CN110036398B

CN110036398B - Fecal cleaning method, device and system

Info

Publication number: CN110036398B
Application number: CN201980000248.9A
Authority: CN
Inventors: 江新炼
Original assignee: Sego Internet Of Things Co ltd
Current assignee: Zhejiang Huamai Robot Technology Co ltd
Priority date: 2019-03-04
Filing date: 2019-03-04
Publication date: 2023-10-03
Anticipated expiration: 2039-03-04
Also published as: CN117079199A; WO2020177050A1; CN110036398A

Abstract

The embodiment of the application discloses a fecal cleaning device. The device comprises: the device comprises a body, a control assembly, a moving assembly, a distance adjusting assembly, a first angle adjusting assembly and an excavating assembly; the distance adjusting component is arranged on the body and used for extending and retracting based on a control instruction of the control component; the digging component is arranged on the distance adjusting component through a first angle adjusting component; the first angle adjusting component is used for rotating based on a control instruction of the control component; the moving assembly is arranged on the body and is used for driving the body to move based on a control instruction of the control assembly, and the moving direction of the moving assembly at least comprises a first direction and a second direction which are mutually orthogonal.

Description

Fecal cleaning method, device and system

Technical Field

The application relates to the field of pet supplies, in particular to a method, a device and a system for cleaning excrement.

Background

With the development of social life, more and more families start to choose to raise pets, but the current pet faeces cleaning mode is a mode of personally and manually processing, and a great deal of time of the pet owners is required to be spent. In addition, when the pet owner goes out to be at home, the pet excrement cannot be cleaned timely, so that the environmental sanitation at home is affected. Therefore, a need exists for a fecal cleaning device that automatically cleans pet feces.

Disclosure of Invention

One embodiment of the application provides a fecal cleaning device. The device comprises: the device comprises a body, a control assembly, a moving assembly, a distance adjusting assembly, a first angle adjusting assembly and an excavating assembly; the distance adjusting component is arranged on the body and used for extending and retracting based on a control instruction of the control component; the digging component is arranged on the distance adjusting component through a first angle adjusting component; the first angle adjusting component is used for rotating based on a control instruction of the control component; the moving assembly is arranged on the body and is used for driving the body to move based on a control instruction of the control assembly, and the moving direction of the moving assembly at least comprises a first direction and a second direction which are mutually orthogonal.

In some embodiments, the apparatus further comprises a first image acquisition device, a second image acquisition device; the first image acquisition device is used for acquiring a plane view image in front of the body; the second image acquisition device is used for acquiring a top view image in front of the body.

In some embodiments, the first image acquisition device is mounted on the body; the second image acquisition device is mounted on the distance adjustment assembly.

In some embodiments, the apparatus further comprises: and the at least two first sensors are used for determining the relative position relationship between the body and the first target object.

In some embodiments, the apparatus further comprises a second sensor for determining a relative positional relationship between the body and a second target object.

In some embodiments, the distance adjustment assembly comprises an electric push rod; one end of the push rod is fixedly connected with the body, and the excavating component is arranged at the other end of the push rod through the first angle adjusting component; the extension direction of the push rod is parallel to the length direction of the push rod.

In some embodiments, the excavation assembly includes a first robotic arm and a first bucket; the distance adjusting component is connected with one end of the first mechanical arm through the first angle adjusting component; the first mechanical arm is connected with the first bucket through a second angle adjusting assembly, and the second angle adjusting assembly is used for rotating based on a control instruction of the control assembly.

In some embodiments, the apparatus further comprises: the vibration assembly is used for driving the first bucket to vibrate based on a control instruction of the control assembly; the first bucket has at least one mesh.

In some embodiments, the angle adjustment assembly is a steering engine.

In some embodiments, the mobile component is a Mecanum wheel.

In some embodiments, the control assembly further comprises a communication module, and the control assembly has a signal connection with the communication module.

In some embodiments, the second direction is also orthogonal to a telescoping direction of the distance adjustment assembly.

One embodiment of the application provides a fecal cleaning system. The system comprises a fecal cleaning device and a control terminal; the excrement cleaning device is in signal interaction with the control terminal through the communication module.

One embodiment of the application provides a fecal cleaning system. The system comprises a fecal cleaning device, a control terminal and a server; the excrement cleaning device is in signal connection with the server through a communication module; the control terminal is in signal connection with the server.

One embodiment of the application provides a fecal cleaning method, which is applied to a fecal cleaning device and comprises the following steps: bringing the faecal cleaning device to a first position, the first position being associated with a first target object; controlling the distance adjusting assembly to stretch so as to enable the second image acquisition device to acquire a top view image of the first target object; controlling a moving assembly and/or a distance adjusting assembly to move a certain reference point on the excavating assembly to a target position along the first direction and/or the second direction; and controlling the first angle adjusting assembly and/or the second angle adjusting assembly to rotate so that the excavating assembly finishes one excavating.

In some embodiments, the bringing the fecal cleaning device to the first position further comprises: based on the movement control instruction, controlling the movement assembly to move so that the excrement cleaning device reaches an initial position; the distance between the initial position and the first position does not exceed a set threshold.

In some embodiments, further comprising: acquiring an image acquired by a first image acquisition device and transmitting the image to a control terminal; and receiving a movement control instruction of the control terminal.

In some embodiments, the bringing the fecal cleaning device to the first position further comprises: controlling the movement of the moving assembly through output signals of at least two first sensors so as to enable the excrement cleaning device to continue to move to the first position; the distance between the first position and the first target object does not exceed the set threshold value and the second direction is parallel to a certain edge of the first target object.

In some embodiments, the controlling the distance adjustment assembly to telescope to cause the second image acquisition device to acquire a top view image of the first target object includes: based on the distance adjustment control instruction, the distance adjustment assembly is controlled to stretch or contract, and the stretching direction comprises stretching or shortening along the length direction of the distance adjustment assembly until a complete overlook image of the first target object is obtained.

In some embodiments, further comprising: acquiring an image acquired by the second image acquisition device and transmitting the image to the control terminal; and receiving a distance adjustment control instruction of the control terminal.

In some embodiments, the controlling the movement assembly and/or the distance adjustment assembly such that a reference point on the excavation assembly moves in the first and/or second directions to a target location further comprises: determining a distance between the reference point and the target position in the first direction and the second direction respectively based on the top view image; based on the distance, a moving assembly and/or a distance adjusting assembly is controlled such that a certain reference point on the digging assembly is moved to a target location in the first and/or second direction.

In some embodiments, the controlling the movement assembly and/or the distance adjustment assembly such that a reference point on the excavation assembly moves in the first and/or second directions to a target location further comprises: acquiring an image acquired by the second image acquisition device and transmitting the image to the control terminal; receiving a movement control instruction of a control terminal; and controlling a moving assembly and/or a distance adjusting assembly based on the movement control instruction so that a certain reference point on the excavating assembly moves to a target position along the first direction and/or the second direction.

In some embodiments, the target location is specified for the control terminal.

In some embodiments, the controlling the first angle adjustment assembly and/or the second angle adjustment assembly to rotate to cause the digging assembly to complete one digging comprises: and controlling the first angle adjusting assembly and/or the second angle adjusting assembly to rotate so that the excavating assembly sequentially enters an excavating preparation state, a contact state, a primary shovel state, a deep shovel state and a finishing state.

In some embodiments, the causing the digging assembly to enter a digging preparation state includes: according to the control instruction of the angle adjusting assembly, the first angle adjusting assembly and the second angle adjusting assembly are controlled to rotate so that the first mechanical arm rotates downwards, and meanwhile the opening side of the first bucket is parallel to the first mechanical arm until the distance between the first bucket and the first target object is a preset third distance; the bringing the digging assembly into contact comprises: controlling the second angle adjusting assembly to rotate so that the first bucket tip contacts the bottom of the first target object; the enabling the excavating assembly to enter a pre-shovel state comprises: controlling the first angle adjusting assembly to rotate, and simultaneously controlling the second angle adjusting assembly to rotate so that a connecting line between the first bucket end and the rotating shaft center point of the second angle adjusting assembly is perpendicular to the bottom of the first target object; the bringing the digging assembly into a deep shovel state includes: controlling the second angle adjusting assembly to rotate, and simultaneously controlling the first angle adjusting assembly to rotate so as to enable the bottom of the first bucket to be attached to the bottom of the first target object in parallel; the bringing the digging assembly into a complete state includes: and controlling the second angle adjusting assembly to rotate, and simultaneously controlling the first angle adjusting assembly to rotate so that the first mechanical arm and the horizontal direction form an included angle exceeding a preset first angle, and the opening side of the first bucket faces upwards and forms an included angle not exceeding a preset second angle with the horizontal direction.

In some embodiments, controlling the first bucket to vibrate is further included for a duration of time.

In some embodiments, the method further comprises: controlling the moving assembly to move based on the movement control instruction so as to enable the excrement cleaning device to reach a second position, wherein the second position is related to a second target object; and controlling the second angle adjusting assembly to rotate, and dumping the object in the first bucket into the second target object.

In some embodiments, further comprising: acquiring an output signal of a second sensor;

determining whether the fecal cleaning device reaches a second position based on the output signal of the second sensor.

One of the embodiments of the present application provides a control method for controlling a fecal cleaning device, including: acquiring and displaying the image acquired by the first image acquisition device and/or the image acquired by the second image acquisition device; and acquiring and transmitting a movement control instruction, a distance adjustment control instruction, a target position and/or an excavating instruction which are input by a user.

In some embodiments, the obtaining the target location of the user input includes: displaying a floating button on a display interface of the image acquired by the second image acquisition device; detecting the position information of the floating button in the image after the operation of the floating button by a user is finished; the target location is determined based on the location information.

One embodiment of the application provides a fecal cleaning method, which is applied to a fecal cleaning device and comprises the following steps: bringing the faecal cleaning device to a first position, the first position being associated with a first target object; controlling the distance adjusting assembly to stretch so as to enable the second image acquisition device to acquire a top view image of the first target object; determining at least two target locations based on the top view image; for each target position: controlling a moving assembly and/or a distance adjusting assembly so that a reference point on the excavating assembly reaches a target position; controlling the first angle adjusting component and/or the second angle adjusting component to rotate so as to enable the excavating component to complete one-time excavation; controlling the moving assembly to move so that the excrement cleaning device reaches a second position, wherein the second position is related to a second target object; controlling the first angle adjusting component and/or the second angle adjusting component to rotate, and dumping the object in the first bucket into the second target object; the moving assembly and/or the distance adjusting assembly are/is controlled so that a certain reference point on the excavating assembly reaches the next target position.

In some embodiments, the determining at least two target locations based on the top view image includes dividing the first target object into at least two regions based on the top view image to determine at least two target locations.

In some embodiments, the at least two regions do not overlap and, in combination, are capable of covering a region of the first target object.

In some embodiments, the at least two regions are arranged in a matrix form, and at least one of the at least two regions is a rectangular region.

One of the embodiments of the present application provides a fecal cleaning device, the device comprising at least one processor and at least one memory; the at least one memory is configured to store computer instructions; the at least one processor is configured to execute at least some of the computer instructions to perform operations of the stool cleaning method.

One of the embodiments of the present application provides a control device, the device at least includes a processor and at least a memory; the at least one memory is configured to store computer instructions; the at least one processor is configured to execute at least some of the computer instructions to implement the operations of the control method.

One of the embodiments of the present application provides a computer-readable storage medium, wherein the storage medium stores computer instructions that, when executed by a processor, implement operations of a stool cleaning method or a control method.

One embodiment of the present application provides a fecal cleaning system for being disposed on a fecal cleaning device, the system comprising: a positioning module for enabling the fecal cleaning device to reach a first position, the first position being related to a first target object; the distance adjusting module is used for controlling the distance adjusting assembly to stretch and retract so that the second image acquisition device acquires the overlook image of the first target object; a moving module for controlling the moving component and/or the distance adjusting component to enable a certain reference point on the excavating component to move to a target position along the first direction and/or the second direction; and the excavating module is used for controlling the first angle adjusting assembly and/or the second angle adjusting assembly to rotate so as to enable the excavating assembly to complete one excavating.

One of the embodiments of the present application provides a control system for controlling a fecal cleaning device, the system comprising: the first acquisition module is used for acquiring and displaying the image acquired by the first image acquisition device and/or the image acquired by the second image acquisition device; the second acquisition module is used for acquiring a movement control instruction, a distance adjustment control instruction, a target position and/or an excavating instruction which are input by a user; and the sending module is used for sending the movement control instruction, the distance adjustment control instruction, the target position and/or the mining instruction input by the user.

In some embodiments, the second acquisition module is further to: displaying a floating button on a display interface of the image acquired by the second image acquisition device; detecting the position information of the floating button in the image after the operation of the floating button by a user is finished; the target location is determined based on the location information.

