Method, device and system for controlling excrement cleaning system

Abstract

The invention provides a control method, device and system of an excrement cleaning system. Relates to the technical field of pet supplies. The control method comprises the following steps: determining a current state through a weighing sensing module and an infrared sensing module; if the current state is a defecation completion state, a screening and cleaning process is executed; the opening of the connected garbage bag is opened and corresponds to the position of the discharge port of the device; and after the screening and cleaning process is finished, the opening of the garbage bag for receiving the excrement is sealed through a sealing device. According to the control method of the excrement cleaning system, the excrement cleaning efficiency is improved through the automation technology, it is ensured that excrement directly falls into the garbage bag, environmental pollution and odor emission are reduced, and the air quality and the living comfort are improved. The intelligent control reduces the health risk and the maintenance cost, and improves the user satisfaction.

Description

Technical Field

[0001] The present application relates to the technical field of pet supplies, and in particular to a control method, device and system for a feces cleaning system. Background Art

[0002] With the development of society and the improvement of living standards, people's pursuit of quality of life is also constantly improving. In the field of pet care, pet cats, as important members of the family, are also valued for their quality of life. The optimization of modern living area planning and the improvement of pet care requirements have made the living environment and sanitary conditions of pet cats the focus of attention. However, the fast-paced lifestyle has made pet owners face challenges in pet hygiene management, especially in the cleaning and maintenance of cat toilets.

[0003] Existing cat toilet technologies have achieved some degree of automation, which can automatically perform the cleaning process and reduce the burden on pet owners. These technologies usually include functions such as automatic feces cleaning and automatic cat litter replenishment, in order to achieve the effect of freeing hands. However, despite the progress made in automation, these technologies still have shortcomings in feces treatment and odor control.

[0004] Specifically, in the cat litter box of the prior art, feces are often exposed to the air for a long time before and after the cleaning process, resulting in the continuous emission of feces odor in the space where the cat litter box is located, causing the deterioration of environmental hygiene. This continuous odor emission not only affects the comfort of the living environment, but also may attract insects to enter and lay eggs, further aggravating environmental pollution. In addition, the long-term presence of feces odor may also have potential effects on human health and the physical health of pet cats, especially in closed or poorly ventilated spaces.

[0005] In summary, although the existing cat toilet technology has made some progress in automated cleaning, it has obvious defects in odor control and environmental sanitation management. These problems not only affect the quality of life of pet owners, but also pose a challenge to the health of pet cats and the sanitation of the home environment. Therefore, it is necessary to develop a new cat toilet technology to solve the odor control and environmental sanitation problems in the existing technology and improve the overall experience of pet care. Summary of the invention

[0006] In a first aspect, the present invention provides a method for controlling a feces cleaning system, comprising:

[0007] Determine the current status through the weighing sensing module and infrared sensing module;

[0008] If the current state is the toilet completion state, the cleaning device is controlled to execute the screening and cleaning process;

[0009] Controlling the sealing device to open the opening of the connected garbage bag and make it correspond to the position of the discharge port of the cleaning device, so as to receive the feces discharged through the discharge port of the cleaning device through the opened opening of the garbage bag;

[0010] After the screening and cleaning process is completed, the opening of the garbage bag receiving the feces is sealed by the sealing device.

[0011] In an optional implementation manner, determining the current state by using a weighing sensing module and an infrared sensing module includes:

[0012] Determine whether there is any foreign matter entering the target area by using the infrared sensing module;

[0013] If yes, confirming the current state through the weighing sensing module;

[0014] If not, the process returns to executing the step of determining whether there is any exogenous foreign matter entering the target area through the infrared sensing module.

[0015] In an optional implementation, the confirming the current state by the weighing sensing module includes:

[0016] By means of the weighing sensing module, the last weighing data before the entry of the exogenous foreign matter is used as the first reference data; and within a first preset time range, the current first measured weight data is obtained;

[0017] Determine first weight change data within the first preset time range according to the first reference data and the first measured weight data;

[0018] If the weight change data is not less than the first preset weight threshold, the current state is determined to be a toileting state;

[0019] In the toileting state, obtaining the current second measured weight data within a second preset time range;

[0020] Determine second weight change data within the second preset time range according to the second measured weight data and the first reference data;

[0021] If the second weight change data is not greater than the second preset weight threshold, the current state is determined to be the toilet completion state.

[0022] In an optional embodiment, the control sealing device opens the opening of the connected garbage bag and corresponds to the position of the discharge outlet of the cleaning device, including:

[0023] Acquire a monitoring image of the cleaning work area by a first image acquisition device;

[0024] Determining the position of the discharge port of the cleaning device according to the monitoring image;

[0025] If the discharge port enters the cleaning work area, the sealing device is controlled to open the garbage bag opening and make the garbage bag opening correspond to the position of the discharge port.

[0026] In an optional embodiment, controlling the sealing device to open the garbage bag opening and aligning the garbage bag opening with the discharge port position includes:

[0027] Acquire the outlet information of the outlet in the monitoring image; wherein the outlet information includes the area size of the outlet and the current contour coordinates of the outlet;

[0028] Determine the target opening size of the garbage bag according to the size of the area, and open the opening of the garbage bag to the target opening size through the sealing device; wherein the opening size of the garbage bag is not less than the area of ​​the area;

[0029] The matching position corresponding to the opening of the garbage bag is determined according to the current contour coordinates, so as to move the opening of the garbage bag to the matching position through the sealing device.

[0030] In an optional embodiment, after the control and cleaning device performs the screening and cleaning process, it also includes:

[0031] Obtaining the working current of the cleaning device and resetting the switch state;

[0032] If the working current is greater than the preset current threshold and the reset switch state is that the preset position signal is not detected, it is determined that a foreign object is stuck in the cleaning device, and the screening and cleaning process is stopped, and the process returns to obtain the working current of the cleaning device and the reset switch state.

[0033] In an optional embodiment, the control method of the feces cleaning system further includes:

[0034] Real-time monitoring of the amount of cat litter remaining in the storage bin by means of a first TOF sensing module;

[0035] If the cat litter remaining amount is less than the preset remaining amount threshold, it is determined that the current cat litter remaining amount is unqualified, and the cat litter adding motor reducer is controlled to add cat litter to the storage bin based on the replenishment time;

[0036] After the replenishment time has passed, the storage bin is controlled to level the cat litter therein, and the process returns to the step of monitoring the amount of cat litter remaining in the storage bin in real time by the first TOF sensing module;

[0037] If the cat litter remaining amount is not less than the preset remaining amount threshold, it is determined that the current cat litter remaining amount is qualified.

