Litter box, its rotating bucket positioning method, device and storage medium

Abstract

The present invention discloses a cat litter box, a method and device for positioning a rotating barrel thereof, and a storage medium. A magnet is provided on the rotating barrel of the cat litter box, and a Hall element is provided on the base of the cat litter box. The Hall element is used to detect the change in the magnetic field strength generated by the magnet to output a Hall detection signal. The method for positioning the rotating barrel of the cat litter box includes: controlling the rotating barrel to rotate in a first direction, and sampling the Hall detection signal to obtain a parabolic change trend of the Hall detection signal; determining a Hall detection signal sampling point corresponding to the extreme value of the magnetic field strength generated by the magnet according to the parabolic change trend of the Hall detection signal, and obtaining a rotating barrel compensation amount according to the Hall detection signal sampling point corresponding to the extreme value of the magnetic field strength; controlling the rotating barrel to rotate in a second direction according to the rotating barrel compensation amount so that the rotating barrel returns to the initial position, where the second direction is opposite to the first direction. Thus, the position deviation between the position of the rotating barrel and the initial position is compensated according to the rotating barrel compensation amount, and the positioning accuracy of the rotating barrel is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pet supplies, and particularly to a method for positioning a rotating barrel of a cat litter box, a computer-readable storage medium, a cat litter box, and a device for positioning a rotating barrel of a cat litter box. Background Art

[0002] Currently, in existing cat litter boxes, it is rare to use linear Hall elements to adjust the position of the rotating barrel. Even when linear Hall elements are used for positioning the rotating barrel, usually a preset fixed voltage value output by the linear Hall element is used as a reference to determine the positional relationship between the magnet and the Hall component, and thus, to determine the positional relationship between the entrance platform of the rotating barrel and the entrance of the outer barrel.

[0003] However, the problem with the related technology is that due to differences in the magnetic field intensity of the magnet, structural size deviations, and differences in the Hall component itself, it often brings positional deviations in determining the position of the magnet and the Hall component based on the fixed voltage value output by the Hall element. Furthermore, it causes deviations in the angle between the entrance platform of the rotating barrel and the entrance of the outer barrel, resulting in inaccurate positioning of the rotating barrel. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems in the related technology to some extent. For this purpose, the first object of the present invention is to propose a method for positioning a rotating barrel of a cat litter box, which can compensate for the positional deviation between the position of the rotating barrel and the initial position according to the barrel compensation amount, and improve the accuracy of rotating barrel positioning.

[0005] The second object of the present invention is to propose a computer-readable storage medium.

[0006] The third object of the present invention is to propose a cat litter box.

[0007] The fourth object of the present invention is to propose a device for positioning a rotating barrel of a cat litter box.

[0008] To achieve the above object, the first aspect embodiment of the present invention proposes a method for positioning a rotating barrel of a cat litter box. A magnet is provided on the rotating barrel of the cat litter box, and a Hall element is provided on the base of the cat litter box. The Hall element is used to detect the change in the magnetic field intensity generated by the magnet to output a Hall detection signal. The method includes: controlling the rotating barrel to rotate in a first direction, and sampling the Hall detection signal to obtain the parabolic change trend of the Hall detection signal; determining the Hall detection signal sampling point corresponding to the extreme value of the magnetic field intensity generated by the magnet according to the parabolic change trend of the Hall detection signal, and obtaining the barrel compensation amount according to the Hall detection signal sampling point corresponding to the extreme value of the magnetic field intensity; controlling the rotating barrel to rotate in a second direction according to the barrel compensation amount, so that the rotating barrel returns to the initial position, where the second direction is opposite to the first direction.

[0009] According to the method for positioning the rotating barrel of a cat litter box according to an embodiment of the present invention, the rotating barrel is controlled to rotate in a first direction, and the Hall detection signal is sampled to obtain the parabolic change trend of the Hall detection signal. Furthermore, according to the parabolic change trend of the Hall detection signal, the Hall detection signal sampling point corresponding to the magnetic field intensity extreme value generated by the magnet is determined, and the rotating barrel compensation amount is obtained according to the Hall detection signal sampling point corresponding to the magnetic field intensity extreme value. In addition, the rotating barrel is controlled to rotate in a second direction according to the rotating barrel compensation amount so that the rotating barrel returns to the initial position, where the second direction is opposite to the first direction. Thus, the position deviation between the position of the rotating barrel and the initial position is compensated according to the rotating barrel compensation amount, and the positioning accuracy of the rotating barrel is improved.

[0010] In addition, the method for positioning the rotating barrel of a cat litter box according to the above embodiment of the present invention may further have the following additional technical features:

[0011] According to an embodiment of the present invention, when controlling the rotating barrel to rotate in the first direction, the magnet first approaches the Hall element and then moves away from the Hall element so as to obtain the parabolic change trend of the Hall detection signal when sampling the Hall detection signal.

