CN110036398A - A kind of excrement method for cleaning, device and system - Google Patents
A kind of excrement method for cleaning, device and system Download PDFInfo
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- CN110036398A CN110036398A CN201980000248.9A CN201980000248A CN110036398A CN 110036398 A CN110036398 A CN 110036398A CN 201980000248 A CN201980000248 A CN 201980000248A CN 110036398 A CN110036398 A CN 110036398A
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- A—HUMAN NECESSITIES
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- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
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Abstract
The embodiment of the present application discloses a kind of excrement cleaning plant.Described device includes: ontology, control assembly, moving assembly, distance adjusts component, first angle adjusts component and excavation component；The distance adjusts component setting on the body, flexible for the control instruction based on control assembly；The excavation component adjusts component by first angle and is installed on the distance adjusting component；The first angle adjusts component for the control instruction rotation based on control assembly；The moving assembly is installed on the ontology, drives the ontology mobile for the control instruction based on the control assembly, the moving direction of the moving assembly includes at least mutually orthogonal first direction and second direction.
Description
Technical field
This application involves pet supplies areas, in particular to a kind of excrement method for cleaning, device and system.
Background technique
With the development of social life, more and more families start selection raising pet, but pet dung at present
Manner of cleaning up needs the plenty of time of ancillary cost pet owner mostly or in such a way that individual takes action on one's own processing.Separately
Outside, when pet owner is outgoing stays out middle, because that cannot clean It up in time, environmental sanitation in family is influenced.Therefore, it is necessary to
A kind of excrement cleaning plant, Lai Zidong clean It up.
Summary of the invention
One of the embodiment of the present application provides a kind of excrement cleaning plant.Described device includes: ontology, control assembly, movement
Component, distance adjust component, first angle adjusts component and excavation component；The distance adjusts component and is arranged in the ontology
On, it is flexible for the control instruction based on control assembly；The excavation component is installed on described by first angle adjusting component
Distance is adjusted on component；The first angle adjusts component for the control instruction rotation based on control assembly；Described mobile group
Part is installed on the ontology, drives the ontology mobile for the control instruction based on the control assembly, and described mobile group
The moving direction of part includes at least mutually orthogonal first direction and second direction.
In some embodiments, described device further includes the first image acquiring device, the second image acquiring device；Described
One image acquiring device is used to obtain the head-up image in front of the ontology；Second image acquiring device is for obtaining ontology
The overhead view image in front.
In some embodiments, the first image acquisition device is installed on ontology；The installation of second image acquiring device
It is adjusted on component in distance.
In some embodiments, described device further include: at least two first sensors, for determining ontology and the first mesh
Mark the relative positional relationship between object.
In some embodiments, described device further includes second sensor, for determine ontology and the second target object it
Between relative positional relationship.
In some embodiments, it includes electric pushrod that the distance, which adjusts component,；One end of the push rod and the ontology
It is fixedly connected, excavation component adjusts the other end that component is installed on the push rod by first angle；The push rod telescopic direction
It is parallel with push rod length direction.
In some embodiments, the excavation component includes first mechanical arm and the first scraper bowl；The distance adjusts component
Component is adjusted by the first angle with one end of the first mechanical arm to connect；The first mechanical arm and the first scraper bowl are logical
It crosses second angle and adjusts component connection, the second angle adjusts component for the control instruction rotation based on control assembly.
In some embodiments, described device further include: vibration component drives for the control instruction based on control assembly
First scraper bowl is vibrated；First scraper bowl has at least one sieve pore.
In some embodiments, the angular adjustment component is steering engine.
In some embodiments, the moving assembly is Mecanum wheel.
It in some embodiments, further include communication module, the control assembly with the communication module there is signal to connect.
In some embodiments, it is orthogonal also to adjust the telescopic direction of component with the distance for the second direction.
One of the embodiment of the present application provides a kind of excrement cleaning system.The system comprises excrement cleaning plant and controls
Terminal；The excrement cleaning plant carries out signal interaction by communication module and the controlling terminal.
One of the embodiment of the present application provides a kind of excrement cleaning system.The system comprises excrement cleaning plant, controls eventually
End and server；The excrement cleaning plant carries out signal connection by communication module and the server；The control is eventually
End with the server there is signal to connect.
One of the embodiment of the present application provides a kind of excrement method for cleaning, is applied to excrement cleaning plant, which comprises
The excrement cleaning plant is set to reach first position, the first position is related to first target object；Command range adjusting group
Part stretches, so that second image acquiring device gets the overhead view image of the first target object；Control movement
Component and/or apart from adjust component so that certain reference point on the excavation component is along the first direction and/or second direction
It is moved to target position；Control first angle adjusts component and/or second angle adjusts component and rotated, so that the excavation
Component completes primary excavate.
In some embodiments, described that the excrement cleaning plant is made to reach first position further include: based on mobile control
Instruction, control moving assembly is moved, so that the excrement cleaning plant reaches initial position；The initial position and first
The distance between position is no more than given threshold.
In some embodiments, further includes: obtain the image of the first image acquiring device acquisition, and be transferred to control eventually
End；Receive the mobile control instruction of controlling terminal.
In some embodiments, described that the excrement cleaning plant is made to reach first position further include: to pass through at least two
The output signal of first sensor, control moving assembly is mobile, so that the excrement cleaning plant continues to move to described first
Position；The distance between the first position and the first target object are no more than the given threshold and make described second
Direction is parallel with certain a line of first target object.
In some embodiments, the command range adjusts component and stretches, so that second image acquiring device
Get the overhead view image of the first target object, comprising: based on apart from regulating control command, command range adjust component into
Row is flexible, and telescopic direction includes that the elongation or shortening in length component direction are adjusted along distance, until getting described first
The complete overhead view image of target object.
In some embodiments, further includes: obtain the image of the second image acquiring device acquisition, and be transferred to control eventually
End；Receive controlling terminal apart from regulating control command.
In some embodiments, the control moving assembly and/or apart from adjust component so that on the excavation component
Certain reference point is moved to target position along the first direction and/or second direction, further includes: is determined based on the overhead view image
At a distance from the reference point and the target position are spaced on the first direction and second direction respectively；Based on it is described away from
From, control moving assembly and/or apart from adjust component so that certain reference point on the excavation component is along the first direction
And/or second direction is moved to target position.
In some embodiments, the control moving assembly and/or apart from adjust component so that on the excavation component
Certain reference point is moved to target position along the first direction and/or second direction, further includes: obtains the second image acquiring device
The image of acquisition, and it is transferred to controlling terminal；Receive the mobile control instruction of controlling terminal；Based on the mobile control instruction,
Control moving assembly and/or apart from adjusting component so that certain reference point on the excavation component along the first direction and/or
Second direction is moved to target position.
In some embodiments, the target position is what controlling terminal was specified.
In some embodiments, the control first angle adjusts component and/or second angle adjusts component and rotated,
So that the excavation component completes primary excavate, comprising: control first angle adjusts component and/or second angle adjust component into
Row rotation, so that the excavation component, which sequentially enters, excavates readiness, contact condition, first spade state, scoop state and complete
At state.
In some embodiments, described that the excavation component is made to enter excavation readiness, comprising: according to angular adjustment group
Part control instruction, control first angle adjusts component and second angle adjusts component and rotated, so that first mechanical arm is downward
Rotation, while making the first scraper bowl open side parallel with the first mechanical arm, until the first scraper bowl and first target object it
Between distance be preset third distance；It is described that the excavation component is made to enter contact condition, comprising: control second angle is adjusted
Component is rotated, so that the first scraper bowl end touches the bottom of the first target object；It is described to make the excavation component
Into first spade state, comprising: control first angle adjusts component and is rotated, meanwhile, control second angle adjusts component and carries out
Rotation, so that the first scraper bowl end and second angle adjust line and the first object object between the spindle central point of component
The bottom of body is vertical；It is described that the excavation component is made to enter scoop state, comprising: control second angle adjusts component and turned
It is dynamic, meanwhile, control first angle adjusts component and is rotated, so that the bottom of the first scraper bowl bottom and the first target object
Parallel fitting；It is described that the excavation component is made to enter completion status, comprising: control second angle adjusts component and rotated, together
When, control first angle adjusts component and is rotated, so that the first mechanical arm and horizontal direction form over preset the
The angle of one angle, the open side of the first scraper bowl form the angle no more than preset second angle upward and with horizontal direction.
It in some embodiments, further include that the first scraper bowl of control vibrate simultaneously certain time.
In some embodiments, the method also includes: based on mobile control instruction, control moving assembly is moved,
So that the excrement cleaning plant reaches the second position, the second position is related to the second target object；Control second angle
It adjusts component to be rotated, by the object falling in the first scraper bowl into second target object.
In some embodiments, further includes: obtain the output signal of second sensor；
Determine whether the excrement cleaning plant reaches the second position based on the output signal of second sensor.
One of the embodiment of the present application provides a kind of control method, for controlling excrement cleaning plant, comprising: obtains and shows
The image that the image and/or the second image acquiring device that first image acquiring device obtains obtain；It obtains and sends user's input
Mobile control instruction, apart from regulating control command, target position and/or excavate instruction.
In some embodiments, the target position for obtaining user's input includes: in second image acquiring device
Floating buttons are shown on the display interface of the image of acquisition；After the completion of user is detected to the operation and operation of the floating buttons
Location information of the floating buttons in described image；The target position is determined based on the location information.
One of the embodiment of the present application provides a kind of excrement method for cleaning, is applied to excrement cleaning plant, which comprises
The excrement cleaning plant is set to reach first position, the first position is related to first target object；Command range adjusting group
Part stretches, so that second image acquiring device gets the overhead view image of the first target object；Based on described
Overhead view image determines at least two target positions；For each target position: control moving assembly and/or apart from adjust component,
So that the reference point on the excavation component reaches target position；It controls first angle and adjusts component and/or second angle adjusting
Component is rotated, so that the excavation component completes primary excavate；Control moving assembly is moved, so that the excrement is clear
It manages device and reaches the second position, the second position is related to the second target object；It controls first angle and adjusts component and/or the
Two angular adjustment components are rotated, by the object falling in the first scraper bowl into second target object；Control mobile group
Part and/or apart from component is adjusted, so that certain reference point on the excavation component reaches next target position.
In some embodiments, described that at least two target positions are determined based on the overhead view image, including based on described
The first target object is divided at least two regions by overhead view image, to determine at least two target positions.
In some embodiments, at least two region is not overlapped, and is combined and can be covered the first object
The region of object.
In some embodiments, at least two region is arranged according to matrix form, and at least two regions extremely
Few one is rectangular area.
One of the embodiment of the present application provides a kind of excrement cleaning plant, and described device is including at least a processor and extremely
A few memory；At least one processor is for storing computer instruction；At least one described processor is for executing
The operation at least partly instructed to realize excrement method for cleaning in the computer instruction.
One of the embodiment of the present application provides a kind of control device, and described device includes at least a processor and at least one
A memory；At least one processor is for storing computer instruction；At least one described processor is described for executing
The operation at least partly instructed to realize control method in computer instruction.
One of the embodiment of the present application provides a kind of computer can storage medium, which is characterized in that the storage medium storage
There is computer instruction, when at least partly instruction in the computer instruction is executed by processor, realizes excrement method for cleaning
Or the operation of control method.
One of the embodiment of the present application provides a kind of excrement cleaning system, and for being configured in excrement cleaning plant, this is
System includes: pendulum position module, for making the excrement cleaning plant reach first position, the first position and first target object
It is related；Apart from adjustment module, component is adjusted for command range and is stretched, so that second image acquiring device is got
The overhead view image of the first target object；Mobile module, control moving assembly and/or apart from adjust component so that the digging
Certain reference point on pick component is moved to target position along the first direction and/or second direction；Module is excavated, for controlling
First angle adjusts component and/or second angle adjusts component and rotated, so that the excavation component completes primary excavate.
One of the embodiment of the present application provides a kind of control system, and for controlling excrement cleaning plant, which includes: first
Module is obtained, what the image and/or the second image acquiring device for obtaining and showing the acquisition of the first image acquiring device obtained
Image；Second obtain module, for obtain user input mobile control instruction, apart from regulating control command, target position and/
Or excavate instruction；Sending module, for sending the mobile control instruction of user's input, apart from regulating control command, target position
And/or excavate instruction.
In some embodiments, the second acquisition module is also used to: in the figure that second image acquiring device obtains
Floating buttons are shown on the display interface of picture；User is detected to the floating after the completion of the operation and operation of the floating buttons
Location information of the button in described image；The target position is determined based on the location information.
One of the embodiment of the present application provides a kind of excrement cleaning system, and for being configured in excrement cleaning plant, this is
System includes: pendulum position module, for making the excrement cleaning plant reach first position, the first position and first target object
It is related；Apart from adjustment module, component is adjusted for command range and is stretched, so that second image acquiring device is got
The overhead view image of the first target object；Target position determining module, for determining at least two based on the overhead view image
Target position；Cleaning modul, for be directed to each target position: control moving assembly and/or apart from adjust component so that described
Certain reference point on excavation component reaches target position；Control first angle adjust component and/or second angle adjust component into
Row rotation, so that the excavation component completes primary excavate；Control moving assembly is moved, so that the excrement cleaning plant
The second position is reached, the second position is related to the second target object；Control second angle adjusts component and is rotated, by the
Object falling in one scraper bowl is into second target object；Control moving assembly and/or apart from adjust component so that described
Certain reference point on excavation component reaches next target position.
