A multifunctional post-dinner cleaning robot

Abstract

The utility model relates to robot technical field, especially a multifunctional postprandial cleaning robot, including robot body, utensil cleaning and storage device, table surface cleaning device and table surface cleaning device are equipped on the robot body, utensil cleaning and storage device includes tableware washing chamber and tableware drying storage room, utensil washing chamber is used for utensil to place and wash, utensil drying storage room is used for utensil drying storage standby, utensil recognition device includes multifunctional manipulator and camera, camera is used for utensil to identify, multifunctional manipulator is used for utensil to take and send into tableware washing chamber, table surface cleaning device includes cleaning rod subassembly and swill collecting bucket, cleaning rod subassembly is used for the table surface garbage to clean up, and garbage sewage is sent into swill collecting bucket and is collected and is handled. Make the cleaning robot have the table surface cleaning function, utensil recognition take function, utensil place and wash function and drying storage function.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and specifically to a multifunctional post-meal cleaning robot. Background Technology

[0002] As living standards improve, the number of restaurants in all walks of life is gradually increasing. While people care about the taste of the food, the issue of cleaning tableware after meals has also attracted attention. Traditionally, cleaning tableware after meals requires manual cleaning and washing of the tables, which is not only time-consuming and labor-intensive, but also has high labor costs.

[0003] Dishwashing robots are intelligent robotic devices designed to replace manual dishwashing. Currently, the functions of dishwashing robots on the market are relatively limited. For example, utility model patent CN108742436A discloses a new type of dishwasher robot; this prior art requires manual placement of dishes on the rack, followed by water spraying through pipes by a water pump to rinse the dishes. It only has the function of rinsing dishes, which is limited in function. The arrangement of dishes and the cleaning of tableware still require manual labor, which is time-consuming, labor-intensive, and has high labor costs. Another example is utility model patent CN108836225A, which discloses an automatic plate-setting robot; this prior art has a complex structure and only has the function of sorting and arranging plates. Its function is limited in function, and the arrangement of dishes and the cleaning of tableware still require manual labor, which is time-consuming, labor-intensive, and has high labor costs.

[0004] Therefore, there is still room for improvement and development in existing technologies. Utility Model Content

[0005] To address the problems of existing technologies, this utility model proposes a multifunctional post-meal cleaning robot. By incorporating a tableware washing and storage device, a tableware recognition device, and a tabletop cleaning device on the robot body, the cleaning robot possesses functions such as tabletop cleaning, tableware recognition and retrieval, tableware placement and rinsing, and drying and storage. This multifunctional robot replaces manual labor, saving manpower and improving work efficiency.

[0006] To achieve the above objectives, the technical solution applied in this utility model is as follows: A multifunctional post-meal cleaning robot includes a robot body equipped with a tableware washing and storage device, a tableware identification device, and a tabletop cleaning device. The tableware washing and storage device includes a tableware rinsing chamber and a tableware drying and storage chamber. The tableware rinsing chamber is used to place and rinse the tableware, and the tableware drying and storage chamber is used to dry and store the tableware for later use. The tableware identification device includes a multifunctional robotic arm and a camera. The camera is used to identify the tableware, and the multifunctional robotic arm is used to pick up the tableware and put it into the tableware rinsing chamber. The tabletop cleaning device includes a cleaning rod assembly and a swill collection bucket. The cleaning rod assembly is used to clean up the tabletop garbage and send the garbage and wastewater into the swill collection bucket for collection and treatment.

[0007] According to the above scheme, the tableware rinsing chamber is equipped with a tableware loading basket, a tableware spray arm, and a wastewater tank. The tableware loading basket is located above the tableware spray arm. The tableware spray arm is connected to a liquid supply pipeline. The tableware spray arm is used to rinse the tableware in the tableware loading basket. The wastewater tank is used to collect and treat the wastewater after rinsing. The wastewater tank is connected to a sewage discharge pipeline. A tableware loading basket transfer device is provided between the tableware rinsing chamber and the tableware drying and storage chamber.

[0008] According to the above scheme, the tableware rinsing chamber has an opening two on one side near the tableware drying and storage chamber, and a display screen is provided on the other side of the tableware rinsing chamber; the robot body is provided with an inclined slide, and the lower end of the inclined slide is set corresponding to the opening two, so that the multi-functional robotic arm can slide the tableware into the tableware loading basket through the inclined slide; the opening two is provided with a cleaning chamber sealing door for opening or closing the opening two, the cleaning chamber sealing door includes a roller shutter door two, a connecting rod, a fixed plate, a baffle two, and a guide groove two. The roller shutter door two is connected to the fixed plate, and the fixed plate is connected to the baffle two through the connecting rod. The fixed plate and the baffle two are slidably connected to the guide groove two; the roller shutter door two drives the fixed plate to slide up and down along the guide groove two, and the fixed plate drives the baffle two to open or close the opening two.