[0012] According to an embodiment of the present invention, obtaining the rotating barrel compensation amount according to the Hall detection signal sampling point corresponding to the magnetic field intensity extreme value includes: determining the Hall detection signal sampling point after the magnet moves away from the Hall element as the compensation sampling point according to the parabolic change trend of the Hall detection signal, obtaining the time interval between the compensation sampling point and the Hall detection signal sampling point corresponding to the magnetic field intensity extreme value, and taking the time interval as the rotating barrel compensation amount.

[0013] According to an embodiment of the present invention, controlling the rotating barrel to rotate in the second direction according to the rotating barrel compensation amount includes: controlling the rotating barrel to rotate in the second direction for the time interval.

[0014] According to an embodiment of the present invention, obtaining the rotating barrel compensation amount according to the Hall detection signal sampling point corresponding to the magnetic field intensity extreme value includes: determining the Hall detection signal sampling point after the magnet moves away from the Hall element as the compensation sampling point according to the parabolic change trend of the Hall detection signal, obtaining the time interval between the compensation sampling point and the Hall detection signal sampling point corresponding to the magnetic field intensity extreme value; determining the compensation angle according to the time interval, and taking the compensation angle as the rotating barrel compensation amount.

[0015] According to an embodiment of the present invention, controlling the rotating barrel to rotate in the second direction according to the rotating barrel compensation amount includes: controlling the rotating barrel to rotate in the second direction by the compensation angle.

[0016] According to an embodiment of the present invention, the first direction is the clockwise direction and the second direction is the counterclockwise direction.

[0017] According to an embodiment of the present invention, the magnet includes a first magnet element and a second magnet element with opposite polarities. The first magnet element and the second magnet element are respectively arranged at different positions on the rotating barrel, and the Hall element is a linear Hall element.

[0018] To achieve the above object, a computer-readable storage medium provided by an embodiment of the second aspect of the present invention stores a rotating barrel positioning program for a litter box. When the rotating barrel positioning program for the litter box is executed by a processor, the rotating barrel positioning method for the litter box as described above is implemented.

[0019] According to the computer-readable storage medium of the embodiment of the present invention, by executing the rotating barrel positioning program stored thereon by a processor, the position deviation between the position of the rotating barrel and the initial position can be compensated according to the rotating barrel compensation amount, and the accuracy of rotating barrel positioning can be improved.

[0020] To achieve the above object, a litter box provided by an embodiment of the third aspect of the present invention includes a memory, a processor, and a rotating barrel positioning program for the litter box stored on the memory and executable on the processor. When the processor executes the rotating barrel positioning program for the litter box, the rotating barrel positioning method for the litter box as described above is implemented.

[0021] According to the litter box of the embodiment of the present invention, by running the rotating barrel positioning program for the litter box stored on the memory by a processor, the position deviation between the position of the rotating barrel and the initial position can be compensated according to the rotating barrel compensation amount, and the accuracy of rotating barrel positioning can be improved.

[0022] To achieve the above object, an embodiment of the fourth aspect of the present invention provides a rotating barrel positioning device for a litter box. A magnet is provided on the rotating barrel of the litter box, and a Hall element is provided on the base of the litter box. The Hall element is used to detect the change in the magnetic field intensity generated by the magnet to output a Hall detection signal. The device includes: a control module for controlling the rotating barrel to rotate in a first direction; a sampling module for sampling the Hall detection signal to obtain the parabolic change trend of the Hall detection signal; a determination module for determining the Hall detection signal sampling point corresponding to the extreme value of the magnetic field intensity generated by the magnet according to the parabolic change trend of the Hall detection signal, and obtaining the rotating barrel compensation amount according to the Hall detection signal sampling point corresponding to the extreme value of the magnetic field intensity; the control module is further configured to control the rotating barrel to rotate in a second direction according to the rotating barrel compensation amount so that the rotating barrel returns to the initial position, where the second direction is opposite to the first direction.

[0023] The rotating barrel positioning device of the cat litter box according to an embodiment of the present invention controls the rotating barrel to rotate in a first direction through a control module, samples the Hall detection signal through a sampling module to obtain the parabolic change trend of the Hall detection signal. Furthermore, a determination module determines the Hall detection signal sampling point corresponding to the magnetic field strength extreme value generated by the magnet according to the parabolic change trend of the Hall detection signal, obtains the rotating barrel compensation amount according to the Hall detection signal sampling point corresponding to the magnetic field strength extreme value, and controls the rotating barrel to rotate in a second direction through the control module according to the rotating barrel compensation amount, so that the rotating barrel returns to the initial position, where the second direction is opposite to the first direction. Thus, the position deviation between the position of the rotating barrel and the initial position is compensated according to the rotating barrel compensation amount, and the accuracy of rotating barrel positioning is improved.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Brief Description of the Drawings

[0025] Figure 1 is an assembly schematic diagram of a cat litter box according to an embodiment of the present invention;

[0026] Figure 2 is an exploded schematic diagram of a cat litter box according to an embodiment of the present invention;

