WO2020177050A1

WO2020177050A1 - Excrement cleaning method, apparatus, and system

Info

Publication number: WO2020177050A1
Application number: PCT/CN2019/076833
Authority: WO
Inventors: 江新炼
Original assignee: 成都赛果物联网技术有限公司
Priority date: 2019-03-04
Filing date: 2019-03-04
Publication date: 2020-09-10
Also published as: CN110036398B; CN117079199A; CN110036398A

Abstract

An excrement cleaning apparatus (200), comprising: a body (210), a control assembly, a moving assembly (220), a distance adjustment assembly (230), a first angle adjustment assembly (240), and a digging assembly (250); the distance adjustment assembly (230) is arranged on the body (210), and is used for extending and retracting on the basis of control commands of the control assembly; the digging assembly (250) is mounted on the distance adjustment assembly (230) by means of the first angle adjustment assembly (240), and the first angle adjustment assembly (240) is used for rotating on the basis of control commands of the control assembly; the moving assembly (220) is mounted on the body (210) and is used for driving the body (210) to move on the basis of control commands of the control assembly, and the movement directions of the moving assembly (220) at least comprise a first direction and a second direction orthogonal to one another; also comprising an excrement cleaning system and cleaning method using said apparatus, and a control apparatus and method for controlling the excrement cleaning apparatus.

Description

Method, device and system for cleaning excrement

Technical field

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

Background technique

With the development of social life, more and more families have begun to choose to keep pets, but at present, most of the pet feces cleaning methods are handled by individuals, which requires a lot of extra time for pet owners. In addition, when pet owners go out and are not at home, they cannot clean up pet feces in time, which affects home environmental hygiene. Therefore, a feces cleaning device is needed to automatically clean pet feces.

Summary of the invention

One of the embodiments of the present application provides a feces cleaning device. The device includes: a body, a control component, a moving component, a distance adjustment component, a first angle adjustment component, and a digging component; the distance adjustment component is arranged on the body and is used for telescoping and contracting based on a control command of the control component; The excavation assembly is installed on the distance adjustment assembly through the first angle adjustment assembly; the first angle adjustment assembly is used to rotate based on the control instruction of the control assembly; the moving assembly is installed on the body to be used based on the The control instruction of the control component drives the body to move, and the moving direction of the moving component at least includes a first direction and a second direction orthogonal to each other.

In some embodiments, the device further includes a first image acquisition device and a second image acquisition device; the first image acquisition device is used for acquiring a head-up image in front of the body; the second image acquisition device is used for Obtain a bird's-eye view of the front of the body.

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

In some embodiments, the device further includes: at least two first sensors for determining the relative positional relationship between the body and the first target object.

In some embodiments, the device further includes a second sensor for determining the relative position relationship between the body and the second target object.

In some embodiments, the distance adjustment assembly includes an electric push rod; one end of the push rod is fixedly connected to the body, and the excavation assembly is installed on the other end of the push rod through the first angle adjustment assembly; The telescopic direction of the rod is parallel to the length of the push rod.

In some embodiments, the excavating assembly includes a first mechanical arm and a first bucket; the distance adjustment assembly and one end of the first mechanical arm are connected by the first angle adjustment assembly; the first mechanical arm The arm and the first bucket are connected through a second angle adjustment assembly, and the second angle adjustment assembly is used to rotate based on a control command of the control assembly.

In some embodiments, the device further includes: a vibration component for driving the first bucket to vibrate based on a control command of the control component; the first bucket has at least one screen hole.

In some embodiments, the angle adjustment component is a steering gear.

In some embodiments, the moving component is a mecanum wheel.

In some embodiments, a communication module is further included, and the control component has a signal connection with the communication module.

In some embodiments, the second direction is also orthogonal to the telescopic direction of the distance adjusting component.

One of the embodiments of the present application provides a feces cleaning system. The system includes a feces cleaning device and a control terminal; the feces cleaning device performs signal interaction with the control terminal through a communication module.

One of the embodiments of the present application provides a feces cleaning system. The system includes a feces cleaning device, a control terminal, and a server; the feces cleaning device is in signal connection with the server through a communication module; the control terminal has a signal connection with the server.

One of the embodiments of the present application provides a feces cleaning method, which is applied to a feces cleaning device, the method includes: bringing the feces cleaning device to a first position, the first position being related to a first target object; controlling distance adjustment The component is stretched so that the second image acquisition device can acquire the top view image of the first target object; the moving component and/or the distance adjustment component are controlled so that a certain reference point on the excavating component is along the first Move to the target position in the direction and/or the second direction; control the rotation of the first angle adjustment component and/or the second angle adjustment component, so that the excavation assembly completes one excavation.

In some embodiments, the step of causing the feces cleaning device to reach the first position further includes: based on the movement control instruction, controlling the moving component to move so that the feces cleaning device reaches the initial position; the initial position is different from the first position. The distance between the positions does not exceed the set threshold.

In some embodiments, the method further includes: acquiring the image collected by the first image acquiring device and transmitting it to the control terminal; and receiving a movement control instruction from the control terminal.

In some embodiments, the step of causing the feces cleaning device to reach the first position further includes: controlling the movement of the moving assembly through the output signals of at least two first sensors, so that the feces cleaning device continues to move to the first position. A position; the distance between the first position and the first target object does not exceed the set threshold and makes the second direction parallel to a certain side of the first target object.

In some embodiments, controlling the distance adjustment component to expand and contract so that the second image acquisition device can obtain a top view image of the first target object includes: controlling the distance adjustment component to expand and contract based on a distance adjustment control instruction The telescopic direction includes extension or contraction along the length direction of the distance adjusting assembly until a complete top view image of the first target object is obtained.

