Cat litter box control method and system, computer equipment and computer program product

Abstract

The invention is suitable for the technical field of pet supplies, and provides a cat litter box control method and system, computer equipment and a computer program product.The cat litter box control method comprises the steps that behavior data of a moving object is obtained through a sensing module, whether a target object with the approaching intention exists or not is determined based on the behavior data, and under the condition that the target object exists, the cat litter box is controlled. Acquiring identity information of the target object through an identification module, and verifying the identity information; if verification is passed, initial weight data are collected through a weighing module, a door plate of the cat litter box is opened to allow the target object to enter the intelligent cat litter box, under the condition that it is detected that the target object leaves the cat litter box, the door plate is controlled to be closed, and defecation and urination weight data are collected through the weighing module. According to the method provided by the embodiment of the invention, independent distinguishing and automatic acquisition of defecation and urination information of each moving object can be realized in a multi-moving object environment.

Description

Technical Field

[0001] This application belongs to the field of pet product technology, and in particular relates to a litter box control method, system, computer equipment and computer program product. Background Technology

[0002] Currently, the main methods for testing pet food feeding include, but are not limited to, fecal scoring, weight change, routine urine tests, apparent digestibility testing (which requires collecting feces to measure fecal protein), urine pH testing, and urine ion supersaturation testing. All of these tests require the collection of pet fecal information.

[0003] Currently, fecal collection is done using open collection devices in conjunction with manual labor, which has many drawbacks: open collection devices cause urine evaporation and fecal oxidation (such as changes in ammonium salt concentration affecting the accuracy of urine tests); a single test requires 2-3 dedicated personnel to work in shifts to monitor and collect feces in a timely manner, resulting in high per capita labor costs, especially in environments with multiple pets where human fatigue and errors are common; manual sampling losses and the influence of environmental temperature and humidity lead to a large range of errors in fecal weighing; existing collection devices require animals to be forcibly restrained, causing abnormally high cortisol levels.

[0004] Therefore, there is an urgent need for a method to achieve independent and automated collection of pet feces information. Summary of the Invention

[0005] In view of this, embodiments of this application provide a litter box control method, system, computer device, and computer program product to achieve independent differentiation and automated collection of defecation and urination information of each active object in a multi-active environment.

[0006] A first aspect of this application provides a litter box control method applied to a smart litter box. The smart litter box includes a door panel, a weighing module, a sensing module for acquiring behavioral data of an active object, and an identification module for acquiring the identity information of the active object. The method includes:

[0007] The sensing module acquires behavioral data of one or more active objects within a preset activity range of the smart litter box.

[0008] Based on the behavioral data, determine whether there is a target object with an intention to approach among the one or more active objects;

[0009] If it is determined that there is a target object with an intention to approach among the one or more active objects, the identification module obtains the identity information of the target object and verifies the identity information.

[0010] If the identity information is verified, the initial weight data is collected by the weighing module and the door is opened to allow the target object to enter the smart litter box.

[0011] When the target object is detected leaving the smart litter box, the door is controlled to close, and the weight data of defecation and urination are collected through the weighing module.

[0012] In one implementation of the first aspect, the perception module includes an RGB-D camera, and the behavioral data includes a color image and a depth image of the active object;

[0013] Determining whether there is a target object with an approach intent among the one or more active objects based on the behavioral data includes:

[0014] The head key points and tail base key points of the active object in the color image are extracted using a skeletal key point detection algorithm, and the depth values ​​corresponding to the head key points and tail base key points are obtained in the depth image.

[0015] Based on the head key point, the tail base key point and the corresponding depth value, calculate the intended distance between the centroid of the target object and the center of the smart litter box, as well as the intended angle between the orientation vector of the target object and the center vector of the litter box.

[0016] When the intention distance is less than a first threshold and the intention angle is less than a second threshold, it is determined that there is a target object with an intention to approach among the one or more active objects.

[0017] In one implementation of the first aspect, the sensing module includes a multi-channel ultrasonic sensor and a passive infrared sensor, and the behavioral data includes multiple ultrasonic distance data collected by each of the multi-channel ultrasonic sensors and a micro-motion trigger signal collected by the passive infrared sensor.

