A control method, device and system for a feces cleaning system

Abstract

The application provides a control method, device and system of a feces cleaning system. It relates to the technical field of pet supplies. The control method comprises: determining the current state through a weighing induction module and an infrared induction module; if the current state is a toilet completion state, executing a screening and cleaning process; opening the connected garbage bag opening and corresponding to the device discharge port position; after the screening and cleaning process is completed, closing the garbage bag opening receiving the fecal mass through a sealing device. The control method of the feces cleaning system provided by the application improves the feces cleaning efficiency through automation technology, ensures that the feces directly falls into the garbage bag, reduces environmental pollution and odor emission, and improves air quality and living comfort. Intelligent control reduces health risks and maintenance costs, and improves user satisfaction.

Description

Technical Field

[0001] This application relates to the field of pet supplies technology, and in particular to a control method, apparatus and system for a feces cleaning system. Background Technology

[0002] With social development and improved living standards, people's pursuit of quality of life is constantly increasing. In the pet care field, pet cats, as important members of the family, also receive attention for their quality of life. The optimization of modern residential area planning and the increasing demands for pet care have made the living environment and hygiene conditions of pet cats a focus of attention. However, the fast-paced lifestyle presents pet owners with challenges in pet hygiene management, especially in the cleaning and maintenance of the litter box.

[0003] While existing litter box technologies have achieved a degree of automation, automating the cleaning process and reducing the burden on pet owners—typically including features like automatic waste removal and litter refilling to free up their hands—they still have shortcomings in waste disposal and odor control.

[0004] Specifically, in existing litter boxes, feces are often exposed to the air for extended periods before and after cleaning, causing a persistent odor that permeates the space around the litter box, leading to a deterioration of environmental hygiene. This persistent odor not only affects the comfort of the living environment but may also attract insects to lay their eggs, further exacerbating environmental pollution. Furthermore, the long-term presence of fecal odor may have potential impacts on human and feline health, especially in enclosed or poorly ventilated spaces.

[0005] In conclusion, while existing litter box technologies have made progress in automated cleaning, they still have significant shortcomings in odor control and environmental hygiene management. These issues not only affect the quality of life for pet owners but also pose challenges to the health of pet cats and the hygiene of the home environment. Therefore, it is necessary to develop a new type of litter box technology to address the odor control and hygiene problems of existing technologies and improve the overall pet care experience. Summary of the Invention

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

[0007] The current status is determined by the weighing sensor module and the infrared sensor module;

[0008] If the current state is "toilet use completed", then control the cleaning device to execute the screening and cleaning process;

[0009] The control sealing device opens the connected garbage bag opening, and the position corresponds to the discharge outlet of the cleaning device, so as to receive the fecal clump discharged through the discharge outlet of the cleaning device through the opened garbage bag opening;

[0010] After the screening and cleaning process is completed, the opening of the garbage bag that received the fecal clump is sealed by the sealing device.

[0011] In an optional implementation, determining the current state via the weighing sensor module and the infrared sensor module includes:

[0012] The infrared sensing module determines whether there are any foreign objects entering the target area.

[0013] If so, the current state is confirmed by the weighing sensor module;

[0014] If not, then return to the step of determining whether there is an external foreign object entering the target area through the infrared sensing module.

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

[0016] The weighing sensor module uses the last weighing data before the presence of an external foreign object as the first reference data; and within a first preset time range, it acquires the current first measured weight data.

[0017] Based on the first reference data and the first measured weight data, determine the first weight change data within the first preset time range;

[0018] If the weight change data is not less than the first preset weight threshold, then the current state is determined to be the state of using the toilet;

[0019] During the toilet use process, the current second measured weight data is acquired within a second preset time range;

[0020] Based on the second measured weight data and the first reference data, determine the second weight change data within the second preset time range;

[0021] If the second weight change data is not greater than the second preset weight threshold, then the current state is determined to be the state of having finished using the toilet.

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

[0023] The first image acquisition device acquires monitoring images of the cleaning work area;

[0024] The location of the discharge port of the cleaning device is determined based on the monitoring image;

[0025] If the discharge outlet enters the cleaning work area, the sealing device is controlled to open the garbage bag opening and align the garbage bag opening with the discharge outlet position.

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

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

[0028] Based on the area size, the target opening size of the garbage bag is determined, and the opening of the garbage bag is opened to achieve the target opening size through the sealing device; wherein the opening size of the garbage bag is not less than the area.

[0029] Based on the current contour coordinates, the matching position corresponding to the opening of the garbage bag is determined, so that the opening of the garbage bag can be moved to the matching position by the sealing device.

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

[0031] Obtain the operating current of the cleaning device and the status of the reset switch;

[0032] If the operating current is greater than the preset current threshold and the reset switch is in the state of not detecting the preset position signal, it is determined that there is a foreign object stuck in the cleaning device, and the screening and cleaning process is stopped. Then, the process of obtaining the operating current of the cleaning device and the reset switch state is returned.

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

[0034] The remaining cat litter in the container is monitored in real time using the first TOF sensing module;

[0035] If the remaining cat litter is less than the preset remaining threshold, the current remaining cat litter is determined to be unqualified, and the litter adding motor reducer is controlled to add cat litter to the container based on the replenishment time.

[0036] After the replenishment period, the litter in the container is smoothed out, and the process returns to the step of monitoring the remaining litter in the container in real time through the first TOF sensor module.

[0037] If the remaining cat litter is not less than the preset remaining threshold, then the current remaining cat litter is deemed to be qualified.

