CN114516503B - Intelligent dustbin cover opening and closing control method and device and intelligent dustbin - Google Patents
Intelligent dustbin cover opening and closing control method and device and intelligent dustbin Download PDFInfo
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- CN114516503B CN114516503B CN202210193983.XA CN202210193983A CN114516503B CN 114516503 B CN114516503 B CN 114516503B CN 202210193983 A CN202210193983 A CN 202210193983A CN 114516503 B CN114516503 B CN 114516503B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/16—Lids or covers
- B65F1/1623—Lids or covers with means for assisting the opening or closing thereof, e.g. springs
- B65F1/1638—Electromechanically operated lids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/165—Remote controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/168—Sensing means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Refuse Receptacles (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The invention relates to the technical field of garbage cans, in particular to an intelligent garbage can cover switch control method and device and an intelligent garbage can, wherein the control method comprises the steps of detecting whether a switch instruction is received or not; when a switching instruction is received, the driving motor performs a closing action on the dustbin cover, and starts to collect current signals of the motor after the preset time is exceeded; comparing the current signal of the motor with the locked rotor current signal of the motor; if the current signal is smaller than the locked rotor current signal, continuing to execute the cover closing action until the current signal is larger than the locked rotor current, and stopping executing the cover closing action; if the current signal is greater than the locked-rotor current signal, the driving motor stops executing the cover closing action and starts executing the cover opening action until the current signal is greater than the locked-rotor current, and stops executing the cover opening action. The control method provided by the invention does not need other sensors, so that the control method has the advantages of simple structure, high execution efficiency, low cost and high reliability.
Description
Technical Field
The invention relates to the technical field of garbage cans, in particular to an intelligent garbage can cover opening and closing control method and device and an intelligent garbage can.
Background
The garbage can is a necessary product for daily life of people and is used for storing garbage. The design of the dustbin cover can effectively prevent various infectious diseases from being transmitted through the rubbish and prevent the peculiar smell of the rubbish from being scattered. At present, the traditional opening and closing mode of the dustbin cover is mainly operated by hands, and is not sanitary and not clean. Therefore, in order to avoid the problem of unclean turning, many intelligent garbage cans are derived from the market.
Conventional mechanical opening and closing of the waste bin cover is generally realized by using a mechanical structure. For example, patent number CN201822155742.8 discloses a garbage can with a pedal flip mechanism for 2018, 12 and 21. The novel garbage can has the advantages that the lever is longer, the moment is larger, the rotating shaft at the fulcrum is easy to break, and the metal part of the novel garbage can is easy to cause metal fatigue and rust in the long-term use process, so that the garbage can is difficult to open or close.
The novel intelligent dustbin detects through a position sensor or an infrared sensor, for example, a flip dustbin with human body induction recognition is disclosed in patent number CN201921230488.1, publication date is 2020, 05, 26, and human hands are induced through infrared induction, so that the dustbin cover is driven to be opened and closed, and the novel intelligent dustbin has the problems of easiness in misoperation, inflexibility in use, complex structure, high cost and troublesome maintenance.
Disclosure of Invention
In order to solve the defect of inconvenient opening and closing of the dustbin cover in the prior art, the invention provides an intelligent dustbin cover opening and closing control method, which comprises the following steps:
s10, detecting whether a switch instruction is received;
s20, when a switch instruction is received, the driving motor performs a cover closing action on the dustbin cover;
s30, after the preset time is exceeded, starting to collect current signals of the motor;
s40, comparing the current signal of the motor with the locked rotor current signal of the motor; if the current signal is smaller than the locked rotor current signal, continuing to execute the cover closing action until the current signal is larger than the locked rotor current signal, and stopping executing the cover closing action;
and if the current signal is greater than the locked-rotor current signal, stopping the cover closing action by the driving motor, and starting to execute the cover opening action until the current signal is greater than the locked-rotor current signal, and stopping executing the cover opening action.
In one embodiment, in step S30, the preset time is set to be in the range of 100 to 150ms.