In some embodiments, the method further includes: acquiring the image collected by the second image acquiring device and transmitting it to the control terminal; and receiving a distance adjustment control instruction from the control terminal.

In some embodiments, the controlling the moving component and/or the distance adjusting component to move a reference point on the excavating component to the target position along the first direction and/or the second direction further includes: The overhead image determines the distance between the reference point and the target position in the first direction and the second direction, respectively; based on the distance, the moving component and/or the distance adjusting component are controlled so that the excavating component is A certain reference point of moves to the target position along the first direction and/or the second direction.

In some embodiments, the controlling the moving component and/or the distance adjusting component so that a certain reference point on the excavating component moves to the target position along the first direction and/or the second direction, further includes: acquiring the first 2. The image acquired by the image acquisition device and transmitted to the control terminal; receive the movement control instruction of the control terminal; based on the movement control instruction, control the movement component and/or the distance adjustment component so that a certain reference point on the excavation component is The first direction and/or the second direction are moved to the target position.

In some embodiments, the target location is designated by the controlling terminal.

In some embodiments, the controlling the rotation of the first angle adjusting component and/or the second angle adjusting component so that the excavating component completes one excavation includes: controlling the first angle adjusting component and/or the second angle adjusting component The assembly rotates so that the excavating assembly enters the excavation preparation state, the contact state, the initial shovel state, the deep shovel state, and the completed state in sequence.

In some embodiments, the entering the excavating component into the excavation preparation state includes: controlling the first angle adjusting component and the second angle adjusting component to rotate according to the angle adjusting component control instruction, so that the first mechanical arm is downward Rotate to make the opening side of the first bucket parallel to the first mechanical arm until the distance between the first bucket and the first target object is a preset third distance; the digging assembly is brought into contact The state includes: controlling the second angle adjustment assembly to rotate so that the end of the first bucket contacts the bottom of the first target object; and the step of bringing the excavating assembly into the initial shoveling state includes: controlling the first angle The adjustment component is rotated, and at the same time, the second angle adjustment component is controlled to rotate so that the line between the end of the first bucket and the center point of the rotation axis of the second angle adjustment component is perpendicular to the bottom of the first target object; The step of bringing the excavation assembly into the deep shovel state includes: controlling the second angle adjustment assembly to rotate, and at the same time, controlling the first angle adjustment assembly to rotate so that the bottom of the first bucket and the bottom of the first target object Parallel fitting; said bringing the excavation assembly into a completed state includes: controlling the second angle adjustment assembly to rotate, and at the same time, controlling the first angle adjustment assembly to rotate, so that the first mechanical arm is more than horizontal For the preset first angle, the opening side of the first bucket faces upward and forms an included angle with the horizontal direction that does not exceed the preset second angle.

In some embodiments, it further includes controlling the first bucket to vibrate for a certain period of time.

In some embodiments, the method further includes: based on a movement control instruction, controlling the movement component to move so that the feces cleaning device reaches a second position, the second position being related to a second target object; and controlling the second The angle adjusting component rotates to dump the object in the first bucket into the second target object.

In some embodiments, it further includes: acquiring an output signal of the second sensor;

It is determined whether the feces cleaning device reaches the 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 stool cleaning device, including: acquiring and displaying an image acquired by a first image acquiring device and/or an image acquired by a second image acquiring device; acquiring and sending user input Movement control instructions, distance adjustment control instructions, target position and/or digging instructions.

In some embodiments, the obtaining the target position of the user input includes: displaying a floating button on the display interface of the image obtained by the second image capturing device; detecting the user's operation on the floating button and the operation is completed. Position information of the floating button in the image; the target position is determined based on the position information.

One of the embodiments of the present application provides a feces cleaning method, which is applied to a feces cleaning device, the method includes: bringing the feces cleaning device to a first position, the first position being related to a first target object; controlling distance adjustment The component expands and contracts so that the second image acquisition device acquires the top view image of the first target object; determines at least two target positions based on the top view image; for each target position: controls the moving component and/or distance Adjust the assembly to make the reference point on the excavation assembly reach the target position; control the first angle adjustment assembly and/or the second angle adjustment assembly to rotate so that the excavation assembly completes one excavation; control the mobile assembly to move to Make the feces cleaning device reach the second position, the second position is related to the second target object; control the first angle adjustment assembly and/or the second angle adjustment assembly to rotate, dump the object in the first bucket to In the second target object; controlling the moving component and/or the distance adjusting component so that a certain reference point on the excavating component 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 they can be combined to cover the 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 feces cleaning device. The device includes at least one processor and at least one memory; the at least one memory is used for storing computer instructions; the at least one processor is used for executing the computer instructions. At least part of the instructions to implement the manure cleaning method.

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

One of the embodiments of the present application provides a computer storage medium, characterized in that the storage medium stores computer instructions, and when at least part of the instructions in the computer instructions are executed by a processor, a stool cleaning method or a control method is implemented Operation.

One of the embodiments of the present application provides a feces cleaning system for being configured on a feces cleaning device. The system includes: a positioning module for making the feces cleaning device reach a first position. The first target object is related; the distance adjustment module is used to control the distance adjustment component to expand and contract so that the second image acquisition device can obtain the top view image of the first target object; the movement module, which controls the movement component and/or distance The adjustment component makes a certain reference point on the excavation assembly move to the target position along the first direction and/or the second direction; the excavation module is used to control the first angle adjustment assembly and/or the second angle adjustment assembly to perform Rotate so that the excavating assembly completes one excavation.

