An intelligent cat litter box that does not consume cat litter and its implementation method

Abstract

The present invention provides an intelligent cat litter box that does not consume cat litter and an implementation method thereof. The intelligent cat litter box that does not consume cat litter includes a cat litter box body, a multi-degree-of-freedom motion platform, a movable cat litter box bottom plate, a sand retaining tube, a sand receiving tube, a sand receiving tube bottom plate, a feces receiving tube and a feces storage box. The present invention innovatively adopts a sand retaining tube, a sand receiving tube and a movable and aligned feces receiving tube under the cat litter box. When the pet goes to the toilet, the excrement is directly discharged into the feces storage box or even directly into the sewer. There is no need to pack and clean the excrement, no odor is emitted, and no pollution is caused to the cat litter box structure. In the intelligent cat litter box implemented by this method, the cat litter is only used as a prop for the pet to instinctively scrape sand before and after going to the toilet, and is not consumed. There is no need to add or replace the cat litter as a whole, which saves costs and reduces environmental pollution. The present invention has the advantages of being hygienic, environmentally friendly, money-saving, labor-saving and maintenance-free.

Description

Technical Field

[0001] The present invention relates to an intelligent cat litter box, in particular to an intelligent cat litter box which does not consume cat litter and a method for realizing the same. Background Art

[0002] The emergence of smart litter boxes that automatically clean pet waste has reduced the workload for pet owners to a certain extent. These boxes use automated mechanisms such as filters to regularly clean the litter clumps formed by pet waste, enabling regular packing of litter clumps and reducing the cleaning burden on pet owners.

[0003] However, smart cat litter boxes that automatically clean pet excrement still have many problems: First, the way excrement is used to clump cat litter with cat litter to deal with excrement is that cat litter consumption is high, and cat litter clumps are large in volume and mass, so contaminated cat litter needs to be added and replaced as a whole regularly, and cat litter clumps need to be cleaned and packed more frequently; second, clumped cat litter clumps are stored in the cat litter box for a long time and will emit odors, so they need to be treated with ultraviolet rays, ozone, activated carbon and other disinfection and deodorization methods, which increases the cost of consumables and maintenance workload; third, the moving parts of the smart cat litter box will be contaminated by excrement hanging on the wall, and pet owners need to regularly disassemble and clean the cat litter box; finally, because this type of smart cat litter box cleans cat litter clumps by rotating or lifting the filter in the upper space, there is a certain degree of risk of pinching pets. It can be said that this type of smart cat litter box solves certain problems, but brings new problems.

[0004] The following are some problems with smart cat litter boxes on the market collected by a website:

[0005] 1) It needs to be cleaned regularly, otherwise it will breed bacteria, insect eggs and odor, affecting the cat's health and living environment; 2) Cats dig the soil to cover their feces, causing cat litter to splash, dust to rise in the litter box, and cat litter to fall into the rotating structure, causing it to jam; 3) In order to prevent the cat litter stuck on its paws from scattering everywhere after the cat comes out, the footboard at the door of the litter box also needs to be cleaned regularly; 4) Although the footboard prevents the cat's paws from bringing out the cat litter, some cats urinate on the footboard (pedal), adding a cleaning point; 5) Although the high-frequency action of manual shoveling of feces every day is eliminated, it adds manual addition of cat litter, replacement of filter consumables, manual packaging of cat pellets solid waste, regular manual disassembly and cleaning of the litter box structure, and even OTA software upgrades to eliminate network instability, inability to connect to the Internet, software and hardware failures and other troubles; 6) Cat litter is easily hidden in the gaps of the litter box. Over time, the cabin has a strong odor and is difficult to clean. 7) Although the ball cabin supports one-click litter cleaning, the cat litter is still not clean and is difficult to remove. 8) It doesn't support tofu cat litter very well; bentonite / mineral cat litter is recommended. 9) The inner wall of the ball cabin is stained with feces. If your cat has loose stools, it may stick to the inner wall, requiring regular cleaning. The internal gap structure can trap cat litter and dust.

[0006] Therefore, how to realize a truly maintenance-free, consumable-free smart cat litter box and reduce environmental pollution is a problem that needs to be solved at present. Summary of the Invention

[0007] In view of the defects of the prior art, the present invention provides an intelligent cat litter box that does not consume cat litter and an implementation method thereof, which can effectively solve the above problems.

[0008] The technical solution adopted in the present invention is as follows:

[0009] The present invention provides an intelligent cat litter box that does not consume cat litter, comprising a cat litter box body (100), a multi-degree-of-freedom motion platform (200), a movable cat litter box bottom plate (254), a sand retaining cylinder (275), a sand receiving cylinder (284), a sand receiving cylinder bottom plate (285), a feces receiving cylinder (277), and a feces storage box (300);

[0010] The cat litter box body (100) comprises a base (110), an upper cover (120) and a flip-up litter collecting pedal (130); the upper surface of the base (110) is a platform (111) for pets to use the toilet, and a bottomless cat litter box rim (112) is provided in the center of the platform (111); the movable cat litter box bottom plate (254) is provided below the base (110), and a central circular hole (255) is provided in the movable cat litter box bottom plate (254); the bottomless cat litter box rim (112) and the movable cat litter box bottom plate (254) below the bottomless cat litter box rim (112) are combined to form a cat litter box (199);

[0011] The upper cover (120) is provided with a pet entrance and exit (122); the flip sand collecting pedal (130) is provided on the side of the base (110) and below the pet entrance and exit (122); the surface of the base (110) is provided with a sand guide groove (113) connected to the cat litter box (199), and the outer side of the sand guide groove (113) is connected to the sand outlet (133) provided by the flip sand collecting pedal (130);

[0012] The multi-degree-of-freedom motion platform (200) is located below the mobile cat litter box bottom plate (254), and includes an X1-axis motion mechanism, an X2-axis motion mechanism, a Y-axis motion mechanism, a Z1-axis motion mechanism, a Z2-axis motion mechanism, and a Z3-axis motion mechanism;

[0013] The movable cat litter box bottom plate (254) is driven by the X1-axis motion mechanism and the Y-axis motion mechanism to move in the X1-axis direction and the Y-axis direction, thereby moving the central circular hole (255) provided on the movable cat litter box bottom plate (254) to any position in the cat litter box (199);

[0014] The sand retaining cylinder (275) is embedded in the central circular hole (255) provided on the bottom plate (254) of the movable cat litter basin, and moves synchronously with the bottom plate (254) of the movable cat litter basin. Furthermore, the sand retaining cylinder (275) performs a lifting movement in the Z1-axis direction under the drive of the Z1-axis movement mechanism.

[0015] The sand receiving tube (284) and the sand receiving tube (277) are respectively arranged below the sand retaining tube (275); the sand receiving tube bottom plate (285) is arranged inside the sand receiving tube (284); the sand receiving tube bottom plate (285) is driven by the Z3 axis motion mechanism to perform a lifting motion in the Z3 axis direction inside the sand receiving tube (284); the sand receiving tube (284) is driven by the Z2 axis motion mechanism to perform a lifting motion in the Z2 axis direction, thereby causing the sand receiving tube (284) to perform a lifting motion along the inner wall of the sand retaining tube (275); the sand receiving tube (284) and the sand receiving tube bottom plate (285) form a sand receiving tube assembly;

[0016] The lower end of the feces receiving tube (277) is embedded in the feces storage box (300); the X2-axis motion mechanism is used to drive the feces storage box (300) and the sand receiving tube assembly to move synchronously along the X2-axis direction. Since the feces receiving tube (277) and the feces storage box (300) are fixed, the feces receiving tube (277) and the sand receiving tube assembly are moved synchronously along the X2-axis direction; in the standby mode, the sand receiving tube assembly is moved to the bottom of the sand retaining tube (275), at which time, the feces receiving tube (277) is located at the rear and lower part of the sand retaining tube (275); in the feces receiving mode, the sand receiving tube assembly is moved to one side of the sand retaining tube (275), and the feces receiving tube (277) is moved to the bottom of the sand retaining tube (275), so that the sand retaining tube (275), the feces receiving tube (277) and the feces storage box (300) form a defecation channel.

[0017] Preferably, the flip sand collecting pedal (130) is a double-layer structure, the lower layer is a sand collecting box (131) with a V-shaped sand collecting guide groove, and the upper layer is a mesh porous screen (132); when the flip sand collecting pedal (130) is flipped up to a vertical position, it blocks the pet entrance and exit (122), preventing multiple pets from using the toilet at the same time and causing cat litter pollution; when the flip sand collecting pedal (130) is flipped up, the cat litter falling into the sand collecting box (131) flows back into the cat litter basin (199) from the sand outlet (133) along the entrance of the sand guide groove (113); when the flip sand collecting pedal (130) is flipped down, it becomes a footrest for pets to use the toilet.

