Excrement cleaning control method and device for cat litter basin

Abstract

The invention relates to the technical field of equipment control, and discloses an excrement cleaning control method and device for a cat litter basin, and the method comprises the steps: generating a motor control instruction for a driving motor according to an excrement cleaning instruction when the excrement cleaning instruction is detected, and controlling the driving motor to rotate according to the motor control instruction; controlling the driving motor to drive the screening shovel to run from the standby position to a preset initial position, driving the screening shovel to perform excrement cleaning operation on excrement in the cat litter basin so as to transfer the excrement into the excrement collecting bin, and controlling the driving motor to drive the screening shovel to run to the standby position when it is detected that the screening shovel completes the excrement cleaning operation. It can be seen that by implementing the cat litter box, the screening shovel in the cat litter box can be driven by the driving motor to clean the excrement, the cleaning efficiency of the excrement in the cat litter box is improved, the excrement is automatically cleaned according to the excrement cleaning instruction, and the cleaning timeliness and the automation degree of the excrement in the cat litter box are improved; and the use experience of the cat litter basin by the user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment control, and in particular to a method and a device for controlling excrement cleaning of a cat litter box. Background Art

[0002] With the development of society and the continuous improvement of people's living standards, people are beginning to pay attention to and pursue the enrichment of spiritual life while constantly improving their material living standards. Pets, as one of the sources of human happiness and spiritual satisfaction, can bring people a lot of joy while satisfying people's needs for communication. Therefore, more and more people keep pets. However, due to the influence of living environment, odor and other factors, the excretion problem of pets has always troubled pet owners.

[0003] At present, the existing pet excrement disposal method is mainly for the breeder to scoop out manually, which is inconvenient. Taking the cat litter box of a pet cat as an example, the breeder needs to spend a long time cleaning the cat litter box to ensure the health and cleanliness of the cat litter box, but the cleaning efficiency is low. Therefore, it is particularly important to propose a technical solution that can improve the cleaning efficiency of cat litter boxes. Summary of the invention

[0004] The present invention provides a method and a device for controlling the cleaning of excrement in a cat litter box, which can be beneficial to improving the cleaning efficiency of the excrement in the cat litter box.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses a method for controlling excrement cleaning of a cat litter box, the method being applied to a cat litter box, the cat litter box comprising a driving motor, a sieve shovel and a feces collection bin, the method comprising:

[0006] When an excrement cleaning instruction is detected, generating a motor control instruction for the drive motor according to the excrement cleaning instruction;

[0007] According to the motor control instruction, the drive motor is controlled to drive the sieve shovel to move from the standby position to a preset starting position, and the sieve shovel is driven to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the excrement collection bin;

[0008] When it is detected that the screening shovel completes the excrement cleaning operation, the driving motor is controlled to drive the screening shovel to the standby position.

[0009] As an optional embodiment, in the first aspect of the present invention, the front end of the cat litter box includes a first opening for a pet to enter and exit the cat litter box, the rear end of the cat litter box includes a second opening for transferring the excrement from the cat litter box to the excrement collection bin, the drive motor includes a lifting motor and a front-to-back motor, the motor control instruction includes a first lifting control instruction and a second lifting control instruction for the lifting motor, and a first front-to-back control instruction for the front-to-back motor;

[0010] According to the motor control instruction, controlling the drive motor to drive the screen shovel to move from the standby position to the preset starting position includes:

[0011] According to the first lifting control instruction, the lifting motor is controlled to drive the screen shovel to move from the standby position to the first position, and whether the screen shovel reaches the first position is determined based on a preset determination method;

[0012] When the screen shovel reaches the first position, according to the first front-rear control instruction, the front-rear motion motor is controlled to drive the screen shovel to move from the first position to the second position, and whether the screen shovel reaches the second position is determined based on the determination method;

[0013] When the screen shovel reaches the second position, according to the second lifting control instruction, the lifting motor is controlled to drive the screen shovel to move from the second position to the third position, and whether the screen shovel reaches the third position is determined based on the determination method;

[0014] When the screening shovel reaches the third position, determining that the screening shovel moves from the standby position to a preset starting position;

[0015] Among them, the first position is located at the upper part of the rear end of the cat litter box, the second position is located at the upper part of the front end of the cat litter box, and the third position is located at the lower part of the front end of the cat litter box. The preset judgment method includes a limit switch judgment method, an encoder distance calculation judgment method, a laser ranging judgment method or an infrared tube judgment method.

[0016] As an optional embodiment, in the first aspect of the present invention, the rear end of the cat litter box further includes a slope for transferring the excrement, and the motor control instruction further includes a second front-to-back control instruction for the front-to-back motion motor and a third lifting control instruction for the lifting motion motor;

[0017] The step of driving the sifting shovel to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the excrement collecting bin comprises:

[0018] According to the second front-to-back control instruction, the front-to-back motion motor is controlled to drive the sifting shovel to operate for a preset time to transfer the excrement in the cat litter box to the slope;

[0019] According to the third lifting control instruction, the lifting motor is controlled to drive the screen shovel to move from the slope to the first position, and whether the screen shovel reaches the first position is determined based on a preset determination method;

[0020] When the screening shovel reaches the first position, it is determined that the excrement is transferred to the excrement collecting bin.

[0021] As an optional embodiment, in the first aspect of the present invention, when it is detected that the screen shovel completes the excrement cleaning operation, controlling the drive motor to drive the screen shovel to run to the standby position includes:

[0022] When it is detected that the sieve shovel has completed the excrement cleaning operation, a homing control instruction is generated for the drive motor, the homing control instruction includes a front-to-back homing instruction for the front-to-back motion motor and a lifting homing instruction for the lifting motion motor;

[0023] According to the front-rear homing instruction, control the front-rear motion motor to drive the screen shovel to move from the first position to the fourth position, and determine whether the screen shovel reaches the fourth position based on the determination method;

[0024] When the sieve shovel reaches the fourth position, according to the lifting and returning instruction, the lifting and returning motion motor is controlled to drive the sieve shovel to move from the fourth position to the fifth position, and whether the sieve shovel reaches the fifth position is determined based on the determination method;

[0025] When the screen shovel reaches the fifth position, determining that the screen shovel moves to the standby position;

[0026] The fourth position is located behind the first position, and the fifth position is located below the fourth position.

[0027] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0028] Determining first weight information of the cat litter box;

[0029] Detecting whether a target pet enters the cat litter box, and when detecting that the target pet enters the cat litter box, determining a stay time of the target pet in the cat litter box;

[0030] When it is detected that the target pet leaves the cat litter box, second weight information of the cat litter box is determined, and weight change information of the cat litter box is determined according to the first weight information and the second weight information;

[0031] An excrement cleaning instruction is generated according to the residence time and the weight change information.

[0032] As an optional embodiment, in the first aspect of the present invention, the detecting whether the target pet enters the cat litter box comprises:

[0033] Detecting whether there is a moving object within a moving object detection range of the cat litter box, and when the moving object exists within the moving object detection range, tracking the trajectory of the moving object to obtain a trajectory tracking result;

[0034] According to the trajectory tracking result, determining whether the moving object has entered the cat litter box, and when the moving object has entered the cat litter box, performing biometric identification on the moving object to determine whether the moving object is a target pet;

[0035] And, generating an excrement cleaning instruction according to the residence time and the weight change information includes:

[0036] Determining whether the stay duration exceeds a preset stay duration threshold;

[0037] When the stay time exceeds the stay time threshold, determining whether the weight change information satisfies a preset excrement cleaning condition;

[0038] When the weight change information satisfies the excrement cleaning condition, an excrement cleaning instruction is generated.

[0039] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0040] When it is detected that the sieve shovel completes the excrement cleaning operation, the cleaning information corresponding to the excrement cleaning operation is recorded, and the cleaning information includes the cleaning weight, the cleaning volume and the cleaning time;

[0041] Determining the remaining capacity of the feces collection bin according to the cleaned weight and the cleaned volume;

[0042] According to the cleaning time and the remaining capacity, the target time when the capacity of the feces collection bin reaches a preset upper capacity limit is estimated, and feces collection bin cleaning prompt information is generated according to the target time.

