CN107782674B - Method for detecting and cleaning pet excrement by robot - Google Patents
Method for detecting and cleaning pet excrement by robot Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/48—Thermography; Techniques using wholly visual means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
- G01N33/483—Physical analysis of biological material
Abstract
The invention relates to a method for detecting and cleaning pet excrement by a robot. The detection method through color contrast can accurately detect whether the object on the ground is the pet excrement. In addition, after the pet excrement is confirmed, the excrement is solidified by spraying a quick-freezing agent to the pet excrement, the robot is convenient to directly suck the solidified excrement into a garbage cavity, large-area pollution caused when the existing robot absorbs the wet and sticky excrement is avoided, the effect of cleaning the pet excrement by the robot is guaranteed, the practicability of the robot is improved simultaneously, and the sanitary cleaning requirement of a family with the pet is met.
Description
Technical Field
The invention relates to the field of robots, in particular to a method for detecting and cleaning pet excrement by a robot.
Background
Along with the improvement of intelligent living standard, more and more families begin to adopt the health that intelligent robot cleaned the floor of family. However, in some families with pets, the pets sometimes excrete feces anywhere, and the intelligent sweeping robot cannot recognize the feces, so that the pets can be directly swept from the feces in the sweeping process. Because excrement and urine is wet and sticky, the robot can not directly suck the excrement and urine into the garbage chamber, and in the process of continuing to move forward, the excrement and urine is carried all the way, so that the excrement and urine pollution area is larger, and the excrement and urine is more difficult to clean.
Disclosure of Invention
In order to solve the problems, the invention provides a method for detecting and cleaning pet excrement by a robot, which can accurately detect whether a ground object is the pet excrement and effectively clean the detected pet excrement. The specific technical scheme of the invention is as follows:
a method for detecting pet excrement by a robot comprises the following steps:
based on the color sensor, the robot collects the current color data of the front object while walking;
judging whether the acquired current color data is in the error range of the pre-stored reference color data of the pet excrement;
if so, determining that the object is pet excrement;
if not, the user continues to walk while collecting color data.
Further, the pre-stored reference color data of the pet feces is obtained by the following steps:
determining a first pet, collecting color data of a plurality of groups of excrement discharged by the first pet at different time, and taking an average value of the color data of the plurality of groups of excrement as first reference color data;
determining a second pet, collecting color data of a plurality of groups of excrement discharged by the second pet at different time, and taking an average value of the color data of the plurality of groups of excrement as second reference color data;
by the way of analogy, the method can be used,
determining an Nth pet, collecting color data of a plurality of groups of excrement discharged by the Nth pet at different time, and taking an average value of the color data of the plurality of groups of excrement as Nth reference color data;
storing the N reference color data into a database of the robot;
wherein N is a natural number greater than 1.
Further, the collecting the color data of a plurality of groups of dejectas discharged by the Nth pet at different time, and taking the average value of the color data of the plurality of groups of dejectas as the Nth reference color data comprises the following steps:
collecting color data of a plurality of groups of excrement discharged by the Nth pet at different time;
judging whether the difference value between each group of color data in the color data of the plurality of groups of dejecta is within a preset range or not;
if yes, taking the average value of the color data of the plurality of groups of stools as reference color data;
and if not, extracting the two groups of color data with the largest difference value to be respectively used as reference color data, and then taking the average value of the other groups of color data as the reference color data.
Further, after the step of judging that the collected current color data is within the error range of the pre-stored reference color data of the pet excrement, the method further comprises the following steps:
acquiring the current temperature of the object based on an infrared thermometer;
judging whether the acquired current temperature is less than or equal to a pre-stored reference temperature of the pet excrement and is greater than the environmental temperature;
if so, determining that the object is pet excrement;
if not, the user continues to walk while collecting color data.