Detailed description of the invention
The application will further illustrate that these exemplary embodiments will be carried out by attached drawing in a manner of exemplary embodiment
Detailed description.These embodiments are simultaneously unrestricted, and in these embodiments, being identically numbered indicates identical structure, in which:
Fig. 1 show the application scenarios schematic diagram of the cleaning system 100 of the excrement according to shown in the application some embodiments；
Fig. 2 is the schematic diagram of the excrement cleaning plant 200 according to shown in the application some embodiments；
Fig. 3 is the module map of the cleaning system 300 of the excrement according to shown in the application some embodiments；
Fig. 4 is the module map of the control system 400 according to shown in the application some embodiments；
Fig. 5 is a kind of exemplary process diagram of excrement method for cleaning 500 according to shown in some embodiments of the application；
Fig. 6 is a kind of exemplary process diagram of control method 600 according to shown in some embodiments of the application；
Fig. 7 is the exemplary process diagram of the another kind excrement method for cleaning 700 according to shown in the application some embodiments；
Fig. 8 is the module map for applying for the cleaning system 800 of another kind excrement shown in some embodiments at all；
Fig. 9 is the schematic diagram that the excrement cleaning plant 200 according to shown in the application some embodiments reaches initial position；
Figure 10 is the schematic diagram of display interface in the controlling terminal according to shown in the application some embodiments；
Figure 11 is the flow diagram that the excavation component according to shown in the application some embodiments excavates；
Figure 12 is that the excavation component 250 according to shown in the application some embodiments enters excrement cleaning when excavating readiness
The overall schematic of device 200；
Figure 13 is that the excavation component 250 according to shown in the application some embodiments enters the schematic diagram for excavating readiness；
Figure 14 is the schematic diagram that the excavation component 250 according to shown in the application some embodiments enters contact condition；
Figure 15 is the schematic diagram that the excavation component 250 according to shown in the application some embodiments enters first spade state；
Figure 16 is the schematic diagram that the excavation component 250 according to shown in the application some embodiments enters scoop state；
Figure 17 is the schematic diagram that the excavation component 250 according to shown in the application some embodiments enters completion status；
Figure 18 is the schematic diagram that the excrement cleaning plant 200 according to shown in the application some embodiments reaches the second position；
Figure 19 is the signal that first target object is divided into several regions according to shown in some embodiments of the application
Figure；
Figure 20 is the disposing way of first target object and the second target object according to shown in the application some embodiments
Schematic diagram.
Specific embodiment
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to required use in embodiment description
Attached drawing be briefly described.It should be evident that the accompanying drawings in the following description is only some examples or embodiment of the application,
For those of ordinary skill in the art, without creative efforts, can also according to these attached drawings by
The application is applied to other similar scenes.Unless explaining obviously or separately from language environment, identical label is represented in figure
Identical structure or operation.
Flow chart used herein is used to illustrate operation performed by system according to an embodiment of the present application.It should
Understand, before or operation below not necessarily accurately carry out in sequence.On the contrary, can be handled according to inverted order or simultaneously
Various steps.It is also possible to during other operations are added to these, or remove a certain step from these processes or count step behaviour
Make.
It should be appreciated that " system " used herein, " device ", " component ", " unit " and/or " mould group " is for distinguishing not
Different components, component, assembly unit, part or a kind of method of assembly of same level.However, if other words can realize it is identical
Purpose then can replace the word by other expression.
Although the application in system according to an embodiment of the present application certain module or unit be made that various references,
However, any amount of disparate modules or unit can be used and be operated on client and/or server.The module is only
It is illustrative, and disparate modules can be used in the different aspect of the system and method.
As shown in the application and claims, unless context clearly prompts exceptional situation, " one ", "one", " one
The words such as kind " and/or "the" not refer in particular to odd number, may also comprise plural number.It is, in general, that term " includes " only prompts to wrap with "comprising"
Include clearly identify the step of and element, and these steps and element do not constitute one it is exclusive enumerate, method or apparatus
It may also include other step or element.
Fig. 1 show the application scenarios schematic diagram of the cleaning system 100 of the excrement according to shown in the application some embodiments.
As shown in Figure 1, excrement cleaning system 100 is whole including excrement cleaning plant 110, network 120, one or more controls
End 130, server 140 and storage equipment 150.
In some embodiments, excrement cleaning plant 110 can clean It up.In some embodiments, excrement is clear
It manages device 110 and includes at least ontology, control assembly, moving assembly, distance adjusting component, first angle adjusting component and excavation group
Part.For example, the excrement that excrement cleaning plant 110 can be used to clear up in cat litter box.At this point, controlling terminal 130 can pass through net
Network 120 sends corresponding control instruction to excrement cleaning plant 110, after excrement cleaning plant 110 receives the control instruction,
By control assembly control moving assembly and apart from adjust component so that excrement cleaning plant 110 reach target position (for example,
Near cat litter box), then, controlling terminal 130 sends corresponding control instruction to excrement cleaning plant 110 by network 120 again,
After excrement cleaning plant 110 receives the control instruction, first angle is controlled by control assembly and adjusts component rotation, thus
Control the excrement in excavation component excavation cat litter box.In some embodiments, distance adjusting component can be based on control assembly
Control instruction is flexible.In some embodiments, excavation component can excavate target object (example according to the control instruction of control assembly
Such as, pet dung).In some embodiments, first angle is adjusted component and can be rotated based on the control instruction of control assembly.?
In some embodiments, moving assembly can drive ontology mobile (for example, moving direction is edge based on the control instruction of control assembly
Distance adjust the flexible direction of component).In some embodiments, excrement cleaning plant 110 can also include that image obtains dress
It sets, it can be with real-time image acquisition (for example, getting head-up/overhead view image in front of ontology).In some embodiments, excrement is clear
Managing device 110 can also include positioning/testing agency.In some embodiments, the available environment letter of positioning/testing agency
Breath, for example, ambient image.Control assembly, controlling terminal 130 or the server 140 of excrement cleaning plant 110 can to image into
Row target identification (for example, target is cat litter box or dustbin), determines at a distance from target and route, control moving assembly make excrement
Just cleaning plant 110 is mobile to target.In some embodiments, positioning/testing agency may include image acquisition device, camera shooting
The combination of one or more of head, positioning device or sensor.In some embodiments, sensor may include laser sensing
The combination of one or more of device, sonar sensor, ultrasonic sensor, electronic compass, velocity sensor etc..In some realities
It applies in example, positioning/testing agency can be arranged separately in target, be arranged separately on excrement cleaning plant 110 or install
In target and excrement cleaning plant 110.In some embodiments, excrement cleaning plant 110 can also include that output input is set
It is standby, such as display screen, microphone, sound equipment equipment.
In some embodiments, excrement cleaning plant 110 can also include communication module.Communication module can be used for data
And/or the exchange of information.In some embodiments, one or more components in excrement cleaning plant 110 are (for example, control group
Part, image acquiring device) communication module and extraneous progress information exchange can be passed through.In some embodiments, communication module can be with
It is communicated with controlling terminal 130, network 120 or remote server 140.In some embodiments, communication module, which can be, appoints
The wired or wireless communication module for type of anticipating, can be adapted to any communication network.For example, communication module can be adapted to cable network,
It is cable network, fiber optic network, telecommunication network, internal network, world-wide web, Local Area Network (LAN), Wide Area Network (WAN), wireless
Local Area Network (WLAN), metropolitan region network (MAN), Public Switched Telephony Network (PSTN), blueteeth network, ZigBee-network,
Near-field communication (NFC) network etc. or any of the above combination, carry out data interaction with other equipment.
In some embodiments, control assembly can control excrement cleaning plant 110 to clean It up.In some embodiments
In, the mode of control can be centralization be also possible to it is distributed, can be it is wired be also possible to it is wireless.Some
In embodiment, control assembly can be executed program instructions in the form of one or more processors.In some embodiments, it controls
Component can receive ontology, moving assembly, distance and adjust component, first angle adjusting component, excavation component, communication module kimonos
The data and/or information that business device 140 is sent.In some embodiments, control assembly can be adjusted to ontology, moving assembly, distance
Save component, first angle adjusts component, excavation component, communication module and server 140 and sends instruction.For example, control assembly can
To pass through the instruction of communication module reception controlling terminal 130, control excavation component excavates pet dung.In some embodiments
In, control assembly can carry out information transmission by communication module, from controlling terminal 130, network 120, server 140 or storage
Equipment 150 receives information, or sends information to controlling terminal 130, network 120, server 140 or storage equipment 150.?
In some embodiments, control assembly may include one or more sub-controllers (for example, at single processing equipment or multicore multicore
Manage equipment).As just example, control assembly may include electronic controller (ECU), specific integrated circuit (ASIC), dedicated finger
Enable processor (ASIP), graphics processor (GPU), physical processor (PPU), digital signal processor (DSP), field-programmable
Gate array (FPGA), Programmadle logic circuit (PLD), micro controller unit, reduced instruction set computer (RISC), microprocessor etc.
Or any of the above combination.
Network 120 may include can promote excrement cleaning system 100 information and/or data exchange it is any suitable
Network.In some embodiments, the one or more components of excrement cleaning system 100 are (for example, excrement cleaning plant 110, control
Terminal 130, server 140, storage equipment 150 etc.) one or more of network 120 and excrement cleaning system 100 can be passed through
Information and/or data are exchanged between component.For example, server 140 can be referred to by network 120 from the reception of controlling terminal 130
It enables.Network 120 may include public network (such as internet), private network's (for example, local area network (LAN), wide area network (WAN))
Deng), cable network (such as Ethernet), wireless network (for example, 802.11 networks, wireless Wi-Fi network), cellular network (example
Such as, long term evolution (LTE) network), frame-relay network, Virtual Private Network (VPN), satellite network, telephone network, router,
The one of which such as hub, server computer or several combinations.For example, network 120 may include cable network, optical network
Network, telecommunication network, local area network, WLAN (WLAN), Metropolitan Area Network (MAN) (MAN), public switched telephone network (PSTN), bluetooth TM net
Network, the one of which such as ZigBeeTM network, near-field communication (NFC) network or several combinations.In some embodiments, network
120 may include one or more network access points.For example, network 120 may include wired and or wireless network access point,
Such as base station and/or internet exchange point, by described access point, the one or more components that excrement clears up system 100 can be with
Network 120 is connected to exchange data and/or information.
With controlling terminal 130 may include mobile device 131, tablet computer 132, laptop 133 etc. or it is any
Combination.In some embodiments, controlling terminal 130 can registration user by pet owner or within system 100 operate.
In some embodiments, excrement cleaning plant 110 can be with Open control permission, thus the control for allowing to register on the system 100
Terminal 130 can control excrement cleaning plant 110 within system 100, to realize the shared mode for looking after pet.Some
In embodiment, controlling terminal 130 can carry out the interaction of information and/or data by network 120 and excrement cleaning plant 110.
For example, controlling terminal 130 can obtain the image data of cleaning plant 110 by network 120, alternatively, controlling terminal 130 can be with
Control instruction is sent to excrement cleaning plant 110 by network 120.In some embodiments, controlling terminal 130 can pass through net
Network 120 and server 140 carry out the interaction of information and/or data.For example, controlling terminal 130 can be got by network 120
Control instruction on server.In some embodiments, excrement cleaning plant 110 can by network 120 and server 140 into
The interaction of row information and/or data.For example, excrement cleaning plant 110 can get the control on server by network 120
Instruction.In some embodiments, mobile device 131 may include wearable device, mobile device, virtual reality device, enhancing
Real device etc. or any combination thereof.In some embodiments, wearable device may include bangle, footgear, glasses, the helmet,
Wrist-watch, clothes, knapsack, smart accessories etc. or any combination thereof.In some embodiments, mobile device may include mobile phone,
Personal digital assistant (PDA), game device, navigation device, POS device, laptop, tablet computer, desktop computer etc. or its
Any combination.In some embodiments, the virtual reality device and/or augmented reality device may include virtual implementing helmet, void
Quasi- Reality glasses, virtual reality patch, the augmented reality helmet, augmented reality glasses, augmented reality patch etc. or any combination thereof.
For example, the virtual reality device and/or augmented reality device may include Google GlassTM、Oculus RiftTM、
HoloLensTMOr Gear VRTMDeng.
Server 140 can handle information relevant to excrement cleaning plant 110 and/or data.Server 140 can be
Independent server or server group.The server group can be centralization or distributed (such as: server 140 can
To be compartment system).In some embodiments, which can be region or long-range.In some embodiments
In, server 140 can be communicated by network 120 with excrement cleaning plant 110.In some embodiments, server 140
Image data, sensing data etc. can be got by network 120.Server 140 can be to the data got at
After reason, the result that processing obtains is sent to excrement cleaning plant 110 by network 120.For example, server 140 can basis
Preset algorithm carries out path planning based on the image data that gets, sensing data, and the obtained planning path of processing is led to
It crosses network 120 and is sent to excrement cleaning plant 110, so that excrement cleaning plant 110 controls moving assembly, apart from adjusting group
Part etc. carries out subsequent operation.In some embodiments, server 140 can be used as signal transfer, be connected to excrement cleaning plant
110 and controlling terminal 130.For example, controlling terminal 130 can send data, server 140 to server 140 by network 120
The data can be sent to excrement cleaning plant 110 by network 120 again.In some embodiments, server 140 can be
It is executed in cloud platform.For example, the cloud platform may include private clound, public cloud, mixed cloud, community cloud, distributing cloud, internal cloud etc.
One of or any combination thereof.In some embodiments, server 140, which can be, is arranged on excrement cleaning plant 110
Local server directly can adjust component, first angle tune with communication module, controller assemblies, ontology, moving assembly, distance
Component, excavation component progress information transmission are saved, passes through network 120 and controlling terminal 130 carries out information transmission.In some embodiments
In, server 140 also can integrate in the control assembly in excrement cleaning plant 110.In some embodiments, server
140 may include processing equipment or storage equipment.Processing equipment can handle data related with excrement cleaning plant 110 and/
Or information is to execute one or more functions described in this application.In some embodiments, storage equipment can be stored for service
The information and/or instruction that device 140 is executed or used, to execute illustrative methods described in this application.In some embodiments,
Storing equipment may include mass storage, removable memory, volatility read-write memory (for example, random access memory
RAM), read-only memory (ROM) etc. or any of the above combination.
