annular ultraviolet sterilization lamps are installed. At both the left and right ends of the bottom of the rotating gear disk, rotatable trays are connected through tray tilt control servos. A garbage scanning and identifying instrument is connected to the rear of the bottom end of the rotating gear disk through an identifying instrument flipping control servo. A small robotic arm is installed in front of the bottom end of the rotating gear disk. The small robotic arm includes a first-level small robotic arm rod, a second-level small robotic arm rod, a third-level sector-shaped small robotic arm rod, and a small robotic arm movement control servo for controlling the movement of each robotic arm.

[0007] In a preferred technical solution of the present invention, the two electric drive rear wheels and the steering wheel at the bottom end of the floor sweeping robot base are distributed in a triangle. The steering wheel is driven by a dual Hall encoder. The rotating broom includes a right rotating broom that rotates counterclockwise forward and a left rotating broom that rotates clockwise backward. A vacuum cleaner is installed inside the floor sweeping robot base, and the vacuum cleaner is configured with a variable frequency motor to achieve suction adjustment of 2000 - 4000 Pa.

[0008] In a preferred technical solution of the present invention, the surface of the rotatable tray is provided with an anti-fouling ceramic layer. The annular ultraviolet sterilization lamps are distributed in an annular array and the power density ≥ 3 mW / cm². A small air gun is configured at the end of the small robotic arm, and the small air gun includes a pneumatic gripper and a micro air jet cleaning device.

[0009] In a preferred technical solution of the present invention, the garbage scanning and recognition instrument includes a CMOS image sensor and a near-infrared spectroscopy analysis module. The sensor communicates with the controller through a CAN bus, and the controller uses an STM32H743 microcontroller. The controller is configured with a Wi-Fi 6 and Bluetooth 5.2 dual-mode communication unit.

[0010] In a preferred technical solution of the present invention, the hollow frame is internally provided with a three-axis gyroscope and a lidar navigation module, and the central large battery includes a 21700 lithium battery parallel group.

[0011] In a preferred technical solution of the present invention, a ceramic fireproof layer is provided in the ashtray of the sealed top cover. The bottom cover of the ashtray is automatically closed through a spring return mechanism, and the bottom cover of the ashtray controls the servo control switch through the bottom cover switch of the ashtray.

[0012] In a preferred technical solution of the present invention, the three-layer ring connecting frame is made of carbon fiber composite material, the transmission ratio of the rotating gear disc is set to 1:3.5, and the servo motor is configured with an absolute encoder to achieve ±0.1° angle control.

[0013] In a preferred technical solution of the present invention, a magnetic locking mechanism is provided in the card slot of the fan-shaped trash can. A silica gel sealing ring is configured on the contact surface between the L-shaped side door and the hollow frame, and the lifting stroke of the linear electric drive lifting rod for driving the sealed top cover is 13 - 43 cm.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention has the function of cleaning the ground, which is realized by the three-wheel disc-shaped floor sweeping robot on the chassis. A visual sensor and a laser sensor are installed in front of the chassis for navigation and identifying ground stains. Two symmetrically arranged rotating brooms are installed under the front of the chassis. Through one positive and one reverse rotation, the garbage is concentrated towards the middle of the chassis, and then the vacuum cleaner under the middle of the chassis sucks the ground dust or small garbage into the garbage bin. For the water stains or stains adhered to the ground, they are cleaned by the roller mop installed at the rear under the chassis. Similarly, once the garbage in the garbage bin reaches a predetermined value, it will give an alarm to the user. The present invention is convenient to operate, has rich functions, a high degree of intelligence, low cost, and strong practicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a bottom view of the present invention; Figure 3 is an exploded view of the present invention; Figure 4 is a schematic structural diagram of the ashtray of the present invention; Figure 5 is a schematic structural diagram of the L-shaped side door in the present invention; Figure 6 Schematic front view structure diagram of the rotating gear disk in the present invention; Figure 7 Schematic bottom view structure diagram of the rotating gear disk in the present invention; In the figure: 1, floor sweeping robot base; 101, vacuum cleaner inlet; 102, electric drive rear wheels; 103, steering wheels; 104, rotating brooms; 105, trash bin; 106, charging interface; 107, pinhole socket; 108, USB socket; 109, trapezoidal socket; 2, hollow frame; 3, base connection cover; 4, fan-shaped trash can; 401, trash can installation slider; 5, sealed top cover; 6, ashtray; 601, ashtray bottom cover; 602, ashtray cigarette slot; 603, ashtray bottom cover switch control servo; 7, L-shaped side door; 701, L-shaped side door switch link; 702, L-shaped side door switch control servo; 703, L-shaped side door fixing block; 704, inner bucket cover of L-shaped side door; 8, three-layer ring connecting frame; 9, ceramic anti-fouling funnel; 10, sensor and controller; 11, central large battery; 12, rotating gear disk; 13, annular ultraviolet sterilization lamp; 14, tray tilt control servo; 15, rotatable tray; 16, small robotic arm; 1601, small robotic arm movement control servo; 1602, first-level small robotic arm rod; 1603, second-level small robotic arm rod; 1604, third-level fan-shaped small robotic arm rod; 1605, small air gun; 17, identification instrument flip control servo; 18, trash scanning and identification instrument. Detailed implementation manners Embodiment