Further, the pre-stored reference temperature of the pet excrement is obtained by the following steps:
determining a first pet, collecting anus temperatures of a plurality of groups of first pets at different time, and taking the value with the highest anus temperature as a preselected reference temperature;
determining a second pet, collecting anus temperatures of a plurality of groups of second pets at different time, and taking the value with the highest anus temperature as a preselected reference temperature;
by the way of analogy, the method can be used,
determining an Nth pet, collecting anus temperatures of a plurality of groups of Nth pets at different time, and taking the value with the highest anus temperature as a preselected reference temperature;
taking the value with the highest temperature in the preselected reference temperature as the reference temperature;
wherein N is a natural number greater than 1.
Further, after the step of judging that the collected current temperature is less than or equal to the reference temperature of the prestored pet excrement and is greater than the environmental temperature, the method also comprises the following steps:
collecting current odor data of the object based on an odor sensor;
judging whether the acquired current smell data is in the error range of the prestored reference smell data of the pet excrement;
if so, determining that the object is pet excrement;
if not, the user continues to walk while collecting color data.
Further, after the step of judging that the collected current color data is within the error range of the pre-stored reference color data of the pet excrement, the method further comprises the following steps:
collecting current odor data of the object based on an odor sensor;
judging whether the acquired current smell data is in the error range of the prestored reference smell data of the pet excrement;
if so, determining that the object is pet excrement;
if not, the user continues to walk while collecting color data.
Further, the pre-stored reference odor data of the pet feces is obtained by the following steps:
determining a first pet, collecting a plurality of groups of odor data of the excrement of the first pet at different time, and taking the average value of the odor data as reference odor data;
determining a second pet, collecting a plurality of groups of odor data of excrement of the second pet at different time, and taking the average value of the odor data as reference odor data;
by the way of analogy, the method can be used,
determining an Nth pet, collecting odor data of excrement of a plurality of groups of Nth pets at different time, and taking the average value of the odor data as reference odor data;
wherein N is a natural number greater than 1.
A method for cleaning pet excrement by a robot comprises the following steps:
determining that the detected object is the pet excrement based on the method for detecting the pet excrement by the robot;
stopping walking, starting a quick-freezing agent device, and spraying a quick-freezing agent to the pet excrement;
the solidified pet excrement is sucked into the garbage cavity.
Further, after the step of sucking the solidified pet excrement into the garbage chamber, the method comprises the following steps:
spraying quick-freezing agent to the position where the pet excrement is located again;
then based on the position, the mobile terminal stops after walking forward for a preset distance, stops after retreating for twice the preset distance, stops after walking forward for twice the preset distance, and finally stops after retreating for the preset distance;
and after the pet excrement is stopped at the position and cleaned for a preset time, the pet excrement is cleaned.
The invention has the beneficial effects that: the robot is in the in-process of cleaning, through the colour data of gathering the place ahead object, compares with the reference colour data of pet excrement and urine that prestores in the robot, confirms according to the contrast result whether the object is pet excrement and urine. The detection method through color contrast can accurately detect whether the object on the ground is the pet excrement. In addition, after the pet excrement is confirmed, the excrement is solidified by spraying a quick-freezing agent to the pet excrement, the robot is convenient to directly suck the solidified excrement into a garbage cavity, large-area pollution caused when the existing robot absorbs the wet and sticky excrement is avoided, the effect of cleaning the pet excrement by the robot is guaranteed, the practicability of the robot is improved simultaneously, and the sanitary cleaning requirement of a family with the pet is met.
Drawings
FIG. 1 is a first flowchart of a method for detecting pet feces by a robot according to the present invention.
FIG. 2 is a second flowchart of a method for detecting pet feces by a robot according to the present invention.