One of the embodiments of the present application provides a control system for controlling a stool cleaning device. The system includes: a first acquisition module for acquiring and displaying images acquired by the first image acquisition device and/or acquired by the second image acquisition device The second acquisition module is used to acquire the movement control instruction, the distance adjustment control instruction, the target position and/or the mining instruction input by the user; the sending module is used to send the movement control instruction, the distance adjustment control instruction and the target input by the user Location and/or mining instructions.

In some embodiments, the second acquisition module is further configured to: display a floating button on the display interface of the image acquired by the second image acquisition device; detect the user's operation on the floating button and the Position information of the floating button in the image; the target position is determined based on the position information.

One of the embodiments of the present application provides a feces cleaning system for being configured on a feces cleaning device. The system includes: a positioning module for making the feces cleaning device reach a first position. The first target object is related; the distance adjustment module is used to control the distance adjustment component to expand and contract so that the second image acquisition device can obtain the top view image of the first target object; the target position determination module is used to determine the position based on the The top view image determines at least two target positions; the cleaning module is used for each target position: controlling the moving component and/or the distance adjusting component so that a reference point on the excavating component reaches the target position; controlling the first angle adjusting component And/or the second angle adjustment component rotates so that the excavating component completes one excavation; the moving component is controlled to move so that the feces cleaning device reaches the second position, and the second position is related to the second target object ; Control the second angle adjustment component to rotate to dump the object in the first bucket into the second target object; control the moving component and/or the distance adjustment component so that a certain reference point on the excavating component reaches Next target position.

Description of the drawings

This application will be further described in the form of exemplary embodiments, and these exemplary embodiments will be described in detail with the accompanying drawings. These embodiments are not restrictive. In these embodiments, the same number represents the same structure, in which:

FIG. 1 shows a schematic diagram of an application scenario of a feces cleaning system 100 according to some embodiments of the present application;

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

FIG. 3 is a block diagram of a feces 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 present application;

FIG. 5 is an exemplary flowchart of a method 500 for cleaning up feces according to some embodiments of the present application;

Fig. 6 is an exemplary flowchart of a control method 600 according to some embodiments of the present application;

FIG. 7 is an exemplary flowchart of another feces cleaning method 700 according to some embodiments of the present application;

FIG. 8 is a block diagram of another feces cleaning system 800 shown in some embodiments of the fundamental application;

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

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

FIG. 11 is a schematic diagram of a mining component mining process according to some embodiments of the present application;

FIG. 12 is an overall schematic diagram of the excrement cleaning device 200 when the excavating assembly 250 enters the excavation preparation state according to some embodiments of the present application;

FIG. 13 is a schematic diagram of the excavation assembly 250 entering the excavation preparation state according to some embodiments of the present application;

FIG. 14 is a schematic diagram of the excavating assembly 250 entering a contact state according to some embodiments of the present application;

FIG. 15 is a schematic diagram of the excavation assembly 250 entering the initial shovel state according to some embodiments of the present application;

FIG. 16 is a schematic diagram of the excavating assembly 250 entering a deep shovel state according to some embodiments of the present application;

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

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

FIG. 19 is a schematic diagram of dividing the first target object into several regions according to some embodiments of the present application;

FIG. 20 is a schematic diagram of the placement of the first target object and the second target object according to some embodiments of the present application.

detailed description

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some examples or embodiments of the application. For those of ordinary skill in the art, without creative work, the application can be applied to the application according to these drawings. Other similar scenarios. Unless it is obvious from the language environment or otherwise stated, the same reference numerals in the figures represent the same structure or operation.

A flowchart is used in this application to illustrate the operations performed by the system according to the embodiments of the application. It should be understood that the preceding or following operations are not necessarily performed exactly in order. Instead, the various steps can be processed in reverse order or simultaneously. At the same time, you can also add other operations to these processes, or remove a step or several operations from these processes.

It should be understood that the "system", "device", "component", "unit" and/or "module" used herein are a method for distinguishing different components, elements, parts, parts or assemblies of different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

Although this application makes various references to certain modules or units in the system according to the embodiments of this application, any number of different modules or units may be used and run on the client and/or server. The modules are merely illustrative, and different modules may be used for different aspects of the system and method.

As shown in the present application and claims, unless the context clearly indicates exceptions, the words "a", "an", "an" and/or "the" do not specifically refer to the singular, but may also include the plural. Generally speaking, the terms "including" and "including" only suggest that the clearly identified steps and elements are included, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

Fig. 1 shows a schematic diagram of an application scenario of a feces cleaning system 100 according to some embodiments of the present application.