The invention also provides an intelligent dustbin cover switch control device, which comprises: a motor in transmission connection with the dustbin cover; the switch module is used for sending out a switch instruction; the motor driving module is respectively and electrically connected with the motor and the switch module;
the motor driving module comprises an MCU, a motor driving chip U2 and an acquisition circuit which are electrically connected; the acquisition circuit is used for acquiring signals of the current of the motor after the preset time is exceeded;
the MCU is used for outputting a signal to control the motor driving chip U2 after receiving a switching instruction of the switching module, so as to drive the motor to execute a cover closing action on the dustbin cover, and comparing a current signal of the motor with a locked rotor current signal of the motor; if the current signal is smaller than the locked-rotor current signal, the MCU controls the motor driving chip U2 to continuously execute the cover closing action until the current signal is larger than the locked-rotor current signal, and the cover closing action is stopped; if the current signal is greater than the locked-rotor current signal, the MCU controls the motor driving chip U2 to drive the motor to stop executing the cover closing action and starts executing the cover opening action until the current signal is greater than the locked-rotor current signal.
In one embodiment, the preset time setting range in the acquisition circuit is 100-150 ms.
In one embodiment, the acquisition circuit comprises a resistor R3, a resistor R4 and a capacitor C4; one end of the resistor R3 is grounded through a capacitor C4 and is connected with the MCU, and the other end of the resistor R3 is connected with the grounding end of the motor driving chip U2; one end of the resistor R4 is connected with the grounding end of the motor driving chip U2, and the other end of the resistor R is grounded.
In one embodiment, the device further comprises a power supply circuit electrically connected between the direct current and the MCU;
the power supply circuit comprises a voltage stabilizing chip U3, a resistor R9, a capacitor C1, a capacitor C2 and a capacitor C3, wherein direct current is connected with the input end of the voltage stabilizing chip U3 through one path of the resistor R9, the other path of the direct current is connected with the grounding end of the voltage stabilizing chip U3 through the capacitor C1, the output end of the voltage stabilizing chip U3 is connected with the grounding end of the voltage stabilizing chip U3 through the capacitor C2 and the capacitor C3 which are connected in parallel, and the other path of the direct current is connected with the MCU.
In one embodiment, the motor driving chip U2 is connected to the input interface J1 of the motor through a capacitor C7.
In an embodiment, the MCU is of the type BF7812AMXX.
In an embodiment, the switch module is one of a key switch, a touch switch, a remote control switch, a voice control switch and an inductive switch.
The invention also provides an intelligent garbage can, which adopts the intelligent garbage can cover switch control method or the intelligent garbage can cover switch control device.
Based on the above, compared with the prior art, the intelligent garbage can cover opening and closing control method provided by the invention can realize automatic cover opening and closing of the garbage can cover only through forward and reverse rotation of the motor and comparison of current signals, and does not need other sensing devices, so that the intelligent garbage can cover opening and closing control method has the advantages of simple structure, high execution efficiency, low cost and high reliability.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
For a clearer description of embodiments of the invention or of the solutions of the prior art, the drawings that are needed in the description of the embodiments or of the prior art will be briefly described, it being obvious that the drawings in the description below are some embodiments of the invention, and that other drawings can be obtained from them without inventive effort for a person skilled in the art; the positional relationships described in the drawings in the following description are based on the orientation of the elements shown in the drawings unless otherwise specified.
FIG. 1 is a flow chart of steps of an intelligent garbage can cover opening and closing control method provided by the invention;
fig. 2 is a schematic structural diagram of an intelligent dustbin cover switch control device provided by the invention;
FIG. 3 is a circuit diagram of a motor drive module and a switch module;
fig. 4 is a circuit diagram of a power supply circuit.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention; the technical features designed in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that all terms used in the present invention (including technical terms and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs and are not to be construed as limiting the present invention; it will be further understood that terms used herein should be interpreted as having a meaning that is consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The invention provides an intelligent dustbin cover switch control method, which is shown by referring to fig. 1 and comprises the following steps:
s1, detecting whether a switching instruction is received;
the switch instruction can be sent by manual key pressing or touching, infrared induction, sound control, face recognition and other modes; for example, when the cover of the dustbin needs to be opened or closed, an operator can manually press a key switch or a touch switch arranged on the dustbin, so that the dustbin receives a switch instruction. Of course, those skilled in the art may obtain the switch command in other manners, which are not limited by the embodiment of the present invention.
S2, when a switch instruction is received, the driving motor performs a cover closing action on the dustbin cover; that is, according to the received switching instruction, the driving motor starts to rotate forward or backward, so that the dustbin cover moves towards the closing direction. Wherein, the motor is rotatably connected with the dustbin cover through a transmission part, so as to control the dustbin cover to be opened or closed.