Fig. 3 is a flow chart of a method for detecting pet feces by a robot according to the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
the robot mainly refers to a floor sweeping robot, also called a cleaning robot, an automatic cleaner, an intelligent dust collector and the like, is one of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence. Generally, brushing and vacuum modes are adopted to absorb the impurities on the ground into a self garbage cavity, so that the function of cleaning the ground is completed. Generally, robots that perform sweeping, dust collection, floor wiping, and the like are also collectively called sweeping robots. The body of the sweeping robot is a wireless machine, mainly in a disc shape. The rechargeable battery is used for operation, and the operation mode is remote control or an operation panel on the machine. Generally, the time can be set for cleaning in a reserved mode, and the automatic charging is realized. The machine body is provided with various sensors which can detect the walking distance, the walking angle, the machine body state, obstacles and the like, and can turn automatically when touching a wall or other obstacles, and walk different routes according to different settings, thereby cleaning the area in a planned place. The robot of the invention comprises the following structures: the robot body is provided with a driving wheel and can independently walk, a human-computer interaction interface is arranged on the robot body, an obstacle detection unit, a color sensor, an infrared thermometer and/or an odor sensor are arranged on the robot body, and a main brush (also called a middle brush) and an edge brush are arranged at the bottom of the robot body. The quick freezing agent device and the inertial sensor are arranged in the machine body, the inertial sensor comprises an accelerometer, a gyroscope and the like, the driving wheel is provided with a speedometer (generally a coded disc) for detecting the walking distance of the driving wheel, and the quick freezing agent device is also provided with a control module which can process parameters of related sensors and can output control signals to an execution component.
As shown in figure 1, the method for detecting pet excrement by the robot comprises the following steps: based on the color sensor, the robot collects the current color data of the front object while walking; judging whether the acquired current color data is in the error range of the pre-stored reference color data of the pet excrement; if so, determining that the object is pet excrement; if not, the user continues to walk while collecting color data. The color data is obtained by acquiring RGB parameters of the color through a color sensor, for example, the RGB parameters corresponding to black are (0, 0, 0), the RGB parameters corresponding to white are (255, 255, 255), the RGB parameters corresponding to red are (255, 0, 0), the RGB parameters corresponding to green are (0, 255, 0), the RGB parameters corresponding to blue are (0, 0, 255), and the parameters of other colors vary within a range from 0 to 255. The error range of the reference color data may be set according to different requirements, and preferably, may be set to be within ± 10% of the reference color data, for example, the reference color data is dark gray (105, 105, 105), and since (105- (105 x 10%)) =94.5, (105 + (105 x 10%)) =115.5, the color data with RGB parameters between (94.5, 94.5, 94.5) and (115.5, 115.5, 115.5) are within the error range of the reference color data. According to the method, the color data of the front object is collected by the robot in the cleaning process, the color data is compared with the reference color data of the pet excrement prestored in the robot, and whether the object is the pet excrement is determined according to the comparison result. The detection method through color comparison can accurately detect whether the object on the ground is the pet excrement, and solves the problem that the existing robot cannot effectively identify the pet excrement.
Preferably, the pre-stored reference color data of the pet excrement is obtained by the following steps: determining a first pet, collecting color data of a plurality of groups of excrement discharged by the first pet at different time, and taking an average value of the color data of the plurality of groups of excrement as first reference color data; determining a second pet, collecting color data of a plurality of groups of excrement discharged by the second pet at different time, and taking an average value of the color data of the plurality of groups of excrement as second reference color data; determining the Nth pet by analogy, collecting color data of a plurality of groups of excrement discharged by the Nth pet at different time, and taking an average value of the color data of the plurality of groups of excrement as the Nth reference color data; and storing the N reference color data into a database of the robot. Wherein N is a natural number greater than 1. The different time can be selected correspondingly according to different requirements, preferably, the three time periods of the morning, the middle and the evening in one day can be selected for collection, and the collection is carried out continuously for one week. The value of N can also be set according to different conditions, if the operation is carried out by a robot manufacturer, the larger the value of N is, the more comprehensive the application range of the robot is, if the operation is carried out by controlling the robot by a robot user, the value of N is set to be less than 5, because the pets of a single family are generally not too many, the reference data can be reduced by reducing the value of N, the comparative analysis of the follow-up robot is more targeted, and the comparative analysis efficiency is higher.