[0038] In an optional embodiment, before the sealing device seals the opening of the garbage bag receiving the feces, the method further comprises:

[0039] Controlling the exhaust device to lay the bottom of the garbage bag flat in the garbage bag accommodating space;

[0040] Determine the height of the feces ball in the garbage bag, the plane coordinates of the feces ball on the plane where the feces ball is located, and the volume of the feces ball by using a second image acquisition device;

[0041] Controlling the spraying device to penetrate into the garbage bag and reach a spraying height in the vertical direction; wherein the spraying height is higher than the height of the feces ball;

[0042] and controlling the nozzle of the spraying device to an inclination angle corresponding to the coordinates of the planar stool;

[0043] And, determining the spray dosage according to the volume of the stool mass;

[0044] The spray head is controlled to spray the deodorizing liquid on the feces ball based on the spray dosage; and after the spraying is completed, the spray device is controlled to move out of the garbage bag.

[0045] In a second aspect, the present invention provides a control device for a feces cleaning system, comprising:

[0046] The detection module is used to determine the current state through the weighing sensing module and the infrared sensing module;

[0047] A cleaning module, used to control the cleaning device to execute a screening and cleaning process if the current state is a toilet completion state;

[0048] An adjustment module, used for controlling the sealing device to open the opening of the connected garbage bag and correspond to the position of the discharge port of the cleaning device, so as to receive the feces discharged through the discharge port of the cleaning device through the opened opening of the garbage bag;

[0049] The sealing module is used to seal the opening of the garbage bag that has received the feces through the sealing device after the screening and cleaning process is completed.

[0050] In a third aspect, the present invention provides a control system for a feces cleaning system, the control system for the feces cleaning system comprising a processor and a memory, the memory storing a computer program, and the processor being used to execute the computer program to implement the control method for the feces cleaning system described in any one of the aforementioned embodiments.

[0051] The feces cleaning system control method of the embodiment of the present application realizes the accurate collection and treatment of feces through automation technology, which significantly improves environmental hygiene and living comfort. The method controls the sealing device to accurately correspond the opening of the garbage bag with the discharge outlet of the cleaning device, ensuring that the feces fall directly into the garbage bag, avoiding the feces spillage caused by inaccurate opening position, and reducing the risk of environmental pollution. At the same time, the opening of the garbage bag is only opened when the screening and cleaning process is performed, which effectively avoids the exposure of the feces to the air, reduces the continuous emission of odor, and improves the air quality of the surrounding environment. In addition, the system closes the opening of the garbage bag after the cleaning process is completed, further isolating the contact between the feces and the outside air, preventing the emission of odor, and improving the comfort of the living environment. This intelligent control method not only reduces the health risks of pets and family members, but also reduces the maintenance cost and difficulty, and improves the overall satisfaction of pet owners with the feces cleaning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present application and should not be regarded as limiting the scope of protection of the present application. For ordinary technicians in this field, other related drawings can also be obtained based on these drawings without creative work.

[0053] Figure 1 It is a structural diagram of the hardware operating environment involved in the control method embodiment of the feces cleaning system of the present invention;

[0054] Figure 2 It is a flow chart of Example 1 of the control method of the feces cleaning system of the present invention;

[0055] Figure 3 This is a schematic diagram of a detailed flow chart of step S100 in Embodiment 2 of the method for controlling a feces cleaning system of the present invention;

[0056] Figure 4 This is a schematic diagram of a detailed flow chart of step S120 in Embodiment 2 of the method for controlling a feces cleaning system of the present invention;

[0057] Figure 5 It is a schematic diagram of a detailed flow chart of step S300 in Embodiment 2 of the control method for a feces cleaning system of the present invention;

[0058] Figure 6 It is a flowchart of the refinement (S111-S115) of step S330 in Example 2 of the control method of the feces cleaning system of the present invention;

[0059] Figure 7It is a flowchart of steps S500-1 to S500-2 in Embodiment 3 of the control method of the feces cleaning system of the present invention;

[0060] Figure 8 It is a flowchart of steps S600-1 to S600-4 in Embodiment 3 of the control method of the feces cleaning system of the present invention;

[0061] Fig. 9 It is a flowchart of steps S700-1 to S700-2 in Example 4 of the control method of the feces cleaning system of the present invention;

[0062] Fig.10 Schematic diagram of module connection of a control device of a feces cleaning system in an embodiment of the present invention. DETAILED DESCRIPTION

[0063] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0064] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0065] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present application, are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing items.

[0066] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0067] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0068] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0069] like Figure 1 , which is a schematic diagram of the structure of the hardware operating environment of the terminal involved in the embodiment of the present invention.

[0070] The control system of the feces cleaning system provided in the embodiment of the present invention can be a PC, or a mobile terminal device such as a smart phone, a tablet computer or a portable computer. The control system of the feces cleaning system may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005 and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen, an input unit such as a keyboard, and a remote control. The optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory, such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001. Optionally, the control system of the feces cleaning system may also include an RF (Radio Frequency) circuit, an audio circuit, a WiFi module, and the like.

[0071] Those skilled in the art will understand that Figure 1 The control system of the feces cleaning system shown in the figure does not constitute a limitation thereof, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. Figure 1 As shown, the memory 1005 as a computer-readable storage medium may include an operating system, a data interface control program, a network connection program, and a control program for the feces cleaning system.

[0072] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0073] Example 1

[0074] Reference Figure 2 Embodiment 1 of the present invention provides a method for controlling a feces cleaning system, comprising:

[0075] Step S100, determining the current state through the weighing sensing module and the infrared sensing module.

[0076] In the above, the weighing sensor module is used to detect whether there is a weight change of an object (such as a pet), and the infrared sensor module detects the movement and existence of the object. This step is intended to determine whether the pet has entered the cat litter box and whether it has finished using the toilet.

[0077] Automatically identify pet toileting status without human intervention, improving the system's response speed and accuracy.

[0078] Specifically, the main control chip can be programmed to receive signals from the sensing module and perform logical judgment.

[0079] Through the above step S100, real-time monitoring of the pet's toileting status is achieved, providing trigger conditions for the subsequent cleaning process.

[0080] Step S200, if the current state is the toilet completion state, then control the cleaning device to execute the screening cleaning process;

[0081] As mentioned above, when the sensing module determines that the pet has finished using the toilet (and has left), the cleaning device is activated to screen and clean the feces. The cleaning device starts working to separate and clean the feces from the cat litter.

[0082] This step can achieve timely cleaning of feces, reduce the exposure time of feces in the environment, and reduce odor and pollution. Specifically, the cleaning device can be driven by a motor to perform cleaning actions according to a preset program, thereby achieving rapid cleaning of feces and reducing environmental sanitation problems.

[0083] Step S300, controlling the sealing device to open the opening of the connected garbage bag and to correspond to the position of the discharge outlet of the cleaning device, so as to receive the feces discharged through the discharge outlet of the cleaning device through the opened opening of the garbage bag;

[0084] As described above, when the cleaning device starts to work, the sealing device is controlled to open the opening of the garbage bag so that it is aligned with the discharge port of the cleaning device. Excrement can directly fall into the garbage bag, thus avoiding the scattering of excrement and environmental pollution.