[0027] Figure 3 is a flowchart of a rotating barrel positioning method for a cat litter box according to an embodiment of the present invention;

[0028] Figure 4 is a schematic diagram of the relationship between the position of a magnet and the output signal of a Hall element according to an embodiment of the present invention;

[0029] Figure 5 is a flowchart of a rotating barrel positioning method for a cat litter box according to an embodiment of the present invention;

[0030] Figure 6 is a flowchart of a rotating barrel positioning method for a cat litter box according to another embodiment of the present invention;

[0031] Figure 7 is a block diagram of a rotating barrel positioning device for a cat litter box according to an embodiment of the present invention. Detailed Description of the Embodiments

[0032] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0033] The following describes a method for positioning a rotating barrel of a cat litter box, a computer-readable storage medium, a cat litter box, and a device for positioning a rotating barrel of a cat litter box according to embodiments of the present invention with reference to the accompanying drawings.

[0034] Before introducing the method for positioning the rotating barrel of the cat litter box, the computer-readable storage medium, the cat litter box, and the device for positioning the rotating barrel of the cat litter box according to embodiments of the present invention, a corresponding description of the specific structure of the cat litter box according to embodiments of the present invention will be given first.

[0035] As Figure 1 shown, the cat litter box according to an embodiment of the present invention may include: a housing 1 and a rotating barrel 2. Among them, the housing 1 has a hollow cavity, and the hollow cavity can be used to place the rotating barrel 2. Among them, the rotating barrel 2 is arranged in the housing 1, and the rotating barrel 2 can rotate around its rotation axis. In addition, the rotating barrel 2 can be in a barrel-shaped structure, and the end of the rotating barrel 2 has a rotating barrel entrance and exit for a cat to enter and exit, and the housing 1 has a housing entrance and exit facing the rotating barrel entrance and exit. The rotating barrel 2 has a sand cleaning port 21. When the rotating barrel 2 rotates, the circumferential barrel wall of the rotating barrel 2 faces the feces collection bin, and the sand cleaning port 21 can be opened on the circumferential barrel wall of the rotating barrel 2.

[0036] Referring to Figure 1 shown, the rotating barrel 2 has a mounting shaft and is mounted at a rotating barrel mounting position 121 on the housing 1 through the mounting shaft. The rotation axis of the mounting shaft is horizontally arranged, thereby ensuring uniform movement of the cat litter blocks in the rotating barrel 2.

[0037] In some embodiments, a sand collection cavity and a sand cleaning cavity are provided in the rotating barrel 2. The sand collection cavity and the sand cleaning cavity are separated from each other, and the two are separated by a sand filtering partition. The sand filtering partition can be a mesh structure or a grid structure to separate the cat litter blocks from the clean cat litter. The sand cleaning port 21 is opened on the cavity wall of the sand cleaning cavity. In this way, by rotating the rotating barrel 2, the cat litter blocks can stay in the sand cleaning cavity, and the clean cat litter can enter the sand collection cavity through the sand filtering partition, so as to ensure that only the cat litter blocks are discharged from the sand cleaning port 21, avoiding waste of clean cat litter.

[0038] Referring to Figure 1 - Figure 2 shown, the housing 1 may include: a base 11 and a middle housing 12. The middle housing 12 is fixedly installed above the base 11. Among them, the base 11 and the middle housing 12 can be connected by bolt fasteners, and the base 11 and the middle housing 12 can also be integrally formed parts.

[0039] The rotating barrel 2 is rotatably installed on the middle housing 12. Referring to Figure 1 shown, a rotating barrel mounting position 121 is provided on the middle housing 12, and the mounting shaft of the rotating barrel 2 is mounted at the rotating barrel mounting position 121.

[0040] A plurality of feet 111 can be provided on the bottom surface of the base 11, for example, four feet 111. Compared with surface contact, multiple-point contact cooperation is easier to ensure the stability of support, thus facilitating the stable placement of the litter box 10 on a plane.

[0041] Referring to Figure 1 - Figure 2 As shown, the housing 1 may further include: a top shell 13, and the top shell 13 is adapted to be connected to the middle shell 12. The top shell 13 and the middle shell 12 are detachable. For example, the top shell 13 and the middle shell 12 can be inserted and matched, or can be snap-fitted, thereby facilitating the separation of the top shell 13 and the middle shell 12 and saving the user's operation time.

[0042] It should be noted that the aforementioned hollow cavity further includes a feces collection bin, and a feces collection box 4 can be placed in the feces collection bin, and the feces collection box 4 can be used to collect the cat litter blocks formed by the cat litter. There is cat litter stored in the rotating barrel 2. After the cat litter in the rotating barrel 2 comes into contact with the cat urine and feces, it will form cat litter blocks. During the rotation of the rotating barrel 2, the cat litter blocks will reach the sand cleaning port 21. The sand cleaning port 21 and the feces collection bin can be selectively communicated or staggered. Specifically, when the sand cleaning port 21 is communicated with the feces collection bin, the cat litter blocks can enter the feces collection box 4 in the feces collection bin through the sand cleaning port 21; when the sand cleaning port 21 is staggered from the feces collection bin, the rotating barrel 2 and the feces collection bin are separated from each other and are independent of each other, facilitating the cat to use the cat litter in the rotating barrel 2.