[0016] Please refer to Figure 1-7 , a multi-functional mobile cleaning and sorting trash can for smart home, including a floor sweeping robot base 1. A vacuum cleaner inlet 101 is opened in the middle of the bottom end of the floor sweeping robot base 1. Two symmetrically arranged electric drive rear wheels 102 are installed at the rear part of the bottom end of the floor sweeping robot base 1. A steering wheel 103 is installed at the front part of the bottom end of the floor sweeping robot base 1. Rotating brooms 104 symmetrically installed on the floor sweeping robot base 1 are arranged on both the left and right sides of the steering wheel 103. A trash bin 105 is opened inside the floor sweeping robot base 1. A charging interface 106, a pinhole socket 107, a USB socket 108, and a trapezoidal socket 109 are respectively arranged on the outside of the floor sweeping robot base 1. A visual sensor and a laser sensor are installed in front of the floor sweeping robot base 1. A roller mop is installed at the rear end of the bottom of the floor sweeping robot base 1 in the symmetric direction of the rotating broom 104; the combination of the vacuum cleaner inlet 101 and the rotating broom 104 improves the cleaning effect. The electric drive rear wheels 102 and the steering wheel 103 provide flexible movement and steering capabilities. The internal trash bin 105 facilitates the collection of cleaning garbage. The multiple sockets enhance compatibility. The visual and laser sensors achieve intelligent navigation and obstacle avoidance. The roller mop provides a wet mopping function to improve the cleaning effect; In this embodiment, a hollow frame 2 is installed on the base of the floor sweeping robot 1 through a base connection cover 3. A sector-shaped trash can 4 is slidably installed around the hollow frame 2 through a card slot. The sector-shaped trash can 4 includes three types, namely a recyclable waste sector-shaped trash can, other waste sector-shaped trash can, and hazardous waste sector-shaped trash can. The left and right ends of the three sector-shaped trash cans 4 are respectively embedded into three card slots of the hollow frame 18 through trash can installation sliders 401. The three sector-shaped trash cans 4 are respectively used for classifying and storing different types of garbage. The cooperation between the slider 401 and the card slot ensures the stable installation and convenient disassembly of the sector-shaped trash can 4. Inside the hollow frame 2, there are embedded sensors, a controller 10, a central large battery 11, and a linear motor for controlling the linear electric drive lifting rod. There are three sensors, controller 10, central large battery 11, and linear motors for controlling the linear electric drive lifting rod, and they are distributed in a triangle to ensure the balanced and efficient operation of the system; In this embodiment, a sealed top cover 5 is installed at the top of the hollow frame 2 through a linear electric drive lifting rod distributed in a triangle. The sealed top cover 5 includes an ashtray bottom cover 601 with a switch installed in the center of the sealed top cover 5. An ashtray 6 is fixedly installed in the middle of the top of the sealed top cover 5. An ashtray bottom cover switch control servo 603 connected to the ashtray bottom cover 601 is installed at the lower left of the ashtray 6. Ashtray cigarette slots 602 