CN115399246B - Cat excrement collection method and collection device thereof - Google Patents
Cat excrement collection method and collection device thereof Download PDFInfo
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- CN115399246B CN115399246B CN202211195464.3A CN202211195464A CN115399246B CN 115399246 B CN115399246 B CN 115399246B CN 202211195464 A CN202211195464 A CN 202211195464A CN 115399246 B CN115399246 B CN 115399246B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 241000282326 Felis catus Species 0.000 claims abstract description 298
- 238000012856 packing Methods 0.000 claims abstract description 44
- 238000001514 detection method Methods 0.000 claims abstract description 43
- 238000004092 self-diagnosis Methods 0.000 claims abstract description 15
- 238000012216 screening Methods 0.000 claims description 17
- 210000003608 fece Anatomy 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 7
- 238000004806 packaging method and process Methods 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 2
- 238000000926 separation method Methods 0.000 abstract description 4
- 239000000463 material Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000010009 beating Methods 0.000 description 3
- 238000005260 corrosion Methods 0.000 description 3
- 230000007797 corrosion Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000007306 turnover Effects 0.000 description 3
- 210000002700 urine Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005355 Hall effect Effects 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000004332 deodorization Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
- A01K1/0107—Cat trays; Dog urinals; Toilets for pets
- A01K1/011—Cat trays; Dog urinals; Toilets for pets with means for removing excrement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Sanitary Device For Flush Toilet (AREA)
- Housing For Livestock And Birds (AREA)
Abstract
The invention discloses a cat litter collection method and a cat litter collection device, which belong to the technical field of pet supplies and comprise a cat litter basin component and a control system arranged on the cat litter basin component; the cat litter basin component comprises a cat litter basin and a excrement bin; the upper end of the toilet is rotatably connected with a toilet cover, a switch motor for controlling the opening and closing of the toilet cover is arranged in the toilet, a packing unit is arranged in the toilet, and a torsion motor for controlling the packing unit is arranged in the toilet; the control system is used for controlling the cat litter basin assembly and comprises a motor control unit, a toilet detection control unit, a cat litter basin control unit, an equipment self-diagnosis unit and an equipment flow control unit. According to the cat litter collection method and the cat litter collection device, through the control system and the packing unit, full-automatic separation, collection and packing operation of cat litter blocks can be realized, the manual participation degree is reduced, and the use experience of users is greatly improved.
Description
Technical Field
The invention belongs to the technical field of pet supplies, and particularly relates to a cat litter collection method and a cat litter collection device.
Background
With the progress of society, more and more individual young people prefer to keep cats indoors, and in order to keep indoor sanitation and cleanliness, cat litter boxes are generally required to collect feces of cats so as to facilitate subsequent treatment.
The existing cat litter basin is generally divided into a manual cat litter basin and an electric cat litter basin, wherein the manual cat litter basin is simple in structure, after cat feces fall into the cat litter basin, a shovel with a leak hole is needed to be used for manually shoveling cat litter blocks out of cat litter, and the whole process is complicated. When the part of electric cat litter basin is used, the cat litter blocks are generally separated from cat litter by driving the cat litter basin to turn over or rotate, the separated cat litter blocks are generally poured into a storage space inside the cat litter basin, and then the cat litter blocks still need to be packaged manually, so that the full-automatic treatment of the cat litter block separation, collection and packaging flows cannot be realized, and a plurality of inconveniences still exist during use.
Therefore, we propose a method and a device for collecting cat feces to solve the above problems.
Disclosure of Invention
The invention aims to solve the problems of high manual participation and inconvenient use of a cat litter box in the prior art, and provides a cat litter collecting method and a cat litter collecting device.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a cat litter collection device comprises a cat litter box assembly and a control system arranged on the cat litter box assembly;
the cat litter basin component comprises a cat litter basin and a toilet;
the cat litter box is provided with a base, a rotating motor for controlling the cat litter box to rotate is arranged on the base, a screening plate for separating cat litter from cat litter blocks is arranged in the cat litter box, the rear side of the cat litter box is provided with a discharge port, the discharge port is rotationally connected with a movable door, and a track for being matched with the movable door to enable the discharge port to be closed is arranged on the base;
the upper end of the toilet is rotatably connected with a toilet cover, a switch motor for controlling the opening and closing of the toilet cover is arranged in the toilet, a packing unit is arranged in the toilet, and a torsion motor for controlling the packing unit is arranged in the toilet;
the control system is used for controlling the cat litter basin assembly and comprises a motor control unit, a toilet detection control unit, a cat litter basin control unit, an equipment self-diagnosis unit and an equipment flow control unit;
the motor control unit is used for respectively controlling the rotating motor, the switch motor and the torsion motor;
the toilet detection control unit is used for detecting the position of a toilet cover, an upper cover in-place sensor is fixedly arranged in the toilet, and the upper cover in-place sensor is electrically connected with the toilet detection control unit;
the cat litter box control unit comprises a detection module and a feedback module, and is used for judging the running state of the cat litter box;
the equipment self-diagnosis unit is used for providing equipment fault information;
and the equipment flow control unit is used for controlling the operation flow of the equipment.