[0018] Preferably, the movable cat litter box bottom plate (254) is located on the X1-axis motion mechanism; the X1-axis motion mechanism is located on the Y-axis motion mechanism bracket of the Y-axis motion mechanism, thereby enabling the central circular hole (255) opened on the movable cat litter box bottom plate (254) to move to any position in the cat litter box (199).

[0019] Preferably, the sand retaining cylinder (275) is coaxially arranged with the central circular hole (255) opened on the bottom plate (254) of the mobile cat litter box, and the side of the sand retaining cylinder (275) is provided with a horizontal sliding guide rail of the feces receiving cylinder (277) and a feces storage box sealing cover, so that the feces receiving cylinder (277) moves in the X2 axis direction along with the X2 axis motion mechanism; the inner wall of the sand retaining cylinder (275) has an annularly distributed feces flushing water spray hole.

[0020] Preferably, the surface of the mobile cat litter box bottom plate (254), the inner wall of the sand retaining cylinder (275), the inner wall of the sand receiving cylinder (284), the upper surface of the sand receiving cylinder bottom plate (285), and the inner wall of the feces receiving cylinder (277) are all coated with smooth drag-reducing material.

[0021] Preferably, an electromagnetic coil is embedded above the sand retaining cylinder (275) to absorb and fix customized paramagnetic cat litter particles to prevent the particles from sliding off.

[0022] Preferably, the inner wall of the sand receiving cylinder (284) has ultraviolet disinfection LED lamp beads arranged in a ring.

[0023] Preferably, the stool storage box (300) is provided with a sealing cover plate (303) having an automatic reset shaft (304), and a cover opening stop column (307) is provided in the center above the sealing cover plate (303);

[0024] A defecation outlet (302) is provided below the defecation storage box (300). In the storage mode, the defecation outlet (302) is sealed by a defecation outlet sealing cover; in the direct discharge mode, the defecation outlet (302) is connected to the sewer through a pipe.

[0025] Preferably, the feces storage box (300) is a disposable box or a feces storage bag in the form of a pre-opened roll bag; when a feces storage bag in the form of a pre-opened roll bag is used, the multi-degree-of-freedom motion platform (200) of the smart cat litter box supports the conveying, opening, sealing and bag breaking structures of the pre-opened roll bag;

[0026] The excrement storage bag opening structure is connected to the excrement receiving tube (277) and is composed of two elastic strips connected at both ends. When installed, the excrement storage bag opening structure is inserted into the bag opening of the pre-opened continuous roll bag to a certain depth; when on standby, the elastic strip of the excrement storage bag opening structure is closed, and the two ends stretch the bag opening to seal the excrement storage bag opening; when the excrement receiving tube (277) is docked with the sand retaining tube (275), the two ends of the excrement storage bag opening structure move toward the center, and the elastic strip is deformed into an arc shape, which stretches the excrement storage bag opening to dock with the upper excrement receiving tube (277); the opening on the side of the intelligent cat litter box base is linked to the bag breaking structure, and when the opening baffle is opened, the excrement storage bag is pulled apart, making it convenient for the user to take it out.

[0027] The present invention also provides a method for realizing an intelligent cat litter box that does not consume cat litter, comprising the following steps:

[0028] S1: The process is in standby mode, and the presence of a pet is detected by triggering an infrared sensor or real-time video stream from a computer vision camera;

[0029] S2: The process identifies whether the pet has completely entered the litter box (199). If so, it enters S3; if not, it continues to wait; if it is identified that the pet has left the litter box (199), it returns to S1.

[0030] S3: driving the flipping sand collecting pedal (130) to flip upwards to cover the pet entrance (122) of the cat litter box (199);

[0031] S4: The process continues to analyze and determine whether the pet has started to dig sand. If yes, it proceeds to S5; if no, it means the pet is ready to leave, so it jumps to S18, flips down the flip sand collecting pedal (130), opens the pet exit (122), and allows the pet to leave;

[0032] S5: The process outputs the pet sand-shaving event notification and the coordinate data (Xa, Ya, Za) of the sand-shaving location;

[0033] S6: The process drives the X1-axis motion mechanism and the Y-axis motion mechanism to align the central circular hole (255) of the movable cat litter box bottom plate (254) with the sand shaving position in advance;

[0034] S7: The process simultaneously drives the sand retaining cylinder (275), the sand receiving cylinder (284) and the sand receiving cylinder bottom plate (285) to rise a certain distance, pushing the cat litter upward, reducing the amount of sand received, and making preparations for sand receiving in advance;

[0035] S8: The process then further determines whether the pet turns around and squats to defecate after digging the litter. If so, the process proceeds to S9; if not, the process jumps to S18;

[0036] S9: The process outputs the pet excretion event notification and the coordinate data (Xb, Yb, Zb) of the excretion location, and determines whether the coordinates (Xb, Yb, Zb) of the excretion location are basically consistent with the coordinates (Xa, Ya, Za) of the shaving location; if not, proceed to S10; if yes, proceed to S11;

[0037] S10: The process drives the X1-axis motion mechanism and the Y-axis motion mechanism to perform fine adjustment so that the sand retaining cylinder (275) is aligned with the coordinate data (Xb, Yb, Zb) of the discharge position, and then enters S11;

[0038] S11: According to the sand-shaving depth of the pet's squatting position, the Z1-axis motion mechanism is driven to quickly push the upper edge of the sand retaining cylinder (275) through the cat litter and rise to a suitable height that does not disturb the pet. At the same time, the Z2-axis motion mechanism and the Z3-axis motion mechanism are moved to drive the sand receiving cylinder (284) and the sand receiving cylinder bottom plate (285) to quickly descend, and the cat litter trapped in the middle of the sand retaining cylinder (275) and the cat litter sliding from the upper edge of the sand retaining cylinder (275) are caught. Then, the X2-axis motion mechanism is driven to move the sand receiving cylinder (284) and the sand receiving cylinder bottom plate (285) along the X2-axis direction to the side of the sand retaining cylinder (275), and enter S12;

[0039] S12: When the X2-axis motion mechanism is activated, the feces storage box (300) moves in conjunction therewith. Since the feces storage box (300) is fixed to the feces receiving bowl (277) in the circular opening above the feces storage box (300), the feces receiving bowl 277 is driven to move, so that the feces receiving bowl (277) is aligned with the lower edge of the sand retaining cylinder (275); the pet excrement falls into the feces storage box (300) along the sand retaining cylinder (275) and the feces receiving bowl (277), and enters S1;

[0040] S13: The process detects whether the pet has completed defecation and turned around to dig sand. If not, the process returns to S12; if yes, the process enters S14;

[0041] S14: driving the X2-axis motion mechanism to move the feces receiving tube (277) and the feces storage box (300) away from the sand retaining tube (275), and the circular opening (301) of the feces storage box (300) is sealed by the sealing cover (303);

[0042] S15: When the X2 axis motion mechanism in S14 moves, the sand receiving cylinder (284) and the sand receiving cylinder bottom plate (285) are simultaneously driven to translate and align with the lower edge of the sand retaining cylinder (275);

[0043] S16: The sand receiving tube (284) and the sand receiving tube bottom plate (285) rise rapidly, wherein the upper edge of the sand receiving tube (284) and the sand receiving tube bottom plate (285) rise simultaneously to be flush with the upper surface of the cat litter box bottom plate, and the cat litter inside the sand receiving tube (284) is lifted into the cat litter box, and the sand retaining tube (275) descends until the upper edge is flush with the upper surface of the cat litter box bottom plate;

[0044] S17: The process identifies whether the pet has completed the action of scraping sand to cover the excrement. If yes, it goes to S18; if not, it returns to S4;

[0045] S18: The process drives the flip sand collecting pedal (130) to flip down, opens the pet entrance (122), and allows the pet to leave through the entrance;

[0046] S19: When the pet leaves, the process drives the X1-axis motion mechanism and the Y-axis motion mechanism, driving the rising sand retaining cylinder (275) to move up and down and left and right to stir the cat litter, making the cat litter smooth and convenient for the pet to use the toilet next time; then returns to the S1 standby state.