S3, starting to collect current signals of the motor after the preset time is exceeded;
the preset time is set to be longer than the duration of the starting current of the motor, so that the influence of the starting current on the current of the motor is avoided, and misjudgment is caused. Therefore, a user can determine preset time according to specific motor conditions, and then collect current signals of the motor. Preferably, the preset time is set to be in a range of 100 to 150ms, and further, may be set to be 100ms.
S4, comparing the current signal of the motor with the locked rotor current signal of the motor; if the current signal is smaller than the locked rotor current signal, continuing to execute the cover closing action until the current signal is larger than the locked rotor current signal, and stopping executing the cover closing action;
and if the current signal is greater than the locked-rotor current signal, stopping the cover closing action by the driving motor, and starting to execute the cover opening action until the current signal is greater than the locked-rotor current signal, and stopping executing the cover opening action.
The locked-rotor current of the motor is a rated parameter of the motor itself, and the locked-rotor current signal can be obtained by the motor actually adopted.
The specific working principle is as follows: after the cover closing action is executed for a preset time, if the current signal is smaller than the locked rotor current signal, the cover closing action can be further executed by the motor until the current signal is larger than the locked rotor current signal, the cover closing action can be completely executed by the motor, the motor is blocked, and the cover closing action can not be further executed, so that the motor can stop executing the cover closing action. The closing of the dustbin cover is completed.
If the current signal is greater than the locked-rotor current signal, the garbage can cover is in a closed state, and the motor is blocked and cannot further execute the cover closing action, so that the motor is required to stop rotating to execute the cover closing action, and then the motor is driven to reversely rotate to execute the cover opening action, so that the garbage can cover is opened along with the rotation of the motor. Until the current signal is larger than the locked-rotor current signal, the garbage can cover is in a completely opened state, and the motor is blocked and can not further execute the uncovering action, so that the motor can stop executing the uncovering action. Thus completing the cover opening of the dustbin cover.
It should be noted that, according to the different weight and other structural designs of the dustbin cover, the current signal is not necessarily greater than the locked-rotor current signal to perform other actions; specifically, when the current signal is larger than a current threshold value slightly smaller than the locked rotor current signal, other actions can be executed according to the flow, and the situation that the motor current can damage the device or influence the service life after exceeding the locked rotor current due to the design of part of the dustbin cover can be avoided. The setting range of the current threshold value should be determined according to the setting structure of the actual dustbin cover and the dustbin.
It should also be noted that the embodiments of the present invention use comparison of current signals, and those skilled in the art may use comparison of other electrical parameters, such as voltage signals, instead of comparison of current signals.
In summary, the intelligent garbage can cover opening and closing control method provided by the invention does not need other devices such as a position sensor and the like to confirm whether the garbage can cover is in an opening state or a closing state, only needs to execute the cover closing action first, then compares current signals, and executes corresponding cover opening action and cover closing action according to the comparison result of the current signals.
The invention also provides an intelligent dustbin cover switch control device, as shown in figures 2 and 3, comprising: and the motor is in transmission connection with the dustbin cover, wherein the motor is in transmission connection with the dustbin cover. Specifically, the garbage can be directly connected with the rotating shaft in a transmission way, and can also be indirectly connected with the rotating shaft through a transmission part such as a speed reducer or a synchronous wheel, a gear mechanism and the like, and the garbage can is specifically arranged according to the actual situation of the garbage can. The motor driving module is electrically connected with the motor and the switch module respectively; the motor driving module is used for receiving the switching instruction of the switching module and driving the motor to perform corresponding opening and closing cover actions.
The motor driving module comprises an MCU, a motor driving chip U2 and an acquisition circuit which are electrically connected; the output end first pin and the second pin of the MCU are respectively connected with the input end first pin and the second pin of the motor driving chip U2, and the output end of the motor driving chip U2 is connected with the input end of the motor. Preferably, the motor driving chip U2 is connected to the input interface J1 of the motor through a capacitor C7.
The other output end of the motor driving chip U2 is connected with the other input end of the MCU through the acquisition circuit so as to acquire and transmit current signals of the motor to the MCU.
Preferably, the acquisition circuit comprises a resistor R3, a resistor R4 and a capacitor C4; one end of the resistor R3 is grounded through a capacitor C4 and is connected with the MCU, and the other end of the resistor R3 is connected with the grounding end of the motor driving chip U2; one end of the resistor R4 is connected with the grounding end of the motor driving chip U2, and the other end of the resistor R is grounded.