Storage equipment 150 can store data, instruction and/or any other information.In some embodiments, equipment is stored
150 can store the data obtained from server 140 and/or controlling terminal 130.In some embodiments, equipment 150 is stored
Storing data may include map datum, the size of target object (for example, cat litter box or dustbin), target object position,
Image data, sensing data, the first angle that clearance time, the excrement cleaning plant 110 of setting obtain adjust component rotation
Angle and/or time, device 200 the data such as the size of various components.In some embodiments, storage equipment 150 can deposit
The data and/or instruction that storage server 140 can be executed or be used, to execute illustrative methods described in this application.One
In a little embodiments, storage equipment 150 may include mass storage, removable memory, volatile read-write memory, read-only deposit
The one of which such as reservoir (ROM) or several combinations.Massive store may include disk, CD, solid state hard disk, mobile storage
Deng.Removable memory may include flash drive, floppy disk, CD, storage card, ZIP disk, tape etc..Read-write volatile
Memory may include random access memory (RAM).RAM may include that dynamic RAM (DRAM), double data rate (DDR) are same
Walk dynamic random access memory (DDR-SDRAM), static random access memory (SRAM), silicon-controlled random access memory
(T-RAM), zero capacitance random access memory (Z-RAM) etc..ROM may include mask ROM (MROM), may be programmed
Read-only memory (PROM), Erasable Programmable Read Only Memory EPROM (EPROM), electrically erasable programmable read-only memory
(EEPROM), compact disc read-only memory (CD-ROM), CD of digital versatile disc etc..In some embodiments, storage is set
Standby 150 can be realized by cloud platform described in this application.For example, cloud platform may include private clound, public cloud, mixing
Cloud, community cloud, distributed cloud, across one of or several combination such as cloud, cloudy.In some embodiments, equipment 150 is stored
It can connect network 120, with real between one or more components (for example, control assembly etc.) in excrement cleaning plant 110
Now communicate.One or more components in excrement cleaning plant 110 can read the number in storage equipment 150 by network 120
According to or instruction.In some embodiments, storage equipment 150 can be a part of server 140.
It should be noted that above description, only for convenience of description, the application can not be limited in illustrated embodiment range
Within.It is appreciated that for those skilled in the art, it, can be without departing substantially from this after the principle for understanding the application
In the case where principle, the various modifications and variations of the progress of system 100 in form and details are cleared up to above-mentioned excrement is implemented.However,
These change and modification do not depart from scope of the present application.Specifically, modules can be distributed across on different electronic components,
Be also possible to more than one module to be integrated on the same electronic component, can also be the same module branch one with
On upper electronic component.For example, communication module and control assembly can be respectively an independent chip or communication module and control
Component is integrated on the same chip.
Fig. 2 is the module map of the excrement cleaning plant 200 according to shown in the application some embodiments.
As shown in Fig. 2, excrement cleaning plant 200 may include: ontology 210, control assembly, moving assembly 220, distance tune
Save component 230, first angle adjusts component 240 and excavation component 250.Excrement cleaning plant 110 described in Fig. 1 can be by excrement
Cleaning plant 200 is realized.
Distance adjusts component 230, is arranged on the ontology 210, flexible for the control instruction based on control assembly.
In some embodiments, it includes electric pushrod that the distance, which adjusts component 230,；One end of the push rod with described
Body 210 is fixedly connected, and excavation component 250 adjusts the other end that component 240 is installed on the push rod by first angle；It is described to push away
Bar passes through the distance between extension and contraction control excavation component 250 and first target object, the push rod telescopic direction and push rod length
Direction is parallel.In some embodiments, electric pushrod may include: motor and transmission device, and the transmission device is by motor
Rotary motion is changed into the reciprocating motion of the straight line of push rod.Transmission device can include but is not limited to gear reduction, rack gear
Transmission mechanism, electronic worm mechanism etc..It should be noted that the application is not specifically limited the structure of electric pushrod, it is electronic
Push rod is only needed to meet and can be stretched accordingly according to apart from regulating control command, so as to control excavation component 250
The distance between first target object.
In some embodiments, excavation component 250 and first target object can be controlled by the flexible of control push rod
The distance between, for example, can control push rod edge when the excavation component 250 and the distance between first target object are excessive
The direction of push rod length extended to certain distance so that excavation component is close with first target object, in another example, work as institute
It states that the distance between excavation component 250 and first target object are too small, can control push rod and carried out along the direction of push rod length
Certain distance is foreshortened to, so that excavation component is separate with first target object.The flexible distance of push rod can be according to excavation component
Actual range between first target object is configured, for example, 100 to 250 millimeters are set by the length that push rod extends,
100 to 250 millimeters are set by the length that push rod shortens.In another example the length that push rod extends can be set to 50 to 300 millis
Rice, the length that push rod shortens are set as 30 to 350 millimeters.It should be noted that the length that the length and push rod of push rod elongation shorten
The range of degree can be independently arranged, it is only necessary to control excavation group can be realized by control push rod collapsing length
The distance between part 250 and first target object.
Excavation component 250 adjusts component 240 by first angle and is installed on the distance adjusting component 230；Described
One angular adjustment component 240 is for the control instruction rotation based on control assembly.
In some embodiments, excavation component 250 can be mechanical excavation component, backhoe excavating component, crowd shovel and excavate
Component etc..In some embodiments, when excavation component 250 is backhoe excavating component, component 240 is adjusted by first angle
It is installed on the distance to adjust on component 230, first angle adjusts component 240 can turn based on the control instruction of control assembly
It is dynamic, so that excavation component 250 be driven to move clockwise or counterclockwise, target object (for example, pet dung) is excavated.?
In some embodiments, the excavation component 250 includes first mechanical arm and the first scraper bowl.The distance adjusts component 230 and institute
The one end for stating first mechanical arm adjusts component 240 by the first angle and connects.The first mechanical arm and the first scraper bowl are logical
It crosses second angle and adjusts the connection of component 241, the second angle adjusts component 241 and turns for the control instruction based on control assembly
It is dynamic.
In some embodiments, the brachium of first mechanical arm can be set according to practical situations, for example, brachium is set
It is set to 100 to 200 millimeters.In some embodiments, the angular adjustment component can be steering engine.The angular adjustment can root
According to control assembly control instruction carry out certain angle rotation or rotation certain time, thus drive mechanical arm or scraper bowl to
Down or it is rotated up.For example, first angle adjusts component 240 can rotate clockwise 30 degree according to control instruction, Huo Zhe
Two angular adjustment components can rotate 10 seconds according to control instruction.In some embodiments, by controlling first angle adjusting group
Part can control first mechanical arm and be rotated centered on the shaft that first angle adjusts component, for example, working as first angle tune
When section component 240 rotates clockwise 30 degree according to control instruction, first mechanical arm is driven to rotate down certain angle.In another example
When second angle, which adjusts component 241, rotates clockwise 10 seconds according to control instruction, the first scraper bowl is driven to rotate down certain angle
Degree.
In some embodiments, described device 200 can also include: vibration component, for the control based on control assembly
Instruction drives the first scraper bowl to be vibrated；First scraper bowl has at least one sieve pore.In some embodiments, the vibration
Component can vibrate, so that the object (for example, cat litter) in the first scraper bowl shakes off out the first scraper bowl by sieve pore, in some implementations
In example, the vibration component be can be set in the first scraper bowl or the other positions of device 200, only need to ensure drive
First scraper bowl is vibrated, to shake off the object in the first scraper bowl.In some embodiments, the vibration component can be with
For eccentric hammer.
Moving assembly 220 is installed on the ontology 210, drives institute for the control instruction based on the control assembly
The movement of ontology 210 is stated, the moving direction of the moving assembly 220 includes at least mutually orthogonal first direction and second direction；
It is orthogonal that the second direction also adjusts the telescopic direction of component 230 with the distance.
In some embodiments, the first direction and second direction are mutually orthogonal, the first direction can for institute
It is parallel to state the flexible direction of distance adjusting component.In some embodiments, the moving assembly 220 can be Mecanum wheel,
Mecanum wheel is a kind of device that can be mobile with omnidirection, and this all-around mobile mode is to be located at vehicle there are many one
In the principle of the centre wheel of the wheel shaft of wheel periphery, the wheel steering power of a part is transformed into one by these angled periphery wheel shafts
In the normal force of a wheel, then by the direction of respective wheel and speed, so that these power are finally synthesized in any requirement
A resultant force vector is generated on direction, thus ensure that wheel can move freely through on the direction of final resultant force vector,
Direction without changing wheel itself.In some embodiments, two groups of Mecanum wheels can be mounted on the ontology 210
Lower section, two groups of Mecanum wheels may include 2 left-handed wheels and 2 dextrorotation wheels.In some embodiments, the peace of Mecanum wheel
Dress mode can include but is not limited to: X- square, X- rectangle, O- square and O- rectangle, to realize that omnidirection is moved
It is dynamic.Wherein, what X and O was indicated is that the roller that four wheels are contacted with ground is formed by figure, what square referred to rectangle
It is the shape that the contact point on four wheels and ground is surrounded.In some embodiments, Mecanum wheel can be according to control group
The control instruction of part rotates corresponding angle, to drive ontology 210 to translate, without turning to.The moving assembly 220
According to the control instruction of control assembly, can be moved, be included at least along specified direction: left-hand rotation direction, right-hand rotation direction,
Advance, retreat, transverse shifting of turning left, transverse shifting of turning right etc..In some embodiments, by using Mecanum wheel as shifting
Dynamic component 220 allows device 200 according to the control instruction of control assembly, ontology 210 is driven to translate to any direction, and
The steering of wheel in moving assembly 220 is had no need to change, so that the movement of device 200 becomes simple, quick, to realize efficient
Cleaning.
In some embodiments, excrement cleaning plant 200 can also include: the first image acquiring device 261, the second image
Acquisition device 262.First image acquiring device 261, for obtaining the head-up image in 210 front of ontology.The plan view seems
Refer to based on the height of the installation site of the first image acquisition device 261, and the first image acquisition device 261
Acquire the image in the sight front parallel with horizontal line.Second image acquiring device 262, for obtaining 210 front of ontology
Overhead view image.The overhead view image refers to based on the installation site of second image acquiring device 262, and described
Two image acquiring devices 262 acquire the image of the underface of sight and horizontal line.
In some embodiments, the first image acquiring device 261 is installed on ontology 210；Second image acquiring device 262
Distance is installed on to adjust on component 230.In some embodiments, the first image acquisition device 261 may be mounted at ontology 210
Front, so as to obtain the image in the front of ontology 210.In some embodiments, second image acquiring device 262 can
To be mounted on the downside that distance adjusts component 230, so as to obtain the image that distance adjusts 230 underface of component.
In some embodiments, the first image acquiring device 261 may include camera, be obtained in real time according to control instruction
The head-up image in 210 front of ontology.The head-up image that the first image acquisition device 261 can will acquire is sent in real time
Controlling terminal is shown, is reminded the user that the environmental information around the excrement cleaning plant 200, is facilitated user's control excrement
Just cleaning plant 200, to reach first target object attachment.In some embodiments, the second image acquiring device 262 can be with
Including camera, the overhead view image in 210 front of ontology is obtained in real time according to control instruction.Second image acquiring device 262
The overhead view image that can be will acquire is sent to controlling terminal in real time and is shown, reminds the user that distance adjusts component 230
And/or the environmental information of 250 lower section of excavation component, facilitate user to understand the inner case of first target object in real time, alternatively, more
Add and is easy to determine target position.
In some embodiments, excrement cleaning plant 200 can also include: at least two first sensors 271, for true
Determine the relative positional relationship between ontology 210 and first target object.
In some embodiments, the first sensor 271 is mounted on the front of the ontology 210, described for detecting
The distance between ontology and first target object.In some embodiments, the first target object can be cat litter box, cat litter
There is object for clearance (for example, pet dung) in basin.In some embodiments, the first sensor 271 can be ranging
Sensor.In some embodiments, distance measuring sensor may include infrared sensor, laser sensor, sonar sensor, ultrasound
The combination of one or more of wave sensor, electronic compass, velocity sensor etc..In some embodiments, in the ontology
At least two first sensors 271 of front installation spaced apart, moving assembly 220 according to control assembly control instruction into
Row movement, until at least two first sensor just stopping all equal with the distance between first target object is moved.?
In some embodiments, distance measuring sensor can be based on TOF (time of flight, flight time) ranging technology, carry out distance
Detection.It specifically includes when distance measuring sensor issues modulated light (for example, infrared light, near infrared light or laser), chance object
Back reflection, distance measuring sensor by calculate light transmitting and reflection interval difference or phase difference, obtain between its described object away from
From.
In some embodiments, excrement cleaning plant 200 can also include: second sensor 272, for determining ontology
210 and the second relative positional relationship between target object.
In some embodiments, the second sensor 272 can be infrared tube.In some embodiments, described
Two sensors 272 are mounted on the front of the ontology 210, are for detecting the ontology and the sensor on the second target object
No correspondence.In some embodiments, second target object can be the dustbin for being equipped with infrared tube.In some implementations
In example, second sensor 272 is installed in the front of the ontology, moving assembly 220 is moved according to control assembly control instruction
It moves, until just stopping movement on the second sensor 272 on ontology is corresponding with the sensor on the second target object.In some realities
It applies in example, second sensor 272 or distance measuring sensor.
In some embodiments, excrement cleaning plant 200 can also include: communication module, the control assembly with it is described
Communication module is connected with signal.
