Intelligent classification dustbin and control method thereof

Abstract

The invention discloses an intelligent classification garbage can and a control method thereof.The intelligent classification garbage can comprises a can body, a grabbing assembly and a control device, the can body comprises a throwing box and a plurality of containing boxes, the throwing box is used for containing garbage and provided with a detection part and a weighing part, the detection part is used for detecting the reflectivity of the garbage, and the weighing part is used for weighing the reflectivity of the garbage; the weighing part is used for obtaining the garbage weight of the garbage; the multiple containing boxes are used for containing different types of garbage correspondingly, the grabbing assembly is arranged on the box body and used for grabbing and conveying the garbage, and the control device is used for determining the type of the garbage based on the reflectivity and the garbage weight and controlling the grabbing assembly to convey the garbage in the throwing boxes into the containing boxes corresponding to the type. Through multi-parameter detection of the reflectivity and the garbage weight, multi-dimensional information fusion recognition of the garbage is achieved, the accuracy of garbage type recognition is improved, the later sorting work of the garbage is reduced, and garbage treatment is more automatic and intelligent.

Description

Technical Field

[0001] This application relates to the field of waste sorting technology, and in particular to an intelligent waste sorting bin and its control method. Background Technology

[0002] With increasing global environmental awareness and the widespread adoption of waste sorting policies, waste frequently needs to be sorted and disposed of. Currently, manual sorting and disposal of waste increases the workload of waste management. Furthermore, some users' inaccurate judgment of waste classification increases subsequent sorting costs and leads to resource waste. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art or related technologies.

[0004] The first aspect of this application proposes an intelligent sorting trash can, which includes: a body, a gripping component, and a control device. The body includes a dispensing bin and multiple receiving bins. The dispensing bin is used to hold trash and is equipped with a detection element and a weighing element. The detection element is used to detect the reflectivity of the trash, and the weighing element is used to obtain the weight of the trash. The multiple receiving bins are used to hold different types of trash. The gripping component is located in the body and is used to grip and transport the trash. The control device is used to determine the type of trash based on the reflectivity and the weight of the trash, and to control the gripping component to transport the trash in the dispensing bin to the receiving bin corresponding to the type.

[0005] In some technical solutions provided in this application, the gripping component includes: a robotic arm, a mounting base, and multiple actuators. One end of the robotic arm is disposed on the housing, and the mounting base is rotatably connected to the other end of the robotic arm. The robotic arm can control the height of the mounting base and its position along a first direction, which is the arrangement direction of multiple housing boxes. Multiple actuators are disposed on different end faces of the mounting base, and any actuator can rotate to the gripping position. The actuators include at least one of: a suction cup, a gripper, and a magnetic suction component.

[0006] In some technical solutions provided in this application, the robotic arm includes: a first link and a second link, one end of the first link is rotatably connected to the housing, and both ends of the second link are rotatably connected to the other end of the first link and the mounting base, respectively.

[0007] In some of the technical solutions provided in this application, the intelligent sorting trash can also include: an overflow sensor, a display screen and a buzzer. An overflow sensor is provided in any of the bins to detect the amount of contents in the bin. The display screen and buzzer are located in the bin. The control device is used to control the display screen and buzzer to send a prompt message when the amount of contents exceeds the capacity threshold.

[0008] The second aspect of the technical solution of this application proposes a control method for an intelligent sorting trash can. The control method includes: controlling a detection element to acquire the reflectivity of the trash and controlling a weighing element to acquire the weight of the trash; receiving the reflectivity and the weight of the trash; determining the type of trash based on the reflectivity and the weight of the trash; determining the trash grabbing method; and when the grabbing method is automatic grabbing, controlling the grabbing component to transport the trash in the disposal bin to the receiving bin corresponding to the type.

[0009] In some technical solutions provided in this application, the step of controlling the gripping component to transport the garbage in the disposal bin to the corresponding type of receiving bin specifically includes: determining the actuator of the gripping component and the receiving bin according to the type; determining the movement mode of the robotic arm of the gripping component; controlling the actuator to remove the garbage in the disposal bin; and controlling the robotic arm to transport the garbage to the receiving bin.

[0010] In some of the technical solutions provided in this application, the steps of controlling the robotic arm to transport garbage into the container specifically include: controlling the actuator to move above the container; opening the hatch at the top of the container; controlling the actuator to release the garbage; closing the hatch; and controlling the robotic arm to return to the initial position.