are provided around the top of the ashtray 6. The ashtray cigarette slots 602 on the ashtray 6 can be used by users to discard smoking utensils. The ashtray bottom cover switch control servo 603 is responsible for controlling the opening and closing operation of the ashtray bottom cover 601; In this embodiment, an L-shaped side door 7 is installed on the hollow frame 2 through an L-shaped side door switch link 701. The L-shaped side door 7 is connected to an L-shaped side door switch control servo 702 through the L-shaped side door switch link 701. The L-shaped side door switch link 701 and the L-shaped side door switch control servo 702 are installed through fastening bolts. An L-shaped side door fixing block 703 connected to the L-shaped side door switch link 701 is fixedly installed at the left end of the L-shaped side door 7. An L-shaped side door inner bucket cover 704 is fixedly installed at the lower end inside the L-shaped side door 7. When the L-shaped side door switch control servo 702 receives a switch signal, it drives the L-shaped side door 7 to open or close through the L-shaped side door switch link 701, ensuring that the link can effectively transmit torque and drive the opening and closing actions of the L-shaped side door 7. The L-shaped side door inner bucket cover 704 plays a sealing role to ensure the safety and protection of the internal structure when the L-shaped side door 7 is closed; In this embodiment, a three-layer ring connecting frame 8 fixedly installed at the top of the hollow frame 2, a ceramic anti-fouling funnel 9 and a rotating gear disk 12 installed on the three-layer ring connecting frame 8 from top to bottom. A servo motor is arranged inside the three-layer ring connecting frame 8, a small gear is installed at the output end of the servo motor, large gears are fixedly installed around the rotating gear disk 12 and are embedded inside the three-layer ring connecting frame, and the large gears are meshed and connected with the small gear. By controlling the rotation of the small gear by the servo motor and through the meshing of the small gear and the large gear, the movement of the rotating gear disk 12 is realized, and the stability and accuracy of the gear system are ensured through the three-layer ring connecting frame 8; In this embodiment, annular ultraviolet sterilization lamps 13 are installed around the inside of the rotating gear disk 12. Both the left and right ends of the bottom of the rotating gear disk 12 are connected with a rotatable tray 15 through a tray tilt control servo 14. The rear of the bottom end of the rotating gear disk 12 is connected with a garbage scanning and identifying instrument 18 through an identifier flipping control servo 17. Rotating gear disk and annular ultraviolet sterilization lamp: The rotating gear disk 12 rotates driven by the servo motor, and the annular ultraviolet sterilization lamps 13 installed around the rotating gear disk 12 can continuously perform sterilization treatment during the rotation of the disk. The tilt angle of the rotatable tray 15 is controlled by the tray tilt control servo 14, so that the rotatable tray 15 can adjust its angle to dump garbage. The garbage scanning and identifying instrument 18 can scan and identify the types of garbage or target objects, and adjust the flipping angle through the identifier flipping control servo 17 for better identification of these objects.