In some embodiments, communication module can be used for transmitting data or instruction.In some embodiments, excrement is cleared up
One or more components (for example, control assembly, image acquiring device) in device 200 can pass through communication module and extraneous progress
Information exchange.In some embodiments, communication module can carry out data transmission with controlling terminal.For example, communication module can be with
The realtime graphic that image acquiring device is got is sent to controlling terminal and shows, so that user be facilitated to carry out subsequent control
System operation.In another example communication module, which can receive controlling terminal, sends information, then the information is sent to control assembly, controlled
Component processed generates corresponding control instruction according to the information, works to control other assemblies.
It should be appreciated that device shown in Fig. 2 and its part or component can use various modes to realize.For example,
In some embodiments, device and its part or component can be realized by the combination of hardware, software or software and hardware.
Wherein, hardware components can use special logic to realize；Software section then can store in memory, by instruction appropriate
Execution system, such as microprocessor or special designs hardware execute.It will be appreciated by those skilled in the art that above-mentioned method
Computer executable instructions can be used and/or be included in the processor control code with system and realize, such as in such as magnetic
Disk, the mounting medium of CD or DVD-ROM, such as read-only memory (firmware) programmable memory or such as optics or electricity
Such code is provided in the data medium of subsignal carrier.The system and its module of the application can not only have such as super large
The semiconductor or such as field programmable gate array of scale integrated circuit or gate array, logic chip, transistor etc.,
The hardware circuit of the programmable hardware device of programmable logic device etc. is realized, can also be used for example by various types of processors
Performed software realization, can also be by combination (for example, firmware) Lai Shixian of above-mentioned hardware circuit and software.
It, only for convenience of description, can not be it should be noted that the above description for device and its part or component
The application is limited within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, understanding the device
Principle after, any combination or structure may be carried out to various components or component part without departing substantially from this principle
It is connect at sub-device with other assemblies.For example, in some embodiments, for example, the control assembly and communication module that are disclosed in Fig. 2
It can be the different piece in a device, be also possible to the function that two or more above-mentioned parts are realized in a part
Energy.For example, control assembly, communication module can be two parts, it is also possible to a part while there is control and communication function
Energy.Suchlike deformation, within the scope of protection of this application.
Fig. 3 is a kind of module map of excrement cleaning system 300 according to shown in some embodiments of the application.
As shown in figure 3, excrement cleaning system 300 can be used for being configured on excrement cleaning plant 200, the system 300
It may include: pendulum position module 310, apart from adjustment module 320, mobile module 330 and excavation module 340.
Position module 310 is put, for making the excrement cleaning plant 200 reach first position, the first position and first
Target object is related.
In some embodiments, pendulum position module 310 can be moved based on mobile control instruction, control moving assembly 220
It is dynamic, so that the excrement cleaning plant 200 reaches initial position；The distance between the initial position and first position are no more than
Given threshold.Moving assembly 220 can be controlled and be moved by the output signal of at least two first sensors 271 by putting position module 310
It is dynamic, so that the excrement cleaning plant 200 continues to move to the first position；The first position and the first object object
The distance between body is no more than the given threshold and makes the second direction parallel with certain a line of first target object.
In some embodiments, the first direction and second direction are mutually orthogonal, and the first direction can be to adjust with the distance
It is parallel to save the flexible direction of component 230.
Apart from adjustment module 320, component 230 is adjusted for command range and is stretched, so that second image obtains
Device 262 gets the overhead view image of the first target object.
It in some embodiments, can be based on apart from regulating control command, command range adjusting group apart from adjustment module 320
Part 230 stretches, and telescopic direction includes that the elongation or shortening of 230 length direction of thermomechanical components are adjusted along distance, until obtaining
Get the complete overhead view image of the first target object.
Mobile module 330, for controlling moving assembly 220 and/or apart from component 230 is adjusted, so that the excavation component
Reference point on 250 is moved to target position along the first direction and/or second direction.
In some embodiments, mobile module 330 can based on mobile control instruction and/or apart from regulating control command,
Moving assembly 220 is controlled respectively and/or apart from adjusting component 230, so that reference point on the excavation component 250 is along described the
One direction and/or second direction are moved to target position.In some embodiments, the reference point can be according to practical application feelings
Condition is configured, for example, setting reference point for the certain point at the center of first scraper bowl or the first scraper bowl end.Some
In embodiment, what the target position can be specified for user by controlling terminal.Second image acquiring device 262 is available
To the complete overhead view image of first target object, and described image is sent to controlling terminal by communication module and is shown
Show, user demarcates the target position (for example, the object is pet dung) of the object by control system.In some implementations
In example, excrement cleaning plant 200 can determine the reference point and the target position respectively in institute based on the overhead view image
It states at a distance from being spaced in first direction and second direction, so that mobile module 330 controls moving assembly 220 and/or apart from adjusting
Component 230, so that the reference point on the excavation component 250 be made to be moved to target along the first direction and/or second direction
Position, so that excavation component 250 be enable efficiently, to be quickly directed at the target position.
Module 340 is excavated, first angle adjusts component 240 and/or second angle adjusts 241 turns of component for controlling
It is dynamic, so that the excavation component 250 is completed once to excavate.
In some embodiments, angle can be controlled based on the angular adjustment control instruction of control assembly by excavating module 340
It adjusts component to be rotated, so that the excavation component 250, which sequentially enters, excavates readiness, contact condition, first spade state, depth
Spade state and completion status, so that the excavation component 250 is completed once to excavate.
It should be appreciated that system shown in Fig. 3 and its module can use various modes to realize.For example, in some implementations
In example, system and its module can be realized by the combination of hardware, software or software and hardware.Wherein, hardware components can
To be realized using special logic；Software section then can store in memory, by instruction execution system appropriate, for example (,) it is micro-
Processor or special designs hardware execute.It will be appreciated by those skilled in the art that meter can be used in above-mentioned method and system
It calculation machine executable instruction and/or is included in the processor control code to realize, such as in such as disk, CD or DVD-ROM
The programmable memory of mounting medium, such as read-only memory (firmware) or the data of such as optics or electrical signal carrier
Such code is provided on carrier.The system and its module of the application can not only have such as super large-scale integration or door
The semiconductor or field programmable gate array of array, logic chip, transistor etc., programmable logic device etc.
The hardware circuit of programmable hardware device realize, can also be real with such as software as performed by various types of processors
It is existing, it can also be by combination (for example, firmware) Lai Shixian of above-mentioned hardware circuit and software.
It should be noted that the above description for system and its module can not only for convenience of description limit the application
System is within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, in the principle for understanding the system
Afterwards, any combination may be carried out to modules, or constitute subsystem and other moulds without departing substantially from this principle
Block connection.For example, the pendulum position module 310 that discloses in Fig. 3 and can be the different moulds in a system apart from adjustment module 320
Block is also possible to the function that a module realizes two or more above-mentioned modules.For example, pendulum position module 310 and distance
Adjustment module 320 can be two modules, be also possible to a part while having put position and apart from regulatory function.It is such
Deformation, within the scope of protection of this application.
Fig. 4 is a kind of module map of control system 400 according to shown in some embodiments of the application.
As shown in figure 4, control system 400 can be used for controlling excrement cleaning plant 200, which may include:
One, which obtains module 410, second, obtains module 420 and sending module 430.
First obtains module 410, the image and/or second obtained for obtaining and showing the first image acquiring device 261
The image that image acquiring device 262 obtains.
In some embodiments, when needing to control excrement cleaning plant 200 and being moved to initial position, user can pass through
First acquisition module 410 gets the head-up image in front of the ontology of the first image acquiring device 261 acquisition.In some embodiments
In, when needing to obtain the target position of the object (for example, pet dung) in first target object, user can pass through first
Acquisition module 410 gets the overhead view image in front of the ontology of the second image acquiring device 262 acquisition.
Second obtains module 420, for obtaining the mobile control instruction of user's input, apart from regulating control command, target
Position and/or excavation instruction.
In some embodiments, the mobile control that the second acquisition available user of module 420 is inputted by controlling terminal
Instruction is instructed apart from regulating command, target position and/or excavation.It is obtained for example, user can obtain module 410 according to first
Head-up image in front of the ontology arrived inputs mobile control instruction, the moving assembly 220 of real-time control excrement cleaning plant 200
It is moved accordingly, until being moved to initial position.In some embodiments, the second acquisition module 420 is also used to:
Floating buttons are shown on the display interface for the image that second image acquiring device 262 obtains；User is detected to the floating
Location information of the floating buttons in described image after the completion of the operation and operation of button；It is true based on the location information
The fixed target position.
Sending module 430, for sending the mobile control instruction of user's input, apart from regulating control command, target position
And/or excavate instruction.
In some embodiments, sending module 430 can send the mobile control instruction of user's input, distance adjusts control
Instruction, target position and/or excavation instruction.The sending module 430 can by communication module and excrement cleaning plant 200 into
Row communication, for example, user can be sent to excrement by obtaining the mobile control instruction that module 420 inputs by sending module 430
Cleaning plant 200, so that the moving assembly 220 of excrement cleaning plant 200 is accordingly moved.
It should be appreciated that system shown in Fig. 4 and its module can use various modes to realize.For example, in some implementations
In example, system and its module can be realized by the combination of hardware, software or software and hardware.Wherein, hardware components can
To be realized using special logic；Software section then can store in memory, by instruction execution system appropriate, for example (,) it is micro-
Processor or special designs hardware execute.It will be appreciated by those skilled in the art that meter can be used in above-mentioned method and system
It calculation machine executable instruction and/or is included in the processor control code to realize, such as in such as disk, CD or DVD-ROM
The programmable memory of mounting medium, such as read-only memory (firmware) or the data of such as optics or electrical signal carrier
Such code is provided on carrier.The system and its module of the application can not only have such as super large-scale integration or door
The semiconductor or field programmable gate array of array, logic chip, transistor etc., programmable logic device etc.
The hardware circuit of programmable hardware device realize, can also be real with such as software as performed by various types of processors
It is existing, it can also be by combination (for example, firmware) Lai Shixian of above-mentioned hardware circuit and software.
It should be noted that the above description for system and its module can not only for convenience of description limit the application
System is within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, in the principle for understanding the system
Afterwards, any combination may be carried out to modules, or constitute subsystem and other moulds without departing substantially from this principle
Block connection.For example, in some embodiments, for example, the first acquisition module 410 and the second acquisition module 420 that disclose in Fig. 4 can
To be the disparate modules in a system, it is also possible to the function that a module realizes two or more above-mentioned modules.
For example, the first acquisition module 410 and the second acquisition module 420 can be two modules, it is also possible to a part while has
Obtain image and acquisition instruction function.Suchlike deformation, within the scope of protection of this application.
Fig. 5 is a kind of exemplary process diagram of excrement method for cleaning 500 according to shown in some embodiments of the application.
As shown in figure 5, excrement method for cleaning 500 is applied to excrement cleaning plant 200, this method may include:
Step 510, the excrement cleaning plant 200 is made to reach first position, the first position and first target object
It is related.
In some embodiments, can be based on mobile control instruction, control moving assembly 220 is moved, so that described
Excrement cleaning plant 200 reaches initial position；The distance between the initial position and first position are no more than given threshold.Institute
Stating given threshold can be configured according to practical situations, for example, the threshold value is set as 30 to 100 millimeters.
Fig. 9 is the schematic diagram that the excrement cleaning plant 200 according to shown in the application some embodiments reaches initial position.
In some embodiments, user can control according to the head-up image in front of the ontology of controlling terminal real-time display
Moving assembly 220 is moved (for example, advance, retreat, move to left or move to right) accordingly, makes the excrement cleaning plant 200
It reaches near first target object.In some embodiments, the position of the available first target object of excrement cleaning plant 200
It sets, while according to the current location of positioning detection mechanism acquisition device 200, mobile road is determined based on preset path planning algorithm
Then diameter controls moving assembly and is moved near first target object according to the movement routine.In some embodiments, excrement
Cleaning plant 200 can input by controlling terminal, the image data of identification shooting, read from server 140 or from storage
It is read in unit (for example, memory module of device 200, storage equipment 150), gets the location information of first target object.
In some embodiments, user can carry out bond-allocating to first target object in advance by controlling terminal, and by institute's rheme
Confidence breath is stored in the memory module of device 200, is uploaded in service 140 or storage to storage equipment 150.As shown in figure 9,
When first sensor detects that the distance between first target object s1 or s2 is more than given threshold, moving assembly is controlled
220 stop movement, at this point, excrement cleaning plant 200 reaches initial position.
In some embodiments, moving assembly can be controlled by the output signal of at least two first sensors 271
220 is mobile, so that the excrement cleaning plant 200 continues to move to the first position；The first position and described first
The distance between target object is no more than the given threshold and makes a certain item of the second direction and first target object
Side is parallel.In some embodiments, first target object be horizontal cross-section (depression angle) be the pets such as the cat litter box of rectangle just
Basin, certain a line of the first target object can be the long side of cat litter box.Only as an example, as shown in figure 9, described first
Target object is a line of cuboid and the first target object when being K1, and the edge in front of the ontology of device 200 is
Straight line K2, it can be understood as the second direction in 200 moving direction of device is parallel with straight line K2.In some embodiments, it controls
Component can be controlled according to the distance between the body portion and first target object that first sensor 271 detects s1 and s2
Moving assembly 220 is moved, and when so that s1 is identical as s2, i.e., straight line K1 is parallel with straight line K2, and control moving assembly 220 stops
It is mobile.At this point, device 200 reaches first position.Specifically, as shown in figure 9, first senses when device 200 reaches initial position
The s1 that device 271 detects and s2 distance is not identical, and first sensor detects that the distance s2 on 200 right side of device is greater than left side
Distance s1, the wheel rotation of control 220 right back of moving assembly, so that the right side of device 200 is close to first object position, directly
To s1 with s2 apart from identical, the control stopping movement of moving assembly 220, at this point, device 200 reaches first position.In some implementations
In example, each wheel of moving assembly 220 is independent control, for example, a wheel of right back can be only driven, remaining
Three wheels are as driven wheel.It should be noted that the first direction mentioned in the application and second direction are used for the purpose of area
It is divided to two different directions, for example, it is also possible to set a certain of the first direction and first target object for first direction
Side is parallel.