[0043] The second aspect of the present invention discloses an excrement cleaning control device for a cat litter box, the device is applied to a cat litter box, the cat litter box comprises a driving motor, a sieve shovel and a feces collection bin, the device comprises:

[0044] A first generating module, configured to generate a motor control instruction for the driving motor according to the excrement cleaning instruction when an excrement cleaning instruction is detected;

[0045] A control module, configured to control the drive motor to drive the sieve shovel to move from a standby position to a preset starting position according to the motor control instruction, and drive the sieve shovel to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the excrement collection bin;

[0046] The control module is further configured to control the drive motor to drive the screen shovel to the standby position when it is detected that the screen shovel completes the excrement cleaning operation.

[0047] As an optional embodiment, in the second aspect of the present invention, the front end of the cat litter box includes a first opening for a pet to enter and exit the cat litter box, the rear end of the cat litter box includes a second opening for transferring the excrement from the cat litter box to the excrement collection bin, the drive motor includes a lifting motor and a front-and-rear motor, the motor control instruction includes a first lifting control instruction and a second lifting control instruction for the lifting motor, and a first front-and-rear control instruction for the front-and-rear motor;

[0048] The control module controls the drive motor to drive the screen shovel from the standby position to the preset starting position according to the motor control instruction, which specifically includes:

[0049] According to the first lifting control instruction, the lifting motor is controlled to drive the screen shovel to move from the standby position to the first position, and whether the screen shovel reaches the first position is determined based on a preset determination method;

[0050] When the screen shovel reaches the first position, according to the first front-rear control instruction, the front-rear motion motor is controlled to drive the screen shovel to move from the first position to the second position, and whether the screen shovel reaches the second position is determined based on the determination method;

[0051] When the screen shovel reaches the second position, according to the second lifting control instruction, the lifting motor is controlled to drive the screen shovel to move from the second position to the third position, and whether the screen shovel reaches the third position is determined based on the determination method;

[0052] When the screening shovel reaches the third position, determining that the screening shovel moves from the standby position to a preset starting position;

[0053] Among them, the first position is located at the upper part of the rear end of the cat litter box, the second position is located at the upper part of the front end of the cat litter box, and the third position is located at the lower part of the front end of the cat litter box. The preset judgment method includes a limit switch judgment method, an encoder distance calculation judgment method, a laser ranging judgment method or an infrared tube judgment method.

[0054] As an optional embodiment, in the second aspect of the present invention, the rear end of the cat litter box further includes a slope for transferring the excrement, and the motor control instruction further includes a second front-to-back control instruction for the front-to-back motion motor and a third lifting control instruction for the lifting motion motor;

[0055] The control module drives the shovel to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the excrement collection bin, which specifically includes:

[0056] According to the second front-to-back control instruction, the front-to-back motion motor is controlled to drive the sifting shovel to operate for a preset time to transfer the excrement in the cat litter box to the slope;

[0057] According to the third lifting control instruction, the lifting motor is controlled to drive the screen shovel to move from the slope to the first position, and whether the screen shovel reaches the first position is determined based on a preset determination method;

[0058] When the screening shovel reaches the first position, it is determined that the excrement is transferred to the excrement collecting bin.

[0059] As an optional embodiment, in the second aspect of the present invention, when the control module detects that the screen shovel completes the excrement cleaning operation, the manner in which the drive motor drives the screen shovel to run to the standby position specifically includes:

[0060] When it is detected that the sieve shovel has completed the excrement cleaning operation, a homing control instruction is generated for the drive motor, the homing control instruction includes a front-to-back homing instruction for the front-to-back motion motor and a lifting homing instruction for the lifting motion motor;

[0061] According to the front-rear homing instruction, control the front-rear motion motor to drive the screen shovel to move from the first position to the fourth position, and determine whether the screen shovel reaches the fourth position based on the determination method;

[0062] When the sieve shovel reaches the fourth position, according to the lifting and returning instruction, the lifting and returning motion motor is controlled to drive the sieve shovel to move from the fourth position to the fifth position, and whether the sieve shovel reaches the fifth position is determined based on the determination method;

[0063] When the screen shovel reaches the fifth position, determining that the screen shovel moves to the standby position;

[0064] The fourth position is located behind the first position, and the fifth position is located below the fourth position.

[0065] As an optional implementation, in the second aspect of the present invention, the device further includes:

[0066] A first determining module, used to determine first weight information of the cat litter box;

[0067] A detection module, used to detect whether a target pet enters the cat litter box, and when the target pet is detected to enter the cat litter box, determine the length of time the target pet stays in the cat litter box;

[0068] The first determination module is further configured to determine second weight information of the cat litter box after detecting that the target pet has left the cat litter box, and determine weight change information of the cat litter box based on the first weight information and the second weight information;

[0069] The second generating module is used to generate an excrement cleaning instruction according to the residence time and the weight change information.

[0070] As an optional implementation, in the second aspect of the present invention, the detection module detects whether the target pet enters the cat litter box in a manner that specifically includes:

[0071] Detecting whether there is a moving object within a moving object detection range of the cat litter box, and when the moving object exists within the moving object detection range, tracking the trajectory of the moving object to obtain a trajectory tracking result;

[0072] According to the trajectory tracking result, determining whether the moving object has entered the cat litter box, and when the moving object has entered the cat litter box, performing biometric identification on the moving object to determine whether the moving object is a target pet;

[0073] And, the second generating module generates the excrement cleaning instruction according to the residence time and the weight change information, specifically including:

[0074] Determining whether the stay duration exceeds a preset stay duration threshold;

[0075] When the stay time exceeds the stay time threshold, determining whether the weight change information satisfies a preset excrement cleaning condition;

[0076] When the weight change information satisfies the excrement cleaning condition, an excrement cleaning instruction is generated.

[0077] As an optional implementation, in the second aspect of the present invention, the device further includes:

[0078] A recording module, for recording cleaning information corresponding to the excrement cleaning operation when it is detected that the sieve shovel completes the excrement cleaning operation, the cleaning information including cleaning weight, cleaning volume and cleaning time;

[0079] A second determination module is used to determine the remaining capacity of the feces collection bin according to the cleaned weight and the cleaned volume;

[0080] The estimation module is used to estimate the target time when the capacity of the feces collection bin reaches a preset capacity upper limit according to the cleaning time and the remaining capacity, and generate feces collection bin cleaning prompt information according to the target time.

[0081] The third aspect of the present invention discloses another cat litter box excrement cleaning control device, the device comprising:

[0082] A memory storing executable program code;

[0083] a processor coupled to the memory;

[0084] The processor calls the executable program code stored in the memory to execute the cat litter box excrement cleaning control method disclosed in the first aspect of the present invention.

[0085] The fourth aspect of the present invention discloses a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the cat litter box excrement cleaning control method disclosed in the first aspect of the present invention.

[0086] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0087] In an embodiment of the present invention, when an excrement cleaning instruction is detected, a motor control instruction for the drive motor is generated according to the excrement cleaning instruction. According to the motor control instruction, the drive motor is controlled to drive the sieve shovel from the standby position to the preset starting position, and the sieve shovel is driven to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the feces collection bin. When it is detected that the sieve shovel has completed the excrement cleaning operation, the drive motor is controlled to drive the sieve shovel to the standby position. It can be seen that the implementation of the present invention can drive the sieve shovel stored in the cat litter box to clean the excrement through the drive motor, improve the cleaning efficiency of the excrement in the cat litter box, automatically clean the excrement according to the excrement cleaning instruction, improve the timeliness and automation of cleaning the excrement in the cat litter box, and thus improve the user experience of the cat litter box. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0089] Figure 1 It is a flow chart of a method for controlling excrement cleaning of a cat litter box disclosed in an embodiment of the present invention;

[0090] Figure 2 It is a flow chart of another method for controlling excrement cleaning of a cat litter box disclosed in an embodiment of the present invention;

[0091] Figure 3 It is a structural schematic diagram of an excrement cleaning control device for a cat litter box disclosed in an embodiment of the present invention;

[0092] Figure 4 It is a structural schematic diagram of another cat litter box excrement cleaning control device disclosed in an embodiment of the present invention;

[0093] Figure 5 It is a structural schematic diagram of another cat litter box excrement cleaning control device disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0094] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0095] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0096] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0097] The present invention discloses a method and device for controlling excrement cleaning of a cat litter box, which can drive a sieve shovel stored in the cat litter box to clean excrement through a driving motor, thereby improving the cleaning efficiency of excrement in the cat litter box, automatically cleaning excrement according to excrement cleaning instructions, improving the timeliness and automation of cleaning excrement in the cat litter box, and thus improving the user experience of the cat litter box. The following are detailed descriptions.