[0047] The intelligent cat litter box that does not consume cat litter and its implementation method provided by the present invention have the following advantages:

[0048] The present invention innovatively utilizes a sand retaining tube, a sand collecting tube, and a movable, aligned feces collecting tube below the litter box. When a pet uses the toilet, excrement is discharged directly into the feces storage box or even directly into the sewer, eliminating the need to pack and clean the excrement, emitting no odor, and preventing contamination of the litter box structure. In the intelligent litter box implemented by this method, the cat litter only serves as a tool for the pet to instinctively scrape before and after using the toilet, and is not consumed. There is no need to add or replace the litter, saving costs and reducing environmental pollution. The present invention combines the advantages of being hygienic, environmentally friendly, cost-effective, labor-saving, and maintenance-free. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a control flow chart of a method for implementing an intelligent cat litter box that does not consume cat litter provided by the present invention;

[0050] Figure 2 This is a schematic diagram of the coordinate relationship of the bottom plate of the cat litter box provided by the present invention;

[0051] Figure 3 This is an isometric overall schematic diagram of the smart cat litter box provided by the present invention;

[0052] Figure 4 1 is an isometric overall schematic diagram of the smart cat litter box provided by the present invention (upside down);

[0053] Figure 5 1 is an exploded isometric view of the smart cat litter box provided by the present invention;

[0054] Figure 6 It is a three-dimensional diagram of the stool storage box provided by the present invention;

[0055] Figure 7 It is an assembly diagram of the sand receiving cylinder assembly, the Z2 axis motion mechanism, and the Z3 axis motion mechanism provided by the present invention;

[0056] Figure 8 This is an assembly diagram of the sand retaining cylinder, the waste receiving cylinder and the Z1 axis motion mechanism provided by the present invention;

[0057] Figure 9 This is an assembly diagram of the mobile cat litter box bottom plate and the X2-axis motion mechanism provided by the present invention;

[0058] Figure 10 It is an assembly drawing of the X1-axis motion mechanism and the Y-axis motion mechanism provided by the present invention;

[0059] Figure 11 It is an assembly drawing of the main components provided by the present invention;

[0060] Figure 12 This is an assembly diagram of the stool storage box provided by the present invention and other components. DETAILED DESCRIPTION

[0061] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0062] The intelligent cat litter box that does not consume cat litter and its implementation method provided by the present invention have the following advantages:

[0063] The present invention innovatively adopts a sand retaining tube, a sand collecting tube and a movable and aligned feces collecting tube under the cat litter box. When the pet goes to the toilet, the excrement is directly discharged into the storage box or even directly into the sewer. There is no need to pack and clean the excrement, and it will not emit odor or pollute the cat litter box structure.

[0064] In this invention, a litter collecting drum collects any cat litter that falls before a pet uses the toilet. After the pet finishes using the toilet, the collected litter is pushed back into the litter box. A double-layer flip-up litter collecting pedal acts as an entrance barrier, preventing litter contamination from multiple pets using the toilet. It also collects litter removed by the pet's body and returns it to the litter box, further minimizing litter consumption. This method creates an intelligent litter box where the litter only serves as a tool for the pet's instinctive scraping before and after use, eliminating the need for additional or complete litter replacement, saving costs and reducing environmental pollution.

[0065] This method uses intelligent pet behavior analysis to track and analyze the pet's movements and positions such as arrival, litter scratching, and toileting. Driven by a multi-degree-of-freedom motion platform, the sand retaining tube is responsible for retaining the sand, the sand receiving tube and the sand receiving tube bottom plate are responsible for receiving the sand and moving it to the side, and the feces receiving tube is connected to the feces storage box, so that the pet's excrement is directly excreted into the feces storage box below, without wasting cat litter. The cat litter is only used as a prop to satisfy the pet's instinct to scratch litter. At the same time, the intelligent cat litter box can be connected to the water pipe, and the feces storage box can be connected to the sewer floor drain to discharge the excrement directly into the sewer. Users no longer need to shovel cat litter, pack cat litter balls, and clean the cat litter box. Therefore, the present invention has the advantages of hygiene, environmental protection, money saving, labor saving, and maintenance-free.

[0066] The present invention provides an intelligent cat litter box that does not consume cat litter, referring to Figure 3-Figure 12 , including a cat litter box body 100, a multi-degree-of-freedom motion platform 200, a movable cat litter box bottom plate 254, a sand retaining cylinder 275, a sand receiving cylinder 284, a sand receiving cylinder bottom plate 285, a feces receiving cylinder 277 and a feces storage box 300;

[0067] The litter box body 100 includes a base 110, a top cover 120, and a flip-up litter collecting pedal 130. The upper surface of the base 110 is a pet resting platform 111, and a bottomless litter box rim 112 is disposed in the center of the pet resting platform 111. A movable litter box bottom plate 254 is disposed below the base 110 and defines a central circular hole 255. The bottomless litter box rim 112 and the movable litter box bottom plate 254 below it combine to form a litter box 199.

[0068] The upper cover 120 defines a pet entrance and exit 122; a flip sand collecting pedal 130 is provided on the side of the base 110 and below the pet entrance and exit 122; a sand guide groove 113 is provided on the surface of the base 110 and communicates with the cat litter box 199, and the outer side of the sand guide groove 113 communicates with a sand outlet 133 defined by the flip sand collecting pedal 130;

[0069] The flip sand collecting pedal 130 has a double-layer structure, the lower layer is a sand collecting box 131 with a V-shaped sand collecting guide groove, and the upper layer is a mesh porous screen 132; when the flip sand collecting pedal 130 is flipped up to a vertical position, it blocks the pet entrance and exit 122, preventing multiple pets from using the toilet at the same time and causing cat litter contamination; when the flip sand collecting pedal 130 is flipped up, the cat litter falling into the sand collecting box 131 is poured back into the cat litter basin 199 from the sand outlet 133 along the entrance of the sand guide groove 113; when the flip sand collecting pedal 130 is flipped down, it becomes a footrest for pets to use the toilet.

[0070] The multi-degree-of-freedom motion platform 200 is located below the mobile cat litter box bottom plate 254 and includes an X1-axis motion mechanism, an X2-axis motion mechanism, a Y-axis motion mechanism, a Z1-axis motion mechanism, a Z2-axis motion mechanism, and a Z3-axis motion mechanism;

[0071] The movable litter box bottom plate 254 is driven by the X1-axis motion mechanism and the Y-axis motion mechanism to move in the X1-axis direction and the Y-axis direction, thereby enabling the central circular hole 255 provided in the movable litter box bottom plate 254 to be moved to any position in the litter box 199;

[0072] The sand retaining cylinder 275 is embedded in the central circular hole 255 opened in the bottom plate 254 of the mobile cat litter box, and moves synchronously with the bottom plate 254 of the mobile cat litter box. In addition, the sand retaining cylinder 275 is driven by the Z1-axis motion mechanism to perform a lifting movement in the Z1-axis direction. An electromagnetic coil is embedded above the sand retaining cylinder 275 to absorb and fix customized paramagnetic cat litter particles to prevent the particles from slipping.

[0073] Below the sand retaining cylinder 275, a sand receiving cylinder 284 and a sand receiving cylinder 277 are provided; a sand receiving cylinder base plate 285 is provided inside the sand receiving cylinder 284. Driven by the Z3-axis motion mechanism, the sand receiving cylinder base plate 285 performs a lifting motion in the Z3-axis direction within the sand receiving cylinder 284; driven by the Z2-axis motion mechanism, the sand receiving cylinder 284 performs a lifting motion in the Z2-axis direction, thereby causing the sand receiving cylinder 284 to perform a lifting motion along the inner wall of the sand retaining cylinder 275; the sand receiving cylinder 284 and the sand receiving cylinder base plate 285 form a sand receiving cylinder assembly;

[0074] The lower end of the feces receiving cylinder 277 is embedded in the feces storage box 300; the X2-axis motion mechanism is used to drive the feces storage box 300 and the sand receiving cylinder assembly to move synchronously along the X2-axis direction. Since the feces receiving cylinder 277 and the feces storage box 300 are fixed, the feces receiving cylinder 277 and the sand receiving cylinder assembly move synchronously along the X2-axis direction; in the standby mode, the sand receiving cylinder assembly is moved to the bottom of the sand retaining cylinder 275. At this time, the feces receiving cylinder 277 is located at the rear and lower part of the sand retaining cylinder 275; in the defecation receiving mode, the sand receiving cylinder assembly is moved to one side of the sand retaining cylinder 275, and the feces receiving cylinder 277 is moved to the bottom of the sand retaining cylinder 275, so that the sand retaining cylinder 275, the feces receiving cylinder 277 and the feces storage box 300 form a defecation channel.

[0075] Specifically, the movable litter tray base plate 254 is located on the X1-axis motion mechanism, which is located on the Y-axis motion mechanism bracket of the Y-axis motion mechanism, thereby allowing the central circular hole 255 defined in the movable litter tray base plate 254 to be moved to any position within the litter tray 199. The surface of the movable litter tray base plate 254 is coated with a drag-reducing material.

[0076] In the present invention, the sand retaining cylinder 275 is coaxially arranged with the central circular hole 255 opened in the bottom plate 254 of the movable cat litter box. The side of the sand retaining cylinder 275 is provided with a horizontal sliding guide rail for the feces collecting cylinder 277 and a sealing cover plate for the feces storage box, so that the feces collecting cylinder 277 moves in the X2-axis direction along with the X2-axis motion mechanism; the inner wall of the sand retaining cylinder 275 has an annularly distributed feces flushing water spray hole.

