Self-classification garbage can based on visual recognition technology and operation method thereof

Abstract

The application discloses a self-classification garbage can based on a visual identification technology and a running method thereof, which comprises a box body, a visual identification system is installed in the box body, a throwing port is arranged at the top of the box body, an XY axis translation mechanism is installed at the top in the box body, a mechanical claw is slidably installed on the XY axis translation mechanism and at the lower side of the XY axis translation mechanism, a temporary storage device is further arranged at the lower side of the mechanical claw in the box body, the temporary storage device is connected with the box body in a liftable mode through a lifting mechanism, a garbage collecting device capable of rotating is arranged at the lower side of the temporary storage device in the box body, and the garbage collecting device has a plurality of garbage cans; the temporary storage device comprises a lifting plate connected with the lifting mechanism, a liquid collecting bin and a garbage temporary storage table are arranged on the lifting plate, the liquid collecting bin is located at the lower side of the throwing port, an inclined filter plate is installed on the side of the liquid collecting bin facing the garbage temporary storage table, the lower end of the inclined filter plate is connected with the garbage temporary storage table, and a liquid discharge port is arranged at the lower side of the liquid collecting bin, so that solid-liquid separation can be realized when garbage is thrown.

Description

Technical Field

[0001] This invention relates to the field of waste sorting equipment technology, specifically to a self-sorting waste bin based on visual recognition technology and its operation method. Background Technology

[0002] Existing self-sorting trash cans typically only consider solid waste and do not address the separation of liquid waste. Furthermore, during waste retrieval, because the waste is placed in a trough-shaped temporary storage structure, the robotic gripper cannot move directly outwards; it must either lift the gripper upwards or lower the storage structure. Since only one piece of waste can be retrieved at a time, the sorting efficiency is low when multiple pieces of waste are present in the storage structure.

[0003] For example, Chinese patent document CN117533668A, published on February 9, 2024, discloses a household waste sorting device and method. This device lacks solid-liquid separation functionality. When liquid enters the feeding port, it spreads throughout the device, causing damage to electrical components. Furthermore, this device uses a trough-shaped temporary storage structure for waste storage. When the robotic claw grabs the waste, the waste storage platform needs to rise. After the claw picks up the waste, the platform needs to fall so the claw can remove the waste and place it into the corresponding bin. Then, the claw returns to the top of the platform, requiring the platform to rise again, resulting in low sorting efficiency.

[0004] For example, Chinese patent document CN113650982B, published on May 2, 2025, discloses a waste sorting method that does not consider solid-liquid separation. In addition, it uses a temporary storage plate with a groove structure to temporarily store waste, and a robotic arm drives a robotic claw to move in the X, Y, and Z axes to separate the waste. Since the robotic claw needs to move in the X, Y, and Z axes to grab each piece of waste, the sorting efficiency is also low. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a self-sorting trash can and its operation method based on visual recognition technology, which at least solves the problem of solid-liquid separation when trash is put in, and also solves the problem of low sorting efficiency in existing solutions.

[0006] The objective of this invention is achieved as follows: In a first aspect, this invention proposes a self-sorting trash can based on visual recognition technology, comprising a box body, a visual recognition system installed inside the box body, an inlet provided at the top of the box body, an XY-axis translation mechanism installed at the top of the box body, a mechanical claw slidably installed on the XY-axis translation mechanism and below the XY-axis translation mechanism, a temporary storage device also provided inside the box body below the mechanical claw, the temporary storage device being vertically and vertically connected to the box body via a lifting mechanism, a rotatable trash collection device provided inside the box body below the temporary storage device, the trash collection device having multiple trash cans; the temporary storage device includes a lifting plate connected to the lifting mechanism, a liquid collection chamber and a trash storage platform provided on the lifting plate, the liquid collection chamber being located below the inlet, an inclined filter plate installed on the side of the liquid collection chamber facing the trash storage platform, the lower end of the inclined filter plate connecting to the trash storage platform, and a drain outlet provided on the lower side of the liquid collection chamber.

[0007] The inclined filter plate has a filter hole section on its upper side, and a guide plate is provided at the bottom of the inclined filter plate below the filter hole section. A baffle is fixed on the lifting plate inside the liquid collection chamber, and the baffle is located outside the guide plate.

[0008] The bottom of the waste storage platform is equipped with an opening and closing door. One corner of the bottom of the opening and closing door is connected to the output shaft of the second servo motor. The second servo motor is installed at the bottom of the lifting plate through the second support. The second servo motor drives the opening and closing door to rotate laterally so that the bottom of the waste storage platform can be opened.