In some embodiments, available first image acquiring device 261 and/or the second image acquiring device 262 are adopted
The image of collection, and it is transferred to controlling terminal；Receive the mobile control instruction of controlling terminal.In some embodiments, controlling terminal
The figure of the first image acquiring device 261 and/or the acquisition of the second image acquiring device 262 can be obtained in real time by communication module
Picture, and being shown in the display interface, user can issue mobile control instruction by controlling terminal, control moving assembly into
Row is corresponding mobile.For example, user can be acquired by the first image acquiring device 261 and/or the second image acquiring device 262
Image, judge that the right side of device 200, far from first target object, can pass through controlling terminal and issue the shifting of left-hand rotation compared with left side
Dynamic control instruction, so that the right side of device 200 is sentenced close to first object position up to by head-up image and/or overhead view image
It is disconnected go out device 200 and first target object when reaching parastate, for example, state straight line K1 parallel with straight line K2, control is filled
It is mobile to set 200 stoppings, device 200 reaches first position at this time.
Step 520, command range adjusts component 230 and stretches, so that second image acquiring device 262 is got
The overhead view image of the first target object.
In some embodiments, can be based on apart from regulating control command, command range adjusts component 230 and stretches,
Telescopic direction includes that the elongation or shortening of 230 length direction of thermomechanical components are adjusted along distance, until getting first mesh
Mark the complete overhead view image of object.In some embodiments, second image acquiring device 262 may be mounted at distance and adjust
The downside for saving component 230 can specifically be mounted in the junction that distance adjusts component 230 and second angle adjusts component 241,
And camera shooting is upside down, the available distance of the second image acquiring device adjusts the overhead view image immediately below component 230.It is described
Distance adjusts the front that component 230 is mounted on ontology 210, therefore, after device 200 reaches first position, passes through command range
The length for adjusting component 230, can control includes first target object in the overhead view image of the second image acquiring device acquisition.
In some embodiments, the image that available second image acquiring device 262 acquires, and it is transferred to control eventually
End；Receive controlling terminal apart from regulating control command.In some embodiments, controlling terminal can be real-time by communication module
The image of the second image acquiring device 262 acquisition is obtained, and is shown in the display interface, user can pass through controlling terminal
It issues apart from regulating control command, command range adjusts component and stretched accordingly, until getting the first object object
The complete overhead view image of body.For example, as shown in Figure 10, when the first target object on display interface only includes straight line K4, and
When not including straight line K3, user can be by controlling terminal sending elongation apart from regulating control command, command range adjusting group
Part 230 extends certain length, so that first target object in the display interface includes straight line K3 and K4, thus in display interface
On get the complete overhead view image of first target object.In another example when the first target object on display interface only includes
Straight line K3, when without including straight line K4, user can be issued by controlling terminal shorten apart from regulating control command, control away from
Shorten certain length from component 230 is adjusted, so that first target object in the display interface includes straight line K3 and K4, thus
The complete overhead view image of first target object is got on display interface.The length that the distance adjusts component elongation or shortens
Degree can be configured according to practical situations, for example, can set the length elongated or shortened to 100-250 milli
Rice.In another example 50 to 300 millimeters can be set by the length of elongation, 50 to 350 millimeters are set by the length of shortening.
Step 530, control moving assembly 220 and/or apart from adjust component 230 so that certain on the excavation component 250
Reference point is moved to target position along the first direction and/or second direction.
In some embodiments, control excavation component 250 be moved to target position may include automatic control mode or
MANUAL CONTROL mode.In some embodiments, the target position is what controlling terminal was specified.Second image acquiring device 262
The available complete overhead view image to first target object, and described image is sent to controlling terminal by communication module
It is shown, user demarcates the target position of the object by the display interface of controlling terminal (for example, the object is pet
Excrement).In some embodiments, when for automatically control when, can be determined based on the overhead view image reference point with it is described
At a distance from target position is spaced on the first direction and second direction respectively.In some embodiments, the reference point can
To be configured according to practical situations, for example, the certain point at the center of first scraper bowl or the first scraper bowl end is set
It is set to reference point.It in some embodiments, can be based on reference point and the target position respectively in the first direction and the
The distance being spaced on two directions, according to preset algorithm control moving assembly 220 and/or apart from component 230 is adjusted, so that excavating
Certain reference point of component 250 is moved to target position.
Figure 10 is the schematic diagram of display interface in the controlling terminal according to shown in the application some embodiments.
Wherein, A1 is image-region, it is shown that the second image acquiring device acquired image, A2 is first object object
Body region specifically can be pet bedpan.P is aiming point, can be shown in image-region in the form of floating buttons, user
Dilatory movement can be carried out to it, so that the position of itself and the pet dung shown in the region A2 is coincided, to control excavation group
The movement of part.The position coordinates (a, b) of the available aiming point of controlling terminal in the picture.In some embodiments, described to take aim at
It on schedule can be a pixel or be the region comprising multiple pixels, position coordinates (a, b) can be one picture
The coordinate of the central pixel point in the coordinate of vegetarian refreshments or the region, wherein a represent aiming point row in the picture, b represent
The column at place.
In some embodiments, user can be obtained by controlling terminal and is got the bid in the image that the second image acquiring device acquires
Fixed target position, if coordinate of the target position in rectangular coordinate system is (X0, Y0), the rectangular coordinate system can be based on the
Two image acquiring device acquired images establish, it is upward positive direction that wherein X-axis is parallel with the width direction of image, Y-axis with
The short transverse of image is parallel, is positive direction towards the right side, and the lower-left angular vertex of image is coordinate origin.Specifically, can be according to taking aim at
Pixel coordinate (a, b) on schedule, height value, the width value of image change the pixel coordinate (a, b) of the aiming point
Calculation obtains coordinate (X0, Y0) of the target position in rectangular coordinate system.It in some embodiments, can be according to Boundary extracting algorithm
It identifies the first target object in image, and identifies the width of the first target object in the picture and be highly respectively
W1 and H1.The boundary extraction algorithm can be Roberts Cross algorithm, Prewitt algorithm, Sobel algorithm, Canny and calculate
Method, Krisch algorithm, Marr-Hildreth algorithm etc..The width and height of described image are respectively Ws and Hs.L0 is excavation group
When part 250 is moved to target position, reference point on excavation component 250 and between the central point of the second image acquiring device 262
Horizontal distance.In some embodiments, user can preset the reality of the first target object by controlling terminal
Width and height are respectively W2 and H2.In some embodiments, can be as a reference point by first scraper bowl center, control
Moving assembly 220 processed translates on the basis of first positionWhenWhen, control movement
Component 220 to right translation, whenWhen, moving assembly 220 is controlled to left；Command range adjusts component in original
It stretches on the basis of beginning positionWhenWhen, command range
It adjusts component 230 and extends respective distance, when When, command range adjusts component 230 and shortens phase
Should distance, operated by above-mentioned control, so that the excavation component 250 is moved to target position.The method of above-mentioned calculating distance
Can server, device 200 control assembly or controlling terminal on execute.
In some embodiments, reference point when L0 is that excavation component 250 is moved to target position, on excavation component 250
Horizontal distance between the central point of the second image acquiring device 262 can adjust component and second according to first angle
The length of the rotational angle of angular adjustment component, first mechanical arm, the geometric dimension of the first scraper bowl, which calculates, to be obtained.In some implementations
In example, the sizes of the various components of device 200 (for example, the brachium of first mechanical arm, the length of the first scraper bowl, width, scraper bowl
Depth etc.), the angle of angular adjustment component rotation, distance adjust the data such as the flexible distance of component and can store in device 200
On memory module in.For example, device 200 can store the angle of corresponding steering engine rotation by the first code table and the second code table
Degree.In some embodiments, above-mentioned data also can store in server 140 or storage equipment 150, and device 200 passes through
Network 120 gets the data for being stored in server 140 or storing in equipment 50.In some embodiments, it can survey in advance
It calculates first angle and adjusts component, second angle adjusting component in different rotational angles, the value of L0 deposits results of measuring
Storage.Specifically, can store in the memory module of device 200, in server 140 or storage equipment 150.Pass through detection the
One angular adjustment component, second angle adjusting component can determine the occurrence of L0.Or it can according to need first jiao of control
Degree adjusts component, second angle adjusts component and turns to setting value, when ensuring that excavation component 250 is moved to target position, digs
The horizontal distance dug between the reference point on component 250 and the central point of the second image acquiring device 262 is L0.
Figure 11 is the flow diagram that the excavation component according to shown in the application some embodiments excavates.
Step 540, control first angle adjusts component 240 and/or second angle adjusts thermomechanical components 241 and rotated, with
The excavation component 250 is set to complete once to excavate.
As shown in figure 11, in some embodiments, it can control first angle and adjust component 240 and/or second angle tune
Section component 241 rotated so that the excavation component 250 sequentially enter excavate readiness, contact condition, first spade state,
Scoop state and completion status.
Figure 12 is that the excavation component 250 according to shown in the application some embodiments enters excrement cleaning when excavating readiness
The overall schematic of device 200.
It is as shown in figure 12, in some embodiments, described that the excavation component 250 is made to enter excavation readiness, comprising:
According to angular adjustment component control instruction, controls first angle and adjust 241 turns of component of component 240 and second angle adjusting
It is dynamic, so that first mechanical arm rotates down, while making the first scraper bowl open side parallel with the first mechanical arm, until first
Vertical distance between scraper bowl and first target object is preset third distance.Figure 13 is according to some embodiment institutes of the application
The excavation component 250 shown enters the schematic diagram for excavating readiness.As shown in figure 13, first angle adjusts component 240 and second
Angular adjustment component 241 rotates predetermined angle, so that the vertical distance h0 between the end and first target object of the first scraper bowl
For preset third distance, at this point, the excavation component 250, which enters, excavates readiness.The third distance can be according to reality
Border application is configured, for example, setting 50 to 100 millimeters for the third distance.
In some embodiments, described that the excavation component 250 is made to enter contact condition, comprising: control second angle tune
Section component 241 rotates preset angle, so that the first scraper bowl end touches the bottom of the first target object.Figure 14 is root
Enter the schematic diagram of contact condition according to excavation component 250 shown in some embodiments of the application.As shown in figure 14, first angle tune
Section component 240 does not turn dynamic, so that first mechanical arm remains stationary, second angle adjusts component 241 and rotated, so that first
Scraper bowl end touches the bottom of the first target object, and excavation component 250 enters contact condition at this time.
Figure 15 is the schematic diagram that the excavation component 250 according to shown in the application some embodiments enters first spade state.One
It is described that the excavation component 250 is made to enter first spade state in a little embodiments, comprising: as shown in figure 15, control first angle is adjusted
Component 240 rotates preset angle, meanwhile, control second angle adjusts component 241 and rotates preset angle, so that the first scraper bowl
The line that end is adjusted with second angle between the spindle central point of component 241 is vertical with the bottom of the first target object,
And first scraper bowl end keep contacted with the bottom of first target object.Excavation component 250 enters first spade state at this time.
Figure 16 is the schematic diagram that the excavation component 250 according to shown in the application some embodiments enters scoop state.One
It is described that the excavation component 250 is made to enter scoop state in a little embodiments, comprising: as shown in figure 16, control second angle is adjusted
Component 241 rotates preset angle, meanwhile, control first angle adjusts component 240 and rotates preset angle, so that the first scraper bowl
Bottom is parallel with the bottom of the first target object to be bonded, and excavation component 250 enters scoop state at this time.
Figure 17 is the schematic diagram that the excavation component 250 according to shown in the application some embodiments enters completion status.One
It is described that the excavation component 250 is made to enter completion status in a little embodiments, comprising: as shown in figure 17, control second angle is adjusted
Component 241 rotates preset angle, meanwhile, control first angle adjusts component 240 and rotates preset angle, so that described first
Mechanical arm and horizontal direction form over the angle of preset first angle, and the open side of the first scraper bowl is upward and and horizontal direction
The angle for being no more than preset second angle is formed, excavation component 250 enters completion status at this time.In some embodiments, may be used
The angle of first angle α 1 and the angle of second angle α 2 to be arranged according to practical situations, for example, by first angle α's 1
Angle is set as 25 degree, sets 10 degree for the angle of second angle α 2.
In above-mentioned each state, first angle adjusts component, second angle adjusts component and needs the predetermined angle rotated can
Calculated with first passing through test in advance, and results of measuring is stored in the memory module of device 200, server 140 or is deposited
It stores up in equipment 150, to be called in digging control process.
In some embodiments, as shown in figure 11, after excavation component 250 enters completion status, this method 500 can be with
It include: that the first scraper bowl of control vibrate simultaneously certain time.The first scraper bowl is driven to be vibrated by vibration component, so that
Object (for example, cat litter) in first scraper bowl shakes off out the first scraper bowl by sieve pore, and extra cat litter is avoided to be shoveled out cat litter box.
The time of vibration can be configured according to practical situations, for example, the first scraper bowl of control vibrates 10 seconds.
In some embodiments, first angle under different conditions can be pre-set and adjust component and second angle adjusting
The rotation angle of component, and then control excavation component and reach corresponding position.
In some embodiments, this method 500 can also include:
Step 550, based on mobile control instruction, control moving assembly 220 is moved, so that the excrement cleaning plant
200 reach the second position, and the second position is related to the second target object.