[0077] In the present invention, the inner wall of the sand retaining cylinder 275, the inner wall of the sand receiving cylinder 284, the upper surface of the sand receiving cylinder bottom plate 285, and the inner wall of the waste receiving cylinder 277 are all coated with smooth drag reducing material. The inner wall of the sand receiving cylinder 284 has a ring-shaped arrangement of ultraviolet disinfection LED lamp beads.

[0078] In the present invention, the feces storage box 300 is provided with a sealing cover 303 with an automatic reset rotating shaft 304, and the center above the sealing cover 303 is a cover opening blocking column 307; a feces discharge port 302 is provided at the bottom of the feces storage box 300. In the storage mode, the feces discharge port 302 is sealed by the feces discharge port sealing cover; in the direct discharge mode, the feces discharge port 302 is connected to the sewer through a pipe.

[0079] In actual applications, the feces storage box 300 is a disposable box or a feces storage bag in the form of a pre-opened roll bag. When a feces storage bag in the form of a pre-opened roll bag is used, the multi-degree-of-freedom motion platform 200 of the smart cat litter box supports the conveying, opening, sealing and bag cutting structures of the pre-opened roll bag.

[0080] The feces storage bag opening structure is connected to the feces receiving tube 277, which is two elastic strips connected at both ends. When installed, the feces storage bag opening structure is inserted into the bag opening of the pre-opened roll bag to a certain depth; when on standby, the elastic strip of the feces storage bag opening structure is closed, and the two ends stretch the bag opening to seal the feces storage bag opening; when the feces receiving tube 277 is docked with the sand retaining tube 275, the two ends of the feces storage bag opening structure move closer to the center, and the elastic strip is deformed into an arc, which stretches the feces storage bag opening and docks with the upper feces receiving tube 277; the opening on the side of the base of the smart cat litter box is linked to the bag breaking structure. When the opening baffle is opened, the feces storage bag is pulled apart, making it convenient for the user to take it out.

[0081] An embodiment is described below:

[0082] The smart cat litter box includes a main body, a multi-degree-of-freedom motion platform and a feces storage box; the main body is composed of an upper cover, a base and a flip sand collecting pedal. The center of the upper surface of the base is a bottomless cat litter box rim in the shape of a rounded rectangle, which is combined with the cat litter box bottom plate on the multi-degree-of-freedom motion platform to form a cat litter box; the double-layer flip sand collecting pedal has an upper layer of a mesh porous screen and a lower layer with a V-shaped sand collecting guide groove; when flipped up to a vertical position, it can block the entrance of the upper cover to prevent multiple pets from using the toilet at the same time and causing cat litter pollution. When the double-layer flip sand collecting pedal is flipped up, the cat litter that falls into the lower layer flows back into the cat litter box along the V-shaped sand collecting guide groove. The upper flip sand collecting pedal, when flipped down, becomes a footrest for pets to use the toilet.

[0083] The multi-degree-of-freedom motion platform, located beneath the perimeter of the bottomless litter box, comprises X1, X2, Y, Z1, Z2, and Z3 axis motion mechanisms responsible for the movement of components such as the litter box floor, sand retaining tube, sand collection tube, sand collection tube floor, feces collection tube, and feces storage box. The litter box floor has a central circular hole for the sand retaining tube to pass through. The Y-axis motion mechanism's driver motor is fixed to the mechanism's bracket and meshes with the Y-axis rack on the inner surface of the base, driving the Y-axis in a forward and backward motion.

[0084] The driver motor of the X1-axis motion mechanism is fixed on the motion bracket of the Y-axis motion mechanism, and is engaged with the X1-axis rack on the bottom surface of the cat litter ball bottom plate through a gear, driving the cat litter box bottom plate as a whole to move left and right along the X1-axis direction. Through the cooperation of the Y-axis and X1-axis motion mechanisms, the circular hole in the center of the cat litter box bottom plate can be moved to any position in the rounded rectangular cat litter box.

[0085] The X2-axis motion mechanism's driver motor is fixed to a bracket on the litter box's floor. This motor drives the X2-axis motion mechanism's bracket to move left and right along the X2 axis. The Z2-axis motion mechanism, Z3-axis motion mechanism, and feces collection box are all located on the X2-axis bracket. On either side of the X2-axis motion mechanism bracket are guide rails for inserting the feces collection box. Below and in the center of the X2-axis motion mechanism bracket are guide rails for opening the feces collection box's sealed cover.

[0086] The Z1-axis motion mechanism's driver motor is fixed to the litter box floor via a bracket. The sand retaining cylinder is fixed to the slider of the Z1-axis motion mechanism's driver motor. The side of the sand retaining cylinder is equipped with a sliding guide for the feces receiving tube and a sealing cover for the feces storage box. The lower end of the feces receiving tube is inserted into the circular opening above the feces storage box. When the sand retaining cylinder moves up and down along the Z1-axis, it drives the feces receiving tube up and down. The sliding guide of the feces receiving tube allows the feces receiving tube to move left and right with the movement of the X2-axis motion mechanism.

[0087] The driver motor of the Z2-axis motion mechanism is fixed on the bracket of the X2-axis motion mechanism, and the slider bracket thereof drives the sand receiving cylinder assembly to move up and down along the Z2 axis.

[0088] The driver motor for the Z3-axis motion mechanism is fixed to the slider bracket on the Z2-axis motion mechanism and moves up and down with the sand receiving barrel. The slider bracket of the Z3-axis motion mechanism drives the sand receiving barrel base plate to move up and down along the Z3-axis. When the sand receiving barrel base plate moves upward, it pushes the cat litter in the sand receiving barrel into the litter box. When the sand receiving barrel base plate moves downward, it forms a sand receiving container with the sand receiving barrel, catching cat litter that slides off the upper edge of the sand retaining barrel.

[0089] The guide rail structures on both sides of the feces storage box are inserted into the slide rail guide groove of the X2-axis motion mechanism bracket, and are locked by a locking mechanism and linked to the sand receiving tube. The circular opening above the feces storage box is connected to the toilet tube. The feces storage box has a sealing cover with an automatic reset shaft, and a cover opening stop column is located in the center above the sealing cover. When the feces storage box is not inserted into the slide rail guide groove of the X2-axis motion mechanism bracket, the sealing cover is reset and covers the circular opening above the feces storage box. When the feces storage box is inserted along the slide rail guide groove of the X2-axis motion mechanism bracket, the cover opening guide bar pushes the cover opening stop column in the center of the sealing cover, pushing the sealing cover to one side, revealing the circular opening above. Below the feces storage box is the defecation outlet. In storage mode, the defecation outlet sealing cover can be screwed on. In direct discharge mode, the defecation outlet can be connected to the sewer through a pipe.

[0090] The present invention provides a method for realizing an intelligent cat litter box that does not consume cat litter. Through a computer vision intelligent pet behavior analysis process, the method accurately judges the pet's arrival, litter scraping and toileting actions and location information, drives the intelligent cat litter box, and realizes excrement treatment without consuming cat litter.

[0091] The computer vision intelligent pet behavior analysis process (hereinafter referred to as the process) works as follows: when the process recognizes the arrival of a pet from the real-time video stream captured by the computer vision camera and enters the cat litter box, the process drives the double-layer sand collection foot pedal to flip up and cover the entrance of the smart cat litter box; the process continues to analyze the pet's behavior. When it is recognized that the pet starts to dig sand and its position, the process drives the X1-axis and Y-axis motion mechanisms to align the circular opening of the bottom plate of the cat litter box with this position in advance. At this time, the sand retaining tube, the sand receiving tube and the bottom plate of the sand receiving tube rise a certain distance, pushing the cat litter upward, reducing the amount of sand received, and making preparations for sand receiving in advance. The process then further determines the pet's behavior and position after scraping litter and then squatting to use the toilet. This drives the X1 and Y-axis motion mechanisms for fine-tuning and alignment. Based on the scraping depth of the pet's squatting position, the Z1-axis motion mechanism is driven to quickly push the upper edge of the sand retaining cylinder through the litter and raise it to an appropriate height without disturbing the pet. Simultaneously, the Z2 and Z3-axis motion mechanisms rapidly lower the sand receiving cylinder and its base, catching the cat litter trapped in the middle of the sand retaining cylinder and any litter that has fallen from the upper edge. The sand receiving cylinder and its base then move to the side of the sand retaining cylinder, aligning the circular opening above the defecation box with the defecation receiving cylinder within it. Pet excrement falls through the sand retaining cylinder and into the defecation box.

[0092] When the process detects that the pet has finished using the toilet and turned around, the sand collecting drum and the sand collecting drum base move in parallel, aligning with the lower edge of the sand retaining drum. Then, they rapidly rise, with the upper edge of the sand collecting drum and the sand collecting drum base simultaneously rising to be flush with the upper surface of the litter box floor. The cat litter inside the sand collecting drum is lifted into the litter box, and the sand retaining drum descends until its upper edge is flush with the upper surface of the litter box floor. When the process recognizes that the pet has finished covering their excrement with the sand, the double-layered sand collecting foot pedal flips down, allowing the pet to leave.