[0098] Embodiment 1

[0099] See also Figure 1 , Figure 1 1 is a flow chart of a method for controlling the cleaning of excrement in a cat litter box disclosed in an embodiment of the present invention. Figure 1 The cat litter box excrement cleaning control method described above can be applied to a cat litter box, which may include a drive motor, a sieve shovel, and a feces collection bin, wherein the drive motor is used to drive the sieve shovel to move the excrement in the cat litter box to the feces collection bin, so as to realize the function of automatically cleaning the excrement of the cat litter box, which is not limited in the embodiments of the present invention. Figure 1 As shown, the cat litter box excrement cleaning control method may include the following operations:

[0100] 101. When an excrement cleaning instruction is detected, a motor control instruction for a driving motor is generated according to the excrement cleaning instruction.

[0101] In an embodiment of the present invention, optionally, the excrement cleaning instruction can be triggered by a user on the cat litter box, or can be automatically generated after the cat litter box recognizes the excrement of a pet. A motor control instruction for the drive motor can be generated based on the excrement cleaning instruction, wherein the motor control instruction for the drive motor can include multiple sub-instructions or sub-instructions. Specifically, each sub-instruction or sub-instruction can be used to control the drive motor to drive the screen shovel to complete an action, which is not limited by the present invention.

[0102] 102. According to the motor control instruction, the drive motor is controlled to drive the sieve shovel to move from the standby position to the preset starting position, and the sieve shovel is driven to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the excrement collection bin.

[0103] In an embodiment of the present invention, optionally, a driving motor is used to drive a sieve shovel to complete an excrement cleaning operation, wherein the sieve shovel can be hidden and stored in a corresponding storage position in the cat litter box, i.e., a standby position, when the sieve shovel is not in operation or in a standby state. Specifically, the sieve shovel can be foldably stored in a rake box in the cat litter box based on an elastic torsion spring and a limiting structure, which is not limited by the present invention.

[0104] In an embodiment of the present invention, optionally, the drive motor can be controlled to drive the screen shovel from a standby position to a preset starting position according to a motor control instruction, that is, the drive motor can be controlled to drive the screen shovel to switch from a hidden folding mode to a working mode, and then the screen shovel is driven to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to a feces collection bin.

[0105] 103. When it is detected that the sieve shovel completes the excrement cleaning operation, the drive motor is controlled to drive the sieve shovel to the standby position.

[0106] In an embodiment of the present invention, optionally, when it is detected that the sieve shovel has completed the excrement cleaning operation, the drive motor can be controlled to drive the sieve shovel to run to the standby position, that is, the sieve shovel is hidden and stored in the rake box in the cat litter box, which saves space in the cat litter box and makes it convenient for pets to enter and exit the cat litter box to excrete.

[0107] It can be seen that implementation Figure 1The described cat litter box excrement cleaning control method can generate a motor control instruction for the drive motor according to the excrement cleaning instruction when an excrement cleaning instruction is detected. According to the motor control instruction, the drive motor is controlled to drive the screen shovel from the standby position to the preset starting position, and drive the screen shovel to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the excrement collection bin. When it is detected that the screen shovel completes the excrement cleaning operation, the drive motor is controlled to drive the screen shovel to the standby position. The drive motor can drive the screen shovel stored in the cat litter box to clean the excrement, thereby improving the cleaning efficiency of the excrement in the cat litter box, and automatically cleaning the excrement according to the excrement cleaning instruction, thereby improving the timeliness and automation of cleaning the excrement in the cat litter box, thereby improving the user experience of the cat litter box.

[0108] In an optional embodiment, the cat litter box excrement cleaning control method may also include the following operations:

[0109] Determine first weight information of the cat litter box;

[0110] Detecting whether the target pet has entered the cat litter box, and when the target pet is detected to have entered the cat litter box, determining the length of time the target pet has stayed in the cat litter box;

[0111] When it is detected that the target pet has left the cat litter box, second weight information of the cat litter box is determined, and weight change information of the cat litter box is determined based on the first weight information and the second weight information;

[0112] Generate excrement cleaning instructions based on the residence time and weight change information.

[0113] In this optional embodiment, optionally, the first weight of the cat litter box may include the weight of the cat litter in the cat litter box before the pet uses the cat litter box for excretion this time or the total weight of the cat litter box, detect whether the target pet enters the cat litter box, and when the target pet is detected to enter the cat litter box, determine the length of time the target pet stays in the cat litter box. When the target pet is detected to leave the cat litter box, determine the second weight information of the cat litter box. The second weight information of the cat litter box may include the weight of the cat litter in the cat litter box after the pet leaves the cat litter box or the total weight of the cat litter box, and determine the weight change information of the cat litter box based on the first weight information and the second weight information, and generate an excrement cleaning instruction based on the length of stay and the weight change information, which is not limited in this embodiment.

[0114] It can be seen that implementing this optional embodiment can determine the first weight information of the cat litter box, detect whether the target pet enters the cat litter box, and when the target pet is detected to enter the cat litter box, determine the length of time the target pet stays in the cat litter box. When the target pet is detected to leave the cat litter box, determine the second weight information of the cat litter box, and determine the weight change information of the cat litter box based on the first weight information and the second weight information. It can generate excrement cleaning instructions based on the length of stay and the weight change information, thereby improving the accuracy and timeliness of the generation of excrement cleaning instructions, and thereby improving the timeliness and efficiency of cleaning the excrement in the cat litter box.

[0115] In another optional embodiment, detecting whether the target pet enters the cat litter box may include the following operations:

[0116] Detect whether there is a moving object within the moving object detection range of the cat litter box, and when there is a moving object within the moving object detection range, track the trajectory of the moving object to obtain a trajectory tracking result;

[0117] According to the trajectory tracking results, it is determined whether the moving object has entered the cat litter box. When the moving object enters the cat litter box, the moving object is biometrically identified to determine whether the moving object is the target pet;

[0118] Furthermore, according to the residence time and weight change information, generating an excrement cleaning instruction may include the following operations:

[0119] Determine whether the stay time exceeds a preset stay time threshold;

[0120] When the stay time exceeds the stay time threshold, determining whether the weight change information meets the preset excrement cleaning condition;

[0121] When the weight change information satisfies the excrement cleaning condition, an excrement cleaning instruction is generated.

[0122] In this optional embodiment, it is optional to detect whether there is a moving object within the moving object detection range of the cat litter box. The moving object detection range of the cat litter box may include the range around the cat litter box or the range at the first entrance of the cat litter box, which can be specifically determined according to the function of the radar built into the cat litter box or the user's settings. When there is a moving object within the moving object detection range, that is, when the moving object enters the moving object detection range of the cat litter box, the trajectory of the moving object is tracked to obtain a trajectory tracking result. Specifically, the trajectory of the moving object can be tracked by sensors, radars, laser detection and the like, which is not limited in this embodiment.