Because different families have different pets, some dogs, cats and rabbits, some families also have various pets, and the excrement generated by different pets is different, the color of the excrement of various pets needs to be collected as reference color data. The more the types of the collected pets are, the more comprehensive the reference color data is, and the more accurate the subsequent comparison judgment is. For example, the method comprises the steps of determining that the doll dog is the first pet, collecting color data of excrement discharged by the doll dog on the first day, taking color data of the excrement in three time periods of morning, noon and evening if the doll dog discharges excrement for a plurality of times a day, and collecting all the excrement if the number of times a day is less than three. The collection was thus continued for a period of one week, and then the color data of all collected stools was averaged, and the average was taken as the first reference color data. Similarly, a Teddy dog is identified as the second pet, and color data of stool of the Teddy dog is collected in the above manner, and the average value is taken as the second reference color data. By analogy, the color data of the excrement of common pets such as cats, rabbits and the like are respectively collected, and the average value is taken as the reference color data. And finally, storing all the reference color data into a database of the robot, comparing the acquired current color data with the first reference color data, the second reference color data to the Nth reference color data in the database respectively during subsequent comparison, if the current color data is within the error range of any one reference color data, determining that the object corresponding to the current color data is pet excrement, and otherwise, determining that the object corresponding to the current color data is not pet excrement. The reference color data can be prepared in advance by a robot manufacturer, or can be acquired by a subsequent robot user by controlling the robot according to the condition of a pet at home.
Preferably, the collecting color data of a plurality of groups of excreta of the nth pet at different times, and averaging the color data of the plurality of groups of excreta to serve as nth reference color data comprises the following steps: collecting color data of a plurality of groups of excrement discharged by the Nth pet at different time; judging whether the difference value between each group of color data in the color data of the plurality of groups of dejecta is within a preset range or not; if yes, taking the average value of the color data of the plurality of groups of stools as reference color data; and if not, extracting the two groups of color data with the largest difference value to be respectively used as reference color data, and then taking the average value of the other groups of color data as the reference color data. The preset range may also be set according to the product requirement, and preferably, the difference between the individual amounts of the RGB parameters is greater than 50, i.e. it is not considered to be within the preset range, for example, the difference between RGB (255 ) and RGB (255,255,200), the difference between the three amounts is 55, the difference between the two color data is not within the preset range, and for example, the difference between RGB (230, 220, 210) and RGB (200,215,230) is 50 less, and the difference between the two color data is within the preset range.
When the food eaten by the pet is too different, the color difference of the discharged excrement is also larger, and if the reference color data is selected according to the average value mode, the excrement with partial color cannot be covered during the comparative analysis, so that the problem of wrong detection result is caused. Therefore, after the feces of the pet are collected according to the above embodiment, it is necessary to determine whether there is a large difference between the color data of the collected feces, if the difference is greater than the preset range, two groups of color data with the largest difference need to be extracted and respectively used as reference color data, and an average value of the other groups of color data except the two groups of color data with the largest difference needs to be used as reference color data. If the difference value of each group of color data is smaller than the preset range, the colors of each group are relatively close, the effect of setting too much reference color data is not obvious, and the data processing efficiency of the robot is reduced because too much reference color data is set, so that the average value is taken as the reference color data and is the best choice.
Preferably, as shown in fig. 2, after the step of judging that the collected current color data is within the error range of the pre-stored reference color data of the pet excrement, the method further comprises the following steps: acquiring the current temperature of the object based on an infrared thermometer; judging whether the acquired current temperature is less than or equal to a pre-stored reference temperature of the pet excrement and is greater than the environmental temperature; if so, determining that the object is pet excrement; if not, the user continues to walk while collecting color data. Because the pet excrement is judged whether to be the pet excrement or not by simply depending on the color, some misjudgment situations can exist, for example, other garbage with the color similar to that of the pet excrement can be mistaken for the pet excrement, but the misjudgment does not influence the overall cleaning of the pet excrement by the robot, and only some time and materials are wasted for cleaning the garbage of the suspected pet excrement. Therefore, in order to further improve the accuracy of the robot in identifying the pet excrement, the method of the invention further detects the temperature of the objects with the colors similar to the pet excrement through the infrared thermometer, and the detection accuracy can be further improved through the combination of color detection and temperature detection. Since the temperature of the excrements just discharged by the pet is higher than the ambient temperature and eventually tends to approach the ambient temperature gradually even after a long time, after the color of the object is determined to be similar to the color of the pet excrements, if the temperature of the object is detected to be less than or equal to the pre-stored reference temperature of the pet excrements and greater than the ambient temperature, the object is determined to be the pet excrements, otherwise, the object is determined not to be the pet excrements.