[0009] According to the above scheme, the tableware loading basket is provided with multiple compartments, and each compartment is provided with a cushioning elastic element and a cushioning sponge pad to prevent tableware from breaking; the tableware loading basket includes a bowl basket, a plate basket and a chopsticks and spoon basket, and the inclined chute includes a bowl conveying chute, a plate conveying chute and a chopsticks and spoon conveying chute, with the bowl conveying chute and bowl basket corresponding to each other, the plate conveying chute and plate basket corresponding to each other, and the chopsticks and spoon conveying chute and chopsticks and spoon basket corresponding to each other.

[0010] According to the above scheme, the tableware loading basket transfer device includes a tableware loading basket drive assembly, a lead screw, and a slide rail. A slider is fixed on the tableware loading basket and is slidably connected to the slide rail. The output end of the tableware loading basket drive assembly is connected to the lead screw, and the lead screw and the slider are threadedly connected. The tableware loading basket drive assembly drives the lead screw to rotate so that the slider slides horizontally back and forth along the slide rail.

[0011] According to the above scheme, the tableware drying and storage chamber has an opening on one side near the tableware rinsing chamber, and a sliding door for opening or closing the tableware drying and storage chamber is movably provided on the other side of the tableware drying and storage chamber; the opening is provided with a storage chamber sealing door for opening or closing the opening, the storage chamber sealing door includes a roller shutter door, a baffle, and a guide groove, the roller shutter door is connected to the baffle, and the baffle and the guide groove are slidably connected; the roller shutter door drives the baffle to slide up and down along the guide groove to open or close the opening; a heating device is provided in the tableware drying and storage chamber.

[0012] According to the above scheme, the multifunctional robotic arm includes a movable robotic arm, a water nozzle, a rotating head, a robotic claw, and a rotating base. The rotating base is rotatably mounted on the robot body, the lower end of the movable robotic arm is mounted on the rotating base, the rotating head is mounted on the upper end of the movable robotic arm, and the water nozzle and robotic claw are symmetrically mounted on both sides of the rotating head.

[0013] According to the above scheme, the cleaning rod assembly includes a rag, a cleaning rod, a scraper, a telescopic rod, a cleaning rod lifting platform, and a cleaning rod drive assembly. The rag and scraper are symmetrically installed on both sides of the cleaning rod. The cleaning rod is installed at one end of the telescopic rod, and the other end of the telescopic rod is installed on the cleaning rod lifting platform. The cleaning rod lifting platform is used to drive the telescopic rod to move up and down. The cleaning rod drive assembly is used to drive the telescopic rod to extend and retract and to drive the cleaning rod to rotate.

[0014] According to the above scheme, the robot body is equipped with a chassis at its bottom, and the chassis is equipped with a cleaning liquid tank, a clean water tank, and a battery. The cleaning liquid tank and the clean water tank are equipped with liquid level sensors. The cleaning liquid tank is equipped with a cleaning liquid hydraulic pump, which is used to supply cleaning liquid to the multi-functional robotic arm and the tableware spraying arm. The clean water tank is equipped with a clean water hydraulic pump, which is used to supply clean water to the multi-functional robotic arm and the tableware spraying arm.

[0015] According to the above scheme, the chassis is equipped with a lidar sensor, Mecanum wheels, omnidirectional wheels and an attitude sensor, and vibration damping devices are respectively provided between the Mecanum wheels and the omnidirectional wheels and the chassis.

[0016] The beneficial effects of this utility model are: This invention is designed by incorporating a tableware washing and storage device, a tableware identification device, and a tabletop cleaning device on the robot body. This enables the cleaning robot to perform tabletop cleaning, tableware identification and picking, tableware placement and rinsing, and drying and storage functions, integrating multiple functions to replace manual labor, thus saving manpower and improving work efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the overall structure of this utility model without the lower shell; Figure 3 This is a schematic diagram of the chassis of this utility model; Figure 4 This is a schematic diagram of the multifunctional robotic arm of this utility model; Figure 5 This is a schematic diagram of the cleaning rod assembly of this utility model; Figure 6 This is an external schematic diagram of the tableware washing and storage device of this utility model; Figure 7 This is a cross-sectional view of the tableware washing and storage device of this utility model; Figure 8 This is a schematic diagram of the interior of the tableware washing and storage device of this utility model; Figure 9 This is an exploded view of the interior of the tableware washing and storage device of this utility model; Figure 10 This is a schematic diagram of the tableware loading basket of this utility model; Figure 11 This is a side view of the sealing door of the cleaning chamber of this utility model; Figure 12 This is a front view of the cleaning chamber of this utility model with the door sealed. Figure 13 This is a rear view of the cleaning chamber of this utility model after the door is sealed. Figure 14 This is a side view of the sealed door of the storage room of this utility model; Figure 15 This is a front view of the storage room of this utility model with the door sealed. Figure 16 This is a rear view of the storage room of this utility model after the door is sealed; Figure 17 This is a schematic diagram of the liquid supply pipeline of this utility model.