[0093] After the process recognizes that the pet has left, the process drives the X1-axis and Y-axis motion mechanisms, driving the rising sand retaining cylinder to move up and down and left and right to turn the cat litter, making the cat litter disturbed and flat, making it convenient for the pet to go to the toilet next time.

[0094] like Figure 1 As shown, the present invention provides a method for realizing a smart cat litter box that does not consume cat litter, which uses computer vision intelligent pet behavior analysis. The process is as follows:

[0095] S1: The process is in standby mode, and the presence of a pet is detected by triggering an infrared sensor or real-time video stream from a computer vision camera;

[0096] S2: The process identifies whether the pet has completely entered the litter box (199). If so, it enters S3; if not, it continues to wait; if it is identified that the pet has left the litter box (199), it returns to S1.

[0097] S3: driving the flipping sand collecting pedal (130) to flip upwards to cover the pet entrance (122) of the cat litter box (199);

[0098] S4: The process continues to analyze and determine whether the pet has started to dig sand. If yes, it proceeds to S5; if no, it means the pet is ready to leave, so it jumps to S18, flips down the flip sand collecting pedal (130), opens the pet exit (122), and allows the pet to leave;

[0099] S5: The process outputs the pet sand-shaving event notification and the coordinate data (Xa, Ya, Za) of the sand-shaving location;

[0100] S6: The process drives the X1-axis motion mechanism and the Y-axis motion mechanism to align the central circular hole (255) of the movable cat litter box bottom plate (254) with the sand shaving position in advance;

[0101] S7: The process simultaneously drives the sand retaining cylinder (275), the sand receiving cylinder (284) and the sand receiving cylinder bottom plate (285) to rise a certain distance, pushing the cat litter upward, reducing the amount of sand received, and making preparations for sand receiving in advance;

[0102] S8: The process then further determines whether the pet turns around and squats to defecate after digging the litter. If so, the process proceeds to S9; if not, the process jumps to S18;

[0103] S9: The process outputs the pet excretion event notification and the coordinate data (Xb, Yb, Zb) of the excretion location, and determines whether the coordinates (Xb, Yb, Zb) of the excretion location are basically consistent with the coordinates (Xa, Ya, Za) of the shaving location; if not, proceed to S10; if yes, proceed to S11;

[0104] S10: The process drives the X1-axis motion mechanism and the Y-axis motion mechanism to perform fine adjustment so that the sand retaining cylinder 275 is aligned with the coordinate data (Xb, Yb, Zb) of the discharge position, and then enters S11;

[0105] S11: According to the sand shaving depth of the pet's squatting position, the Z1-axis motion mechanism is driven to quickly push the upper edge of the sand retaining cylinder 275 through the cat litter and rise to a suitable height that does not disturb the pet. At the same time, the Z2-axis motion mechanism and the Z3-axis motion mechanism are moved to drive the sand receiving cylinder 284 and the sand receiving cylinder bottom plate 285 to quickly descend, catching the cat litter trapped in the middle of the sand retaining cylinder 275 and the cat litter sliding from the upper edge of the sand retaining cylinder 275. Then, the X2-axis motion mechanism is driven to move the sand receiving cylinder 284 and the sand receiving cylinder bottom plate 285 along the X2-axis direction to the side of the sand retaining cylinder 275, and enter S12;

[0106] S12: When the X2-axis motion mechanism is activated, the feces storage box 300 moves in conjunction with it. Since the feces receiving bowl 277 is fixed to the circular opening above the feces storage box 300, the feces receiving bowl 277 is driven to move, so that the feces receiving bowl 277 is aligned with the lower edge of the sand retaining cylinder 275. The pet excrement falls along the sand retaining cylinder 275 and the feces receiving bowl 277 into the feces storage box 300, and the process proceeds to S1.

[0107] S13: The process detects whether the pet has completed defecation and turned around to dig sand. If not, the process returns to S12; if yes, the process enters S14;

[0108] S14: driving the X2-axis motion mechanism to move the feces receiving tube 277 and the feces storage box 300 away from the sand retaining tube 275, and the circular opening 301 of the feces storage box 300 is sealed by the sealing cover 303;

[0109] S15: When the X2-axis motion mechanism in S14 moves, the sand receiving cylinder 284 and the sand receiving cylinder bottom plate 285 are simultaneously driven to translate and align with the lower edge of the sand retaining cylinder 275;

[0110] S16: The sand receiving cylinder 284 and the sand receiving cylinder bottom plate 285 rise rapidly, wherein the upper edge of the sand receiving cylinder 284 and the sand receiving cylinder bottom plate 285 rise simultaneously to be flush with the upper surface of the cat litter box bottom plate, and the cat litter in the sand receiving cylinder 284 is lifted into the cat litter box, and the sand retaining cylinder 275 descends until the upper edge is flush with the upper surface of the cat litter box bottom plate;

[0111] S17: The process identifies whether the pet has completed the action of scraping sand to cover the excrement. If yes, it goes to S18; if not, it returns to S4;

[0112] S18: The process drives the flip sand collecting pedal 130 to flip down, opens the pet entrance 122, and allows the pet to leave through the entrance;

[0113] S19: When the pet leaves, the process drives the X1-axis motion mechanism and the Y-axis motion mechanism, driving the rising sand retaining cylinder 275 to move up and down and left and right to turn the cat litter, making the cat litter smooth and convenient for the pet to use the toilet next time; then returns to the S1 standby state.

[0114] like Figure 2 The figure shows the coordinate diagram of the mobile litter box bottom plate 254. The mobile litter box bottom plate 254 shown in the example is a rounded rectangular shape with a length of 250mm and a width of 250mm, a rounded corner radius of 50mm, and a central circular hole diameter of 100mm. Assuming that the center of the central circular hole is the coordinate origin, the moving range of the center of the circular hole of the mobile litter box bottom plate 254 is a rectangular area connected by four coordinate points (75,75), (-75,75), (-75,-75), and (75,-75). When the coordinates of the sand-shaving center point (Xa, Ya) output by the sand-shaving behavior event and the excretion center point (anus position) (Xb, Yb) output by the excretion behavior event are not within this range, the following rules are installed to adjust the corresponding coordinates:

[0115] If Xa and Xb are greater than or equal to 75, assign 75 to Xa and Xb;

[0116] If Xa and Xb are less than or equal to -75, assign -75 to Xa and Xb;

[0117] When Ya and Yb are greater than or equal to 75, assign Ya and Yb to 75;

[0118] When Ya and Yb are less than or equal to -75, Ya and Yb are assigned -75;

[0119] The process then drives the mobile cat litter box bottom plate to move and align according to the adjusted coordinates.

[0120] like Figure 1 and Figure 2 As described above, the height to which the sand retaining cylinder 275 rises needs to be adjusted according to the Za coordinate output by the sand scraping event and the Zb coordinate output by the excretion event to ensure that the upper edge of the sand retaining cylinder 275 rises to a sufficient height to prevent excessive cat litter from sliding, while not penetrating the surface of the cat litter to prevent disturbing the pet.

[0121] A specific embodiment of the intelligent cat litter box is introduced below:

[0122] like Figures 3 to 12 As shown, the smart cat litter box 10 includes a cat litter box body 100 , a multi-degree-of-freedom motion platform 200 and a feces storage box 300 .

[0123] like Figure 3As shown, the cat litter box body 100 includes a base 110, an upper cover 120 and a flip sand collecting pedal 130. The upper surface of the base 110 is a platform 111 for pets to use the toilet. The center is a bottomless cat litter box rim 112 in the shape of a rounded rectangle. It is combined with a movable cat litter box bottom plate 254 with a central circular hole 255 on the multi-degree-of-freedom motion platform 200 to form a cat litter box 199. The base 110 is provided with a sand guide trough 113, which is located below the upper surface of the base 110 and has an entrance near the flip sand collecting pedal 130. For clarity of the figure, the sand guide trough 113 is open. In actual practice, the upper surface of the sand guide trough 113 is sealed to prevent pets from mistakenly using it as a cat litter box for defecation.

[0124] The side of the base 110 is an insertion and removal opening 114 for the feces storage box 300. The upper cover body 121 of the upper cover 120 is made of transparent material, and its front is a pet entrance and exit 122. The flip sand collecting pedal 130 has a double-layer structure, the lower layer is a sand collecting box 131 with a V-shaped sand collecting guide groove, the upper layer is a mesh porous screen 132, and a sand outlet 133 is set near the sand guide groove 113; when the flip sand collecting pedal 130 is flipped up to a vertical position, it can block the pet entrance and exit 122, preventing multiple pets from using the toilet at the same time and causing cat litter pollution. When the flip sand collecting pedal 130 is flipped up, the cat litter that falls into the sand collecting box 131 will flow back into the cat litter basin 199 from the sand outlet 133 along the entrance of the sand guide groove 113. When the flip sand collecting pedal 130 is flipped down, it becomes a footrest for pets to use the toilet.