[0038] In an optional embodiment, before sealing the opening of the garbage bag that has received the clump of feces by the sealing device, the method further includes:

[0039] The ventilation device is controlled to lay the bottom of the garbage bag flat within the garbage bag holding space;

[0040] The second image acquisition device is used to determine the height of the fecal clump inside the garbage bag, the planar coordinates of the fecal clump on the plane where the fecal clump is located, and the volume of the fecal clump;

[0041] The spray device is controlled to penetrate into the garbage bag and reach a vertical spray height; wherein the spray height is higher than the height of the fecal clump.

[0042] And, control the nozzle of the spray device to an inclination angle corresponding to the coordinates of the planar mass;

[0043] And, the spray dosage is determined based on the volume of the stool mass;

[0044] The nozzle is controlled to spray deodorizing liquid onto the fecal clump based on the spray dosage; and after spraying is completed, the spraying device is controlled to remove the garbage bag.

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

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

[0047] The cleaning module is used to control the cleaning device to perform a screening and cleaning process if the current state is that the toilet has been used.

[0048] An adjustment module is used to control the sealing device to open the connected garbage bag opening, and to correspond to the position of the discharge outlet of the cleaning device, so as to receive the fecal clump discharged through the discharge outlet of the cleaning device through the opened garbage bag opening;

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

[0050] Thirdly, the present invention provides a control system for a fecal cleaning system, the control system comprising a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the control method of the fecal cleaning system as described in any of the foregoing embodiments.

[0051] The feces cleaning system control method of this application embodiment achieves precise collection and treatment of feces through automation technology, significantly improving environmental hygiene and living comfort. This method controls the sealing device to precisely align the opening of the garbage bag with the discharge outlet of the cleaning device, ensuring that feces fall directly into the garbage bag, avoiding feces spillage due to inaccurate opening positioning, and reducing the risk of environmental pollution. Simultaneously, the garbage bag opening is only opened during the screening and cleaning process, effectively preventing fecal clumps from being exposed to the air, reducing the continuous emission of odors, and improving the air quality of the surrounding environment. Furthermore, the system closes the garbage bag opening after the cleaning process is completed, further isolating the fecal clumps from contact with the outside air, preventing odor emission, and improving the comfort of the living environment. This intelligent control method not only reduces health risks to pets and family members but also lowers maintenance costs and complexity, increasing pet owners' overall satisfaction with the feces cleaning system. Attached Figure Description

[0052] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and therefore should not be considered as a limitation on the scope of protection of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram of the hardware operating environment involved in an embodiment of the control method for the fecal cleaning system of the present invention;

[0054] Figure 2 This is a schematic flowchart of Embodiment 1 of the control method for the fecal cleaning system of the present invention;

[0055] Figure 3 This is a detailed flowchart of step S100 in embodiment 2 of the control method for the fecal cleaning system of the present invention;

[0056] Figure 4 This is a detailed flowchart of step S120 in embodiment 2 of the control method for the fecal cleaning system of the present invention;

[0057] Figure 5 This is a detailed flowchart of step S300 in embodiment 2 of the control method for the fecal cleaning system of the present invention;

[0058] Figure 6 This is a flowchart illustrating the refinement of step S330 (S111-S115) in Embodiment 2 of the control method for the fecal cleaning system of the present invention.

[0059] Figure 7This is a flowchart illustrating steps S500-1 to S500-2 in embodiment 3 of the control method for the fecal cleaning system of the present invention.

[0060] Figure 8 This is a flowchart illustrating steps S600-1 to S600-4 in embodiment 3 of the control method for the fecal cleaning system of the present invention.

[0061] Figure 9 This is a flowchart illustrating steps S700-1 to S700-2 in embodiment 4 of the control method for the fecal cleaning system of the present invention.

[0062] Figure 10 This is a schematic diagram of the module connection of the control device of the feces cleaning system in an embodiment of the present invention. Detailed Implementation

[0063] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0064] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0065] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0066] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0067] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0068] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0069] like Figure 1 The diagram shown is a structural schematic of the hardware operating environment of the terminal involved in an embodiment of the present invention.

[0070] The control system of the fecal cleaning system provided in this embodiment of the invention can be a PC, or a mobile terminal device such as a smartphone, tablet computer, or portable computer. The control system of the fecal cleaning system may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize communication between these components. The user interface 1003 may include a display screen, an input unit such as a keyboard, or a remote control; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a stable memory, such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001. Optionally, the control system of the fecal cleaning system may also include RF (Radio Frequency) circuitry, audio circuitry, a Wi-Fi module, etc.

[0071] Those skilled in the art will understand that Figure 1 The control system of the fecal cleaning system shown is not intended to limit it and may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. Figure 1 As shown, the memory 1005, which is a computer-readable storage medium, may include an operating system, a data interface control program, a network connection program, and a control program for a fecal cleaning system.

[0072] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0073] Example 1

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

[0075] Step S100: Determine the current status using the weighing sensor module and the infrared sensor module.

[0076] The above describes a process where a weighing sensor module detects changes in the weight of an object (such as a pet), and an infrared sensor module detects the movement and presence of the object. This step aims to determine whether the pet has entered the litter box and whether it has finished using the litter box.

[0077] The system automatically identifies pets' toilet habits without human intervention, improving the system's response speed and accuracy.

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

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

[0080] Step S200: If the current state is "toilet use completed", then control the cleaning device to execute the screening and cleaning process.

[0081] As described above, once the sensor module determines that the pet has finished using the litter box (and left), the cleaning device is activated to sift and remove the feces. The cleaning device begins working, separating the feces from the litter and removing them.

[0082] This step ensures timely removal of feces, reducing their exposure time in the environment and minimizing odor and pollution. Specifically, a motor-driven cleaning device performs cleaning actions according to a preset program, achieving rapid removal of feces and reducing environmental sanitation problems.