[0018] Determining whether there is a target object with an approach intent among the one or more active objects based on the behavioral data includes:

[0019] Calculate the distance change rate of each ultrasonic distance data in the plurality of ultrasonic distance data, and count the number of times the passive infrared sensor is triggered in the micro-motion trigger signal;

[0020] If the rate of change of distance for each of the multiple ultrasonic distance data is less than a preset negative rate threshold and the cumulative number of times the passive infrared sensor is triggered reaches a preset number, it is determined that there is a target object with the intention to approach among the one or more active objects.

[0021] In one implementation of the first aspect, each of the active objects has a unique identity token, the identity token including the identity information of the active object;

[0022] The step of obtaining the identity information of the target object through the recognition module and verifying the identity information includes:

[0023] When only one identity token exists within a first preset distance of the smart litter box, the identification module reads the identity information in the identity token and verifies the identity information.

[0024] When multiple identity tokens exist within a first preset distance of the smart litter box, the signal strength values ​​of the multiple identity tokens are collected by the identification module.

[0025] Based on the signal strength value, a target identity token is selected from the plurality of identity tokens, the identity information in the target identity token is read, and the identity information is verified.

[0026] In one implementation of the first aspect, the smart litter box includes a litter holding layer, a urine collection layer, and a urine holding layer, wherein the urine holding layer is located below the litter holding layer, and the weighing module includes a first weighing unit and a second weighing unit, wherein the first weighing unit is disposed in the litter holding layer, and the second weighing unit is disposed in the urine holding layer.

[0027] The step of collecting initial weight data through the weighing module and controlling the door to open to allow the target object to enter the smart litter box includes:

[0028] First initial weight data is collected through the first weighing unit and second initial weight data is collected through the second weighing unit;

[0029] After completing the acquisition of the first initial weight data and the second initial weight data, the door panel is controlled to open to allow the target object to enter the smart litter box;

[0030] The process of collecting defecation and urination weight data through the weighing module includes:

[0031] The weight data of the first defecation is collected through the first weighing unit and the weight data of the first urination is collected through the second weighing unit.

[0032] In one implementation of the first aspect, the smart litter box further includes a testing module, which is disposed in the urine holding layer;

[0033] The method further includes:

[0034] When the first initial weight data and the second defecation weight data indicate an increase in the weight of the urine holding layer, the testing module is triggered to test the urine in the urine holding layer and obtain test data.

[0035] In one implementation of the first aspect, the method further includes:

[0036] Send the first initial weight data, the second initial weight data, the first defecation weight data, the first urination weight data, and the test data to the server, and send defecation and urination notification information to the target user.

[0037] A second aspect of this application provides a litter box control system, including:

[0038] The sensing module is used to acquire behavioral data of one or more active objects within the preset activity range of the smart litter box;

[0039] The intent recognition module is used to determine, based on the behavioral data, whether there is a target object with an intention to approach among the one or more active objects;

[0040] The verification module is used to obtain the identity information of the target object through the identification module and verify the identity information when it is determined that there is a target object with the intention to approach among the one or more active objects.

[0041] The door opening acquisition module is used to collect initial weight data through the weighing module and control the door of the smart cat litter box to open if the identity information passes the verification, so as to allow the target object to enter the smart cat litter box.

[0042] The door closing data acquisition module is used to control the door of the smart litter box to close when the target object is detected leaving the smart litter box, and to collect the weight data of defecation and urination through the weighing module.

[0043] A third aspect of this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the litter box control method as described in the first aspect.

[0044] A fourth aspect of this application provides a computer program product, including a computer program that, when run, causes the litter box control method as described in the first aspect to be executed.

[0045] The beneficial effect of the first aspect of the embodiments of this application is as follows: A sensing module acquires behavioral data of one or more active objects within a preset activity range of the litter box, and determines, based on the behavioral data, whether there is a target object with an intention to approach among the one or more active objects; if it is determined that there is a target object with an intention to approach among the one or more active objects, the identification module acquires the identity information of the target object and verifies the identity information; if the identity information passes the verification, the weighing module collects initial weight data and controls the door to open, allowing the target object to enter the smart litter box; if the target object is detected leaving the smart litter box, the door is controlled to close, and the weighing module collects defecation and urination weight data, thereby achieving independent differentiation and automated collection of defecation and urination information of each active object in a multi-active-object environment.