[0011] In some of the technical solutions provided in this application, the step of controlling the actuator to remove garbage from the disposal box specifically includes: determining the movement state of the garbage; when the duration of the garbage in the stopped state is greater than the stop time limit, the controlling actuator reverses back into the disposal box, and controls the display screen and buzzer to send alarm information.

[0012] In some of the technical solutions provided in this application, the step of controlling the detector to acquire the reflectivity of the waste specifically includes: controlling the detector to acquire the reflectivity of the waste multiple times; the step of determining the type of waste based on the reflectivity and the weight of the waste specifically includes: determining the type of waste based on the average value of multiple reflectivities and the weight of the waste.

[0013] In some technical solutions provided in this application, the steps for determining the garbage grabbing method specifically include: comparing the garbage weight with a grabbing threshold; when the garbage weight is less than the grabbing threshold, determining the grabbing method as automatic grabbing; when the garbage weight is greater than or equal to the grabbing threshold, determining the grabbing method as manual grabbing, and controlling the display screen and buzzer to send overweight information. After the step of controlling the grabbing component to transport the garbage in the disposal bin to the corresponding type of receiving bin, the method further includes: controlling the overflow sensor to detect the storage amount in the receiving bin; comparing the storage amount with the receiving threshold; when the storage amount is greater than the receiving threshold, controlling the display screen and buzzer to send full bin information.

[0014] Compared with related technologies, the present invention has at least the following beneficial effects: Waste is tested inside the disposal bin, improving the stability of the testing environment and reducing the impact of external environmental factors on the test results. This allows the testing operation to adapt to complex scenarios such as low light, humidity, and dust. Waste is identified through multi-parameter detection of reflectivity and weight, achieving multi-dimensional information fusion and overcoming the limitations of single infrared or image recognition. This improves the accuracy of waste type identification and reduces post-sorting work. The gripping component accurately disposes the sorted waste, perfecting the waste collection process and making waste treatment more automated and intelligent, further reducing manual waste disposal. Attached Figure Description

[0015] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of some embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This application provides a schematic diagram of the structure of an intelligent sorting trash can according to one embodiment. Figure 2 A partial structural schematic diagram of a grasping component according to an embodiment of this application; Figure 3 A schematic diagram of the structure of a grasping component according to an embodiment of this application; Figure 4 One of the schematic flowcharts of a control method provided in this application; Figure 5 This is a second schematic flowchart of a control method according to an embodiment of this application.

[0016] in, Figures 1 to 3 The correspondence between the reference numerals and component names in the attached drawings is as follows: 20. Intelligent sorting trash can; 100. Can body; 110. Disposal bin; 120. Container; 121. Disposal opening; 200. Gripping component; 210. Robotic arm; 211. First link; 212. Second link; 220. Mounting base; 230. Actuator. Detailed Implementation

[0017] To better understand the above technical solutions, the technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0018] A first aspect of this application provides an intelligent sorting trash can 20, such as... Figure 1 As shown, the intelligent sorting trash can 20 includes: a body 100, a gripping component 200, and a control device. The body 100 includes a dispensing bin 110 and multiple receiving bins 120. The dispensing bin 110 is used to hold trash and is equipped with a detection element and a weighing element. The detection element is used to detect the reflectivity of the trash, and the weighing element is used to obtain the weight of the trash. The multiple receiving bins 120 are used to hold different types of trash. The gripping component 200 is located on the body 100 and is used to grip and transport the trash. The control device is used to determine the type of trash based on the reflectivity and the weight of the trash, and to control the gripping component 200 to transport the trash in the dispensing bin 110 to the receiving bin 120 corresponding to the type.

[0019] In this embodiment, the container 100 has multiple independent compartments 120 for holding different types of waste. Each compartment 120 has a dispensing opening 121 on its top. For example, there are four compartments 120, and the waste can be recyclables, perishable waste, hazardous waste, and other waste. The compartments 120 vary depending on the type of waste they contain. For example, the compartment 120 for perishable waste is equipped with a sealing silicone ring and an activated carbon filter to reduce odor leakage, while the compartment 120 for hazardous waste is a pull-out drawer with a child safety lock and a corrosion-resistant PTFE padding.