[0009] On the upper side of the lifting plate, on the side of the waste storage platform away from the liquid collection chamber, there are two first supports. A first servo motor is installed on one of the first supports. A door frame-shaped barrier frame is installed between the first support on the other side and the output shaft of the first servo motor. The open side of the barrier frame faces the liquid collection chamber. One side of the barrier frame is fixedly connected to the output shaft of the first servo motor, and the other side is rotatably connected to the first support.

[0010] The inclined filter plate is movably placed inside the liquid collection chamber; electromagnets are installed at both ends of the open side of the barrier frame, and adsorption plates are installed at both ends of the lower side of the inclined filter plate; when the barrier frame is in contact with the lifting plate, the electromagnet is located outside the adsorption plate, and the electromagnet can adsorb the adsorption plate after being energized, so that the inclined filter plate can rotate with the barrier frame.

[0011] A fan is installed on the lower outer wall of the inlet. After the inclined filter plate flips along with the barrier frame, the airflow from the fan blows towards the back of the inclined filter plate.

[0012] The filter holes in the inclined filter plate are elongated holes arranged along the sliding direction of the waste. The cross-section of the elongated holes is narrow at the top and wide at the bottom, and there are strip-shaped protrusions between adjacent filter holes.

[0013] There are two lifting mechanisms, located at the front and rear ends of the lifting plate respectively. Each lifting mechanism includes a driver, a ball screw, a screw nut, and a bearing seat. The driver is fixedly mounted to the housing. The output shaft of the driver is connected to one end of the ball screw via a coupling. The other end of the ball screw is rotatably connected to the bearing seat. The bearing seat is fixedly mounted to the housing. The two ball screws are arranged parallel to each other longitudinally. A screw nut is screwed onto the ball screw and is mounted on the lifting plate.

[0014] The mechanical gripper includes a sliding seat for sliding connection with the XY axis translation mechanism. A third servo motor is mounted on the sliding seat. The output shaft of the third servo motor extends downward. A rotating frame is mounted on the output shaft of the third servo motor. A fourth servo motor is mounted in the middle of the rotating frame. The output shaft of the fourth servo motor extends downward. A rotating disk is mounted on the output shaft of the fourth servo motor. Spiral grooves are symmetrically arranged on the rotating disk. A support plate is installed on the lower side of the rotating frame, and the rotating disk is located on the upper side of the support plate. Two guide grooves are symmetrically arranged on the support plate, and sliding blocks are slidably installed in the guide grooves. The upper ends of the two sliding blocks extend into the two spiral grooves of the rotating disk, respectively. Slider blocks are respectively provided at the lower ends of the two sliding blocks, and grippers are installed on the sliders. The sliders and the upper grooves of the grippers guide and slide. Connecting rods are respectively hinged to the inner sides of the two grippers. The ends of the connecting rods on both sides are hinged to the hinge seats, which are fixedly installed at the bottom of the support plate.

[0015] Secondly, the present invention also proposes an operation method for a self-sorting trash can using the aforementioned visual recognition technology, comprising the following steps: S1. When one or more pieces of waste are put into the inlet, the waste undergoes solid-liquid separation through the inclined filter plate. Solid waste enters the waste storage platform of the temporary storage device through the upper part of the inclined filter plate, while liquid waste passes through the inclined filter plate and is collected by the liquid collection chamber, and finally discharged from the drain outlet. S2. The visual recognition system identifies whether there is garbage attached to the inclined filter plate. If so, the electromagnet is energized to attract and fix the adsorption plate. Then, the first servo motor is activated to flip the inclined filter plate upward into a vertical position, causing the attached garbage to fall off. If the garbage does not fall off, the fan is activated. The airflow generated by the fan passes through the inclined filter plate and applies pressure to the garbage, causing it to fall off. Then, the first servo motor rotates in the opposite direction to return the inclined filter plate to its original position, and the electromagnet is de-energized. S3. Determine the amount of waste through a visual recognition system; S4. If it is a single piece of trash, control the trash collection device to rotate and rotate the corresponding trash can to the bottom of the trash storage platform. Then control the second servo motor to start and open the door, so that the trash falls into the trash can below. S5. If there are multiple different types of waste, the visual recognition system will locate the position and height of the waste, convert the height information into a signal to drive the lifting mechanism, so that the temporary storage device will rise, and convert the position information into a signal to drive the XY axis translation mechanism, so that the mechanical claw can move to the top of each piece of waste. S6. The mechanical claw moves to the middle of the garbage storage platform via the XY axis translation mechanism. The first servo motor is activated, flipping the barrier frame upward. Then, the mechanical claw grabs the garbage in sequence. At the same time, the garbage collection device is controlled to rotate, rotating the corresponding garbage bin to the outside of the garbage storage platform. After the mechanical claw grabs the garbage, it is put into the corresponding garbage bin. Until the last or last type of garbage remains, S4 is executed, and the first servo motor is activated in reverse to reset the barrier frame.