[0046] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram illustrating the implementation process of the litter box control method provided in this application embodiment;

[0049] Figure 2 This is a schematic diagram of the cat litter box control system provided in the embodiments of this application;

[0050] Figure 3 This is a schematic diagram of the computer device provided in an embodiment of this application;

[0051] Figure 4 This is a schematic diagram of a computer program product provided in an embodiment of this application. Detailed Implementation

[0052] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0053] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0054] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0055] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0056] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0057] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0058] This application provides a litter box control method for independently distinguishing and automatically collecting defecation and urination information of each pet in a multi-pet environment. The method provided in this application is applied to a smart litter box, which includes a door panel, a weighing module, a sensing module for acquiring behavioral data of active objects, and an identification module for acquiring the identity information of the active objects. The method includes: acquiring behavioral data of one or more active objects within a preset activity range of the litter box through the sensing module; determining, based on the behavioral data, whether there is a target object with an intention to approach among the one or more active objects; if a target object with an intention to approach is determined, acquiring the identity information of the target object through the identification module and verifying the identity information; if the identity information passes verification, acquiring initial weight data through the weighing module and controlling the door panel to open to allow the target object to enter the smart litter box; and if the target object is detected leaving the smart litter box, controlling the door panel to close and acquiring defecation and urination weight data through the weighing module, thereby achieving independent distinction and automated collection of defecation and urination information of each pet in a multi-pet environment.

[0059] The litter box control method provided in this application embodiment can be applied to smart litter boxes and is executed by a computer device with a processor configured with a smart litter box. This application embodiment does not impose any restrictions on the specific type of computer device.

[0060] like Figure 1 As shown, a first aspect of this application provides a litter box control method applied to a smart litter box. The smart litter box includes a door panel, a weighing module, a sensing module for acquiring behavioral data of an active object, and an identification module for acquiring the identity information of the active object. The method includes:

[0061] Step S1: Obtain behavioral data of one or more active objects within the preset activity range of the smart litter box through the sensing module.

[0062] In applications, the preset activity range can be flexibly configured according to the size of the subject and the size of the test environment. For example, different preset activity ranges can be set according to the size of different breeds of pet cats.

[0063] Step S2: Based on the behavioral data, determine whether there is a target object with an intention to approach among the one or more active objects.

[0064] In the application, by configuring a preset activity range, only the behavior data of active objects within the preset activity range is detected, and it is determined whether there is a target object with the intention to approach. This avoids monitoring all active objects, solves computing resource issues, and improves data processing efficiency.

[0065] Step S3: If it is determined that there is a target object with the intention to approach among the one or more active objects, the identity information of the target object is obtained through the identification module, and the identity information is verified.

[0066] In the application, each active object wears an identity token with unique identification information. Taking pet cats as an example, each active object corresponds to a dedicated smart litter box. The presence of a target object with the intention to approach means that a pet cat is approaching the litter box, intending to defecate or urinate.

[0067] Step S4: If the identity information passes the verification, the initial weight data is collected through the weighing module and the door is opened to allow the target object to enter the smart litter box.

[0068] In this application, each smart litter box is pre-configured with a unique identification information for the corresponding pet cat. Identity verification confirms that the target cat is indeed the pet cat associated with the smart litter box, allowing the door to be opened to let the cat enter and defecate / urinate. To ensure that initial weight data is collected before the target cat enters the litter box, the initial weight data is collected via a weighing module after identity verification is successful before the door is opened. This prevents the cat from entering too quickly, which could lead to insufficient time for initial weight data collection or errors.

[0069] Step S5: When the target object is detected to have left the smart litter box, the door is closed and the weight data of defecation and urination are collected through the weighing module.

[0070] In the application, when the target cat leaves the smart litter box, it is assumed that it has completed one defecation and urination cycle. Therefore, the door is closed to prevent other cats from entering the litter box and affecting the target cat's defecation and urination information.

[0071] In the application, the camera can be used to determine whether the target object has left the smart litter box, or the weight data collected by the weighing module can be used to determine whether the target object has left the smart litter box. For example, after the weight data detected by the weighing module is reduced by a preset weight (which could be the weight of the target object), it can be determined that the target object has left the smart litter box.