[0083] Step S300: The control sealing device opens the connected garbage bag opening and aligns it with the outlet of the cleaning device so as to receive the fecal clump discharged through the outlet of the cleaning device through the opened garbage bag opening.

[0084] As described above, simultaneously with the start of the cleaning device, the sealing device opens the garbage bag, aligning it with the discharge outlet of the cleaning device. Feces can then fall directly into the garbage bag, preventing spillage and environmental pollution.

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

[0086] The opening of the garbage bag is controlled by a robotic arm or similar mechanical device to ensure it is aligned with the discharge outlet. This enables precise collection of feces and avoids environmental pollution.

[0087] Step S400: After the screening and cleaning process is completed, the opening of the garbage bag that received the fecal clump is sealed by the sealing device.

[0088] In this step, after the cleaning process is complete, the opening of the garbage bag is sealed to ensure that the feces are contained within the bag. The sealed feces prevent odors from escaping and bacteria from spreading. This effectively controls the spread of odors and bacteria, protecting environmental hygiene and the health of pets and family members.

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

[0090] This achieves closed-loop treatment of feces, reducing environmental sanitation problems.

[0091] Based on the sealing device provided in this application embodiment, it can fix the garbage bag, adjust the opening direction, position, angle, and size, and seal the opening of the garbage bag after the screening and cleaning process is completed. The sealing can be a removable seal, meaning that when a second screening and cleaning process is needed and the garbage bag is not full, the opening of the garbage bag can be reopened to continue filling.

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

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

[0094] (2) Garbage bag fixing mechanism: Garbage bag fixing clips or straps are provided on the frame to fix the garbage bags and prevent them from moving or slipping during operation.

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

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

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

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

[0099] (7) Sealing mechanism: Design a sealing mechanism, such as a zipper, clip or adhesive strip, at the opening of the garbage bag to close the opening of the garbage bag when it is not necessary to collect feces, so as to prevent odor leakage.

[0100] (8) Emergency stop and safety mechanism: To ensure the safety of operation, an emergency stop button and safety sensor are designed to automatically stop the operation when an abnormal situation is detected.

[0101] (9) User interface: Provide a user interface, such as a touch screen or button, that allows users to manually control the opening and closing of the garbage bag, as well as adjust its position.

[0102] (10) Maintenance and cleaning: The components are designed to be easy to disassemble and clean, so as to facilitate regular maintenance and cleaning and ensure long-term stable operation of the device.

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

[0104] Example 2

[0105] Reference Figure 3 Embodiment 2 of the present invention provides a control method for a fecal cleaning system. Step S100, which determines the current state through a weighing sensor module and an infrared sensor module, includes:

[0106] Step S110: Determine whether there are any foreign objects entering the target area using the infrared sensing module;

[0107] The above describes the use of an infrared sensor module to detect whether an object (such as a pet) enters the target area of ​​the litter box.

[0108] The target area can be a pre-defined area. An infrared sensing module, such as an infrared sensor, monitors this area to determine if a pet cat (a foreign object) has entered it. If it has, the current status can be confirmed.

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

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

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

[0112] As described above, if the infrared sensor module detects an external foreign object entering the area, a weighing sensor module is then used to confirm the object's weight to determine if it is a pet using the toilet. This is because there is a possibility of false positives due to non-pet items entering the target area; for example, a cardboard box the same or similar in size to a pet falling into the area.

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

[0114] The weighing sensor module provides more accurate pet status information, improving the system's accuracy and reliability. Specifically, the main control chip can be programmed to receive signals from the weighing sensor module and combine them with signals from the infrared sensor module for a comprehensive judgment.

[0115] It achieves accurate identification of pets' toilet habits, providing precise triggering conditions for subsequent cleaning processes.

[0116] If not, return to step S110 to determine whether there is an external foreign object entering the target area through the infrared sensing module.

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

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

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

[0120] It enables continuous monitoring of the target area, ensuring that the cleanup process is initiated only under the correct conditions.

[0121] In summary, the method presented in this embodiment, which combines an infrared sensing module and a weighing sensor to determine a pet's littering status, offers significant advantages. The infrared sensing module quickly detects the pet's entry into the litter box, reducing false alarms, while the weighing sensor confirms the pet's presence through precise weight changes, improving accuracy. This dual-sensing mechanism enhances system robustness; even if one sensor is interfered with, the other can still provide crucial information, ensuring stable system operation. Furthermore, this method quickly eliminates interference from non-pet objects, reducing unnecessary weighing sensor activation, thus saving energy and improving efficiency. It also improves system response speed, optimizes user experience, and reduces maintenance costs. Overall, this method, combining infrared and weighing sensors, not only improves the accuracy and reliability of the feces cleaning system but also enhances its environmental adaptability and user satisfaction.

[0122] Further reference Figure 4 Step S120, confirming the current state through the weighing sensor module, includes:

[0123] Step S121: Using the weighing sensor module, the last weighing data before the presence of an external foreign object is used as the first reference data; and within a first preset time range, the current first measured weight data is obtained.

[0124] As described above, before detecting an object (such as a pet) entering the cat litter box, the last weighing data is recorded. This data will be used as a benchmark for subsequent comparisons, thus storing the weighing data before the object enters.

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

[0126] Step S122: Determine the first weight change data within the first preset time range based on the first reference data and the first measured weight data;

[0127] The above describes the process of measuring and recording the current weight data within a set time range. Weighing is then performed within a specific time range to obtain the actual weight data after entering the litter box. Through real-time data capture, weight changes during the pet's toilet training process can be monitored.