[0123] In this optional embodiment, optionally, based on the trajectory tracking results, it is determined whether the moving object has entered the cat litter box. When the moving object enters the cat litter box, biometric identification is performed on the moving object to determine whether the moving object is a target pet. Specifically, laser detection, infrared detection, etc. can be used to detect whether the moving object is a target pet. The target pet may include a pet cat, a pet dog, etc. Furthermore, when a scene includes multiple pets, a pet ID can be assigned to each pet, and after the pet enters the cat litter box, the pet ID corresponding to the pet is determined, and the excretion of the pet corresponding to the pet ID is recorded. For example, when a family raises multiple pet cats, the excretion of the pet cats can be recorded according to the pet cat ID of each pet cat, so that the breeder can grasp the excretion information of each pet cat and keep abreast of the health of the pet cats. This is not limited to this embodiment.

[0124] In this optional embodiment, it is optional to determine whether the stay time exceeds a preset stay time threshold. When the stay time is less than the preset stay time threshold, it can be determined that the target pet's current excretion is invalid. When the stay time exceeds the stay time threshold, it can be determined that the target pet's current excretion is valid. Then, it is determined whether the weight change information meets the preset excrement cleaning condition. When the weight change information meets the excrement cleaning condition, an excrement cleaning instruction is generated. The excrement cleaning condition may include a weight change condition of the cat litter box, which may be specifically set by the user. For example, the weight change condition of the cat litter box may include a weight change threshold. When the weight change information is greater than the weight change threshold, an excrement cleaning instruction may be generated. This is not limited in this embodiment.

[0125] It can be seen that the implementation of this optional embodiment can detect whether there is a moving object within the moving object detection range of the cat litter box. When there is a moving object within the moving object detection range, the trajectory of the moving object is tracked to obtain a trajectory tracking result. According to the trajectory tracking result, it is determined whether the moving object has entered the cat litter box. When the moving object enters the cat litter box, the moving object is biometrically identified. Determining whether the moving object is a target pet can improve the accuracy and reliability of detecting whether the target pet has entered the cat litter box, thereby improving the accuracy of the subsequent generation of excrement cleaning instructions; determining whether the stay time exceeds the preset stay time threshold. When the stay time exceeds the stay time threshold, determining whether the weight change information meets the preset excrement cleaning condition. When the weight change information meets the excrement cleaning condition, generating an excrement cleaning instruction. The excrement cleaning instruction can be generated according to the stay time and weight change information, thereby improving the accuracy and timeliness of the generation of the excrement cleaning instruction, thereby improving the timeliness and efficiency of cleaning the excrement in the cat litter box.

[0126] In yet another optional embodiment, the cat litter box excrement cleaning control method may further include the following operations:

[0127] When it is detected that the shovel has completed the excrement cleaning operation, the cleaning information corresponding to the excrement cleaning operation is recorded, and the cleaning information includes the cleaning weight, cleaning volume and cleaning time;

[0128] Determine the remaining capacity in the manure collection bin based on the cleaned weight and cleaned volume;

[0129] According to the cleaning time and the remaining capacity, the target time when the capacity of the manure collection bin reaches the preset capacity upper limit is estimated, and the manure collection bin cleaning reminder information is generated according to the target time.

[0130] In this optional embodiment, optionally, when it is detected that the screen shovel has completed the excrement cleaning operation, cleaning information corresponding to the excrement cleaning operation is recorded, and the cleaning information may include the cleaning weight, cleaning volume and cleaning time corresponding to this excrement cleaning operation. The remaining capacity in the manure collecting bin can be determined based on the cleaning weight and cleaning volume. According to the cleaning time and the remaining capacity, the target time when the capacity of the manure collecting bin reaches the preset upper capacity limit is estimated, and the manure collecting bin cleaning reminder information is generated according to the target time. The manure collecting bin cleaning reminder information can be used to remind the user or the breeder to clean the manure collecting bin before the capacity of the manure collecting bin reaches the upper capacity limit, which is not limited in this embodiment.

[0131] In this optional embodiment, optionally, when it is detected that the capacity of the feces collection bin has reached a preset upper capacity limit, a feces collection bin packing instruction is generated, and the excrement in the feces collection bin is packed according to the feces collection bin packing instruction, and a packing completion reminder message is generated after the packing is completed. The packing completion reminder message can be used to remind the user to clean up the packed excrement in the feces collection bin, and specifically, the user can be reminded by one or more combinations of light prompt information, voice prompt information, and pop-up text message prompt information, etc., which are not limited in this embodiment.

[0132] It can be seen that the implementation of this optional embodiment can record the cleaning information corresponding to the excrement cleaning operation when it is detected that the screen shovel has completed the excrement cleaning operation. The cleaning information includes the cleaning weight, the cleaning volume and the cleaning time. According to the cleaning weight and the cleaning volume, the remaining capacity in the excrement collecting bin is determined. According to the cleaning time and the remaining capacity, the target time when the capacity of the excrement collecting bin reaches the preset capacity upper limit is estimated, and the excrement collecting bin cleaning prompt information is generated according to the target time. This can improve the accuracy of the generation of the excrement collecting bin cleaning prompt information, and remind the user to clean the excrement collecting bin based on the excrement collecting bin cleaning prompt information, thereby reducing the occurrence of excrement collecting bin capacity overflow, thereby improving the user's experience of using the cat litter box.

[0133] Embodiment 2

[0134] See also Figure 2 , Figure 21 is a flow chart of a method for controlling the cleaning of excrement in a cat litter box disclosed in an embodiment of the present invention. Figure 2 The cat litter box excrement cleaning control method described above can be applied to a cat litter box, which may include a drive motor, a sieve shovel, and a feces collection bin, wherein the drive motor is used to drive the sieve shovel to move the excrement in the cat litter box to the feces collection bin, so as to realize the function of automatically cleaning the excrement of the cat litter box, which is not limited in the embodiments of the present invention. Figure 2 As shown, the cat litter box excrement cleaning control method may include the following operations:

[0135] 201. When an excrement cleaning instruction is detected, a motor control instruction for a driving motor is generated according to the excrement cleaning instruction.

[0136] 202. According to the first lifting control instruction, control the lifting motion motor to drive the screen shovel to move from the standby position to the first position, and determine whether the screen shovel reaches the first position based on a preset determination method.

[0137] In an embodiment of the present invention, optionally, the cat litter box can be divided into a front end and a rear end, wherein the front end of the cat litter box includes a first opening for a pet to enter and exit the cat litter box, and the rear end of the cat litter box includes a second opening for transferring excrement from the cat litter box to a feces collection bin, that is, the feces collection bin is located at the exit of the second opening of the cat litter box, and the sieve shovel is hidden and stored in the rear end of the cat litter box, which is not limited by the present invention.

[0138] In an embodiment of the present invention, optionally, the driving motor may include a lifting motor and a forward and backward motion motor, wherein the lifting motor may be used to drive the screen shovel to perform an upward motion or a downward motion, and the forward and backward motion motor may be used to drive the screen shovel to perform a forward extension motion or a backward retraction motion, and the motor control instruction may include a first lifting control instruction and a second lifting control instruction for the lifting motor, and a first forward and backward control instruction for the forward and backward motion motor, and the lifting motor may be controlled to drive the screen shovel to move from a standby position to a first position according to the first lifting control instruction, and whether the screen shovel reaches the first position may be determined based on a preset judgment method, wherein the preset judgment method may include a limit switch judgment method, an encoder distance calculation judgment method, a laser distance measurement judgment method, or an infrared pair tube judgment method, specifically, the limit switch judgment method may include: in the process of controlling the lifting motor to drive the screen shovel to move upward from the standby position to the first position according to the first lifting control instruction, determining whether the screen shovel triggers a first limit switch corresponding to the first position, and when the screen shovel triggers the first limit switch, determining that the screen shovel reaches the first position; the encoder distance calculation judgment method may include: in the process of controlling the lifting motor to drive the screen shovel to move upward from the standby position to the first position according to the first lifting control instruction, determining whether the screen shovel reaches the first position when the screen shovel triggers the first limit switch; the encoder distance calculation judgment method may include: in the process of controlling the lifting motor to drive the screen shovel to move upward from the standby position to the first position according to the first lifting control instruction, determining that ... The lifting motor drives the screen shovel to move upward from the standby position. In the process of reaching the first position, the moving distance of the screen shovel is calculated based on the encoder built into the driving motor, and when the moving distance meets the preset condition (for example, reaches the preset value), it is determined that the screen shovel has reached the first position; the laser distance measurement judgment method may include: in the process of controlling the lifting motor to drive the screen shovel to move upward from the standby position to the first position according to the first lifting control instruction, the distance between the screen shovel and the first position is measured based on the laser distance measurement sensor, and when the distance meets the preset condition (for example, less than a certain threshold), it is determined that the screen shovel has reached the first position; the infrared pair tube judgment method may include: in the process of controlling the lifting motor to drive the screen shovel to move upward from the standby position to the first position according to the first lifting control instruction, the infrared transmitting tube emits infrared rays, which are reflected by the first position baffle and then received by the infrared receiving tube. The infrared light intensity received by the infrared receiving tube changes with the distance. The closer the distance, the greater the reflected infrared light intensity. Then, when the infrared light intensity received by the infrared receiving tube meets the preset condition (for example, greater than a certain threshold), it is determined that the screen shovel has reached the first position; wherein the first position is located at the upper part of the rear end of the cat litter box.