[0017] In this embodiment, a small robotic arm 16 is installed in front of the bottom end of the rotating gear disk 12. The small robotic arm 16 includes a first-level small robotic arm rod 1602, a second-level small robotic arm rod 1603, a third-level fan-shaped small robotic arm rod 1604, and a small robotic arm movement control servo 1601 for controlling the movement of each robotic arm. Once the garbage adheres to the rotatable tray 15, the program will start the small robotic arm 16 above the obliquely upward opening of the tray. It will apply an external force to the garbage until the garbage falls into the bucket. The small air gun 1605 installed on the small robotic arm 16 can also clean the stains on the rotatable tray 15.

[0018] In the present invention, the user can, from any position in the house, connect and control through voice or APP to make the robot enter the working mode. During the use process, the robot will autonomously clean the floor hygiene. When the robot receives a paging instruction or paging information, the robot will immediately move in front of the pager and actively raise the sealed top cover 5 to facilitate the pager to put in garbage; Once the garbage falls into the rotatable tray 15, it will be captured and identified by the upper garbage scanner 18, and the garbage category information will be transmitted to the control system terminal. The terminal then controls the servo motor built into the three-layer circular connecting frame 8 to rotate the pinion, and the pinion drives the large gear integrated with the rotating gear disc 12 to rotate. Since the program is set in advance, the rotating gear disc 12 can accurately drive the opening of the rotatable tray 15 to align with the corresponding sector-shaped garbage bin 4; After completing the previous step, the next program will drive the rotatable tray 15 to rotate a certain angle or shake through the tray tilt control servo 14 until it recognizes that the garbage has fallen into the bin; Once the garbage adheres to the rotatable tray 15, the program will activate the small robotic arm 16 obliquely above the tray opening. It will apply an external force to the garbage until it falls into the bin. The small air gun 1605 installed on the small robotic arm 16 can also clean the stains on the rotatable tray 15; After all the garbage has fallen into the designated sector-shaped garbage bin 4, the robot will enter the preparation mode. First, the small robotic arm 16 will fold and retract and return to the designated area. Then, the rotatable tray 15 will be leveled, the annular ultraviolet sterilization lamp 13 will be intermittently turned on, and the sealed top cover 5 will automatically close to prepare for the next garbage classification; The infrared sensors built into the garbage bin will continuously detect the garbage stacking status of the three sector-shaped garbage bins 4. Once the garbage height in a certain sector-shaped garbage bin 4 exceeds a certain height, it will be recognized by the sensor, and the signal will be transmitted to the terminal, which will report to the user in the form of voice or APP display to remind the user to change the garbage bag or empty the garbage. Embodiment

[0019] In a preferred technical solution of the present invention, the two electric drive rear wheels 102 and the steering wheel 103 at the bottom end of the floor sweeping robot base 1 are distributed in a triangle. The steering wheel 103 is driven by a dual Hall encoder. The rotating broom 104 includes a right rotating broom rotating counterclockwise forward and a left rotating broom rotating clockwise backward. A vacuum cleaner is installed inside the floor sweeping robot base 1, and the vacuum cleaner is equipped with a variable frequency motor to achieve suction adjustment of 2000 - 4000 Pa; In this embodiment, the dual Hall encoder can accurately detect the rotation speed and position of the wheel, provide high-precision control signals, and ensure that the sweeping robot can turn and travel smoothly and accurately. The right rotating broom and the left rotating broom generate air flow and bristle friction through opposite rotation directions, which helps to concentrate dust, debris, and garbage on the ground into the vacuuming area of the robot. The cooperation of the right rotating broom and the left rotating broom can improve the cleaning efficiency, especially in corners and difficult-to-clean areas, and can effectively clean all corners of the ground. The configuration of the variable-frequency motor enables the vacuum cleaner to adjust the suction range from 2000 to 4000 Pa to adapt to different cleaning scenarios. Low suction is suitable for cleaning light dust and fine particles, while high suction is suitable for cleaning larger or heavier garbage, such as debris or hair. The high efficiency of the variable-frequency motor makes the suction adjustment more accurate and energy-saving, improving the overall cleaning effect and extending the battery life. Embodiment

[0020] In a preferred technical solution of the present invention, the surface of the rotatable tray 15 is provided with an anti-fouling ceramic layer. The annular ultraviolet sterilization lamp 13 is arranged in an annular array and the power density ≥ 3 mW / cm². The end of the small robotic arm 16 is equipped with a small air jet gun 1605, and the small air jet gun 1605 includes a pneumatic gripper and a micro air jet cleaning device. In this embodiment, the function of the anti-fouling ceramic layer on the surface of the rotatable tray 15 is to reduce stains and garbage remaining on the tray surface, making the tray surface easier to clean. This ceramic coating has good wear and corrosion resistance characteristics, and prevents dirt such as garbage and liquid from adhering to the surface, extending the service life of the tray, maintaining the hygiene of the equipment, and ensuring the high efficiency of garbage classification. The annular ultraviolet sterilization lamp 13, in the design of the annular array, can effectively cover every corner of the tray surface, playing a role in sterilization and disinfection. The design with a power density ≥ 3 mW / cm² ensures that the intensity of ultraviolet rays is high enough to kill bacteria, viruses, and other pathogenic microorganisms, ensuring that during the garbage classification process, the surface of the garbage will not contaminate other items due to bacterial growth, further improving the hygiene and safety of the device. The end of the small robotic arm 16 is equipped with a small air jet gun 1605. The pneumatic gripper and the micro air jet cleaning device on the small air jet gun 1605 enable the robotic arm to effectively operate items of different sizes and shapes. The micro air jet cleaning device is used to periodically spray cleaning agents or air flows to reduce garbage residue and ensure the smooth progress of the classification process. Embodiment