[0128] A timer can be set to trigger the weighing sensor to read data within a preset time interval.

[0129] Step S123: If the weight change data is not less than the first preset weight threshold, then the current state is determined to be the state of using the toilet.

[0130] In this step, the difference between the baseline data and the measured data is calculated to obtain the weight change. Calculating the difference between two data points yields a weight change value, representing the weight loss during the pet's potty training. This weight change can be used to determine whether the pet is potty training.

[0131] The formula can be used: First weight change data = First measured weight data - First baseline data.

[0132] Step S124: During the toilet use process, within a second preset time range, acquire the current second measured weight data.

[0133] If the weight change reaches or exceeds a preset threshold, the pet is considered to be using the toilet. Process: Compare the weight change data with the preset threshold. Using the preset threshold reduces false alarms and improves system accuracy.

[0134] Step S125: Determine the second weight change data within the second preset time range based on the second measured weight data and the first reference data;

[0135] After the pet uses the toilet, measure and record the current weight data again within another set time frame.

[0136] The above describes a process where the pet is weighed within a preset timeframe after using the toilet to obtain the actual weight data. This step allows monitoring of the pet's weight change after toilet training to determine if the process is complete. Another timer can be set to trigger the weighing sensor to read data within a preset time interval after toilet training.

[0137] Step S126: If the second weight change data is not greater than the second preset weight threshold, then the current state is determined to be the state of having finished using the toilet.

[0138] As described above, if the second weight change does not exceed the preset threshold, the pet is considered to have finished toileting. Compare the second weight change data with the preset threshold to determine whether the pet has finished toileting.

[0139] By comparing two weight changes, you can more accurately determine your pet's toileting status.

[0140] This method allows the system to accurately determine a pet's toileting status and automatically initiate the cleaning process after the pet has finished, thus improving the intelligence and automation level of the feces cleaning system.

[0141] Further reference Figure 5 In step S300, controlling the sealing device to open the connected garbage bag opening, and aligning it with the position of the discharge outlet of the cleaning device, includes:

[0142] Step S310: Acquire monitoring images of the cleaning work area using the first image acquisition device;

[0143] The first image acquisition device mentioned above can be a camera.

[0144] The aforementioned cleaning work area can be the area inside the chamber of the fecal cleaning system. Specifically, it can be all the areas and spaces where feces and clumps detach from the cleaning device and fall, flow out, or drop from the outlet of the cleaning device.

[0145] It should be noted that the cleaning device in a conventional cat litter box or cat toilet can be of various shapes, such as including but not limited to a round, rectangular, or other irregular shapes. By rotating and adjusting its position, the litter mixed with feces moves inside the cleaning device and is sifted through a sieve, allowing larger clumps of urine, feces, and other substances to be discharged from the outlet into a large garbage bag.

[0146] However, because urine and feces clumps, once wrapped and stuck to the litter, vary in form depending on the cat's diet, physical condition, and air humidity, these clumps tend to be less mobile. For example, in areas with humidity above 80%, the high water content of the clumps makes them less mobile. During the sorting process, they may not be able to enter the waste bag as a whole, but instead break apart. Some clumps of feces may not fall out, while others of urine may fall out of the outlet but into the internal structure of the cleaning device. Over time, this results in a large amount of litter clumps containing feces and urine entering the machine and becoming impossible to remove. This leads to a strong odor, causing the litter box to still have a noticeable smell even when the waste bag is nearly empty.

[0147] To avoid the above situation, this embodiment provides a method for controlling the sealing device to align the opening of the garbage bag with the discharge outlet of the cleaning device.

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

[0149] Image data provides intuitive visual information that helps to accurately determine the location of the discharge outlet.

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

[0151] Step S320: Determine the location of the discharge port of the cleaning device based on the monitoring image;

[0152] The above describes the analysis of the acquired images to identify and determine the precise location of the cleaning device's outlet. Image processing algorithms are used to analyze the images, identify the features and location of the outlet, and obtain its precise coordinates or location information.

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

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

[0155] Step S330: If the discharge outlet enters the cleaning work area, control the sealing device to open the garbage bag opening and align the garbage bag opening with the discharge outlet position.

[0156] As described above, the cleaning device changes position synchronously with the screening and cleaning process, thereby filtering cat litter and feces. Its movement depends on the specific structure of the litter box. For example, some models have a central spherical compartment with a filter. During cleaning, the spherical compartment rotates, and the outlet position changes accordingly. When it moves to the bottom, the filtered feces fall through the outlet into a garbage bag below due to gravity.

[0157] However, during the rotation, the outlet gradually adjusts its angle to align with the opening of the garbage bag. During this process, there will be a certain angle where the outlet is not aligned with the opening of the garbage bag. If there is highly mobile feces in the sphere chamber, it will fall directly from the outlet into the space outside the opening area of ​​the garbage bag.

[0158] Therefore, in this embodiment, when the outlet moves into the cleaning work area, the opening of the garbage bag can be opened by the system control to prevent the odor of the feces already in the garbage bag from being released in advance and to reduce the time of odor release. On the other hand, the opening can be opened only when the outlet is close to the opening of the garbage bag to prevent garbage and feces from falling into areas outside the garbage bag.

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

[0160] The garbage bag opening is precisely opened and positioned below the discharge outlet to receive the discharged clumps of waste.

[0161] This method ensures that the stool clumps fall directly into the garbage bag, avoiding spillage and environmental pollution, and improving cleaning efficiency.

[0162] A mechanical device that can control the opening of a garbage bag using a servo motor or stepper motor can be used to automatically adjust based on position information.

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

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

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

[0166] Feature recognition: Image processing algorithms (such as Haar features, HOG features, and deep learning models) are used to identify the features and location of the discharge outlet.