[0139] 203. When the screen shovel reaches the first position, according to the first front-rear control instruction, the front-rear motion motor is controlled to drive the screen shovel to move from the first position to the second position, and whether the screen shovel reaches the second position is determined based on the judgment method.

[0140] In an embodiment of the present invention, optionally, taking the judgment method as a limit switch judgment method as an example, when the screen shovel triggers the first limit switch, it indicates that the screen shovel reaches the first position, and according to the first front and rear control instructions, the front and rear movement motor is controlled to drive the screen shovel to run from the first position to the second position, and it is judged whether the screen shovel triggers the second limit switch corresponding to the second position, that is, according to the first front and rear control instructions, the front and rear movement motor is controlled to drive the screen shovel to run from the first position to the front end of the cat litter box and reach the second position, wherein the second position is located at the upper part of the front end of the cat litter box.

[0141] 204. When the screen shovel reaches the second position, according to the second lifting control instruction, the lifting motor is controlled to drive the screen shovel to move from the second position to the third position, and whether the screen shovel reaches the third position is determined based on the judgment method.

[0142] In the embodiment of the present invention, optionally, taking the judgment method as a limit switch judgment method as an example, when the screen shovel triggers the second limit switch, it indicates that the screen shovel has reached the second position, and according to the second lifting control instruction, the lifting motion motor is controlled to drive the screen shovel from the second position to the third position, and it is judged whether the screen shovel triggers the third limit switch corresponding to the third position, that is, according to the second lifting control instruction, the lifting motion motor is controlled to drive the screen shovel to move downward from the second position to the third position, wherein the third position is located at the lower part of the front end of the cat litter box.

[0143] 205. When the screening shovel reaches the third position, it is determined that the screening shovel moves from the standby position to the preset starting position.

[0144] 206. Drive the sifter to perform excrement cleaning operations on the excrement in the cat litter box to transfer the excrement to the excrement collection bin.

[0145] 207. When it is detected that the sieve shovel completes the excrement cleaning operation, the drive motor is controlled to drive the sieve shovel to the standby position.

[0146] In the embodiment of the present invention, for other descriptions of step 201, step 206 and step 207, please refer to the detailed description of step 101 to step 103 in the first embodiment, and the embodiment of the present invention will not be repeated.

[0147] It can be seen that implementation Figure 2The described cat litter box excrement cleaning control method can generate a motor control instruction for the drive motor according to the excrement cleaning instruction when an excrement cleaning instruction is detected, and control the front and rear movement motor and the lifting movement motor to drive the screen shovel from the standby position to the preset starting position according to the front and rear control instructions and the lifting control instructions for the drive motor, thereby improving the movement efficiency and automation of the screen shovel, and driving the screen shovel to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the excrement collecting bin. When it is detected that the screen shovel has completed the excrement cleaning operation, the drive motor is controlled to drive the screen shovel to the standby position, and the drive motor can drive the screen shovel stored in the cat litter box to clean the excrement, thereby improving the cleaning efficiency of the excrement in the cat litter box, and automatically cleaning the excrement according to the excrement cleaning instruction, thereby improving the timeliness and automation of cleaning the excrement in the cat litter box, thereby improving the user experience of the cat litter box.

[0148] In an optional embodiment, the rear end of the cat litter box further includes a slope for transferring excrement, and the motor control instruction further includes a second front-to-back control instruction for the front-to-back motion motor and a third lifting control instruction for the lifting motion motor;

[0149] Driving the sifter to perform excrement cleaning operations on the excrement in the cat litter box to transfer the excrement to the excrement collection bin may include the following operations:

[0150] According to the second front-to-back control instruction, the front-to-back motion motor is controlled to drive the sieve shovel to operate for a preset time to transfer the excrement in the cat litter box to the slope;

[0151] According to the third lifting control instruction, the lifting motion motor is controlled to drive the screen shovel to move from the slope to the first position, and whether the screen shovel reaches the first position is determined based on a preset determination method;

[0152] When the screening shovel reaches the first position, it is determined that the excrement is transferred to the excrement collecting bin.

[0153] In this optional embodiment, optionally, the rear end of the cat litter box also includes a slope for transferring excrement. Specifically, the slope for transferring excrement is located in the second opening at the rear end of the cat litter box, and the feces collection bin is located outside the second opening of the cat litter box. In the process of the screen shovel performing the excrement cleaning operation, the excrement in the cat litter box can move upward along the slope driven by the screen shovel, and finally be discharged from the second opening and enter the feces collection bin. The motor control instruction can also include a second front-to-back control instruction for the front-to-back movement motor and a third lifting control instruction for the lifting movement motor, which is not limited in this embodiment.

[0154] In this optional embodiment, optionally, according to the second front-to-back control instruction, the front-to-back motion motor is controlled to drive the sieve shovel to run for a preset time to transfer the excrement in the cat litter box to the slope, that is, the front-to-back drive motor is controlled to drive the sieve shovel to move from the starting position to the rear end of the cat litter box for a preset time, and the excrement in the cat litter box is driven to move to the bottom of the slope during the movement. Then, according to the third lifting control instruction, the lifting motion motor is controlled to drive the sieve shovel to run from the slope to the first position, and based on a preset judgment method, it is judged whether the sieve shovel reaches the first position. Taking the judgment method as the limit switch judgment method as an example, it is judged whether the sieve shovel triggers the first limit switch corresponding to the first position, that is, the lifting motion motor is controlled to drive the sieve shovel to move from the bottom of the slope along the slope upward to the first position, and drive the excrement in the cat litter box from the bottom of the slope along the slope upward to the top of the slope. When the sieve shovel triggers the first limit switch, it means that the excrement has reached the top of the slope and is discharged from the second outlet into the feces collection bin, that is, it is determined that the excrement is transferred to the feces collection bin. This embodiment is not limited.

[0155] It can be seen that the implementation of this optional embodiment can control the front and rear motion motor to drive the screen shovel to run for a preset time according to the second front and rear control instructions, and transfer the excrement in the cat litter box to the slope. According to the third lifting control instruction, the lifting motion motor is controlled to drive the screen shovel to run from the slope to the first position, and it is determined whether the screen shovel triggers the first limit switch corresponding to the first position. When the screen shovel triggers the first limit switch, it is determined to transfer the excrement to the excrement collection bin. The excrement can be transferred from the slope to the excrement collection bin through the cooperation of the screen shovel and the slope, thereby improving the cleaning efficiency and automation of the excrement in the cat litter box, thereby improving the user experience of the cat litter box.