[0016] Compared with the prior art, the above-conceptual technical solution conceived in this application has the following beneficial effects: 1. The inlet of this invention is used for disposing of waste. An XY-axis translation mechanism is used to move a mechanical gripper within the X and Y planes. The mechanical gripper grasps the waste. A lifting mechanism drives the temporary storage device to rise and fall. A waste collection device uses multiple waste bins to collect different types of waste. A visual recognition system identifies the type, quantity, and location of the waste and controls the coordinated operation of the XY-axis translation mechanism, mechanical gripper, lifting mechanism, temporary storage device, and waste collection device. The liquid collection chamber of the temporary storage device is located directly below the inlet, and an inclined filter plate is installed on the side of the liquid collection chamber facing the waste storage platform. Solid waste enters the waste storage platform of the temporary storage device through the upper part of the inclined filter plate, while liquid waste passes through the inclined filter plate and is collected by the liquid collection chamber, finally being discharged from the drain outlet. This allows for solid-liquid separation during waste disposal.

[0017] 2. This invention features an opening and closing door at the bottom of the waste storage platform. Upon activation of the second servo motor, the door rotates, opening the bottom of the platform and allowing waste to fall directly into the waste bin below. It also scrapes off waste adhering to the opening and closing door.

[0018] 3. This invention, by setting up a barrier frame, can intercept and concentrate the waste sliding down the inclined filter plate. When there are multiple pieces of waste on the waste storage platform, they need to be grasped and sorted by a mechanical claw. Before grasping, the first servo motor is activated to flip the barrier frame upward, moving it away from the waste storage platform. This way, when the mechanical claw grasps the waste, it does not need the waste storage platform to descend and then rise again, or the mechanical claw to rise and then descend again; it can move directly outward to throw the waste into the corresponding waste bin, improving sorting efficiency.

[0019] 4. The inclined filter plate of this invention is movably placed inside the liquid collection chamber; electromagnets are respectively installed at both ends of the open side of the barrier frame, and adsorption plates are respectively provided at both ends of the lower side of the inclined filter plate; when the barrier frame is in contact with the lifting plate, the electromagnets are located outside the adsorption plates, and when the electromagnets are energized, they can attract the adsorption plates, causing the inclined filter plate to rotate with the barrier frame. Using this structure, the waste attached to the inclined filter plate can be cleaned, causing the waste to fall onto the waste storage platform.

[0020] 5. A fan is installed on the lower outer wall of the inlet of this invention. After the inclined filter plate flips along with the barrier frame, the airflow from the fan blows towards the back of the inclined filter plate. In use, the airflow generated by the fan passes through the inclined filter plate and exerts pressure on the waste, making it easier for the waste to fall off.

[0021] 6. The inclined filter plate of the present invention reduces the contact area with the waste by setting strip-shaped protrusions, reduces friction welding, and facilitates the waste to slide along the inclined filter plate onto the waste storage platform. The filter holes are elongated holes set along the sliding direction of the waste, thereby enabling more complete filtration of the liquid. The cross-section of the elongated holes is narrow at the top and wide at the bottom, which facilitates the concentration of airflow entering the filter holes, increases the airflow pressure, and causes the waste attached to the inclined filter plate to fall off quickly. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention.

[0024] Figure 2 This is a schematic diagram of the main structure of the present invention.

[0025] Figure 3 This is a three-dimensional structural diagram of the present invention after all the outer side panels are hidden.

[0026] Figure 4 This is a three-dimensional structural diagram of the XY-axis translation mechanism, lifting mechanism, and temporary storage device in this invention.

[0027] Figure 5 This is a schematic diagram of the main structure of the XY axis translation mechanism, lifting mechanism, and temporary storage device in this invention.

[0028] Figure 6 This is a three-dimensional structural diagram of the temporary storage device in this invention.

[0029] Figure 7 This is a schematic diagram of the bottom three-dimensional structure of the temporary storage device in this invention.

[0030] Figure 8 This is a schematic cross-sectional view of the liquid collection chamber in this invention.

[0031] Figure 9 This is a schematic diagram of the main structure of the inclined filter plate in this invention.

[0032] Figure 10 for Figure 9 Schematic diagram of the cross-sectional structure of AA.