Preferably, the packing unit is arranged between the toilet and the toilet cover, the packing unit comprises an annular shell, a packing bag module and a contraction piece, the packing bag module is rotationally arranged in the annular shell, the torsion motor is fixedly arranged in the annular shell, the outer part of the packing bag module is fixedly connected with a ring gear, the torsion motor is in transmission connection with the ring gear, a storage cavity for storing packing bags is formed in the packing bag module, and the contraction piece is fixedly arranged at the lower end of the packing bag module.
Preferably, the control system further comprises a remote control unit for providing a remote control service.
Preferably, the detection module is used for detecting the existence of a cat, the detection module is fixedly installed on the inner side wall of the cat litter box, and the feedback module is used for detecting the inclination angle of the cat litter box.
Preferably, the detection module adopts an infrared correlation sensor or a millimeter wave range radar sensor.
Preferably, the feedback module adopts an inclination angle sensor or an orthogonal magnetic absolute value encoder.
Preferably, the base is of a frame structure, a power box is fixedly installed on the side wall of the base, the rotating motor is installed in the power box, and the feedback module is installed in the power box.
Preferably, the toilet detection control unit further comprises a consumable identification module, wherein the consumable identification module adopts an RFID identification chip, and the RFID identification chip is fixedly installed in the toilet.
The invention also discloses a collecting method of the cat feces, which adopts the cat feces collecting device and comprises the following steps:
s1, after the detection module confirms that the cat finishes the toilet-feeding action and is far away from the cat litter box assembly, the motor control unit gives an instruction to the rotating motor so that the rotating motor drives the cat litter box to turn over towards the front side;
s2, the feedback module monitors the rotation angle of the cat litter basin, when the cat litter basin is turned forwards to 30 degrees, the motor control unit enables the rotating motor to start to turn backwards, and the cat litter basin is driven to start to turn backwards;
s3, in the process of overturning the cat litter basin towards the rear side, the cat litter and the cat litter blocks are mutually separated under the action of the screening plate, wherein the cat litter enters a storage cavity in the cat litter basin, and the position of the cat litter block entering a discharge port is blocked by a movable door;
s4, the feedback module monitors the rotation angle of the cat litter basin, when the cat litter basin is in a vertical state, the rotating motor starts to rotate reversely through the motor control unit, and the cat litter basin is driven to start to rotate forwards;
s5, when the cat litter box rotates to be separated from the track, the movable door is opened, so that cat litter blocks fall into the toilet bin;
s6, the feedback module monitors the rotation angle of the cat litter basin, when the cat litter basin is turned forwards to 30 degrees, the cat litter flows out of a storage cavity in the cat litter basin, the rotating motor starts to turn backwards through the motor control unit, and the cat litter basin is driven to turn backwards until the cat litter basin is turned to an initial horizontal position again;
s7, after the cat litter block enters the toilet, the motor control unit enables the torsion motor to work and drives the packing unit to rotate so as to pack the cat litter block;
and S8, after packaging is completed, the motor control unit enables the switch motor to work, drives the toilet cover to rotate, and seals the opening of the toilet.
Preferably, in the steps S1 to S6, detection is performed by the detection module, if the existence of a cat is detected, the operation of the cat litter box is suspended by the motor control unit, and after the departure of the cat is detected, the operation of the cat litter box is restored to normal operation.
In summary, the technical effects and advantages of the present invention are: according to the cat litter collection method and the cat litter collection device, through the control system and the packing unit, full-automatic separation, collection and packing operation of cat litter blocks can be realized, the manual participation degree is reduced, and the use experience of users is greatly improved.