Preferably, the pre-stored reference temperature of the pet excrement is obtained by the following steps: determining a first pet, collecting anus temperatures of a plurality of groups of first pets at different time, and taking the value with the highest anus temperature as a preselected reference temperature; determining a second pet, collecting anus temperatures of a plurality of groups of second pets at different time, and taking the value with the highest anus temperature as a preselected reference temperature; determining the Nth pet by analogy, collecting anus temperatures of a plurality of groups of Nth pets at different time, and taking the value with the highest anus temperature as a preselected reference temperature; and taking the value with the highest temperature in the pre-selected reference temperature as the reference temperature. N is a natural number larger than 1, the value of N can also be set according to different conditions, the larger the value of N is, the more the reference data is, the more accurate the selected reference temperature is, and the more comprehensive the application range of the robot is. The different time can be selected correspondingly according to different requirements, preferably, the three time periods of the morning, the middle and the evening in one day can be selected for collection, and the collection is carried out continuously for one week.
The temperature of the excrement discharged by different pets is different because the temperature of the anus of different pets is different and the temperature of the excrement discharged by the pets is close to the temperature of the anus. When the reference temperature is selected, the anus temperature of different pets needs to be collected. For example, determining a sharkskin dog as a first pet, collecting anal temperatures of the sharkskin dog in three time periods of the morning, the evening and the evening of the first day, continuously collecting for one week, and selecting the anal temperature with the highest temperature from all the collected anal temperatures as a preselected reference temperature. And similarly, determining the shepherd dog as a second pet, collecting the anus temperature of the shepherd dog according to the time, and selecting the highest temperature value as a preselected reference temperature. And by analogy, determining the preselected reference temperatures of various pets such as cats, rabbits and the like respectively. And finally, selecting the highest temperature value of all the preselected reference temperatures as the reference temperature. Because common pets are warm-blooded animals, the body temperature difference is not too large, and the anus temperature difference is not too large, the excrement temperature of most pets can be completely covered only after the highest temperature of the anus is determined, the anus temperature of each pet is not required to be used as a reference temperature, and therefore the robot computing resources can be reduced, and meanwhile higher accuracy can be guaranteed.
Preferably, as shown in fig. 3, after the step of judging that the collected current temperature is less than or equal to the pre-stored reference temperature of the pet excrement and is greater than the environmental temperature, the method further comprises the following steps: collecting current odor data of the object based on an odor sensor; judging whether the acquired current smell data is in the error range of the prestored reference smell data of the pet excrement; if so, determining that the object is pet excrement; if not, the user continues to walk while collecting color data. Through the detection mode of combining the color and the temperature, whether the object currently detected is the pet excrement can be accurately judged, however, in order to further improve the accuracy, the method provided by the invention is additionally provided with the judgment of the smell on the basis of the combination of the color and the temperature. Since the feces of the pet have a certain odor, and other general garbage has no odor or little odor, it is necessary to collect and pre-store various odors of the feces of the pet in the robot database as reference odor data, and then determine whether the current object is the feces of the pet by determining whether the collected current odor data is within an error range of the pre-stored reference odor data of the feces of the pet. Wherein, the odor data of the excrement is obtained by detecting the amount of substances such as indole, skatole, mercaptan, hydrogen sulfide and the like contained in the gas volatilized by the excrement. The error range can be correspondingly set according to specific requirements, preferably, the error range can be set to +/-15%, and because the volatile gas content of the pet excrement is not very high, the error range is not too small, detection omission is easily caused when the error range is too small, and misjudgment is easily caused when other odors are introduced when the error range is too large.