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

In some embodiments, the feces cleaning device 110 can clean pet feces. In some embodiments, the feces cleaning device 110 at least includes a body, a control component, a moving component, a distance adjusting component, a first angle adjusting component, and an excavating component. For example, the feces cleaning device 110 can be used to clean the feces in the litter box. At this time, the control terminal 130 can send a corresponding control instruction to the excrement cleaning device 110 via the network 120. After receiving the control instruction, the excrement cleaning device 110 controls the moving component and the distance adjustment component through the control component, so that the excrement cleaning device 110 reaches The target location (for example, near the litter box), then, the control terminal 130 sends a corresponding control instruction to the excrement cleaning device 110 through the network 120, and the excrement cleaning device 110 controls the first angle through the control component after receiving the control instruction The adjustment component rotates to control the excavating component to excavate the feces in the litter box. In some embodiments, the distance adjustment component may expand and contract based on a control instruction of the control component. In some embodiments, the excavating component may excavate the target object (for example, pet feces) according to the control instruction of the control component. In some embodiments, the first angle adjustment component may be rotated based on a control instruction of the control component. In some embodiments, the moving component may drive the main body to move based on the control command of the control component (for example, the moving direction is the direction in which the distance adjustment component expands and contracts). In some embodiments, the feces cleaning device 110 may further include an image acquisition device, which can acquire images in real time (for example, acquire a head-up/over-view image in front of the body). In some embodiments, the feces cleaning device 110 may further include a positioning/detection mechanism. In some embodiments, the positioning/detection mechanism may obtain environmental information, for example, environmental images. The control component, control terminal 130 or server 140 of the feces cleaning device 110 can perform target recognition on the image (for example, the target is a litter box or trash box), determine the distance and route to the target, and control the moving component to make the feces cleaning device 110 move towards The target moves. In some embodiments, the positioning/detecting mechanism may include one or a combination of image collectors, cameras, positioning devices, or sensors. In some embodiments, the sensor may include one or a combination of a laser sensor, a sonar sensor, an ultrasonic sensor, an electronic compass, a speed sensor, and the like. In some embodiments, the positioning/detection mechanism may be separately installed on the target, separately installed on the feces cleaning device 110, or installed on the target and the feces cleaning device 110. In some embodiments, the feces cleaning device 110 may also include input and output devices, such as a display screen, a microphone, and a speaker.

In some embodiments, the feces cleaning device 110 may further include a communication module. The communication module can be used for data and/or information exchange. In some embodiments, one or more components (for example, a control component, an image acquisition device) in the feces 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, which can be adapted to any communication network. For example, the communication module can be adapted to cable networks, wired networks, optical fiber networks, telecommunication networks, internal networks, internet networks, local area networks (LAN), wide area networks (WAN), wireless local area networks (WLAN), metropolitan area networks (MAN ), public switched telephone network (PSTN), Bluetooth network, ZigBee network, near field communication (NFC) network, etc., or any combination of the above, to interact with other devices.

In some embodiments, the control component can control the feces cleaning device 110 to clean pet feces. In some embodiments, the control method 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 sent by the body, the moving 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 main 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 component may receive an instruction from the control terminal 130 through the communication module to control the excavating component to excavate pet feces. In some embodiments, the control component can transmit information through a communication module, receive information from the control terminal 130, network 120, server 140, or storage device 150, or send information to the control terminal 130, network 120, server 140, or storage device 150. In some embodiments, the control component may include one or more sub-controllers (for example, a single-core processing device or a multi-core and multi-core processing device). Merely as an example, the control component may include an electronic controller (ECU), an application specific integrated circuit (ASIC), an application specific instruction processor (ASIP), a graphics processing unit (GPU), a physical processor (PPU), a digital signal processor (DSP) ), Field Programmable Gate Array (FPGA), Editable Logic Circuit (PLD), Microcontroller Unit, Reduced Instruction Set Computer (RISC), Microprocessor, etc. or any combination of the above.

The network 120 may include any suitable network capable of facilitating the exchange of information and/or data of the fecal cleaning system 100. In some embodiments, one or more components of the excrement cleaning system 100 (for example, the excrement cleaning device 110, the control terminal 130, the server 140, the storage device 150, etc.) may communicate with one or more of the excrement cleaning system 100 via the network 120. Exchange information and/or data between components. For example, the server 140 may receive instructions from the control terminal 130 via the network 120. The network 120 may include a public network (such as the Internet), a private network (such as a local area network (LAN), a wide area network (WAN), etc.), a wired network (such as an Ethernet), a wireless network (such as an 802.11 network, a wireless Wi-Fi network) Etc.), cellular network (for example, Long Term Evolution (LTE) network), frame relay network, virtual private network (VPN), satellite network, telephone network, router, hub, server computer, etc., one or several combinations. For example, network 120 may include wired networks, fiber optic networks, telecommunications networks, local area networks, wireless local area network (WLAN), metropolitan area network (MAN), public switched telephone network (PSTN), Bluetooth ^(TM) network, the ZigBee ^TM network, a near field communication ( NFC) network and other one or a combination of them. In some embodiments, the 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 exchange points, through which one or more components of the excrement cleaning system 100 may be connected to the network 120 to exchange data and /Or information.

The control terminal 130 may include a mobile device 131, a tablet computer 132, a notebook computer 133, etc., or any combination thereof. In some embodiments, the control terminal 130 may be operated by a pet owner or a registered user in the system 100. In some embodiments, the excrement cleaning device 110 can open the control authority, thereby allowing the control terminal 130 registered on the system 100 to control the excrement cleaning device 110 in the system 100, thereby realizing a shared pet care mode. In some embodiments, the control terminal 130 may exchange information and/or data with the excrement cleaning device 110 via the network 120. For example, the control terminal 130 may obtain image data of the cleaning device 110 through the network 120, or the control terminal 130 may send a control instruction to the excrement cleaning device 110 through the network 120. In some embodiments, the control terminal 130 can exchange information and/or data with the server 140 via the network 120. For example, the control terminal 130 may obtain the control instruction on the server through the network 120. In some embodiments, the excrement cleaning device 110 may exchange information and/or data with the server 140 via the network 120. For example, the feces cleaning device 110 may obtain the control instructions on the server through the network 120. In some embodiments, the mobile device 131 may include a wearable device, a mobile device, a virtual reality device, an augmented reality device, etc., or any combination thereof. In some embodiments, the wearable device may include bracelets, footwear, glasses, helmets, watches, clothes, backpacks, smart accessories, etc., or any combination thereof. In some embodiments, the mobile device may include a mobile phone, a personal digital assistant (PDA), a game device, a navigation device, a POS device, a notebook computer, a tablet computer, a desktop computer, 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 patch, augmented reality helmet, augmented reality glasses, augmented reality patch, etc. or any combination thereof. For example, the virtual reality device and/or augmented reality device may include Google Glass ^(TM) , Oculus Rift ^(TM) , HoloLens ^(TM) or Gear VR ^(TM), etc.