Drawings
FIG. 1 is a schematic view of a cat litter collection device according to the invention;
FIG. 2 is a schematic diagram of a cat litter collection device according to the invention;
FIG. 3 is a schematic view of the structure of the feces compartment of the cat feces collection device of the present invention;
FIG. 4 is a schematic view showing the structure of a packing unit in the cat litter collection device of the invention;
FIG. 5 is a schematic diagram showing the connection relationship of the control system in the cat litter collection device of the invention;
FIG. 6 is a schematic view showing the overall steps of the method for collecting cat feces according to the present invention;
FIG. 7 is a schematic diagram showing a state of a litter box in the method for collecting cat litter of the invention;
fig. 8 is a second schematic diagram of the state of the litter box in the method for collecting cat litter of the invention;
fig. 9 is a third schematic view of the state of the litter box in the method for collecting cat litter of the invention;
fig. 10 is a schematic diagram showing a state of a litter box in the collecting method of cat litter of the invention;
fig. 11 is a schematic diagram showing a cat litter box in the method for collecting cat litter of the invention.
In the figure: 1. cat litter basin; 11. a rotating electric machine; 12. a screening plate; 13. a movable door; 2. a toilet; 21. a toilet cover; 211. an upper cover in-place sensor; 22. switching on and off the motor; 23. a packing unit; 231. an annular housing; 232. a bag packing module; 2321. a ring gear; 2322. a storage chamber; 233. a constriction; 24. a torsion motor; 3. a base; 31. a track; 32. a power box; 41. a motor control unit; 42. a toilet detection control unit; 421. a consumable identification module; 43. a cat litter tub control unit; 431. a detection module; 432. a feedback module; 44. a device self-diagnosis unit; 45. a device flow control unit; 46. and a remote control unit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1
1-2, a cat litter collection device includes a cat litter box assembly and a control system mounted on the cat litter box assembly; the cat litter box assembly comprises a cat litter box 1 and a toilet bin 2.
The cat litter basin 1 is used for providing the space that the cat goes to the lavatory, when using, needs to add the cat litter that is used for parcel cat excrement and urine in cat litter basin 1, and just storehouse 2 is used for collecting the excrement and urine from cat litter basin 1, and control system is used for controlling the state of cat litter basin 1 and just storehouse 2 respectively, realizes the angle control to cat litter basin 1, realizes carrying out autosegregation to cat litter piece and cat litter, simultaneously, control system can control just storehouse 2 for collect and pack cat litter piece.
The cat litter box 1 is provided with a base 3, a rotating motor 11 for controlling the cat litter box 1 to rotate is arranged on the base 3, a screening plate 12 for separating cat litter and cat litter blocks is arranged in the cat litter box 1, the rear side of the cat litter box 1 is provided with a discharge outlet, the discharge outlet is rotationally connected with a movable door 13, and a track 31 for being matched with the movable door 13 to enable the discharge outlet to be closed is arranged on the base 3.
When the cat litter box is used, the front side of the screening plate 12 is a space for a cat to go to a toilet, cat litter is placed in the space, after the cat goes to the toilet, cat litter can be combined with the cat litter to form cat litter blocks, when the cat litter box 1 rotates towards the rear side, the cat litter blocks can be separated from the cat litter under the action of the screening plate 12, the cat litter blocks roll to the movable door 13, when the cat litter box 1 rotates, the movable door 13 and the track 31 are separated from each other, the cat litter blocks roll freely into the toilet 2, and collection and transfer of the cat litter blocks are realized.
A space for temporarily storing cat litter is formed between the rear side of the screening plate 12 and the inner wall of the cat litter box 1, when the cat litter blocks and the cat litter jointly pass through the screening plate 12, the cat litter blocks roll backwards along the screening plate 12, the cat litter can enter the space for temporarily storing the cat litter, and when the cat litter box rotates towards the front side, the cat litter can be re-flowed to the area of the cat litter box for being reused.
As shown in fig. 3 and 4, the upper end of the toilet 2 is rotatably connected with a toilet cover 21, a switch motor 22 for controlling the opening and closing of the toilet cover 21 is arranged in the toilet 2, a packing unit 23 is arranged in the toilet 2, and a torsion motor 24 for controlling the packing unit 23 is arranged in the toilet 2.
After the cat litter block enters the toilet room 2, the torsion motor 24 can drive the packing unit 23 to rotate so as to pack the cat litter block, and the switch motor 22 can control the toilet room cover 21 to be opened and closed so as to realize the deodorization effect.