[0125] The inner wall of the base 110 is covered with noise reduction and shock absorption material to reduce the vibration and noise generated by the movement of the actuator motors.

[0126] like Figure 4 As shown, the multi-degree-of-freedom motion platform 200 is located below the bottomless litter box perimeter 112 and the movable litter box base 254. It includes X1-axis motion mechanisms, X2-axis motion mechanisms, Y-axis motion mechanisms, Z1-axis motion mechanisms, Z2-axis motion mechanisms, and Z3-axis motion mechanisms. It is responsible for the movement of components such as the movable litter box base 254, the sand retaining cylinder 275, the sand receiving cylinder 284, the sand receiving cylinder base 285, the feces receiving cylinder 277, and the feces storage box 300.

[0127] The movable cat litter box bottom plate 254 is provided with a central circular hole 255, and the sand retaining cylinder 275 is coaxially arranged therewith, and its upper edge is flush with or a certain distance above the upper surface of the movable cat litter box bottom plate 254;

[0128] The Y-axis motion mechanism is used to drive the movable cat litter box bottom plate 254 to move along the Y-axis direction.

[0129] like Figure 10As shown, the Y-axis motion mechanism includes a Y-axis driver motor 240, a Y-axis spindle 241, a first cylindrical gear 242, a second cylindrical gear 243, a Y-axis motion mechanism bracket 244, a first Y-axis positioning optical axis 245a and a second Y-axis positioning optical axis 245b.

[0130] The Y-axis drive motor 240 is fixed on the Y-axis motion mechanism bracket 244, and drives the first cylindrical gear 242 and the second cylindrical gear 243 to rotate through the Y-axis main shaft 241; the first cylindrical gear 242 and the second cylindrical gear 243 are respectively engaged with the first Y-axis rack 114a and the second Y-axis rack 114b on the inner side of the top surface of the base 110, driving the Y-axis motion mechanism bracket 244 to move back and forth in the Y-axis direction relative to the base 110, and the first Y-axis positioning optical axis 245a and the second Y-axis positioning optical axis 245b on both sides ensure the movement direction of the Y-axis motion mechanism bracket 244.

[0131] The X1-axis motion mechanism is used to drive the movable cat litter box bottom plate 254 to move along the X1-axis direction.

[0132] like Figure 10 As shown, the X1-axis motion mechanism includes an X1-axis driver motor 250, an X1-axis main shaft 251, a third cylindrical gear 252, a fourth cylindrical gear 253, a first X1-axis positioning optical axis 258a and a second X1-axis positioning optical axis 258b.

[0133] The X1-axis drive motor 250 is fixed to the Y-axis motion mechanism bracket 244. Its X1-axis spindle 251 drives the third and fourth cylindrical gears 252 and 253 to rotate. These gears, respectively, mesh with the first and second X1-axis racks 256a and 256b on the bottom surface of the mobile litter tray base 254. Therefore, when the third and fourth cylindrical gears 252 and 253 rotate, they drive the entire mobile litter tray base 254 to move left and right along the X1-axis. The first and second X1-axis positioning optical axes 258a and 258b on either side ensure the direction of movement of the mobile litter tray base 254.

[0134] Through the cooperation of the Y-axis motion mechanism and the X1-axis motion mechanism, the mobile cat litter box bottom plate 254 can be driven to move in the Y-axis and X1-axis directions, thereby driving the central circular hole 255 opened in the mobile cat litter box bottom plate 254 to move to any position in the rounded rectangular cat litter box 199.

[0135] like Figure 9 As shown, the X2-axis motion mechanism includes an X2-axis driver motor 260 , an X2-axis spindle 261 , an X2-axis lead screw nut 262 and an X2-axis motion mechanism bracket 263 .

[0136] The X2-axis drive motor 260 is fixed to the X2-axis motor bracket 268 on the mobile cat litter box bottom plate 254. Preferably, its X2-axis spindle is a screw structure, which drives the X2-axis screw nut 262 to reciprocate and drives the X2-axis motion mechanism bracket 263 fixed thereto to move left and right along the X2-axis direction.

[0137] like Figure 4 As shown, the Z2-axis motion mechanism, the Z3-axis motion mechanism, and the stool storage box 300 are all mounted on the X2-axis motion mechanism bracket 263. When the X2-axis motion mechanism bracket 263 moves along the X2-axis direction, the Z2-axis motion mechanism, the Z3-axis motion mechanism, and the stool storage box 300 move synchronously.

[0138] On both sides of the X2-axis motion mechanism bracket 263 are the first and second feces storage box slide rail guide grooves 269a and 269b for inserting the feces storage box 300; in the lower center of the X2-axis motion mechanism bracket 263 is the opening guide strip 266 for the sealing cover plate 303 of the feces storage box 300.

[0139] like Figure 8 As shown, the Z1-axis motion mechanism includes a Z1-axis driver motor 270, a Z1-axis spindle 271, a Z1-axis screw nut 272, a Z1-axis motor fixing plate 273, a Z1-axis motion mechanism bracket 274 and a horizontal sliding guide rail 276, a first Z1-axis positioning optical axis 279a and a second Z1-axis positioning optical axis 279b.

[0140] The Z1-axis driver motor 270 is fixed to the Z1-axis motor bracket 257 on the bottom plate 254 of the mobile cat litter box through the Z1-axis motor fixing plate 273. Preferably, its Z1-axis main shaft 271 is a screw structure, which drives the Z1-axis screw nut 272 to reciprocate and pushes the Z1-axis motion mechanism bracket 274 fixed thereon to move up and down along the Z1 axis. The first Z1-axis positioning optical axis 279a and the second Z1-axis positioning optical axis 279b determine the direction of movement.

[0141] The sand retaining cylinder 275 is fixed on the Z1 axis motion mechanism bracket 274 , so the sand retaining cylinder 275 can move up and down along the Z1 axis, and the sand retaining cylinder 275 can move in the Y axis and X1 axis directions synchronously with the moving cat litter box bottom plate 254 .

[0142] Located on the side of the sand retaining cylinder 275, the Z1-axis motion mechanism bracket 274 defines a horizontal sliding guide rail 276 for the feces receiving tube 277 and a feces storage box sealing cover 278. When the feces storage box 300 is loaded, the feces receiving tube 277 descends, its lower end inserted into the circular opening 301 above the feces storage box 300. Thus, the feces receiving tube 277 and the feces storage box 300 are fixedly connected. When the feces storage box 300 moves in the X2-axis direction, the feces receiving tube 277 moves synchronously.

[0143] When the sand retaining cylinder 275 moves up and down along the Z1 axis, the toilet bowl 277 is driven to move up and down; and the toilet bowl 277 is slidably connected to the horizontal sliding guide rail 276, so that the toilet bowl 277 can move left and right with the movement of the X2 axis motion mechanism.

[0144] In standby mode, the sand retaining cylinder 275 and the sand receiving cylinder 284 are coaxially positioned. In defecation reception mode, the sand receiving cylinder 284 and the sand receiving cylinder base 285 move to one side along the X2 axis, and the defecation receiving cylinder 277 and the defecation storage box 300 are coaxially connected to the sand retaining cylinder 275. The inner wall of the sand retaining cylinder 275 is provided with circularly distributed water spray holes for flushing defecation.

[0145] The Z2-axis motion mechanism is used to drive the sand receiving cylinder 284 to perform lifting motion in the Z2-axis direction.

[0146] like Figure 7 As shown, the Z2-axis motion mechanism includes a Z2-axis driver motor 280 , a Z2-axis spindle 281 , a Z2-axis lead screw nut 282 and a Z2-axis motion mechanism bracket 283 .

[0147] The Z2-axis driver motor 280 is fixed on the fixing hole 264 on the X2-axis motion mechanism bracket 263. Preferably, its Z2-axis spindle 281 is a screw structure, driving the Z2-axis screw nut 282 to reciprocate and drive the Z2-axis motion mechanism bracket 283 fixed thereon to move up and down along the Z2 axis. The sand receiving cylinder 284 is fixedly set on the Z2-axis motion mechanism bracket 283 and moves up and down accordingly.

[0148] The Z3-axis motion mechanism is used to drive the sand receiving cylinder bottom plate 285 to perform lifting motion in the Z3-axis direction.

[0149] The Z3-axis motion mechanism includes a Z3-axis driver motor 290 , a Z3-axis spindle 291 , a Z3-axis lead screw nut 292 , and a Z3-axis motion mechanism bracket 293 .