[0018] In the picture: 1. Chassis; 2. Cleaning solution tank; 3. Clean water tank; 4. Liquid level sensor; 5. Battery; 6. Dishwashing and storage device; 61. Inclined chute; 62. Heating device; 63. Storage room door seal; 631. Roller shutter door one; 632. Baffle one; 633. Guide groove one; 634. Guide plate one; 64. Slide rail; 65. Wastewater tank; 66. Washing room door seal; 661. Roller shutter door two; 662. Connecting rod; 663. Fixing plate; 664. Baffle two; 665. Guide groove two; 666. Guide plate two; 67. Sliding block; 68. Dishwashing loading basket; 681. Buffer elastic element; 69. Dishwashing spray arm; 610. Dishwashing rinsing chamber; 611. Display; 612. Sliding door; 613. Dishwashing dryer 614. Dry storage compartment; 615. Cutlery loading basket drive assembly; 616. Lead screw assembly; 617. Boss; 7. Multifunctional robotic arm; 71. Movable robotic arm; 72. Water spray head; 73. Rotating head; 74. Mechanical gripper; 75. Rotating seat; 8. Cleaning rod assembly; 81. Wipe; 82. Cleaning rod; 83. Scraper; 84. Telescopic rod; 85. Cleaning rod lifting platform; 86. Cleaning rod drive assembly; 9. Swill collection bucket; 10. Robot body; 11. LiDAR sensor; 12. Mecanum wheel; 13. Vibration damping device; 14. Universal wheel; 15. Attitude sensor; 16. Camera; 17. Clean water hydraulic pump; 18. Cleaning fluid hydraulic pump; 19. Check valve; 20. Three-position two-way directional valve. Detailed Implementation

[0019] The technical solution of this utility model will be described below with reference to the accompanying drawings and embodiments.

[0020] like Figures 1 to 17 As shown, the present invention discloses a multifunctional post-meal cleaning robot, comprising a robot body 10, wherein the robot body 10 is equipped with a tableware washing and storage device 6, a tableware identification device, and a tabletop cleaning device; the tableware washing and storage device 6 includes a tableware rinsing chamber 610 and a tableware drying and storage chamber 613, the tableware rinsing chamber 610 being used for rinsing tableware, and the tableware drying and storage chamber 613 being used for drying and storing tableware for later use; the tableware identification device includes a multifunctional robotic arm 7 and a camera 16, the camera 16 being used for identifying tableware, and the multifunctional robotic arm 7 being used for picking up tableware and placing it into the tableware rinsing chamber 610; the tabletop cleaning device includes a cleaning rod assembly 8 and a swill collection bucket 9, the cleaning rod assembly 8 being used for cleaning tabletop garbage and sending garbage and wastewater into the swill collection bucket 9 for collection and treatment.

[0021] This configuration, with a tableware washing and storage device 6, a tableware identification device, and a tabletop cleaning device on the robot body 10, enables the cleaning robot to have functions such as tabletop cleaning, tableware identification and picking, tableware placement and rinsing, and drying and storage. It integrates multiple functions to replace manual labor, saving manpower and improving work efficiency.

[0022] The camera 16 is preferably an OpenMV camera, which communicates with the control system of the cleaning robot. It also preferably utilizes a convolutional neural network (CNN algorithm) to identify tableware, enabling the multi-functional robotic arm 7 to precisely grasp the tableware. Furthermore, the CNN algorithm allows for targeted cleaning of stains on the table and tableware. Specifically, when cleaning table stains, to ensure complete cleaning, the CNN algorithm and the OpenMV camera work together, utilizing the multi-functional robotic arm 7 and the cleaning rod assembly 8. First, the scraper 83 of the cleaning rod assembly 8... After cleaning the tabletop, the cleaning rod assembly 8 uses the cloth 81 to clean the tabletop again, while the water spray nozzle 72 on the multi-functional robotic arm 7 sprays water onto the tabletop. Finally, the scraper 83 on the cleaning rod assembly 8 sweeps the garbage and sewage into the swill collection bucket 9. When cleaning tableware stains, the multi-functional robotic arm 7 uses a convolutional neural network (CNN algorithm) and an OpenMV camera to identify tableware stains and use the water spray nozzle 72 on the multi-functional robotic arm 7 to rinse the tableware, removing the stains from the tableware surface and expelling them. Then, the rotating seat 75 (servo motor) rotates the multi-functional robotic arm 7, causing the robotic claw 74 to pick up the tableware and send it into the tableware rinsing chamber 610.