[0085] This step improves the accuracy of feces collection and reduces secondary contamination during the cleaning process.

[0086] The opening of the garbage bag is controlled by a mechanical arm or similar mechanical device to ensure that it is aligned with the discharge port, thereby achieving accurate collection of feces and avoiding environmental pollution.

[0087] Step S400, after the screening and cleaning process is completed, the opening of the garbage bag that receives the feces ball is sealed by the sealing device.

[0088] In this step, after the cleaning process is completed, the opening of the garbage bag is closed to ensure that the feces are sealed in the garbage bag. The feces in the garbage bag are sealed to prevent the odor from spreading and the spread of bacteria. This effectively controls the spread of odor and bacteria, protects environmental hygiene and the health of pets and family members.

[0089] The sealing device can be programmed to automatically close the opening of the garbage bag after cleaning.

[0090] The closed treatment of feces is achieved, reducing environmental sanitation problems.

[0091] Based on the sealing device provided in the embodiment of the present application, it can fix the garbage bag, adjust the opening direction, position, angle, and opening size, and seal the opening of the garbage bag after the screening and cleaning process is completed. The sealing can be a disassembly and assembly seal, that is, when the screening and cleaning process needs to be carried out again and the garbage bag is not full, the opening of the garbage bag can be opened again to continue to fill the feces.

[0092] For example, the sealing device may be as follows:

[0093] (1) Basic frame: The frame structure is used to fix and support the garbage bag to ensure the stability of the garbage bag during operation.

[0094] (2) Garbage bag fixing mechanism: A garbage bag fixing clip or strap is provided on the frame to fix the garbage bag to prevent it from moving or slipping during operation.

[0095] (3) Opening control mechanism: An opening control mechanism that can control the opening of the garbage bag. This can be a simple hinge mechanism that allows the opening of the garbage bag to rotate at a fixed point.

[0096] (4) Position adjustment mechanism: In order to align the opening of the garbage bag with the discharge outlet of the cleaning device, a position adjustment mechanism is designed. This can be a slide rail system that allows the garbage bag to move along the slide rail to adjust the position of the opening.

[0097] (5) Drive system: In order to achieve automatic control, a drive system, such as a stepper motor or a servo motor, can be set up to control the rotation of the motor through programming, thereby driving the opening control mechanism and the position adjustment mechanism.

[0098] (6) Sensor feedback system: Integrate sensors (such as infrared sensors or visual sensors) to detect the position and opening status of the garbage bag, ensure that the opening of the garbage bag is correctly aligned, and provide feedback signals when needed.

[0099] (7) Sealing mechanism: A sealing mechanism, such as a zipper, clip or adhesive strip, is designed at the opening of the garbage bag to close the opening of the garbage bag when feces collection is not required to prevent odor leakage.

[0100] (8) Emergency stop and safety mechanism: To ensure the safety of operation, design emergency stop buttons and safety sensors, such as automatically stopping the operation when abnormal conditions are detected.

[0101] (9) User interface: Provide a user interface, such as a touch screen or buttons, to allow the user to manually control the opening and closing of the trash bag, as well as adjust the position.

[0102] (10) Maintenance and cleaning: Design parts that are easy to disassemble and clean to facilitate regular maintenance and cleaning to ensure long-term stable operation of the device.

[0103] The sealing device is designed with automation, precise control and user convenience in mind, aiming to achieve an efficient and hygienic feces cleaning and collection process. By integrating advanced sensor technology and automated control, the device ensures that the opening of the garbage bag is precisely aligned with the discharge outlet of the cleaning device and automatically closes after cleaning, reducing environmental pollution and odor.

[0104] Example 2

[0105] Reference Figure 3 Embodiment 2 of the present invention provides a method for controlling a feces cleaning system. The step S100 determines the current state through a weighing sensing module and an infrared sensing module, including:

[0106] Step S110, determining whether there is any foreign matter entering the target area by the infrared sensing module;

[0107] As described above, an infrared sensing module is used to detect whether an object (such as a pet) enters the target area of ​​the cat litter box.

[0108] The target area may be a pre-set area, and the target area is monitored by an infrared sensing module, such as an infrared sensor, so as to determine whether a pet cat (exogenous foreign matter) enters the area. If a pet cat enters the area, the current state can be confirmed.

[0109] In this step, the system can identify whether an object has entered, providing a prerequisite for subsequent weighing induction. The infrared sensing module can quickly respond to the entry of an object and provide instant feedback to the system.

[0110] The main control chip can be programmed to receive signals from the infrared sensing module and perform logical judgments, thereby achieving real-time monitoring of the target area and providing a basis for the automated operation of the system.

[0111] Step S120: If yes, confirm the current state through the weighing sensing module;

[0112] As mentioned above, if the infrared sensing module detects the entry of an exogenous foreign object, the weighing sensing module is then used to confirm the weight of the object to determine whether it is a pet using the toilet. This is because there is a possibility of misjudgment due to non-pet objects entering the target area, for example, a paper box of the same or similar size as a pet falls into the area.

[0113] In this step, the system can determine whether the pet is in the litter box and whether it has finished using the toilet based on the weight change.

[0114] The weighing sensor module provides more accurate pet status information, improving the accuracy and reliability of the system. Specifically, the main control chip can be programmed to receive the signal from the weighing sensor module and make a comprehensive judgment in combination with the signal from the infrared sensor module.

[0115] It achieves accurate identification of the pet's toileting status and provides accurate triggering conditions for the subsequent cleaning process.

[0116] If not, the process returns to step S110 to determine whether there is any foreign matter entering the target area through the infrared sensing module.

[0117] As mentioned above, if the infrared sensing module does not detect the entry of an object, or the weighing sensing module does not detect sufficient weight change, the system will return to step S100 to continue monitoring the target area. In this step, the system remains in the monitoring state, waiting for the next possible entry of a pet.

[0118] The system can continuously monitor and will not initiate unnecessary cleanup processes due to a wrong judgment, thus saving resources and improving efficiency.

[0119] Specifically, loop logic can be implemented through programming until a correct signal is detected.

[0120] Continuous monitoring of the target area is achieved, ensuring that the cleaning process is only initiated when the right conditions are met.

[0121] In summary, the method provided in this embodiment, which combines an infrared sensing module and a weighing sensor to determine the toilet status of a pet, has significant advantages. The infrared sensing module can quickly detect the action of a pet entering a cat toilet, reducing misoperation, while the weighing sensor confirms the presence of the pet through precise weight changes, thereby improving the accuracy of the judgment. This dual sensing mechanism enhances the robustness of the system. Even when one sensor is interfered with, the other sensor can still provide key information to ensure stable operation of the system. In addition, this method reduces unnecessary weighing sensor activation by quickly eliminating interference from non-pet objects, thereby saving energy and improving efficiency. At the same time, it also improves the response speed of the system, optimizes the user experience, and reduces maintenance costs. Overall, this method of combining the use of infrared and weighing sensors not only improves the accuracy and reliability of the feces cleaning system, but also enhances its environmental adaptability and user satisfaction.