One embodiment of the present application provides a fecal cleaning system for being disposed on a fecal cleaning device, the system comprising: a positioning module for enabling the fecal cleaning device to reach a first position, the first position being related to a first target object; the distance adjusting module is used for controlling the distance adjusting assembly to stretch and retract so that the second image acquisition device acquires the overlook image of the first target object; a target position determining module for determining at least two target positions based on the top view image; a cleaning module for, for each target location: controlling a moving assembly and/or a distance adjusting assembly so that a certain reference point on the excavating assembly reaches a target position; controlling the first angle adjusting component and/or the second angle adjusting component to rotate so as to enable the excavating component to complete one-time excavation; controlling the moving assembly to move so that the excrement cleaning device reaches a second position, wherein the second position is related to a second target object; controlling the second angle adjusting assembly to rotate, and dumping the object in the first bucket into the second target object; the moving assembly and/or the distance adjusting assembly are/is controlled so that a certain reference point on the excavating assembly reaches the next target position.

Drawings

The application will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. The embodiments are not limiting, in which like numerals represent like structures, wherein:

fig. 1 is a schematic diagram illustrating an application scenario of a fecal cleaning system 100 according to some embodiments of the present application;

FIG. 2 is a schematic illustration of a fecal cleaning device 200 according to some embodiments of the present application;

FIG. 3 is a block diagram of a fecal cleaning system 300 according to some embodiments of the present application;

FIG. 4 is a block diagram of a control system 400 according to some embodiments of the application;

FIG. 5 is an exemplary flow chart of a stool cleaning method 500 according to some embodiments of the present application;

FIG. 6 is an exemplary flow chart of a control method 600 according to some embodiments of the application;

FIG. 7 is an exemplary flow chart of another stool cleaning method 700 according to some embodiments of the present application;

FIG. 8 is a block diagram of another fecal cleaning system 800 according to some embodiments of the present application;

FIG. 9 is a schematic illustration of a fecal cleaning device 200 according to some embodiments of the present application reaching an initial position;

FIG. 10 is a schematic diagram of a display interface on a control terminal according to some embodiments of the application;

FIG. 11 is a schematic flow diagram of excavation of an excavation component, according to some embodiments of the present application;

FIG. 12 is an overall schematic of the fecal cleaning device 200 with the digging assembly 250 according to some embodiments of the present application in a digging preparation state;

FIG. 13 is a schematic illustration of an excavation assembly 250 entering an excavation preparation state, in accordance with some embodiments of the present application;

FIG. 14 is a schematic illustration of an excavation assembly 250 according to some embodiments of the present application brought into contact;

FIG. 15 is a schematic illustration of an excavation assembly 250 according to some embodiments of the present application entering a pre-shovel state;

FIG. 16 is a schematic illustration of an excavation assembly 250 entering a deep shovel state, according to some embodiments of the present application;

FIG. 17 is a schematic illustration of an excavation assembly 250 entering a completed state, according to some embodiments of the present application;

FIG. 18 is a schematic view of a fecal cleaning device 200 according to some embodiments of the present application reaching a second position;

FIG. 19 is a schematic illustration of a first object being divided into regions according to some embodiments of the application;

fig. 20 (a) and (b) are schematic views showing placement modes of a first target object and a second target object according to some embodiments of the present application.

Detailed Description

In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present application, and it is apparent to those of ordinary skill in the art that the present application may be applied to other similar situations according to the drawings without inventive effort. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.

A flowchart is used in the present application to describe the operations performed by a system according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in order precisely. Rather, the various steps may be processed in reverse order or simultaneously. Also, other operations may be added to or removed from these processes.

It will be appreciated that "system," "apparatus," "component," "unit," and/or "module" as used herein is one method for distinguishing between different components, elements, parts, portions, or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

Although the present application makes various references to certain modules or units in a system according to embodiments of the present application, any number of different modules or units may be used and run on clients and/or servers. The modules are merely illustrative, and different aspects of the systems and methods may use different modules.

As used in the specification and in the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.

Fig. 1 is a schematic diagram illustrating an application scenario of a fecal cleaning system 100 according to some embodiments of the present application.

As shown in fig. 1, the fecal cleaning system 100 includes a fecal cleaning device 110, a network 120, one or more control terminals 130, a server 140, and a storage device 150.

In some embodiments, the fecal cleaning device 110 may clean pet feces. In some embodiments, the stool cleaning device 110 includes at least a body, a control assembly, a movement assembly, a distance adjustment assembly, a first angle adjustment assembly, and an excavation assembly. For example, the fecal cleaning device 110 may be used to clean fecal matter in a litter box. At this time, the control terminal 130 may send a corresponding control instruction to the fecal cleaning device 110 through the network 120, after the fecal cleaning device 110 receives the control instruction, the control component controls the moving component and the distance adjusting component, so that the fecal cleaning device 110 reaches a target position (for example, near a cat litter basin), then, the control terminal 130 sends a corresponding control instruction to the fecal cleaning device 110 through the network 120, and after the fecal cleaning device 110 receives the control instruction, the control component controls the first angle adjusting component to rotate, thereby controlling the excavating component to excavate the fecal in the cat litter basin. In some embodiments, the distance adjustment component may telescope based on control instructions of the control component. In some embodiments, the mining assembly may mine the target object (e.g., pet litter) according to control instructions of the control assembly. In some embodiments, the first angle adjustment assembly may be rotated based on control instructions of the control assembly. In some embodiments, the moving component may move the body based on a control instruction of the control component (e.g., a moving direction is a direction along which the distance adjusting component stretches and contracts). In some embodiments, the fecal cleaning device 110 may also include an image acquisition device that may acquire images in real time (e.g., acquire a head-up/top view image of the front of the body). In some embodiments, the fecal cleaning device 110 may also include a locating/detecting mechanism. In some embodiments, the location/detection mechanism may obtain environmental information, such as an environmental image. The control component, control terminal 130 or server 140 of the fecal cleaning device 110 may perform object recognition (e.g., object is a cat litter box or a litter box) on the image, determine the distance and route to the object, and control the movement component to move the fecal cleaning device 110 toward the object. In some embodiments, the positioning/detection mechanism may include one or a combination of several of an image collector, a camera, a positioning device, or a sensor. In some embodiments, the sensor may include one or a combination of several of a laser sensor, a sonar sensor, an ultrasonic sensor, an electronic compass, a speed sensor, and the like. In some embodiments, the locating/detecting mechanism may be mounted on the target alone, on the fecal cleaning device 110 alone, or on both the target and the fecal cleaning device 110. In some embodiments, the fecal cleaning device 110 may also include an input/output device such as a display screen, microphone, audio, etc.

In some embodiments, the fecal cleaning device 110 may also include a communication module. The communication module may be used for the exchange of data and/or information. In some embodiments, one or more components (e.g., control components, image acquisition devices) in the fecal cleaning device 110 may interact with the outside world through a communication module. In some embodiments, the communication module may communicate with the control terminal 130, the network 120, or the remote server 140. In some embodiments, the communication module may be any type of wired or wireless communication module, and may be adapted to any communication network. For example, the communication module may be adapted to interact with other devices via a cable network, a wired network, a fiber optic network, a telecommunications network, an internal network, the internet, a Local Area Network (LAN), a Wide Area Network (WAN), a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Public Switched Telephone Network (PSTN), a bluetooth network, a ZigBee network, a Near Field Communication (NFC) network, or the like, or any combination thereof.

In some embodiments, the control assembly may control the fecal cleaning device 110 to clean pet feces. In some embodiments, the manner of control may be centralized or distributed, and may be wired or wireless. In some embodiments, the control component may execute program instructions in the form of one or more processors. In some embodiments, the control component may receive data and/or information transmitted by the body, the movement component, the distance adjustment component, the first angle adjustment component, the mining component, the communication module, and the server 140. In some embodiments, the control component may send instructions to the body, the movement component, the distance adjustment component, the first angle adjustment component, the mining component, the communication module, and the server 140. For example, the control unit may receive an instruction from the control terminal 130 through the communication module, and control the excavating unit to excavate pet feces. In some embodiments, the control component may transmit information through the communication module, receive information from the control terminal 130, the network 120, the server 140, or the storage device 150, or transmit information to the control terminal 130, the network 120, the server 140, or the storage device 150. In some embodiments, the control component may include one or more sub-controllers (e.g., single core processing devices or multi-core processing devices). By way of example only, the control components may include an Electronic Controller (ECU), an Application Specific Integrated Circuit (ASIC), an Application Specific Instruction Processor (ASIP), a Graphics Processor (GPU), a Physical Processor (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), an editable logic circuit (PLD), a microcontroller unit, a Reduced Instruction Set Computer (RISC), a microprocessor, or the like, or any combination thereof.

The network 120 may include any suitable network capable of facilitating the exchange of information and/or data by the fecal cleaning system 100. In some embodiments, one or more components of the fecal cleaning system 100 (e.g., fecal cleaning device 110, control terminal 130, server 140, storage device 150, etc.) may exchange information and/or data with one or more components of the fecal cleaning system 100 over the network 120. For example, the server 140 may receive instructions from the control terminal 130 through the network 120. Network 120 may include one or a combination of public networks (e.g., the internet), private networks (e.g., local Area Network (LAN), wide Area Network (WAN)), etc.), wired networks (e.g., ethernet), wireless networks (e.g., 802.11 networks, wireless Wi-Fi networks, etc.), cellular networks (e.g., long Term Evolution (LTE) networks), frame relay networks, virtual Private Networks (VPN), satellite networks, telephone networks, routers, hubs, server computers, etc. For example, the network 120 may include one or a combination of several of a wired network, a fiber optic network, a telecommunications network, a local area network, a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Public Switched Telephone Network (PSTN), a bluetooth ™ network, a ZigBee ™ network, a Near Field Communication (NFC) network, and the like. In some embodiments, network 120 may include one or more network access points. For example, the network 120 may include wired and/or wireless network access points, such as base stations and/or internet switching points, through which one or more components of the fecal cleaning system 100 may connect to the network 120 to exchange data and/or information.

The user control terminal 130 may include a mobile device 131, a tablet 132, a notebook 133, etc., or any combination thereof. In some embodiments, the control terminal 130 may be operated by the pet owner or a registered user in the system 100. In some embodiments, the fecal cleaning device 110 may open control rights, allowing a control terminal 130 registered on the system 100 to control the fecal cleaning device 110 in the system 100, thereby enabling a shared pet care mode. In some embodiments, the control terminal 130 may interact with the fecal cleaning device 110 via the network 120 for information and/or data. For example, the control terminal 130 may acquire image data of the cleaning device 110 through the network 120, or the control terminal 130 may transmit a control instruction to the stool cleaning device 110 through the network 120. In some embodiments, control terminal 130 may interact with server 140 via network 120 for information and/or data. For example, the control terminal 130 may obtain a control instruction on a server through the network 120. In some embodiments, the fecal cleaning device 110 may interact with the server 140 via the network 120 for information and/or data. For example, the fecal cleaning device 110 may obtain control instructions on a server via the network 120. In some embodiments, mobile device 131 may include a wearable apparatus, a mobile device, a virtual reality device, an augmented reality device, or the like, or any combination thereof. In some embodiments, the wearable device may include a bracelet, footwear, glasses, helmet, watch, clothing, backpack, smart accessory, or the like, or any combination thereof. In some embodiments, the mobile device may include a mobile phone, a Personal Digital Assistant (PDA), a gaming device, a navigation device, a POS device, a notebook, a tablet, a desktop, etc., or any combination thereof. In some embodiments, the virtual reality device and/or augmented reality device may include a virtual reality helmet, virtual reality glasses, virtual reality patches, augmented reality helmets, augmented reality glasses, augmented reality patches, and the like, or any combination thereof. For example, the virtual reality device and/or augmented reality device may include Google Glass ™, objective lift ™, holonens ™, or Gear VR ™, among others.

The server 140 may process information and/or data related to the fecal cleaning device 110. The server 140 may be a stand-alone server or a group of servers. The server farm may be centralized or distributed (e.g., server 140 may be a distributed system). In some embodiments, the server 140 may be regional or remote. In some embodiments, the server 140 may be in communication with the fecal cleaning device 110 through the network 120. In some embodiments, server 140 may obtain image data, sensor data, etc. over network 120. The server 140 may process the acquired data and then send the result of the processing to the fecal cleaning device 110 through the network 120. For example, the server 140 may perform path planning according to a preset algorithm based on the acquired image data and the sensor data, and send the planned path obtained by processing to the fecal cleaning device 110 through the network 120, so that the fecal cleaning device 110 controls the moving component, the distance adjusting component, and the like to perform subsequent operations. In some embodiments, the server 140 may relay as a signal, communicating the fecal cleaning device 110 and the control terminal 130. For example, the control terminal 130 may send data to the server 140 via the network 120, and the server 140 may send the data to the faeces cleaning device 110 via the network 120. In some embodiments, server 140 may execute on a cloud platform. For example, the cloud platform may include one of a private cloud, a public cloud, a hybrid cloud, a community cloud, a decentralized cloud, an internal cloud, or the like, or any combination thereof. In some embodiments, the server 140 may be a local server disposed on the fecal cleaning device 110, and may directly communicate with the communication module, the controller component, the body, the moving component, the distance adjusting component, the first angle adjusting component, and the digging component, and communicate with the control terminal 130 via the network 120. In some embodiments, the server 140 may also be integrated within the control assembly of the fecal cleaning device 110. In some embodiments, server 140 may include a processing device or a storage device. The processing device may process data and/or information related to the fecal cleaning device 110 to perform one or more of the functions described in the present application. In some embodiments, a storage device may store information and/or instructions for execution or use by server 140 to perform the exemplary methods described herein. In some embodiments, the storage device may include mass storage, removable storage, volatile read-write memory (e.g., random access memory RAM), read-only memory (ROM), and the like, or any combination thereof.