[0023] Furthermore, the tableware rinsing chamber 610 is equipped with a tableware loading basket 68, a tableware spray arm 69, and a wastewater tank 65. The tableware loading basket 68 is located above the tableware spray arm 69. The tableware spray arm 69 is connected to a liquid supply pipeline. The tableware spray arm 69 is used to rinse the tableware in the tableware loading basket 68. The wastewater tank 65 is used to collect and treat the wastewater after rinsing. The wastewater tank 65 is connected to a sewage discharge pipeline. A tableware loading basket transfer device is provided between the tableware rinsing chamber 610 and the tableware drying and storage chamber 613.

[0024] With this setup, the tableware in the tableware loading basket 68 is rinsed by the tableware spray arm 69, and the wastewater after rinsing is collected by the wastewater tank 65 and discharged through the sewage pipe. After the tableware is cleaned, the tableware loading basket 68 is sent to the tableware drying and storage chamber 613 by the tableware loading basket transfer device to dry the tableware and ensure that the tableware is dry and easy to use. The tableware rinsing chamber 610 and the tableware drying and storage chamber 613 are arranged side by side with intervals.

[0025] Furthermore, the tableware rinsing chamber 610 has an opening two on one side near the tableware drying and storage chamber 613, and a display 611 is provided on the other side of the tableware rinsing chamber 610; the robot body 10 is provided with an inclined slide 61, the lower end of which is positioned corresponding to the opening two, so that the multi-functional robotic arm 7 can slide the tableware into the tableware loading basket 68 via the inclined slide 61; the opening two is provided with a cleaning chamber sealing door 66 for opening or closing the opening two. The device includes a second roller shutter door 661, a connecting rod 662, a fixing plate 663, a second baffle 664, and a second guide groove 665. The second roller shutter door 661 is connected to the fixing plate 663, and the fixing plate 663 is connected to the second baffle 664 through the connecting rod 662. Both the fixing plate 663 and the second baffle 664 are slidably connected to the second guide groove 665. The second roller shutter door 661 drives the fixing plate 663 to slide up and down along the second guide groove 665, and the fixing plate 663 drives the second baffle 664 to open or close the second opening.

[0026] With this setup, the multi-functional robotic arm 7 picks up the tableware and places it in the inclined chute 61, which then slides into the tableware loading basket 68 for plating. At the same time, the tableware loading basket transfer device drives the tableware loading basket 68 to slide and move, making room to store the remaining tableware. This process continues until all the tableware is stored in the tableware loading basket 68.

[0027] The washing chamber door 66 is used to open or close opening two, preventing wastewater from splashing out when rinsing tableware. Specifically, opening two is opened by the roller shutter door 661 rising, causing the baffle 664 to rise along the guide groove 665; opening two is closed by the roller shutter door 661 falling, causing the baffle 664 to fall along the guide groove 665. A sealing ring is provided on the baffle 664, and a boss 616 (e.g., ...) is provided at the bottom of opening two. Figure 7 As shown, when the roller shutter door 2 661 descends, causing the baffle 2 664 to descend along the guide groove 2 665, the baffle 2 664 abuts against the boss 616. The roller shutter door 2 661 will continue to descend to a certain position, applying a downward force to the baffle 2 664, causing the connecting rod 662 on the fixed plate 663 to push the baffle 2 664 into the inner cavity of the dishwashing chamber 610. The sealing ring on the baffle 2 664 can seal the opening 2. Guide plates 2 666 are symmetrically arranged on both sides of the opening 2, and guide grooves 2 665 are arranged on the guide plates 2 666.

[0028] Among them, the display 611 provides an intuitive and interactive experience, as well as easy command transmission and operation.

[0029] Furthermore, the tableware loading basket 68 is provided with multiple compartments, and each compartment is provided with a cushioning elastic element 681 and a cushioning sponge pad to prevent tableware from breaking; the tableware loading basket 68 includes a bowl basket, a plate basket and a chopsticks and spoon basket, and the inclined chute 61 includes a bowl conveying chute, a plate conveying chute and a chopsticks and spoon conveying chute, with the bowl conveying chute and bowl basket corresponding to each other, the plate conveying chute and plate basket corresponding to each other, and the chopsticks and spoon conveying chute and chopsticks and spoon basket corresponding to each other.

[0030] This design, through the cushioning elastic element 681 and the cushioning sponge pad, prevents the tableware from breaking when it slides from the inclined chute 61 into the tableware loading basket 68; the spacing between the multiple compartments prevents the tableware from colliding with each other when it enters.