[0122] For further reference, Figure 4 The step S120, confirming the current state through the weighing sensing module, includes:

[0123] Step S121, using the weighing sensing module, taking the last weighing data before the entry of the exogenous foreign matter as the first reference data; and obtaining the current first measured weight data within a first preset time range;

[0124] As mentioned above, before an object (such as a pet) is detected entering the cat toilet, the last weighing data is recorded, and this data will be used as a benchmark for subsequent comparisons, thereby storing the weighing data before entering.

[0125] This step provides a baseline weight for subsequent weight change comparisons and provides a stable starting point for subsequent weight change analysis.

[0126] Step S122, determining first weight change data within the first preset time range according to the first reference data and the first measured weight data;

[0127] As mentioned above, within the set time range, the current weight data is measured and recorded. Weighing is performed within a specific time range to obtain the actual weight data after entering. Through real-time data capture, the weight changes of the pet during toileting can be monitored.

[0128] A timer can be set to trigger the load cell to read data at preset intervals.

[0129] Step S123, if the weight change data is not less than the first preset weight threshold, it is determined that the current state is a toileting state;

[0130] In the above step, the difference between the reference data and the measured data is calculated to obtain the weight change. The difference between the two data points is calculated to obtain a weight change value, which indicates the weight loss during the pet's toileting process. The weight change can be used to determine whether the pet is using the toilet.

[0131] The formula may be used: first weight change data = first measured weight data - first reference data.

[0132] Step S124, obtaining the current second measured weight data within a second preset time range while the toilet is in progress;

[0133] If the weight change reaches or exceeds the preset threshold, it is considered that the pet is using the toilet. Processing: Compare the weight change data with the preset threshold. Preset thresholds can reduce misjudgments and improve the accuracy of the system.

[0134] Step S125, determining second weight change data within the second preset time range according to the second measured weight data and the first reference data;

[0135] At another set time frame after your pet has gone to the bathroom, measure again and record the current weight data.

[0136] As mentioned above, the pet is weighed within a preset time range after going to the toilet, thereby obtaining the actual weight data after going to the toilet. In this step, the weight change after the pet has finished going to the toilet can be monitored to determine whether the toileting is completed. Another timer can be set to trigger the weighing sensor to read the data within a preset time interval after going to the toilet.

[0137] Step S126: if the second weight change data is not greater than the second preset weight threshold, the current state is determined to be the toilet completion state.

[0138] In the above, if the second weight change does not exceed the preset threshold, it is considered that the pet has finished using the toilet. The second weight change data is compared with the preset threshold to determine whether the pet has finished using the toilet.

[0139] By comparing the two weight changes, the pet's toileting status can be judged more accurately.

[0140] Through this method, the system can accurately determine the pet's toileting status and automatically start the cleaning process after the pet finishes using the toilet, thereby improving the intelligence and automation level of the feces cleaning system.

[0141] For further reference, Figure 5 The step S300, controlling the sealing device to open the opening of the connected garbage bag and corresponding to the position of the discharge outlet of the cleaning device, includes:

[0142] Step S310, collecting a monitoring image of the cleaning work area by a first image collection device;

[0143] As mentioned above, the first image acquisition device may be a camera.

[0144] The cleaning work area mentioned above can be the area within the bin of the feces cleaning system, specifically, it can be all areas and spaces where feces and feces balls escape from the cleaning device and fall, flow out, or drop from the discharge port of the cleaning device.

[0145] It should be noted that conventional cat litter boxes and cat toilets, including cleaning devices, can be of various shapes, such as but not limited to circular bins, rectangles, or other irregular shapes. By rotating and adjusting the position, the cat litter mixed with feces can be moved inside the cleaning device and screened through the screen to discharge larger volumes of urine clumps, feces clumps and other substances from the discharge port into a large garbage bag.

[0146] However, after the urine and feces balls are wrapped and stuck to the cat litter, the feces and urine have different shapes after different cats eat different foods or are in different physical states, and are also affected by air humidity, resulting in poor fluidity of the feces balls. For example, in areas where the humidity is above 80%, the feces balls with a large water content have poor fluidity and may not be able to enter the garbage bag as a whole during the screening process, but break during the screening process, so that part of the feces balls cannot fall, while the other part of the urine balls fall out of the discharge port, but do not enter the garbage bag, but fall into the internal structure of the cleaning device. In the long run, a large number of cat litter balls containing feces and urine enter the machine and cannot be cleaned out, resulting in a heavy odor, and the cat litter box as a whole still has a large odor when there is not much garbage in the garbage bag.

[0147] In order to avoid the above situation, in this embodiment, a method for controlling the sealing device to make the opening of the garbage bag correspond to the discharge port position of the cleaning device is provided.

[0148] In step S310, an image acquisition device (such as a camera) is used to acquire a real-time image of the cleaning work area. The image acquisition device is used to monitor the cleaning work area in real time and capture image data. A real-time image of the cleaning work area is obtained for subsequent analysis.

[0149] Image data provides intuitive visual information to help accurately determine the discharge port location.

[0150] Specifically, image acquisition devices such as cameras can be installed, and corresponding image processing software can be configured.

[0151] Step S320, determining the position of the discharge port of the cleaning device according to the monitoring image;

[0152] In the above, the collected images are analyzed to identify and determine the exact position of the discharge port of the cleaning device. The image is analyzed using an image processing algorithm to identify the features and position of the discharge port and obtain the precise coordinates or position information of the discharge port.

[0153] Automated location identification improves system response speed and accuracy.

[0154] Specifically, computer vision techniques such as edge detection, feature matching or machine learning algorithms may be used to identify the outlet position.

[0155] Step S330: If the discharge port enters the cleaning work area, the sealing device is controlled to open the garbage bag opening and make the garbage bag opening correspond to the position of the discharge port.

[0156] As mentioned above, the cleaning device changes position synchronously with the screening and cleaning process, thereby achieving the screening of cat litter and feces. Its movement mode is related to the different structures of cat toilets. For example, there is a spherical bin in the middle on the market, which is equipped with a filter. When cleaning, the spherical bin rotates, and the position of the discharge port changes with the rotation of the spherical bin. When it moves to the bottom, the feces screened therein will fall into the garbage bag below through the discharge port through the opening by gravity.

[0157] However, during the rotation process, the discharge outlet gradually adjusts its angle and gradually aligns with the opening of the garbage bag. In this process, there will be a certain angle and the discharge outlet is not facing the opening of the garbage bag. At this time, if there is highly fluid feces in the ball bin, it will fall directly from the discharge outlet into the space outside the opening area of ​​the garbage bag.