[0156] In another optional embodiment, when it is detected that the screen shovel completes the excrement cleaning operation, controlling the drive motor to drive the screen shovel to run to the standby position may include the following operations:

[0157] When it is detected that the shovel has completed the excrement cleaning operation, a homing control instruction is generated for the drive motor, the homing control instruction includes a front-to-back homing instruction for the front-to-back motion motor and a lifting homing instruction for the lifting motion motor;

[0158] According to the front and rear homing instructions, the front and rear motion motors are controlled to drive the screen shovel to move from the first position to the fourth position, and whether the screen shovel reaches the fourth position is determined based on the determination method;

[0159] When the sieve shovel reaches the fourth position, according to the lifting and returning instruction, the lifting and lowering motor is controlled to drive the sieve shovel to move from the fourth position to the fifth position, and whether the sieve shovel reaches the fifth position is determined based on the determination method;

[0160] When the screen shovel reaches the fifth position, it is determined that the screen shovel moves to the standby position;

[0161] The fourth position is located behind the first position, and the fifth position is located below the fourth position.

[0162] In this optional embodiment, optionally, the homing control instructions for the drive motor may include a front-to-back homing instruction for the front-to-back motion motor and a lifting homing instruction for the lifting motion motor. When it is detected that the screen shovel completes the excrement cleaning operation, the screen shovel is located in the first position. At this time, according to the front-to-back homing instructions, the front-to-back motion motor is controlled to drive the screen shovel from the first position to the fourth position, and based on the judgment method, it is judged whether the screen shovel reaches the fourth position. Taking the judgment method as the limit switch judgment method as an example, it is judged whether the screen shovel triggers the fourth limit switch corresponding to the fourth position, that is, the front-to-back motion motor is controlled to drive the screen shovel from the first position to the cat litter box. The rear end moves to the fourth position, and when the screen shovel triggers the fourth limit switch, according to the lifting and returning command, the lifting motor is controlled to drive the screen shovel to move from the fourth position to the fifth position, and based on the judgment method, it is judged whether the screen shovel reaches the fifth position. Taking the judgment method as the limit switch judgment method as an example, it is judged whether the screen shovel triggers the fifth limit switch corresponding to the fifth position, that is, the lifting motor is controlled to drive the screen shovel to move downward from the fourth position and folded and stored to the fifth position. When the screen shovel triggers the fifth limit switch, it is determined that the screen shovel runs to the standby position, wherein the fourth position is located behind the first position, and the fifth position is located below the fourth position.

[0163] It can be seen that the implementation of this optional embodiment can generate a front and rear return instruction for the front and rear motion motor and a lifting and lowering return instruction for the lifting motion motor when it is detected that the screen shovel has completed the excrement cleaning operation. According to the front and rear return instructions, the front and rear motion motor is controlled to drive the screen shovel to move from the first position to the fourth position, and it is judged whether the screen shovel triggers the fourth limit switch corresponding to the fourth position. When the screen shovel triggers the fourth limit switch, according to the lifting and lowering return instruction, the lifting motion motor is controlled to drive the screen shovel from the fourth position to the fifth position, and it is judged whether the screen shovel triggers the fifth limit switch corresponding to the fifth position. When the screen shovel triggers the fifth limit switch, it is determined that the screen shovel has moved to the standby position. When it is detected that the screen shovel has completed the excrement cleaning operation, the drive motor can be controlled by instructions to drive the screen shovel to return to the standby position, thereby improving the space utilization in the cat litter box and making it convenient for pets to enter and exit the cat litter box for excretion.

[0164] Embodiment 3

[0165] See also Figure 3 , Figure 3 1 is a schematic diagram of the structure of a cat litter box excrement cleaning control device disclosed in an embodiment of the present invention. Figure 3The cat litter box excrement cleaning control device described above can be applied to a cat litter box, which may include a drive motor, a sieve shovel, and a feces collection bin, wherein the drive motor is used to drive the sieve shovel to move the excrement in the cat litter box to the feces collection bin, so as to realize the function of automatically cleaning the excrement of the cat litter box, which is not limited in the embodiments of the present invention. Figure 3 As shown, the excrement cleaning control device of the cat litter box may include:

[0166] The first generating module 301 is used to generate a motor control instruction for the driving motor according to the excrement cleaning instruction when an excrement cleaning instruction is detected;

[0167] The control module 302 is used to control the drive motor to drive the sieve shovel to move from the standby position to the preset starting position according to the motor control instruction, and drive the sieve shovel to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the excrement collection bin;

[0168] The control module 302 is also used to control the drive motor to drive the screen shovel to run to the standby position when it is detected that the screen shovel completes the excrement cleaning operation.

[0169] It can be seen that implementation Figure 3 The excrement cleaning control device of the described cat litter box can generate a motor control instruction for the drive motor according to the excrement cleaning instruction when an excrement cleaning instruction is detected. According to the motor control instruction, the drive motor is controlled to drive the screen shovel to run from a standby position to a preset starting position, and drive the screen shovel to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to a feces collection bin. When it is detected that the screen shovel has completed the excrement cleaning operation, the drive motor is controlled to drive the screen shovel to the standby position. The drive motor can drive the screen shovel stored in the cat litter box to clean the excrement, thereby improving the cleaning efficiency of the excrement in the cat litter box, and automatically cleaning the excrement according to the excrement cleaning instruction, thereby improving the timeliness and automation of cleaning the excrement in the cat litter box, thereby improving the user experience of the cat litter box.

[0170] In an optional embodiment, if Figure 4 As shown, the front end of the cat litter box includes a first opening for a pet to enter and exit the cat litter box, the rear end of the cat litter box includes a second opening for transferring excrement from the cat litter box to a feces collection bin, the drive motor includes a lifting motor and a front-and-rear motion motor, and the motor control instructions include a first lifting control instruction and a second lifting control instruction for the lifting motor, and a first front-and-rear control instruction for the front-and-rear motion motor;

[0171] The specific manner in which the control module 302 controls the drive motor to drive the screen shovel from the standby position to the preset starting position according to the motor control instruction includes:

[0172] According to the first lifting control instruction, the lifting motor is controlled to drive the screen shovel to move from the standby position to the first position, and whether the screen shovel reaches the first position is determined based on a preset determination method;

[0173] When the screen shovel reaches the first position, according to the first front-rear control instruction, the front-rear motion motor is controlled to drive the screen shovel to move from the first position to the second position, and whether the screen shovel reaches the second position is determined based on the determination method;

[0174] When the screen shovel reaches the second position, according to the second lifting control instruction, the lifting motion motor is controlled to drive the screen shovel to move from the second position to the third position, and whether the screen shovel reaches the third position is determined based on the determination method;

[0175] When the screen shovel reaches the third position, the screen shovel is determined to move from the standby position to the preset starting position;

[0176] Among them, the first position is located at the upper part of the rear end of the cat litter box, the second position is located at the upper part of the front end of the cat litter box, and the third position is located at the lower part of the front end of the cat litter box. The preset judgment method includes a limit switch judgment method, an encoder distance calculation judgment method, a laser ranging judgment method or an infrared tube judgment method.

[0177] It can be seen that implementation Figure 4 The excrement cleaning control device of the described cat litter box can generate a motor control instruction for the drive motor according to the excrement cleaning instruction when an excrement cleaning instruction is detected, and control the front and rear movement motor and the lifting movement motor to drive the screen shovel from the standby position to the preset starting position according to the front and rear control instructions and the lifting control instructions for the drive motor, thereby improving the movement efficiency and automation of the screen shovel, and driving the screen shovel to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the excrement collection bin. When it is detected that the screen shovel has completed the excrement cleaning operation, the drive motor is controlled to drive the screen shovel to the standby position, and the drive motor can drive the screen shovel stored in the cat litter box to clean the excrement, thereby improving the cleaning efficiency of the excrement in the cat litter box, and automatically cleaning the excrement according to the excrement cleaning instruction, thereby improving the timeliness and automation of cleaning the excrement in the cat litter box, thereby improving the user experience of the cat litter box.

[0178] In another optional embodiment, Figure 4 As shown, the rear end of the cat litter box also includes a slope for transferring excrement, and the motor control instruction also includes a second front-to-back control instruction for the front-to-back motion motor and a third lifting control instruction for the lifting motion motor;

[0179] The control module 302 drives the shovel to perform excrement cleaning operations on the excrement in the cat litter box to transfer the excrement to the excrement collection bin. The specific method includes:

[0180] According to the second front-to-back control instruction, the front-to-back motion motor is controlled to drive the sieve shovel to operate for a preset time to transfer the excrement in the cat litter box to the slope;

[0181] According to the third lifting control instruction, the lifting motion motor is controlled to drive the screen shovel to move from the slope to the first position, and whether the screen shovel reaches the first position is determined based on a preset determination method;

[0182] When the screening shovel reaches the first position, it is determined that the excrement is transferred to the excrement collecting bin.