[0031] The system uses a convolutional neural network (CNN algorithm) and an OpenMV camera to distinguish between tableware (bowls, plates, chopsticks and spoons), which allows the multi-functional robotic arm 7 to pick up the tableware and place it in different conveying slots (bowl conveying slot, plate conveying slot, chopsticks and spoon conveying slot), and then arrange the tableware in the tableware loading basket 68.

[0032] Furthermore, the tableware loading basket transfer device includes a tableware loading basket drive assembly 614, a lead screw 615, and a slide rail 64. A slider 67 is fixed on the tableware loading basket 68, and the slider 67 is slidably connected to the slide rail 64. The output end of the tableware loading basket drive assembly 614 is connected to the lead screw 615, and the lead screw 615 and the slider 67 are threadedly connected. The tableware loading basket drive assembly 614 drives the lead screw 615 to rotate, so that the slider 67 slides horizontally back and forth along the slide rail 64.

[0033] With this configuration, the lead screw 615 is driven to rotate by the cutlery loading basket drive assembly 614 (preferably a stepper motor). When the lead screw 615 rotates, it undergoes a thread change with the slider 67. Under the limiting and guiding of the slide rail 64, the slider 67 slides horizontally back and forth along the slide rail 64, thereby driving the cutlery loading basket 68 to move.

[0034] When the tableware loading basket 68 moves in the tableware rinsing chamber 610, it makes it easier to free up space for placing tableware and to make it easier for the tableware spray arm 69 to rinse the tableware. When the tableware loading basket 68 moves from the tableware rinsing chamber 610 to the tableware drying and storage chamber 613, it opens the second opening of the tableware rinsing chamber 610 and the first opening of the tableware drying and storage chamber 613, making it easier to free up sliding space for the tableware loading basket 68, so that the tableware loading basket 68 can slide along the slide rail 64 into the tableware loading basket 68.

[0035] There are two sets of slide rails 64 and two sets of sliders 67. The two sets of slide rails 64 are symmetrically arranged on both sides of the tableware washing and storage device 6, and the two sets of sliders 67 are symmetrically arranged on both sides of the tableware loading basket 68. The two sets of sliders 67 slide within the slide rails 64, and the lead screw 615 is located within the slide rails 64 (e.g., Figure 7 , 8 (As shown in Figure 9).

[0036] Furthermore, the tableware drying and storage chamber 613 has an opening on one side near the tableware rinsing chamber 610, and a sliding door 612 for opening or closing the tableware drying and storage chamber 613 is movably provided on the other side of the tableware drying and storage chamber 613; the opening is provided with a storage chamber sealing door 63 for opening or closing the opening, the storage chamber sealing door 63 includes a roller shutter door 631, a baffle 632, and a guide groove 633, the roller shutter door 631 is connected to the baffle 632, and the baffle 632 and the guide groove 633 are slidably connected; the roller shutter door 631 drives the baffle 632 to slide up and down along the guide groove 633 to open or close the opening; the tableware drying and storage chamber 613 is provided with a heating device 62.

[0037] This design allows for easy access to tableware via the sliding door 612. The storage compartment door 63 is used to open or close opening one to prevent heat loss when the heating device 62 is drying the tableware. Specifically, opening one is opened by the roller shutter door 631 rising, which causes the baffle 632 to rise along the guide groove 633. Opening one is closed by the roller shutter door 631 falling, which causes the baffle 632 to fall along the guide groove 633. A sealing ring is provided on the baffle 632 to seal opening one when it is closed.

[0038] Among them, guide plates 634 are symmetrically arranged on both sides of the opening, and guide grooves 633 are arranged on the guide plates 634.

[0039] Furthermore, the multifunctional robotic arm 7 includes a movable robotic arm 71, a water nozzle 72, a rotating head 73, a robotic claw 74, and a rotating base 75. The rotating base 75 is rotatably mounted on the robot body 10. The lower end of the movable robotic arm 71 is mounted on the rotating base 75, the rotating head 73 is mounted on the upper end of the movable robotic arm 71, and the water nozzle 72 and the robotic claw 74 are symmetrically mounted on both sides of the rotating head 73.

[0040] With this configuration, the direction of the movable robotic arm 71 can be adjusted via the rotating base 75 (servo motor); the direction of the water nozzle 72 and the robotic gripper 74 can be switched via the rotating head 73. The water nozzle 72 can perform an initial rinse on the tableware and tabletop; the robotic gripper 74 can pick up the tableware.