The server 140 may process information and/or data related to the excrement cleaning device 110. The server 140 may be an independent server or a server group. The server group may be centralized or distributed (for example, the 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 communicate with the excrement cleaning device 110 through the network 120. In some embodiments, the server 140 may obtain image data, sensor data, etc. through the network 120. The server 140 may process the acquired data, and send the processed result to the excrement cleaning device 110 via the network 120. For example, the server 140 may perform path planning based on the acquired image data and sensor data according to a preset algorithm, and send the processed planned path to the feces cleaning device 110 through the network 120, so that the feces cleaning device 110 controls the moving components and distances. Adjust components and so on for subsequent operations. In some embodiments, the server 140 can be used as a signal relay to connect the excrement cleaning device 110 and the control terminal 130. For example, the control terminal 130 may send data to the server 140 through the network 120, and the server 140 may then send the data to the excrement cleaning device 110 through the network 120. In some embodiments, the server 140 may be executed on a cloud platform. For example, the cloud platform may include one or any combination of private cloud, public cloud, hybrid cloud, community cloud, decentralized cloud, internal cloud, etc. In some embodiments, the server 140 may be a local server installed on the excrement cleaning device 110, and may directly communicate with the communication module, the controller component, the main body, the mobile component, the distance adjustment component, the first angle adjustment component, and the excavation component. Transmission, information transmission is performed with the control terminal 130 through the network 120. In some embodiments, the server 140 may also be integrated in the control component of the excrement cleaning device 110. In some embodiments, the server 140 may include a processing device or a storage device. The processing equipment may process data and/or information related to the excrement cleaning device 110 to perform one or more functions described in this application. In some embodiments, the storage device may store information and/or instructions for execution or use by the server 140 to perform the exemplary methods described in this application. In some embodiments, the storage device may include mass memory, removable memory, volatile read-write memory (for example, random access memory RAM), read-only memory (ROM), etc., or any combination thereof.

The 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 storage data of the storage device 150 may include map data, the size of the target object (for example, a litter box or trash box), the location of the target object, the set cleaning time, and the image data obtained by the feces cleaning device 110 , Sensor data, rotation angle and/or time of the first angle adjustment component, and data such as the size of each component of the device 200. In some embodiments, the storage device 150 may store data and/or instructions that can be executed or used by the server 140 to perform the exemplary methods described in this application. In some embodiments, the storage device 150 may include one or a combination of several of them, such as mass storage, removable storage, volatile read-write storage, and read-only storage (ROM). Mass storage can include magnetic disks, optical disks, solid state drives, and mobile storage. Removable storage may include flash drives, floppy disks, optical disks, memory cards, ZIP disks, tapes, etc. Volatile read-write memory may include random access memory (RAM). RAM can include dynamic random access memory (DRAM), double data rate synchronous dynamic random access memory (DDR-SDRAM), static random access memory (SRAM), thyristor random access memory (T-RAM), zero capacitance random access memory Access memory (Z-RAM), etc. ROM can include mask read-only memory (MROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), optical disk read-only memory Storage (CD-ROM), digital versatile disc, etc. In some embodiments, the storage device 150 may be implemented by the cloud platform described in this application. For example, a cloud platform may include one or a combination of private clouds, public clouds, hybrid clouds, community clouds, distributed clouds, cross-clouds, and multi-clouds. In some embodiments, the storage device 150 may be connected to the network 120 to implement communication with one or more components (for example, control components, etc.) in the excrement cleaning apparatus 110. One or more components in the excrement cleaning device 110 can read data or instructions in the storage device 150 via 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 only for convenience of description, and does not limit the present application within the scope of the listed embodiments. It can be understood that for those skilled in the art, after understanding the principle of the present application, various modifications and changes in form and details can be made to the implementation of the feces cleaning system 100 without departing from this principle. However, these changes and modifications do not depart from the scope of this 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 subdivided on more than one electronic component. For example, the communication module and the control component can each be an independent chip, or the communication module and the control component are integrated on the same chip.

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

As shown in FIG. 2, the excrement cleaning device 200 may include: a body 210, a control assembly, a moving assembly 220, a distance adjustment assembly 230, a first angle adjustment assembly 240, and an excavation assembly 250. The excrement cleaning device 110 described in FIG. 1 may be implemented by the excrement cleaning device 200.

The distance adjustment component 230 is arranged on the main body 210 and is used to expand and contract based on the control command of the control component.

In some embodiments, the distance adjustment assembly 230 includes an electric push rod; one end of the push rod is fixedly connected to the body 210, and the excavation assembly 250 is installed at the other end of the push rod through the first angle adjustment assembly 240 The push rod is telescopic to control the distance between the excavation assembly 250 and the first target object, and the telescopic direction of the push rod is parallel to the length direction of the push rod. In some embodiments, the electric push rod may include a motor and a transmission device, which converts the rotational movement of the motor into a linear reciprocating motion of the push rod. The transmission device may include, but is not limited to, a gear reduction mechanism, a rack transmission mechanism, an electric worm mechanism, and the like. It should be noted that the present application does not specifically limit the structure of the electric push rod. The electric push rod only needs to be capable of corresponding expansion and contraction according to the distance adjustment control command, so as to control the distance between the excavating assembly 250 and the first target object. OK.

