A garbage classification and packing device for a cleaning robot

Abstract

The utility model discloses a garbage classification and packing device for cleaning robot, the device includes classification mechanism and packing mechanism, and classification mechanism includes a plurality of garbage cans and transpose subassembly, is used to provide corresponding garbage can when having garbage to need to put in, and every garbage can corresponds different garbage category, and packing mechanism includes conveyance subassembly and bag sealing subassembly, and conveyance subassembly is used to send the garbage can that fills to bag sealing position, and bag sealing subassembly carries out the encapsulation to the garbage bag bag mouth in the garbage can in bag sealing position. The utility model device can make cleaning robot have garbage classification collection and automatic packing's function, has improved the use value of robot, the device can provide corresponding garbage can under the voice control, has improved garbage classification and garbage collection's efficiency greatly, the device can encapsulate the garbage bag in a certain garbage can when the garbage can is filled, has improved garbage processing efficiency, is favorable to the sustained operation of garbage classification collection function.

Description

Technical Field

[0001] This utility model belongs to the field of cleaning robot technology, specifically relating to a waste sorting and packaging device for a cleaning robot. Background Technology

[0002] Currently, robotic vacuum cleaners are widely used intelligent cleaning devices. Driven by market demand and technological advancements, their functions have expanded beyond sweeping and vacuuming. The next generation of robotic vacuum cleaners is evolving towards multi-purpose applications, becoming comprehensive cleaning robots with integrated functions. Considering that the areas requiring cleaning robots are mostly densely populated public places, where people often encounter situations where they cannot find trash cans or the cans are full, a cleaning robot with a trash collection function can be designed based on this characteristic. This robot can not only be used for cleaning but also provide a place for people to dispose of trash when needed. Furthermore, for efficient and convenient waste disposal, waste sorting has become an important development trend for various waste collection devices, especially intelligent waste collection devices. For example, Chinese patent application number 202110192599.3, entitled "An Intelligent Cleaning Robot and Intelligent Cleaning Method," proposes an integration of a sweeping robot and an intelligent trash can. This intelligent trash can not only separate the garbage into dry and wet categories, but also serves as a container for the robot, further separating the garbage collected by the robot into dry and wet categories, and can even automatically pack the trash bags. Another example is Chinese patent application number 202510915753.3, entitled "Intelligent Sorting Device for Household Waste," which proposes a sorting device that can identify and classify garbage based on images and place the garbage into the corresponding trash cans.

[0003] Both of the aforementioned devices have sorting capabilities, but each has its shortcomings. While the aforementioned smart trash can can sort and self-pack trash, it can only roughly categorize trash into dry and wet categories, which is not conducive to efficient subsequent processing. Furthermore, the smart trash can cannot move with the robot, failing to flexibly meet people's needs for trash disposal. The aforementioned smart sorting device, while capable of detailed sorting, lacks a self-packing function, making it impossible for operators to determine if the trash can is full. Additionally, this device also lacks mobility. Therefore, to enable cleaning robots to have more detailed trash sorting capabilities for easier subsequent processing, and to allow trash cans to move for convenient trash disposal when needed, it is necessary to design a trash sorting and packaging device for cleaning robots that possesses more detailed trash sorting capabilities and can move synchronously with the robot. Utility Model Content

[0004] The purpose of this utility model is to provide a garbage sorting and packaging device for a cleaning robot, so that the cleaning robot not only has traditional sweeping, vacuuming and mopping functions, but also can sort and collect garbage, and automatically package the garbage when a garbage can is full, thereby improving the robot's use value and promoting the development of garbage sorting.

[0005] The technical solution adopted in this utility model is as follows: The system includes a sorting mechanism and a packaging mechanism. The sorting mechanism includes multiple trash cans and a transfer component. Each trash can corresponds to a type of waste. The position of all trash cans is controlled by the transfer component. The transfer component includes a motor M4, a first support member, and a support plate. The support plate is driven by the motor M4 and rotatably connected to the first support member. The first support member is fixedly connected to the robot body. The robot body has a trash throwing port. At any given time, only one trash can has its opening facing the trash throwing port. The position of this trash can is called the throwing position. Only trash cans in the throwing position can be used to throw trash. The packaging mechanism includes a conveying component and a sealing component. Each trash can contains a trash bag with its opening facing upwards. The conveying component includes a motor M5, a slide rail, and a first motion component. The slide rail is vertically fixed to the robot body. The first motion component is driven by the motor M5 to move along the slide rail. At any given time, only one trash can is in the raised position among the multiple trash cans. After a trash can is rotated to the raised position, the first motion component lifts the trash can to the sealing position. The sealing component includes a second motion component, a second support member, and a motor M6. After a trash can is lifted to the sealing position, the second motion component seals the opening of the trash bag in the trash can. The second motion component is driven by the motor M6 and is placed on the second support member, which is fixedly connected to the robot body.