[0020] Multiple detector arrays are distributed on the inner wall of the disposal bin 110 to reduce the influence of light and the external environment on the detectors and prevent damage. The detectors are used to detect the reflectivity of the waste inside the disposal bin 110. Reflectivity refers to the ratio of the luminous flux reflected from an object's surface to the total luminous flux incident on that surface. For example, there are 8 detectors, with a spacing of 5 cm between adjacent detectors. The detectors can be spectrophotometers, photoelectric reflective sensors, or laser reflective sensors. A weighing device is provided at the bottom of the disposal bin 110 to obtain the weight of the waste inside. The weighing device has an accuracy of ±5g to ensure the accuracy of the waste weight measurement.

[0021] The top of the container 100 is equipped with a gripping assembly 200 for grabbing and transporting waste. The gripping assembly 200, the detection element, and the weighing element are all communicatively connected to a control device, which can be a microcontroller. The gripping assembly 200 can move along mutually perpendicular X-axis, Y-axis, and Z-axis, allowing it to move flexibly in different directions.

[0022] The user deposits trash into the disposal bin 110. The control device simultaneously controls the detection and weighing components to detect the trash, collecting its reflectance and weight. After receiving the reflectance and weight, the control device uses a pre-trained random forest classification model to match the trash type based on these features. Reflectance is used to determine the material of the trash; for example, plastic has a reflectance of 30% to 40%, metal has a reflectance of over 80%, and kitchen waste has a reflectance of 10% to 20%. The weight of the trash is used to assist in determining the type of trash; for example, if the trash weight is less than 50g and the reflectance is 30% to 40%, the control device determines the trash to be a plastic bottle, classified as recyclable.

[0023] The garbage grabbing methods include manual grabbing and automatic grabbing. When the control device determines that the garbage needs to be automatically grabbed, the control device controls the grabbing component 200 to sort and put the garbage in the disposal box 110 into the corresponding type of container box 120.

[0024] Waste is detected within the disposal bin 110, improving the stability of the detection environment and reducing the impact of external environmental factors on the detection results. This allows the detection operation to adapt to complex scenarios such as low light, humidity, and dust. Waste is detected using multiple parameters, including reflectivity and weight, achieving multi-dimensional information fusion and identification. This overcomes the limitations of single infrared or image recognition, improves the accuracy of waste type identification, and reduces subsequent waste sorting work. The gripping component 200 accurately disposes of the sorted waste, perfecting the waste collection process and making waste treatment more automated and intelligent, further reducing the manual workload of waste disposal.

[0025] In some embodiments provided in this application, such as Figure 2 and Figure 3 As shown, the gripping assembly 200 includes: a robotic arm 210, a mounting base 220, and multiple actuators 230. One end of the robotic arm 210 is disposed on the housing 100, and the mounting base 220 is rotatably connected to the other end of the robotic arm 210. The robotic arm 210 can control the height of the mounting base 220 and its position along a first direction, which is the arrangement direction of the multiple housing boxes 120. The multiple actuators 230 are disposed on different end faces of the mounting base 220, and any actuator 230 can rotate to the gripping position. The actuator 230 includes at least one of a suction cup, a gripper, and a magnetic suction component.

[0026] In this embodiment, the specific structure of the grasping component 200 is provided. Figure 1The arrow at position P points in the first direction. The robotic arm 210 has multiple degrees of freedom, capable of rotating ±90° horizontally and rising and falling 0cm to 20cm vertically. The bottom of the robotic arm 210 is connected to the housing 100, and the top of the robotic arm 210 is equipped with a mounting base 220 that can rotate 360°. Different end faces of the mounting base 220 are equipped with detachable actuators 230, which are connected to the mounting base 220 via a snap-fit ​​structure. The actuators 230 can be suction cups, grippers, or magnetic attachments. The grippers include clamp-like structures or claw hook structures, and the gripping force of the grippers is adjustable from 5N to 50N. The vacuum degree of the suction cup is -80kPa, enabling the grippers to pick up different types of waste, suitable for waste with diameters from 3cm to 20cm and weights from 5g to 500g.

[0027] The control device determines the actuator 230 of the gripping component 200 according to the type of waste, and adjusts the posture of the mounting base 220 and the robotic arm 210 to move the corresponding actuator 230 to the gripping position for grasping the waste. By using a multi-degree-of-freedom rotatable robotic arm 210 with switchable actuators 230, the flexibility and accuracy of waste grasping are improved, enabling stable grasping and precise disposal of different types of waste, and solving the problem of poor adaptability of traditional robotic arms 210.