[0183] It can be seen that implementation Figure 4 The excrement cleaning control device of the described cat litter box can control the front and rear motion motor to drive the screen shovel to run for a preset time according to the second front and rear control instructions, and transfer the excrement in the cat litter box to the slope. According to the third lifting control instruction, the lifting motion motor is controlled to drive the screen shovel to run from the slope to the first position, and it is determined whether the screen shovel triggers the first limit switch corresponding to the first position. When the screen shovel triggers the first limit switch, it is determined to transfer the excrement to the excrement collection bin. The excrement can be transferred from the slope to the excrement collection bin through the cooperation of the screen shovel and the slope, thereby improving the cleaning efficiency and automation of the excrement in the cat litter box, thereby improving the user experience of the cat litter box.

[0184] In yet another optional embodiment, Figure 4 As shown, when the control module 302 detects that the screen shovel has completed the excrement cleaning operation, the specific manner in which the drive motor drives the screen shovel to run to the standby position includes:

[0185] When it is detected that the shovel has completed the excrement cleaning operation, a homing control instruction is generated for the drive motor, the homing control instruction includes a front-to-back homing instruction for the front-to-back motion motor and a lifting homing instruction for the lifting motion motor;

[0186] According to the front and rear homing instructions, the front and rear motion motors are controlled to drive the screen shovel to move from the first position to the fourth position, and whether the screen shovel reaches the fourth position is determined based on the determination method;

[0187] When the sieve shovel reaches the fourth position, according to the lifting and returning instruction, the lifting and lowering motor is controlled to drive the sieve shovel to move from the fourth position to the fifth position, and whether the sieve shovel reaches the fifth position is determined based on the determination method;

[0188] When the screen shovel reaches the fifth position, it is determined that the screen shovel moves to the standby position;

[0189] The fourth position is located behind the first position, and the fifth position is located below the fourth position.

[0190] It can be seen that implementation Figure 4The described excrement cleaning control device for the cat litter box can generate a front and rear return instruction for the front and rear motion motor and a lifting and lowering return instruction for the lifting motion motor when it detects that the screen shovel has completed the excrement cleaning operation. According to the front and rear return instructions, the front and rear motion motor is controlled to drive the screen shovel to move from the first position to the fourth position, and it is judged whether the screen shovel triggers the fourth limit switch corresponding to the fourth position. When the screen shovel triggers the fourth limit switch, according to the lifting and lowering return instruction, the lifting motion motor is controlled to drive the screen shovel from the fourth position to the fifth position, and it is judged whether the screen shovel triggers the fifth limit switch corresponding to the fifth position. When the screen shovel triggers the fifth limit switch, it is determined that the screen shovel has moved to the standby position. When it is detected that the screen shovel has completed the excrement cleaning operation, the drive motor can be controlled by instructions to drive the screen shovel to return to the standby position, thereby improving the space utilization in the cat litter box and making it convenient for pets to enter and exit the cat litter box for excretion.

[0191] In yet another optional embodiment, Figure 4 As shown, the excrement cleaning control device of the cat litter box may also include:

[0192] A first determining module 303, used to determine first weight information of the cat litter box;

[0193] A detection module 304 is used to detect whether the target pet enters the cat litter box, and when the target pet is detected to enter the cat litter box, determine the length of time the target pet stays in the cat litter box;

[0194] The first determination module 303 is further used to determine the second weight information of the cat litter box after detecting that the target pet has left the cat litter box, and determine the weight change information of the cat litter box according to the first weight information and the second weight information;

[0195] The second generating module 305 is used to generate an excrement cleaning instruction according to the residence time and weight change information.

[0196] It can be seen that implementation Figure 4 The described cat litter box excrement cleaning control device can determine the first weight information of the cat litter box, detect whether the target pet enters the cat litter box, and when the target pet is detected to enter the cat litter box, determine the target pet's stay time in the cat litter box. When the target pet is detected to leave the cat litter box, determine the second weight information of the cat litter box, and determine the weight change information of the cat litter box based on the first weight information and the second weight information. It can generate excrement cleaning instructions based on the stay time and weight change information, improve the accuracy and timeliness of the generation of excrement cleaning instructions, and thereby improve the timeliness and efficiency of cleaning the excrement in the cat litter box.

[0197] In yet another optional embodiment, Figure 4 As shown, the specific method of detecting whether the target pet enters the cat litter box by the detection module 304 includes:

[0198] Detect whether there is a moving object within the moving object detection range of the cat litter box, and when there is a moving object within the moving object detection range, track the trajectory of the moving object to obtain a trajectory tracking result;

[0199] According to the trajectory tracking results, it is determined whether the moving object has entered the cat litter box. When the moving object enters the cat litter box, the moving object is biometrically identified to determine whether the moving object is the target pet;

[0200] And, the specific manner in which the second generating module 305 generates the excrement cleaning instruction according to the residence time and the weight change information includes:

[0201] Determine whether the stay time exceeds a preset stay time threshold;

[0202] When the stay time exceeds the stay time threshold, determining whether the weight change information meets the preset excrement cleaning condition;

[0203] When the weight change information satisfies the excrement cleaning condition, an excrement cleaning instruction is generated.

[0204] It can be seen that implementation Figure 4 The described cat litter box excrement cleaning control device can detect whether there is a moving object within the moving object detection range of the cat litter box. When there is a moving object within the moving object detection range, the trajectory of the moving object is tracked to obtain a trajectory tracking result. According to the trajectory tracking result, it is determined whether the moving object has entered the cat litter box. When the moving object enters the cat litter box, the moving object is biometrically identified. Determining whether the moving object is a target pet can improve the accuracy and reliability of detecting whether the target pet has entered the cat litter box, thereby improving the accuracy of subsequent generation of excrement cleaning instructions; determining whether the stay time exceeds a preset stay time threshold. When the stay time exceeds the stay time threshold, determining whether the weight change information meets the preset excrement cleaning condition. When the weight change information meets the excrement cleaning condition, generating an excrement cleaning instruction. The excrement cleaning instruction can be generated according to the stay time and weight change information, thereby improving the accuracy and timeliness of the generation of the excrement cleaning instruction, thereby improving the timeliness and efficiency of cleaning the excrement in the cat litter box.

[0205] In yet another optional embodiment, Figure 4 As shown, the excrement cleaning control device of the cat litter box may also include:

[0206] The recording module 306 is used to record the cleaning information corresponding to the excrement cleaning operation when it is detected that the sieve shovel completes the excrement cleaning operation, and the cleaning information includes the cleaning weight, the cleaning volume and the cleaning time;

[0207] The second determination module 307 is used to determine the remaining capacity of the feces collection bin according to the cleaned weight and the cleaned volume;

[0208] The estimation module 308 is used to estimate the target time when the capacity of the feces collection bin reaches a preset upper capacity limit according to the cleaning time and the remaining capacity, and generate a feces collection bin cleaning prompt information according to the target time.

[0209] It can be seen that implementation Figure 4 The excrement cleaning control device of the described cat litter box can record the cleaning information corresponding to the excrement cleaning operation when it detects that the screen shovel has completed the excrement cleaning operation. The cleaning information includes the cleaning weight, the cleaning volume and the cleaning time. According to the cleaning weight and the cleaning volume, the remaining capacity in the excrement collecting bin is determined. According to the cleaning time and the remaining capacity, the target time when the capacity of the excrement collecting bin reaches the preset capacity upper limit is estimated, and the excrement collecting bin cleaning prompt information is generated according to the target time. The generation accuracy of the excrement collecting bin cleaning prompt information can be improved, and the user can be reminded to clean the excrement collecting bin based on the excrement collecting bin cleaning prompt information, thereby reducing the occurrence of excrement collecting bin capacity overflow, thereby improving the user's experience of using the cat litter box.