[0041] Furthermore, the cleaning rod assembly 8 includes a cloth 81, a cleaning rod 82, a scraper 83, a telescopic rod 84, a cleaning rod lifting platform 85, and a cleaning rod drive assembly 86. The cloth 81 and the scraper 83 are symmetrically installed on both sides of the cleaning rod 82. The cleaning rod 82 is installed at one end of the telescopic rod 84, and the other end of the telescopic rod 84 is installed on the cleaning rod lifting platform 85. The cleaning rod lifting platform 85 is used to drive the telescopic rod 84 to move up and down. The cleaning rod drive assembly 86 is used to drive the telescopic rod 84 to extend and retract, and to drive the cleaning rod 82 to rotate.

[0042] With this setup, the position of the telescopic rod 84 can be adjusted up and down according to the actual table height via the cleaning rod lifting platform 85 to adapt to the table height. The telescopic rod 84 can be extended and retracted via the cleaning rod drive assembly 86, allowing the rag 81 to clean the tabletop and the scraper 83 to scrape the tabletop debris into the swill collection bucket 9.

[0043] To ensure complete cleaning of the tabletop, the telescopic rod 84 preferably adopts a two-stage telescopic rod. The extension length of the telescopic rod 84 can meet the needs of most dining tables. If the dining table exceeds the range of the two-stage telescopic rod, the cleaning robot can rely on the OpenMV camera and LiDAR sensor 11 to determine and move to the side of the dining table closer to the trash, and then use the two-stage telescopic rod to clean the tabletop. The rag 81 can be manually replaced or washed after a certain period of use. Specifically, when the rag 81 is working, the cleaning rod drive assembly 86 drives the cleaning rod 82 to rotate until the rag 81 corresponds to the tabletop; when the scraper 83 is working, the cleaning rod drive assembly 86 drives the cleaning rod 82 to rotate until the scraper 83 corresponds to the tabletop.

[0044] Furthermore, the robot body 10 has a chassis 1 on its bottom, and a cleaning liquid tank 2, a clean water tank 3, and a battery 5 on the chassis 1. The cleaning liquid tank 2 and the clean water tank 3 are equipped with liquid level sensors 4. The cleaning liquid tank 2 is equipped with a cleaning liquid hydraulic pump 18, which is used to supply cleaning liquid to the multi-functional robotic arm 7 and the tableware spraying arm 69. The clean water tank 3 is equipped with a clean water hydraulic pump 17, which is used to supply clean water to the multi-functional robotic arm 7 and the tableware spraying arm 69.

[0045] This configuration allows the cleaning robot to operate continuously via battery 5; the cleaning fluid tank 2 and water tank 3 are used for supplying cleaning fluid and water (to the dish spray arm 69 and water nozzle 72), and their piping principle is as follows. Figure 13As shown, the pipeline includes a three-position two-way directional valve 20, a one-way valve 19, a clean water hydraulic pump 17, a cleaning fluid hydraulic pump 18, a cleaning fluid tank 2, a clean water tank 3, a tableware spray arm 69, and a water nozzle 72. When only clean water is needed, the clean water hydraulic pump 17 operates, while the cleaning fluid hydraulic pump 18 does not. When cleaning fluid is needed, both the clean water hydraulic pump 17 and the cleaning fluid hydraulic pump 18 start operating. When the cleaning fluid pipeline reaches a certain pressure, the one-way valve 19 opens, and a certain proportion of cleaning mixture is formed through the flow rate between the two pipelines. When the clean water hydraulic pump 17 and the cleaning fluid hydraulic pump 18 are not operating, the one-way valve 19 separates the two pipelines to prevent mixing. The hydraulic pipeline switches between the output ends (tableware spray arm 69 and water nozzle 72) through the three-position two-way directional valve 20.

[0046] Furthermore, the chassis 1 is equipped with a lidar sensor 11, Mecanum wheels 12, omnidirectional wheels 14, and an attitude sensor 15. Vibration damping devices 13 are installed between the Mecanum wheels 12 and the omnidirectional wheels 14 and the chassis 1. This configuration, utilizing the vibration damping devices 13 (including linear guide shafts and compression springs), ensures that the Mecanum wheels 12 and omnidirectional wheels 14 are always in contact with the ground, preventing issues such as wheel suspension and slippage. During movement, SLAM algorithm is preferably used as the core driving technology to provide the cleaning robot with autonomous obstacle avoidance and intelligent navigation functions. The lidar sensor 11 performs a 3D scan of the surrounding environment, using infrared signal transmission and reception to form environmental point cloud data. Combined with the SLAM algorithm, real-time map construction and dynamic obstacle recognition are completed. The feedback control system then controls the attitude sensor 15 to drive the omnidirectional wheels 14 and Mecanum wheels 12 to rotate, thereby ensuring the cleaning robot's driving stability and path planning accuracy in complex scenarios.