[0006] Existing cleaning robots do not yet have the function of garbage collection. This utility model of a cleaning robot adds a sorting mechanism and a packaging mechanism to the traditional dust removal mechanism to achieve the function of garbage sorting and collection. The sorting mechanism can realize the placement of garbage. When someone needs to throw away garbage, the transfer component can move the garbage bin of the corresponding category to the throwing position. At this time, only the garbage bin of the corresponding category can be thrown into, and the other garbage bins cannot be thrown into. In this way, people can only put garbage into the garbage bin of the correct category, thus realizing the sorting and placement of garbage. In addition, when one of the garbage bins is full, the packaging mechanism will automatically move the full garbage bin to a certain position, and then the garbage bag in the garbage bin will be sealed by the sealing component. Then, the sealed garbage bag can be removed and a new garbage bag can be put in for continued use.

[0007] Further optimization involves placing all the multiple trash cans on a support plate, with all trash cans circumferentially distributed around the central axis of the support plate; the support plate and the central axis of the motor M4 shaft are collinear and fixedly connected; the first support member is a crossbar, one end of which is fixedly connected to the robot body, and the other end has a through hole; the motor M4 is located below the first support member, and its shaft passes through the through hole.

[0008] By placing multiple trash cans on a receiving plate and marking the position of each trash can on the plate, different trash cans can be moved to the throwing position by rotating the receiving plate. This structure is simple, reliable, and suitable for long-term operation of the robot.

[0009] Further optimization involves multiple sets of notches on the support plate, with any two sets of notches having the same shape and size and located below different trash cans. The number of notch sets is equal to the number of trash cans, and all notches are circumferentially distributed around the central axis of the support plate. The first motion component includes a slider and a bracket. The slide rail is a linear guide rail. The slider is mounted on the slide rail and moves up and down along the slide rail driven by motor M5. The bracket is fixedly connected to the slider.

[0010] The opening at the bottom of each trash can facilitates the movement of the trash can by the transport assembly. The components in the transport assembly can lift the trash can from the bottom, ensuring the long-term reliable operation of the transport assembly.

[0011] In further optimization, the conveying component also includes a space sensor for detecting whether the trash can is full; the first motion component includes a slider and a bracket, the slide rail is a linear guide rail, the slider is mounted on the slide rail and moves up and down along the slide rail by the drive of motor M5, and the bracket is fixedly connected to the slider.

[0012] Space sensors are used to monitor whether trash cans are full. When a trash can is detected to be full, the controller sends a signal to motor M4 based on the current position of the trash can, causing the trash can to rotate to the raised position. Because the trash bags in the trash cans need to be removed or discarded after being sealed, and for easy removal or disposal, the trash bags need to be sealed at a higher position, the slide rails need to be distributed vertically.

[0013] Further optimization includes a limiting plate and a switch in the bag sealing assembly. The second motion assembly includes a drive wheel, a second fixing member, and an electric heating rod. The limiting plate is parallel to the vertical direction and fixedly connected to the robot body. The drive wheel is rotatably connected to the second bearing member, and the central axis of the drive wheel is also parallel to the vertical direction. The second bearing member is also a crossbar, with one end fixedly connected to the robot body and the other end having a through hole. The drive wheel has another through hole, and the M6 ​​motor shaft passes through both through holes, with the M6 ​​motor shaft collinear with the central axis of the drive wheel. The second fixing member is fixedly connected to both the electric heating rod and the drive wheel. The electric heating rod is electrically connected to the robot's main power supply, and the connection status between the electric heating rod and the main power supply is controlled by a switch. When the drive wheel rotates to a certain position, the electric heating rod abuts against the limiting plate, and the extension direction of the electric heating rod is parallel to the limiting plate.

[0014] Garbage bags are mostly made of polypropylene, which easily melts and sticks when heated. Therefore, a heat-sealing method is used. The opening of the garbage bag is clamped between the electric heating rod and the limiting plate by the rotation of the drive wheel, and then heated and sealed. This makes it easy to quickly seal the garbage bag.

[0015] Further optimization includes a cover plate and a motor M8. The cover plate is powered by the motor M8. The cover plate has two states: closed and open. When the cover plate is closed, the garbage disposal opening is completely covered. When the cover plate is open, the garbage disposal opening is open, and only then can the garbage can in the disposal position be filled with garbage.

[0016] The lid is designed to prevent debris from falling into the trash can and affecting the effectiveness of garbage sorting. There will always be a trash can in the disposal position, and the opening of the trash can must be covered when there is no need to dispose of garbage.