[0072] In the application, the initial weight data and the weight data of defecation and urination have collection timestamps. The difference between the timestamps of adjacent initial weight data and defecation and urination weight data can be regarded as the defecation and urination duration of the target object.

[0073] In one embodiment, after the target object enters the smart litter box, before the target object defecates or urinates, the target object's weight data can be recorded by a weighing module based on the initial weight data.

[0074] In one embodiment, the sensing module includes an RGB-D camera, and the behavioral data includes a color image and a depth image of the active object;

[0075] Step S2, determining whether there is a target object with an intention to approach among the one or more active objects based on the behavioral data, includes:

[0076] Step S21: Use a skeletal keypoint detection algorithm to extract the head keypoints and tail base keypoints of the active object in the color image, and obtain the depth values ​​corresponding to the head keypoints and tail base keypoints in the depth image.

[0077] Step S22: Based on the head key point, the tail base key point and the corresponding depth value, calculate the intended distance between the centroid of the target object and the center of the smart litter box, and the intended angle between the orientation vector of the target object and the center vector of the litter box.

[0078] Step S23: When the intention distance is less than a first threshold and the intention angle is less than a second threshold, it is determined that there is a target object with an intention to approach among the one or more active objects.

[0079] In one embodiment, the sensing module includes a multi-channel ultrasonic sensor and a passive infrared sensor, and the behavioral data includes multiple ultrasonic distance data collected by each of the multi-channel ultrasonic sensors and a micro-motion trigger signal collected by the passive infrared sensor.

[0080] Step S2, determining whether there is a target object with an intention to approach among the one or more active objects based on the behavioral data, includes:

[0081] Step S24: Calculate the distance change rate of each ultrasonic distance data in the plurality of ultrasonic distance data, and count the number of times the passive infrared sensor is triggered in the micro-motion trigger signal.

[0082] Step S25: If the rate of change of distance for each ultrasonic distance data in the plurality of ultrasonic distance data is less than a preset negative rate threshold and the cumulative number of triggers of the passive infrared sensor reaches a preset number, it is determined that there is a target object with the intention to approach among the one or more active objects.

[0083] In applications, a passive infrared (PIR) sensor is an electronic component that detects infrared radiation from a human body or object based on the pyroelectric effect. Changes in infrared radiation are received by the thermosensitive material (such as lithium tantalate) inside the sensor and converted into a weak electrical signal. The sensor determines whether an object is moving by detecting changes in this electrical signal.

[0084] In one embodiment, the target object's centroid, the target object's orientation vector, the distance change rate of each ultrasonic distance data, and the number of times the passive infrared sensor is triggered are fused according to preset weights to output the final behavioral intent determination data.

[0085] In one embodiment, each active object has a unique identity token, which includes the identity information of the active object;

[0086] Step S3 involves obtaining the identity information of the target object through the identification module and verifying the identity information, including:

[0087] Step S31: If there is only one identity token within the first preset distance of the smart litter box, the identity information in the identity token is read by the identification module and the identity information is verified.

[0088] Step S32: If multiple identity tokens exist within a first preset distance of the smart litter box, the signal strength values ​​of the multiple identity tokens are collected by the identification module.

[0089] Step S33: Select a target identity token from the plurality of identity tokens based on the signal strength value, read the identity information in the target identity token and verify the identity information.

[0090] In applications, the identity token with the highest signal strength value can be selected as the target identity token based on the signal strength value.

[0091] In applications, the identification module and the identity token use the same communication technology, such as Near Field Communication (NFC), Bluetooth, Zigbee, or Radio Frequency Identification (RFID). Taking RFID as an example, the identification module can include an RFID antenna, which can have a single element or be an antenna array with multiple elements.

[0092] In one embodiment, the smart litter box includes a litter holding layer and a urine holding layer, with the urine holding layer located below the litter holding layer. The weighing module includes a first weighing unit and a second weighing unit, with the first weighing unit disposed in the litter holding layer and the second weighing unit disposed in the urine holding layer.