[0047] To address the issue of manual operation of the cleaning robot, the control system allows for remote control via Bluetooth and voice commands. Specifically, the cleaning robot has a built-in Bluetooth module connected to an STM32 microcontroller. The Bluetooth module's RX and TX pins are connected to the STM32's TX and RX pins, respectively, enabling bidirectional communication. Users can establish a connection with the robot via Bluetooth through a mobile app, allowing real-time control of the device. For example, when the water tank 3 is low on water, the user simply taps their phone, and the cleaning robot automatically connects the tank to the refill station (for charging and water supply) faucet to replenish the water. The cleaning robot integrates various sensors to monitor its operational status in real time: a level sensor 4 detects water volume and remaining cleaning fluid; an infrared sensor monitors the capacity of the swill collection bucket 9. Sensor data is transmitted to the STM32 via an interface, processed, and then sent to the mobile app via the Bluetooth module, allowing users to check the device's status at any time. For voice control, a voice recognition module based on the ESP32 microcontroller is also included. Users can issue commands such as "start cleaning" or "clean the dishes" via microphone. The voice signal is first converted into text, then parsed using Natural Language Processing (NLP) technology to extract the user's intent and key information. Finally, the robot performs the corresponding operation based on the semantics. This function effectively reduces the user's learning cost and provides a more intuitive and convenient interactive experience.

[0048] Compared with traditional dishwasher robots, the cleaning robot of this invention has the following advantages: Adaptable to various dining tables, this robot utilizes a multi-functional robotic arm (7), an OpenMV camera, and a convolutional neural network (CNN algorithm) to pre-clean stubborn stains on tableware. Considering different table heights, it employs an adjustable cleaning rod assembly (8) to ensure compatibility with most tables. Integrating multiple functions (table cleaning, tableware recognition and handling, tableware placement and rinsing, and drying and storage), it helps users handle the entire post-meal cleaning process, including table cleaning, tableware collection, and tableware washing and drying. Users can also control the robot and check its status via a mini-program. For mobility, it employs a SLAM algorithm to better adapt to unfamiliar environments, and is equipped with Mecanum wheels (12), a shock absorption device (13), omnidirectional wheels (14), and an attitude sensor (15) for omnidirectional movement and shock absorption.

[0049] The embodiments of the present utility model have been described above with reference to the accompanying drawings. However, the present utility model is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present utility model without departing from the spirit and scope of the claims. All of these forms are within the scope of protection of the present utility model.

Claims

1. A multifunctional post-meal cleaning robot, comprising a robot body (10), characterized in that: The robot body (10) is equipped with a tableware washing and storage device (6), a tableware identification device and a table cleaning device; The tableware washing and storage device (6) includes a tableware rinsing chamber (610) and a tableware drying and storage chamber (613). The tableware rinsing chamber (610) is used to place and rinse tableware, and the tableware drying and storage chamber (613) is used to dry and store tableware for later use. The tableware identification device includes a multi-functional robotic arm (7) and a camera (16). The camera (16) is used to identify tableware, and the multi-functional robotic arm (7) is used to pick up the tableware and send it into the tableware rinsing chamber (610). The desktop cleaning device includes a cleaning rod assembly (8) and a swill collection bucket (9). The cleaning rod assembly (8) is used to clean up desktop garbage and send the garbage and sewage into the swill collection bucket (9) for collection and treatment.

2. The multifunctional post-meal cleaning robot according to claim 1, characterized in that: The tableware rinsing chamber (610) is equipped with a tableware loading basket (68), a tableware spray arm (69), and a wastewater tank (65). The tableware loading basket (68) is located above the tableware spray arm (69). The tableware spray arm (69) is connected to a liquid supply pipeline. The tableware spray arm (69) is used to rinse the tableware in the tableware loading basket (68). The wastewater tank (65) is used to collect and treat the wastewater after rinsing. The wastewater tank (65) is connected to a sewage discharge pipeline. A tableware loading basket transfer device is provided between the tableware rinsing chamber (610) and the tableware drying and storage chamber (613).

3. The multifunctional post-meal cleaning robot according to claim 2, characterized in that: The tableware rinsing chamber (610) has an opening two on one side near the tableware drying and storage chamber (613), and a display (611) is provided on the other side of the tableware rinsing chamber (610); the robot body (10) is provided with an inclined slide (61), the lower end of the inclined slide (61) is corresponding to the opening two, so that the multi-functional robotic arm (7) can slide the tableware into the tableware loading basket (68) through the inclined slide (61); the opening two is provided with a cleaning chamber sealing door (66) for opening or closing the opening two, and the cleaning chamber sealing door (66) includes a roller shutter door (66). 1) Connecting rod (662), fixing plate (663), baffle two (664) and guide groove two (665), the roller shutter door two (661) is connected to the fixing plate (663), the fixing plate (663) is connected to the baffle two (664) through the connecting rod (662), the fixing plate (663) and the baffle two (664) are slidably connected to the guide groove two (665); the roller shutter door two (661) drives the fixing plate (663) to slide up and down along the guide groove two (665), and the fixing plate (663) drives the baffle two (664) to open or close the opening two.