Storage device 150 may store data, instructions, and/or any other information. In some embodiments, the storage device 150 may store data obtained from the server 140 and/or the control terminal 130. In some embodiments, the stored data of the storage device 150 may include map data, the size of a target object (e.g., a litter box or litter box), the location of the target object, the set cleaning time, image data acquired by the fecal cleaning apparatus 110, sensor data, first angle adjustment component rotation angle and/or time, the size of the various components of the apparatus 200, and the like. In some embodiments, the storage device 150 may store data and/or instructions that may be executed or used by the server 140 to perform the exemplary methods described herein. In some embodiments, the storage device 150 may include one or a combination of a large capacity memory, a removable memory, a volatile read-write memory, a read-only memory (ROM), and the like. Mass storage may include magnetic disks, optical disks, solid state disks, removable memory, and the like. Removable memory may include flash drives, floppy disks, optical disks, memory cards, ZIP disks, tape, and the like. Volatile read-write memory can include Random Access Memory (RAM). The RAM may include Dynamic Random Access Memory (DRAM), double data rate synchronous 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 read-only memory (MROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM), optical discs of digital versatile discs, and the like. In some embodiments, the storage device 150 may be implemented by a cloud platform as described in the present application. For example, the cloud platform may include one or a combination of several of private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, cross-cloud, multi-cloud, and the like. In some embodiments, the storage device 150 may be connected to the network 120 to enable communication with one or more components (e.g., control components, etc.) in the fecal cleaning device 110. One or more components of the fecal cleaning device 110 may read data or instructions in the storage device 150 through the network 120. In some embodiments, the storage device 150 may be part of the server 140.

It should be noted that the above description is for convenience only and is not intended to limit the application to the scope of the illustrated embodiments. It will be understood by those skilled in the art, having the benefit of this disclosure, that various changes in form and details may be made to the implementation of the fecal cleaning system 100 described above without departing from the principles of the present application. However, such changes and modifications do not depart from the scope of the present application. Specifically, each module may be distributed on different electronic components, or more than one module may be integrated on the same electronic component, or the same module may be distributed on more than one electronic component. For example, the communication module and the control component may each be a separate chip, or the communication module and the control component may be integrated on the same chip.

Fig. 2 is a block diagram of a fecal cleaning device 200 according to some embodiments of the present application.

As shown in fig. 2, the stool cleaning device 200 may include: the device comprises a body 210, a control assembly, a moving assembly 220, a distance adjusting assembly 230, a first angle adjusting assembly 240 and a digging assembly 250. The faecal cleaning device 110 as described in fig. 1 may be implemented by means of a faecal cleaning device 200.

And a distance adjusting component 230, disposed on the body 210, for telescoping based on the control instruction of the control component.

In some embodiments, the distance adjustment assembly 230 comprises an electric push rod; one end of the push rod is fixedly connected with the body 210, and the excavating component 250 is installed at the other end of the push rod through the first angle adjusting component 240; the distance between the excavating assembly 250 and the first target object is controlled by telescoping the push rod, and the telescoping direction of the push rod is parallel to the length direction of the push rod. In some embodiments, the electric putter may include: a motor and a transmission which converts the rotational movement of the motor into a linear reciprocating movement of the push rod. The transmission may include, but is not limited to, a gear reduction mechanism, a rack gear mechanism, an electric worm mechanism, and the like. The structure of the electric push rod is not particularly limited, and the electric push rod only needs to be capable of performing corresponding expansion and contraction according to the distance adjustment control command, so that the distance between the excavating component 250 and the first target object can be controlled.

In some embodiments, the distance between the digging assembly 250 and the first target object may be controlled by controlling the telescoping of the push rod, for example, when the distance between the digging assembly 250 and the first target object is too large, the push rod may be controlled to extend to a certain distance along the length of the push rod so that the digging assembly is close to the first target object, and for example, when the distance between the digging assembly 250 and the first target object is too small, the push rod may be controlled to shorten to a certain distance along the length of the push rod so that the digging assembly is far away from the first target object. The distance the pushrod is extended and retracted may be set according to the actual distance between the excavation assembly and the first target object, for example, the length of the pushrod extended is set to 100 to 250 millimeters and the length of the pushrod shortened is set to 100 to 250 millimeters. For another example, the length of the extension of the push rod may be set to 50 to 300 mm and the length of the shortening of the push rod may be set to 30 to 350 mm. The extension length of the push rod and the shortening length of the push rod may be set independently, and the distance between the excavation assembly 250 and the first target object may be controlled by controlling the extension length of the push rod.

A digging assembly 250 mounted to the distance adjusting assembly 230 through a first angle adjusting assembly 240; the first angle adjusting component 240 is configured to rotate based on a control command of the control component.

In some embodiments, the digging assembly 250 may be a mechanical digging assembly, a backhoe digging assembly, a front shovel digging assembly, or the like. In some embodiments, when the digging assembly 250 is a backhoe digging assembly, the first angle adjusting assembly 240 is mounted on the distance adjusting assembly 230, and the first angle adjusting assembly 240 can rotate based on the control instruction of the control assembly, so as to drive the digging assembly 250 to move clockwise or counterclockwise to dig the target object (such as pet feces). In some embodiments, the digging assembly 250 includes a first robotic arm and a first bucket. The distance adjusting assembly 230 is connected to one end of the first mechanical arm through the first angle adjusting assembly 240. The first mechanical arm is connected with the first bucket through a second angle adjusting component 241, and the second angle adjusting component 241 is used for rotating based on a control instruction of the control component.

In some embodiments, the arm length of the first mechanical arm may be set according to practical applications, for example, the arm length is set to 100 to 200 mm. In some embodiments, the angle adjustment assembly may be a steering engine. The angle adjustment can be carried out for a certain angle or a certain time according to the control instruction of the control assembly, so that the mechanical arm or the bucket is driven to rotate downwards or upwards. For example, the first angle adjustment assembly 240 may be rotated clockwise by 30 degrees according to a control command, or the second angle adjustment assembly may be rotated for 10 seconds according to a control command. In some embodiments, by controlling the first angle adjusting component, the first mechanical arm may be controlled to rotate around the rotation axis of the first angle adjusting component, for example, when the first angle adjusting component 240 rotates clockwise by 30 degrees according to the control command, the first mechanical arm is driven to rotate downwards by a certain angle. For another example, when the second angle adjusting part 241 rotates clockwise for 10 seconds according to the control command, the first bucket is driven to rotate downward by a certain angle.

In some embodiments, the apparatus 200 may further comprise: the vibration assembly is used for driving the first bucket to vibrate based on a control instruction of the control assembly; the first bucket has at least one mesh. In some embodiments, the vibration assembly may vibrate such that objects (e.g., cat litter) in the first bucket shake out of the first bucket through the mesh, and in some embodiments, the vibration assembly may be disposed in the first bucket, or in other positions of the apparatus 200, only to ensure that the first bucket is driven to vibrate, thereby shaking out objects in the first bucket. In some embodiments, the vibration assembly may be an eccentric weight.

The moving component 220 is mounted on the body 210, and is configured to drive the body 210 to move based on a control instruction of the control component, where a moving direction of the moving component 220 at least includes a first direction and a second direction that are orthogonal to each other; the second direction is also orthogonal to the telescoping direction of the distance adjustment assembly 230.

In some embodiments, the first direction and the second direction are orthogonal to each other, and the first direction may be parallel to a direction in which the distance adjustment assembly is telescopic. In some embodiments, the movement assembly 220 may be a Mecanum wheel, which is an omni-directional movement device based on the principle of a central wheel having a plurality of axles at the periphery of the wheel, which angular peripheral axles translate a portion of the wheel steering force to a wheel normal force, and then rely on the direction and speed of the respective wheels to cause the resultant of these forces to produce a resultant force vector in any desired direction, thereby ensuring that the wheel can move freely in the direction of the resultant force vector without changing the direction of the wheel itself. In some embodiments, two sets of Mecanum wheels may be mounted below the body 210, which may include 2 left-hand wheels and 2 right-hand wheels. In some embodiments, the manner of installation of the Mecanum wheel may include, but is not limited to: x-square, X-rectangle, O-square and O-rectangle, thereby realizing omnidirectional movement. Wherein X and O represent patterns formed by rollers with four wheels in contact with the ground, and square and rectangle refer to shapes surrounded by contact points of the four wheels with the ground. In some embodiments, the mecanum wheel may be rotated by a corresponding angle according to the control command of the control assembly, so as to translate the body 210 without steering. The moving component 220 can move along a designated direction according to the control instruction of the control component, and at least comprises: left turn direction, right turn direction, forward, backward, left lateral movement, right lateral movement, etc. In some embodiments, the mecanum wheel is used as the moving component 220, so that the device 200 can drive the body 210 to translate in any direction according to the control instruction of the control component, without changing the steering of the wheels in the moving component 220, so that the movement of the device 200 is simple and quick, and efficient cleaning is realized.

In some embodiments, the fecal cleaning device 200 may further comprise: a first image acquisition device 261, a second image acquisition device 262. First image acquisition means 261 for acquiring a head-up image in front of the body 210. The head-up image is based on the height of the installation position of the first image acquisition device 261, and the first image acquisition device 261 acquires an image directly ahead with the line of sight parallel to the horizontal line. A second image acquisition device 262 for acquiring a top view image of the front of the body 210. The overhead view image is based on the installation position of the second image acquisition device 262, and the second image acquisition device 262 acquires an image of a position directly below the line of sight perpendicular to the horizontal line.

In some embodiments, the first image acquisition device 261 is mounted on the body 210; the second image capture device 262 is mounted to the distance adjustment assembly 230. In some embodiments, the first image capturing device 261 may be mounted at the front of the body 210 so that an image of the front of the body 210 may be captured. In some embodiments, the second image capture device 262 may be mounted on the underside of the distance adjustment assembly 230 so that images directly beneath the distance adjustment assembly 230 may be captured.

In some embodiments, the first image capturing device 261 may include a camera, and may capture a head-up image in front of the body 210 in real time according to a control instruction. The first image acquisition device 261 may send the acquired plan view image to the control terminal in real time for display, so as to remind the user of the environmental information around the faeces cleaning device 200, and facilitate the user to control the faeces cleaning device 200, so as to reach the first target object accessory. In some embodiments, the second image capture device 262 may include a camera that captures a top view image of the front of the body 210 in real time according to control instructions. The second image obtaining device 262 may send the obtained top view image to the control terminal in real time for display, so as to remind the user of the environmental information below the distance adjusting component 230 and/or the excavating component 250, so that the user can know the internal condition of the first target object in real time, or the target position can be determined more easily.

In some embodiments, the fecal cleaning device 200 may further comprise: at least two first sensors 271 for determining a relative positional relationship between the body 210 and the first target object.

In some embodiments, the first sensor 271 is mounted at a front of the body 210 for detecting a distance between the body and a first target object. In some embodiments, the first target object may be a cat litter box, in which an object to be cleaned (e.g., pet litter) is located. In some embodiments, the first sensor 271 may be a ranging sensor. In some embodiments, the ranging sensor may include one or a combination of several of an infrared sensor, a laser sensor, a sonar sensor, an ultrasonic sensor, an electronic compass, a speed sensor, and the like. In some embodiments, at least two first sensors 271 are installed at a front portion of the body with a certain distance therebetween, and the moving assembly 220 moves according to the control instruction of the control assembly, until the distances between the at least two first sensors and the first target object are equal, and the movement is stopped. In some embodiments, the ranging sensor may perform distance detection based on TOF (time of flight) ranging techniques. Specifically, when the ranging sensor emits modulated light (such as infrared light, near infrared light or laser light) and reflects after encountering an object, the ranging sensor obtains the distance between the objects by calculating the time difference or phase difference between the light emission and the reflection.

In some embodiments, the fecal cleaning device 200 may further comprise: a second sensor 272 for determining a relative positional relationship between the body 210 and a second target object.

In some embodiments, the second sensor 272 may be an infrared pair of tubes. In some embodiments, the second sensor 272 is mounted on the front of the body 210 for detecting whether the body corresponds to a sensor on a second target object. In some embodiments, the second target object may be a trash can with an infrared pair of tubes mounted. In some embodiments, a second sensor 272 is mounted on the front of the body, and the moving component 220 moves according to the control instruction of the control component, until the second sensor 272 on the body corresponds to the sensor on the second target object. In some embodiments, the second sensor 272 may also be a ranging sensor.

In some embodiments, the fecal cleaning device 200 may further comprise: and the control component is in signal connection with the communication module.