[0017] Further optimizations include a control system, which includes a controller and an electronic switch. The conveying component also includes a space sensor for detecting whether the trash can is full, and the transposition component also includes an acoustic sensor for receiving voice information. Both the space sensor and the acoustic sensor are signal-connected to the controller, and the controller is electrically connected to motors M4, M5, M6, M8, and the switch.

[0018] Sound sensors are used to collect voice information. Setting up sound sensors enables voice control of cleaning robots. Considering that many people are not familiar with the names and specific categories of garbage, a voice control system needs to be designed that can determine the category of garbage and provide the corresponding garbage bin when people only say the name of the garbage. This will help to achieve efficient garbage sorting and collection.

[0019] Furthermore, the presence of a voice control system allows this cleaning robot to function as a mobile garbage truck that can be stopped and started on demand, allowing people to dispose of their trash anytime, anywhere. In this way, the cleaning robot can not only act as a trash can when not cleaning, but also be programmed to pause cleaning and remain stationary if the voice control system detects a voice message during cleaning. This enables the cleaning robot to be stopped at any time for people to dispose of their trash.

[0020] The beneficial effects of this utility model's waste sorting and packaging device for cleaning robots are as follows: 1. This utility model device enables cleaning robots to have the functions of garbage sorting and collection and automatic packaging, which enriches the types of functions of robots and improves the use value of robots; 2. This device can provide the corresponding trash can based on the name of the trash, greatly improving the efficiency of trash sorting; 3. When a trash can is full, the device can automatically seal the trash bags inside. Operators only need to remove the sealed trash bags and put in new trash bags, which greatly improves the efficiency of trash collection and is conducive to the continuous operation of the trash sorting and collection function. Attached Figure Description

[0021] Figure 1 Front view of the overall state of the cleaning robot using the device of this utility model; Figure 2 Schematic diagram of the sweeping component structure; Figure 3 Schematic diagram of the mopping assembly structure; Figure 4 Schematic diagram of the overall structure of the cleaning facility; Figure 5 Schematic diagram of the transposition component and the transport component; Figure 6 Diagram showing the closed and open states of the cover; Figure 7 Schematic diagram of acoustic sensor, spatial sensor and sealing bag assembly; Figure 8 Schematic diagram of the control logic for the first control module's indicator signals; Figure 9 Schematic diagram of the cover plate status control logic of the second control module; Figure 10 Schematic diagram of the overall control logic of the third control module. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below through specific embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0023] Example 1

[0024] A mechanical structure for a cleaning robot includes a dust removal mechanism, a sorting mechanism, and a packaging mechanism.

[0025] The dust removal mechanism includes a sweeping component and a vacuuming component. Both the sweeping component and the vacuuming component are driven by a first drive component. The first drive component includes a motor M1 and four lead screws. The four lead screws are vertically connected to the main body, and all the lead screws are driven by the motor M1. The sweeping component and the vacuuming component are both controlled to lift and lower by the motor M1.

[0026] In this embodiment, the dust removal mechanism includes two sweeping components. Each sweeping component includes a rotary brush 3, a third drive shaft 2, and a motor M2. The motor M2 is poweredly connected to the third drive shaft 2. The third drive shaft 2 is fixedly connected to the rotary brush 3, and their central axes are collinear. The rotary brush 3 is located below the motor M2. The overall structure of the sweeping component is as follows: Figure 2 As shown in the figure, 1 is motor M2. Figure 1 , Figure 2 The bristles of the rotating brush are not shown. The dust removal mechanism also includes a mounting frame 5, on which the dust collection component is fixedly mounted. The dust collection component is driven by a motor M2, and all motors M2 are electrically connected to the controller. The mounting frame 5 is as follows: Figure 1 As shown in the image.

[0027] In this embodiment, the first drive assembly further includes a fixed frame 15, a second drive block 12, and a chain 10. The lead screws in the first drive assembly consist of two second lead screws 13 and two third lead screws 14, with the second lead screws 13 and 14 parallel to each other. The second lead screws 13 are powered by the motor M1. The second drive block 12 is fixedly connected to the mounting frame 5, and a second threaded hole is drilled on the second drive block 12, allowing it to move up and down along the second lead screws 13. Furthermore, a drive wheel 9 is fixedly mounted on the second lead screw 13, and a driven wheel 11 is fixedly mounted on the third lead screw 14. The drive wheel drives the driven wheel to rotate via the chain 10. All sweeping assemblies have their motors M2 fixedly mounted on the fixed frame 15, which has a third threaded hole drilled on it and allows it to move up and down along the third lead screw 14. The overall structure layout of the dust removal mechanism is as follows: Figure 1As shown in the figure, 8 represents motor M1, and a first transmission wheel is fixedly mounted on each of the two second lead screws 13. Power is transmitted between the two first transmission wheels through a first transmission chain. When the robot body is in a horizontal state, all rotating brushes are at the same height. When motor M1 rotates forward, the fixed frame and the mounting frame move downward simultaneously. When motor M1 rotates in reverse, the fixed frame and the mounting frame move upward simultaneously. When the fixed frame moves to a certain position within its travel range, all rotating brushes touch the ground.