[0043] Referring to Figure 1 As shown, the rotating barrel 2 can be located above the feces collection bin. For example, the rotating barrel 2 can be directly above the feces collection bin or obliquely above the feces collection bin. In this way, when the sand cleaning port 21 is communicated with the feces collection bin, under the action of gravity, the cat litter blocks can enter the feces collection box 4 in the feces collection bin through the sand cleaning port 21, which is beneficial to the rapid cleaning of the cat litter blocks.

[0044] In some embodiments, the opening area of the sand cleaning port 21 is not greater than the opening area of the feces collection bin. That is to say, the opening area of the sand cleaning port 21 can be smaller than the opening area of the feces collection bin or equal to the opening area of the feces collection bin. In this way, when the sand cleaning port 21 is completely opposite to the feces collection bin, it can ensure that the cat litter blocks completely fall into the feces collection bin and are not easily dropped on the edge top wall of the feces collection bin, which is beneficial to maintaining the cleanliness of the litter box 10.

[0045] Specifically, in the embodiments of the present invention, a magnet is provided on the rotating barrel 2 of the litter box, and a Hall element is provided on the base 11 of the litter box. The Hall element is used to detect the change in the magnetic field intensity generated by the magnet to output a Hall detection signal.

[0046] Optionally, in the embodiments of the present invention, the magnet may include a first magnet element and a second magnet element with opposite polarities, and the Hall element may be a linear Hall. Among them, the first magnet element and the second magnet element can be respectively arranged at different positions on the rotating barrel 2.

[0047] For example, the first magnet element and the second magnet element can be arranged at intervals around the rotation center axis of the rotating barrel. Preferably, the first magnet element and the second magnet element can be located on the same circumference around the rotation center axis of the rotating barrel. The Hall element can be opposite to the magnet along the radial direction of the rotating barrel. Preferably, the Hall element can be opposite to the circumference where the magnet is located along the radial direction of the rotating barrel. The interval between the first magnet element and the second magnet element can be set accordingly according to the size of the rotating barrel of the litter box.

[0048] It should be understood that if the first magnet element is an N-pole magnet element, the second magnet element is an S-pole magnet element, and if the first magnet element is an S-pole magnet element, the second magnet element is an N-pole magnet element.

[0049] Figure 3 It is a schematic flow chart of the method for positioning the rotating barrel of the litter box according to an embodiment of the present invention.

[0050] As Figure 3 shown, the method for positioning the rotating barrel of the litter box includes:

[0051] S101, controlling the rotating barrel to rotate in the first direction, and sampling the Hall detection signal to obtain the parabolic change trend corresponding to the Hall detection signal.

[0052] It should be understood that as Figure 4 shown, in an environment without a magnetic field, the initial Hall detection signal of the Hall element is half of the supply voltage. For example, if the supply voltage is 5V, the initial Hall detection information output by the Hall element is a voltage of 2.5V. When the N-pole magnet element provided on the rotating barrel of the litter box gradually approaches or moves away from the Hall element provided on the base of the litter box, the Hall element can detect the change in the magnetic field intensity generated by the magnet to output a Hall detection signal corresponding to the current magnetic field intensity. For example, when the N-pole magnet element provided on the rotating barrel of the litter box gradually approaches the Hall element provided on the base of the litter box from the initial position, the Hall detection signal output by the Hall element will gradually decrease from the 2.5V level to near the saturation state level (the saturation state level is different according to the magnetic field intensity) and stop. And when the N-pole magnet element provided on the rotating barrel of the litter box gradually moves away from the Hall element provided on the base of the litter box from the saturation state position, the Hall detection signal output by the Hall element will gradually rise from the saturation state level to near the 2.5V level and stop.

[0053] Moreover, when the S - pole magnet element provided on the rotating barrel of the litter box gradually approaches or moves away from the Hall element provided on the base of the litter box, the Hall element can detect the change in the magnetic field intensity generated by the magnet to output a Hall detection signal corresponding to the current magnetic field intensity. For example, when the S - pole magnet element provided on the rotating barrel of the litter box gradually approaches the Hall element provided on the base of the litter box from the initial position, the Hall detection signal output by the Hall element will gradually rise from 2.5V level to near the saturation state level (the saturation state level varies according to the magnetic field intensity) and then stop. Also, when the S - pole magnet element provided on the rotating barrel of the litter box gradually moves away from the Hall element provided on the base of the litter box from the saturation state position, the Hall detection signal output by the Hall element will gradually drop from the saturation state level to near 5V level and then stop.