In some embodiments, the communication module may be used to transmit data or instructions. In some embodiments, one or more components (e.g., control components, image acquisition devices) in the fecal cleaning device 200 may interact with the outside world through a communication module. In some embodiments, the communication module may communicate data with the control terminal. For example, the communication module can send the real-time image acquired by the image acquisition device to the control terminal for display, so that the user can conveniently perform subsequent control operation. For another example, the communication module may receive the information sent by the control terminal, and then send the information to the control component, where the control component generates a corresponding control instruction according to the information, so as to control other components to work.

It should be understood that the apparatus shown in fig. 2, and portions or components thereof, may be implemented in a variety of ways. For example, in some embodiments, the apparatus and portions or components thereof may be implemented in hardware, software, or a combination of software and hardware. Wherein the hardware portion may be implemented using dedicated logic; the software portions may then be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or special purpose design hardware. Those skilled in the art will appreciate that the methods and systems described above may be implemented using computer executable instructions and/or embodied in processor control code, such as provided on a carrier medium such as a magnetic disk, CD or DVD-ROM, a programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The system of the present application and its modules may be implemented not only with hardware circuitry such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., but also with software executed by various types of processors, for example, and with a combination of the above hardware circuitry and software (e.g., firmware).

It should be noted that the above description of the apparatus and portions or components thereof is for descriptive convenience only and is not intended to limit the application to the illustrated embodiments. It will be understood by those skilled in the art that various components or elements may be combined or sub-devices may be connected to other components without departing from the principles of the device. For example, in some embodiments, the control components and communication modules disclosed in fig. 2 may be different parts of a device, or may be one part to perform the functions of two or more parts described above. For example, the control component and the communication module can be two parts, or one part can have control and communication functions at the same time. Such variations are within the scope of the application.

Fig. 3 is a block diagram of a fecal cleaning system 300 according to some embodiments of the present application.

As shown in fig. 3, the fecal cleaning system 300 may be adapted to be disposed on the fecal cleaning device 200, the system 300 may include: a positioning module 310, a distance adjustment module 320, a movement module 330, and an excavation module 340.

A positioning module 310 is configured to enable the fecal cleaning device 200 to reach a first position, where the first position is associated with a first target object.

In some embodiments, the positioning module 310 may control the moving assembly 220 to move based on the movement control instruction, so as to enable the faeces cleaning device 200 to reach the initial position; the distance between the initial position and the first position does not exceed a set threshold. The positioning module 310 can control the moving component 220 to move through the output signals of the at least two first sensors 271 so as to enable the excrement cleaning device 200 to move to the first position; the distance between the first position and the first target object does not exceed the set threshold value and the second direction is parallel to a certain edge of the first target object. In some embodiments, the first direction and the second direction are orthogonal to each other, and the first direction may be parallel to a direction in which the distance adjustment assembly 230 is extended and retracted.

The distance adjusting module 320 is configured to control the distance adjusting assembly 230 to extend and retract, so that the second image obtaining device 262 obtains a top view image of the first target object.

In some embodiments, the distance adjustment module 320 may control the distance adjustment assembly 230 to telescope based on the distance adjustment control instructions, the telescoping direction including an extension or a shortening along the length of the distance adjustment assembly 230 until a complete top view image of the first target object is obtained.

A movement module 330 for controlling the movement assembly 220 and/or the distance adjustment assembly 230 such that the reference point on the digging assembly 250 moves to the target location along the first direction and/or the second direction.

In some embodiments, the movement module 330 may control the movement assembly 220 and/or the distance adjustment assembly 230, respectively, based on movement control instructions and/or distance adjustment control instructions such that the reference point on the digging assembly 250 moves to the target location in the first and/or second directions. In some embodiments, the reference point may be set according to the actual application, for example, a center of the first bucket or a point of the first bucket end is set as the reference point. In some embodiments, the target location may be specified by the user through the control terminal. The second image capturing device 262 may capture a complete top view image of the first target object and send the image to the control terminal for display via the communication module, where the user calibrates the target location of the object (e.g., the object is pet feces) via the control system. In some embodiments, the stool cleaning apparatus 200 may determine a distance by which the reference point is spaced from the target location in the first and second directions, respectively, based on the top view image such that the movement module 330 controls the movement assembly 220 and/or the distance adjustment assembly 230 to move the reference point on the digging assembly 250 to the target location in the first and/or second directions, thereby enabling efficient and quick alignment of the digging assembly 250 to the target location.

The digging module 340 is configured to control the first angle adjusting component 240 and/or the second angle adjusting component 241 to rotate, so that the digging component 250 completes one digging.

In some embodiments, the excavating module 340 may control the angle adjusting assembly to rotate based on the angle adjusting control command of the control assembly, so that the excavating assembly 250 sequentially enters an excavating preparation state, a contact state, a preliminary shovel state, a deep shovel state and a completion state, thereby allowing the excavating assembly 250 to complete one excavation.

It should be understood that the system shown in fig. 3 and its modules may be implemented in a variety of ways. For example, in some embodiments, the system and its modules may be implemented in hardware, software, or a combination of software and hardware. Wherein the hardware portion may be implemented using dedicated logic; the software portions may then be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or special purpose design hardware. Those skilled in the art will appreciate that the methods and systems described above may be implemented using computer executable instructions and/or embodied in processor control code, such as provided on a carrier medium such as a magnetic disk, CD or DVD-ROM, a programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The system of the present application and its modules may be implemented not only with hardware circuitry such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., but also with software executed by various types of processors, for example, and with a combination of the above hardware circuitry and software (e.g., firmware).

It should be noted that the above description of the system and its modules is for convenience of description only and is not intended to limit the application to the scope of the illustrated embodiments. It will be appreciated by those skilled in the art that, given the principles of the system, various modules may be combined arbitrarily or a subsystem may be constructed in connection with other modules without departing from such principles. For example, the positioning module 310 and the distance adjusting module 320 disclosed in fig. 3 may be different modules in one system, or may be one module to implement the functions of two or more modules. For example, the positioning module 310 and the distance adjusting module 320 may be two modules, or may be a part having both positioning and distance adjusting functions. Such variations are within the scope of the application.

Fig. 4 is a block diagram of a control system 400 according to some embodiments of the application.

As shown in fig. 4, a control system 400 may be used to control the fecal cleaning device 200, the system 400 may include: a first acquisition module 410, a second acquisition module 420, and a transmission module 430.

The first acquiring module 410 is configured to acquire and display an image acquired by the first image acquiring device 261 and/or an image acquired by the second image acquiring device 262.

In some embodiments, when it is desired to control the stool cleaning device 200 to move to the initial position, the user may acquire a plan view image of the front of the body acquired by the first image acquisition device 261 through the first acquisition module 410. In some embodiments, when it is desired to acquire a target location of an object (e.g., pet litter) within a first target object, a user may acquire a top view image of the front of the body acquired by the second image acquisition device 262 through the first acquisition module 410.

The second obtaining module 420 is configured to obtain a movement control instruction, a distance adjustment control instruction, a target position, and/or an excavation instruction input by a user.

In some embodiments, the second acquisition module 420 may acquire a movement control instruction, a distance adjustment instruction, a target position, and/or a mining instruction input by a user through the control terminal. For example, the user may input a movement control command according to the front plane view image of the body acquired by the first acquisition module 410, and control the movement assembly 220 of the faeces cleaning device 200 to perform corresponding movement in real time until the movement to the initial position. In some embodiments, the second obtaining module 420 is further configured to: displaying a floating button on a display interface of the image acquired by the second image acquiring means 262; detecting the position information of the floating button in the image after the operation of the floating button by a user is finished; the target location is determined based on the location information.

And a transmitting module 430, configured to transmit the movement control instruction, the distance adjustment control instruction, the target position and/or the mining instruction input by the user.

In some embodiments, the transmission module 430 may transmit movement control instructions, distance adjustment control instructions, target locations, and/or mining instructions entered by a user. The transmitting module 430 may communicate with the stool cleaning device 200 through a communication module, for example, the transmitting module 430 may transmit a movement control instruction input by a user through the acquiring module 420 to the stool cleaning device 200, so that the moving component 220 of the stool cleaning device 200 moves correspondingly.

It should be understood that the system shown in fig. 4 and its modules may be implemented in a variety of ways. For example, in some embodiments, the system and its modules may be implemented in hardware, software, or a combination of software and hardware. Wherein the hardware portion may be implemented using dedicated logic; the software portions may then be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or special purpose design hardware. Those skilled in the art will appreciate that the methods and systems described above may be implemented using computer executable instructions and/or embodied in processor control code, such as provided on a carrier medium such as a magnetic disk, CD or DVD-ROM, a programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The system of the present application and its modules may be implemented not only with hardware circuitry such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., but also with software executed by various types of processors, for example, and with a combination of the above hardware circuitry and software (e.g., firmware).

It should be noted that the above description of the system and its modules is for convenience of description only and is not intended to limit the application to the scope of the illustrated embodiments. It will be appreciated by those skilled in the art that, given the principles of the system, various modules may be combined arbitrarily or a subsystem may be constructed in connection with other modules without departing from such principles. For example, in some embodiments, the first acquisition module 410 and the second acquisition module 420 disclosed in fig. 4 may be different modules in one system, or may be one module to implement the functions of two or more modules described above. For example, the first acquisition module 410 and the second acquisition module 420 may be two modules, or may be a part having both the functions of acquiring an image and acquiring an instruction. Such variations are within the scope of the application.

Fig. 5 is an exemplary flow chart of a stool cleaning method 500 according to some embodiments of the present application.

As shown in fig. 5, the stool cleaning method 500 is applied to the stool cleaning device 200, and may include:

step 510, bringing the stool cleaning device 200 to a first position, the first position being associated with a first target object.

In some embodiments, the movement assembly 220 may be controlled to move based on movement control instructions to bring the fecal cleaning device 200 to an initial position; the distance between the initial position and the first position does not exceed a set threshold. The setting threshold may be set according to the actual application, for example, the threshold is set to 30 to 100 mm.

Fig. 9 is a schematic view of a fecal cleaning device 200 according to some embodiments of the present application reaching an initial position.

In some embodiments, the user may control the moving component 220 to move (e.g., forward, backward, left or right) accordingly according to the head-up image in front of the body displayed in real time by the control terminal, so that the stool cleaning device 200 reaches the vicinity of the first target object. In some embodiments, the stool cleaning apparatus 200 may acquire the location of the first target object while acquiring the current location of the apparatus 200 from the location detection mechanism, determine a movement path based on a preset path planning algorithm, and then control the movement component to move in the vicinity of the first target object according to the movement path. In some embodiments, the stool cleaning apparatus 200 may acquire the position information of the first target object by controlling the terminal to input, recognize the photographed image data, read from the server 140, or read from a storage unit (e.g., a storage module of the apparatus 200, the storage device 150). In some embodiments, the user may pre-configure the positioning of the first target object through the control terminal, and store the location information in a storage module of the apparatus 200, upload to the service 140, or store in the storage device 150. As shown in fig. 9, when the first sensor detects that the distance s1 or s2 from the first target object exceeds the set threshold, the movement unit 220 is controlled to stop moving, and at this time, the stool cleaning device 200 reaches the initial position.

In some embodiments, the movement assembly 220 may be controlled to move by the output signals of at least two first sensors 271 so that the fecal cleaning device 200 continues to move to the first position; the distance between the first position and the first target object does not exceed the set threshold value and the second direction is parallel to a certain edge of the first target object. In some embodiments, the first target object is a pet bedpan such as a cat litter box with a rectangular horizontal cross section (top view angle), and one side of the first target object may be a long side of the cat litter box. By way of example only, where the first object is a rectangular parallelepiped and one side of the first object is K1, the side in front of the body of the apparatus 200 is a straight line K2, as shown in fig. 9, it can be understood that the second direction in the moving direction of the apparatus 200 is parallel to the straight line K2. In some embodiments, the control component may control the movement component 220 to move according to the distances s1 and s2 between the front portion of the body and the first target object detected by the first sensor 271, such that the movement component 220 is controlled to stop moving when s1 and s2 are the same, i.e., the straight line K1 is parallel to the straight line K2. At this point, the device 200 reaches the first position. Specifically, as shown in fig. 9, when the device 200 reaches the initial position, the distance s1 and the distance s2 detected by the first sensor 271 are different, and the distance s2 detected by the first sensor on the right side of the device 200 is greater than the distance s1 on the left side, the wheel on the right rear side of the moving assembly 220 is controlled to rotate, so that the right side of the device 200 approaches the first target position until the distance s1 and the distance s2 are the same, and the moving assembly 220 is controlled to stop moving, at this time, the device 200 reaches the first position. In some embodiments, each wheel of the movement assembly 220 is independently controlled, e.g., only one wheel at the rear right may be driven, with the remaining three wheels acting as driven wheels. It should be noted that the first direction and the second direction are merely for distinguishing two different directions, and for example, the first direction may be set to be parallel to a certain side of the first target object.

In some embodiments, the images acquired by the first image acquisition device 261 and/or the second image acquisition device 262 may be acquired and transmitted to the control terminal; and receiving a movement control instruction of the control terminal. In some embodiments, the control terminal may acquire the images acquired by the first image acquisition device 261 and/or the second image acquisition device 262 in real time through the communication module, and display the images on the display interface, and the user may send a movement control instruction through the control terminal, so as to control the movement component to perform corresponding movement. For example, the user may determine that the right side of the device 200 is far from the first target object through the image acquired by the first image acquiring device 261 and/or the second image acquiring device 262, and may issue a movement control instruction for turning left through the control terminal, so that the right side of the device 200 is close to the first target position until the device 200 is in a parallel state with the first target object through the head-up image and/or the top view image, for example, a state in which the straight line K1 is parallel to the straight line K2, and the control device 200 stops moving at this time when the device 200 reaches the first position.