Preferably, after the step of judging that the collected current color data is within the error range of the pre-stored reference color data of the pet excrement, the method further comprises the following steps: collecting current odor data of the object based on an odor sensor; judging whether the acquired current smell data is in the error range of the prestored reference smell data of the pet excrement; if so, determining that the object is pet excrement; if not, the user continues to walk while collecting color data. In another embodiment of the method of the present invention, on the basis of color detection, odor detection and judgment are added to further improve the detection accuracy, and the principle of odor detection and judgment is the same as that of the above embodiment, and is not repeated herein.
Preferably, the pre-stored reference odor data of pet feces in the above embodiment is obtained by the following steps: determining a first pet, collecting a plurality of groups of odor data of the excrement of the first pet at different time, and taking the average value of the odor data as reference odor data; determining a second pet, collecting a plurality of groups of odor data of excrement of the second pet at different time, and taking the average value of the odor data as reference odor data; and in the same way, determining the Nth pet, collecting a plurality of groups of odor data of the excrement of the Nth pet at different time, and taking the average value of the odor data as reference odor data. N is a natural number larger than 1, the value of N can be set according to different conditions, if the operation is carried out by a robot manufacturer, the larger the value of N is, the more the reference data is, the more accurate the selected reference odor data is, and the more comprehensive the application range of the robot is; if the operation is carried out by controlling the robot by the robot user, the N value is set to be less than 5, reference data can be reduced by reducing the N value because the number of pets in a single family is not too large generally, the comparative analysis of the subsequent robot is more targeted, and the comparative analysis efficiency is higher. The different time can be selected according to different requirements, preferably, the odor of the excrement discharged every day can be collected for one week continuously.
Because different families have different pets, some dogs, cats and rabbits, and some families also have various pets, and the odor of excrement generated by different pets is different, the odor of excrement of different pets needs to be collected as reference odor data. The more the types of the collected pets are, the more comprehensive the reference smell data is, and the more accurate the subsequent comparison and judgment is. For example, the Persian cat is determined as the first pet, excrement odor data of the Persian cat excreted on the first day is collected, excrement odor data of three time periods of morning, noon and evening is taken if the Persian cat excretes excrement for a plurality of times in one day, and all the excrement odor data are collected if the Persian cat excretes excrement for less than three times in one day. The collection was thus continued for a period of one week, and then the odor data of all collected stools was averaged, and the average was taken as the reference odor data. Similarly, determining the Gaffe cat as a second pet, collecting odor data of the excrement of the Gaffe cat in the above manner, and taking an average value as second reference odor data. By analogy, odor data of excrement of common pets such as dogs and rabbits are respectively collected, and the average value is taken as reference odor data. And finally, storing all the reference smell data into a database of the robot, comparing the acquired current smell data with the first reference smell data, the second reference smell data to the Nth reference smell data in the database respectively during subsequent comparison, if the current smell data is within the error range of any one of the reference smell data, determining that the object corresponding to the current smell data is the pet excrement, and otherwise, determining that the object corresponding to the current smell data is not the pet excrement. The reference odor data can be prepared by a robot manufacturer in advance, or can be acquired by a subsequent robot user by controlling the robot according to the condition of a pet at home.
The method for cleaning pet excrement by the robot comprises the following steps: determining that the detected object is the pet excrement based on the method for detecting the pet excrement by the robot; stopping walking, starting a quick-freezing agent device, and spraying a quick-freezing agent to the pet excrement; the solidified pet excrement is sucked into the garbage cavity. The robot walks, cleans and detects at the same time, so when detecting that the front object is the pet excrement, the robot needs to stop moving forward, otherwise the robot can directly clean the pet excrement, thereby causing large-area excrement pollution. After the walking is stopped, the robot starts the quick-freezing agent device, sprays the quick-freezing agent to the pet excrement, and sucks the solidified pet excrement into the garbage cavity through the dust suction port after the pet excrement is frozen and solidified. Because excrement and urine solidifies the shaping, so when absorbing excrement and urine, can not pollute and all be everywhere, the clearance effect is fine, avoids the large tracts of land pollution that causes when current robot absorbs wet glutinous excrement and urine, has guaranteed the robot and has cleared up pet faecal effect, has improved the practicality of robot simultaneously, satisfies the health of the family of having the pet and cleans the demand. The time for spraying the quick-freezing agent can be correspondingly set according to different conditions, and in order to ensure the solidification effect of the pet excrement, longer spraying time can be set, such as 20 seconds; also can set up according to the excrement and urine type, for example shepherd dog's excrement and urine is bigger, needs longer quick-freeze time, can spray 18 seconds, and the excrement and urine of rabbit is smaller, only needs shorter quick-freeze time, can spray 5 seconds.