[0054] Thus, when controlling the rotating barrel of the litter box to rotate in the first direction, first make the magnet approach the Hall element on the base of the litter box, and then make the magnet move away from the Hall element on the base of the litter box, so as to obtain the parabolic change trend corresponding to the Hall detection signal when sampling the Hall detection signal.

[0055] S102, determine the signal sampling points of the Hall detection signal corresponding to the extreme value of the magnetic field intensity generated by the magnet according to the parabolic change trend corresponding to the Hall detection signal, and obtain the rotating barrel compensation amount according to the signal sampling points of the Hall detection signal corresponding to the extreme value of the magnetic field intensity.

[0056] It should be understood that when the rotating barrel of the litter box is in the initial position state (that is, the entrance platform of the rotating barrel of the litter box is flush with the entrance platform of the outer barrel), the Hall element provided on the base of the litter box is usually in the same straight line as and relatively close to the magnet provided on the rotating barrel of the litter box. At this time, the Hall detection signal output by the Hall element is the aforementioned saturation state level, and this saturation state level corresponds to the extreme value of the magnetic field intensity generated by the magnet. Therefore, after determining the signal sampling points of the Hall detection signal corresponding to the extreme value of the magnetic field intensity generated by the magnet according to the parabolic change trend corresponding to the Hall detection signal, it can be considered that the current position of the rotating barrel of the litter box corresponding to the signal sampling points of the Hall detection signal is close to the initial position of the litter box.

[0057] Thus, after determining the signal sampling points of the Hall detection signal corresponding to the extreme value of the magnetic field intensity generated by the magnet, the rotating barrel compensation amount can be obtained according to the signal sampling points of the Hall detection signal corresponding to the extreme value of the magnetic field intensity, so as to compensate for the position deviation between the current position of the rotating barrel of the litter box and the initial position of the rotating barrel of the litter box according to the obtained rotating barrel compensation amount, thereby improving the positioning accuracy of the rotating barrel of the litter box.

[0058] S103. Control the rotation of the rotating barrel in the second direction according to the compensation amount of the rotating barrel, so that the rotating barrel returns to the initial position, where the second direction is opposite to the first direction.

[0059] Specifically, after determining the compensation amount of the rotating barrel, the rotation of the rotating barrel can be controlled to rotate in the second direction based on the obtained compensation amount of the rotating barrel, so that the rotating barrel of the cat litter box can return to the corresponding initial position, so that the entrance platform of the rotating barrel of the cat litter box is flush with the entrance platform of the outer barrel.

[0060] Optionally, in the embodiment of the present invention, the first direction in which the rotating barrel of the cat litter box rotates may be the clockwise direction, and the second direction in which the rotating barrel of the cat litter box rotates may be the counterclockwise direction.

[0061] That is to say, in the above-mentioned embodiment of the present invention, the rotation of the rotating barrel of the cat litter box can be controlled to rotate in the clockwise direction, and then the rotation of the rotating barrel of the cat litter box can be controlled to rotate in the counterclockwise direction according to the obtained compensation amount of the rotating barrel, so that the rotating barrel of the cat litter box returns to the initial position, thereby completing the precise positioning of the rotating barrel of the cat litter box.

[0062] It can be understood that the first direction in which the rotating barrel of the cat litter box rotates may also be the counterclockwise direction, and the second direction may also be the clockwise direction.

[0063] The following combines the attached Figure 5 - 6 and the embodiments of the present invention to describe in detail the specific implementation manners of obtaining the compensation amount of the rotating barrel according to the signal sampling points of the Hall detection signal corresponding to the extreme value of the magnetic field intensity, and controlling the rotation of the rotating barrel in the second direction according to the compensation amount of the rotating barrel.

[0064] Embodiment 1:

[0065] Specifically, as Figure 5 shown, obtaining the compensation amount of the rotating barrel according to the signal sampling points of the Hall detection signal corresponding to the extreme value of the magnetic field intensity includes:

[0066] S201. Determine the signal sampling points of the Hall detection signal after the magnet moves away from the Hall element as the compensation sampling points according to the parabolic change trend corresponding to the Hall detection signal, obtain the time interval between the compensation sampling points and the signal sampling points of the Hall detection signal corresponding to the extreme value of the magnetic field intensity, and use the time interval as the compensation amount of the rotating barrel.

[0067] Specifically, with the time interval between signal sampling points of each adjacent Hall detection signal being 50 ms, continuous sampling of the Hall detection signals output by the Hall element is performed within a preset time period. For example, signal sampling points A1, A2, and A3 of three Hall detection signals are obtained at intervals of 50 ms. At this time, 1) if A1 > A2 > A3, it can be determined that the magnet is in a state of approaching the Hall element. At this time, it can be determined that the signal sampling point corresponding to the magnetic field strength extreme value generated by the magnet has not appeared, and the sampling of the Hall detection signal continues; 2) if A1 < A2 < A3, it can be determined that the magnet is in a state of moving away from the Hall element. At this time, it can be determined that the signal sampling point corresponding to the magnetic field strength extreme value generated by the magnet has appeared, and it can be determined that the (compensated) sampling point of the Hall detection signal after the magnet moves away from the Hall element has rotated 50 ms * 3 = 150 ms relative to the signal sampling point corresponding to the magnetic field strength extreme value generated by the magnet. Therefore, in the embodiments of the present invention, 150 ms can be used as the barrel compensation amount to compensate for the extra rotation time of the rotating barrel of the litter box along the first direction.