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

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

[0169] Synchronous operation: While entering the cleaning work area from the discharge outlet, simultaneously open the garbage bag opening and adjust its position to ensure that the clump of feces can accurately fall into the garbage bag.

[0170] This method allows the system to automatically and precisely align the opening of the garbage bag with the outlet of the cleaning device, improving the efficiency and hygiene of waste removal. This automated control method reduces manual intervention and enhances the system's intelligence.

[0171] Further reference Figure 6 Step S330, controlling the sealing device to open the garbage bag opening and aligning the garbage bag opening with the outlet position, includes:

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

[0173] The above steps further refine how to control the sealing device to align the opening of the garbage bag with the outlet position of the cleaning device, and involve adjusting the size of the garbage bag opening.

[0174] First, relevant feature information of the discharge outlet is extracted from the monitoring images of the cleaning work area acquired by the first image acquisition device. Image processing technology is used to identify and extract the area size and contour coordinates of the discharge outlet, thereby obtaining the specific size and location information of the discharge outlet.

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

[0176] Step S332: Determine the target opening size of the garbage bag based on the area size, and open the garbage bag opening to the target opening size using the sealing device; wherein the opening size of the garbage bag is not less than the area size.

[0177] In this step, the target size of the garbage bag opening is set based on the area of ​​the outlet. By comparing the area of ​​the outlet with the size of the garbage bag opening, it is ensured that the opening of the garbage bag is not smaller than the area of ​​the outlet, thus determining the target size to which the garbage bag needs to be opened.

[0178] This ensures that the opening of the garbage bag completely covers the discharge outlet, preventing fecal spillage.

[0179] Specifically, the target opening size can be determined using the formula: Target opening size = max(Discharge outlet area, Current opening size).

[0180] Then, observe how the control sealing device adjusts the opening of the garbage bag to achieve the desired target opening size. Based on the target opening size, the actuator (such as a motor) can be driven to adjust the opening of the garbage bag. Thus, the opening of the garbage bag is adjusted to fit the size of the discharge outlet.

[0181] This step improves the system's adaptability and reliability, ensuring that outlets of different sizes can be correctly connected. Precision control actuators, such as servo motors or stepper motors, can be used to adjust the opening size of the garbage bag.

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

[0183] The above describes how the matching position of the garbage bag opening is determined based on the outline coordinates of the discharge outlet. The relative position between the discharge outlet outline coordinates and the garbage bag opening is calculated to determine the movement path, thus obtaining the specific location where the garbage bag opening needs to be moved.

[0184] This step ensures that the opening of the garbage bag is precisely aligned with the discharge outlet, achieving a precise connection.

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

[0186] The control sealing device moves the opening of the garbage bag to a matching position corresponding to the discharge outlet. Based on the coordinates of the matching position, the actuator (such as a moving platform or robotic arm) is driven to move the opening of the garbage bag.

[0187] Result: The opening of the garbage bag was precisely moved below the discharge outlet, ready to receive the discharged feces.

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

[0189] The opening of the garbage bag can be moved to a predetermined position using actuators such as motors and guide rail systems or robotic arms.

[0190] For example, firstly, image processing techniques are used to extract feature information from the discharge outlet, such as image analysis using the OpenCV library. Then, a pattern recognition algorithm is used to match the outline and region of the discharge outlet to determine its location and size. An algorithm is written to compare the size of the discharge outlet region with the size of the garbage bag opening to ensure the garbage bag opening is large enough. A control algorithm is designed to drive a servo motor to adjust the size of the garbage bag opening and move the opening to the correct position. Closed-loop control is used with sensor feedback information to ensure precise adjustment of the garbage bag opening.

[0191] This method allows the system to automatically adjust the size and position of the garbage bag opening to accommodate different sized discharge outlets, ensuring that feces fall accurately into the garbage bag and improving the efficiency and accuracy of the feces cleaning system.

[0192] Example 3

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

[0194] Step S500-1: Obtain the operating current of the cleaning device and the reset switch status;

[0195] As described above, after the cleaning device performs the screening and cleaning process, the operating current of the cleaning device is measured and obtained. The reset switch is checked to see if it can detect the preset position signal, in order to confirm whether the cleaning device is in the normal position.

[0196] The system uses a current sensor to monitor the current consumption of the cleaning device in real time. The status of the reset switch is read to determine whether the cleaning device has completed a cleaning cycle and reset.

[0197] An abnormal increase in current may be caused by mechanical blockage or overload; monitoring the current can serve as an important indicator of the device's status. The reset switch provides feedback on the mechanical position, helping to detect whether the cleaning device is stuck or has failed to reset correctly.

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

[0199] Step S500-2: If the operating current is greater than the preset current threshold and the reset switch is in the state of not detecting the preset position signal, it is determined that there is a foreign object stuck in the cleaning device, and the screening and cleaning process is stopped. Then, the process returns to step S500-1 to obtain the operating current of the cleaning device and the reset switch state.

[0200] As mentioned above, when the monitored current exceeds the safety threshold and the reset switch display device fails to reset, the system determines that the cleaning device may be stuck by a foreign object. It compares the actual operating current with the preset current threshold and analyzes the status of the reset switch. If both conditions are met, the system determines that the cleaning device has malfunctioned.

[0201] This dual-judgment mechanism improves the system's accuracy in detecting abnormal situations and allows for timely measures to prevent further equipment damage. The logic for current threshold comparison and reset switch status analysis is implemented through programming, and corresponding fault determination conditions are set.