In some embodiments, the output signal of available second sensor 272；Based on the defeated of second sensor 272
Signal determines whether the excrement cleaning plant 200 reaches the second position out.
Figure 18 is the schematic diagram that the excrement cleaning plant 200 according to shown in the application some embodiments reaches the second position.
As shown in figure 18, the sensing in the second sensor of 200 front of excrement cleaning plant and the second target object (for example, dustbin)
Device is corresponded to, and moving assembly 220 is moved according to control assembly control instruction, until the second sensor on ontology 210
272 it is corresponding with the sensor on the second target object on just stop movement, at this point, excrement cleaning plant 200 reach the second position.
In some embodiments, the second sensor 272 can be infrared tube.In some embodiments, the second sensor
272 may be mounted at the front (for example, the centre for being mounted on two first sensors 271) of the ontology 210, for detecting
It states ontology and whether the sensor on the second target object is corresponding.In some embodiments, second target object (for example,
Dustbin) also install can be with corresponding infrared tube with second sensor in outside.For example, when be mounted on ontology 210 the
When two sensors 272 are infrared receiver tube, the sensor being mounted on the second target object can be infrared emission tube.The
Infrared emission tube on two target objects can convert electrical energy into infrared ray and radiate, the infrared ray on ontology 210
Reception pipe only has reaction to infrared ray, when ontology 210 is increasingly closer to the second target object, what infrared receiver tube received
The illumination of infrared ray is stronger, and when reception reaches the illumination of certain light intensity, infrared receiver tube can convert light energy into electricity
Can, to generate output signal, instruction ontology 210 is had arrived near the second target object, and control assembly can be based on described
Output signal controls ontology 210 and stops movement, at this point, excrement cleaning plant 200 reaches the second position.
Step 560, control second angle adjusts component 241 and is rotated, by the object falling in the first scraper bowl to described
In second target object.
In some embodiments, control second angle adjusts component 241 and is rotated, so that the open side court of the first scraper bowl
Angle lower and that preset third angle is formed over horizontal direction, e.g., open side and horizontal direction parallel and downward will shovel
Object (for example, pet dung) in bucket is poured onto the second target object.The angle of the third angle can be according to reality
Situation is configured, for example, setting 90 degree for the angle of the third angle.
It should be noted that the above-mentioned description in relation to process 500 is used for the purpose of example and explanation, without limiting the application
The scope of application.To those skilled in the art, process 500 can be carried out under the guidance of the application it is various amendment and
Change.However, these modifications and variations are still within the scope of the present application.
Fig. 6 is a kind of exemplary process diagram of control method 600 according to shown in some embodiments of the application.
As shown in fig. 6, control method 600 can be applied to control excrement cleaning plant 200, this method comprises:
Step 610, obtain and show image and/or the second image acquiring device that the first image acquiring device 261 obtains
262 images obtained.
In some embodiments, can be got by communication module the first image acquiring device 261 acquisition image and/
Or second image acquiring device 262 obtain image.For example, being moved to initial position when needing to control excrement cleaning plant 200
When, the head-up image in front of ontology that user can be acquired by the first image acquiring device 261 is shown in controlling terminal.
In another example user can pass through when needing to obtain the target position of the object (for example, pet dung) in first target object
Overhead view image in front of the ontology of second image acquiring device 262 acquisition is shown in controlling terminal.
Step 620, obtain and send user input mobile control instruction, apart from regulating control command, target position and/
Or excavate instruction.
In some embodiments, the mobile control instruction of controlling terminal available user input, apart from regulating command, mesh
Cursor position and/or excavation instruction.For example, user can input and move according to the head-up image in front of the ontology that controlling terminal is shown
Dynamic control instruction, the moving assembly of real-time control excrement cleaning plant 200 is moved accordingly, until being moved to initial bit
It sets.
Figure 10 is the schematic diagram of display interface in the controlling terminal according to shown in the application some embodiments.
In some embodiments, it can be shown on the display interface for the image that second image acquiring device 262 obtains
Show floating buttons P；User is detected to the floating buttons P after the completion of the operation and operation of the floating buttons P in the figure
Location information as in；The target position is determined based on the location information.As shown in Figure 10, when needing to obtain first object
When the target position of the intracorporal object of object (for example, pet dung), what user can be acquired by the second image acquiring device 262
Overhead view image in front of ontology is shown in controlling terminal, thus spotting position.As shown in Figure 10, on a left side of region A1
Inferior horn shows the arrow button in 4 directions, and user can click arrow up and down, so that mobile control instruction is initiated,
Control the advance of moving assembly 220, retrogressing, left, right translation.In region the lower right corner of A1 show the arrow in 2 directions by
Button, user can click down arrows, initiate apart from regulating control command, and command range adjusts the elongation of component 230 or shortens.
The lower section in the center A1 in region shows " digging " button, and user clicks " digging " button, initiates to excavate instruction, to control excrement
Cleaning plant 200 carries out dredge operation.
Fig. 7 is the exemplary process diagram of the another kind excrement method for cleaning 700 according to shown in the application some embodiments.
As shown in fig. 7, excrement method for cleaning 700 is applied to excrement cleaning plant 200, this method may include:
Step 710, the excrement cleaning plant 200 is made to reach first position, the first position and first target object
It is related.
In some embodiments, user can issue according to the head-up image in front of the ontology of controlling terminal real-time display
Mobile control instruction, after excrement cleaning plant 200 gets mobile control instruction, control moving assembly 220 is moved accordingly
Dynamic (for example, advance, retreat, move to left or move to right) reaches first position.In some embodiments, excrement cleaning plant 200 can
To automatically generate mobile control instruction according to preset Route Planning Algorithm, control moving assembly reaches first position.Step
About related Jie for making the particular content of the arrival of excrement cleaning plant 200 first position may refer to step 510 in Fig. 5 in 710
It continues, details are not described herein.
Step 720, command range adjusts component 230 and stretches, so that second image acquiring device 262 is got
The overhead view image of the first target object.
In some embodiments, excrement cleaning plant 200 can automatically generate distance and adjust based on apart from regulating control command
Control instruction is saved, command range adjusts component 230 and stretches, and telescopic direction includes adjusting 230 length of thermomechanical components along distance
The elongation or shortening in direction, until getting the complete overhead view image of the first target object.Excrement cleaning plant 200
The edge of complete first target object can be identified according to preset image recognition algorithm (for example, image border algorithm),
To identify the overhead view image of complete first target object.About getting the first target object in step 720
The particular content of overhead view image may refer to the related introduction of step 520 in Fig. 5, and details are not described herein.
Step 730, the first target object is divided by least two regions based on the overhead view image, to determine extremely
Few two target positions.
In some embodiments, at least two region is not overlapped, and is combined and can be covered the first object
The region of object.In some embodiments, at least two region is arranged according to matrix form, and at least two regions
At least one is rectangular area.In some embodiments, can according to preset partitioning algorithm, by the first target object into
Row is corresponding to be divided, for example, the first target object is divided into 2 rectangles, in another example, the first target object is drawn
It is divided into 4 rectangles, the region of division such as sphere of movements for the elephants lattice.After having divided region, target position is determined in region dividing accordingly
It sets, the algorithm for calculating target position can be in background server or the excrement cleaning being in communication with each other with excrement cleaning plant 200
Device 200 itself carries out, and the application is not specifically limited in this embodiment.Figure 19 is according to shown in some embodiments of the application by first
Target object is divided into the schematic diagram in several regions.In some embodiments, as shown in figure 19, first target object is divided
For the rectangular area of 2 rows 3 column, 6 rectangular areas are respectively B1 to B6.In some embodiments, device 200 can be according to rectangle
The number order in region is excavated, for example, the region excavated for the first time is B1, second of region excavated is B2, successively class
It pushes away, the region of the 6th excavation is B6.In each excavate, the mesh in region to be excavated can be determined according to preset algorithm
Cursor position, for example, using the central point of region B1 to be excavated as target T1.Device 200 available target T1 is in the picture
Position coordinates (a1, b1).In some embodiments, the target T1 can be pixel or to include multiple pixels
Region, position coordinates (a1, b1) can be the central pixel point coordinate in one pixel coordinate or the region,
In, the row where a1 represents target T1 in overhead view image, b1 represents the column at place.It in some embodiments, can be according to target
The pixel coordinate (a1, b1) of T1, height value, the width value of overhead view image carry out the pixel coordinate (a1, b1) of target T1
Conversion obtains coordinate (X1, Y1) of the target T1 in rectangular coordinate system, to obtain the target position of region B1 to be excavated.It is described
Rectangular coordinate system can be established based on the collected overhead view image of the second image acquiring device 262, wherein the width of X-axis and image
Direction is parallel, is upward positive direction, and Y-axis is parallel with the short transverse of image, is positive direction towards the right side, and the lower-left angular vertex of image is
Coordinate origin.According to the method described above, the target position of the available region B1 to B6 to be excavated of difference.
Step 740, for each target position: control moving assembly 220 and/or apart from adjust component 230 so that described
Reference point on excavation component 250 reaches target position.
In some embodiments, the reference point can be configured according to practical situations, for example, by described first
The certain point of the center of scraper bowl or the first scraper bowl end is set as reference point.In some embodiments, excrement cleaning plant 200 can
To determine the reference point and the target position respectively on the first direction and second direction based on the overhead view image
The distance at interval, to generate mobile control instruction and/or apart from regulating control command, automatically control moving assembly 220 and/or
Distance adjusts component 230, so that the reference point of excavation component 250 is moved to target position.In some embodiments, in some realities
It applies in example, the first direction and second direction are mutually orthogonal, and the first direction can be to adjust component 230 with the distance
Flexible direction is parallel.Make the particular content of the reference point arrival target position on the excavation component 250 can in step 740
With referring to the related introduction of step 530 in Fig. 5, details are not described herein.
Step 741, control first angle adjusts component 240 and/or second angle adjusts thermomechanical components 241 and rotated, with
The excavation thermomechanical components 250 are made to complete once to excavate.
In some embodiments, angular adjustment control instruction can be generated in excrement cleaning plant 200, to automatically control the
One angular adjustment component 240 and/or second angle adjust component 241 and are rotated, so that the excavation component 250 sequentially enters
Excavate readiness, contact condition, first spade state, scoop state and completion status.About excavation component 250 in step 741
The particular content for completing once to excavate may refer to the related introduction of step 540 in Fig. 5, and details are not described herein.
Step 742, control moving assembly 220 is moved, so that the excrement cleaning plant 200 reaches the second position,
The second position is related to the second target object.
In some embodiments, excrement cleaning plant 200 can actively obtain the output signal of second sensor 272；Base
Determine whether the excrement cleaning plant 200 reaches the second position in the output signal of second sensor 272.In some embodiments
In, the second sensor 272 can be infrared tube.Excrement cleaning plant 200 is passed by being mounted on the second of body portion
Sensor 272 carries out corresponding, the mobile control instruction of generation, control shifting with the sensor on the second target object (for example, dustbin)
Dynamic component 220 is moved, until on the second sensor 272 on ontology 210 is corresponding with the sensor on the second target object
Just stop movement, at this point, excrement cleaning plant 200 reaches the second position.
Figure 20 a is that the first target object according to shown in the application some embodiments and one kind of the second target object are put
Schematic diagram.
Figure 20 b is that the first target object according to shown in the application some embodiments and the another of the second target object are put
Put schematic diagram.
In some embodiments, first target object and the second target object can be placed in parallel, for example, such as Figure 20
(a) shown in, first target object can be placed into the left side of the second target object, and makes certain one side of first target object
It is parallel with a certain edge K1 ' of the second target object along K1.In another example as shown in (b) of Figure 20, it can be by first target object
It is placed into the right side of the second target object, and makes a certain edge K1 of first target object and certain one side of the second target object
It is parallel along K1 '.The disposing way of above two first target object and the second target object makes device 200 only need to translate just
The second position can be moved to from first position.Detect whether the excrement cleaning plant 200 reaches the second position in step 742
Particular content may refer to the related introduction of step 550 in Fig. 5, details are not described herein.
Step 743, control second angle adjusts component 241 and is rotated, by the object falling in the first scraper bowl to described
In second target object.
In some embodiments, excrement cleaning plant 200 can automatically control second angle and adjust 241 turns of component
It is dynamic, so that the open side of the first scraper bowl forms over the angle of preset third angle downward and with horizontal direction, it will be in scraper bowl
Object (for example, pet dung) be poured onto the second target object.The angle of the third angle can be according to the actual situation
It is configured, for example, setting 90 degree for the angle of the third angle.
Step 744, control moving assembly 220 and/or apart from adjust component 230 so that the excavation component 250 reach under
One target position.
In some embodiments, as shown in figure 19, device 200 completes primary excavation (for example, having excavated region B1) simultaneously
After object falling to the second target object being excavated, firstly, control moving assembly 220 is moved, so that device 200 moves to
First position.In some embodiments, can by the traveling time (traveling time is directly proportional to moving distance) of record, pass through
It whether include complete first target object image or first sensor in the top view of second image acquiring device 262 acquisition
Whether the methods of 271 output determining device 200 reaches first position.Secondly, on the basis of first position, according to reference point
With next target position (for example, target position of region B2) on the first, second direction at a distance from, control moving assembly 220
And/or apart from component 230 is adjusted, excavation component 250 is made to reach next target position.Distance algorithm in the first, second direction
It may refer to step 530, details are not described herein.Until device 200 will divide region (for example, the object in region B1 to B6) is all
After once being excavated and toppling over operation, device 200 stops working.
It should be noted that the above-mentioned description in relation to process 700 is used for the purpose of example and explanation, without limiting the application
The scope of application.To those skilled in the art, process 700 can be carried out under the guidance of the application it is various amendment and
Change.However, these modifications and variations are still within the scope of the present application.