[0158] Therefore, in this embodiment, when the discharge outlet moves and enters the cleaning work area, the opening of the garbage bag can be controlled by the system to open, so as to avoid the odor of the feces already in the garbage bag from being released prematurely and reduce the time of odor release. On the other hand, the opening can be opened only when the discharge outlet is close to the opening position of the garbage bag, so as to avoid garbage and feces falling into the area outside the garbage bag.

[0159] For example, when the system confirms through images that the outlet has entered the cleaning work area, it controls the sealing device to open the garbage bag opening and adjusts its position to align with the outlet. Based on the position information of the outlet, the mechanical device is controlled to adjust the position and opening and closing state of the garbage bag opening.

[0160] The garbage bag opening is precisely opened and positioned below the discharge opening to receive the discharged feces.

[0161] This step method can ensure that the feces balls fall directly into the garbage bag, avoiding spillage and environmental pollution, and improving cleaning efficiency.

[0162] A servo motor or a stepper motor can be used to control the mechanical device of the garbage bag opening, which can be automatically adjusted according to the position information.

[0163] The specific implementation method and algorithm can be as follows:

[0164] Image acquisition: Configure a high-resolution camera to collect images of the cleaning work area periodically or in real time.

[0165] Image preprocessing: Perform preprocessing operations such as denoising and enhancement on the collected images to improve the accuracy of subsequent processing.

[0166] Feature recognition: Use image processing algorithms (such as Haar features, HOG features, and deep learning models) to identify the features and locations of the outlets.

[0167] Position calculation: Calculate the precise position coordinates of the outlet based on the identified feature points.

[0168] Mechanical control: Based on the calculated position coordinates, the mechanical device (such as a servo motor) that controls the opening of the garbage bag is adjusted accordingly.

[0169] Synchronous operation: When the discharge port enters the cleaning work area, the garbage bag opening is opened and the position is adjusted to ensure that the feces can fall accurately into the garbage bag.

[0170] Through this method, the system can automatically and accurately control the opening of the garbage bag to correspond to the discharge position of the cleaning device, improving the efficiency and hygiene of feces cleaning. This automated control method reduces manual intervention and improves the intelligence level of the system.

[0171] For further reference, Figure 6 The step S330, controlling the sealing device to open the opening of the garbage bag and aligning the opening of the garbage bag with the position of the discharge port, includes:

[0172] Step S331, obtaining outlet information of the outlet in the monitoring image; wherein the outlet information includes the area size of the outlet and the current contour coordinates of the outlet;

[0173] The above steps further refine how to control the sealing device to make the opening of the garbage bag correspond to the discharge port position of the cleaning device, and involve the adjustment of the size of the opening of the garbage bag.

[0174] First, extract relevant feature information of the discharge outlet from the cleaning work area monitoring image collected by the first image acquisition device, and use image processing technology to identify and extract the area size and contour coordinates of the discharge outlet, so as to obtain the specific size and position information of the discharge outlet.

[0175] This step enables the system to accurately adjust the opening of the garbage bag according to the actual size and position of the discharge port. Specifically, image recognition algorithms such as edge detection, region growing or deep learning can be used to extract the discharge port information.

[0176] Step S332, determining a target opening size of the garbage bag according to the size of the area, and opening the garbage bag to the target opening size through the sealing device; wherein the opening size of the garbage bag is not less than the area of ​​the area;

[0177] In this step, the target size of the garbage bag opening is set according to the area size of the discharge outlet. The area of ​​the discharge outlet is compared with the opening size of the garbage bag to ensure that the opening of the garbage bag is not smaller than the area of ​​the discharge outlet, thereby determining the target size to which the garbage bag needs to be opened.

[0178] It ensures that the opening of the garbage bag can completely cover the discharge outlet to avoid feces spillage.

[0179] Specifically, the target opening size may be determined using the formula: target opening size = max (discharge outlet area, current opening size).

[0180] Then, the sealing device is controlled to adjust the opening of the garbage bag to achieve the desired target opening size. According to the target opening size, the actuator (such as a motor) can be driven to adjust the opening of the garbage bag. Thus, the opening of the garbage bag is adjusted to a size suitable for the discharge port size.

[0181] This step improves the adaptability and reliability of the system and ensures that outlets of different sizes can be properly docked. Precision control actuators such as servo motors or stepper motors can be used to adjust the size of the garbage bag opening.

[0182] Step S333: determining a matching position corresponding to the opening of the garbage bag according to the current contour coordinates, so as to move the opening of the garbage bag to the matching position through the sealing device.

[0183] In the above, the matching position of the garbage bag opening is determined based on the contour coordinates of the discharge outlet, and the relative position between the contour coordinates of the discharge outlet and the garbage bag opening is calculated to determine the moving path, thereby obtaining the specific position to which the garbage bag opening needs to be moved.

[0184] This step can ensure that the opening of the garbage bag can be accurately aligned with the discharge port to achieve precise docking.

[0185] Specifically, coordinate transformation and path planning algorithms may be used to determine the moving path of the garbage bag.

[0186] The sealing device is controlled to move the opening of the garbage bag to a matching position corresponding to the discharge port. According to the coordinates of the matching position, the actuator (such as a mobile platform or a mechanical arm) is driven to move the opening of the garbage bag.

[0187] Result: The opening of the waste bag is moved precisely under the discharge opening, ready to receive the discharged feces.

[0188] The method in this step realizes the automatic alignment and movement of the garbage bag opening, thereby improving the automation level of the system.

[0189] Actuators such as motors and rail systems or robotic arms may be used to move the trash bag opening to a predetermined position.

[0190] For example, first, use image processing technology to extract the characteristic information of the outlet, such as using the OpenCV library for image analysis. Then, use a pattern recognition algorithm to match the outline and area of ​​the outlet to determine its position and size. Write an algorithm to compare the size of the outlet area with the size of the garbage bag opening to ensure that the garbage bag opening is large enough. Design a control algorithm to drive the servo motor to adjust the size of the garbage bag opening and move the garbage bag opening to the correct position. Use sensor feedback information for closed-loop control to ensure accurate adjustment of the garbage bag opening.

[0191] Through this method, the system can automatically adjust the opening size and position of the garbage bag to adapt to discharge ports of different sizes, ensuring that feces can fall accurately into the garbage bag, thereby improving the efficiency and accuracy of the feces cleaning system.

[0192] Example 3

[0193] Reference Figure 7 Embodiment 3 of the present invention provides a method for controlling a feces cleaning system. Based on Embodiment 1, after the step S200 of controlling the cleaning device to perform the screening cleaning process, the method further includes:

[0194] Step S500-1, obtaining the working current of the cleaning device and resetting the switch state;

[0195] In the above, after the cleaning device performs the screening cleaning process, the working current of the cleaning device is measured and obtained. It is detected whether the reset switch can detect the preset position signal to confirm whether the cleaning device is in the normal position.