[0028] In some embodiments provided in this application, such as Figure 3 As shown, the robotic arm 210 includes a first link 211 and a second link 212. One end of the first link 211 is rotatably connected to the housing 100, and both ends of the second link 212 are rotatably connected to the other end of the first link 211 and the mounting base 220, respectively.

[0029] In this embodiment, a specific structure of the robotic arm 210 is provided. The robotic arm 210 includes a first link 211 and a second link 212 rotatably connected. A mounting base 220 is disposed on the top of the second link 212. The bottom end of the first link 211 is rotatably connected to the housing 100. Specifically, the first link 211 can rotate around a vertical axis, allowing the robotic arm 210 to rotate in the horizontal plane. The first link 211 can also rotate around a horizontal axis, allowing the robotic arm 210 to move in the height direction, thereby adjusting the height of the actuator 230. The robotic arm 210 has multiple degrees of freedom, expanding its range of motion and improving its flexibility. The robotic arm 210 can accurately control the position of the actuator 230 to meet the deployment requirements at different locations.

[0030] In some embodiments provided in this application, the intelligent sorting trash can 20 further includes: an overflow sensor, a display screen, and a buzzer. An overflow sensor is provided in any of the containers 120. The overflow sensor is used to detect the storage amount in the container 120. The display screen and the buzzer are located in the container body 100. The control device is used to control the display screen and the buzzer to send a prompt message when the storage amount is greater than the storage threshold.

[0031] In this embodiment, a method for alerting when the garbage is overflowing is provided. The display screen can be a 2.4-inch touch screen, which is used to display the garbage sorting results and the status of the container 120, and controls the operation of the smart sorting garbage bin 20 via touch. The display screen and buzzer are installed on the front of the bin 100, and the display screen, buzzer, and overflow sensor are respectively communicatively connected to the control device.

[0032] After waste is deposited, the control device activates the overflow sensor to detect the amount of waste stored in the collection bin 120. Upon receiving the storage amount, the control device compares it to a capacity threshold. If the storage amount is less than or equal to the capacity threshold, it indicates that the storage space in the collection bin 120 is sufficient and it can continue to receive waste. If the storage amount exceeds the capacity threshold, it indicates that the storage space in the collection bin 120 is insufficient. The control device then controls the display screen to show a prompt message, such as "Overflow Reminder," and triggers a buzzer to play a warning sound, reminding the user to empty the collection bin 120 promptly to ensure the smooth handling of subsequent waste and further enhance the intelligence of waste collection. For example, the capacity threshold could be 80% of the total capacity, or 18L for recyclables, 12L for perishable waste, 5L for hazardous waste, and 20L for other waste.

[0033] A second aspect of this application provides a control method for an intelligent sorting trash can, which is used for the intelligent sorting trash can provided in any of the above embodiments, such as... Figure 4 As shown. The control method includes: Step 10: Control the reflectivity of the waste obtained by the detection component and control the weight of the waste obtained by the weighing component; Step 11: Receive reflectivity and garbage weight; Step 12: Determine the type of waste based on reflectivity and waste weight; Step 13: Determine the method for grabbing the trash; Step 14: When the grabbing mode is automatic grabbing, control the grabbing component to transport the garbage in the disposal box to the corresponding type of container.

[0034] In this embodiment, the user deposits trash into the collection bin. The control device simultaneously controls the detection and weighing components to detect the trash, collecting its reflectance and weight. After receiving the reflectance and weight, the control device uses a pre-trained random forest classification model to match the type of trash based on these features. Reflectance is used to determine the material of the trash; for example, plastic has a reflectance of 30% to 40%, metal has a reflectance of over 80%, and kitchen waste has a reflectance of 10% to 20%. The weight of the trash is used to assist in determining the type of trash; for example, if the trash weight is less than 50g and the reflectance is 30% to 40%, the control device determines that the trash is a plastic bottle and is classified as recyclable.

[0035] The garbage can be grabbed manually or automatically. When the control device determines that the garbage needs to be grabbed automatically, the control device controls the grabbing component to sort the garbage in the disposal bin and put it into the corresponding container.