Illustratively, the first pin output high-level signal and the second pin output low-level signal of the MCU are set to control the motor to rotate forward to execute the uncovering action; the second pin outputs a high-level signal, the first pin outputs a low-level signal to control the motor to rotate reversely so as to execute the cover closing action, and the first pin outputs a low-level signal and the second pin outputs a low-level signal to control the motor to stop rotating.
The working principle is as follows: after receiving a switching instruction of the switching module, the MCU outputs a low level through the first pin, and the second pin outputs a high level to the motor driving chip U2, so that the motor is driven to execute a cover closing action on the dustbin cover; after the preset time, the current signal of the motor is acquired through a resistor R3, a resistor R4 and a capacitor C4 of the acquisition circuit and is transmitted to the MCU;
then, the MCU compares the current signal of the motor with the locked-rotor current signal of the motor;
if the current signal is smaller than the locked-rotor current signal, judging that the garbage can cover is in a fully opened state, outputting a low level by the MCU through the first pin continuously, outputting a high level by the second pin to control the motor driving chip U2 to drive the motor to continuously execute the cover closing action until the MCU detects that the current signal is larger than the locked-rotor current signal, and indicating that the garbage can cover is fully closed; finally, the MCU outputs a low level through the first pin, and the second pin outputs a low level to stop executing the cover closing action;
if the current signal is greater than the locked-rotor current signal, judging that the garbage can cover is in a completely closed state, controlling a motor driving chip U2 to drive a motor to stop executing the cover closing action by the MCU through the low level output by the first pin and the low level output by the second pin, and then executing the cover opening action by the MCU through the high level output by the first pin and the low level output by the second pin until the MCU detects that the current signal is greater than the locked-rotor current signal, and indicating that the garbage can cover is completely opened; and finally, the MCU stops executing the uncovering action by outputting a low level through the first pin and outputting a low level through the second pin.
Preferably, the preset time setting range in the acquisition circuit is 100-150 ms.
Preferably, as shown in fig. 4, the power supply circuit is further included and electrically connected between the direct current and the MCU;
the power supply circuit comprises a voltage stabilizing chip U3, a resistor R9, a capacitor C1, a capacitor C2 and a capacitor C3, wherein direct current is connected with the input end of the voltage stabilizing chip U3 through one path of the resistor R9, the other path of the direct current is connected with the grounding end of the voltage stabilizing chip U3 through the capacitor C1, the output end of the voltage stabilizing chip U3 is connected with the grounding end of the voltage stabilizing chip U3 through the capacitor C2 and the capacitor C3 which are connected in parallel, and the other path of the direct current is connected with the MCU.
Preferably, the power supply circuit can convert 12V direct current into stable 5V direct current for output and provide power for the device.
Preferably, the model of the MCU is BF7812AMXX.
Preferably, the switch module adopts one of a key switch, a touch switch, a remote control switch, a sound control switch and an inductive switch. The specific switch setting mode is a technical means conventional in the art, and is not repeated here. Illustratively, as shown in fig. 3, one end of a key switch of the switch module is connected to the MCU, and the other end is grounded for issuing a switch command. It should be noted that other switches that can give a switch command to the trash can may be used instead of the above.
The invention also provides an intelligent garbage can, which adopts the intelligent garbage can cover switch control method or the intelligent garbage can cover switch control device. The intelligent garbage can adopting the control method or the control device has the advantages of simple structure, high execution efficiency, low cost, strong applicability and reliability and good application prospect.
In addition, it should be understood by those skilled in the art that although many problems exist in the prior art, each embodiment or technical solution of the present invention may be modified in only one or several respects, without having to solve all technical problems listed in the prior art or the background art at the same time. Those skilled in the art will understand that nothing in one claim should be taken as a limitation on that claim.