In some embodiments, the distance between the excavating component 250 and the first target object can be controlled by controlling the expansion and contraction of the push rod. For example, when the distance between the excavating component 250 and the first target object is too large, it can be controlled The push rod is extended to a certain distance along the length of the push rod, so that the excavating component is close to the first target object. For example, when the distance between the excavating component 250 and the first target object is too small, the push rod can be controlled. The rod is shortened to a certain distance along the length of the push rod, so that the excavating assembly is far away from the first target object. The telescopic distance of the push rod can be set according to the actual distance between the excavation component and the first target object. For example, the extended length of the push rod is set to 100 to 250 mm, and the shortened length of the push rod is set to 100 to 250 mm. . For another example, the extended length of the push rod may be set to 50 to 300 mm, and the shortened length of the push rod may be set to 30 to 350 mm. It should be noted that the range of the extended length of the push rod and the shortened length of the push rod can be set independently, and it only needs to be able to control the distance between the excavating assembly 250 and the first target object by controlling the extended length of the push rod. OK.

The excavation assembly 250 is installed on the distance adjustment assembly 230 through the first angle adjustment assembly 240; the first angle adjustment assembly 240 is used to rotate based on the control command of the control assembly.

In some embodiments, the digging component 250 may be a mechanical digging component, a backhoe digging component, a front shovel digging component, or the like. In some embodiments, when the excavation assembly 250 is a backhoe excavation assembly, it is installed on the distance adjustment assembly 230 through the first angle adjustment assembly 240, and the first angle adjustment assembly 240 can be rotated based on the control command of the control assembly. As a result, the excavating assembly 250 is driven to move clockwise or counterclockwise to excavate the target object (for example, pet feces). In some embodiments, the excavating assembly 250 includes a first mechanical arm and a first bucket. The distance adjusting component 230 is connected to one end of the first mechanical arm through the first angle adjusting component 240. The first mechanical arm and the first bucket are connected by a second angle adjustment assembly 241, and the second angle adjustment assembly 241 is configured to rotate based on a control command of the control assembly.

In some embodiments, the arm length of the first robotic arm can be set according to actual application conditions, for example, the arm length is set to 100 to 200 mm. In some embodiments, the angle adjustment component may be a steering gear. The angle adjustment can be rotated at a certain angle or for a certain period of time according to the control command of the control component, thereby driving the mechanical arm or the bucket to rotate downward or upward. For example, the first angle adjustment component 240 may rotate 30 degrees clockwise according to the control instruction, or the second angle adjustment component may rotate 10 seconds according to the control instruction. In some embodiments, by controlling the first angle adjustment assembly, the first mechanical arm can be controlled to rotate around the axis of the first angle adjustment assembly. For example, when the first angle adjustment assembly 240 rotates 30 degrees clockwise according to the control command When, drive the first mechanical arm to rotate down a certain angle. For another example, when the second angle adjusting component 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 device 200 may further include: a vibration component for driving the first bucket to vibrate based on a control command of the control component; the first bucket has at least one screen hole. In some embodiments, the vibration assembly may vibrate, so that the object (for example, cat litter) in the first bucket shakes out of the first bucket through the screen holes. In some embodiments, the vibration assembly may be provided In the first bucket or other positions of the device 200, it is only necessary to ensure that the first bucket can be driven to vibrate, thereby shaking off objects in the first bucket. In some embodiments, the vibration component may be an eccentric hammer.

The moving component 220 is installed on the main body 210 and is used to drive the main body 210 to move based on the control command of the control component. The moving direction of the moving component 220 includes at least a first direction and a second direction orthogonal to each other The second direction is also orthogonal to the telescopic 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 the direction in which the distance adjusting component expands and contracts. In some embodiments, the moving component 220 may be a mecanum wheel. The mecanum wheel is a device that can move in all directions. This omnidirectional movement method is based on a center with many axles located around the wheel. In principle of the wheel, these angled peripheral axles convert part of the steering force of the wheel into the normal force of a wheel, and then rely on the direction and speed of the respective wheel, so that these forces are finally combined to produce a resultant force in any required direction. Vector, thus ensuring that the wheel can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. In some embodiments, two sets of mecanum wheels may be installed under the body 210, and the two sets of mecanum wheels may include two left-handed wheels and two right-handed wheels. In some embodiments, the mecanum wheel can be installed in a manner including but not limited to: X-square, X-rectangle, O-square, and O-rectangle, so as to realize omnidirectional movement. Among them, X and O represent the figures formed by the rollers of the four wheels in contact with the ground. Square and rectangle refer to the shapes enclosed by the contact points of the four wheels with the ground. In some embodiments, the mecanum wheel can rotate a corresponding angle according to the control command of the control component, so as to drive the main body 210 to translate without turning. The moving component 220 can move in a specified direction according to the control instruction of the control component, including at least: 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 command of the control component without changing the rotation of the wheels in the moving component 220, so that the device The movement of the 200 becomes simple and fast, thereby achieving efficient cleaning.

In some embodiments, the feces cleaning device 200 may further include: a first image acquisition device 261 and a second image acquisition device 262. The first image acquisition device 261 is used to acquire a head-up image in front of the main body 210. The plan view image refers to the height of the installation position of the first image acquisition device 261 as a basis, and the first image acquisition device 261 acquires an image directly in front of which the line of sight is parallel to the horizontal line. The second image acquisition device 262 is used to acquire a top view image of the front of the main body 210. The top view image refers to the installation position of the second image acquisition device 262 as a basis, and the second image acquisition device 262 acquires an image directly below the line of sight perpendicular to the horizontal line.