4. A multifunctional post-meal cleaning robot according to claim 3, characterized in that: The tableware loading basket (68) is provided with multiple compartments, and each compartment is provided with a cushioning elastic element (681) and a cushioning sponge pad to prevent tableware from breaking; the tableware loading basket (68) includes a bowl basket, a plate basket and a chopsticks and spoon basket, and the inclined chute (61) includes a bowl conveying chute, a plate conveying chute and a chopsticks and spoon conveying chute. The bowl conveying chute and the bowl basket are correspondingly arranged, the plate conveying chute and the plate basket are correspondingly arranged, and the chopsticks and spoon conveying chute and the chopsticks and spoon basket are correspondingly arranged.

5. A multifunctional post-meal cleaning robot according to claim 2, characterized in that: The tableware loading basket transfer device includes a tableware loading basket drive assembly (614), a lead screw (615), and a slide rail (64). A slider (67) is fixed on the tableware loading basket (68). The slider (67) is slidably connected to the slide rail (64). The output end of the tableware loading basket drive assembly (614) is connected to the lead screw (615). The lead screw (615) and the slider (67) are threadedly connected. The tableware loading basket drive assembly (614) drives the lead screw (615) to rotate so that the slider (67) slides horizontally back and forth along the slide rail (64).

6. A multifunctional post-meal cleaning robot according to claim 2, characterized in that: The tableware drying and storage chamber (613) has an opening on one side near the tableware rinsing chamber (610), and a sliding door (612) for opening or closing the tableware drying and storage chamber (613) is provided on the other side of the tableware drying and storage chamber (613). The opening is provided with a storage chamber sealing door (63) for opening or closing the opening. The storage chamber sealing door (63) includes a roller shutter door (631), a baffle (632), and a guide groove (633). The roller shutter door (631) is connected to the baffle (632), and the baffle (632) and the guide groove (633) are slidably connected. The roller shutter door (631) drives the baffle (632) to slide up and down along the guide groove (633) to open or close the opening. The tableware drying and storage chamber (613) is provided with a heating device (62).

7. A multifunctional post-meal cleaning robot according to claim 2, characterized in that: The multifunctional robotic arm (7) includes a movable robotic arm (71), a water nozzle (72), a rotating head (73), a robotic claw (74), and a rotating base (75). The rotating base (75) is rotatably mounted on the robot body (10). The lower end of the movable robotic arm (71) is mounted on the rotating base (75). The rotating head (73) is mounted on the upper end of the movable robotic arm (71). The water nozzle (72) and the robotic claw (74) are symmetrically mounted on both sides of the rotating head (73).

8. A multifunctional post-meal cleaning robot according to claim 2, characterized in that: The cleaning rod assembly (8) includes a cloth (81), a cleaning rod (82), a scraper (83), a telescopic rod (84), a cleaning rod lifting platform (85), and a cleaning rod drive assembly (86). The cloth (81) and the scraper (83) are symmetrically installed on both sides of the cleaning rod (82). The cleaning rod (82) is installed at one end of the telescopic rod (84), and the other end of the telescopic rod (84) is installed on the cleaning rod lifting platform (85). The cleaning rod lifting platform (85) is used to drive the telescopic rod (84) to move up and down. The cleaning rod drive assembly (86) is used to drive the telescopic rod (84) to extend and retract and to drive the cleaning rod (82) to rotate.

9. A multifunctional post-meal cleaning robot according to claim 2, characterized in that: The robot body (10) has a chassis (1) on its bottom. The chassis (1) has a cleaning liquid tank (2), a clean water tank (3) and a battery (5). The cleaning liquid tank (2) and the clean water tank (3) are equipped with liquid level sensors (4). The cleaning liquid tank (2) is equipped with a cleaning liquid hydraulic pump (18), which is used to supply cleaning liquid to the multi-functional robotic arm (7) and the tableware spraying arm (69). The clean water tank (3) is equipped with a clean water hydraulic pump (17), which is used to supply clean water to the multi-functional robotic arm (7) and the tableware spraying arm (69).

10. A multifunctional post-meal cleaning robot according to claim 9, characterized in that: The chassis (1) is equipped with a laser radar sensor (11), a Mecanum wheel (12), a caster wheel (14) and an attitude sensor (15). The Mecanum wheel (12) and the caster wheel (14) are respectively provided with vibration damping devices (13) between them and the chassis (1).

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