In step 520, the distance adjustment assembly 230 is controlled to extend and retract, so that the second image obtaining device 262 obtains a top view image of the first target object.

In some embodiments, the distance adjustment assembly 230 may be controlled to extend and retract based on the distance adjustment control instructions, the extension and retraction direction including extension or shortening along the length of the distance adjustment assembly 230 until a complete top view image of the first target object is obtained. In some embodiments, the second image capturing device 262 may be mounted on the underside of the distance adjustment assembly 230, specifically, may be mounted at the connection between the distance adjustment assembly 230 and the second angle adjustment assembly 241, with the camera facing downward, and may capture a top view image directly under the distance adjustment assembly 230. The distance adjustment assembly 230 is mounted on the front of the body 210, so that when the device 200 reaches the first position, the first target object can be controlled to be included in the top view image acquired by the second image acquisition device by controlling the length of the distance adjustment assembly 230.

In some embodiments, the image acquired by the second image acquiring device 262 may be acquired and transmitted to the control terminal; and receiving a distance adjustment control instruction of the control terminal. In some embodiments, the control terminal may acquire the image acquired by the second image acquiring device 262 in real time through the communication module, and display the image on the display interface, and the user may send a distance adjustment control instruction through the control terminal, and control the distance adjustment assembly to perform corresponding telescoping until a complete top view image of the first target object is acquired. For example, as shown in fig. 10, when the first target object on the display interface includes only the straight line K4 and does not include the straight line K3, the user may issue an elongated distance adjustment control command through the control terminal, and control the distance adjustment assembly 230 to extend a certain length so that the first target object on the display interface includes the straight lines K3 and K4, thereby obtaining a complete top view image of the first target object on the display interface. For another example, when the first target object on the display interface includes only the straight line K3 and does not include the straight line K4, the user may issue a shortened distance adjustment control command through the control terminal, and control the distance adjustment assembly 230 to shorten a certain length so that the first target object on the display interface includes the straight lines K3 and K4, thereby obtaining a complete top view image of the first target object on the display interface. The length of the extension or shortening of the distance adjusting assembly may be set according to practical situations, for example, the length of the extension or shortening may be set to 100-250 mm. For another example, the extended length may be set to 50 to 300 millimeters and the shortened length may be set to 50 to 350 millimeters.

At step 530, the movement assembly 220 and/or the distance adjustment assembly 230 are controlled such that a reference point on the digging assembly 250 is moved to a target location in the first and/or second direction.

In some embodiments, controlling the movement of the excavation assembly 250 to the target position can include an automatic control mode or a manual control mode. In some embodiments, the target location is specified for the control terminal. The second image obtaining device 262 may obtain a complete top view image of the first target object, and send the image to the control terminal for display through the communication module, where the user marks the target position of the object (for example, the object is pet feces) through the display interface of the control terminal. In some embodiments, when automatically controlled, a distance in the first and second directions, respectively, between the reference point and the target position may be determined based on the top view image. In some embodiments, the reference point may be set according to the actual application, for example, a center of the first bucket or a point of the first bucket end is set as the reference point. In some embodiments, the moving component 220 and/or the distance adjusting component 230 may be controlled according to a preset algorithm based on the distance between the reference point and the target position in the first direction and the second direction, respectively, such that a certain reference point of the digging component 250 moves to the target position.

Fig. 10 is a schematic diagram of a display interface on a control terminal according to some embodiments of the present application.

Wherein A1 is an image area, an image acquired by the second image acquisition device is displayed, A2 is a first target object area, and specifically may be a pet bedpan. P is an aiming point which can be displayed in the image area in the form of a floating button which can be dragged by the user to coincide with the position of the pet litter shown in the A2 area to control the movement of the digging elements. The control terminal may acquire the position coordinates (a, b) of the aiming point in the image. In some embodiments, the aiming point may be one pixel or an area including a plurality of pixels, and the position coordinates (a, b) of the aiming point may be the coordinates of the one pixel or the coordinates of a central pixel of the area, where a represents a row in an image where the aiming point is located, and b represents a column where the aiming point is located.

In some embodiments, the target position marked in the image acquired by the second image acquisition device can be acquired by the control terminal, and the coordinates of the target position in the rectangular coordinate system are set as #X0，Y0) The rectangular coordinate system may be based on the second The method comprises the steps of establishing an image acquired by an image acquisition device, wherein an X axis is parallel to the width direction of the image and faces upwards to be in a positive direction, a Y axis is parallel to the height direction of the image and faces to the right to be in a positive direction, and the vertex of the lower left corner of the image is the origin of coordinates. Specifically, the coordinates (a, b) of the pixel point of the aiming point can be converted according to the coordinates (a, b) of the pixel point of the aiming point, the height value and the width value of the image to obtain the coordinates of the target position in a rectangular coordinate systemX0，Y0). In some embodiments, a first target object in an image may be identified according to an edge extraction algorithm, and the width and height of the first target object in the image may be identified as W1 and H1, respectively. The boundary extraction algorithm may be a Roberts Cross algorithm, a Prewitt algorithm, a Sobel algorithm, a Canny algorithm, a Krisch algorithm, a Marr-Hildre algorithm, etc. The width and height of the image are Ws and Hs, respectively. L0 is the horizontal distance between the reference point on the digging assembly 250 and the center point of the second image acquisition apparatus 262 when the digging assembly 250 is moved to the target position. In some embodiments, the actual width and height of the first target object may be preset by the user through the control terminal, which are W2 and H2, respectively. In some embodiments, the first bucket center may be used as a reference point to control translation of the movement assembly 220 based on the first position When->>When =0, control movement component 220 translates to the right when +.><At 0, the control movement assembly 220 translates to the left; the control distance adjusting component stretches and contracts on the basis of the original position>When->>0, the control distance adjustment assembly 230 is extended by a corresponding distanceWhen-><0, the distance adjusting assembly 230 is controlled to shorten the corresponding distance, and the excavating assembly 250 is moved to the target position through the above-mentioned control operation. The above-described method of calculating the distance may be performed on a server, a control component of the apparatus 200, or a control terminal.

In some embodiments, L0 is the horizontal distance between the reference point on the digging assembly 250 and the center point of the second image acquisition apparatus 262 when the digging assembly 250 is moved to the target position, and may be calculated according to the rotation angle of the first angle adjusting assembly and the second angle adjusting assembly, the length of the first mechanical arm, and the geometric dimension of the first bucket. In some embodiments, data of the dimensions of the various components of the apparatus 200 (e.g., arm length of the first robotic arm, length of the first bucket, width, depth of the bucket, etc.), the angle of rotation of the angle adjustment assembly, the distance adjustment assembly is extended and retracted, etc., may be stored in a memory module on the apparatus 200. For example, the apparatus 200 may store the corresponding steering engine rotation angle through the first code table and the second code table. In some embodiments, the data may also be stored in the server 140 or the storage device 150, and the apparatus 200 obtains the data stored in the server 140 or the storage device 50 through the network 120. In some embodiments, the values of L0 of the first angle adjusting component and the second angle adjusting component in different rotation angles may be measured in advance, and the measurement result is stored. In particular, it may be stored in a storage module of the apparatus 200, in the server 140 or in the storage device 150. The specific value of L0 can be determined by detecting the first angle adjusting component and the second angle adjusting component. Or the first and second angle adjustment assemblies may be controlled to rotate to set points as needed to ensure that the horizontal distance between the reference point on the digging assembly 250 and the center point of the second image acquisition device 262 is L0 when the digging assembly 250 is moved to the target position.

FIG. 11 is a schematic flow diagram of excavation of an excavation component, according to some embodiments of the present application.

At step 540, the first angle adjustment assembly 240 and/or the second angle adjustment assembly 241 are controlled to rotate to cause the digging assembly 250 to complete a digging operation.

As shown in fig. 11, in some embodiments, the first angle adjustment assembly 240 and/or the second angle adjustment assembly 241 may be controlled to rotate to bring the digging assembly 250 into a digging preparation state, a contact state, a rough-shovel state, a deep-shovel state, and a finish state in that order.

Fig. 12 is an overall schematic view of the stool cleaning apparatus 200 when the excavation assembly 250 is in an excavation preparation state, in accordance with some embodiments of the present application.

As shown in fig. 12, in some embodiments, the bringing the digging assembly 250 into a digging preparation state includes: according to the angle adjusting assembly control instruction, the first angle adjusting assembly 240 and the second angle adjusting assembly 241 are controlled to rotate so as to enable the first mechanical arm to rotate downwards, and meanwhile the opening side of the first bucket is enabled to be parallel to the first mechanical arm until the vertical distance between the first bucket and the first target object is a preset third distance. Fig. 13 is a schematic illustration of an excavation assembly 250 entering an excavation preparation state, in accordance with some embodiments of the present application. As shown in fig. 13, the first angle adjusting assembly 240 and the second angle adjusting assembly 241 are rotated by a preset angle such that a vertical distance h0 between the end of the first bucket and the first target object is a preset third distance, and at this time, the excavating assembly 250 enters an excavating preparation state. The third distance may be set according to practical applications, for example, the third distance is set to 50 to 100 mm.

In some embodiments, the bringing the digging assembly 250 into contact comprises: the second angle adjustment assembly 241 is controlled to rotate a predetermined angle such that the first bucket tip contacts the bottom of the first target object. Fig. 14 is a schematic illustration of an excavation assembly 250 according to some embodiments of the present application brought into contact. As shown in fig. 14, the first angle adjustment assembly 240 is not rotated such that the first mechanical arm remains stationary, and the second angle adjustment assembly 241 is rotated such that the first bucket tip contacts the bottom of the first target object, at which point the digging assembly 250 enters a contact state.

Fig. 15 is a schematic illustration of an excavation assembly 250 according to some embodiments of the present application entering a pre-shovel state. In some embodiments, the bringing of the digging assembly 250 into the initial shovel state includes: as shown in fig. 15, the first angle adjusting assembly 240 is controlled to rotate by a preset angle, and at the same time, the second angle adjusting assembly 241 is controlled to rotate by a preset angle, so that a line between the first bucket tip and the center point of the rotation shaft of the second angle adjusting assembly 241 is perpendicular to the bottom of the first target object, and the tip of the first bucket is kept in contact with the bottom of the first target object. The digging assembly 250 now enters an initial shovel state.

Fig. 16 is a schematic illustration of an excavation assembly 250 entering a deep shovel state, according to some embodiments of the present application. In some embodiments, the bringing of the digging assembly 250 into a deep shovel state includes: as shown in fig. 16, the second angle adjusting component 241 is controlled to rotate by a preset angle, and at the same time, the first angle adjusting component 240 is controlled to rotate by a preset angle, so that the bottom of the first bucket is attached to the bottom of the first target object in parallel, and at this time, the excavating component 250 enters a deep shovel state.

Fig. 17 is a schematic diagram illustrating an excavation assembly 250 entering a completed state, according to some embodiments of the present application. In some embodiments, the bringing the digging assembly 250 into a complete state includes: as shown in fig. 17, the second angle adjusting component 241 is controlled to rotate by a preset angle, and at the same time, the first angle adjusting component 240 is controlled to rotate by a preset angle, so that the first mechanical arm forms an included angle exceeding a preset first angle with the horizontal direction, the opening side of the first bucket faces upwards and forms an included angle not exceeding a preset second angle with the horizontal direction, and at this time, the excavating component 250 enters a completed state. In some embodiments, the included angle of the first angle α1 and the included angle of the second angle α2 may be set according to practical situations, for example, the included angle of the first angle α1 is set to 25 degrees, and the included angle of the second angle α2 is set to 10 degrees.

In each of the above states, the preset angles of the first angle adjusting component and the second angle adjusting component that need to be rotated may be measured and calculated in advance through experiments, and the measured and calculated results are stored in the storage module of the apparatus 200, the server 140 or the storage device 150, so as to be called in the process of controlling the excavation.

In some embodiments, as shown in fig. 11, after the digging elements 250 enter a complete state, the method 500 may further include: the first bucket is controlled to vibrate for a certain period of time. The first bucket is driven to vibrate through the vibration component, so that objects (such as cat litter) in the first bucket shake out of the first bucket through the sieve holes, and redundant cat litter is prevented from being shoveled out of the cat litter basin. The vibration time may be set according to the actual application, for example, the first bucket is controlled to vibrate for 10 seconds.

In some embodiments, the rotation angles of the first angle adjusting component and the second angle adjusting component in different states can be preset, so that the excavating component is controlled to reach the corresponding positions.

In some embodiments, the method 500 may further comprise:

at step 550, the moving assembly 220 is controlled to move based on the movement control instruction, so that the faeces cleaning device 200 reaches a second position, the second position being related to a second target object.