[0202] If the cleaning device is found to be stuck with a foreign object, potentially causing a jam, the screening and cleaning process must be stopped. Once the system determines that the cleaning device is stuck with a foreign object, the cleaning process must be stopped immediately. A stop signal is sent to the cleaning device to interrupt its operation.

[0203] The cleaning device stopped working, preventing potential equipment damage and the risk of the cat getting stuck. Stopping operation promptly protects the equipment from damage and prevents further malfunction.

[0204] The system returns to the monitoring state after stopping the cleaning process, acquiring the operating current of the cleaning device and the status of the reset switch. The system then returns to step S500-1 to continue monitoring the status of the cleaning device.

[0205] The system continuously monitors the status of the cleaning device until the problem is resolved or manual intervention is required. Continuous monitoring helps to identify problems promptly and take appropriate measures, improving the system's security and reliability.

[0206] Further reference Figure 8The control method for the fecal cleaning system further includes:

[0207] Step S600-1: Monitor the remaining cat litter in the container in real time using the first TOF sensing module;

[0208] As described above, a Time-of-Flight (TOF) sensor module is used to monitor the remaining amount of cat litter in the litter compartment in real time. The TOF sensor module calculates the distance by emitting a light pulse and measuring the time it takes for it to reflect back, thus obtaining the remaining amount of cat litter. This provides real-time data on the remaining amount of cat litter.

[0209] This allows for timely monitoring of remaining cat litter levels, providing a basis for subsequent replenishment decisions. Current method: Install a Time-of-Flight (TOF) sensor module and align it with the litter compartment; the data from the sensor module is read through programming.

[0210] Step S600-2: If the remaining cat litter is less than the preset remaining threshold, it is determined that the current remaining cat litter is unqualified, and the litter adding motor reducer is controlled to add cat litter to the container based on the replenishment time.

[0211] The above process compares the monitored litter level with a preset threshold to determine if refilling is needed. It compares the remaining litter level with the preset minimum threshold. If the litter level falls below the threshold, a refill process is triggered. This ensures a consistent supply of litter to prevent insufficient litter from affecting cleaning effectiveness.

[0212] Step S600-3: After the replenishment time has elapsed, control the container to smooth out the cat litter and return to execute step S600-1, using the first TOF sensor module to monitor the remaining cat litter in the container in real time.

[0213] When the litter level is low, the litter-adding motor reducer adds litter to the container, with the replenishment time based on a preset value. Activating the litter-adding motor reducer replenishes litter to the container according to the preset replenishment time, thus replenishing the litter level in the container.

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

[0215] As described above, after the replenishment period, the control unit smooths out the litter in the container. Once the litter is replenished, the control unit smooths out the litter in the container for the next use. The litter is then smoothed out using a smoothing device (such as a scraper or roller), and the container is ready.

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

[0217] Design and install a smoothing device, and control its operation through a control system. For example, a cleaning device—a ball chamber—can be repeatedly rotated within a certain angle range to smooth out the litter added to the ball chamber.

[0218] As described above, after smoothing out the cat litter, the remaining litter level is monitored using a TOF sensor module, forming a cycle.

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

[0220] At this point, no further processing is needed, and you can return to step S600-1 to repeat the monitoring steps.

[0221] As described above, if the monitored remaining litter amount is not lower than the preset threshold, the litter quantity is considered sufficient. Then, the remaining litter amount is compared again with the preset threshold. If the remaining litter amount is sufficient, no further replenishment is needed. This avoids over-replenishing litter and conserves resources.

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

[0223] Example 4

[0224] Reference Figure 9 Embodiment 4 of the present invention provides a control method for a fecal cleaning system. Based on Embodiment 1, before the sealing device closes the opening of the garbage bag that has received the fecal clump, the method further includes:

[0225] Step S700-1: Control the ventilation device to lay the bottom of the garbage bag flat in the garbage bag holding space;

[0226] A ventilation device is used to lay the bottom of the garbage bag flat within the garbage bag's receiving space, allowing fecal matter to fall directly into the unfolded bag. The ventilation device generates negative pressure, unfolding the bottom of the garbage bag and fitting it snugly within the receiving space. The flat bottom of the garbage bag provides more space, preparing it for receiving fecal matter and also enabling the deodorization function described in this embodiment.

[0227] It should be noted that some cat litter boxes and pet litter boxes do have a certain deodorizing function in conventional technologies. For example, the A brand max model contains a solid deodorizing substance, but the deodorizing effect of this substance is poor and it also has the drawback of attracting insects such as cockroaches. The A brand pro product has a sprayer for spraying. After being filled with deodorizing liquid, it can spray the deodorizing liquid according to the pre-set logic of the APP. Specifically, the deodorizing liquid is sprayed onto the surface of the open garbage bag through the sprayer.

[0228] However, this type of sprayer has a drawback: it can only spray indiscriminately within a limited area, depending on the location of the sprayer. It should be noted that because both the outlet and the opening of the garbage bag are relatively large, feces and clumps do not spread evenly from bottom to top inside the garbage bag. Instead, depending on factors such as their fluidity, air humidity, type of cat litter (mineral litter, tofu litter, mixed litter, glass litter, etc.), and the state of the feces, some areas often have more urine and feces clumps than others. For example, there might be a 20cm high feces clump in the upper left corner, while other areas—the upper right, lower right, lower left, and the center—have little or no cat litter or feces clumps. In this situation, if the deodorizing liquid is still sprayed in a fixed location, some areas that do not need to be sprayed (such as areas without urine clumps, feces clumps, or scattered cat litter) will be sprayed with deodorizing liquid, while areas with a large amount of cat litter and urine clumps will only be sprayed with less deodorizing liquid because of the fixed-location spraying. It is not possible to achieve targeted spraying of feces clumps and urine clumps.