[0196] Among them, a current sensor is used to monitor the current consumption of the cleaning device in real time. The state of the reset switch is read to determine whether the cleaning device has completed a cleaning cycle and reset.

[0197] Abnormal increases in current may be caused by mechanical obstruction or overload, and monitoring current can be an important indicator of the device's status. The reset switch provides feedback on the mechanical position, helping to detect if the cleaning device is stuck or has not been properly reset.

[0198] Specifically, a current sensor can be integrated into the circuit and transmit the data to the control system for analysis. A reset switch is installed on the cleaning device and its signal is connected to the control system.

[0199] Step S500-2, if the working current is greater than the preset current threshold and the reset switch state is that the preset position signal is not detected, it is determined that a foreign object is stuck in the cleaning device, and the screening and cleaning process is stopped, and the step S500-1 is returned to obtain the working current of the cleaning device and the reset switch state.

[0200] As mentioned above, when the monitored current exceeds the safety threshold and the reset switch displays that the device has not been reset, the system determines that the cleaning device may be stuck by foreign matter, compares the actual working current with the preset current threshold, and analyzes the state of the reset switch. If both conditions are met at the same time, the system determines that the cleaning device has failed.

[0201] This dual judgment mechanism improves the system's accuracy in detecting abnormal conditions and allows timely measures to prevent further equipment damage. Programming implements the logic of current threshold comparison and reset switch state analysis, and sets the corresponding fault judgment conditions.

[0202] When it is determined that there is a foreign object stuck in the cleaning device, that is, there is a possibility of a cat jam, the screening and cleaning process needs to be stopped. Once the system determines that there is a foreign object stuck in the cleaning device, the cleaning process is stopped immediately. A stop signal is sent to the cleaning device to interrupt its work.

[0203] The cleaning device stops working, avoiding possible equipment damage and safety accidents such as the pet cat being trapped. Stopping the operation in time can protect the equipment from damage and prevent the fault from further expansion.

[0204] Return to execute to obtain the working current of the cleaning device and reset the switch state, that is, after stopping the cleaning process, the system returns to the monitoring state and continues to monitor the working current and reset the switch state. The system returns to step S500-1 and continues to monitor the state of the cleaning device.

[0205] The system keeps monitoring the status of the cleaning device until the problem is solved or manually intervened. Continuous monitoring helps to detect problems in time and take corresponding measures, improving the safety and reliability of the system.

[0206] For further reference, Figure 8, the control method of the feces cleaning system also includes:

[0207] Step S600-1, real-time monitoring of the amount of cat litter remaining in the storage bin by a first TOF sensing module;

[0208] As described above, a TOF (Time of Flight) sensing module is used to monitor the remaining amount of cat litter in the storage bin for storing cat litter in real time. The TOF sensing module calculates the distance by emitting light pulses and measuring the time it takes to reflect back, thereby obtaining the remaining amount of cat litter. The real-time remaining amount data of cat litter is obtained.

[0209] The remaining amount of cat litter can be known in time, providing a basis for subsequent replenishment decisions. Current method: Install the TOF sensing module and align it with the storage bin, and read the data of the sensing module through programming.

[0210] Step S600-2, if the cat litter remaining amount is less than the preset remaining amount threshold, it is determined that the current cat litter remaining amount is unqualified, and the cat litter adding motor reducer is controlled to add cat litter to the storage bin based on the replenishment time;

[0211] In the above, the monitored cat litter remaining amount is compared with the preset threshold to determine whether the cat litter needs to be replenished. The cat litter remaining amount needs to be compared with the preset minimum remaining amount threshold. If the cat litter remaining amount is lower than the threshold, the replenishment process is triggered. Ensure that the cat litter amount is always sufficient to avoid affecting the cleaning effect due to insufficient cat litter.

[0212] Step S600-3, after the replenishment time has passed, controlling the storage bin to level the cat litter therein, and returning to execute step S600-1, monitoring the amount of cat litter remaining in the storage bin in real time through the first TOF sensing module;

[0213] When the cat litter is insufficient, the sand adding motor reducer is controlled to add cat litter to the storage bin, and the replenishment time is based on a preset value. The sand adding motor reducer is started, and cat litter is added to the storage bin according to the preset replenishment time, so that the cat litter in the storage bin is replenished.

[0214] The automated replenishment process ensures a stable amount of cat litter and reduces manual intervention.

[0215] In the above, after the replenishment time has passed, the control device is used to smooth the cat litter in the storage bin. After the cat litter is replenished, the control device is used to smooth the cat litter in the storage bin for the next use. The cat litter is smoothed using a smoothing device (such as a scraper or a roller), and the storage bin is ready.

[0216] Smoothing out the litter box can improve cleaning efficiency and ensure that feces is effectively covered.

[0217] Design and install a smoothing device, and control its operation through a control system. For example, the cleaning device - the ball bin can be repeatedly rotated within a certain angle range to achieve the effect of smoothing the cat litter in the ball bin.

[0218] As described above, after smoothing the cat litter, the remaining amount of the cat litter continues to be monitored through the TOF sensing module to form a cycle.

[0219] Step S600-4: If the cat litter remaining amount is not less than the preset remaining amount threshold, it is determined that the current cat litter remaining amount is qualified.

[0220] There is no need to continue processing at this time, and the process may return to step S600 - 1 to repeat the monitoring steps in a loop.

[0221] As mentioned above, if the monitored cat litter remaining amount is not less than the preset threshold, it is considered that the cat litter amount is sufficient. Solution: Compare the cat litter remaining amount with the preset threshold again. If the cat litter remaining amount is sufficient, no further replenishment is required. Avoid over-replenishment of cat litter and save resources.

[0222] Through this method, the feces cleaning system can automatically monitor the remaining cat litter and replenish it when necessary, ensuring the stability and continuity of the cleaning effect, while reducing human intervention and improving the intelligence level of the system.

[0223] Example 4

[0224] Reference Fig. 9 Embodiment 4 of the present invention provides a method for controlling a feces cleaning system. Based on embodiment 1, before the opening of the garbage bag receiving the feces ball is sealed by the sealing device, the method further includes:

[0225] Step S700-1, controlling the exhaust device to lay the bottom of the garbage bag flat in the garbage bag accommodating space;

[0226] The bottom of the garbage bag is spread flat in the garbage bag storage space using an exhaust device so that the feces can fall directly into the spread garbage bag. Negative pressure is generated by the exhaust device to spread the bottom of the garbage bag and fit it into the storage space. The flat bottom of the garbage bag provides more space for the garbage bag, which can prepare for the reception of feces and perform the deodorization function in this embodiment.