[0036] Waste is tested inside the disposal bin, improving the stability of the testing environment and reducing the impact of external environmental factors on the test results. This allows the testing operation to adapt to complex scenarios such as low light, humidity, and dust. Waste is identified through multi-parameter detection of reflectivity and weight, achieving multi-dimensional information fusion and overcoming the limitations of single infrared or image recognition. This improves the accuracy of waste type identification and reduces post-sorting work. The gripping component accurately disposes the sorted waste, perfecting the waste collection process and making waste treatment more automated and intelligent, further reducing manual waste disposal.

[0037] In some embodiments provided in this application, step 14, which controls the gripping component to transport the waste from the disposal bin to the corresponding receiving bin, specifically includes: Step 141: Determine the executor and container of the grabbing component based on the type; Step 142: Determine the movement mode of the robotic arm that grasps the component; Step 143: Control the actuator to remove the waste from the disposal box; Step 144: Control the robotic arm to transport the waste into the container.

[0038] This embodiment provides a specific method for disposing of waste using a gripping component. After determining the type of waste, the control device determines the corresponding actuator and container based on the type; for example, a metal can corresponds to a gripper, and a plastic film corresponds to a suction cup. The control device determines the actuator of the gripping component according to the type of waste and moves the corresponding actuator to the gripper position to grip the waste, thereby improving the flexibility and accuracy of waste gripping and achieving stable gripping and precise disposal of different types of waste.

[0039] The control device determines the movement mode and path of the robotic arm based on the target container, ensuring sufficient clearance around the movement path of the actuator to prevent collisions between the gripping components or waste and the container. The control device then directs the actuator to extend into the delivery container and remove the waste. Following the pre-determined movement path, the control device controls the robotic arm to transport the waste into the container.

[0040] In some embodiments provided in this application, step 144, which controls the robotic arm to transport waste into the container, specifically includes: Step 1441: Control the actuator to move above the receiving box; Step 1442: Open the hatch on top of the container; Step 1443: Control the execution component to release garbage; Step 1444: Close the hatch; Step 1445: Control the robotic arm to return to its initial position.

[0041] This embodiment provides specific steps for waste disposal. The control device moves the actuator above the target container, aligning the waste with the container's disposal opening. The container has a hatch on top that opens or closes the disposal opening; the control device controls the hatch's opening and closing via an electromagnetic lock. The control device opens the hatch and controls the actuator to release the waste, allowing it to fall into the container through the disposal opening. After waste disposal, the control device closes the hatch, restoring the container to a closed state, and then controls the robotic arm to return to its initial position. Through the cooperation of the hatch and the actuator, the hatch ensures its sealing function while accommodating waste disposal, enabling smooth waste disposal and improving the automation and intelligence of the container's opening and closing mechanism.

[0042] In some embodiments provided in this application, step 143, which involves controlling the actuator to remove waste from the disposal bin, specifically includes: Step 1431: Determine the movement status of the waste; Step 1432: When the duration of the garbage in the stopped state exceeds the stop time limit, the control actuator reverses back into the disposal box and controls the display screen and buzzer to send alarm information.

[0043] In this embodiment, when the actuator removes the waste from the disposal bin, the control device detects the movement of the waste using an infrared sensor. For example, if the infrared sensor does not detect the movement of the waste, the control device determines that the waste is in a stopped state. If the waste remains stopped for more than 5 seconds, it indicates that the waste is stuck. The control device then controls the robotic arm to move in the opposite direction, causing the actuator to return to the disposal bin along its original path. The control device also controls the display screen to send an alarm message, which can be "Please clear the stuck waste." The control device triggers a buzzer alarm to allow the user to adjust the gripping posture of the waste in a timely manner, resolve the waste stuck problem, and ensure that the waste can be removed smoothly.

[0044] In some embodiments provided in this application, step 10, which controls the detector to acquire the reflectivity of the waste, specifically includes: Step 101: Control the detector to acquire the reflectivity of the waste multiple times; Step 12, which determines the type of waste based on reflectivity and waste weight, specifically includes: Step 121: Determine the type of waste based on the average of multiple reflectivities and the weight of the waste.

[0045] In this embodiment, the control device controls the detection element to continuously collect the reflectance of the garbage multiple times. For example, the number of collections can be three times. The average value of multiple reflectances is determined as the final reflectance of the garbage. The garbage type is determined based on the final reflectance and the garbage weight. This avoids detection errors caused by a single collection, improves the accuracy of garbage reflectance determination, and thus improves the accuracy of garbage type judgment, making the garbage classification results more accurate.