Preferably, after the step of sucking the coagulated pet excrement into the garbage chamber, the method includes the steps of: spraying quick-freezing agent to the position where the pet excrement is located again; then based on the position, the mobile terminal stops after walking forward for a preset distance, stops after retreating for twice the preset distance, stops after walking forward for twice the preset distance, and finally stops after retreating for the preset distance; and after the pet excrement is stopped at the position and cleaned for a preset time, the pet excrement is cleaned. Wherein, above-mentioned preset distance can carry out corresponding setting according to actual requirement, and is preferred, and this embodiment sets up to 5 centimetres to the guarantee covers the cleaning area comprehensively. Meanwhile, the preset time can be set according to specific situations, and preferably, the preset time is set to be 3 seconds to 10 seconds in the embodiment. Because the quick-freezing agent can only solidify and harden the outer surface of the excrement, after the excrement is sucked into the garbage cavity, wet and sticky excrement can be remained at the position where the ground is contacted with the excrement, and at the moment, if the robot directly cleans, the excrement pollution with a small area can be caused. Therefore, in the method of the present invention, the remaining feces are sprayed with the quick-freezing agent to completely solidify and harden the remaining feces, and then the feces are cleaned. Further, since the remaining feces are relatively difficult to clean after the floor surface is hardened, it is necessary to perform intensive cleaning. In the case of intensive cleaning, the cleaning is repeated back and forth on the remaining position of the feces, and the number of times of the repeated back and forth movement may be set according to different requirements. And finally, cleaning the residual position at a fixed point for 5 seconds, and further ensuring that the excrement is cleaned up. After the pet excrement is cleaned, the robot continues to perform other subsequent cleaning work. Of course, the above-mentioned key cleaning can also be performed in other manners, such as cleaning at a fixed point for a preset time, and then repeatedly cleaning back and forth, left and right, etc.
The above embodiments are merely provided for full disclosure and not for limitation, and any replacement of equivalent technical features based on the creative work of the invention should be regarded as the scope of the disclosure of the present application.
Claims (2)
1. A method for detecting pet excrement by a robot is characterized by comprising the following steps:
based on the color sensor, the robot collects the current color data of the front object while walking;
judging whether the acquired current color data is in the error range of the pre-stored reference color data of the pet excrement;
if so, determining that the object is pet excrement;
if not, continuing to walk and collecting color data at the same time;
the pre-stored reference color data of the pet feces are obtained through the following steps:
determining a first pet, collecting color data of a plurality of groups of excrement discharged by the first pet at different time, and taking an average value of the color data of the plurality of groups of excrement as first reference color data;
determining a second pet, collecting color data of a plurality of groups of excrement discharged by the second pet at different time, and taking an average value of the color data of the plurality of groups of excrement as second reference color data;
by the way of analogy, the method can be used,
determining an Nth pet, collecting color data of a plurality of groups of excrement discharged by the Nth pet at different time, and taking an average value of the color data of the plurality of groups of excrement as Nth reference color data;
storing the N reference color data into a database of the robot;
wherein N is a natural number greater than 1;
the method is characterized in that the color data of a plurality of groups of dejectas discharged by the Nth pet at different time are collected, and the average value of the color data of the plurality of groups of dejectas is taken as the Nth reference color data, and comprises the following steps:
collecting color data of a plurality of groups of excrement discharged by the Nth pet at different time;
judging whether the difference value between each group of color data in the color data of the plurality of groups of dejecta is within a preset range or not;
if yes, taking the average value of the color data of the plurality of groups of stools as reference color data;
if not, extracting two groups of color data with the largest difference value to be respectively used as reference color data, and then taking the average value of other groups of color data as the reference color data;