[0028] The sorting system includes four trash cans and a transfer component. Each trash can corresponds to a type of waste. The position of all trash cans is controlled by the transfer component, which includes a motor M4, a first support member, and a support plate. The support plate is driven by the motor M4 and placed on the first support member, which is fixedly connected to the robot body. The robot body has a trash throwing port. At any given time, only one trash can has its opening facing the trash throwing port. The position of this trash can is called the throwing position. Only trash cans in the throwing position can be used to throw trash.

[0029] The transposition assembly also includes a first drive shaft. In this embodiment, motor M4 is an SG90 servo motor. All four trash cans are placed on a support plate, and all trash cans are circumferentially distributed around the central axis of the support plate. The support plate is placed on a first support member, which is a crossbar. One end of the crossbar is fixedly connected to the robot body, and the other end has a through hole. The support plate has four sets of notches, and any two sets of notches are the same shape and size and are located below different trash cans. The shape of the support plate and its notches is as follows: Figure 5 As shown; the first drive shaft passes through the through hole and is fixedly connected to the bearing plate, and the first drive shaft is collinear with the central axis of the bearing plate; the motor M4 shaft is poweredly connected to the first drive shaft. Figure 5 (a) In this diagram, 27 is the support plate, and 28 is the motor M4. The first drive shaft is not shown. The transposition assembly also includes a cover plate, a motor M8, and an acoustic sensor. The robot body has a garbage disposal port parallel to the horizontal direction. The support plate is located below the garbage disposal port. Only the garbage bin opening in the disposal position faces the garbage disposal port. The cover plate is powered by the motor M8 and has two states: closed and open. In this embodiment, the switch between the open and closed states is achieved by the cover plate rotating around a fixed axis. When in the closed state, the cover plate covers the garbage disposal port. When the motor M8 rotates forward, the cover plate switches from the closed state to the open state. When the motor M8 rotates in reverse, the cover plate switches from the open state to the closed state. The closed and open states of the cover plate are as follows: Figure 6 As shown in (a) and 6(b), the waste disposal opening is not shown in the figures. The sound sensor is used to receive voice information, and the sound sensor is connected to the controller signal to realize voice control of waste sorting and collection. Figure 7 E in the middle is an acoustic sensor.

[0030] The packaging mechanism includes a conveying component and a sealing component. Each trash can contains a trash bag with its opening facing upwards. The conveying component includes a motor M5, a slide rail, and a first motion component. The slide rail is fixedly connected to the robot body. The first motion component, driven by the motor M5, moves along the slide rail and is used to move the filled trash can to the sealing position. The sealing component includes a second motion component, a second support member, and a motor M6. The second motion component is used to seal the opening of the trash bag in the sealing position. The second motion component, driven by the motor M6, is placed on the second support member, which is fixedly connected to the robot body. The overall state of the robot of this utility model is as follows: Figure 1 As shown, the cleaning robot also includes a control system, which includes a controller, and motors M1, M4, M5 and M6 are all electrically connected to the controller.

[0031] The transport component also includes a spatial sensor. The first motion component includes a slider 30 and a bracket 29. The slide rail 31 is a linear guide rail, extending vertically and fixedly connected to the robot body. In this embodiment, the slide rail 31 is a ball bearing guide rail with a ball screw inside. The ball screw is powered by a motor M5. The slider 30 can move up and down along the ball screw. When the motor M5 rotates forward, the slider 30 moves upward; when the motor M5 rotates in reverse, the slider 30 moves downward. The bracket 29 is fixedly connected to the slider 30. The overall structure of the transport component is as follows: Figure 5 As shown, the space sensor is used to detect whether the trash can is full. Figure 7 F in the diagram represents a space sensor. The space sensor is connected to the controller signal. When the trash can is full, the support plate rotates it to the raised position. The states of the trash can before and after being rotated to the raised position are as follows: Figure 5 As shown in (a) and 5(b), the trash can is indicated by the red arrow in the figure; at any given time, only one of the four trash cans is in the raised position. After a trash can is moved to the raised position, the bracket 29 passes through the notch on the support plate and lifts the trash can to the sealing position. The state in which the bracket 29 lifts the trash can is as follows. Figure 5 As shown in (c).