[0068] Further, as Figure 5 shown, controlling the rotation of the rotating barrel along the second direction according to the barrel compensation amount includes:

[0069] S202, controlling the rotation interval time of the rotating barrel along the second direction.

[0070] That is to say, after the time interval between the signal sampling point corresponding to the magnetic field strength extreme value and the compensated sampling point of the Hall detection signal, the time interval can be used as the barrel compensation amount for compensating the current position of the litter box, and the rotating barrel of the litter box is controlled to rotate for the corresponding interval time along the second direction to compensate for the position deviation between the current position of the rotating barrel of the litter box and the initial position of the rotating barrel of the litter box, so that the rotating barrel of the litter box returns to the corresponding initial position.

[0071] Thus, the method for positioning the rotating barrel of the litter box in the embodiments of the present invention can reduce the requirements for the consistency of the magnetic field strength of the magnet, the consistency of the structural size deviation, and the consistency of the Hall components, and dynamically judge whether the magnetic field strength between the magnet and the Hall element has reached the extreme value according to the different characteristics of each litter box, and determine the barrel compensation amount, so that the entrance platform of the rotating barrel of the litter box can be accurately flush with the entrance of the outer barrel, thereby realizing the accurate positioning of the rotating barrel of the litter box. Specific Embodiment Two:

[0073] Specifically, as Figure 6 shown, obtaining the barrel compensation amount according to the signal sampling point corresponding to the magnetic field strength extreme value of the Hall detection signal includes:

[0074] S301. Determine the signal sampling point of the Hall detection signal after the magnet moves away from the Hall element according to the parabolic change trend corresponding to the Hall detection signal as the compensation sampling point, and obtain the time interval between the compensation sampling point and the signal sampling point of the Hall detection signal corresponding to the magnetic field strength extreme value.

[0075] Specifically, with the time interval between the signal sampling points of each adjacent Hall detection signal being 50 ms, continuously sample the Hall detection signal output by the Hall element within a preset time period. For example, obtain the signal sampling points A1, A2, and A3 of three Hall detection signals at intervals of 50 ms. At this time, 1) if A1 > A2 > A3, it can be determined that the magnet is in a state of approaching the Hall element. At this time, it can be determined that the signal sampling point of the Hall detection signal corresponding to the magnetic field strength extreme value generated by the magnet has not appeared, and there is no need to determine the time interval, and continue to sample the Hall detection signal; 2) if A1 < A2 < A3, it can be determined that the magnet is in a state of moving away from the Hall element. At this time, it can be determined that the signal sampling point of the Hall detection signal corresponding to the magnetic field strength extreme value generated by the magnet has appeared, and it can be determined that the (compensation) sampling point of the Hall detection signal after the magnet moves away from the Hall element has rotated 50 ms * 3 = 150 ms relative to the signal sampling point of the Hall detection signal corresponding to the magnetic field strength extreme value generated by the magnet, that is, the time interval is 150 ms.

[0076] S302. Determine the compensation angle according to the time interval, and use the compensation angle as the compensation amount of the rotating barrel.

[0077] It can be understood that different time intervals can correspond to different compensation angles. In an embodiment of the present invention, the mapping relationship between each time interval and each corresponding compensation angle can be obtained through prior experiments and stored, so that after the time interval is determined, the current compensation angle corresponding to the current time interval can be determined by querying.

[0078] Furthermore, as Figure 6 shown, controlling the rotating barrel to rotate in the second direction according to the compensation amount of the rotating barrel includes:

[0079] S303. Control the rotating barrel to rotate by the compensation angle in the second direction.

[0080] That is to say, after the time interval between the signal sampling point of the Hall detection signal corresponding to the magnetic field intensity extreme value and the compensation application point, the corresponding compensation angle can also be determined based on the time interval, and the determined compensation angle can be used as the drum compensation amount for compensating the current position of the litter box, and the drum of the litter box can be controlled to rotate by the corresponding compensation angle along the second direction to compensate for the position deviation between the current position of the drum of the litter box and the initial position of the drum of the litter box, so that the drum of the litter box returns to the corresponding initial position.

[0081] Thus, the drum positioning method of the litter box according to the embodiment of the present invention can reduce the requirements for the consistency of the magnetic field intensity of the magnet, the consistency of the structural dimension deviation, and the consistency of the Hall components, and dynamically judge whether the magnetic field intensity between the magnet and the Hall element has reached the extreme value according to the different characteristics of each litter box, and determine the drum compensation amount, so that the entrance platform of the drum of the litter box can be accurately flush with the entrance of the outer barrel, thereby realizing the accurate positioning of the drum of the litter box.