[0227] It should be noted that in conventional technology, some cat toilets and pet toilets do have a certain deodorizing function. For example, in the max model product of brand A, a solid deodorizing substance is placed, but the performance of the substance in releasing the deodorizing substance is poor, and it also has the defect of attracting insects such as cockroaches; in the pro product of brand A, a sprayer for spraying is provided. After the deodorizing liquid is loaded, the deodorizing liquid can be sprayed under the preset logic of the APP. Specifically, the deodorizing liquid is sprayed on the surface of the open garbage bag through the sprayer.

[0228] However, the defect of this sprayer is that it can only spray indiscriminately within a limited range according to the location of the sprayer. It should be noted that since the outlet and the opening of the garbage bag are both relatively large, after the feces and feces balls fall into the garbage bag, they are not evenly spread out in layers from bottom to top, but according to factors such as its fluidity, air humidity, cat litter type (mineral sand, tofu litter, mixed sand, glass litter, etc.), feces state, etc., it often leads to the situation that some areas have more urine balls and feces balls, and other areas have fewer. For example, there is a 20cm high feces ball in the upper left corner, and other areas, namely the upper right corner, lower right corner and lower left corner, and the middle, have no or a small amount of cat litter and feces balls. In this case, if the deodorant liquid is still sprayed at a fixed position, some positions that do not need to be sprayed (such as positions without urine masses, feces, and scattered cat litter) will be sprayed with deodorant liquid, while areas with a large amount of cat litter and urine masses will only be sprayed with a small amount of deodorant liquid due to the wide spraying at a fixed position, and it is not possible to achieve targeted spraying of the feces and urine masses.

[0229] To address this defect, in this embodiment, a control method for flexibly positioning the spraying of deodorizing liquid is provided, thereby adding an additional step of feces ball processing to the system, including laying out the garbage bag, measuring the feces ball, spraying the deodorizing liquid and other operating methods.

[0230] The bottom and outside of the garbage bag are evacuated by the exhaust device, so that the garbage bag can be unfolded and spread flat to increase the internal space of the garbage bag. On the one hand, it ensures that the feces fall directly into the garbage bag to avoid spillage and pollution; on the other hand, it can further locate and measure the urine and feces therein.

[0231] Step S700-2, using a second image acquisition device to determine the height of the feces ball in the garbage bag, the plane coordinates of the feces ball on the plane where the feces ball is located, and the volume of the feces ball;

[0232] In the above, a second image acquisition device (such as a movable camera) is used to obtain an image of the feces in the garbage bag and analyze the height, position and volume of the feces. For example, it can be an Intel 3D depth camera, which can adjust the angle to take one or more images, so that the feces image is captured based on the image acquisition device, and the characteristic information of the feces is extracted through image processing technology.

[0233] This step can obtain the height (which can be a relative height), position (pixel coordinates) and volume data (size of space occupied) of the feces ball, providing a basis for subsequent spraying operations.

[0234] Precisely control the spraying operation to ensure that the deodorizing liquid evenly and specifically covers the target stool.

[0235] Computer vision techniques, such as stereo vision or deep learning algorithms, can be used to analyze the characteristics of stool pellets.

[0236] Step S700-3, controlling the spray device to penetrate into the garbage bag and reach a spray height in the vertical direction; wherein the spray height is higher than the height of the feces ball; and controlling the spray head of the spray device to an inclination angle corresponding to the coordinates of the planar feces ball; and determining the spray dosage according to the volume of the feces ball;

[0237] In the above, the nozzle of the spraying device is inserted into the garbage bag and adjusted to a vertical spraying height higher than the height of the feces. The movement of the spraying device is mechanically controlled so that the nozzle reaches the specified spraying height.

[0238] The nozzle is positioned above the stool mass and is ready to spray. Ensure that the deodorizing liquid can cover the entire stool mass to improve the deodorizing effect.

[0239] The lifting and lowering of the spraying device can be controlled by using a servo motor or a stepper motor.

[0240] As mentioned above, the nozzle of the spraying device is adjusted to the correct tilt angle so that the deodorant liquid can be accurately sprayed on the target stool. According to the plane coordinates of the stool, the required tilt angle is calculated and the nozzle is adjusted, so that the nozzle can be accurately positioned and prepared for precise spraying. The accuracy of spraying is improved and the deodorant liquid is avoided from being wasted.

[0241] As mentioned above, the amount of deodorant liquid to be sprayed is determined according to the size of the stool mass. The volume of the stool mass is calculated, and the spraying amount is determined according to a preset ratio, so that a suitable spraying amount can be obtained to ensure the deodorizing effect. The amount of deodorant liquid used is accurately controlled to avoid waste.

[0242] For example, it can be calculated by the formula:

[0243] Spraying dose = k × stool volume;

[0244] Here, k represents a proportionality constant determined experimentally.

[0245] Step S700-4, controlling the spray head to spray the deodorizing liquid on the feces ball based on the spray dosage; and after the spraying is completed, controlling the spray device to move out of the garbage bag.

[0246] According to the calculated spraying dosage, the nozzle is controlled to spray the deodorizing liquid on the feces. The spraying amount and time of the nozzle are accurately controlled to achieve the predetermined spraying dosage. The feces are evenly sprayed with the deodorizing liquid to achieve the deodorizing effect. The deodorizing efficiency is improved and the environmental sanitation is improved.

[0247] After the spraying is completed, the spraying device is controlled to be moved out of the garbage bag, that is, the spraying device is controlled to be moved out of the garbage bag, and the garbage bag is prepared to be closed.

[0248] A servo motor or a stepper motor can be used to control the in and out of the spray device.

[0249] In this way, the feces cleaning system can not only effectively clean the feces, but also improve environmental hygiene and reduce odor by precisely controlling the spraying of deodorizing liquid. This automated processing process improves the intelligence level of the system, reduces manual intervention, and improves efficiency and safety.

[0250] In addition, reference Fig.10 In an embodiment of the present application, a control device for a feces cleaning system is also provided, comprising:

[0251] The detection module 10 is used to determine the current state through the weighing sensing module and the infrared sensing module;

[0252] The cleaning module 20 is used to control the cleaning device to perform a screening and cleaning process if the current state is a toilet completion state;

[0253] The adjustment module 30 is used to control the sealing device to open the opening of the connected garbage bag and correspond to the position of the discharge port of the cleaning device, so as to receive the feces discharged through the discharge port of the cleaning device through the opened opening of the garbage bag;

[0254] The sealing module 40 is used to seal the opening of the garbage bag that has received the feces ball through the sealing device after the screening and cleaning process is completed.

[0255] It can be understood that the device of this embodiment corresponds to the control method of the feces cleaning system of the above embodiment, and the options in the above embodiment are also applicable to this embodiment, so they will not be repeated here.

[0256] In addition, in an embodiment of the present application, a control system for a feces cleaning system is also provided, the control system for the feces cleaning system comprising a processor and a memory, the memory storing a computer program, and the processor being used to execute the computer program to implement the control method for the feces cleaning system described in any one of the aforementioned embodiments.