[0150] The Z3-axis drive motor 290 is fixed to the Z2-axis motion mechanism bracket 283. Preferably, its Z3-axis spindle 291 is a screw structure, driving the Z3-axis screw nut 292 to reciprocate and drive the Z3-axis motion mechanism bracket 293 fixed to it to move up and down along the Z3 axis. The sand receiving tube base plate 285 is fixedly mounted on the Z3-axis motion mechanism bracket 293 and moves up and down with it. The sand receiving tube base plate 285 is fixedly connected to the Z3-axis motion mechanism bracket 293 via a central axis bracket. The inner wall of the sand receiving tube base plate 285 is equipped with a ring-shaped arrangement of ultraviolet disinfection LED beads 286.

[0151] like Figure 11 and Figure 12As shown, when the cat litter in the sand receiving cylinder 284 needs to be pushed back into the cat litter box, the Z2-axis motion mechanism drives the sand receiving cylinder 284 upward, and at the same time, the Z3-axis motion mechanism drives the sand receiving cylinder bottom plate 285 upward along the Z3 axis, forming a superimposed motion, accelerating the cat litter in the sand receiving cylinder 284 back into the cat litter box 199. When the sand receiving operation is performed, the sand receiving cylinder 284 moves downward along the Z2-axis motion mechanism, and the sand receiving cylinder bottom plate 285 moves downward along the Z3-axis motion mechanism, forming a superimposed motion, quickly receiving the cat litter that slides off the upper edge of the sand retaining cylinder 275.

[0152] like Figure 6 As shown, when the feces storage box 300 is installed, the first guide rail structures 306a and the second guide rail structures 306b on both sides of the feces storage box 300 are inserted into the first feces storage box slide rail guide grooves 269a and the second feces storage box slide rail guide grooves 269b on both sides of the X2-axis motion mechanism bracket 263. The locking mechanism 305 is then locked to the feces storage box locking tabs 267 on the X2-axis motion mechanism bracket 263. Therefore, the feces storage box 300 is fixed to the X2-axis motion mechanism bracket 263, and when the X2-axis motion mechanism bracket 263 moves along the X2 axis, the feces storage box 300 moves synchronously along the X2 axis.

[0153] The feces storage box 300 is provided with a sealed cover plate 303 having an automatic reset hinge 304. A lid-opening stop 307 is located in the center of the sealed cover plate 303. When the feces storage box 300 is not inserted into the first and second feces storage box slide guides 269a, 269b of the X2-axis motion mechanism bracket 263, the sealed cover plate 303 is reset by the automatic reset hinge 304, covering the circular opening 301 above the feces storage box 300. When the feces storage box 300 is inserted along the first and second feces storage box slide guides 269a, 269b of the X2-axis motion mechanism bracket 263, the lid-opening stop 307 in the center of the sealed cover plate 303 moves along the lid-opening guide strips 266, pushing the sealed cover plate 303 to one side, revealing the circular opening 301. The feces receiving tube 277 then descends and inserts into the circular opening 301. Below the stool storage box 300 is a defecation opening 302. In the storage mode, a defecation opening sealing cover can be screwed on. In the direct discharge mode, the defecation opening 302 can be connected to the sewer.

[0154] Other embodiments of the feces storage box 300 can be disposable feces storage boxes, feces storage bags, and other containers. The feces storage box 300 can be a disposable box or a feces storage bag in the form of a pre-opened roll-up bag. When using a pre-opened roll-up bag, the multi-degree-of-freedom motion platform 200 of the smart cat litter box supports the conveying, opening, sealing, and bag-breaking structures of the pre-opened roll-up bag.

[0155] The feces storage bag opening structure is connected to the feces receiving tube 277, which is two elastic strips connected at both ends. When installed, the feces storage bag opening structure is inserted into the bag opening of the pre-opened roll bag to a certain depth; when on standby, the elastic strip of the feces storage bag opening structure is closed, and the two ends stretch the bag opening to seal the feces storage bag opening; when the feces receiving tube 277 is docked with the sand retaining tube 275, the two ends of the feces storage bag opening structure move closer to the center, and the elastic strip is deformed into an arc, which stretches the feces storage bag opening and docks with the upper feces receiving tube 277; the opening on the side of the base of the smart cat litter box is linked to the bag breaking structure. When the opening baffle is opened, the feces storage bag is pulled apart, making it convenient for the user to take it out.

[0156] The upper surface of the mobile litter box's bottom plate 254 is coated with a drag-reducing material to minimize friction and noise generated by the litter during movement. The inner wall of the sand retaining cylinder 275, the inner wall of the sand collecting cylinder 284, the upper surface of the sand collecting cylinder bottom plate 285, and the inner wall of the feces collecting cylinder 277 are also coated with a smooth drag-reducing material to reduce friction and noise generated by the litter during movement. This also reduces the amount of excrement sticking to the walls and facilitates disinfection and cleaning.

[0157] The present invention has great social benefits because of its advantages of being hygienic, environmentally friendly, cost-saving, labor-saving and maintenance-free.

[0158] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, embellishments, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A smart cat litter box that does not consume cat litter, characterized in that: The cat litter box comprises a cat litter box body (100), a multi-degree-of-freedom motion platform (200), a movable cat litter box bottom plate (254), a sand retaining cylinder (275), a sand receiving cylinder (284), a sand receiving cylinder bottom plate (285), a feces receiving cylinder (277), and a feces storage box (300); The cat litter box body (100) comprises a base (110), an upper cover (120) and a flip-up litter collecting pedal (130); the upper surface of the base (110) is a platform (111) for pets to use the toilet, and a bottomless cat litter box rim (112) is provided in the center of the platform (111); the movable cat litter box bottom plate (254) is provided below the base (110), and a central circular hole (255) is provided in the movable cat litter box bottom plate (254); the bottomless cat litter box rim (112) and the movable cat litter box bottom plate (254) below the bottomless cat litter box rim (112) are combined to form a cat litter box (199); The upper cover (120) is provided with a pet entrance and exit (122); the flip sand collecting pedal (130) is provided on the side of the base (110) and below the pet entrance and exit (122); the surface of the base (110) is provided with a sand guide groove (113) connected to the cat litter box (199), and the outer side of the sand guide groove (113) is connected to the sand outlet (133) provided by the flip sand collecting pedal (130); The multi-degree-of-freedom motion platform (200) is located below the mobile cat litter box bottom plate (254), and includes an X1-axis motion mechanism, an X2-axis motion mechanism, a Y-axis motion mechanism, a Z1-axis motion mechanism, a Z2-axis motion mechanism, and a Z3-axis motion mechanism; The movable cat litter box bottom plate (254) is driven by the X1-axis motion mechanism and the Y-axis motion mechanism to move in the X1-axis direction and the Y-axis direction, thereby moving the central circular hole (255) provided on the movable cat litter box bottom plate (254) to any position in the cat litter box (199); The sand retaining cylinder (275) is embedded in the central circular hole (255) provided on the bottom plate (254) of the movable cat litter basin, and moves synchronously with the bottom plate (254) of the movable cat litter basin. Furthermore, the sand retaining cylinder (275) performs a lifting movement in the Z1-axis direction under the drive of the Z1-axis movement mechanism. The sand receiving tube (284) and the sand receiving tube (277) are respectively arranged below the sand retaining tube (275); the sand receiving tube bottom plate (285) is arranged inside the sand receiving tube (284); the sand receiving tube bottom plate (285) is driven by the Z3 axis motion mechanism to perform a lifting motion in the Z3 axis direction inside the sand receiving tube (284); the sand receiving tube (284) is driven by the Z2 axis motion mechanism to perform a lifting motion in the Z2 axis direction, thereby causing the sand receiving tube (284) to perform a lifting motion along the inner wall of the sand retaining tube (275); the sand receiving tube (284) and the sand receiving tube bottom plate (285) form a sand receiving tube assembly; The lower end of the feces receiving tube (277) is embedded in the feces storage box (300); the X2-axis motion mechanism is used to drive the feces storage box (300) and the sand receiving tube assembly to move synchronously along the X2-axis direction. Since the feces receiving tube (277) and the feces storage box (300) are fixed, the feces receiving tube (277) and the sand receiving tube assembly are moved synchronously along the X2-axis direction; in the standby mode, the sand receiving tube assembly is moved to the bottom of the sand retaining tube (275), at which time, the feces receiving tube (277) is located at the rear and lower part of the sand retaining tube (275); in the feces receiving mode, the sand receiving tube assembly is moved to one side of the sand retaining tube (275), and the feces receiving tube (277) is moved to the bottom of the sand retaining tube (275), so that the sand retaining tube (275), the feces receiving tube (277) and the feces storage box (300) form a defecation channel.