[0033] Figure 11 This is a three-dimensional structural diagram of the mechanical gripper in this invention.

[0034] Figure 12 This is a three-dimensional structural diagram of the rotating disk in this invention.

[0035] Figure 13 This is a three-dimensional structural diagram of the bottom of the mechanical claw in this invention.

[0036] In the picture: 10 housing, 11 inlet, 12 fan; XY axis translation mechanism 20; Mechanical claw 30, sliding seat 31, third servo motor 32, rotating frame 33, fourth servo motor 34, support plate 35, guide groove 351, hinge seat 352, rotating plate 36, spiral groove 361, sliding block 37, slider 371, gripper 38, slide groove 381, connecting rod 39. Lifting mechanism 40, driver 41, ball screw 42, screw nut 43, bearing housing 44; Temporary storage device 50, lifting plate 51, baffle 511, first support 512, second support 513, liquid collection chamber 52, water collection tank 521, drain port 522, inclined filter plate 53, filter hole section 531, filter hole 532, strip protrusion 533, guide plate 534, adsorption plate 535, garbage temporary storage platform 54, opening and closing door 541, second servo motor 542, barrier frame 55, first servo motor 56, electromagnet 57; Waste collection device 60, trash can 61; Visual recognition system 70. Detailed Implementation

[0037] To more clearly illustrate the purpose, technical solution, and beneficial effects of this application, a further detailed description of this application is provided below in conjunction with illustrations and specific embodiments. It should be specifically noted that the specific embodiments described below are only for illustrating the technical content of this application and do not constitute a limitation on the scope of protection of this application.

[0038] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0039] In the description of this invention, unless otherwise explicitly specified and limited, the term "connection" or similar designation indicating a connection between components should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection via an intermediate medium; it can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] Example 1: Combination Figures 1 to 5 A self-sorting trash can based on visual recognition technology includes a container 10, a visual recognition system 70 installed inside the container 10, an inlet 11 on the top of the container 10, an XY-axis translation mechanism 20 installed on the top of the container 10, a mechanical claw 30 slidably mounted on the XY-axis translation mechanism 20 and located below the XY-axis translation mechanism 20, and a temporary storage device 50 located below the mechanical claw 30 inside the container 10. The temporary storage device 50 is flexibly connected to the container 10 via a lifting mechanism 40. A rotatable garbage collection device 60 is provided on the lower side of the temporary storage device 50. The garbage collection device 60 has multiple garbage bins 61. The temporary storage device 50 includes a lifting plate 51 connected to the lifting mechanism 40. A liquid collection chamber 52 and a garbage temporary storage platform 54 are provided on the lifting plate 51. The liquid collection chamber 52 is located below the inlet 11. An inclined filter plate 53 is installed on the side of the liquid collection chamber 52 facing the garbage temporary storage platform 54. The lower end of the inclined filter plate 53 is connected to the garbage temporary storage platform 54. A drain port 522 is provided on the lower side of the liquid collection chamber 52.

[0041] The inlet 11 is used for disposing of waste. The XY-axis translation mechanism 20 supports the mechanical claw 30 as it moves within the X and Y planes. The mechanical claw 30 is used to grasp the waste. The lifting mechanism 40 drives the temporary storage device 50 to lift and lower. The waste collection device 60 uses multiple waste bins 61 to collect different types of waste. The vision recognition system 70 is used to identify the type, quantity, and location of the waste, and controls the coordinated operation of the XY-axis translation mechanism 20, the mechanical claw 30, the lifting mechanism 40, the temporary storage device 50, and the waste collection device 60. The liquid collection chamber 52 of the temporary storage device 50 is located directly below the inlet 11, and an inclined filter plate 53 is provided on the side of the liquid collection chamber 52 facing the waste storage platform 54. Solid waste enters the waste storage platform 54 of the temporary storage device 50 through the upper side of the inclined filter plate 53, while liquid waste passes through the inclined filter plate 53 and is collected by the liquid collection chamber 52, finally being discharged from the drain port 522. This allows for solid-liquid separation during waste disposal.

[0042] In this embodiment, the XY-axis translation mechanism 20 and the waste collection device 60 can adopt the XY-axis translation mechanism disclosed in CN117533668A, as well as the combination structure of the rotary table and the collection cylinder. Further details will not be elaborated upon here.

[0043] See Figure 8 , 9 The inclined filter plate 53 has a filter hole section 531 on its upper side and a guide plate 534 on its lower side below the filter hole section 531. A baffle 511 is fixed on the lifting plate 51 in the liquid collection chamber 52. The baffle 511 is located outside the guide plate 534, thereby forming a water collection tank 521 on the lifting plate 51. The water filtered from the filter hole section 531 flows into the water collection tank 521 through the guide plate 534.