In some embodiments, an output signal of the second sensor 272 may be acquired; it is determined whether the stool cleaning device 200 reaches the second position based on the output signal of the second sensor 272.

Fig. 18 is a schematic view of a fecal cleaning device 200 according to some embodiments of the present application reaching a second position. As shown in fig. 18, the second sensor at the front of the faeces cleaning device 200 corresponds to a sensor on a second target object (for example, a waste bin), the movement unit 220 moves according to the control instruction of the control unit, and the movement is not stopped until the second sensor 272 on the body 210 corresponds to a sensor on the second target object, at which time the faeces cleaning device 200 reaches the second position. In some embodiments, the second sensor 272 may be an infrared pair of tubes. In some embodiments, the second sensor 272 may be mounted at the front of the body 210 (e.g., in the middle of two first sensors 271) for detecting whether the body corresponds to a sensor on a second target object. In some embodiments, an infrared pair of tubes, which may correspond to the second sensor, is also mounted on the outside of the second target object (e.g., a trash can). For example, when the second sensor 272 mounted on the body 210 is an infrared receiving tube, the sensor mounted on the second target object may be an infrared transmitting tube. The infrared emitting tube on the second target object can convert electric energy into infrared rays and radiate the infrared rays, the infrared receiving tube on the body 210 only reacts to the infrared rays, when the body 210 is closer to the second target object, the infrared receiving tube receives stronger illumination of the infrared rays, when the illumination reaching a certain light intensity is received, the infrared receiving tube can convert the light energy into the electric energy, so that an output signal is generated, the body 210 is indicated to reach the vicinity of the second target object, the control component can control the body 210 to stop moving based on the output signal, and at the moment, the faeces cleaning device 200 reaches the second position.

In step 560, the second angle adjusting component 241 is controlled to rotate, so that the object in the first bucket is dumped into the second target object.

In some embodiments, the second angle adjustment assembly 241 is controlled to rotate such that the open side of the first bucket is facing downward and forms an angle with the horizontal that exceeds a predetermined third angle, e.g., the open side is parallel to the horizontal and facing downward, pouring an object (e.g., pet litter) in the bucket into the second target object. The included angle of the third angle may be set according to practical situations, for example, the included angle of the third angle is set to 90 degrees.

It should be noted that the above description of the process 500 is for purposes of illustration and description only and is not intended to limit the scope of the present application. Various modifications and changes to flow 500 may be made by those skilled in the art under the guidance of the present application. However, such modifications and variations are still within the scope of the present application.

Fig. 6 is an exemplary flow chart of a control method 600 according to some embodiments of the application.

As shown in fig. 6, a control method 600 may be applied to control the fecal cleaning device 200, the method comprising:

In step 610, the image acquired by the first image acquisition device 261 and/or the image acquired by the second image acquisition device 262 are acquired and displayed.

In some embodiments, the image acquired by the first image acquisition device 261 and/or the image acquired by the second image acquisition device 262 may be acquired by a communication module. For example, when it is necessary to control the faecal management device 200 to move to the initial position, the user may display a head-up image of the front of the body acquired by the first image acquisition device 261 on the control terminal. For another example, when it is desired to acquire a target position of an object (e.g., pet feces) within the first target object, the user may display a top view image of the front of the body acquired by the second image acquisition device 262 on the control terminal.

Step 620, obtain and send a movement control command, a distance adjustment control command, a target position and/or an excavation command input by a user.

In some embodiments, the control terminal may obtain a movement control instruction, a distance adjustment instruction, a target position, and/or an excavation instruction input by a user. For example, the user may input a movement control command according to a plan view image of the front of the body displayed by the control terminal, and control the movement assembly of the faeces cleaning device 200 to perform corresponding movement in real time until the movement assembly is moved to the initial position.

In some embodiments, a floating button P may be displayed on a display interface of the image acquired by the second image acquiring means 262; detecting the position information of the floating button P in the image after the operation of the floating button P by a user is finished; the target location is determined based on the location information. As shown in fig. 10, when it is required to acquire the target position of an object (e.g., pet faeces) in the first target object, the user may display the top view image of the front of the body acquired by the second image acquisition device 262 on the control terminal, thereby calibrating the target position. As shown in fig. 10, 4 directional arrow buttons are displayed at the lower left corner of the area A1, and the user can click the up-down, left-right arrows, thereby initiating movement control instructions to control the movement assembly 220 to move forward, backward, left-translation, right-translation. At the lower right corner of area A1 there are 2 directional arrow buttons displayed, and the user may click the up and down arrow to initiate a distance adjustment control command to control the distance adjustment assembly 230 to extend or shorten. Below the center of the area A1, a "dig" button is displayed, and the user clicks the "dig" button to initiate a dig instruction, thereby controlling the stool cleaning device 200 to perform a dig operation.

Fig. 7 is an exemplary flow chart of another stool cleaning method 700 according to some embodiments of the present application.

As shown in fig. 7, the stool cleaning method 700 is applied to the stool cleaning device 200, and may include:

step 710, bringing the stool cleaning device 200 to a first position, the first position being associated with a first target object.

In some embodiments, the user may issue a movement control instruction according to a front plan view image of the body displayed in real time by the control terminal, and after the faeces cleaning device 200 acquires the movement control instruction, control the movement component 220 to perform a corresponding movement (e.g. forward, backward, left or right movement, etc.) to reach the first position. In some embodiments, the stool cleaning apparatus 200 may automatically generate movement control instructions to control the movement assembly to the first position according to a preset routing algorithm. The specific details of step 710 for bringing the faecal management device 200 to the first position may be found in the description of step 510 of fig. 5, and will not be described in detail here.

In step 720, the distance adjustment assembly 230 is controlled to extend and retract, so that the second image obtaining device 262 obtains a top view image of the first target object.

In some embodiments, the stool cleaning apparatus 200 may automatically generate a distance adjustment control command based on the distance adjustment control command, and control the distance adjustment assembly 230 to extend and retract in a direction that includes an extension or a shortening along the length of the distance adjustment assembly 230 until a complete top view of the first target object is obtained. The stool cleaning device 200 may identify the edges of the complete first target object according to a preset image recognition algorithm (e.g., image edge algorithm) to thereby identify a top view image of the complete first target object. For details of step 720 regarding the obtaining of the top view image of the first target object, reference may be made to the description of step 520 in fig. 5, which is not repeated herein.

Step 730, dividing the first target object into at least two regions based on the top view image to determine at least two target positions.

In some embodiments, the at least two regions do not overlap and, in combination, are capable of covering a region of the first target object. In some embodiments, the at least two regions are arranged in a matrix form, and at least one of the at least two regions is a rectangular region. In some embodiments, the first target object may be divided according to a preset dividing algorithm, for example, the first target object is divided into 2 rectangles, and for example, the first target object is divided into 4 rectangles, and the divided regions are like a "field" grid. After the divided areas, the target positions are determined in the corresponding divided areas, and the algorithm for calculating the target positions may be performed in a background server in communication with the stool cleaning device 200 or the stool cleaning device 200 itself, which is not particularly limited in the present application. Fig. 19 is a schematic diagram illustrating the division of a first target object into several regions according to some embodiments of the application. In some embodiments, as shown in fig. 19, the first target object is divided into rectangular areas of 2 rows and 3 columns, and 6 rectangular areas are B1 to B6, respectively. In some embodiments, the apparatus 200 may mine according to the numbering order of the rectangular areas, e.g., the area of the first mine is B1, the area of the second mine is B2, and so on, and the area of the sixth mine is B6. At each excavation, a target position in the area to be excavated may be determined according to a preset algorithm, for example, a center point of the area to be excavated B1 is taken as a target T1. The apparatus 200 may acquire the position coordinates (a 1, b 1) of the target T1 in the image. In some embodiments, the target T1 may be one pixel or an area including a plurality of pixels, and the position coordinates (a 1, b 1) may be the coordinates of the one pixel or the coordinates of the central pixel of the area, where a1 represents a row in the top view image of the target T1, and b1 represents a column. In some embodiments, the coordinates (X1, Y1) of the target T1 in the rectangular coordinate system may be obtained by converting the coordinates (a 1, B1) of the pixel point of the target T1 according to the coordinates (a 1, B1) of the pixel point of the target T1, the height value and the width value of the top view image, so as to obtain the target position of the region B1 to be excavated. The rectangular coordinate system may be established based on the top view image acquired by the second image acquiring device 262, wherein the X axis is parallel to the width direction of the image, the upward direction is positive, the Y axis is parallel to the height direction of the image, the rightward direction is positive, and the vertex of the lower left corner of the image is the origin of coordinates. According to the above method, the target positions of the areas B1 to B6 to be excavated can be obtained, respectively.

Step 740, for each target location: the movement assembly 220 and/or the distance adjustment assembly 230 are controlled such that a reference point on the digging assembly 250 reaches a target location.

In some embodiments, the reference point may be set according to the actual application, for example, a center of the first bucket or a point of the first bucket end is set as the reference point. In some embodiments, the stool cleaning apparatus 200 may determine a distance between the reference point and the target location in the first and second directions, respectively, based on the top view image, thereby generating movement control instructions and/or distance adjustment control instructions that automatically control the movement assembly 220 and/or the distance adjustment assembly 230 such that the reference point of the excavation assembly 250 moves to the target location. In some embodiments, the first direction and the second direction are orthogonal to each other, and the first direction may be parallel to a direction in which the distance adjustment assembly 230 is telescopic. The details of step 740 that enable the reference point on the digging component 250 to reach the target location can be referred to in the description of step 530 in fig. 5, and will not be described herein.

At step 741, the first angle adjustment assembly 240 and/or the second angle adjustment assembly 241 are controlled to rotate to cause the excavator assembly 250 to complete a single excavation.

In some embodiments, the stool cleaning apparatus 200 may generate an angle adjustment control command to automatically control the rotation of the first angle adjustment assembly 240 and/or the second angle adjustment assembly 241 to sequentially bring the digging assembly 250 into a digging preparation state, a contact state, a pre-shovel state, a deep shovel state, and a completion state. Details of the completion of the mining by the mining component 250 in step 741 can be found in the description of step 540 in fig. 5, and are not described herein.

At step 742, the movement assembly 220 is controlled to move to bring the fecal cleaning device 200 to a second position, the second position being associated with a second target object.

In some embodiments, the fecal cleaning device 200 may actively acquire the output signal of the second sensor 272; it is determined whether the stool cleaning device 200 reaches the second position based on the output signal of the second sensor 272. In some embodiments, the second sensor 272 may be an infrared pair of tubes. The stool cleaning apparatus 200 corresponds to a sensor on a second target object (e.g., a trash box) through a second sensor 272 mounted on the front of the body, generates a movement control command, and controls the movement of the movement assembly 220 until the second sensor 272 on the body 210 corresponds to the sensor on the second target object, at which time the stool cleaning apparatus 200 reaches the second position.

In some embodiments, the first target object may be placed in parallel with the second target object, for example, as shown in fig. 20 (a), the first target object may be placed to the left of the second target object such that a certain edge K1 of the first target object is parallel with a certain edge K1' of the second target object. As another example, as shown in (b) of fig. 20, the first target object may be placed to the right of the second target object such that a certain edge K1 of the first target object is parallel to a certain edge K1' of the second target object. The two first and second objects are positioned in such a way that the device 200 can be moved from the first position to the second position only by translation. The specific details of step 742 for detecting whether the fecal cleaning device 200 reaches the second position can be referred to in the description of step 550 in fig. 5, and will not be described herein.

And step 743, controlling the second angle adjusting assembly 241 to rotate, and dumping the object in the first bucket into the second target object.

In some embodiments, the stool cleaning apparatus 200 may automatically control the second angle adjusting member 241 to rotate such that the open side of the first bucket faces downward and forms an angle with the horizontal that exceeds a preset third angle, dumping objects (e.g., pet stool) in the bucket into the second target object. The included angle of the third angle may be set according to practical situations, for example, the included angle of the third angle is set to 90 degrees.

In step 744, the movement assembly 220 and/or the distance adjustment assembly 230 are controlled to cause the digging assembly 250 to reach the next target location.

In some embodiments, as shown in fig. 19, after completing a dig (e.g., dig out of area B1) and dumping the dig object to the second target object, the apparatus 200 first controls the movement assembly 220 to move such that the apparatus 200 translates to the first position. In some embodiments, whether the device 200 reaches the first position may be determined by a method of recording a movement time (movement time is proportional to movement distance), whether the top view acquired by the second image acquisition device 262 contains a complete first target object image or an output of the first sensor 271, or the like. Next, on the basis of the first position, the moving assembly 220 and/or the distance adjusting assembly 230 is controlled according to the distance between the reference point and the next target position (e.g., the target position of the region B2) in the first and second directions, so that the excavating assembly 250 reaches the next target position. The distance algorithm in the first and second directions can refer to step 530, and will not be described herein. Until the apparatus 200 performs one digging and dumping operation on the objects in the divided areas (for example, the areas B1 to B6), the apparatus 200 stops operating.

It should be noted that the above description of the process 700 is for purposes of illustration and description only and is not intended to limit the scope of the present application. Various modifications and changes to flow 700 may be made by those skilled in the art under the guidance of the present application. However, such modifications and variations are still within the scope of the present application.