2. The intelligent cat litter box that does not consume cat litter according to claim 1, characterized in that: The flip sand collecting pedal (130) is a double-layer structure, wherein the lower layer is a sand collecting box (131) with a V-shaped sand collecting guide groove, and the upper layer is a mesh porous screen (132); when the flip sand collecting pedal (130) is flipped up to a vertical position, it blocks the pet entrance and exit (122), thereby preventing multiple pets from using the toilet at the same time and causing cat litter pollution; when the flip sand collecting pedal (130) is flipped up, cat litter falling into the sand collecting box (131) flows back into the cat litter basin (199) from the sand outlet (133) along the sand guide groove (113) entrance; when the flip sand collecting pedal (130) is flipped down, it becomes a footrest for pets to use the toilet.

3. The intelligent cat litter box that does not consume cat litter according to claim 1, characterized in that: The movable cat litter box bottom plate (254) is located on the X1-axis motion mechanism; the X1-axis motion mechanism is located on the Y-axis motion mechanism bracket of the Y-axis motion mechanism, thereby enabling the central circular hole (255) opened on the movable cat litter box bottom plate (254) to move to any position in the cat litter box (199).

4. The intelligent cat litter box that does not consume cat litter according to claim 1, characterized in that: The sand retaining cylinder (275) is coaxially arranged with the central circular hole (255) opened on the bottom plate (254) of the mobile cat litter box. The side of the sand retaining cylinder (275) is provided with a horizontal sliding guide rail of the feces receiving cylinder (277) and a feces storage box sealing cover plate, so that the feces receiving cylinder (277) moves in the X2 axis direction along with the X2 axis motion mechanism; the inner wall of the sand retaining cylinder (275) has annularly distributed feces flushing water spray holes.

5. The intelligent cat litter box that does not consume cat litter according to claim 1, characterized in that: The surface of the mobile cat litter box bottom plate (254), the inner wall of the sand retaining cylinder (275), the inner wall of the sand receiving cylinder (284), the upper surface of the sand receiving cylinder bottom plate (285), and the inner wall of the feces receiving cylinder (277) are all coated with smooth drag-reducing material.

6. The intelligent cat litter box that does not consume cat litter according to claim 1, characterized in that: An electromagnetic coil is embedded above the sand retaining cylinder (275) to absorb and fix customized paramagnetic cat litter particles to prevent the particles from sliding off.

7. The intelligent cat litter box that does not consume cat litter according to claim 1, characterized in that: The inner wall of the sand receiving cylinder (284) is provided with ultraviolet disinfection LED lamp beads arranged in a ring.

8. The intelligent cat litter box that does not consume cat litter according to claim 1, characterized in that: The stool storage box (300) is provided with a sealing cover plate (303) having an automatic reset shaft (304), and a cover opening stop column (307) is located in the center above the sealing cover plate (303); A defecation outlet (302) is provided below the defecation storage box (300). In the storage mode, the defecation outlet (302) is sealed by a defecation outlet sealing cover; in the direct discharge mode, the defecation outlet (302) is connected to the sewer through a pipe.

9. The intelligent cat litter box that does not consume cat litter according to claim 1, characterized in that: The feces storage box (300) is a disposable box or a feces storage bag in the form of a pre-opened roll bag; When a feces storage bag in the form of a pre-opened roll bag is used, the multi-degree-of-freedom motion platform (200) of the intelligent cat litter box supports the conveying, opening, sealing and bag breaking structures of the pre-opened roll bag; The feces storage bag opening structure is connected to the feces receiving tube (277) and is composed of two elastic strips connected at both ends. When installed, the feces storage bag opening structure is inserted into the bag opening of the pre-opened roll bag to a certain depth; when in standby mode, the elastic strip of the feces storage bag opening structure is closed, and the two ends stretch the bag opening to seal the feces storage bag opening. When the feces receiving tube (277) is connected to the sand retaining tube (275), the two ends of the feces storage bag opening structure move toward the center, and the elastic strip is deformed into an arc shape, which stretches the feces storage bag opening and connects to the upper feces receiving tube (277); the opening on the side of the intelligent cat litter box base is linked to the bag breaking structure, and when the opening baffle is opened, the feces storage bag is pulled apart, making it convenient for the user to take it out.

10. A method for realizing the intelligent cat litter box that does not consume cat litter according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: The process is in standby mode, and the presence of a pet is detected by triggering an infrared sensor or real-time video stream from a computer vision camera; S2: The process identifies whether the pet has completely entered the litter box (199). If so, it enters S3; if not, it continues to wait; if it is identified that the pet has left the litter box (199), it returns to S1. S3: driving the flipping sand collecting pedal (130) to flip upwards to cover the pet entrance (122) of the cat litter box (199); S4: The process continues to analyze and determine whether the pet has started to dig sand. If yes, it proceeds to S5; if no, it means the pet is ready to leave, so it jumps to S18, flips down the flip sand collecting pedal (130), opens the pet exit (122), and allows the pet to leave; S5: The process outputs the pet sand-shaving event notification and the coordinate data (Xa, Ya, Za) of the sand-shaving location; S6: The process drives the X1-axis motion mechanism and the Y-axis motion mechanism to align the central circular hole (255) of the movable cat litter box bottom plate (254) with the sand shaving position in advance; S7: The process simultaneously drives the sand retaining cylinder (275), the sand receiving cylinder (284) and the sand receiving cylinder bottom plate (285) to rise a certain distance, pushing the cat litter upward, reducing the amount of sand received, and making preparations for sand receiving in advance; S8: The process then further determines whether the pet turns around and squats to defecate after digging the litter. If so, the process proceeds to S9; if not, the process jumps to S18; S9: The process outputs the pet excretion event notification and the coordinate data (Xb, Yb, Zb) of the excretion location, and determines whether the coordinates (Xb, Yb, Zb) of the excretion location are basically consistent with the coordinates (Xa, Ya, Za) of the shaving location; if not, proceed to S10; if yes, proceed to S11; S10: The process drives the X1-axis motion mechanism and the Y-axis motion mechanism to perform fine adjustment so that the sand retaining cylinder (275) is aligned with the coordinate data (Xb, Yb, Zb) of the discharge position, and then enters S11; S11: According to the sand-shaving depth of the pet's squatting position, the Z1-axis motion mechanism is driven to quickly push the upper edge of the sand retaining cylinder (275) through the cat litter and rise to a suitable height that does not disturb the pet. At the same time, the Z2-axis motion mechanism and the Z3-axis motion mechanism are moved to drive the sand receiving cylinder (284) and the sand receiving cylinder bottom plate (285) to quickly descend, and the cat litter trapped in the middle of the sand retaining cylinder (275) and the cat litter sliding from the upper edge of the sand retaining cylinder (275) are caught. Then, the X2-axis motion mechanism is driven to move the sand receiving cylinder (284) and the sand receiving cylinder bottom plate (285) along the X2-axis direction to the side of the sand retaining cylinder (275), and enter S12; S12: When the X2-axis motion mechanism is in motion, the feces storage box (300) moves in conjunction therewith. Since the feces storage box (300) is fixed to the feces receiving bowl (277) in the circular opening above the feces storage box (300), the feces receiving bowl (277) is driven to move, so that the feces receiving bowl (277) is aligned with the lower edge of the sand retaining cylinder (275); the pet excrement falls into the feces storage box (300) along the sand retaining cylinder (275) and the feces receiving bowl (277), and enters S1; S13: The process detects whether the pet has completed defecation and turned around to dig sand. If not, the process returns to S12; if yes, the process enters S14; S14: driving the X2-axis motion mechanism to move the feces receiving tube (277) and the feces storage box (300) away from the sand retaining tube (275), and the circular opening (301) of the feces storage box (300) is sealed by the sealing cover (303); S15: When the X2 axis motion mechanism in S14 moves, the sand receiving cylinder (284) and the sand receiving cylinder bottom plate (285) are simultaneously driven to translate and align with the lower edge of the sand retaining cylinder (275); S16: The sand receiving tube (284) and the sand receiving tube bottom plate (285) rise rapidly, wherein the upper edge of the sand receiving tube (284) and the sand receiving tube bottom plate (285) rise simultaneously to be flush with the upper surface of the cat litter box bottom plate, and the cat litter inside the sand receiving tube (284) is lifted into the cat litter box, and the sand retaining tube (275) descends until the upper edge is flush with the upper surface of the cat litter box bottom plate; S17: The process identifies whether the pet has completed the action of scraping sand to cover the excrement. If yes, it goes to S18; if not, it returns to S4; S18: The process drives the flip sand collecting pedal (130) to flip down, opens the pet entrance (122), and allows the pet to leave through the entrance; S19: When the pet leaves, the process drives the X1-axis motion mechanism and the Y-axis motion mechanism, driving the rising sand retaining cylinder (275) to move up and down and left and right to stir the cat litter, making the cat litter smooth and convenient for the pet to use the toilet next time; then returns to the S1 standby state.

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