[0082] In summary, according to the drum positioning method of the litter box according to the embodiment of the present invention, by controlling the drum of the litter box to rotate along the first direction, and by using the Hall detection signal to obtain the parabolic change trend corresponding to the Hall detection signal, and then, according to the obtained parabolic change trend corresponding to the Hall detection signal, determining the signal sampling point of the Hall detection signal corresponding to the magnetic field intensity extreme value generated by the magnet, and obtaining the drum compensation amount according to the signal sampling point of the Hall detection signal corresponding to the magnetic field intensity extreme value, and, according to the obtained drum compensation amount, controlling the drum of the litter box to rotate along the second direction so that the drum of the litter box can return to the initial position, wherein the second direction of the drum rotation is opposite to the first direction of the drum rotation. Thus, the position deviation between the drum position and the initial position is compensated according to the drum compensation amount, improving the accuracy of the drum positioning.

[0083] Based on the drum positioning method of the litter box according to the foregoing embodiment of the present invention, the embodiment of the present invention also proposes a computer-readable storage medium, on which a corresponding drum positioning program of the litter box is stored. When the processor executes the drum positioning program, the drum positioning method of the litter box as described in the foregoing embodiment of the present invention can be implemented.

[0084] It should be noted that for other specific implementation manners of the computer-readable storage medium according to the embodiment of the present invention, reference may specifically be made to the specific implementation manners of the drum positioning method of the litter box according to the foregoing embodiment of the present invention. To reduce redundancy, it will not be repeated here.

[0085] In summary, for the computer-readable storage medium according to the embodiments of the present invention, by executing the rotating barrel positioning program of the litter box stored thereon by a processor, the position deviation between the position of the rotating barrel and the initial position can be compensated according to the rotating barrel compensation amount, improving the accuracy of rotating barrel positioning.

[0086] Based on the rotating barrel positioning method of the litter box according to the foregoing embodiments of the present invention, embodiments of the present invention further propose a litter box, which specifically includes a memory and a processor, as well as a rotating barrel positioning program of the litter box stored on the memory. Among them, the rotating barrel positioning program of the litter box can run on the processor to execute the rotating barrel positioning method of the litter box described in the foregoing embodiments of the present invention.

[0087] It should be noted that for other specific implementation manners of the litter box according to the embodiments of the present invention, reference may specifically be made to the specific implementation manners of the rotating barrel positioning method of the litter box according to the foregoing embodiments of the present invention. To reduce redundancy, they will not be elaborated herein.

[0088] In summary, for the litter box according to the embodiments of the present invention, by running the rotating barrel positioning program of the litter box stored on the memory by a processor, the position deviation between the position of the rotating barrel and the initial position can be compensated according to the rotating barrel compensation amount, improving the accuracy of rotating barrel positioning.

[0089] Figure 7 It is a schematic block diagram of a rotating barrel positioning device of a litter box according to an embodiment of the present invention.

[0090] As Figure 7 shown, the rotating barrel positioning device 100 of the litter box includes: a control module 10, a sampling module 20, and a determination module 30.

[0091] Specifically, the control module 10 is used to control the rotating barrel of the litter box to rotate along a first direction; the sampling module 20 is used to sample the Hall detection signal output by the Hall element and obtain the parabolic change trend corresponding to the Hall detection signal; the determination module 30 is used to determine the signal sampling point of the Hall detection signal corresponding to the extreme value of the magnetic field strength generated by the magnet according to the parabolic change trend corresponding to the Hall detection signal, and obtain the rotating barrel compensation amount according to the signal sampling point of the Hall detection signal corresponding to the extreme value of the magnetic field strength; the control module 40 is further used to control the rotating barrel of the litter box to rotate along a second direction according to the obtained rotating barrel compensation amount, so that the rotating barrel of the litter box returns to the corresponding initial position, where the second direction of the rotating barrel rotation is opposite to the first direction of the rotating barrel rotation.

[0092] It should be noted that the specific implementation manner of the rotating barrel positioning device 100 of the litter box according to the embodiments of the present invention corresponds one-to-one to the specific implementation manner of the rotating barrel positioning method of the litter box according to the foregoing embodiments of the present invention, and will not be elaborated herein.

[0093] In summary, for the rotating barrel positioning device of the cat litter box according to the embodiments of the present invention, first, the control module controls the rotating barrel of the cat litter box to rotate in the first direction, then the sampling module samples the Hall detection signal detected by the Hall element to obtain the parabolic change trend corresponding to the Hall detection signal. Furthermore, the determination module determines the signal sampling point of the Hall detection signal corresponding to the extreme value of the magnetic field intensity generated by the magnet according to the parabolic change trend corresponding to the Hall detection signal, and obtains the rotating barrel compensation amount according to the signal sampling point of the Hall detection signal corresponding to the extreme value of the magnetic field intensity. Finally, the control module controls the rotating barrel of the cat litter box to rotate in the second direction according to the obtained rotating barrel compensation amount to control the rotating barrel of the cat litter box to return to the initial position, where the second direction of the rotating barrel rotation is opposite to the first direction of the rotating barrel rotation.