[0032] The sealing assembly also includes a limiting plate and a switch 14, which is an electronic switch. The second motion assembly includes a drive wheel 33, a second fixing member 35, an electric heating rod, a limiting plate 34, and a second drive shaft 32. The limiting plate 34 is parallel to the vertical direction, and the central axis of the drive wheel 33 is also parallel to the vertical direction and placed on the second support member. The limiting plate 34 is fixedly connected to the robot body. The second support member is also a crossbar, one end of which is fixedly connected to the robot body, and the other end has a through hole. A hole is also formed on the drive wheel 33. The second drive shaft 32 is inserted through two holes simultaneously. The second drive shaft 32 is collinear with and fixedly connected to the central axis of the drive wheel 33. The motor M6 is located below the second support member, and the second drive shaft 32 is poweredly connected to the motor M6. The second fixing member 35 is a strip-shaped shell with an opening on the side. One end of the shell is fixedly connected to the drive wheel. The electric heating rod is partially housed in the shell and is electrically connected to the robot's main power supply. The connection status between the electric heating rod and the main power supply is controlled by switch l4. The overall structure of the sealing assembly is as follows: Figure 7 As shown in the diagram, 36 represents motor M6, while the electric heating rod and switch l4 are not shown. When the drive wheel rotates to a certain position, the electric heating rod contacts the limiting plate 34, and the extension direction of the electric heating rod is parallel to the limiting plate 34. When motor M6 rotates forward, the electric heating rod approaches the limiting plate 34; when motor M6 rotates in reverse, the electric heating rod moves away from the limiting plate. When the trash can is in the sealed position, the opening of the trash bag is between the housing and the limiting plate. Then, motor M6 starts, and the housing drives the electric heating rod closer to the limiting plate. Finally, the bag opening is clamped between the electric heating rod and the limiting plate. Afterward, switch l4 connects the main power supply, causing the electric heating rod to heat the opening of the trash bag, melting and sealing the trash bag to complete the sealing.

[0033] Example 2

[0034] This embodiment is based on the mechanical structure of a cleaning robot described in Embodiment 1. In this embodiment, the mechanical structure further includes a cleaning mechanism, which includes a mopping assembly. The mopping assembly includes a mop and a mounting frame, and is driven by a second drive assembly. The mop is fixedly mounted below the mounting frame in an unfolded state. The second drive assembly includes a motor M3, four long connecting rods 17, four short connecting rods 18, two first drive blocks 20, a first fixing member 22, and a mounting frame 16. The mop is fixedly mounted below the mounting frame in an unfolded state. An upper crossbar is rotatably mounted above the mounting frame. The upper ends of the long connecting rods 17 are rotatably connected to the upper crossbar. The four long connecting rods 17 are divided into two groups of two rods each. The lower ends of the long connecting rods 17 in the same group are rotatably connected to the same first drive block 20. A connecting block 19 is fixedly mounted on each long connecting rod 17, defining the side facing the other long connecting rod 17 in the same group as the inner side. All connecting blocks 19 are mounted on the long connecting rods 17. On the outer side, the upper end of each short connecting rod 18 is rotatably connected to a connecting block 19. The first fixing member is a lower crossbar, and the lower ends of all short connecting rods 18 are rotatably connected to the lower crossbar. The lower crossbar is fixed in relative position to the robot body. A first threaded hole is drilled on the first drive block 20. With the extension direction of the first lead screw 21 as the front-back direction, the first drive block 20 can move back and forth along the first lead screw 21, and the first lead screw is fixed in relative position to the robot body. The connection point between the upper end of the short connecting rod and the connecting block is called the first connection point, and the connection point between the lower end of the long connecting rod and the first drive block is called the second connection point. The rotation axes of the first connection point and the second connection point are not collinear. The first lead screw is coaxially fixedly connected to the rotating shaft of the motor M3. When the motor M3 rotates forward, the first drive block moves backward. When the motor M3 rotates in reverse, the first drive block moves forward. The motor M3 is electrically connected to the controller. When the first drive block moves to a certain position within its stroke range, the mop is in contact with the ground. The overall structural layout of the mopping assembly is as follows. Figure 3 As shown, Figure 4 In the middle, 23 is a motor M3, and a second transmission wheel is fixedly mounted on each of the two first lead screws 21. Power is transmitted between the two second transmission wheels through a second transmission chain. The other parts of this embodiment are the same as those described in Embodiment 1.

[0035] Example 3

[0036] This embodiment is based on the mechanical structure of a cleaning robot described in Embodiment 2. In this embodiment, the cleaning mechanism further includes a humidification component, which is used to maintain a certain humidity of the mop during mopping. The humidification component includes a solenoid valve 25, a humidity sensor, a liquid storage container 26, and a delivery pipe 24. The liquid storage container 26 contains cleaning fluid and has an opening. The solenoid valve 25 is fixedly installed on the opening. One end of the delivery pipe 24 is connected to the solenoid valve 25, and the other end is not closed and is suspended above the mop. The humidity sensor is used to monitor the humidity of the mop in real time. The liquid storage container 26 is located above the mop, and the cleaning fluid in the liquid storage container 26 flows to the mop through the delivery pipe 24. The structure of the humidification component is as follows. Figure 4 As shown in the figure, A is a humidity sensor, B is a mopping assembly, and C is a humidifying assembly. The humidity sensor is signal-connected to the controller, and the solenoid valve 25 is electrically connected to the controller. When the mop's humidity level drops below a certain threshold, the solenoid valve 25 automatically opens, allowing cleaning fluid to flow to the mop through the infusion tube 24. Once the threshold is reached, the solenoid valve 25 automatically closes. The other parts of this embodiment are the same as those described in Embodiment Two.