[0229] To address this deficiency, this embodiment provides a flexible positioning spraying control method for deodorizing liquid, thereby adding an extra step for clump treatment to the system, including the flattening of garbage bags, clump measurement, and spraying of deodorizing liquid.

[0230] By using a ventilation device to extract air from the bottom and outside of the garbage bag, the garbage bag can be unfolded and laid flat, increasing the internal space of the garbage bag. This ensures that the fecal clumps fall directly into the garbage bag, avoiding spillage and contamination. On the other hand, it allows for further positioning and measurement of the urine and fecal clumps within.

[0231] Step S700-2: Use the second image acquisition device to determine the height of the fecal mass inside the garbage bag, the planar coordinates of the fecal mass on the plane where the fecal mass is located, and the volume of the fecal mass;

[0232] The above describes the use of a second image acquisition device (such as a portable camera) to acquire images of the fecal clump inside the garbage bag and analyze the height, position, and volume of the fecal clump. For example, an Intel 3D depth camera could be used to capture one or more images by adjusting the angle, thereby capturing images of the fecal clump based on the image acquisition device, and extracting the feature information of the fecal clump through image processing techniques.

[0233] This step allows us to obtain the height (relative height), position (pixel coordinates), and volume (space size) of the clump, providing a basis for subsequent spraying operations.

[0234] Precise control of the spraying operation ensures that the deodorizing liquid evenly and effectively covers the target clumps of feces.

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

[0236] Step S700-3: Control the spraying device to penetrate into the garbage bag and reach a vertical spraying height; wherein the spraying height is higher than the height of the fecal clump; and control the nozzle of the spraying device to an inclination angle corresponding to the coordinates of the planar fecal clump; and determine the spraying dosage according to the volume of the fecal clump.

[0237] As described above, the nozzle of the spray device is inserted into the garbage bag and adjusted to a vertical spray height higher than the height of the garbage clump. The movement of the spray device is mechanically controlled to ensure that its nozzle reaches the designated spray height.

[0238] Position the nozzle above the stool clump, ready to spray. Ensure the deodorizing solution covers the entire stool clump to enhance deodorization.

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

[0240] As described above, the spray nozzles of the spray device are adjusted to the correct tilt angle so that the deodorizing liquid can be accurately sprayed onto the target clump of feces. The required tilt angle is calculated based on the planar coordinates of the clump, and the nozzles are adjusted accordingly to ensure accurate nozzle positioning and prepare for precise spraying. This improves spray accuracy and avoids wasting deodorizing liquid.

[0241] The above method determines the required dosage of deodorizing liquid based on the size of the stool clump. Calculating the stool clump volume and determining the spray dosage according to a preset ratio ensures an appropriate spray dosage and effective deodorization. Precise control of the deodorizing liquid usage avoids waste.

[0242] For example, it can be calculated using a formula:

[0243] Spray dosage = k × stool mass volume;

[0244] Where k represents the proportionality constant determined by experiments.

[0245] Step S700-4: Control the nozzle to spray the fecal clump with deodorizing liquid based on the spray dosage; and after spraying is completed, control the spraying device to remove the garbage bag.

[0246] Based on the calculated spray dosage, the spray nozzles are controlled to spray deodorizing liquid onto the fecal clumps. The spray volume and time are precisely controlled to achieve the predetermined spray dosage. The fecal clumps are evenly sprayed with deodorizing liquid, achieving a deodorizing effect. This improves deodorization efficiency and environmental hygiene.

[0247] After spraying is completed, control the spraying device to remove it from the garbage bag, that is, control the spraying device to remove it from the garbage bag, in preparation for sealing the garbage bag.

[0248] The entry and exit of the spray device can be controlled using a servo motor or a stepper motor.

[0249] This method allows the fecal cleaning system to not only effectively remove fecal clumps but also improve environmental hygiene and reduce odors through precise control of the spray deodorizing liquid. This automated process enhances the system's intelligence, reduces manual intervention, and improves efficiency and safety.

[0250] In addition, refer to Figure 10 This application also provides a control device for a fecal cleaning system, comprising:

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

[0252] The cleaning module 20 is used to control the cleaning device to perform a screening and cleaning process if the current state is the state of having finished using the toilet.

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

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

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

[0256] Furthermore, in this embodiment of the application, a control system for a fecal cleaning system is also provided. The control system for the fecal cleaning system includes a processor and a memory. The memory stores a computer program, and the processor is used to execute the computer program to implement the control method of the fecal cleaning system described in any of the foregoing embodiments.

[0257] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0258] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory is used to store computer programs, and the processor can execute the computer programs accordingly after receiving execution instructions.

[0259] In addition, this application embodiment also provides a fecal cleaning system, including a main control chip, an electronic sensing safety system, an automatic cleaning system, an automatic sand adding system, and an automatic packaging system;

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

[0261] The automatic sand feeding system includes a sand feeding motor reducer and a drum motor reducer; a stall current detection module and a reset switch.