[0021] In a preferred technical solution of the present invention, the garbage scanning and recognition instrument 18 includes a CMOS image sensor and a near-infrared spectroscopy analysis module. The sensor communicates with the controller through the CAN bus with the sensor in the controller 10. The controller uses an STM32H743 microcontroller, and the controller is configured with a Wi-Fi 6 and Bluetooth 5.2 dual-mode communication unit. In this embodiment, the CMOS image sensor is used to capture image data of garbage and provide high-quality and high-definition image input. The near-infrared spectral analysis module can identify the material, composition and other information of the garbage by analyzing the spectral reflection of the garbage surface. Combined with the image sensor, it can provide more comprehensive garbage identification capabilities, especially in material composition analysis, such as distinguishing different materials such as plastic, metal, and paper. The CAN bus controller local area network is an efficient data transmission method that can ensure real-time data communication between the sensor and the controller. Through the CAN bus, the image sensor transmits the collected image data and the data of the near-infrared analysis module to the controller quickly and stably to ensure the rapid response and efficient processing of the system. The STM32H743 microcontroller is a high-performance, low-power processor that can efficiently process the data collected by the sensor and the spectral module. Its powerful processing capability enables the garbage identification system to complete the processing of garbage images, the calculation of classification algorithms, and the real-time control of the actions of garbage classification equipment in a short time. The Wi-Fi 6 and Bluetooth 5.2 dual-mode communication units provide a variety of connection methods, allowing the garbage identification system to interact with external devices such as mobile phones and cloud servers for data and remote monitoring. Wi-Fi 6 provides a high-speed and stable network connection, which is suitable for large-scale data transmission and cloud data processing, while Bluetooth 5.2 is suitable for low-power communication between short-range devices, enabling fast pairing and data transmission between devices, improving system flexibility and user experience. Example

[0022] In the preferred technical solution of the present invention, the hollow frame 2 has a built-in three-axis gyroscope and a laser radar navigation module, and the central large battery 11 includes a parallel group of 21700 lithium batteries; In this embodiment, the three-axis gyroscope is used to measure and maintain the direction and posture of the device. It can detect the change of the rotation angle of the device in space in real time, ensuring that the device can stably control the direction during operation and avoid deviation from the predetermined trajectory. The lidar navigation module can accurately measure the distance and spatial structure of the surrounding environment by emitting laser beams and receiving reflected signals, which helps the device to perform accurate three-dimensional environment modeling and path planning, ensuring that the device can navigate autonomously in complex environments and avoid obstacles. The central large battery 11 of the 21700 lithium battery parallel group provides a long battery life and high energy density as the power source of the device. The parallel configuration can provide more stable power output, ensuring that the device does not run out of power during long-term operation, thereby extending the working time and reliability of the system. Example

[0023] In a preferred technical solution of the present invention, a ceramic fireproof layer is provided in the ashtray 6 of the sealed top cover 5. The ashtray bottom cover 601 is automatically closed through a spring return mechanism, and the ashtray bottom cover 601 is controlled by a servo motor 603 of the ashtray bottom cover switch to control the switch; In this embodiment, the ceramic material has good high temperature resistance, fire resistance and thermal stability. As a fireproof layer, it can effectively isolate the fire source. It can prevent the high temperature cigarette ash from damaging the internal structure of the ashtray 6, while reducing the risk of fire, ensuring the safety and stability of the device. The design of the spring return mechanism enables the ashtray bottom cover 601 to automatically close after use, preventing the leakage of cigarette ash or other substances. The servo motor 603 controlled by the ashtray bottom cover switch is an electric device. By controlling the operation of the switch, the ashtray bottom cover 601 can be smoothly opened and closed. This design not only improves the automation level and simplifies the user operation process, but also ensures the sealing performance and stability of the ashtray 6. The design of the servo motor control can achieve more precise motion control, ensuring the reliability of the ashtray 6 in different operation scenarios. The combined action of the sealed top cover 5 and the ashtray bottom cover 601 improves the sealing performance of the ashtray 6, which can effectively avoid the leakage of smoke or the emission of peculiar smell, ensuring the cleanliness of the use environment and the air quality. In addition, the design with strong sealing can also prevent external substances such as dust or water vapor from entering the inside of the ashtray 6, thereby increasing the service life of the device. Embodiment