Fig. 8 is a block diagram of another fecal cleaning system 800 according to some embodiments of the present application.

As shown in fig. 8, a fecal cleaning system 800 may be used to be disposed on a fecal cleaning device 200, the system 800 may include: a locating module 810, a distance adjusting module 820, a target position determining module 830, a cleaning module 840.

A positioning module 810 is configured to bring the fecal cleaning device 200 to a first position, the first position being associated with a first target object.

In some embodiments, the positioning module 810 may control the moving component 220 to move based on the movement control instruction, so as to enable the faeces cleaning device 200 to reach the initial position; the distance between the initial position and the first position does not exceed a set threshold. The movement control command may be a movement control command automatically generated by the stool cleaning device 200 according to a preset path planning algorithm or input by a user acquired through a communication module. The faeces cleaning device 200 may control the movement of the movement assembly 220 via the positioning module 810 by means of the output signals of the at least two first sensors 271 such that the faeces cleaning device 200 continues to move to the first position; the distance between the first position and the first target object does not exceed the set threshold value and the second direction is parallel to a certain edge of the first target object. In some embodiments, the first direction and the second direction are orthogonal to each other, and the first direction may be parallel to a direction in which the distance adjustment assembly 230 is extended and retracted.

The distance adjusting module 820 is configured to control the distance adjusting assembly 230 to extend and retract, so that the second image obtaining device 262 obtains a top view image of the first target object.

In some embodiments, the distance adjustment module 820 may control the distance adjustment assembly 230 to telescope based on the distance adjustment control instructions, the telescoping direction including extension or shortening along the length of the distance adjustment assembly 230 until a complete top view image of the first target object is obtained.

The target position determining module 830 is configured to divide the first target object into at least two areas based on the top view image to determine at least two target positions.

In some embodiments, the at least two regions do not overlap and, in combination, are capable of covering a region of the first target object. In some embodiments, the at least two regions are arranged in a matrix form, and at least one of the at least two regions is a rectangular region. In some embodiments, the target position determining module 830 may perform a corresponding division on the first target object according to a preset division algorithm, for example, divide the first target object into 2 rectangles, and further divide the first target object into 4 rectangles, where the divided areas are, for example, a "field" grid. After the divided areas, the target positions are determined in the corresponding divided areas, and the algorithm for calculating the target positions may be performed in a background server in communication with the stool cleaning device 200 or the stool cleaning device 200 itself, which is not particularly limited in the present application.

A cleaning module 840 for, for each target location: controlling the movement assembly 220 and/or the distance adjustment assembly 230 such that a reference point on the excavation assembly 250 reaches a target location; controlling the first angle adjusting assembly 240 and/or the second angle adjusting assembly 241 to rotate so that the excavating assembly 250 completes one excavating; controlling the movement assembly 220 to move to bring the fecal cleaning device 200 to a second position, the second position being associated with a second target object; controlling the second angle adjusting component 241 to rotate, and dumping the object in the first bucket into the second target object; the movement assembly 220 and/or the distance adjustment assembly 230 are controlled to bring the reference point on the digging assembly 250 to the next target location.

In some embodiments, the reference point may be set according to the actual application, for example, a center of the first bucket or a point of the first bucket end is set as the reference point. In some embodiments, the cleaning module 840 may determine a distance between the reference point and the target location in the first and second directions, respectively, based on the top view image, thereby generating movement control instructions and/or distance adjustment control instructions that automatically control the movement assembly 220 and/or the distance adjustment assembly 230 such that the reference point of the excavation assembly 250 moves to the target location. In some embodiments, the first direction and the second direction are orthogonal to each other, and the first direction may be parallel to a direction in which the distance adjustment assembly 230 is extended and retracted. In some embodiments, the cleaning module 840 may generate an angle adjustment control instruction to automatically control the first angle adjustment assembly 240 and/or the second angle adjustment assembly 241 to rotate to cause the digging assembly 250 to sequentially enter a digging preparation state, a contact state, a pre-shovel state, a deep shovel state, and a completion state, thereby causing the digging assembly 250 to complete a digging operation. In some embodiments, the cleaning module 840 may actively acquire the output signal of the second sensor 272; it is determined whether the stool cleaning device 200 reaches the second position based on the output signal of the second sensor 272. In some embodiments, the cleaning module 840 may automatically control the second angle adjustment assembly 241 to rotate such that the open side of the first bucket is facing downward and forms an angle with the horizontal that exceeds a predetermined third angle, dumping objects (e.g., pet litter) in the bucket into the second target object. The included angle of the third angle may be set according to practical situations, for example, the included angle of the third angle is set to 90 degrees. In some embodiments, the cleaning module 840 controls the movement assembly 220 and/or the distance adjustment assembly 230 after completing one excavation and dumping the excavated object to the second target object, until the stool cleaning device 200 is deactivated after all objects within the partitioned area have been subjected to one excavation and dumping operation.

It should be appreciated that the system shown in fig. 8 and its modules may be implemented in a variety of ways. For example, in some embodiments, the system and its modules may be implemented in hardware, software, or a combination of software and hardware. Wherein the hardware portion may be implemented using dedicated logic; the software portions may then be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or special purpose design hardware. Those skilled in the art will appreciate that the methods and systems described above may be implemented using computer executable instructions and/or embodied in processor control code, such as provided on a carrier medium such as a magnetic disk, CD or DVD-ROM, a programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The system of the present application and its modules may be implemented not only with hardware circuitry such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., but also with software executed by various types of processors, for example, and with a combination of the above hardware circuitry and software (e.g., firmware).

It should be noted that the above description of the system and its modules is for convenience of description only and is not intended to limit the application to the scope of the illustrated embodiments. It will be appreciated by those skilled in the art that, given the principles of the system, various modules may be combined arbitrarily or a subsystem may be constructed in connection with other modules without departing from such principles. For example, in some embodiments, the positioning module 810 and the distance adjustment module 820 disclosed in fig. 8 may be different modules in a system, or may be one module to implement the functions of two or more modules described above. For example, the positioning module 810 and the distance adjusting module 820 may be two modules or may be a single part having both the positioning function and the distance adjusting function. Such variations are within the scope of the application.

The possible beneficial effects of the embodiment of the application include but are not limited to: (1) The movable component adopts the Mecanum wheel, so that the excrement cleaning device can move in any direction, high-efficiency walking is realized, the user control is facilitated, the operation difficulty is reduced, and the experience of the user is improved; (2) The excavating component adopts a single-arm structure, and only one mechanical arm and bucket are provided, so that the excavating operation is convenient for a user, and the excrement cleaning is simpler; (3) Adopt vibration unit to shake to wait to clear up excrement and urine and other objects in first scraper bowl, shake the object (e.g. cat litter) that is not pet excrement and urine to first target object through the sieve mesh in the first scraper bowl, reduced extravagant, reduced user's cost. It should be noted that, the advantages that may be generated by different embodiments may be different, and in different embodiments, the advantages that may be generated may be any one or a combination of several of the above, or any other possible advantages that may be obtained.

While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements and adaptations of the application may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within the present disclosure, and therefore, such modifications, improvements, and adaptations are intended to be within the spirit and scope of the exemplary embodiments of the present disclosure.

Meanwhile, the present application uses specific words to describe embodiments of the present application. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the application. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the application may be combined as suitable.

Furthermore, those skilled in the art will appreciate that the various aspects of the application are illustrated and described in the context of a number of patentable categories or circumstances, including any novel and useful procedures, machines, products, or materials, or any novel and useful modifications thereof. Accordingly, aspects of the application may be performed entirely by hardware, entirely by software (including firmware, resident software, micro-code, etc.) or by a combination of hardware and software. The above hardware or software may be referred to as a "data block," module, "" engine, "" unit, "" component, "or" system. Furthermore, aspects of the application may take the form of a computer product, comprising computer-readable program code, embodied in one or more computer-readable media.

The computer storage medium may contain a propagated data signal with the computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take on a variety of forms, including electro-magnetic, optical, etc., or any suitable combination thereof. A computer storage medium may be any computer readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code located on a computer storage medium may be propagated through any suitable medium, including radio, cable, fiber optic cable, RF, or the like, or a combination of any of the foregoing.

The computer program code necessary for operation of portions of the present application may be written in any one or more programming languages, including an object oriented programming language such as Java, scala, smalltalk, eiffel, JADE, emerald, C ++, c#, vb net, python, etc., a conventional programming language such as C language, visual Basic, fortran 2003, perl, COBOL 2002, PHP, ABAP, dynamic programming languages such as Python, ruby and Groovy, or other programming languages, etc. The program code may execute entirely on the user's computer or as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any form of network, such as a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet), or the use of services such as software as a service (SaaS) in a cloud computing environment.

Furthermore, the order in which the elements and sequences are presented, the use of numerical letters, or other designations are used in the application is not intended to limit the sequence of the processes and methods unless specifically recited in the claims. While certain presently useful inventive embodiments have been discussed in the foregoing disclosure, by way of example, it is to be understood that such details are merely illustrative and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements included within the spirit and scope of the embodiments of the application. For example, while the system components described above may be implemented by hardware devices, they may also be implemented solely by software solutions, such as installing the described system on an existing server or mobile device.

Similarly, it should be noted that in order to simplify the description of the present disclosure and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not intended to imply that more features than are required by the subject application. Indeed, less than all of the features of a single embodiment disclosed above.

In some embodiments, numbers describing the components, number of attributes are used, it being understood that such numbers being used in the description of embodiments are modified in some examples by the modifier "about," approximately, "or" substantially. Unless otherwise indicated, "about," "approximately," or "substantially" indicate that the number allows for a 20% variation. Accordingly, in some embodiments, numerical parameters set forth in the specification and claims are approximations that may vary depending upon the desired properties sought to be obtained by the individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and employ a method for preserving the general number of digits. Although the numerical ranges and parameters set forth herein are approximations in some embodiments for use in determining the breadth of the range, in particular embodiments, the numerical values set forth herein are as precisely as possible.

Each patent, patent application publication, and other material, such as articles, books, specifications, publications, documents, etc., cited herein is hereby incorporated by reference in its entirety. Except for the application history file that is inconsistent or conflicting with this disclosure, the file (currently or later attached to this disclosure) that limits the broadest scope of the claims of this disclosure is also excluded. It is noted that the description, definition, and/or use of the term in the appended claims controls the description, definition, and/or use of the term in this application if there is a discrepancy or conflict between the description, definition, and/or use of the term in the appended claims.

Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present application. Other variations are also possible within the scope of the application. Thus, by way of example, and not limitation, alternative configurations of embodiments of the application may be considered in keeping with the teachings of the application. Accordingly, the embodiments of the present application are not limited to the embodiments explicitly described and depicted herein.

Claims

1. A fecal cleaning device, the device comprising:

the device comprises a body, a control assembly, a moving assembly, a distance adjusting assembly, a first angle adjusting assembly, a second image acquisition device and a digging assembly;

the distance adjusting component is arranged on the body and used for extending and retracting based on a control instruction of the control component;

the second image acquisition device is used for acquiring a top view image in front of the body;

the digging component is arranged on the distance adjusting component through a first angle adjusting component; the first angle adjusting component is used for rotating based on a control instruction of the control component;

the moving assembly is arranged on the body and is used for driving the body to move based on a control instruction of the control assembly, the moving direction of the moving assembly at least comprises a first direction and a second direction which are mutually orthogonal, and the second direction is orthogonal with the telescopic direction of the distance adjusting assembly;

Wherein the control assembly is further configured to

Controlling the moving assembly to move so that the excrement cleaning device reaches a first position, wherein the distance between the first position and a first target object does not exceed a preset threshold value, and the second direction is parallel to one side of the first target object; and

controlling the moving component and/or the distance adjusting component to move so that the reference point on the excavating component moves to a target position along the first direction and/or the second direction, wherein the method specifically comprises the following steps of:

acquiring a target position marked by a user in an image acquired by the second image acquisition device through a control terminal, and setting the coordinate of the target position in a rectangular coordinate system as (X0, Y0);

controlling translation of the moving assembly based on the first positionAnd when->>When =0, the moving component is controlled to translate rightwards, when +.><0, controlling the moving assembly to translate leftwards, wherein W _S W1 is the width of the first target object in the image, and W2 is the actual width of the first target object;

controlling the distance adjusting component to stretch and retract on the basis of original positionAnd when >0, controlling the distance adjustmentThe assembly is extended a corresponding distance when<0, controlling the distance adjusting component to shorten the corresponding distance, wherein L0 is the horizontal distance between the reference point on the digging component and the center point of the second image acquisition device when the digging component moves to the target position, H _S H1 is the height of the first target object in the image, and H2 is the actual height of the first target object;

and moving the reference point on the excavating assembly to the target position through the control operation.

2. The apparatus of claim 1, wherein,

the apparatus further comprises a first image acquisition means;

the first image acquisition device is used for acquiring a plane view image in front of the body.

3. The apparatus of claim 2, wherein the first image acquisition device is mounted on a body; the second image acquisition device is mounted on the distance adjustment assembly.