[0044] See Figure 6 , 7 The bottom of the garbage storage platform 54 is equipped with an opening and closing door 541. One corner of the bottom of the opening and closing door 541 is connected to the output shaft of the second servo motor 542. The second servo motor 542 is mounted on the bottom of the lifting plate 51 via the second support 513. The second servo motor 542 drives the opening and closing door 541 to rotate laterally, thereby opening the bottom of the garbage storage platform 54. By providing the opening and closing door 541 at the bottom of the garbage storage platform 54, after the second servo motor 542 is activated, the opening and closing door 541 can be rotated to open the bottom of the garbage storage platform 54, allowing the garbage on the garbage storage platform 54 to fall directly into the garbage bin 61 below.

[0045] See Figure 4 , 5On the upper side of the lifting plate 51, on the side of the waste storage platform 54 away from the liquid collection chamber 52, two first supports 512 are installed. A first servo motor 56 is installed on one of the first supports 512. A door-frame-shaped blocking frame 55 is installed between the first support 512 and the output shaft of the first servo motor 56 on the other side. The open side of the blocking frame 55 faces the liquid collection chamber 52. One side of the blocking frame 55 is fixedly connected to the output shaft of the first servo motor 56, and the other side is rotatably connected to the first support 512. By setting the blocking frame 55, waste sliding down from the inclined filter plate 53 can be blocked and collected. When there are multiple pieces of trash on the temporary trash storage platform 54, they need to be grabbed and sorted by the mechanical claw 30. Before grabbing, the first servo motor 56 is activated to flip the barrier frame 55 upward, so that the barrier frame 55 is away from the temporary trash storage platform 54. In this way, when the mechanical claw 30 grabs, it does not need the temporary trash storage platform 54 to descend and then rise again, or the mechanical claw 30 to rise and then descend. It can move directly outward to throw the trash into the corresponding trash can 61, thus improving the sorting efficiency.

[0046] Furthermore, the inclined filter plate 53 is movably placed inside the liquid collection chamber 52; electromagnets 57 are respectively installed at both ends of the open side of the barrier frame 55, and adsorption plates 535 are respectively provided at both ends of the lower side of the inclined filter plate 53; when the barrier frame 55 is in contact with the lifting plate 51, the electromagnets 57 are located outside the adsorption plates 535. After the electromagnets 57 are energized, they can attract the adsorption plates 535, so that the inclined filter plate 53 can rotate with the barrier frame 55. With this structure, the garbage attached to the inclined filter plate 53 can be cleaned and dropped into the garbage storage platform 54.

[0047] Furthermore, see Figure 5 , 7 A blower 12 is installed on the lower outer wall of the inlet 11. After the inclined filter plate 53 flips along with the barrier frame 55, the airflow from the blower 12 blows towards the back of the inclined filter plate 53. In use, the airflow generated by the blower 12 passes through the inclined filter plate 53 and applies pressure to the waste, making it easier for the waste to fall off.

[0048] In this embodiment, see Figure 9 , 10The filter holes 532 on the upper filter section 531 of the inclined filter plate 53 are elongated holes arranged along the sliding direction of the waste. The cross-section of the elongated holes is narrower at the top and wider at the bottom. A strip-shaped protrusion 533 is provided between adjacent filter holes 532. By setting the strip-shaped protrusion 533, the contact area with the waste is reduced, friction is reduced, and the waste is made easier to slide along the inclined filter plate 53 onto the waste storage platform 54. The filter holes 532 are elongated holes arranged along the sliding direction of the waste, which allows for more thorough filtration of the liquid. The cross-section of the elongated holes is narrower at the top and wider at the bottom. When the inclined filter plate 53 is flipped and perpendicular to the lifting plate 51, or when the angle between the upper side of the inclined filter plate 53 and the lifting plate 51 is less than 90°, the airflow generated by the blower 12 blows in from the wider side of the filter hole 532. Through the funnel-shaped structure of the filter hole 532, the airflow blown into the filter hole 532 is concentrated, increasing the airflow pressure and causing the waste attached to the inclined filter plate 53 to fall off quickly.