[0094] It should be noted that the logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connection parts with one or more wirings (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber devices, and portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other appropriate processing if necessary, and then storing it in a computer memory.

[0095] It should be understood that each part of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0097] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0098] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0099] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for positioning a rotating barrel of a cat litter box, characterized in that A magnet is provided on the rotating barrel of the litter box, and a Hall element is provided on the base of the litter box. The Hall element is used to detect the change in the magnetic field strength generated by the magnet to output a Hall detection signal. The method includes: Controlling the rotating barrel to rotate in a first direction and sampling the Hall detection signal to obtain the parabolic change trend of the Hall detection signal; Determining the sampling point of the Hall detection signal corresponding to the extreme value of the magnetic field strength generated by the magnet according to the parabolic change trend of the Hall detection signal, and obtaining the barrel compensation amount according to the sampling point of the Hall detection signal corresponding to the extreme value of the magnetic field strength; Controlling the rotating barrel to rotate in a second direction according to the barrel compensation amount so that the rotating barrel returns to the initial position, where the second direction is opposite to the first direction; When controlling the rotating barrel to rotate in the first direction, the magnet first approaches the Hall element and then moves away from the Hall element, so as to obtain the parabolic change trend of the Hall detection signal when sampling the Hall detection signal; Obtaining the barrel compensation amount according to the sampling point of the Hall detection signal corresponding to the extreme value of the magnetic field strength includes: Determining the sampling point of the Hall detection signal after the magnet moves away from the Hall element as the compensation sampling point according to the parabolic change trend of the Hall detection signal, obtaining the interval time between the compensation sampling point and the sampling point of the Hall detection signal corresponding to the extreme value of the magnetic field strength, and taking the interval time as the barrel compensation amount; 2. The method according to claim 1, wherein Controlling the rotating barrel to rotate in the second direction according to the barrel compensation amount includes: Controlling the rotating barrel to rotate in the second direction for the interval time; 3. The method according to claim 1, wherein Obtaining the barrel compensation amount according to the sampling point of the Hall detection signal corresponding to the extreme value of the magnetic field strength includes: Determining the sampling point of the Hall detection signal after the magnet moves away from the Hall element as the compensation sampling point according to the parabolic change trend of the Hall detection signal, and obtaining the interval time between the compensation sampling point and the sampling point of the Hall detection signal corresponding to the extreme value of the magnetic field strength; Determining the compensation angle according to the interval time and taking the compensation angle as the barrel compensation amount; 4. The method according to claim 3, characterized in that, Controlling the rotating barrel to rotate in the second direction according to the barrel compensation amount includes: Controlling the rotating barrel to rotate in the second direction by the compensation angle; 5. The method according to any one of claims 1 to 4, characterized in that The first direction is the clockwise direction and the second direction is the counterclockwise direction; 6. The method according to any one of claims 1-4, characterized in that, The magnet includes a first magnet element and a second magnet element with opposite polarities. The first magnet element and the second magnet element are respectively arranged at different positions on the rotating barrel, and the Hall element is a linear Hall; 7. A computer-readable storage medium, characterized in that, It stores a rotating barrel positioning program for the litter box. When the rotating barrel positioning program for the litter box is executed by a processor, it realizes the rotating barrel positioning method for the litter box according to any one of claims 1-6; 8. A cat litter box, characterized in that, It includes a memory, a processor, and a rotating barrel positioning program for the litter box stored on the memory and executable on the processor. When the processor executes the rotating barrel positioning program for the litter box, it realizes the rotating barrel positioning method for the litter box according to any one of claims 1-6.

9. A positioning device for the rotating barrel of a cat litter box, characterized in that, A magnet is provided on the rotating barrel of the litter box, and a Hall element is provided on the base of the litter box. The Hall element is used to detect the change in the magnetic field intensity generated by the magnet to output a Hall detection signal. The device includes: a control module for controlling the rotating barrel to rotate in a first direction; a sampling module for sampling the Hall detection signal to obtain the parabolic change trend of the Hall detection signal; a determination module for determining the Hall detection signal sampling point corresponding to the magnetic field intensity extreme value generated by the magnet according to the parabolic change trend of the Hall detection signal, and obtaining a rotating barrel compensation amount according to the Hall detection signal sampling point corresponding to the magnetic field intensity extreme value; The control module is further configured to control the rotating barrel to rotate in a second direction according to the rotating barrel compensation amount, so that the rotating barrel returns to the initial position, where the second direction is opposite to the first direction.

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