after the step of judging that the collected current color data is in the error range of the pre-stored reference color data of the pet excrement, the method further comprises the following steps:
acquiring the current temperature of the object based on an infrared thermometer;
judging whether the acquired current temperature is less than or equal to a pre-stored reference temperature of the pet excrement and is greater than the environmental temperature;
if so, determining that the object is pet excrement;
if not, continuing to walk and collecting color data at the same time;
the pre-stored reference temperature of the pet excrement is obtained through the following steps:
determining a first pet, collecting anus temperatures of a plurality of groups of first pets at different time, and taking the value with the highest anus temperature as a preselected reference temperature;
determining a second pet, collecting anus temperatures of a plurality of groups of second pets at different time, and taking the value with the highest anus temperature as a preselected reference temperature;
by the way of analogy, the method can be used,
determining an Nth pet, collecting anus temperatures of a plurality of groups of Nth pets at different time, and taking the value with the highest anus temperature as a preselected reference temperature;
taking the value with the highest temperature in the preselected reference temperature as the reference temperature;
wherein N is a natural number greater than 1;
after the step of judging that the collected current temperature is less than or equal to the reference temperature of the prestored pet excrement and is greater than the environmental temperature, the method further comprises the following steps of:
collecting current odor data of the object based on an odor sensor;
judging whether the acquired current smell data is in the error range of the prestored reference smell data of the pet excrement;
if so, determining that the object is pet excrement;
if not, continuing to walk and collecting color data at the same time;
after the step of judging that the collected current color data is in the error range of the pre-stored reference color data of the pet excrement, the method further comprises the following steps:
collecting current odor data of the object based on an odor sensor;
judging whether the acquired current smell data is in the error range of the prestored reference smell data of the pet excrement;
if so, determining that the object is pet excrement;
if not, continuing to walk and collecting color data at the same time;
the pre-stored reference odor data of the pet feces are obtained through the following steps:
determining a first pet, collecting a plurality of groups of odor data of the excrement of the first pet at different time, and taking the average value of the odor data as reference odor data;
determining a second pet, collecting a plurality of groups of odor data of excrement of the second pet at different time, and taking the average value of the odor data as reference odor data;
by the way of analogy, the method can be used,
determining an Nth pet, collecting odor data of excrement of a plurality of groups of Nth pets at different time, and taking the average value of the odor data as reference odor data;
wherein N is a natural number greater than 1.
2. A method for cleaning pet excrement by a robot is characterized by comprising the following steps:
determining that the detected object is pet excrement based on the method for detecting pet excrement by the robot of claim 1;
stopping walking, starting a quick-freezing agent device, and spraying a quick-freezing agent to the pet excrement;
sucking the solidified pet excrement into a garbage cavity;
after the step of sucking the solidified pet excrement into the garbage chamber, the method comprises the following steps:
spraying quick-freezing agent to the position where the pet excrement is located again;
then based on the position, the mobile terminal stops after walking forward for a preset distance, stops after retreating for twice the preset distance, stops after walking forward for twice the preset distance, and finally stops after retreating for the preset distance;
and after the pet excrement is stopped at the position and cleaned for a preset time, the pet excrement is cleaned.
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| CN111492234A (en) * | 2018-11-09 | 2020-08-04 | 广东美的白色家电技术创新中心有限公司 | Movable electric device |
| WO2020177050A1 (en) * | 2019-03-04 | 2020-09-10 | 成都赛果物联网技术有限公司 | Excrement cleaning method, apparatus, and system |
| CN114747987B (en) * | 2021-01-11 | 2023-06-20 | 宁波方太厨具有限公司 | Mop cleanliness self-identification system and base station of cleaning robot |
| CN115644740B (en) * | 2022-12-29 | 2023-03-07 | 中国石油大学(华东) | Control method and system of sweeping robot |
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