In some embodiments, the first image acquisition device 261 is installed on the main body 210; the second image acquisition device 262 is installed on the distance adjustment assembly 230. In some embodiments, the first image acquisition device 261 may be installed on the front of the main body 210, so that an image in front of the main body 210 can be obtained. In some embodiments, the second image acquisition device 262 may be installed on the lower side of the distance adjustment component 230, so that an image directly below the distance adjustment component 230 can be acquired.

In some embodiments, the first image acquisition device 261 may include a camera to acquire a head-up image in front of the main body 210 in real time according to a control instruction. The first image acquisition device 261 can send the acquired head-up image in real time to the control terminal for display, thereby reminding the user of the environmental information around the feces cleaning device 200, and facilitating the user to control the feces cleaning device 200 to reach the first goal Object attachment. In some embodiments, the second image acquisition device 262 may include a camera to acquire a top view image in front of the main body 210 in real time according to a control instruction. The second image acquisition device 262 can send the acquired top view image to the control terminal for display in real time, thereby reminding the user of the environmental information under the distance adjustment component 230 and/or the excavation component 250, so that the user can understand the first target object in real time. The internal situation, or, easier to determine the target location.

In some embodiments, the feces cleaning device 200 may further include: at least two first sensors 271 for determining the relative position relationship between the main body 210 and the first target object.

In some embodiments, the first sensor 271 is installed at the front of the main body 210 to detect the distance between the main body and the first target object. In some embodiments, the first target object may be a litter box, and there are objects to be cleaned in the litter box (for example, pet feces). In some embodiments, the first sensor 271 may be a distance measuring sensor. In some embodiments, the ranging sensor may include one or a combination 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 certain distance on the front of the body, and the moving component 220 moves according to the control command of the control component until the at least two first sensors and the first target object The distance between them is equal to stop moving. In some embodiments, the ranging sensor may perform distance detection based on TOF (time of flight) ranging technology. Specifically, when the distance measuring sensor emits modulated light (for example, infrared light, near-infrared light or laser), it is reflected after encountering an object, and the distance measuring sensor calculates the time difference or phase difference between light emission and reflection to obtain the difference between the objects. the distance.

In some embodiments, the feces cleaning device 200 may further include: a second sensor 272 for determining the relative position relationship between the main body 210 and the second target object.

In some embodiments, the second sensor 272 may be an infrared pair tube. In some embodiments, the second sensor 272 is installed on the front of the main body 210 to detect whether the main body corresponds to the sensor on the second target object. In some embodiments, the second target object may be a trash box installed with an infrared pair tube. In some embodiments, a second sensor 272 is installed on the front of the body, and the moving component 220 moves according to the control command of the control component until the second sensor 272 on the body corresponds to the sensor on the second target object. mobile. In some embodiments, the second sensor 272 may also be a ranging sensor.

In some embodiments, the feces cleaning device 200 may further include a communication module, and the control component has a signal connection with the communication module.

In some embodiments, the communication module can be used to transmit data or instructions. In some embodiments, one or more components (for example, a control component, an image acquisition device) in the feces cleaning device 200 can interact with the outside world through a communication module. In some embodiments, the communication module can perform data transmission with the control terminal. For example, the communication module may send the real-time image acquired by the image acquisition device to the control terminal for display, thereby facilitating the user to perform subsequent control operations. For another example, the communication module may receive information sent by the control terminal, and then send the information to the control component, and the control component generates corresponding control instructions according to the information, thereby controlling other components to perform work.

It should be understood that the device and parts or components shown in FIG. 2 can be implemented in various ways. For example, in some embodiments, the apparatus and parts or components thereof may be implemented by hardware, software, or a combination of software and hardware. Among them, the hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. Those skilled in the art can understand that the above-mentioned methods and systems can be implemented using computer-executable instructions and/or included in processor control codes, for example on a carrier medium such as a disk, CD or DVD-ROM, such as a read-only memory (firmware Such codes are provided on a programmable memory or a data carrier such as an optical or electronic signal carrier. The system and its modules of this application can not only be implemented by hardware circuits 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. It can also be implemented by software executed by various types of processors, or can be implemented by a combination of the aforementioned hardware circuit and software (for example, firmware).

It should be noted that the above description of the device and its parts or components is only for convenience of description, and does not limit the present application within the scope of the embodiments mentioned. It can be understood that for those skilled in the art, after understanding the principle of the device, it is possible to arbitrarily combine various components or components, or form sub-devices to connect with other components without departing from this principle. For example, in some embodiments, for example, the control component and the communication module disclosed in FIG. 2 may be different parts in one device, or one part may realize the functions of two or more parts mentioned above. For example, the control component and the communication module can be two parts, or one part can have both control and communication functions. Such deformations are all within the protection scope of this application.

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

As shown in FIG. 3, the feces cleaning system 300 can be configured on the feces cleaning device 200, and the system 300 can include: a positioning module 310, a distance adjustment module 320, a moving module 330 and an excavating module 340.

The positioning module 310 is used to make the feces cleaning device 200 reach a first position, and the first position is related to a first target object.

In some embodiments, the positioning module 310 may control the moving component 220 to move based on the movement control instruction, so that the feces cleaning device 200 reaches the initial position; the distance between the initial position and the first position does not exceed the set point. Set threshold. The positioning module 310 can control the movement of the moving assembly 220 through the output signals of the at least two first sensors 271, so that the stool cleaning device 200 continues to move to the first position; the first position and the first position The distance between the target objects does not exceed the set threshold and makes the second direction parallel to a certain side 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 the direction in which the distance adjusting component 230 expands and contracts.