[0049] See Figure 4 There are two lifting mechanisms 40, located at the front and rear ends of the lifting plate 51 respectively. Each lifting mechanism 40 includes a driver 41, a ball screw 42, a screw nut 43, and a bearing seat 44. The driver 41 is fixedly mounted to the housing 10. The output shaft of the driver 41 is connected to one end of the ball screw 42 via a coupling. The other end of the ball screw 42 is rotatably connected to the bearing seat 44, which is fixedly mounted to the housing 10. The two ball screws 42 are arranged parallel to each other longitudinally. Screw nuts 43 are screwed onto the ball screws 42 and mounted on the lifting plate 51. The drivers 41 on both lifting mechanisms 40 are activated simultaneously, thereby driving the ball screws 42 to rotate, which in turn drives the temporary storage device 50 to rise and fall.

[0050] See Figure 11 , 12 13. The mechanical gripper 30 includes a sliding seat 31 for sliding connection with the XY axis translation mechanism 20. A third servo motor 32 is mounted on the sliding seat 31. The output shaft of the third servo motor 32 extends downward. A rotating frame 33 is mounted on the output shaft of the third servo motor 32. A fourth servo motor 34 is mounted in the middle of the rotating frame 33. The output shaft of the fourth servo motor 34 extends downward. A rotating disk 36 is mounted on the output shaft of the fourth servo motor 34. Spiral grooves 361 are symmetrically arranged on the rotating disk 36.

[0051] A support plate 35 is installed on the lower side of the rotating frame 33, and a rotating disk 36 is located on the upper side of the support plate 35. Two guide grooves 351 are symmetrically arranged on the support plate 35. Sliding blocks 37 are slidably installed in the guide grooves 351. The upper ends of the two sliding blocks 37 are respectively movably inserted into the two spiral grooves 361 of the rotating disk 36. The lower ends of the two sliding blocks 37 are respectively provided with sliders 371. Claws 38 are installed on the sliders 371. The sliders 371 and the upper grooves 381 of the claws 38 are guided and slidably engaged. Connecting rods 39 are respectively hinged to the inner sides of the two claws 38. The ends of the connecting rods 39 on both sides are hinged to the hinge seats 352. The hinge seats 352 are fixedly installed on the bottom of the support plate 35.

[0052] The third servo motor 32 is used to drive the rotating frame 33 to rotate, thereby adjusting the clamping position of the two side grippers 38. The fourth servo motor 34 drives the rotating disk 36 to rotate, and through the spiral groove 361 on the rotating disk 36, drives the sliding blocks 37 on both sides to move synchronously towards or away from each other, thereby driving the two side grippers 38 to move synchronously towards or away from each other. When the two side grippers 38 move towards each other, they are used to clamp garbage.

[0053] Example 2: This embodiment proposes an operation method for a self-sorting trash can based on visual recognition technology as described in Embodiment 1, including the following steps: S1. When one or more pieces of waste are put into the inlet 11, the waste undergoes solid-liquid separation through the inclined filter plate 53. Solid waste enters the waste storage platform 54 of the temporary storage device 50 through the upper side of the inclined filter plate 53, while liquid waste passes through the inclined filter plate 53 and is collected by the liquid collection chamber 52, and finally discharged from the drain port 522.

[0054] S2. The visual recognition system 70 identifies whether there is garbage attached to the inclined filter plate 53. If so, the electromagnet 57 is energized to attract and fix the adsorption plate 535. Then, the first servo motor 56 is activated to flip the inclined filter plate 53 upward into a vertical position, causing the attached garbage to fall off. If the garbage does not fall off, the fan 12 is activated. The airflow generated by the fan 12 passes through the inclined filter plate 53 and applies pressure to the garbage, causing it to fall off. Afterward, the first servo motor 56 rotates in the opposite direction, returning the inclined filter plate 53 to its original position, and the electromagnet 57 is de-energized.

[0055] S3. Determine the amount of garbage through a visual recognition system 70.

[0056] S4. If there is a single piece of trash or similar trash on the trash storage platform 54, control the trash collection device 60 to rotate, rotate the corresponding trash can 61 to the bottom of the trash storage platform 54, and then control the second servo motor 542 to start and open the opening and closing door 541, so that the trash falls into the lower trash can 61.

[0057] S5. If the amount of garbage on the garbage storage platform 54 is multiple different types of garbage, the position and height of the garbage are located by the visual recognition system 70, the height information is converted into a signal to drive the lifting mechanism 40, so that the storage device 50 rises, and the position information is converted into a signal to drive the XY axis translation mechanism 20, so that the mechanical claw 30 can move to the top of each piece of garbage.