[0262] This application also provides a computer-readable storage medium for storing the computer program used in the aforementioned computer device. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0263] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

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

[0265] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0266] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A control method for a fecal cleaning system, characterized in that, include: The current status is determined by the weighing sensor module and the infrared sensor module; If the current state is "toilet use completed", then control the cleaning device to execute the screening and cleaning process; The control sealing device opens the connected garbage bag opening, and the position corresponds to the discharge outlet of the cleaning device, so as to receive the fecal clump discharged through the discharge outlet of the cleaning device through the opened garbage bag opening; After the screening and cleaning process is completed, the opening of the garbage bag that received the fecal clump is sealed by the sealing device; Before the sealing device closes the opening of the garbage bag that has received the fecal clump, the method further includes: The ventilation device is controlled to lay the bottom of the garbage bag flat within the garbage bag holding space; The second image acquisition device is used to determine the height of the fecal clump inside the garbage bag, the planar coordinates of the fecal clump on the plane where the fecal clump is located, and the volume of the fecal clump; The spray device is controlled to penetrate into the garbage bag and reach a vertical spray height; wherein the spray height is higher than the height of the fecal clump. And, control the nozzle of the spray device to an inclination angle corresponding to the coordinates of the planar mass; And, the spray dosage is determined based on the volume of the stool mass; The nozzle is controlled to spray deodorizing liquid onto the fecal clump based on the spray dosage; and after spraying is completed, the spraying device is controlled to remove the garbage bag.

2. The control method for the fecal cleaning system as described in claim 1, characterized in that, The process of determining the current state through the weighing sensor module and the infrared sensor module includes: The infrared sensing module determines whether there are any foreign objects entering the target area. If so, the current state is confirmed by the weighing sensor module; If not, then return to the step of determining whether there is an external foreign object entering the target area through the infrared sensing module.

3. The control method for the fecal cleaning system as described in claim 2, characterized in that, The step of confirming the current state through the weighing sensor module includes: The weighing sensor module uses the last weighing data before the presence of an external foreign object as the first reference data; and within a first preset time range, it acquires the current first measured weight data. Based on the first reference data and the first measured weight data, determine the first weight change data within the first preset time range; If the first weight change data is not less than the first preset weight threshold, then the current state is determined to be the state of using the toilet; During the toilet use process, the current second measured weight data is acquired within a second preset time range; Based on the second measured weight data and the first reference data, determine the second weight change data within the second preset time range; If the second weight change data is not greater than the second preset weight threshold, then the current state is determined to be the state of having finished using the toilet.

4. The control method for the fecal cleaning system as described in claim 1, characterized in that, The control sealing device opens the connected garbage bag opening and corresponds to the position of the discharge outlet of the cleaning device, including: The first image acquisition device acquires monitoring images of the cleaning work area; The location of the discharge port of the cleaning device is determined based on the monitoring image; If the discharge outlet enters the cleaning work area, the sealing device is controlled to open the garbage bag opening and align the garbage bag opening with the discharge outlet position.

5. The control method for the fecal cleaning system as described in claim 4, characterized in that, The control of the sealing device to open the garbage bag opening and align the garbage bag opening with the discharge outlet position includes: Obtain the discharge outlet information in the monitoring image; wherein, the discharge outlet information includes the area size of the discharge outlet and the current contour coordinates of the discharge outlet; Based on the area size, the target opening size of the garbage bag is determined, and the opening of the garbage bag is opened to achieve the target opening size through the sealing device; wherein the opening size of the garbage bag is not less than the area. Based on the current contour coordinates, the matching position corresponding to the opening of the garbage bag is determined, so that the opening of the garbage bag can be moved to the matching position by the sealing device.

6. The control method for the fecal cleaning system as described in claim 1, characterized in that, After the control and cleaning device performs the screening and cleaning process, it also includes: Obtain the operating current of the cleaning device and the status of the reset switch; If the operating current is greater than the preset current threshold and the reset switch is in the state of not detecting the preset position signal, it is determined that there is a foreign object stuck in the cleaning device, and the screening and cleaning process is stopped. Then, the process of obtaining the operating current of the cleaning device and the reset switch state is returned.

7. The control method for the fecal cleaning system as described in claim 1, characterized in that, The control method for the fecal cleaning system also includes: The remaining cat litter in the container is monitored in real time using the first TOF sensing module; If the remaining cat litter is less than the preset remaining threshold, the current remaining cat litter is determined to be unqualified, and the litter adding motor reducer is controlled to add cat litter to the container based on the replenishment time. After the replenishment period, the litter in the container is smoothed out, and the process returns to the step of monitoring the remaining litter in the container in real time through the first TOF sensor module. If the remaining cat litter is not less than the preset remaining threshold, then the current remaining cat litter is deemed to be qualified.

8. A control device for a fecal cleaning system, characterized in that, include: The detection module is used to determine the current status through the weighing sensor module and the infrared sensor module; The cleaning module is used to control the cleaning device to perform a screening and cleaning process if the current state is that the toilet has been used. An adjustment module is used to control the sealing device to open the connected garbage bag opening, and to correspond to the position of the discharge outlet of the cleaning device, so as to receive the fecal clump discharged through the discharge outlet of the cleaning device through the opened garbage bag opening; A sealing module is used to seal the opening of the garbage bag that has received the fecal clump after the screening and cleaning process is completed, through the sealing device. Before the sealing device closes the opening of the garbage bag that has received the fecal clump, the method further includes: The ventilation device is controlled to lay the bottom of the garbage bag flat within the garbage bag holding space; The second image acquisition device is used to determine the height of the fecal clump inside the garbage bag, the planar coordinates of the fecal clump on the plane where the fecal clump is located, and the volume of the fecal clump; The spray device is controlled to penetrate into the garbage bag and reach a vertical spray height; wherein the spray height is higher than the height of the fecal clump. And, control the nozzle of the spray device to an inclination angle corresponding to the coordinates of the planar mass; And, the spray dosage is determined based on the volume of the stool mass; The nozzle is controlled to spray deodorizing liquid onto the fecal clump based on the spray dosage; and after spraying is completed, the spraying device is controlled to remove the garbage bag.

9. A control system for a fecal cleaning system, characterized in that, The control system of the fecal cleaning system includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the control method of the fecal cleaning system according to any one of claims 1-7.

Images