Fig. 8 is the module map for applying for the cleaning system 800 of another kind excrement shown in some embodiments at all.
As shown in figure 8, excrement cleaning system 800 can be used for being configured on excrement cleaning plant 200, the system 800
It may include: pendulum position module 810, apart from adjustment module 820, target position determining module 830, cleaning modul 840.
Position module 810 is put, for making the excrement cleaning plant 200 reach first position, the first position and first
Target object is related.
In some embodiments, pendulum position module 810 can be moved based on mobile control instruction, control moving assembly 220
It is dynamic, so that the excrement cleaning plant 200 reaches initial position；The distance between the initial position and first position are no more than
Given threshold.The mobile control instruction can be is given birth to by excrement cleaning plant 200 according to preset path planning algorithm automatically
At or by communication module get user input mobile control instruction.Excrement cleaning plant 200 can be by least
The output signal of two first sensors 271, by putting position module 810, control moving assembly 220 is mobile, so that the excrement
Cleaning plant 200 continues to move to the first position；The distance between the first position and the first target object are no
More than the given threshold and make the second direction parallel with certain a line of first target object.In some embodiments
In, the first direction and second direction are mutually orthogonal, and the first direction can be flexible to adjust component 230 with the distance
Direction it is parallel.
Apart from adjustment module 820, component 230 is adjusted for command range and is stretched, so that second image obtains
Device 262 gets the overhead view image of the first target object.
It in some embodiments, can be based on apart from regulating control command, command range adjusting group apart from adjustment module 820
Part 230 stretches, and telescopic direction includes that the elongation or shortening of 230 length direction of thermomechanical components are adjusted along distance, until obtaining
Get the complete overhead view image of the first target object.
Target position determining module 830, for being divided into the first target object at least based on the overhead view image
Two regions, to determine at least two target positions.
In some embodiments, at least two region is not overlapped, and is combined and can be covered the first object
The region of object.In some embodiments, at least two region is arranged according to matrix form, and at least two regions
At least one is rectangular area.In some embodiments, target position determining module 830 can according to preset partitioning algorithm,
The first target object is divided accordingly, for example, the first target object is divided into 2 rectangles, in another example,
The first target object is divided into 4 rectangles, the region of division such as sphere of movements for the elephants lattice.After having divided region, corresponding
It divides and determines target position in region, the algorithm for calculating target position can be after being in communication with each other with excrement cleaning plant 200
Platform server or excrement cleaning plant 200 itself carry out, and the application is not specifically limited in this embodiment.
Cleaning modul 840, for be directed to each target position: control moving assembly 220 and/or apart from adjust component 230,
So that the reference point on the excavation component 250 reaches target position；It controls first angle and adjusts component 240 and/or second jiao
Degree adjusts component 241 and is rotated, so that the excavation component 250 is completed once to excavate；Control moving assembly 220 is moved
Dynamic, so that the excrement cleaning plant 200 reaches the second position, the second position is related to the second target object；Control the
Two angular adjustment components 241 are rotated, by the object falling in the first scraper bowl into second target object；Control movement
Component 220 and/or apart from component 230 is adjusted, so that reference point on the excavation component 250 reaches next target position.
In some embodiments, the reference point can be configured according to practical situations, for example, by described first
The certain point of the center of scraper bowl or the first scraper bowl end is set as reference point.In some embodiments, cleaning modul 840 can be with base
Determine that the reference point is spaced on the first direction and second direction respectively with the target position in the overhead view image
Distance automatically control moving assembly 220 and/or distance to generate mobile control instruction and/or apart from regulating control command
Component 230 is adjusted, so that the reference point of excavation component 250 is moved to target position.In some embodiments, the first direction
Mutually orthogonal with second direction, the first direction can be parallel to adjust the flexible direction of component 230 with the distance.One
In a little embodiments, angular adjustment control instruction is can be generated in cleaning modul 840, so that automatically controlling first angle adjusts component
240 and/or second angle adjust component 241 rotated so that the excavation component 250 sequentially enter excavate readiness,
Contact condition, first spade state, scoop state and completion status, so that excavation component 250 is completed once to excavate.Some
In embodiment, cleaning modul 840 can actively obtain the output signal of second sensor 272；Based on the defeated of second sensor 272
Signal determines whether the excrement cleaning plant 200 reaches the second position out.In some embodiments, cleaning modul 840 can be with
It automatically controls second angle adjusting component 241 to be rotated, so that the open side of the first scraper bowl is formed downward and with horizontal direction
More than the angle of preset third angle, the object (for example, pet dung) in scraper bowl is poured onto the second target object.Institute
The angle for stating third angle can be configured according to the actual situation, for example, setting 90 degree for the angle of the third angle.
In some embodiments, cleaning modul 840 is after completing primary excavation and will excavate object falling to the second target object, control
Moving assembly 220 and/or apart from adjust component 230, until by divide region in object all once excavated and toppled over behaviour
After work, excrement cleaning plant 200 just stops working.
It should be appreciated that system shown in Fig. 8 and its module can use various modes to realize.For example, in some implementations
In example, system and its module can be realized by the combination of hardware, software or software and hardware.Wherein, hardware components can
To be realized using special logic；Software section then can store in memory, by instruction execution system appropriate, for example (,) it is micro-
Processor or special designs hardware execute.It will be appreciated by those skilled in the art that meter can be used in above-mentioned method and system
It calculation machine executable instruction and/or is included in the processor control code to realize, such as in such as disk, CD or DVD-ROM
The programmable memory of mounting medium, such as read-only memory (firmware) or the data of such as optics or electrical signal carrier
Such code is provided on carrier.The system and its module of the application can not only have such as super large-scale integration or door
The semiconductor or field programmable gate array of array, logic chip, transistor etc., programmable logic device etc.
The hardware circuit of programmable hardware device realize, can also be real with such as software as performed by various types of processors
It is existing, it can also be by combination (for example, firmware) Lai Shixian of above-mentioned hardware circuit and software.
It should be noted that the above description for system and its module can not only for convenience of description limit the application
System is within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, in the principle for understanding the system
Afterwards, any combination may be carried out to modules, or constitute subsystem and other moulds without departing substantially from this principle
Block connection.For example, in some embodiments, for example, the pendulum position module 810 that is disclosed in Fig. 8 and can be apart from adjustment module 820
Disparate modules in one system are also possible to the function that a module realizes two or more above-mentioned modules.For example,
Pendulum and can be two modules apart from adjustment module 820 at position module 810, be also possible to a part have simultaneously pendulum bit function with
Apart from regulatory function.Suchlike deformation, within the scope of protection of this application.
The possible beneficial effect of the embodiment of the present application includes but is not limited to: (1) moving assembly uses Mecanum wheel,
Excrement cleaning plant is moved in any direction, realization efficiently walks, and is convenient for user's control, and it is difficult to reduce operation
Degree, improves the experience sense of user；(2) excavation component uses single arm structure, only one mechanical arm and scraper bowl, and user is facilitated to carry out
Dredge operation, excrement cleaning are simpler；(3) using vibration unit to the excrement for clearance and other objects in the first scraper bowl
It is shaken, will not be that the object (for example, cat litter) of pet dung is shaken off to first object object by the sieve pore in the first scraper bowl
In body, reduces waste, reduce user cost.It should be noted that the different issuable beneficial effects of embodiment are different,
In different embodiments, it is possible to create beneficial effect can be the combinations of any of the above one or more, be also possible to it
He is any can obtainable beneficial effect.
Basic conception is described above, it is clear that those skilled in the art, above-mentioned detailed disclosure is only
As an example, and not constituting the restriction to the application.Although do not clearly state herein, those skilled in the art may
The application is carry out various modifications, improve and is corrected.Such modification, improvement and amendment are proposed in this application, so such
Modification improves, corrects the spirit and scope for still falling within the application example embodiment.
Meanwhile the application has used particular words to describe embodiments herein.Such as " one embodiment ", " one implements
Example ", and/or " some embodiments " mean a certain feature relevant at least one embodiment of the application, structure or feature.Cause
This, it should be highlighted that and it is noted that " embodiment " or " an implementation referred to twice or repeatedly in this specification in different location
Example " or " alternate embodiment " are not necessarily meant to refer to the same embodiment.In addition, in one or more embodiments of the application
Certain features, structure or feature can carry out combination appropriate.
In addition, it will be understood by those skilled in the art that the various aspects of the application can be by several with patentability
Type or situation are illustrated and described, the combination or right including any new and useful process, machine, product or substance
Their any new and useful improvement.Correspondingly, the various aspects of the application can completely by hardware execute, can be complete
It is executed, can also be executed by combination of hardware by software (including firmware, resident software, microcode etc.).Hardware above is soft
Part is referred to alternatively as " data block ", " module ", " engine ", " unit ", " component " or " system ".In addition, the various aspects of the application
The computer product being located in one or more computer-readable mediums may be shown as, which includes computer-readable program
Coding.
Computer storage medium may include the propagation data signal containing computer program code in one, such as in base
Take or as carrier wave a part.The transmitting signal may there are many forms of expression, including electromagnetic form, light form etc., or
Suitable combining form.Computer storage medium can be any computer-readable Jie in addition to computer readable storage medium
Matter, the medium can realize communication, propagation or transmission for using by being connected to an instruction execution system, device or equipment
Program.Program coding in computer storage medium can be propagated by any suitable medium, including wireless
The combination of electricity, cable, fiber optic cables, RF or similar mediums or any of above medium.
Computer program code needed for the operation of the application each section can use any one or more programming language,
Including Object-Oriented Programming Language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET,
Python etc., conventional procedural programming language for example C language, Visual Basic, 2003 Fortran, Perl, COBOL 2002,
PHP, ABAP, dynamic programming language such as Python, Ruby and Groovy or other programming languages etc..The program coding can be complete
Entirely on the user computer run run on the user computer as independent software package or partially in subscriber computer
Upper operation part runs in remote computer or runs on a remote computer or server completely.In the latter cases, remotely
Computer can be connect by any latticed form with subscriber computer, such as local area network (LAN) or wide area network (WAN), or even
It is connected to outer computer (such as passing through internet), or in cloud computing environment, or is serviced as service using such as software
(SaaS)。
In addition, except clearly stating in non-claimed, the sequence of herein described processing element and sequence, digital alphabet
Using or other titles use, be not intended to limit the sequence of the application process and method.Although by each in above-mentioned disclosure
Kind of example discuss it is some it is now recognized that useful inventive embodiments, but it is to be understood that, such details only plays explanation
Purpose, appended claims are not limited in the embodiment disclosed, on the contrary, claim is intended to cover and all meets the application
The amendment and equivalent combinations of embodiment spirit and scope.For example, although system component described above can be set by hardware
It is standby to realize, but can also be only achieved by the solution of software, such as pacify on existing server or mobile device
Fill described system.
Similarly, it is noted that in order to simplify herein disclosed statement, to help real to one or more invention
Apply the understanding of example, above in the description of the embodiment of the present application, sometimes by various features merger to one embodiment, attached drawing or
In descriptions thereof.But this disclosure method is not meant to mention in aspect ratio claim required for the application object
And feature it is more.In fact, the feature of embodiment will be less than whole features of the single embodiment of above-mentioned disclosure.
The number of description ingredient, number of attributes is used in some embodiments, it should be appreciated that such to be used for embodiment
The number of description has used qualifier " about ", " approximation " or " generally " to modify in some instances.Unless in addition saying
It is bright, " about ", " approximation " or " generally " show the variation that the number allows to have ± 20%.Correspondingly, in some embodiments
In, numerical parameter used in description and claims is approximation, approximation feature according to needed for separate embodiment
It can change.In some embodiments, numerical parameter is considered as defined significant digit and using the reservation of general digit
Method.Although the Numerical Range and parameter in some embodiments of the application for confirming its range range are approximation, specific real
It applies in example, being set in for such numerical value is reported as precisely as possible in feasible region.
For each patent, patent application, patent application publication object and the other materials of the application reference, such as article, book
Entire contents, are incorporated herein as reference by nationality, specification, publication, document etc. hereby.It is inconsistent with teachings herein
Or except generating the application history file of conflict, (currently or later to the conditional file of the claim of this application widest scope
Be additional in the application) also except.It should be noted that if description, definition, and/or art in the application attaching material
The use of language with it is herein described it is interior have place that is inconsistent or conflicting, with making for the description of the present application, definition and/or term
Subject to.
Finally, it will be understood that embodiment described herein is only to illustrate the principle of the embodiment of the present application.Others become
Shape may also belong to scope of the present application.Therefore, as an example, not a limit, the alternative configuration of the embodiment of the present application can be considered with
Teachings of the present application is consistent.Correspondingly, embodiments herein is not limited only to the embodiment that the application is clearly introduced and described.
Claims (42)
1. a kind of excrement cleaning plant, which is characterized in that described device includes:
Ontology, control assembly, moving assembly, distance adjust component, first angle adjusts component and excavation component；
The distance adjusts component setting on the body, flexible for the control instruction based on control assembly；
The excavation component adjusts component by first angle and is installed on the distance adjusting component；The first angle is adjusted
Component is for the control instruction rotation based on control assembly；
The moving assembly is installed on the ontology, drives the ontology to move for the control instruction based on the control assembly
Dynamic, the moving direction of the moving assembly includes at least mutually orthogonal first direction and second direction.
2. device as described in claim 1, which is characterized in that
Described device further includes the first image acquiring device, the second image acquiring device；
The first image acquisition device is used to obtain the head-up image in front of the ontology；
Second image acquiring device is used to obtain the overhead view image in front of ontology.
3. device as claimed in claim 2, which is characterized in that the first image acquisition device is installed on ontology；Second
Image acquiring device is installed on distance and adjusts on component.