[0046] In some embodiments provided in this application, step 13, which determines the garbage collection method, specifically includes: Step 131: Compare the weight of the garbage with the grabbing threshold; Step 132: When the weight of the garbage is less than the grabbing threshold, the grabbing mode is set to automatic grabbing; when the weight of the garbage is greater than or equal to the grabbing threshold, the grabbing mode is set to manual grabbing, and the display screen and buzzer are controlled to send overweight information. After step 14, which controls the grabbing component to transport the waste from the disposal bin to the corresponding type of container, the process also includes: Step 15: Control the overflow sensor to detect the storage amount in the container; Step 16: Compare the storage capacity with the capacity threshold; Step 17: When the storage capacity exceeds the capacity threshold, control the display screen and buzzer to send a full storage information.

[0047] In this embodiment, before controlling the gripping component to dispose of the waste, the control device first determines the waste gripping method. The control device compares the waste weight with a gripping threshold, for example, 500g. When the waste weight is less than the gripping threshold, it indicates that the waste weight is within the load range of the gripping component. The control device determines the waste gripping method to be automatic gripping and controls the gripping component to automatically dispose of the waste. When the waste weight is greater than or equal to the gripping threshold, it indicates that the waste weight exceeds the load range of the gripping component. The control device determines the gripping method to be manual gripping, controls the display screen and buzzer to send overweight information, and displays the type of waste and the corresponding container on the display screen, showing "Waste overweight, please dispose manually" to avoid overloading and damage to the gripping component.

[0048] After garbage is deposited, the control device activates the overflow sensor to detect the amount of garbage stored in the bin. Upon receiving the storage level, the control device compares it to a capacity threshold. If the storage level is less than or equal to the threshold, it indicates that the bin has sufficient storage space and can continue accepting garbage. If the storage level exceeds the threshold, it indicates that the bin is running low on space. The control device then displays a warning message on the screen, such as "Overflow Reminder," and triggers a buzzer to sound an alert, reminding the user to empty the bin promptly to ensure the smooth handling of subsequent garbage and further enhance the intelligence of garbage collection.

[0049] In a specific embodiment, such as Figure 5 As shown, after a user disposes of trash, the system enters the data detection phase. The control device simultaneously triggers the detection component to acquire reflectivity and the weighing component to acquire the trash weight. The control device preprocesses the reflectivity and weight data. The control device then classifies the trash using a trained random forest model. The model is input with reflectivity and trash weight, and after inference, it outputs the trash type. The random forest model was trained with 1000 samples covering 8 common types of trash, achieving a classification accuracy of 92.3% and a single classification time of less than 0.3 seconds.

[0050] The control device detects the weight of the waste. If the waste weight exceeds the limit, an overweight warning is displayed, and the user manually disposes of the waste. When the waste weight is within the normal range, the control device determines the actuator to grab the waste and plans the movement of the robotic arm. The control device then controls the robotic arm to move along the planned path. The gripping end of the robotic arm moves to the top of the disposal bin, the actuator grabs the waste, and the control device performs a jam detection. If the gripping operation is stuck, the robotic arm reverses its movement, a buzzer sounds an alarm, and a cleaning prompt is displayed on the screen, prompting manual intervention to resolve the jamming issue. When the gripping operation is successfully completed, the actuator moves to the corresponding receiving bin, the control device opens the door, the actuator releases the waste, and the robotic arm resets. The robotic arm movement takes less than 3 seconds. The control device then performs a storage detection, reading the storage volume detected by the overflow sensor and determining if the storage volume exceeds the capacity threshold. If the storage volume exceeds the capacity threshold, an overflow warning is displayed on the screen, a buzzer sounds an alarm, and manual cleaning is required. When the storage volume is less than the capacity threshold, the waste disposal process ends.

[0051] The control device is based on the C language main program. It can store and upload data to a remote terminal, enabling real-time full-link visualization management and monitoring of classified data, providing decision support for waste disposal departments. The control device uses an STM32 microcontroller, and the hardware cost of the detection components, weighing components, and overflow sensors is lower than that of similar image recognition products, making it easy to deploy in small locations.