[0037] Example 4

[0038] A control system for the mechanical structure of a cleaning robot, based on the mechanical structure of any one of the cleaning robots described in Embodiments 1 to 3, the control system comprising three modules: a first control module, a second control module, and a third control module.

[0039] The specific operating methods of the dust removal mechanism and the cleaning mechanism are as follows: The first control module includes a control element, a first decision element, a first command element, motor M1, and all motors M2. The control element is signal-connected to the first decision element, the first decision element is signal-connected to the first command element, and the first command element is electrically connected to motor M1 and all motors M2. The overall operation flow of the first control module is as follows: S1.1. The control element sends an indication signal to the first decision element. The indication signal is either on or off. In this embodiment, the control elements are switches l1 and l2, which are operated by the operator and send indication signals. A high-potential indication signal "1" from l1 indicates on, and a low-potential indication signal "0" from l2 indicates off. The control logic of the first control system related to the indication signal is as follows: Figure 8 As shown in the figure, var is the initial variable, used to record the indication signal and hand it over to the first decision element for judgment, and b is the machine state variable, used to balance the potential in the first decision element to prevent the instruction from being repeatedly executed.

[0040] S1.2. The first decision element makes a judgment on the indication signal. If the indication signal is open, the first decision element sends an open signal to the first instruction element. If the indication signal is stop, the first decision element sends a stop signal to the first instruction element.

[0041] S1.3. If the first instruction element receives an enable signal, the first instruction element executes the first instruction; if the instruction element receives a stop signal, the instruction element executes the second instruction.

[0042] The first instruction is: first turn on motor M1 to make it rotate forward, and after 2 seconds turn off motor M1, and then turn on all motors M2.

[0043] The second instruction is: first turn on motor M1 to reverse it, then turn off motor M1 after 2 seconds, and then turn off all motors M2.

[0044] The second control module includes a sound sensor, a sound processor, a transpose command element, a second decision element, a second command element, motor M4, and motor M8. The sound sensor and sound processor are connected by signals; the sound processor is connected by signals to the transpose command element and the second decision element; the transpose command element is electrically connected to motor M4; the second decision element and the second command element are connected by signals; and the second command element is electrically connected to motor M8. The overall operation flow of the second control module is as follows: S2.1. The acoustic sensor samples the collected speech signal and transmits the sampled signal to the acoustic processor.

[0045] S2.2. The sound processor identifies the received sampled signal and obtains the identification result. The sound processor has a first database, a second database, and a third database. The first database contains various opening commands, the second database contains various garbage names, and each garbage name has a corresponding category. Each category has a corresponding garbage bin, and the third database contains various closing commands. If the cover is in the closed state, the sound processor compares the identification result with the first database, and this situation is recorded as C1. If the cover is in the open state, the sound processor compares the identification result with the second database, and this situation is recorded as C2.

[0046] S2.3. In case C1, if the sound processor finds an opening instruction that matches the recognition result, the sound processor sends an opening signal to the second decision element. After receiving the signal, the second decision element instructs the second instruction element to execute the third instruction, that is, to turn on the motor M8 and make it rotate forward. After 1 second, a signal is sent to turn off the motor M8.

[0047] In scenario C2, if the sound processor can find a garbage name that matches the recognition result, it determines the corresponding garbage bin based on the category described in the garbage name and records this garbage bin as the target garbage bin. Then, it sends a signal containing the target garbage bin information to the transposition command element. Upon receiving the signal, the transposition command element compares the current position of the target garbage bin with the throwing position to determine the distance between the two positions. This distance is then used to calculate the time required for motor M4 to move the target garbage bin to the throwing position, and this time is recorded as... δt 1. Then, the transpose command element sends a signal to motor M4 to make it run, and after a certain time... δt 1. Then send a signal to turn off motor M4; in case C2, if the sound processor does not find a garbage name that matches the recognition result, continue to step S2.5.

[0048] S2.4. The sound processor continues to compare the recognition results with the third database. If the sound processor finds a closing instruction that matches the recognition result, it sends a closing signal to the second decision element. Upon receiving the signal, the second decision element instructs the second instruction element to execute the fourth instruction, which turns on motor M8 to reverse it. After 1 second, it sends a signal to turn off motor M8. The control logic for the opening and closing of the cover is as follows: Figure 9 As shown in the figure, LS is a sound processor. The high potential "1" emitted by LS is the turn-on signal, and the low potential "0" is the turn-off signal.