4. The apparatus of claim 2, wherein the apparatus further comprises:

and the at least two first sensors are used for determining the relative position relationship between the body and the first target object.

5. The apparatus of claim 2, further comprising a second sensor for determining a relative positional relationship between the body and a second target object.

6. The apparatus of claim 1, wherein the distance adjustment assembly comprises an electric pushrod; one end of the push rod is fixedly connected with the body, and the excavating component is arranged at the other end of the push rod through the first angle adjusting component; the extension direction of the push rod is parallel to the length direction of the push rod.

7. The apparatus of claim 1, wherein the digging assembly comprises a first robotic arm and a first bucket;

the distance adjusting component is connected with one end of the first mechanical arm through the first angle adjusting component;

the first mechanical arm is connected with the first bucket through a second angle adjusting assembly, and the second angle adjusting assembly is used for rotating based on a control instruction of the control assembly.

8. The apparatus of claim 7, wherein the apparatus further comprises:

the vibration assembly is used for driving the first bucket to vibrate based on a control instruction of the control assembly;

the first bucket has at least one mesh.

9. The apparatus of claim 1, wherein the angle adjustment assembly is a steering engine.

10. The apparatus of claim 1, wherein the moving component is a mecanum wheel.

11. The apparatus of claim 1, further comprising a communication module, the control assembly having a signal connection with the communication module.

12. A fecal cleaning system, comprising the fecal cleaning device according to any of the claims 1-11 and a control terminal;

the excrement cleaning device is in signal interaction with the control terminal through the communication module.

13. A fecal cleaning system, comprising the fecal cleaning device according to any of claims 1-11, a control terminal and a server;

the excrement cleaning device is in signal connection with the server through a communication module;

the control terminal is in signal connection with the server.

14. A stool cleaning method applied to the stool cleaning device according to any one of claims 1-11, the method comprising:

controlling the moving assembly to move so that the excrement cleaning device reaches a first position, wherein the distance between the first position and a first target object does not exceed a preset threshold value, and the second direction is parallel to one side of the first target object;

Controlling the distance adjusting assembly to stretch so as to enable the second image acquisition device to acquire a top view image of the first target object;

controlling a moving assembly and/or a distance adjusting assembly to enable a certain reference point on the excavating assembly to move to a target position along the first direction and/or the second direction, wherein the first direction and the second direction are mutually orthogonal, and the second direction is orthogonal to the telescopic direction of the distance adjusting assembly;

and controlling the first angle adjusting assembly and/or the second angle adjusting assembly to rotate so that the excavating assembly finishes one excavating.

15. The method of claim 14, wherein said bringing the fecal cleaning device to a first location further comprises:

based on the movement control instruction, controlling the movement assembly to move so that the excrement cleaning device reaches an initial position; the distance between the initial position and the first position does not exceed a set threshold.

16. The method as recited in claim 15, further comprising:

acquiring an image acquired by a first image acquisition device and transmitting the image to a control terminal;

and receiving a movement control instruction of the control terminal.

17. The method of claim 15, wherein said bringing the fecal cleaning device to a first location further comprises:

And controlling the movement assembly to move through output signals of at least two first sensors so as to enable the excrement cleaning device to move to the first position continuously.

18. The method of claim 14, wherein the controlling the distance adjustment assembly to telescope to cause the second image acquisition device to acquire a top view image of the first target object comprises:

based on the distance adjustment control instruction, the distance adjustment assembly is controlled to stretch or contract, and the stretching direction comprises stretching or shortening along the length direction of the distance adjustment assembly until a complete overlook image of the first target object is obtained.

19. The method as recited in claim 18, further comprising:

acquiring an image acquired by the second image acquisition device and transmitting the image to the control terminal;

and receiving a distance adjustment control instruction of the control terminal.

20. The method of claim 14, wherein the controlling the movement assembly and/or the distance adjustment assembly such that a reference point on the excavation assembly moves in the first and/or second directions to a target location further comprises:

determining a distance between the reference point and the target position in the first direction and the second direction respectively based on the top view image;

Based on the distance, a moving assembly and/or a distance adjusting assembly is controlled such that a certain reference point on the digging assembly is moved to a target location in the first and/or second direction.

21. The method of claim 14, wherein the controlling the movement assembly and/or the distance adjustment assembly such that a reference point on the excavation assembly moves in the first and/or second directions to a target location further comprises:

receiving a movement control instruction of a control terminal;

and controlling a moving assembly and/or a distance adjusting assembly based on the movement control instruction so that a certain reference point on the excavating assembly moves to a target position along the first direction and/or the second direction.

22. The method of claim 14, wherein the target location is designated by a control terminal.

23. The method of claim 14, wherein controlling the first angle adjustment assembly and/or the second angle adjustment assembly to rotate to cause the digging assembly to complete a digging operation comprises:

and controlling the first angle adjusting assembly and/or the second angle adjusting assembly to rotate so that the excavating assembly sequentially enters an excavating preparation state, a contact state, a primary shovel state, a deep shovel state and a finishing state.

24. The method of claim 23, wherein,

the bringing the digging assembly into a digging preparation state includes:

according to the control instruction of the angle adjusting assembly, the first angle adjusting assembly and the second angle adjusting assembly are controlled to rotate so that the first mechanical arm rotates downwards, and meanwhile the opening side of the first bucket is parallel to the first mechanical arm until the distance between the first bucket and the first target object is a preset third distance;

the bringing the digging assembly into contact comprises:

controlling the second angle adjusting assembly to rotate so that the first bucket tip contacts the bottom of the first target object;

the enabling the excavating assembly to enter a pre-shovel state comprises:

controlling the first angle adjusting assembly to rotate, and simultaneously controlling the second angle adjusting assembly to rotate so that a connecting line between the first bucket end and the rotating shaft center point of the second angle adjusting assembly is perpendicular to the bottom of the first target object;

the bringing the digging assembly into a deep shovel state includes:

controlling the second angle adjusting assembly to rotate, and simultaneously controlling the first angle adjusting assembly to rotate so as to enable the bottom of the first bucket to be attached to the bottom of the first target object in parallel;

The bringing the digging assembly into a complete state includes:

and controlling the second angle adjusting assembly to rotate, and simultaneously controlling the first angle adjusting assembly to rotate so that the first mechanical arm and the horizontal direction form an included angle exceeding a preset first angle, and the opening side of the first bucket faces upwards and forms an included angle not exceeding a preset second angle with the horizontal direction.

25. The method of claim 23, further comprising controlling the first bucket to vibrate for a period of time.

26. The method of claim 14, wherein the method further comprises:

controlling the moving assembly to move based on the movement control instruction so as to enable the excrement cleaning device to reach a second position, wherein the second position is related to a second target object;

and controlling the second angle adjusting assembly to rotate, and dumping the object in the first bucket into the second target object.

27. The method as recited in claim 26, further comprising:

acquiring an output signal of a second sensor;

28. A control method for controlling the faecal management device according to any one of claims 1 to 11, comprising:

Acquiring and displaying the image acquired by the first image acquisition device and/or the image acquired by the second image acquisition device;

acquiring and transmitting a movement control instruction, a distance adjustment control instruction, a target position and/or an excavating instruction input by a user, wherein the movement assembly drives the body to move based on the movement control instruction, and the movement direction of the movement assembly at least comprises a first direction and a second direction which are mutually orthogonal, and the second direction is orthogonal to the telescopic direction of the distance adjustment assembly;

the movement control instruction is used for controlling the movement of the movement assembly to enable the excrement cleaning device to reach a first position, controlling the movement of the movement assembly and/or the distance adjustment assembly to enable a reference point on the excavating assembly to move to a target position along the first direction and/or the second direction, wherein the distance between the first position and the first target object does not exceed a preset threshold value, and enabling the second direction to be parallel to one side of the first target object.

29. The method of claim 28, wherein the obtaining the target location of the user input comprises:

displaying a floating button on a display interface of the image acquired by the second image acquisition device;

Detecting the position information of the floating button in the image after the operation of the floating button by a user is finished;

the target location is determined based on the location information.

30. A stool cleaning method applied to the stool cleaning device according to any one of claims 1-11, the method comprising:

controlling the moving assembly to move so that the excrement cleaning device reaches a first position, wherein the moving direction of the moving assembly at least comprises a first direction and a second direction which are mutually orthogonal, the second direction is orthogonal to the telescopic direction of the distance adjusting assembly, the distance between the first position and a first target object does not exceed a preset threshold value, and the second direction is parallel to one side of the first target object;

determining at least two target locations based on the top view image;

for each target position:

controlling a moving assembly and/or a distance adjusting assembly to move a reference point on the excavating assembly along the first direction and/or the second direction to reach a target position;

Controlling the first angle adjusting component and/or the second angle adjusting component to rotate so as to enable the excavating component to complete one-time excavation;

controlling the moving assembly to move so that the excrement cleaning device reaches a second position, wherein the second position is related to a second target object;

controlling the first angle adjusting component and/or the second angle adjusting component to rotate, and dumping the object in the first bucket into the second target object;

and controlling a moving component and/or a distance adjusting component to move a certain reference point on the excavating component along the first direction and/or the second direction to reach a next target position.

31. The method of claim 30, wherein the determining at least two target locations based on the top view image comprises dividing the first target object into at least two regions based on the top view image to determine at least two target locations.

32. The method of claim 31, wherein the at least two regions do not overlap and, in combination, are capable of covering a region of the first target object.

33. The method of claim 31, wherein the at least two regions are arranged in a matrix form, and at least one of the at least two regions is a rectangular region.

34. A fecal cleaning device, the device comprising at least one processor and at least one memory;

the at least one memory is configured to store computer instructions;

the at least one processor is configured to execute at least some of the computer instructions to implement the stool cleaning method of any one of claims 14-27.

35. A control device, characterized in that it comprises at least one processor and at least one memory;

the at least one memory is configured to store computer instructions;

the at least one processor is configured to execute at least some of the computer instructions to implement the control method of any one of claims 28-29.

36. A fecal cleaning device, the device comprising at least one processor and at least one memory;

the at least one memory is configured to store computer instructions;

the at least one processor is configured to execute at least some of the computer instructions to implement the stool cleaning method of any one of claims 30-33.

37. A computer storage medium storing computer instructions which, when executed by a processor, implement a faecal cleaning method according to any one of claims 14 to 27, or a control method according to any one of claims 28 to 29, or a faecal cleaning method according to any one of claims 30 to 33.

38. A fecal cleaning system for use in a fecal cleaning device according to any of the claims 1-11, comprising:

the positioning module is used for controlling the moving assembly to move so that the excrement cleaning device reaches a first position, the distance between the first position and a first target object does not exceed a preset threshold value, and the second direction is parallel to one side of the first target object;

the distance adjusting module is used for controlling the distance adjusting assembly to stretch and retract so that the second image acquisition device acquires the overlook image of the first target object;

the moving module is used for controlling the moving assembly and/or the distance adjusting assembly to enable a certain reference point on the excavating assembly to move to a target position along the first direction and/or the second direction, the first direction and the second direction are orthogonal, and the second direction is orthogonal to the telescopic direction of the distance adjusting assembly;

and the excavating module is used for controlling the first angle adjusting assembly and/or the second angle adjusting assembly to rotate so as to enable the excavating assembly to complete one excavating.

39. A control system for controlling the faecal management device according to any one of claims 1 to 11, comprising:

The first acquisition module is used for acquiring and displaying the image acquired by the first image acquisition device and/or the image acquired by the second image acquisition device;

the second acquisition module is used for acquiring a movement control instruction, a distance adjustment control instruction, a target position and/or an excavating instruction input by a user, the movement assembly drives the body to move based on the movement control instruction, and the movement direction of the movement assembly at least comprises a first direction and a second direction which are mutually orthogonal, and the second direction is orthogonal to the telescopic direction of the distance adjustment assembly;

the sending module is used for sending a movement control instruction, a distance adjustment control instruction, a target position and/or an excavating instruction which are input by a user;

the movement control instruction is used for controlling the movement of the movement assembly to enable the excrement cleaning device to reach a first position, controlling the movement of the movement assembly and/or the distance adjustment assembly to enable a reference point on the excavating assembly to move to a target position along the first direction and/or the second direction, wherein the distance between the first position and the first target object does not exceed a preset threshold value, and enabling the second direction to be parallel to a certain side of the first target object.

40. The system of claim 39, wherein the second acquisition module is further to:

the target location is determined based on the location information.

41. A fecal cleaning system for use in a fecal cleaning device according to any of the claims 1-11, comprising:

the positioning module is used for controlling the moving assembly to move so that the excrement cleaning device reaches a first position, the moving direction of the moving assembly at least comprises a first direction and a second direction which are mutually orthogonal, the second direction is orthogonal to the telescopic direction of the distance adjusting assembly, the distance between the first position and a first target object does not exceed a preset threshold value, and the second direction is parallel to one side of the first target object;

A target position determining module for determining at least two target positions based on the top view image;

a cleaning module for, for each target location:

controlling a moving assembly and/or a distance adjusting assembly to move a certain reference point on the excavating assembly along the first direction and/or the second direction to reach a target position;

controlling the second angle adjusting assembly to rotate, and dumping the object in the first bucket into the second target object;