[0058] S6. The mechanical claw 30 moves to the center of the waste storage platform 54 via the XY-axis translation mechanism 20. The first servo motor 56 is activated, flipping the barrier frame 55 upwards. Then, the mechanical claw 30 sequentially grabs the waste. At the same time, the waste collection device 60 is controlled to rotate, rotating the corresponding waste bin 61 to the outside of the waste storage platform 54. After the mechanical claw 30 grabs the waste, it is put into the corresponding waste bin 61. Until the last or last type of waste remains, S4 is executed, and the first servo motor 56 is activated in reverse to reset the barrier frame 55. Since the barrier frame 55 is far away from the waste storage platform 54, the mechanical claw 30 does not need to descend and then rise again, or rise and then descend, when grabbing waste. It can move directly outwards to throw the waste into the corresponding waste bin 61, greatly improving the sorting efficiency.

[0059] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A self-sorting trash can based on visual recognition technology, comprising a box (10), a visual recognition system (70) installed inside the box (10), an inlet (11) provided on the top of the box (10), an XY axis translation mechanism (20) installed on the top inside the box (10), a mechanical claw (30) slidably installed on the XY axis translation mechanism (20) and below the XY axis translation mechanism (20), a temporary storage device (50) also provided inside the box (10) below the mechanical claw (30), the temporary storage device (50) being vertically and vertically connected to the box (10) via a lifting mechanism (40), and a rotatable trash collection device (60) provided inside the box (10) below the temporary storage device (50), the trash collection device (60) having multiple trash cans (61); characterized in that: The temporary storage device (50) includes a lifting plate (51) connected to the lifting mechanism (40). A liquid collection chamber (52) and a garbage temporary storage platform (54) are provided on the lifting plate (51). The liquid collection chamber (52) is located below the inlet (11). An inclined filter plate (53) is installed on the side of the liquid collection chamber (52) facing the garbage temporary storage platform (54). The lower end of the inclined filter plate (53) is connected to the garbage temporary storage platform (54). A drain port (522) is provided on the lower side of the liquid collection chamber (52).

2. The self-sorting trash can based on visual recognition technology according to claim 1, characterized in that: The inclined filter plate (53) has a filter hole section (531) on its upper side, and a guide plate (534) is provided at the bottom of the inclined filter plate (53) below the filter hole section (531). A baffle (511) is fixed on the lifting plate (51) inside the liquid collection chamber (52), and the baffle (511) is located outside the guide plate (534).

3. The self-sorting trash can based on visual recognition technology according to claim 1, characterized in that: The bottom of the waste storage platform (54) is provided with an opening and closing door (541). One corner of the bottom of the opening and closing door (541) is connected to the output shaft of the second servo motor (542). The second servo motor (542) is installed at the bottom of the lifting plate (51) through the second support (513). The second servo motor (542) drives the opening and closing door (541) to rotate laterally so that the bottom of the waste storage platform (54) is opened.

4. The self-sorting trash can based on visual recognition technology according to claim 1 or 3, characterized in that: On the upper side of the lifting plate (51), on the side of the garbage storage platform (54) away from the liquid collection chamber (52), there are two first supports (512). A first servo motor (56) is installed on one of the first supports (512). A door frame-shaped barrier frame (55) is installed between the first support (512) on the other side and the output shaft of the first servo motor (56). The open side of the barrier frame (55) faces the liquid collection chamber (52). One side of the barrier frame (55) is fixedly connected to the output shaft of the first servo motor (56), and the other side is rotatably connected to the first support (512).

5. The self-sorting trash can based on visual recognition technology according to claim 4, characterized in that: The inclined filter plate (53) is movably placed inside the liquid collection chamber (52); electromagnets (57) are installed at both ends of the open side of the barrier frame (55), and adsorption plates (535) are provided at both ends of the lower side of the inclined filter plate (53); when the barrier frame (55) is in contact with the lifting plate (51), the electromagnet (57) is located outside the adsorption plate (535). After the electromagnet (57) is energized, it can adsorb the adsorption plate (535) so that the inclined filter plate (53) can rotate with the barrier frame (55).

6. The self-sorting trash can based on visual recognition technology according to claim 5, characterized in that: A fan (12) is installed on the lower outer wall of the inlet (11). After the inclined filter plate (53) flips along with the barrier frame (55), the airflow of the fan (12) blows towards the back of the inclined filter plate (53).

7. The self-sorting trash can based on visual recognition technology according to claim 2, characterized in that: The filter holes (532) of the filter hole section (531) of the inclined filter plate (53) are elongated holes arranged along the sliding direction of the waste. The cross-section of the elongated holes is narrow at the top and wide at the bottom. There are strip-shaped protrusions (533) between adjacent filter holes (532).