[0093] In application, the litter holding layer has multiple pores, each with a pore diameter smaller than the litter diameter, which allows solid feces to be trapped, while liquid feces can flow through the litter holding layer into the urine holding layer, thus achieving separation of liquid and solid feces.

[0094] The step of collecting initial weight data through the weighing module and controlling the door to open to allow the target object to enter the smart litter box includes:

[0095] Step S41: Collect first initial weight data through the first weighing unit and collect second initial weight data through the second weighing unit.

[0096] Step S42: After completing the acquisition of the first initial weight data and the second initial weight data, control the door panel to open so as to allow the target object to enter the smart litter box;

[0097] The process of collecting defecation and urination weight data through the weighing module includes:

[0098] Step S51: Collect the first defecation weight data through the first weighing unit and the first urination weight data through the second weighing unit.

[0099] In the application, each weight data point has a corresponding collection timestamp. The difference between the first defecation weight data and the first initial weight data can be used as the weight of solid feces, and the difference between the first urination weight data and the second initial weight data can be used as the weight of urine.

[0100] In one embodiment, the smart litter box further includes a testing module, which is disposed in the urine holding layer;

[0101] The method further includes:

[0102] Step S6: When the first initial weight data and the second defecation weight data indicate an increase in the weight of the urine holding layer, the testing module is triggered to test the urine in the urine holding layer and obtain test data.

[0103] In one instance, the method further includes counting the duration of each bowel movement and urination of the target object, as well as the number of bowel movements and urinations per day.

[0104] In one embodiment, the method further includes:

[0105] Step S7: Send the first initial weight data, the second initial weight data, the first defecation weight data, the first urination weight data, and the test data to the server, and send defecation and urination notification information to the target user.

[0106] The application can also send data on daily bowel movement frequency, daily urination frequency, bowel movement duration, and urination duration to the server for storage. Notifications are sent immediately upon receiving the relevant data so that users can promptly collect stool and urine samples for further testing.

[0107] In the application, defecation and urination notification information can include defecation and urination weight information (fecal weight information and urine weight information), duration of one defecation and urination, total defecation in a day, and number of urinations.

[0108] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0109] This application also provides a litter box control system for executing the steps described in the above-described litter box control method embodiments. The litter box control system can be a virtual appliance in a computer device, run by the computer device's processor, or it can be the computer device itself.

[0110] like Figure 2 As shown, the litter box control system 200 provided in this application embodiment includes:

[0111] The sensing module 201 is used to acquire behavioral data of one or more active objects within the preset activity range of the smart litter box;

[0112] Intent recognition module 202 is used to determine, based on the behavioral data, whether there is a target object with an intention to approach among the one or more active objects;

[0113] The verification module 203 is used to obtain the identity information of the target object through the identification module and verify the identity information when it is determined that there is a target object with the intention to approach among the one or more active objects.

[0114] The door opening acquisition module 204 is used to acquire initial weight data through the weighing module and control the door of the smart cat litter box to open if the identity information passes the verification, so as to allow the target object to enter the smart cat litter box.

[0115] The door closing data acquisition module 205 is used to control the door of the smart litter box to close when the target object is detected leaving the smart litter box, and to collect the weight data of defecation and urination through the weighing module.

[0116] In one embodiment, the perception module 201 includes an RGB-D camera, and the behavioral data includes a color image and a depth image of the active object;

[0117] The intent recognition module 202 is used for:

[0118] The head key points and tail base key points of the active object in the color image are extracted using a skeletal key point detection algorithm, and the depth values ​​corresponding to the head key points and tail base key points are obtained in the depth image.

[0119] Based on the head key point, the tail base key point and the corresponding depth value, calculate the intended distance between the centroid of the target object and the center of the smart litter box, as well as the intended angle between the orientation vector of the target object and the center vector of the litter box.

[0120] When the intention distance is less than a first threshold and the intention angle is less than a second threshold, it is determined that there is a target object with an intention to approach among the one or more active objects.

[0121] In one embodiment, the sensing module includes a multi-channel ultrasonic sensor and a passive infrared sensor, and the behavioral data includes multiple ultrasonic distance data collected by each of the multi-channel ultrasonic sensors and a micro-motion trigger signal collected by the passive infrared sensor.