As shown in fig. 5, the control system is used for controlling the cat litter box assembly, and comprises a motor control unit 41, a toilet detection control unit 42, a cat litter box control unit 43, an equipment self-diagnosis unit 44 and an equipment flow control unit 45.
In this embodiment, the control system further includes a remote control unit 46, where the remote control unit 46 is configured to provide remote control services, provide APP related services, such as distribution network, remote control, remote check device status, push alert, etc., and check fault information reported by the device self-diagnosis unit 44.
Further, the remote control unit 46 collects information from the device flow control unit 45 and uploads the information to the APP server, and obtains user operations from the APP server and provides the user operations to the device flow control unit 45 for execution.
The motor control unit 41 is configured to control the rotating motor 11, the switch motor 22, and the torsion motor 24, and further, control the rotation angle of the cat litter box 1 through the rotating motor 11, control the opening and closing of the toilet cover 21 through the switch motor 22, and control the packaging unit 23 through the torsion motor 24, and specifically, the main function of the motor control unit 41 is to control the motor to rotate according to the required torque according to the requirement of the equipment flow control unit 45, and report the fault to the equipment self-diagnosis unit 44.
Further, the motor control unit 41 receives a motor control command from the device flow control unit 45, outputs PWM signals, and controls three dc brush motors through motor driving chips, respectively: the rotating motor 11, the switch motor 22 and the torsion motor 24 realize the rotation of each motor according to the required torque, and combine the current feedback provided by the motor driving chip to realize the detection of the working state of the motor, judge whether the motor is blocked or damaged, and report to the equipment self-diagnosis unit 44.
The motor driving chip may be an AT8236 chip.
The toilet detection control unit 42 is configured to detect a position of the toilet cover 21, and an upper cover in-place sensor 211 is fixedly installed in the toilet 2, where the upper cover in-place sensor 211 is electrically connected with the toilet detection control unit 42, specifically, the toilet detection control unit 42 is mainly configured to detect whether the toilet cover 21 is covered, and determine whether the toilet is full. The toilet detection control unit 42 further comprises an RFID identification chip arranged on the consumable of the toilet 2, and can be used for reading and updating the residual condition of the consumable, and feeding back the result to the equipment flow control unit 45 and the equipment self-diagnosis unit 44.
Further, when the toilet detection control unit 42 is used, it receives the sensor signal of the in-place cover sensor 211, determines whether the toilet cover 21 is covered by the detected magnetic field intensity, reports the result to the equipment flow control unit 45, and determines that the toilet cover 21 is in a full toilet state or a stuck state by the obtained magnetic field intensity value, if the operation is found to be abnormal, reports the result to the equipment self-diagnosis unit 44, and can determine whether the toilet 2 is covered, and assist in determining whether the toilet 2 is full or not, so as to remind the user to dump garbage.
The upper cover in place sensor 211 may employ a HX6639D linear hall effect sensor, the output voltage of which is proportional to the strength of the magnetic field passing through it, and which increases or decreases depending on the magnetic field characteristics and strength. The change of the corresponding position data can be known through the change of the magnetic field intensity, and the relation between the output voltage and the polarity and the intensity of the sensed magnetic field is fixed. The upper cover in-place sensor 211 is arranged in the toilet bowl 2, a magnet is arranged on the toilet bowl cover 21, and a linear Hall sensor is arranged at the corresponding position of the main body component of the toilet bowl 2 after the magnet falls down. Because the magnetic field intensity and the distance are in a square reciprocal relationship, the linear Hall sensor can judge the closing state of the toilet cover 21, including whether the toilet cover is closed or not, and can judge whether the toilet cover is tightly covered or not within a certain distance, and the approximate distance is obtained.
Compared with the traditional mechanical switch, the upper cover in-place sensor has the advantages that the upper cover in-place sensor is a completely non-contact sensor, and corrosion caused by water vapor in the air and the like can be avoided. The sensor has a self-checking function, and whether the sensor works normally can be judged through the range of output voltage. Compared with the traditional mechanical switch, the sensor can only output the switch model, can judge whether the sensor is tightly covered within a certain distance, and can obtain the approximate distance.
The toilet detection control unit 42 further comprises a consumable identification module 421, wherein the consumable identification module 421 adopts an RFID identification chip, and the RFID identification chip is fixedly installed in the toilet 2. The RFID identification chip is specifically an RFC522 chip, and when in use, the RFID identification chip can read the residual life of consumable materials in the equipment and write the updated life into the consumable material metering chip in the equipment according to the instruction given by the equipment flow control unit 45. If the consumable life is zero, the device flow control unit 45 is fed back, the subsequent excrement pouring operation is suspended, and the operation is reported to the remote control unit 46 to remind the user of replacing the consumable.