[0052] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0054] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0055] The above are merely some embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart sorting trash can, characterized in that, include: The container includes a dispensing box and multiple receiving boxes. The dispensing box is used to hold garbage and is equipped with a detection device and a weighing device. The detection device is used to detect the reflectivity of the garbage, and the weighing device is used to obtain the weight of the garbage. The multiple receiving boxes are used to hold different types of garbage. A gripping component is disposed in the container, the gripping component being used to grip and transport the waste; A control device is used to determine the type of waste based on the reflectivity and the weight of the waste, and to control the gripping component to transport the waste in the disposal bin to the receiving bin corresponding to the type.

2. The intelligent sorting trash can according to claim 1, characterized in that, The crawling component includes: A robotic arm, one end of which is located in the housing; The mounting base is rotatably connected to the other end of the robotic arm, which can control the height of the mounting base and its position along a first direction, which is the arrangement direction of the plurality of the containers. Multiple actuators are disposed on different end faces of the mounting base, and any one of the actuators can be rotated to a gripping position. The actuators include at least one of a suction cup, a gripper, and a magnetic suction element.

3. The intelligent sorting trash can according to claim 2, characterized in that, The robotic arm includes: The first connecting rod, one end of which is rotatably connected to the housing; The second link has two ends that are rotatably connected to the other end of the first link and the mounting base, respectively.

4. The intelligent sorting trash can according to claim 1, characterized in that, Also includes: An overflow sensor is provided in any of the containers, and the overflow sensor is used to detect the storage amount in the container. A display screen and a buzzer are disposed in the enclosure. The control device is used to control the display screen and the buzzer to send a prompt message when the storage amount is greater than the capacity threshold.

5. A control method for an intelligent sorting trash can, characterized in that, For a smart sorting trash can as described in any one of claims 1 to 4, the control method includes: The reflectivity of the waste is obtained by controlling the detection component, and the weight of the waste is obtained by controlling the weighing component. Receive the reflectivity and the weight of the waste; The type of waste is determined based on the reflectivity and the weight of the waste. Determine the method for grabbing the waste; When the grabbing method is automatic grabbing, the grabbing component is controlled to transport the waste in the disposal box to the container corresponding to the type.

6. The control method for the intelligent sorting trash can according to claim 5, characterized in that, The step of controlling the grasping component to transport the waste in the disposal bin to the corresponding container of the specified type specifically includes: The actuator of the grasping component and the receiving container are determined according to the type; Determine the movement mode of the robotic arm of the grasping component; The actuator is controlled to remove the waste from the disposal bin; The robotic arm is controlled to transport the waste into the container.

7. The control method for the intelligent sorting trash can according to claim 6, characterized in that, The steps of controlling the robotic arm to transport the waste into the container specifically include: Control the actuator to move above the receiving box; Open the hatch on top of the container; Control the actuator to release the waste; Close the hatch; Control the robotic arm to return to its initial position.

8. The control method for the intelligent sorting trash can according to claim 6, characterized in that, The step of controlling the actuator to remove the waste from the disposal bin specifically includes: Determine the movement status of the waste; When the duration of the waste in the stopped state exceeds the stop time limit, the actuator is controlled to reverse back into the disposal box, and the display screen and buzzer are controlled to send alarm information.

9. The control method for the intelligent sorting trash can according to any one of claims 5 to 8, characterized in that, The steps for controlling the reflectivity of the waste sample obtained by the detection element specifically include: The reflectivity of the waste is acquired multiple times by controlling the detection device; The step of determining the type of waste based on the reflectivity and the weight of the waste specifically includes: The type of waste is determined based on the average of the multiple reflectivities and the weight of the waste.

10. The control method for the intelligent sorting trash can according to any one of claims 5 to 8, characterized in that, The steps for determining the method of grabbing the waste specifically include: The weight of the waste is compared with the grabbing threshold; When the weight of the waste is less than the grabbing threshold, the grabbing method is determined to be automatic grabbing; when the weight of the waste is greater than or equal to the grabbing threshold, the grabbing method is determined to be manual grabbing, and the display screen and buzzer are controlled to send overweight information. After the step of controlling the grasping component to transport the waste in the disposal bin to the corresponding container of the type, the method further includes: The overflow sensor is used to detect the storage amount inside the container. Compare the storage capacity with the capacity threshold; When the storage capacity exceeds the capacity threshold, the control display screen and buzzer send a full storage information.

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