[0122] The intent recognition module 202 is used for:

[0123] Calculate the distance change rate of each ultrasonic distance data in the plurality of ultrasonic distance data, and count the number of times the passive infrared sensor is triggered in the micro-motion trigger signal;

[0124] If the rate of change of distance for each of the multiple ultrasonic distance data is less than a preset negative rate threshold and the cumulative number of times the passive infrared sensor is triggered reaches a preset number, it is determined that there is a target object with the intention to approach among the one or more active objects.

[0125] In one embodiment, each active object has a unique identity token, which includes the identity information of the active object;

[0126] The verification module 203 is used for:

[0127] When only one identity token exists within a first preset distance of the smart litter box, the identification module reads the identity information in the identity token and verifies the identity information.

[0128] When multiple identity tokens exist within a first preset distance of the smart litter box, the signal strength values ​​of the multiple identity tokens are collected by the identification module.

[0129] Based on the signal strength value, a target identity token is selected from the plurality of identity tokens, the identity information in the target identity token is read, and the identity information is verified.

[0130] In one embodiment, the smart litter box includes a litter holding layer and a urine holding layer, the urine holding layer being located below the litter holding layer, and the weighing module including a first weighing unit and a second weighing unit, the first weighing unit being disposed in the litter holding layer and the second weighing unit being disposed in the urine holding layer.

[0131] The door opening acquisition module 204 is used for:

[0132] First initial weight data is collected through the first weighing unit and second initial weight data is collected through the second weighing unit;

[0133] After completing the acquisition of the first initial weight data and the second initial weight data, the door panel is controlled to open to allow the target object to enter the smart litter box;

[0134] The door-closing data acquisition module 205 is used to acquire first defecation weight data through the first weighing unit and first urination weight data through the second weighing unit.

[0135] In one embodiment, the litter box control system 200 further includes:

[0136] The testing module 206 is used to be triggered when the first initial weight data and the second defecation weight data indicate an increase in the weight of the urine holding layer, to test the urine in the urine holding layer, and to obtain test data.

[0137] In applications, the modules in a litter box control system can be software program modules, or they can be implemented through different logic circuits integrated in a processor, or they can be implemented through multiple distributed processors.

[0138] Figure 3 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Figure 3 As shown, the computer device 3 of this embodiment includes: at least one processor 30 ( Figure 3(Only one is shown) a processor, a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30, which, when executing the computer program 32, implements the steps in any of the above-described embodiments of the litter box control method.

[0139] The computer device may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will understand that... Figure 3 The computer device 3 is merely an example and does not constitute a limitation on the computer device 3. It may include more or fewer components than shown in the figure, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0140] The processor 30 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0141] In some embodiments, the memory 31 may be an internal storage unit of the computer device 3, such as a hard disk or memory of the computer device 3. In other embodiments, the memory 31 may be an external storage device of the computer device 3, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 3. Furthermore, the memory 31 may include both internal and external storage units of the computer device 3. The memory 31 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0142] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0143] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0144] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0145] This application provides a computer program product 4, including a computer program 32, which, when run, causes the steps in the above-described embodiments of the cat litter box control methods to be executed.

[0146] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a device / computer equipment, a recording medium, a computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0147] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0148] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0149] In the embodiments provided in this application, it should be understood that the disclosed computer devices and methods can be implemented in other ways. For example, the computer device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0150] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0151] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for controlling a cat litter box, characterized in that, Applied to a smart cat litter box, the smart cat litter box includes a door panel, a weighing module, a sensing module for acquiring behavioral data of an active object, and an identification module for acquiring the identity information of the active object. The method includes: The sensing module acquires behavioral data of one or more active objects within a preset activity range of the smart litter box. Based on the behavioral data, determine whether there is a target object with an intention to approach among the one or more active objects; If it is determined that there is a target object with an intention to approach among the one or more active objects, the identification module obtains the identity information of the target object and verifies the identity information. If the identity information is verified, the initial weight data is collected by the weighing module and the door is opened to allow the target object to enter the smart litter box. When the target object is detected leaving the smart litter box, the door is controlled to close, and the weight data of defecation and urination are collected through the weighing module.