Specifically, a passive RFID tag is arranged on a consumable (packing bag) matched with the equipment, when the consumable is installed by a user, the tag enters the range of a near field identification chip, the near field identification chip sends out a radio frequency signal, the passive RFID tag on the consumable sends out product information and the residual service life stored in the chip by means of energy obtained by induction current, and the near field identification chip reads and decodes the information and then sends the information to a main control for processing. And after the consumable is used and consumed each time, the main control updates the service life information in the RFID tag on the equipment through the near field identification chip, and the residual service life of the consumable is tracked.
This RFID discernment chip sets up in just storehouse 2, and the antenna is on being close to the inner wall of consumptive material main part, can read the surplus life of consumptive material through RFID before the system falls rubbish at every turn, judges whether still consumptive material remains, can intelligent identification consumptive material surplus, compares in the chip of contact type, can avoid because the corruption that water vapor etc. brought in the air, increase of service life.
The cat litter box control unit 43, the cat litter box control unit 43 includes a detection module 431 and a feedback module 432, which are used for judging the running state of the cat litter box 1, specifically, the main function is to judge whether there is a cat in the cat litter box 1 and the current inclination angle of the cat litter box 1, wherein the detection module 431 is mainly used for detecting the cat, and the feedback module 432 is mainly used for giving the inclination angle information of the cat litter box 1.
The detection module 431 is used for detecting the existence of a cat, and the detection module 431 is fixedly installed on the inner side wall of the cat litter box 1.
The detection module 431 adopts an infrared correlation sensor, specifically, the detection module 431 is a group of infrared correlation gratings installed on the inner side wall of the cat litter box 1, if an object appears in the detection range of the correlation gratings, a part of light rays will be blocked, the cat litter box control unit 43 will read the blocked width, and whether the cat is judged according to the blocked width. And feeds back the result to the device flow control unit 45 for providing a security protection operation in which the cat is suspended or starts the toilet flow. If the sensor is not effective or the output result is not effective, such as if there is an object shielding for a long time, it is determined that the sensor is damaged, and reported to the device self-diagnosis unit 44.
The infrared correlation sensor has the advantages that: the sensitivity is high, the dust is insensitive, the dust can be completely sealed, and corrosion caused by air, water vapor and the like is avoided.
It should be noted that, the detection module 431 may also be implemented by a millimeter wave ranging radar sensor, for example, a K-band millimeter wave ranging radar, and a transmit-receive antenna are used for isolation. The principle of operation is to measure object distance by measuring the time difference between transmitted and received signals, which operates in a frequency modulated continuous wave mode (FMCW). All signal processing units of the microwave radar are integrated in the radar sensor, and the control unit only needs to acquire the object distance through the serial interface.
The millimeter wave range radar sensor has the advantages that: the device has the advantages of light volume, light weight, wide range finding, no influence of weather environment, and certain penetrating power (smoke, dust, thin nonmetallic materials and the like). It can be completely closed, and corrosion caused by air, water vapor and the like is avoided.
Wherein, feedback module 432 is used for detecting the inclination of cat litter box 1, and base 3 is the framework structure, and fixed mounting has power box 32 on the lateral wall of base 3, and rotating electrical machines 11 installs in power box 32, and feedback module 432 installs in power box 32.
The feedback module 432 adopts an inclination sensor, specifically, the feedback module 432 is a triaxial acceleration sensor installed in the cat litter box 1, the cat litter box control unit 43 reads the acceleration value obtained by the inclination sensor, since the earth has acceleration of 1G to the earth center, since the acceleration of x, y and z axes (the rotation of the device should only have angular velocity around the rotation axis and no additional acceleration exists) does not exist, the inclination angle of the cat litter box 1 can be obtained through the resultant force direction of the vector, and the obtained inclination angle is fed back to the device flow control unit 45, if the sensor does not have a result or the output result is invalid (if the obtained angle exceeds the design range of the device or the device is in a non-stationary state), the sensor is judged to be damaged, and the device self-diagnosis unit 44 is reported.
It should be noted that, the feedback module 432 may also be implemented by using a quadrature magnetic absolute value encoder.
The device self-diagnosis unit 44 is configured to provide device fault information, and has a main function of collecting fault information fed back by other units in the device and reporting the fault information to the server.