[0049] The third control module includes a space sensor, a packing controller, a transport command element, a reset switch, a third decision element, a third command element, a prompter, motors M4, M5, and M6, and switch l4. The space sensor, which is an ultrasonic detection device, is signal-connected to the packing controller. The packing controller is signal-connected to the third decision element and the transport command element. The reset switch is also signal-connected to the third decision element. The third decision element is signal-connected to the third command element. The transport command element is electrically connected to motor M4. The third command element is electrically connected to motors M5 and M6, as well as switch l4. The overall operation flow of the third control module is as follows: S3.1. The ultrasonic detection device sends detection signals to the opening of all trash cans and receives echo signals, and then transmits all echo signals to the packaging controller in real time.

[0050] S3.2. The packing controller determines whether the opening of the trash can is blocked by an object based on the characteristics of the echo signal. The packing controller has a preset number of times threshold. If the packing controller determines that the opening of a trash can is blocked by an object multiple times in a row, and the number of times the object is blocked reaches the number of times threshold, then the trash can is considered to be full.

[0051] S3.3. The packaging controller marks the filled trash cans as trash cans to be processed, and then sends a signal containing information about the trash cans to be processed to the conveying command element. After receiving the signal, the conveying command element calculates the current position of the trash cans to be processed, and based on the distance between the current position of the trash cans to be processed and the lifting position, calculates the time required for motor M4 to move the trash cans to the lifting position, and records this time as _____. δt 2. Then, the command element sends a signal to motor M4 to make it run, and after a certain time... δt 2. Then send a signal to shut down motor M4.

[0052] S3.4. The packing controller sends a packing signal to the third decision element. After receiving the transport signal, the third decision element instructs the third instruction element to execute the fifth instruction, which first sends a signal to the operator via the prompter, then turns on motor M5 to rotate forward, driving the bracket 29 to rise. After 3 seconds, a signal is sent to turn off motor M5. Next, a signal is sent to motor M6 to turn it on to rotate forward, driving the electric heating rod closer to the limit plate. After 2 seconds, a signal is sent to turn off motor M6. Then, a signal is sent to switch L4 to turn it on, connecting the electric heating rod to the robot's main power supply. After a certain time... t 6. Then send a signal to close switch l4.

[0053] S3.5. The operator removes the sealed garbage bag from the garbage bin and puts a new garbage bag into the garbage bin.

[0054] S3.6. The operator uses switch l3 to send a reset signal to the third decision element. Upon receiving the reset signal, the third decision element instructs the third instruction element to execute the sixth instruction, which involves turning on motor M6 and reversing it. After 2 seconds, a signal is sent to turn motor M6 off. Then, a signal is sent to motor M5 to turn it on and reverse it. After 3 seconds, a signal is sent to turn motor M5 off. The control logic for the trash can packing and resetting process is as follows: Figure 10 As shown in the figure, LP is the packing controller. The high potential "1" emitted by LP is the packing signal, the low potential "0" is the reset signal, and 02-Alarm is the indicator.

[0055] Example 5

[0056] This embodiment is based on a control system for a cleaning robot's mechanical structure as described in Embodiment 4, which is based on the mechanical structure of any cleaning robot described in Embodiments 2 or 3. In this embodiment, the first control module further includes a motor M3, which is electrically connected to the first command element.

[0057] In this embodiment, the first instruction is: first turn on motor M1 to make it rotate forward, and after 2 seconds turn off motor M1, then turn on all motors M2, and after 1 second turn on motor M3 to make it rotate forward, and after 3 seconds turn off motor M3.

[0058] The second instruction is: first turn on motor M1 to reverse it, then turn off motor M1 after 2 seconds, then turn off all motors M2, then turn on motor M3 to reverse it after 1 second, and then turn off motor M3 after 3 seconds.

[0059] The other parts of this embodiment are the same as those described in Embodiment 4.

[0060] Example 6

[0061] This embodiment is based on the control system of the mechanical structure of a cleaning robot described in Embodiment 5, which is based on the mechanical structure of a cleaning robot described in Embodiment 3. In this embodiment, the first control module further includes a humidity sensor, a humidity controller, and a solenoid valve, all of which are electrically connected to the humidity controller.

[0062] In this embodiment, step S1.2 is as follows: the first decision element makes a judgment on the indication signal. If the indication signal is open, the first decision element sends an open signal to the first instruction element and simultaneously turns on the humidity sensor and the humidity controller; if the indication signal is stop, the first decision element sends a stop signal to the first instruction element and simultaneously turns off the humidity sensor and the humidity controller.