2. The litter box control method as described in claim 1, characterized in that, The perception module includes an RGB-D camera, and the behavioral data includes a color image and a depth image of the active object; Determining whether there is a target object with an approach intent among the one or more active objects based on the behavioral data includes: The head key points and tail base key points of the active object in the color image are extracted using a skeletal key point detection algorithm, and the depth values ​​corresponding to the head key points and tail base key points are obtained in the depth image. Based on the head key point, the tail base key point and the corresponding depth value, calculate the intended distance between the centroid of the target object and the center of the smart litter box, as well as the intended angle between the orientation vector of the target object and the center vector of the litter box. When the intention distance is less than a first threshold and the intention angle is less than a second threshold, it is determined that there is a target object with an intention to approach among the one or more active objects.

3. The litter box control method as described in claim 1, characterized in that, The sensing module includes multiple ultrasonic sensors and a passive infrared sensor. The behavioral data includes multiple ultrasonic distance data collected by each of the multiple ultrasonic sensors and a micro-motion trigger signal collected by the passive infrared sensor. Determining whether there is a target object with an approach intent among the one or more active objects based on the behavioral data includes: Calculate the distance change rate of each ultrasonic distance data in the plurality of ultrasonic distance data, and count the number of times the passive infrared sensor is triggered in the micro-motion trigger signal; If the rate of change of distance for each of the multiple ultrasonic distance data is less than a preset negative rate threshold and the cumulative number of times the passive infrared sensor is triggered reaches a preset number, it is determined that there is a target object with the intention to approach among the one or more active objects.

4. The litter box control method as described in claim 2, characterized in that, Each of the activity objects has a unique identity token, which includes the identity information of the activity object; The step of obtaining the identity information of the target object through the recognition module and verifying the identity information includes: When only one identity token exists within a first preset distance of the smart litter box, the identification module reads the identity information in the identity token and verifies the identity information. When multiple identity tokens exist within a first preset distance of the smart litter box, the signal strength values ​​of the multiple identity tokens are collected by the identification module. Based on the signal strength value, a target identity token is selected from the plurality of identity tokens, the identity information in the target identity token is read, and the identity information is verified.

5. The litter box control method as described in claim 1, characterized in that, The smart litter box includes a litter holding layer and a urine holding layer, with the urine holding layer located below the litter holding layer. The weighing module includes a first weighing unit and a second weighing unit, with the first weighing unit disposed in the litter holding layer and the second weighing unit disposed in the urine holding layer. The step of collecting initial weight data through the weighing module and controlling the door to open to allow the target object to enter the smart litter box includes: First initial weight data is collected through the first weighing unit and second initial weight data is collected through the second weighing unit; After completing the acquisition of the first initial weight data and the second initial weight data, the door panel is controlled to open to allow the target object to enter the smart litter box; The process of collecting defecation and urination weight data through the weighing module includes: The weight data of the first defecation is collected through the first weighing unit and the weight data of the first urination is collected through the second weighing unit.

6. The litter box control method as described in claim 5, characterized in that, The smart litter box also includes a testing module, which is located in the urine collection layer; The method further includes: When the first initial weight data and the first urine weight data indicate an increase in the weight of the urine holding layer, the testing module is triggered to test the urine in the urine holding layer and obtain test data.

7. The litter box control method as described in claim 6, characterized in that, The method further includes: Send the first initial weight data, the second initial weight data, the first defecation weight data, the first urination weight data, and the test data to the server, and send defecation and urination notification information to the target user.

8. A litter box control system, characterized in that, include: The sensing module is used to acquire behavioral data of one or more active objects within the preset activity range of the smart litter box; The intent recognition module is used to determine, based on the behavioral data, whether there is a target object with an intention to approach among the one or more active objects; The verification module is used to obtain the identity information of the target object through the identification module and verify the identity information when it is determined that there is a target object with the intention to approach among the one or more active objects. The door opening acquisition module is used to collect initial weight data through the weighing module and control the door of the smart cat litter box to open if the identity information passes the verification, so as to allow the target object to enter the smart cat litter box. The door closing data acquisition module is used to control the door of the smart litter box to close when the target object is detected leaving the smart litter box, and to collect the weight data of defecation and urination through the weighing module.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the litter box control method as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, Includes a computer program, which, when run, causes the litter box control method as described in any one of claims 1 to 7 to be executed.

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