The device flow control unit 45 is configured to control an operation flow of the device, specifically, a function of the device flow control unit 45 is to control the operation flow of the device, determine a current state of the device according to the sensor, and send a corresponding motor instruction to the motor control unit 41.
The device flow control unit 45 has a fixed set of actions (e.g., 35 degrees clockwise rotation, opening the toilet door, closing the toilet door, etc.) that are sequentially performed after entering the reverse toilet flow. The device flow control unit 45 receives the determination of whether there is a cat from the litter box control unit 43, if there is a cat present at idle, and stays for a certain time, and after the cat leaves, the automatic excrement pouring flow will be started. During execution of the flow, if a cat is detected, the flow is paused until the cat leaves. In the process of executing the flow, an instruction is sent to a corresponding unit (for example, the motor control unit 41 requests the rotating motor 11 to start rotating) according to the instruction, the sensor is waited for feeding back the execution state (for example, the instruction is rotated by 35 degrees, the cat litter basin control unit 43 waits for the feedback angle to reach the requirement), then the operation of the next instruction is performed, and after all the instructions are executed, the operation automatically enters an idle state and waits for the next trigger.
Further, as shown in fig. 4, the packing unit 23 is disposed between the toilet seat 2 and the toilet seat cover 21, the packing unit 23 includes a ring housing 231, a packing module 232 and a contracting member 233, the packing module 232 is rotatably disposed in the ring housing 231, the torsion motor 24 is fixedly mounted in the ring housing 231, the ring gear 2321 is fixedly connected to the outside of the packing module 232, the torsion motor 24 is in transmission connection with the ring gear 2321, a storage chamber 2322 for storing packing bags is provided in the packing module 232, and the contracting member 233 is fixedly mounted at the lower end of the packing module 232.
When the cat litter box is used, the tail part of the bag is fixed in the toilet bin 2 and kept motionless, the head part of the bag is positioned in the storage cavity 2322, the shrinkage piece 233 is of a funnel-shaped structure with a big upper part and a small lower part, the middle part of the bag is sleeved on the inner wall of the shrinkage piece 233 to form a storage area, after the cat litter box falls into the storage area, the torsion motor 24 can drive the ring gear 2321 to rotate, so that the bag-beating module 232 is driven to rotate, and the head part of the bag forms a torsion effect along with the rotation of the bag-beating module 232 due to the fact that the tail part of the bag is fixed, so that the cat litter box can be completely wrapped in the bag-beating module, and the packaging effect on the cat litter box is realized.
Example two
The embodiment of the application also provides a method for collecting cat feces, as shown in fig. 6, comprising the following steps:
as shown in fig. 7, S1, after the detection module 431 confirms that the cat has completed the toilet-going action and is far away from the litter box assembly, the motor control unit 41 issues a command to the rotating motor 11, so that the rotating motor 11 drives the litter box 1 to turn over toward the front side, and the litter moves toward the front side of the litter box 1, so that the cat feces and the litter are fully contacted.
As shown in fig. 8, S2, the feedback module 432 monitors the rotation angle of the litter box 1, when the litter box 1 is turned forward to 30 degrees, the motor control unit 41 starts to turn the rotating motor 11, and drives the litter box 1 to turn backward;
s3, in the process of overturning the cat litter basin 1 towards the rear side, the cat litter and cat litter blocks are mutually separated under the action of the screening plate 12, wherein the cat litter enters a storage cavity in the cat litter basin, and the position of the cat litter block entering a discharge port is blocked by the movable door 13;
s4, the feedback module 432 monitors the rotation angle of the cat litter box 1, when the cat litter box 1 is in a vertical state, the motor control unit 41 enables the rotary motor 11 to start reversing, and the cat litter box 1 is driven to start reversing towards the front side.
In the process of rotating the cat litter box 1, when the movable door 13 is in contact with the rail 31, the movable door 13 is in a closed state to block the discharge port, and when the cat litter box 1 is in an inclined downward state, the cat litter blocks fall to the discharge port along the screening plate 12 under the action of gravity, and when the movable door 13 is separated from the rail 31, the cat litter blocks at the discharge port can fall freely.
As shown in fig. 9, S5, when the cat litter box 1 rotates to be separated from the track 31, the movable door 13 is opened, so that the cat litter block falls into the toilet bin 2.