[0024] In a preferred technical solution of the present invention, the three-layer ring connecting frame 8 is made of carbon fiber composite material, the transmission ratio of the rotating gear disc 12 is set to 1:3.5, and the servo motor is equipped with an absolute encoder to achieve ±0.1° angle control; In this embodiment, the carbon fiber composite material has a low density, which can significantly reduce the overall weight of the connecting frame. The carbon fiber material has extremely high strength and rigidity, which can ensure the stability and anti-deformation ability of the connecting frame under high load conditions. Carbon fiber has excellent corrosion resistance and is suitable for various harsh environments. The transmission ratio of the rotating gear disk is set to 1:3.5, which means that when the input shaft rotates one circle, the output shaft will rotate 3.5 circles. Through this design, the output torque can be increased without increasing the motor power. Setting an appropriate transmission ratio can improve the rotation accuracy while ensuring the stable operation of the system. The absolute encoder can provide accurate position information for the servo motor and is not affected by power failure or signal loss. This feedback mechanism ensures that the servo motor can accurately execute commands. Through the accurate feedback of the absolute encoder, the servo motor can achieve an angle control accuracy of ±0.1°. This ensures that when the device is performing fine adjustment and precise positioning, it can reach a very high accuracy. The absolute encoder not only provides real-time position information but also eliminates cumulative errors, ensuring that the device can still maintain accurate positioning and control even after long-term operation. The angle control accuracy of ±0.1° ensures that there will be no obvious errors when the system is performing fine adjustment or precise operation, improving the overall stability of the device and ensuring that the device can maintain the predetermined working state under long-term operation. Embodiment

[0025] In a preferred technical solution of the present invention, a magnetic lock mechanism is provided in the card slot of the fan-shaped trash can 4, a silicone sealing ring is arranged on the contact surface between the L-shaped side door 7 and the hollow frame 2, and the lifting stroke of the linear electric drive lifting rod for driving the sealed top cover 5 is 13 - 43 cm; In this embodiment, the magnetic latch mechanism fixes and releases the card slot through magnetic adsorption, enabling convenient opening and closing of the trash can. Users only need to gently pull or push to operate, without using traditional mechanical latch methods, which improves the operational convenience. The magnetic latch can provide a strong closing force, enabling the lid of the trash can to be better sealed, thereby reducing the leakage of odors, preventing garbage from overflowing or polluting the surrounding environment. At the same time, it avoids the situation where the trash can cannot be used normally due to the jamming or damage of traditional mechanical latches. The design of the silicone rubber sealing ring effectively prevents the leakage of odors during the use of the trash can. The silicone rubber material has good elasticity and durability and can still maintain a good sealing effect after long-term use, avoiding the diffusion of the smell of garbage. The silicone rubber sealing ring can also play a role in waterproofing and dustproofing, keeping the inside of the trash can clean and reducing the impact of the external environment on the inside of the trash can, preventing external pollutants from entering the trash can. The linear motor drives the sealed top cover to lift and lower, enabling the trash can to achieve an automatic lifting function without manual intervention. Users only need to activate it through a button or sensor, and the top cover can automatically lift and lower, facilitating garbage disposal, reducing hand contact, and maintaining a higher hygiene standard. The design with a stroke of 13 - 43 cm means that the sealed top cover of the trash can can adjust the lifting height according to needs, enabling the trash can to adapt to different garbage disposal requirements. For example, larger garbage items can be easily disposed of through a larger stroke, while regular garbage can be disposed of through a smaller stroke, improving operational flexibility. The lifting system driven by the linear motor makes the use of the trash can more efficient.