8. The self-sorting trash can based on visual recognition technology according to claim 1, characterized in that: There are two lifting mechanisms (40), which are located at the front and rear ends of the lifting plate (51) respectively. The lifting mechanism (40) includes a driver (41), a ball screw (42), a screw nut (43) and a bearing seat (44). The driver (41) is fixedly installed in the housing (10). The output shaft of the driver (41) is connected to one end of the ball screw (42) through a coupling. The other end of the ball screw (42) is rotatably connected to the bearing seat (44). The bearing seat (44) is fixedly installed in the housing (10). The two ball screws (42) are arranged in parallel in the longitudinal direction. A screw nut (43) is screwed onto the ball screw (42). The screw nut (43) is installed on the lifting plate (51).

9. The self-sorting trash can based on visual recognition technology according to claim 1, characterized in that: The mechanical gripper (30) includes a sliding seat (31) for sliding connection with the XY axis translation mechanism (20). A third servo motor (32) is mounted on the sliding seat (31). The output shaft of the third servo motor (32) extends downward. A rotating frame (33) is mounted on the output shaft of the third servo motor (32). A fourth servo motor (34) is mounted in the middle of the rotating frame (33). The output shaft of the fourth servo motor (34) extends downward. A rotating disk (36) is mounted on the output shaft of the fourth servo motor (34). Spiral grooves (361) are symmetrically arranged on the rotating disk (36). A support disk (35) is mounted on the lower side of the rotating frame (33). The rotating disk (36) is located on the upper side of the support disk (35). (35) Two guide grooves (351) are symmetrically arranged on the upper part. Sliding blocks (37) are slidably installed in the guide grooves (351). The upper ends of the two sliding blocks (37) are respectively movably extended into the two spiral grooves (361) of the rotating disk (36). The lower ends of the two sliding blocks (37) are respectively provided with sliders (371). Claws (38) are installed on the sliders (371). The sliders (371) and the upper grooves (381) of the claws (38) are guided and slidably engaged. Connecting rods (39) are respectively hinged on the inner side of the two claws (38). The ends of the connecting rods (39) on both sides are hinged on the hinge seat (352). The hinge seat (352) is fixedly installed on the bottom of the support disk (35).

10. The operating method of the self-sorting trash can based on visual recognition technology as described in claim 6, characterized in that: Includes the following steps: S1. When one or more pieces of waste are put into the inlet (11), the waste undergoes solid-liquid separation through the inclined filter plate (53). Solid waste enters the waste storage platform (54) of the temporary storage device (50) through the upper side of the inclined filter plate (53), and liquid waste passes through the inclined filter plate (53) and is collected by the liquid collection chamber (52), and finally discharged from the drain port (522). S2. The visual recognition system (70) identifies whether there is garbage attached to the inclined filter plate (53). If so, the electromagnet (57) is energized and the adsorption plate (535) is adsorbed and fixed by the electromagnet (57). Then the first servo motor (56) is started to flip the inclined filter plate (53) upward into a vertical state, so that the attached garbage falls off. If the garbage does not fall off, the fan (12) is started. The airflow generated by the fan (12) passes through the inclined filter plate (53) and exerts pressure on the garbage, so that the garbage falls off. Then the first servo motor (56) rotates in the opposite direction to return the inclined filter plate (53) to its original position and the electromagnet (57) is de-energized. S3. Determine the amount of garbage through a visual recognition system (70); S4. If it is a single piece of garbage, control the garbage collection device (60) to rotate, rotate the corresponding garbage bin (61) to the garbage storage platform (54), and then control the second servo motor (542) to start and open the door (541) so that the garbage falls into the lower garbage bin (61); S5. If there are multiple different types of garbage, the position and height of the garbage are located by the visual recognition system (70), the height information is converted into a signal to drive the lifting mechanism (40) so that the temporary storage device (50) rises, and the position information is converted into a signal to drive the XY axis translation mechanism (20) so that the mechanical claw (30) can move to the top of each piece of garbage. S6. The mechanical claw (30) moves to the middle of the garbage storage platform (54) via the XY axis translation mechanism (20). The first servo motor (56) is activated to flip the barrier frame (55) upward. Then, the mechanical claw (30) grabs the garbage in sequence. At the same time, the garbage collection device (60) is controlled to rotate, and the corresponding garbage bin (61) is rotated to the outside of the garbage storage platform (54). After the mechanical claw (30) grabs the garbage, it is put into the corresponding garbage bin (61). Until the last or last type of garbage remains, S4 is executed. At the same time, the first servo motor (56) is activated in reverse to reset the barrier frame (55).

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