As shown in fig. 10 and 11, S6, the feedback module 432 monitors the rotation angle of the litter box 1, when the litter box 1 is turned forward to 30 degrees, the litter box 1 is made to flow out from the storage cavity in the litter box, the rotating motor 11 is started to turn reversely by the motor control unit 41, and the litter box 1 is driven to turn backward until the litter box 1 is turned to the initial horizontal position again.
After the cat litter block is discharged, the cat litter box rotates forward, so that cat litter can flow forward from the storage area at the screening plate 12 to the area of the cat litter box, and the cat litter box is convenient to recycle again.
S7, after the cat litter block enters the toilet bin 2, the motor control unit 41 enables the torsion motor 24 to work and drives the packing unit 23 to rotate so as to pack the cat litter block;
and S8, after packaging is completed, the motor control unit 41 enables the switch motor 22 to work, drives the toilet cover 21 to rotate, and seals the opening of the toilet 2.
In the steps S1-S6, the detection module 431 detects that the cat is present, and if the presence of the cat is detected, the motor control unit 41 suspends the operation of the cat litter box 1, and after the departure of the cat is detected, the cat litter box 1 is restored to normal operation.
It should be noted that, compared with the mode of realizing cat litter block and cat litter separation by turning over the cat litter basin in the prior art, when the cat litter basin is used, the mode of controlling the cat litter basin 1 to rotate a certain angle to the front side is controlled, so that cat litter can roll fully in the cat litter basin 1, cat litter can be wrapped outside the cat litter more fully, and the adhesion between the cat litter block and the cat litter basin 1 or the screening plate 12 in the subsequent rolling process is greatly reduced.
In addition, in the process of rotating the cat litter box 1 forwards by a certain angle, cat litter can be fully contacted with the inner wall of the cat litter box 1, and can be combined with part of excrement remained on the inner wall of the cat litter box 1, especially on the front side wall, so that cat urine or cat excrement is prevented from being adhered to the inner wall of the cat litter box 1 to be thoroughly removed, and odor is generated.
The present invention is not limited to the above-mentioned embodiments, and any person skilled in the art, based on the technical solution of the present invention and the inventive concept thereof, can be replaced or changed within the scope of the present invention.
Claims (10)
1. The cat litter collection device is characterized by comprising a cat litter basin assembly and a control system arranged on the cat litter basin assembly;
the cat litter basin assembly comprises a cat litter basin (1) and a toilet bin (2), wherein the toilet bin (2) is positioned outside the cat litter basin (1) and is independent of the cat litter basin (1);
the cat litter box is characterized in that a base (3) is arranged outside the cat litter box (1), a rotating motor (11) for controlling the cat litter box (1) to rotate is arranged on the base (3), a screening plate (12) for separating cat litter from cat litter blocks is arranged in the cat litter box (1), a discharge port is arranged at the rear side of the cat litter box (1), a movable door (13) is rotationally connected at the discharge port, and a track (31) for being matched with the movable door (13) to enable the discharge port to be closed is arranged on the base (3);
the front side of the screening plate (12) is a space for a cat to go to a toilet, cat litter is placed in the space, after the cat goes to the toilet, cat feces can be combined with the cat litter to form cat litter blocks, when the cat litter basin (1) rotates towards the rear side, the cat litter blocks are separated from the cat litter under the action of the screening plate (12), the cat litter blocks roll to the movable door (13), and when the cat litter basin (1) rotates, the movable door (13) and the track (31) are separated from each other, so that the cat litter blocks roll into the toilet bin (2) freely, and collection and transfer of the cat litter blocks are realized;
the upper end of the toilet bowl (2) is rotatably connected with a toilet bowl cover (21), a switch motor (22) for controlling the toilet bowl cover (21) to be opened and closed is arranged in the toilet bowl (2), a packing unit (23) is arranged in the toilet bowl (2), and a torsion motor (24) for controlling the packing unit (23) is arranged in the toilet bowl (2);
the control system is used for controlling the cat litter basin assembly and comprises a motor control unit (41), a toilet detection control unit (42), a cat litter basin control unit (43), an equipment self-diagnosis unit (44) and an equipment flow control unit (45);
the motor control unit (41) is used for respectively controlling the rotating motor (11), the switch motor (22) and the torsion motor (24);
the toilet detection control unit (42) is used for detecting the position of a toilet cover (21), an upper cover in-place sensor (211) is fixedly arranged in the toilet (2), and the upper cover in-place sensor (211) is electrically connected with the toilet detection control unit (42);
the cat litter box control unit (43), wherein the cat litter box control unit (43) comprises a detection module (431) and a feedback module (432) for judging the running state of the cat litter box (1);
the apparatus self-diagnosis unit (44) is used for providing apparatus fault information;
and the equipment flow control unit (45) is used for controlling the operation flow of the equipment.