4. device as claimed in claim 2, which is characterized in that described device further include:
At least two first sensors, for determining the relative positional relationship between ontology and first target object.
5. device as claimed in claim 2, which is characterized in that described device further includes second sensor, for determining ontology
With the relative positional relationship between the second target object.
6. device as described in claim 1, which is characterized in that it includes electric pushrod that the distance, which adjusts component,；The push rod
One end be fixedly connected with the ontology, excavation component adjusts component by first angle and is installed on the other end of the push rod；
The push rod telescopic direction is parallel with push rod length direction.
7. device as described in claim 1, which is characterized in that the excavation component includes first mechanical arm and the first scraper bowl；
The distance adjusts component and is connect with one end of the first mechanical arm by first angle adjusting component；
The first mechanical arm adjusts component by second angle with the first scraper bowl and connect, and the second angle adjusts component and is used for
Control instruction rotation based on control assembly.
8. device as claimed in claim 7, which is characterized in that described device further include:
Vibration component drives the first scraper bowl to be vibrated for the control instruction based on control assembly；
First scraper bowl has at least one sieve pore.
9. device as described in claim 1, which is characterized in that the angular adjustment component is steering engine.
10. device as described in claim 1, which is characterized in that the moving assembly is Mecanum wheel.
11. device as described in claim 1, which is characterized in that it further include communication module, the control assembly and the communication
Module is connected with signal.
12. device as described in claim 1, which is characterized in that the second direction also adjusts stretching for component with the distance
Contracting direction is orthogonal.
13. a kind of excrement clears up system, which is characterized in that including as described in claim 1~12 excrement cleaning plant and
Controlling terminal；
The excrement cleaning plant carries out signal interaction by communication module and the controlling terminal.
14. a kind of excrement clears up system, which is characterized in that including the excrement cleaning plant as described in claim 1~12, control
Terminal and server；
The excrement cleaning plant carries out signal connection by communication module and the server；
The controlling terminal with the server there is signal to connect.
15. a kind of excrement method for cleaning, applied to the excrement cleaning plant as described in claim 1~12, which is characterized in that institute
The method of stating includes:
The excrement cleaning plant is set to reach first position, the first position is related to first target object；
Command range adjusts component and stretches, so that second image acquiring device gets the first target object
Overhead view image；
Control moving assembly and/or apart from adjust component so that certain reference point on the excavation component is along the first direction
And/or second direction is moved to target position；
Control first angle adjusts component and/or second angle adjusts component and rotated, so that the excavation component completes one
Secondary excavation.
16. method as claimed in claim 15, which is characterized in that described that the excrement cleaning plant is made to reach first position also
Include:
Based on mobile control instruction, control moving assembly is moved, so that the excrement cleaning plant reaches initial position；Institute
The distance between initial position and first position are stated no more than given threshold.
17. the method described in claim 16, which is characterized in that further include:
The image of the first image acquiring device acquisition is obtained, and is transferred to controlling terminal；
Receive the mobile control instruction of controlling terminal.
18. the method described in claim 16, which is characterized in that described that the excrement cleaning plant is made to reach first position also
Include:
By the output signal of at least two first sensors, it is mobile to control moving assembly so that the excrement cleaning plant after
It is continuous to be moved to the first position；The distance between the first position and the first target object are no more than the setting threshold
It is worth and makes the second direction parallel with certain a line of first target object.
19. method as claimed in claim 15, which is characterized in that the command range adjusts component and stretches, so that institute
State the overhead view image that the second image acquiring device gets the first target object, comprising:
Based on apart from regulating control command, command range adjusts component and stretches, and telescopic direction includes along apart from adjusting group
The elongation or shortening of part length direction, until getting the complete overhead view image of the first target object.
20. method as claimed in claim 19, which is characterized in that further include:
The image of the second image acquiring device acquisition is obtained, and is transferred to controlling terminal；
Receive controlling terminal apart from regulating control command.
21. method as claimed in claim 15, which is characterized in that the control moving assembly and/or apart from adjust component, make
Certain reference point obtained on the excavation component is moved to target position along the first direction and/or second direction, further includes:
Determine the reference point and the target position respectively in the first direction and second direction based on the overhead view image
The distance at upper interval；
Based on the distance, control moving assembly and/or apart from component is adjusted, so that certain reference point edge on the excavation component
The first direction and/or second direction are moved to target position.
22. method as claimed in claim 15, which is characterized in that the control moving assembly and/or apart from adjust component, make
Certain reference point obtained on the excavation component is moved to target position along the first direction and/or second direction, further includes:
The image of the second image acquiring device acquisition is obtained, and is transferred to controlling terminal；
Receive the mobile control instruction of controlling terminal；
Based on the mobile control instruction, control moving assembly and/or apart from component is adjusted, so that certain on the excavation component
Reference point is moved to target position along the first direction and/or second direction.
23. method as claimed in claim 15, which is characterized in that the target position is what controlling terminal was specified.
24. method as claimed in claim 15, which is characterized in that the control first angle adjusts component and/or second jiao
Degree adjusts component and is rotated, so that the excavation component completes primary excavate, comprising:
Control first angle, which adjusts component and/or second angle and adjusts component, to be rotated so that the excavation component successively into
Enter to excavate readiness, contact condition, first spade state, scoop state and completion status.
25. method as claimed in claim 24, which is characterized in that
It is described that the excavation component is made to enter excavation readiness, comprising:
According to angular adjustment component control instruction, controls first angle adjusting component and second angle adjusts component and rotated,
So that first mechanical arm rotates down, while making the first scraper bowl open side parallel with the first mechanical arm, until the first shovel
The distance between bucket and first target object are preset third distance；
It is described that the excavation component is made to enter contact condition, comprising:
Control second angle adjusts component and is rotated, so that the first scraper bowl end touches the bottom of the first target object
Portion；
It is described that the excavation component is made to enter first spade state, comprising:
Control first angle adjusts component and is rotated, meanwhile, control second angle adjusts component and is rotated, so that the first shovel
The line that end is adjusted with second angle between the spindle central point of component that struggles against is vertical with the bottom of the first target object；
It is described that the excavation component is made to enter scoop state, comprising:
Control second angle adjusts component and is rotated, meanwhile, control first angle adjusts component and is rotated, so that the first shovel
Struggling against, bottom is parallel with the bottom of the first target object to be bonded；
It is described that the excavation component is made to enter completion status, comprising:
Control second angle adjusts component and is rotated, meanwhile, control first angle adjusts component and is rotated, so that described the
One mechanical arm and horizontal direction form over the angle of preset first angle, the open side of the first scraper bowl upward and with level side
To the angle formed no more than preset second angle.
26. method as claimed in claim 24, which is characterized in that further include that the first scraper bowl of control is vibrated and continued certain
Time.
27. method as claimed in claim 15, which is characterized in that the method also includes:
Based on mobile control instruction, control moving assembly is moved, so that the excrement cleaning plant reaches the second position, institute
It is related to the second target object to state the second position；
Control second angle adjusts component and is rotated, by the object falling in the first scraper bowl into second target object.
28. method as claimed in claim 27, which is characterized in that further include:
Obtain the output signal of second sensor；
Determine whether the excrement cleaning plant reaches the second position based on the output signal of second sensor.
29. a kind of control method, which is characterized in that for controlling the excrement cleaning plant as described in claim 1~12, wrap
It includes:
Obtain and show the image that the first image acquiring device obtains and/or the image that the second image acquiring device obtains；
Obtain and send the mobile control instruction of user's input, apart from regulating control command, target position and/or excavation instruction.
30. method as claimed in claim 29, which is characterized in that the target position for obtaining user's input includes:
Floating buttons are shown on the display interface for the image that second image acquiring device obtains；
User is detected to position of the floating buttons in described image after the completion of the operation and operation of the floating buttons
Information；
The target position is determined based on the location information.
31. a kind of excrement method for cleaning, applied to the excrement cleaning plant as described in claim 1~12, which is characterized in that institute
The method of stating includes:
The excrement cleaning plant is set to reach first position, the first position is related to first target object；
Command range adjusts component and stretches, so that second image acquiring device gets the first target object
Overhead view image；
At least two target positions are determined based on the overhead view image；
For each target position:
Moving assembly is controlled and/or apart from component is adjusted, so that reference point on the excavation component reaches target position；
Control first angle adjusts component and/or second angle adjusts component and rotated, so that the excavation component completes one
Secondary excavation；
Control moving assembly is moved, so that the excrement cleaning plant reaches the second position, the second position and second
Target object is related；
Control first angle adjusts component and/or second angle adjusts component and rotated, by the object falling in the first scraper bowl
To in second target object；
Moving assembly is controlled and/or apart from component is adjusted, so that certain reference point on the excavation component reaches next target position
It sets.
32. method as claimed in claim 31, which is characterized in that described to determine at least two targets based on the overhead view image
Position, including the first target object is divided by least two regions based on the overhead view image, to determine at least two
Target position.
33. method as claimed in claim 32, which is characterized in that at least two region is not overlapped, and is combined energy
Enough cover the region of the first target object.
34. method as claimed in claim 32, which is characterized in that at least two region is arranged according to matrix form, and
At least one of at least two regions are rectangular area.
35. a kind of excrement cleaning plant, which is characterized in that described device includes at least a processor and at least one storage
Device；
At least one processor is for storing computer instruction；
At least one described processor is used to execute at least partly instruction in the computer instruction to realize such as claim
Operation described in any one of 15~28.
36. a kind of control device, which is characterized in that described device includes at least a processor and at least one processor；
At least one processor is for storing computer instruction；
At least one described processor is used to execute at least partly instruction in the computer instruction to realize such as claim
Operation described in any one of 29~30.
37. a kind of excrement cleaning plant, which is characterized in that described device includes at least a processor and at least one storage
Device；
At least one processor is for storing computer instruction；
At least one described processor is used to execute at least partly instruction in the computer instruction to realize such as claim
Operation described in any one of 31~34.
38. a kind of computer can storage medium, which is characterized in that the storage medium is stored with computer instruction, when the meter
When at least partly instruction in the instruction of calculation machine is executed by processor, the behaviour as described in any one of claim 15~34 is realized
Make.
39. a kind of excrement clears up system, the excrement cleaning dress for being configured in as described in any one of claim 1~12
It sets characterized by comprising
Position module is put, for making the excrement cleaning plant reach first position, the first position and first target object phase
It closes；
Apart from adjustment module, component is adjusted for command range and is stretched, so that second image acquiring device is got
The overhead view image of the first target object；
Mobile module, controls moving assembly and/or apart from component is adjusted, so that certain reference point on the excavation component is described in
First direction and/or second direction are moved to target position；
Module is excavated, component is adjusted for controlling first angle adjusting component and/or second angle and is rotated, so that the digging
It digs component and completes primary excavate.
40. a kind of control system, which is characterized in that for controlling the excrement cleaning plant as described in claim 1~12, wrap
It includes:
First obtains module, and the image and/or the second image for obtaining and showing the acquisition of the first image acquiring device obtain dress
Set the image of acquisition；
Second obtain module, for obtain user input mobile control instruction, apart from regulating control command, target position and/
Or excavate instruction；
Sending module, for sending the mobile control instruction of user's input, apart from regulating control command, target position and/or digging
Pick instruction.
41. system as claimed in claim 40, which is characterized in that the second acquisition module is also used to:
Floating buttons are shown on the display interface for the image that second image acquiring device obtains；
User is detected to position of the floating buttons in described image after the completion of the operation and operation of the floating buttons
Information；
The target position is determined based on the location information.
42. a kind of excrement clears up system, the excrement cleaning plant for being configured in as described in claim 1~12 is special
Sign is, comprising:
Position module is put, for making the excrement cleaning plant reach first position, the first position and first target object phase
It closes；
Apart from adjustment module, component is adjusted for command range and is stretched, so that second image acquiring device is got
The overhead view image of the first target object；
Target position determining module, for determining at least two target positions based on the overhead view image；
Cleaning modul, for being directed to each target position:
Moving assembly is controlled and/or apart from component is adjusted, so that certain reference point on the excavation component reaches target position；
Control first angle adjusts component and/or second angle adjusts component and rotated, so that the excavation component completes one
Secondary excavation；
Control moving assembly is moved, so that the excrement cleaning plant reaches the second position, the second position and second
Target object is related；
Control second angle adjusts component and is rotated, by the object falling in the first scraper bowl into second target object；
Moving assembly is controlled and/or apart from component is adjusted, so that certain reference point on the excavation component reaches next target position
It sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311167192.0A CN117079199A (en) | 2019-03-04 | 2019-03-04 | Fecal cleaning method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/076833 WO2020177050A1 (en) | 2019-03-04 | 2019-03-04 | Excrement cleaning method, apparatus, and system |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311167192.0A Division CN117079199A (en) | 2019-03-04 | 2019-03-04 | Fecal cleaning method, device and system |
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| CN110036398A true CN110036398A (en) | 2019-07-19 |
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| CN201980000248.9A Active CN110036398B (en) | 2019-03-04 | 2019-03-04 | Fecal cleaning method, device and system |
| CN202311167192.0A Pending CN117079199A (en) | 2019-03-04 | 2019-03-04 | Fecal cleaning method, device and system |
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| WO (1) | WO2020177050A1 (en) |
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| CN113552829A (en) * | 2021-07-27 | 2021-10-26 | 深圳市云宠乐家科技有限公司 | Intelligent cat toilet control circuit and control method |
| CN114009349A (en) * | 2021-12-18 | 2022-02-08 | 新疆畜牧科学院畜牧研究所 | Livestock-raising sheepfold is with scraping excrement device |
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Also Published As
| Publication number | Publication date |
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| CN117079199A (en) | 2023-11-17 |
| CN110036398B (en) | 2023-10-03 |
| WO2020177050A1 (en) | 2020-09-10 |
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