[0210] Embodiment 4

[0211] See also Figure 5 , Figure 5 FIG. 1 is a schematic diagram of the structure of another cat litter box excrement cleaning control device disclosed in an embodiment of the present invention. Figure 5 As shown, the excrement cleaning control device of the cat litter box may include:

[0212] A memory 401 storing executable program codes;

[0213] a processor 402 coupled to the memory 401;

[0214] The processor 402 calls the executable program code stored in the memory 401 to execute the steps of the cat litter box excrement cleaning control method described in the first embodiment of the present invention or the second embodiment of the present invention.

[0215] Embodiment 5

[0216] The embodiment of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the steps in the cat litter box excrement cleaning control method described in the first embodiment of the present invention or the second embodiment of the present invention.

[0217] Embodiment 6

[0218] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute the steps in the cat litter box excrement cleaning control method described in Embodiment 1 or Embodiment 2.

[0219] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0220] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0221] Finally, it should be noted that the cat litter box excrement cleaning control method and device disclosed in the embodiment of the present invention discloses only the preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for controlling the cleaning of excrement in a cat litter box, characterized in that: The method is applied to a cat litter box, which includes a driving motor, a sieve shovel and a feces collection bin, and the method includes: When an excrement cleaning instruction is detected, generating a motor control instruction for the drive motor according to the excrement cleaning instruction; According to the motor control instruction, the drive motor is controlled to drive the sieve shovel to move from the standby position to a preset starting position, and the sieve shovel is driven to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the excrement collection bin; When it is detected that the screening shovel completes the excrement cleaning operation, the driving motor is controlled to drive the screening shovel to the standby position.

2. The method for controlling the excrement cleaning of a cat litter box according to claim 1, characterized in that: The front end of the cat litter box includes a first opening for a pet to enter and exit the cat litter box, the rear end of the cat litter box includes a second opening for transferring the excrement from the cat litter box to the excrement collection bin, the drive motor includes a lifting motor and a front-to-back motor, the motor control instruction includes a first lifting control instruction and a second lifting control instruction for the lifting motor, and a first front-to-back control instruction for the front-to-back motor; According to the motor control instruction, controlling the drive motor to drive the screen shovel to move from the standby position to the preset starting position includes: According to the first lifting control instruction, the lifting motor is controlled to drive the screen shovel to move from the standby position to the first position, and whether the screen shovel reaches the first position is determined based on a preset determination method; When the screen shovel reaches the first position, according to the first front-rear control instruction, the front-rear motion motor is controlled to drive the screen shovel to move from the first position to the second position, and whether the screen shovel reaches the second position is determined based on the determination method; When the screen shovel reaches the second position, according to the second lifting control instruction, the lifting motor is controlled to drive the screen shovel to move from the second position to the third position, and whether the screen shovel reaches the third position is determined based on the determination method; When the screening shovel reaches the third position, determining that the screening shovel moves from the standby position to a preset starting position; Among them, the first position is located at the upper part of the rear end of the cat litter box, the second position is located at the upper part of the front end of the cat litter box, and the third position is located at the lower part of the front end of the cat litter box. The preset judgment method includes a limit switch judgment method, an encoder distance calculation judgment method, a laser ranging judgment method or an infrared tube judgment method.

3. The method for controlling the excrement cleaning of a cat litter box according to claim 2, characterized in that: The rear end of the cat litter box also includes a slope for transferring the excrement, and the motor control instruction also includes a second front-to-back control instruction for the front-to-back motion motor and a third lifting control instruction for the lifting motion motor; The step of driving the sifting shovel to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the excrement collecting bin comprises: According to the second front-to-back control instruction, the front-to-back motion motor is controlled to drive the sifting shovel to operate for a preset time to transfer the excrement in the cat litter box to the slope; According to the third lifting control instruction, the lifting motor is controlled to drive the screen shovel to move from the slope to the first position, and whether the screen shovel reaches the first position is determined based on a preset determination method; When the screening shovel reaches the first position, it is determined that the excrement is transferred to the excrement collecting bin.

4. The method for controlling the excrement cleaning of a cat litter box according to claim 3, characterized in that: When it is detected that the sieve shovel has completed the excrement cleaning operation, controlling the drive motor to drive the sieve shovel to move to the standby position comprises: When it is detected that the sieve shovel has completed the excrement cleaning operation, a homing control instruction is generated for the drive motor, the homing control instruction includes a front-to-back homing instruction for the front-to-back motion motor and a lifting homing instruction for the lifting motion motor; According to the front-rear homing instruction, control the front-rear motion motor to drive the screen shovel to move from the first position to the fourth position, and determine whether the screen shovel reaches the fourth position based on the determination method; When the sieve shovel reaches the fourth position, according to the lifting and returning instruction, the lifting and returning motion motor is controlled to drive the sieve shovel to move from the fourth position to the fifth position, and whether the sieve shovel reaches the fifth position is determined based on the determination method; When the screen shovel reaches the fifth position, determining that the screen shovel moves to the standby position; The fourth position is located behind the first position, and the fifth position is located below the fourth position.

5. The method for controlling the cleaning of excrement in a cat litter box according to any one of claims 1 to 4, characterized in that: The method further comprises: Determining first weight information of the cat litter box; Detecting whether a target pet enters the cat litter box, and when detecting that the target pet enters the cat litter box, determining a stay time of the target pet in the cat litter box; After detecting that the target pet leaves the cat litter box, determining second weight information of the cat litter box, and determining weight change information of the cat litter box according to the first weight information and the second weight information; An excrement cleaning instruction is generated according to the residence time and the weight change information.

6. The method for controlling the excrement cleaning of a cat litter box according to claim 5, characterized in that: The detecting whether the target pet enters the cat litter box comprises: Detecting whether there is a moving object within a moving object detection range of the cat litter box, and when the moving object exists within the moving object detection range, tracking the trajectory of the moving object to obtain a trajectory tracking result; According to the trajectory tracking result, determining whether the moving object has entered the cat litter box, and when the moving object has entered the cat litter box, performing biometric identification on the moving object to determine whether the moving object is a target pet; And, generating an excrement cleaning instruction according to the residence time and the weight change information includes: Determining whether the stay duration exceeds a preset stay duration threshold; When the stay time exceeds the stay time threshold, determining whether the weight change information satisfies a preset excrement cleaning condition; When the weight change information satisfies the excrement cleaning condition, an excrement cleaning instruction is generated.

7. The method for controlling the excrement cleaning of a cat litter box according to any one of claims 1 to 4, characterized in that: The method further comprises: When it is detected that the sieve shovel completes the excrement cleaning operation, the cleaning information corresponding to the excrement cleaning operation is recorded, and the cleaning information includes the cleaning weight, the cleaning volume and the cleaning time; Determining the remaining capacity of the feces collection bin according to the cleaned weight and the cleaned volume; According to the cleaning time and the remaining capacity, the target time when the capacity of the feces collection bin reaches a preset upper capacity limit is estimated, and feces collection bin cleaning prompt information is generated according to the target time.

8. A cat litter box excrement cleaning control device, characterized in that: The device is applied to a cat litter box, which includes a driving motor, a sieve shovel and a feces collection bin, and the device includes: A first generating module, configured to generate a motor control instruction for the driving motor according to the excrement cleaning instruction when an excrement cleaning instruction is detected; A control module, configured to control the drive motor to drive the sieve shovel to move from a standby position to a preset starting position according to the motor control instruction, and drive the sieve shovel to perform an excrement cleaning operation on the excrement in the cat litter box to transfer the excrement to the excrement collection bin; The control module is further configured to control the drive motor to drive the screen shovel to the standby position when it is detected that the screen shovel completes the excrement cleaning operation.

9. A cat litter box excrement cleaning control device, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the cat litter box excrement cleaning control method as described in any one of claims 1-7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the cat litter box excrement cleaning control method as described in any one of claims 1-7.

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