2. The cat stool collection device according to claim 1, wherein the packing unit (23) is arranged between the stool bin (2) and the stool bin cover (21), the packing unit (23) comprises an annular shell (231), a packing bag module (232) and a contraction piece (233), the packing bag module (232) is rotatably arranged in the annular shell (231), the torsion motor (24) is fixedly arranged in the annular shell (231), the annular gear (2321) is fixedly connected to the outer part of the packing bag module (232), the torsion motor (24) is in transmission connection with the annular gear (2321), a storage cavity (2322) for storing packing bags is formed in the packing bag module (232), and the contraction piece (233) is fixedly arranged at the lower end of the packing bag module (232).
3. The cat litter collection device of claim 1, wherein the control system further comprises a remote control unit (46), the remote control unit (46) for providing a remote control service.
4. The cat litter collection device of claim 1, wherein the detection module (431) is configured to detect the presence of a cat, the detection module (431) is fixedly mounted on an inner sidewall of the litter box (1), and the feedback module (432) is configured to detect an inclination angle of the litter box (1).
5. The cat stool collection device according to claim 4, wherein the detection module (431) employs an infrared correlation sensor or a millimeter wave range radar sensor.
6. The cat stool collection device according to claim 5, wherein the feedback module (432) employs a tilt sensor or an orthogonal magnetic absolute encoder.
7. The cat stool collection device according to claim 6, wherein the base (3) is of a frame structure, a power box (32) is fixedly installed on the side wall of the base (3), the rotating motor (11) is installed in the power box (32), and the feedback module (432) is installed in the power box (32).
8. The cat stool collection device according to claim 1, wherein the stool bin detection control unit (42) further comprises a consumable identification module (421), the consumable identification module (421) adopts an RFID identification chip, and the RFID identification chip is fixedly installed in the stool bin (2).
9. A method for collecting cat feces, characterized in that the cat feces collecting device as defined in any one of claims 1 to 8 is used, comprising the steps of:
s1, after the detection module (431) confirms that the cat finishes the toilet-moving action and is far away from the cat litter box assembly, the motor control unit (41) gives an instruction to the rotating motor (11) so that the rotating motor (11) drives the cat litter box (1) to overturn towards the front side;
s2, the feedback module (432) monitors the rotation angle of the cat litter basin (1), when the cat litter basin (1) is turned forwards to 30 degrees, the motor control unit (41) enables the rotary motor (11) to start to turn backwards, and the cat litter basin (1) is driven to start to turn backwards;
s3, enabling the cat litter and the cat litter block to be mutually separated under the action of the screening plate (12) in the process of overturning the cat litter basin (1) towards the rear side, wherein the cat litter enters a storage cavity in the cat litter basin, and the position of the cat litter block entering a discharge port is blocked by a movable door (13);
s4, the feedback module (432) monitors the rotation angle of the cat litter basin (1), when the cat litter basin (1) is in a vertical state, the rotating motor (11) starts to rotate reversely through the motor control unit (41), and the cat litter basin (1) is driven to rotate forwards;
s5, when the cat litter box (1) rotates to be separated from the track (31), the movable door (13) is opened, so that cat litter blocks fall into the toilet bin (2);
s6, the feedback module (432) monitors the rotation angle of the cat litter box (1), when the cat litter box (1) is turned forwards to 30 degrees, the cat litter flows out of a storage cavity in the cat litter box, the rotating motor (11) starts to turn backwards through the motor control unit (41), and the cat litter box (1) is driven to turn backwards until the cat litter box (1) is turned to an initial horizontal position again;
s7, after the cat litter block enters the toilet (2), the motor control unit (41) enables the torsion motor (24) to work and drives the packing unit (23) to rotate so as to pack the cat litter block;
and S8, after packaging is completed, the motor control unit (41) enables the switch motor (22) to work, drives the toilet cover (21) to rotate, and seals the opening of the toilet (2).
10. The method according to claim 9, wherein in the steps S1-S6, detection is performed by the detection module (431), if the presence of a cat is detected, the operation of the litter box (1) is suspended by the motor control unit (41), and after the cat is detected to leave, the litter box (1) is returned to normal operation.
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