[0026] In summary of the above embodiments: Through the control of multiple sensors, the base of the floor-sweeping robot can move freely in the room. There are two front inner-rotating brooms that sweep the garbage towards the central axis, and the central vacuum cleaner sucks the garbage into the garbage bin. Finally, the rear roller-shaped sponge mop cleans the floor. Under voice paging, under the control of multiple sensors, the present invention can quickly locate the sound source and move towards it, and dispose of garbage at the funnel-shaped entrance in the garbage classification device. The garbage accurately slides into the rotatable tray below. There is a garbage recognition system installed diagonally above the tray to accurately recognize the garbage on the tray. After the recognition is completed, the tray immediately rotates towards the direction of the designated trash can, and under the control of the servo motor, the action of tilting the tray towards the trash can is completed. For garbage that cannot be dumped, the present invention uses a small robotic arm installed diagonally above the tray to perform external intervention to achieve the purpose of garbage classification. Considering the hygiene situation of the trash can, in the present invention, a ring-shaped ultraviolet sterilization lamp is built into the garbage classification device, and at the same time, multiple sealing protections are provided for the side wall and the entrance of the trash can to achieve the purpose of environmental health. The present invention is convenient to operate, has rich functions, a high degree of intelligence, a low cost, and strong practicability.

Claims

1. A smart home multi-functional mobile cleaning and sorting trash can, comprising a floor sweeping robot base (1), a hollow frame (2) installed on the floor sweeping robot base (1) through a base connection cover (3), a sealed top cover (5) installed at the top of the hollow frame (2) through a triangularly distributed linear electric drive lifting rod, an L-shaped side door (7) installed on the hollow frame (2) through an L-shaped side door switch connecting rod (701), a three-layer circular ring connecting frame (8) fixedly installed at the top of the hollow frame (2), a ceramic anti-fouling funnel (9) and a rotating gear disc (12) installed on the three-layer circular ring connecting frame (8) from top to bottom, characterized in that: A vacuum cleaner inlet (101) is provided in the middle of the bottom end of the floor sweeping robot base (1). Two symmetrically arranged electric drive rear wheels (102) are installed at the rear of the bottom end of the floor sweeping robot base (1). A steering wheel (103) is installed at the front of the bottom end of the floor sweeping robot base (1). Rotating brooms (104) symmetrically installed on the floor sweeping robot base (1) are arranged on both the left and right sides of the steering wheel (103). A trash bin (105) is provided inside the floor sweeping robot base (1). A charging interface (106), a pinhole socket (107), a USB socket (108), and a trapezoidal socket (109) are respectively arranged on the outside of the floor sweeping robot base (1). A visual sensor and a laser sensor are installed in front of the floor sweeping robot base (1). A roller mop is installed at the rear end of the bottom of the floor sweeping robot base (1) in the direction symmetrical to the rotating broom (104); Sector-shaped trash cans (4) are slidably installed around the hollow frame (2) through card slots. The sector-shaped trash cans (4) include three types: a recyclable trash sector-shaped trash can, a other trash sector-shaped trash can, and a hazardous waste sector-shaped trash can. Both the left and right ends of the three sector-shaped trash cans (4) are respectively inserted into three card slots of the hollow frame (18) through trash can installation sliders (401); A sensor and a controller (10), a central large battery (11), and a linear motor controlling the linear electric drive lifting rod are embedded in the hollow frame (2). There are three sensor and controller (10), central large battery (11), and linear motors controlling the linear electric drive lifting rod, and they are distributed in a triangle; The sealed top cover (5) includes an ashtray bottom cover (601) with a switch installed in the center of the sealed top cover (5). An ashtray (6) is fixedly installed in the middle of the top end of the sealed top cover (5). An ashtray bottom cover switch control servo (603) connected to the ashtray bottom cover (601) is installed at the lower left of the ashtray (6). Ashtray cigarette resting card slots (602) are provided around the top end of the ashtray (6); The L-shaped side door (7) is connected to an L-shaped side door switch control servo (702) through an L-shaped side door switch connecting rod (701). The L-shaped side door switch connecting rod (701) and the L-shaped side door switch control servo (702) are installed through fastening bolts. An L-shaped side door fixing block (703) connected to the L-shaped side door switch connecting rod (701) is fixedly installed at the left end of the L-shaped side door (7). An L-shaped side door inner bucket cover (704) is fixedly installed at the lower end of the inner side of the L-shaped side door (7); A servo motor is arranged inside the three-layer ring connecting frame (8). A small gear is installed at the output end of the servo motor. The rotating gear disc (12) is embedded in the three-layer ring connecting frame around its circumference and is fixedly equipped with a large gear. The large gear is meshed and connected with the small gear; An annular ultraviolet sterilization lamp (13) is installed around the inside of the rotating gear disc (12). Both the left and right ends of the bottom of the rotating gear disc (12) are connected with a rotatable tray (15) through a tray tilt control servo (14). The rear of the bottom end of the rotating gear disc (12) is connected with a garbage scanning and identifying instrument (18) through an identifying instrument flipping control servo (17). A small robotic arm (16) is installed in front of the bottom end of the rotating gear disc (12); The small robotic arm (16) includes a first-level small robotic arm rod (1602), a second-level small robotic arm rod (1603), a third-level fan-shaped small robotic arm rod (1604), and a small robotic arm motion control servo (1601) for controlling the motion of each robotic arm.