Although terms such as motor, switch module, motor drive module, acquisition circuit, power supply circuit, etc. are used more herein, the possibility of using other terms is not precluded. These terms are used merely for convenience in describing and explaining the nature of the invention; they are to be interpreted as any additional limitation that is not inconsistent with the spirit of the present invention; the terms first, second, and the like in the description and in the claims of embodiments of the invention and in the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. The intelligent dustbin cover opening and closing control method is characterized by comprising the following steps of:
s10, detecting whether a switch instruction is received;
s20, when a switch instruction is received, the driving motor performs a cover closing action on the dustbin cover;
s30, after the preset time is exceeded, starting to collect current signals of the motor; the preset time is set to be longer than the duration of the starting current of the motor;
s40, comparing the current signal of the motor with the locked rotor current signal of the motor; if the current signal is smaller than the locked-rotor current signal, indicating that the garbage can cover is in an open state, continuing to execute the cover closing action of the step S20 until the current signal is larger than the locked-rotor current signal, and stopping executing the cover closing action;
if the current signal is greater than the locked-rotor current signal, indicating that the garbage can cover is in a closed state, the driving motor stops executing the cover closing action of the step S20 and starts executing the cover opening action until the current signal is greater than the locked-rotor current signal.
2. The intelligent dustbin cover opening and closing control method according to claim 1, wherein: in step S30, the preset time setting range is 100-150 ms.
3. An intelligent garbage can cover switch control device, which is characterized by comprising: a motor in transmission connection with the dustbin cover; the switch module is used for sending out a switch instruction; the motor driving module is respectively and electrically connected with the motor and the switch module;
the motor driving module comprises an MCU, a motor driving chip U2 and an acquisition circuit which are electrically connected; the acquisition circuit is used for acquiring signals of the current of the motor after the preset time is exceeded; the preset time is set to be longer than the duration of the starting current of the motor;
the MCU is used for outputting a signal to control the motor driving chip U2 after receiving a switching instruction of the switching module, so as to drive the motor to execute a cover closing action on the dustbin cover, and comparing a current signal of the motor with a locked rotor current signal of the motor; if the current signal is smaller than the locked-rotor current signal, indicating that the garbage can cover is in an open state, the MCU controls the motor driving chip U2 to continuously execute the cover closing action until the current signal is larger than the locked-rotor current signal, and stopping executing the cover closing action executed after receiving the switch instruction; if the current signal is larger than the locked-rotor current signal, indicating that the garbage can cover is in an open state, the MCU controls the motor driving chip U2 to drive the motor to stop executing the cover closing action executed after receiving the switching instruction, and starts executing the cover opening action until the current signal is larger than the locked-rotor current signal, and stops executing the cover opening action.
4. The intelligent dustbin cover switch control device according to claim 3, wherein: the preset time setting range in the acquisition circuit is 100-150 ms.
5. The intelligent dustbin cover switch control device according to claim 3, wherein: the acquisition circuit comprises a resistor R3, a resistor R4 and a capacitor C4; one end of the resistor R3 is grounded through a capacitor C4 and is connected with the MCU, and the other end of the resistor R3 is connected with the grounding end of the motor driving chip U2; one end of the resistor R4 is connected with the grounding end of the motor driving chip U2, and the other end of the resistor R is grounded.
6. The intelligent dustbin cover switch control device according to claim 3, wherein: the power supply circuit is electrically connected between the direct current and the MCU;
the power supply circuit comprises a voltage stabilizing chip U3, a resistor R9, a capacitor C1, a capacitor C2 and a capacitor C3, wherein direct current is connected with the input end of the voltage stabilizing chip U3 through one path of the resistor R9, the other path of the direct current is connected with the grounding end of the voltage stabilizing chip U3 through the capacitor C1, the output end of the voltage stabilizing chip U3 is connected with the grounding end of the voltage stabilizing chip U3 through the capacitor C2 and the capacitor C3 which are connected in parallel, and the other path of the direct current is connected with the MCU.
7. The intelligent dustbin cover switch control device according to claim 3, wherein: the motor driving chip U2 is connected with an input interface J1 of the motor through a capacitor C7.
8. The intelligent dustbin cover switch control device according to claim 3, wherein: the model of the MCU is BF7812AMXX.
9. The intelligent dustbin cover switch control device according to any one of claims 3-8, wherein: the switch module adopts one of a key switch, a touch switch, a remote control switch, a sound control switch and an inductive switch.
10. An intelligent garbage bin, its characterized in that: use of the intelligent dustbin cover opening and closing control method according to any one of claims 1 to 2, or use of the intelligent dustbin cover opening and closing control apparatus according to any one of claims 3 to 9.
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| CN202210193983.XA CN114516503B (en) | 2022-03-01 | 2022-03-01 | Intelligent dustbin cover opening and closing control method and device and intelligent dustbin |
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