[0063] The operation of the first control module in this embodiment also includes the following: the humidity sensor transmits the measured humidity value to the humidity controller in real time. The humidity controller compares the received humidity value with a preset humidity threshold. If the humidity value is less than the humidity threshold at a certain moment and the solenoid valve is in the closed state, the humidity controller sends a signal to open the solenoid valve. If the humidity value is not less than the humidity threshold at a certain moment and the solenoid valve is in the open state, the humidity controller sends a signal to close the solenoid valve. If the solenoid valve is in the open state when a stop signal is received, the humidity controller first sends a signal to close the solenoid valve and then stops operating.

Claims

1. A waste sorting and packaging device for a cleaning robot, installed on the robot body, characterized in that: The system includes a sorting mechanism and a packaging mechanism. The sorting mechanism includes multiple trash cans and a transfer component. Each trash can corresponds to a type of waste. The position of all trash cans is controlled by the transfer component. The transfer component includes a motor M4, a first support member, and a support plate. The support plate is driven by the motor M4 and rotatably connected to the first support member. The first support member is fixedly connected to the robot body. The robot body has a trash throwing port. At any given time, only one trash can has its opening facing the trash throwing port. The position of this trash can is called the throwing position. Only trash cans in the throwing position can be used to throw trash. The packaging mechanism includes a conveying component and a sealing component. Each trash can contains a trash bag with its opening facing upwards. The conveying component includes a motor M5, a slide rail, and a first motion component. The slide rail is vertically fixed to the robot body. The first motion component is driven by the motor M5 to move along the slide rail. At any given time, only one trash can is in the raised position among the multiple trash cans. After a trash can is rotated to the raised position, the first motion component lifts the trash can to the sealing position. The sealing component includes a second motion component, a second support member, and a motor M6. After a trash can is lifted to the sealing position, the second motion component seals the opening of the trash bag in the trash can. The second motion component is driven by the motor M6 and is placed on the second support member, which is fixedly connected to the robot body.

2. The waste sorting and packaging device for a cleaning robot as described in claim 1, characterized in that: The multiple trash cans are all placed on the support plate, and all trash cans are circumferentially distributed around the central axis of the support plate; the support plate and the central axis of the motor M4 shaft are collinear and fixedly connected; the first support member is a crossbar, one end of which is fixedly connected to the robot body, and the other end has a through hole; the motor M4 is located below the first support member, and its shaft passes through the through hole.

3. The garbage classification and packing device for cleaning robot according to claim 2, characterized in that: The support plate has multiple sets of notches, any two sets of notches are the same in shape and size and are located below different trash cans. The number of notch sets is equal to the number of trash cans. All notches are distributed circumferentially around the central axis of the support plate. The first motion component includes a slider and a bracket. The slide rail is a linear guide rail. The slider is mounted on the slide rail and moves up and down along the slide rail driven by the motor M5. The bracket is fixedly connected to the slider.

4. The waste sorting and packaging device for a cleaning robot as described in claim 3, characterized in that: The sealing assembly also includes a limiting plate and a switch. The second motion assembly includes a drive wheel, a second fixing member, and an electric heating rod. The limiting plate is parallel to the vertical direction and fixedly connected to the robot body. The drive wheel is rotatably connected to the second bearing member, and the central axis of the drive wheel is also parallel to the vertical direction. The second bearing member is also a crossbar, one end of which is fixedly connected to the robot body, and the other end has a through hole. The drive wheel has another through hole, and the motor M6 shaft passes through both through holes, and the motor M6 shaft is collinear with the central axis of the drive wheel. The second fixing member is fixedly connected to both the electric heating rod and the drive wheel. The electric heating rod is electrically connected to the robot's main power supply, and the connection state between the electric heating rod and the main power supply is controlled by switch l4. When the drive wheel rotates to a certain position, the electric heating rod abuts against the limiting plate, and the extension direction of the electric heating rod is parallel to the limiting plate.

5. The garbage classification and packing device for a cleaning robot according to claim 4, wherein: The transposition assembly also includes a cover plate and a motor M8. The cover plate is powered by the motor M8. The cover plate has two states: closed and open. When the cover plate is in the closed state, the garbage disposal opening is completely covered by the cover plate. When the cover plate is in the open state, the garbage disposal opening is open, and only then can the garbage can in the disposal position be filled with garbage.

6. The trash sorting and packing device for a cleaning robot according to any one of claims 1 to 5, wherein: The system includes a control system, which contains a controller and an electronic switch. The conveying component also includes a space sensor for detecting whether the trash can is full. The transposition component also includes an acoustic sensor for receiving voice information. The space sensor and the acoustic sensor are both signal-connected to the controller. The controller is also electrically connected to motors M4, M5, M6, M8, and the switch.

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