[0257] Among them, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU) and a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or at least one of other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application.

[0258] The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory is used to store a computer program, and the processor may execute the computer program accordingly after receiving an execution instruction.

[0259] In addition, in the embodiment of the present application, a feces cleaning system is also provided, which includes a main control chip, an electronic sensing safety system, an automatic cleaning system, an automatic sand adding system and an automatic packaging system;

[0260] The main control chip communicates with the mobile device and is connected to an electronic sensing safety system, an automatic cleaning system, an automatic sand adding system and an automatic packaging system; the electronic sensing safety system includes an infrared sensing module, a weighing sensing module, a radar sensing module and a TOF sensing module; the automatic cleaning system includes: a drum motor reducer, a sealing cover motor reducer, a sterilization and deodorization module, a stall current detection module and a reset switch.

[0261] The automatic sand adding system comprises a sand adding motor reducer and a roller motor reducer; a stall current detection module and a reset switch.

[0262] The present application also provides a computer-readable storage medium for storing the computer program used in the above-mentioned computer device. For example, the computer-readable storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0263] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow diagram, and the combination of boxes in the structure diagram and / or the flow diagram, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0264] In addition, the functional modules or units in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0265] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0266] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A method for controlling a feces cleaning system, characterized in that: include: Determine the current status through the weighing sensing module and infrared sensing module; If the current state is the toilet completion state, the cleaning device is controlled to execute the screening and cleaning process; Controlling the sealing device to open the opening of the connected garbage bag and make it correspond to the position of the discharge port of the cleaning device, so as to receive the feces discharged through the discharge port of the cleaning device through the opened opening of the garbage bag; After the screening and cleaning process is completed, the opening of the garbage bag receiving the feces is sealed by the sealing device.

2. The method for controlling a feces cleaning system according to claim 1, characterized in that: Determining the current state through the weighing sensing module and the infrared sensing module includes: Determine whether there is any foreign matter entering the target area by using the infrared sensing module; If yes, confirming the current state through the weighing sensing module; If not, the process returns to executing the step of determining whether there is any exogenous foreign matter entering the target area through the infrared sensing module.

3. The method for controlling a feces cleaning system according to claim 2, characterized in that: The confirming the current state by the weighing sensing module includes: By means of the weighing sensing module, the last weighing data before the entry of the exogenous foreign matter is used as the first reference data; and within a first preset time range, the current first measured weight data is obtained; Determine first weight change data within the first preset time range according to the first reference data and the first measured weight data; If the weight change data is not less than the first preset weight threshold, the current state is determined to be a toileting state; In the toileting state, obtaining the current second measured weight data within a second preset time range; Determine second weight change data within the second preset time range according to the second measured weight data and the first reference data; If the second weight change data is not greater than the second preset weight threshold, the current state is determined to be the toilet completion state.

4. The method for controlling a feces cleaning system according to claim 1, characterized in that: The control sealing device opens the opening of the connected garbage bag and corresponds to the position of the discharge outlet of the cleaning device, including: Acquire a monitoring image of the cleaning work area by a first image acquisition device; Determining the position of the discharge port of the cleaning device according to the monitoring image; If the discharge port enters the cleaning work area, the sealing device is controlled to open the garbage bag opening and make the garbage bag opening correspond to the position of the discharge port.

5. The method for controlling a feces cleaning system according to claim 4, characterized in that: The step of controlling the sealing device to open the opening of the garbage bag and aligning the opening of the garbage bag with the position of the discharge port comprises: Acquire the outlet information of the outlet in the monitoring image; wherein the outlet information includes the area size of the outlet and the current contour coordinates of the outlet; According to the size of the area, the target opening size of the garbage bag is determined, and the opening of the garbage bag is opened to reach the target opening size by the sealing device; wherein the opening size of the garbage bag is not less than the area of ​​the area; The matching position corresponding to the opening of the garbage bag is determined according to the current contour coordinates, so as to move the opening of the garbage bag to the matching position through the sealing device.

6. The method for controlling a feces cleaning system according to claim 1, characterized in that: After the control cleaning device performs the screening cleaning process, it also includes: Obtaining the working current of the cleaning device and resetting the switch state; If the working current is greater than the preset current threshold and the reset switch state is that the preset position signal is not detected, it is determined that a foreign object is stuck in the cleaning device, and the screening and cleaning process is stopped, and the process returns to obtaining the working current of the cleaning device and the reset switch state.

7. The method for controlling a feces cleaning system according to claim 1, characterized in that: The control method of the feces cleaning system also includes: Real-time monitoring of the amount of cat litter remaining in the storage bin by means of a first TOF sensing module; If the cat litter remaining amount is less than the preset remaining amount threshold, it is determined that the current cat litter remaining amount is unqualified, and the cat litter adding motor reducer is controlled to add cat litter to the storage bin based on the replenishment time; After the replenishment time has passed, the storage bin is controlled to level the cat litter therein, and the process returns to the step of monitoring the amount of cat litter remaining in the storage bin in real time by the first TOF sensing module; If the cat litter remaining amount is not less than the preset remaining amount threshold, it is determined that the current cat litter remaining amount is qualified.

8. The method for controlling a feces cleaning system according to claim 1, characterized in that: Before the sealing device seals the opening of the garbage bag receiving the feces, the method further comprises: Controlling the exhaust device to lay the bottom of the garbage bag flat in the garbage bag accommodating space; Determine the height of the feces ball in the garbage bag, the plane coordinates of the feces ball on the plane where the feces ball is located, and the volume of the feces ball by using a second image acquisition device; Controlling the spraying device to penetrate into the garbage bag and reach a spraying height in the vertical direction; wherein the spraying height is higher than the height of the feces ball; And, controlling the nozzle of the spraying device to an inclination angle corresponding to the coordinates of the planar stool; And, determining the spray dosage according to the volume of the stool mass; The spray head is controlled to spray the deodorizing liquid on the feces ball based on the spray dosage; and after the spraying is completed, the spray device is controlled to move out of the garbage bag.

9. A control device for a feces cleaning system, characterized in that: include: The detection module is used to determine the current state through the weighing sensing module and the infrared sensing module; A cleaning module, used to control the cleaning device to execute a screening and cleaning process if the current state is a toilet completion state; An adjustment module, used for controlling the sealing device to open the opening of the connected garbage bag and correspond to the position of the discharge port of the cleaning device, so as to receive the feces discharged through the discharge port of the cleaning device through the opened opening of the garbage bag; The sealing module is used to seal the opening of the garbage bag that has received the feces ball through the sealing device after the screening and cleaning process is completed.

10. A control system for a feces cleaning system, characterized in that: The control system of the feces cleaning system includes a processor and a memory, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the control method of the feces cleaning system according to any one of claims 1-8.

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