2. The multifunctional mobile cleaning and sorting trash can for smart home according to claim 1, wherein: The two electric drive rear wheels (102) and the steering wheel (103) at the bottom end of the floor sweeping robot base (1) are distributed in a triangle. The steering wheel (103) is driven by a dual Hall encoder. The rotating broom (104) includes a right rotating broom that rotates counterclockwise forward and a left rotating broom that rotates clockwise backward. A vacuum cleaner is installed inside the floor sweeping robot base (1). The vacuum cleaner is configured with a variable frequency motor to achieve suction adjustment of 2000 - 4000 Pa.

3. The intelligent home multi-functional mobile cleaning and sorting trash can according to claim 1, characterized in that: The surface of the rotatable tray (15) is provided with an anti-fouling ceramic layer. The annular ultraviolet sterilization lamps (13) are distributed in an annular array and the power density ≥ 3 mW / cm². The end of the small robotic arm (18) is configured with a small air gun (1605). The small air gun (1605) includes a pneumatic gripper and a micro air jet cleaning device.

4. The multifunctional mobile cleaning and sorting trash can for smart home according to claim 1, characterized in that: The garbage scanning and identifying instrument (18) includes a CMOS image sensor and a near-infrared spectrum analysis module. The sensor communicates with the controller through a CAN bus with the sensor in the controller (10). The controller uses an STM32H743 microcontroller, and the controller is configured with a Wi-Fi6 and Bluetooth 5.2 dual-mode communication unit.

5. The intelligent home multifunctional mobile cleaning and sorting trash can according to claim 1, characterized in that: A three-axis gyroscope and a lidar navigation module are built into the hollow frame (2). The central large battery (11) includes a parallel group of 21700 lithium batteries.

6. The multifunctional mobile cleaning and sorting trash can for smart home according to claim 1, characterized in that: A ceramic fireproof layer is provided in the ashtray (6) of the sealed top cover (5). The bottom cover (601) of the ashtray is automatically closed through a spring reset mechanism. The bottom cover (601) of the ashtray is controlled to open and close through an ashtray bottom cover switch control servo (603).

7. The multifunctional mobile cleaning and sorting trash can for smart home according to claim 1, characterized in that: The three-layer ring connecting frame (8) is made of carbon fiber composite material. The transmission ratio of the rotating gear disc (12) is set to 1:3.

5. The servo motor is configured with an absolute encoder to achieve ±0.1° angle control.

8. The multifunctional mobile cleaning and sorting trash can for smart home according to claim 1, wherein: A magnetic locking mechanism is provided in the card slot of the fan-shaped trash can (4). A silica gel sealing ring is configured on the contact surface between the L-shaped side door (7) and the hollow frame (2). The lifting stroke of the linear electric drive lifting rod for driving the sealed top cover (5) is 13 - 43 cm.

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