The distance adjustment module 320 is configured to control the distance adjustment component 230 to expand and contract, so that the second image acquisition device 262 can acquire 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 expand and contract based on the distance adjustment control command. The expansion direction includes the extension or contraction along the length of the distance adjustment assembly 230 until the first A complete top view image of the target object.

The moving module 330 is used to control the moving component 220 and/or the distance adjusting component 230 so that the reference point on the excavating component 250 moves to the target position along the first direction and/or the second direction.

In some embodiments, the movement module 330 may control the movement component 220 and/or the distance adjustment component 230, respectively, based on the movement control instruction and/or the distance adjustment control instruction, so that the reference point on the excavation component 250 is along the first Direction and/or second direction to move to the target position. In some embodiments, the reference point may be set according to actual application conditions, for example, the center of the first bucket or a certain point at the end of the first bucket is set as a reference point. In some embodiments, the target location may be designated by the user through the control terminal. The second image acquisition device 262 may acquire a complete top view image of the first target object, and send the image to the control terminal through the communication module for display. The user uses the control system to calibrate the target position of the object (for example, the The object is pet feces). In some embodiments, the feces cleaning device 200 may determine the distance between the reference point and the target position in the first direction and the second direction based on the top view image, so that the moving module 330 controls the moving component 220 And/or the distance adjusting component 230, so that the reference point on the excavating component 250 moves to the target position along the first direction and/or the second direction, so that the excavating component 250 can be aligned with the target location.

The excavation module 340 is used to control the rotation of the first angle adjustment assembly 240 and/or the second angle adjustment assembly 241 so that the excavation assembly 250 completes one excavation.

In some embodiments, the excavation module 340 may control the angle adjustment assembly to rotate based on the angle adjustment control command of the control assembly, so that the excavation assembly 250 enters the excavation preparation state, contact state, initial shovel state, deep shovel state, and The completed state allows the excavating component 250 to complete one excavation.

It should be understood that the system and its modules shown in FIG. 3 can be implemented in various ways. For example, in some embodiments, the system and its modules can be implemented by hardware, software, or a combination of software and hardware. Among them, the hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. Those skilled in the art can understand that the above-mentioned methods and systems can be implemented using computer-executable instructions and/or included in processor control codes, for example on a carrier medium such as a disk, CD or DVD-ROM, such as a read-only memory (firmware Such codes are provided on a programmable memory or a data carrier such as an optical or electronic signal carrier. The system and its modules of this application can not only be implemented by hardware circuits 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. It can also be implemented by software executed by various types of processors, or can be implemented by a combination of the aforementioned hardware circuit and software (for example, firmware).

It should be noted that the above description of the system and its modules is only for convenience of description, and does not limit the present application within the scope of the listed embodiments. It can be understood that for those skilled in the art, after understanding the principle of the system, it is possible to arbitrarily combine various modules, or form a subsystem to connect with other modules without departing from this principle. For example, the positioning module 310 and the distance adjustment module 320 disclosed in FIG. 3 may be different modules in a system, or one module may realize the functions of two or more modules mentioned above. For example, the positioning module 310 and the distance adjustment module 320 may be two modules, or one part may have both positioning and distance adjustment functions. Such deformations are all within the protection scope of this application.

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

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

The first obtaining module 410 is configured to obtain and display the image obtained by the first image obtaining device 261 and/or the image obtained by the second image obtaining device 262.

In some embodiments, when it is necessary to control the excrement cleaning device 200 to move to the initial position, the user may obtain the head-up image in front of the body obtained by the first image obtaining device 261 through the first obtaining module 410. In some embodiments, when it is necessary to obtain the target position of an object (for example, pet feces) in the first target object, the user can obtain the top view image of the front of the body collected by the second image obtaining device 262 through the first obtaining module 410 .

The second acquisition module 420 is configured to acquire a movement control instruction, a distance adjustment control instruction, a target position and/or a mining instruction input by the user.

In some embodiments, the second obtaining module 420 may obtain a movement control instruction, a distance adjustment instruction, a target position, and/or a mining instruction input by the user through the control terminal. For example, the user can input a movement control instruction according to the head-up image in front of the main body acquired by the first acquisition module 410, and control the moving component 220 of the excrement cleaning device 200 to move accordingly in real time until it moves to the initial position. In some embodiments, the second acquisition module 420 is further configured to: display a floating button on the display interface of the image acquired by the second image acquisition device 262; detect the user's operation on the floating button and after the operation is completed Location information of the floating button in the image; determining the target location based on the location information.

The sending module 430 is used to send 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 sending module 430 may send a movement control instruction, a distance adjustment control instruction, a target position, and/or a mining instruction input by the user. The sending module 430 can communicate with the excrement cleaning device 200 through the communication module. For example, the sending module 430 can send the movement control instruction input by the user through the acquiring module 420 to the excrement cleaning device 200, so that the moving components of the excrement cleaning device 200 220 moves accordingly.

It should be understood that the system and its modules shown in FIG. 4 can be implemented in various ways. For example, in some embodiments, the system and its modules may be implemented by hardware, software, or a combination of software and hardware. Among them, the hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. Those skilled in the art can understand that the above-mentioned methods and systems can be implemented using computer-executable instructions and/or included in processor control codes, for example on a carrier medium such as a disk, CD or DVD-ROM, such as a read-only memory (firmware Such codes are provided on a programmable memory or a data carrier such as an optical or electronic signal carrier. The system and its modules of this application can not only be implemented by hardware circuits 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. It can also be implemented by software executed by various types of processors, or can be implemented by a combination of the aforementioned hardware circuit and software (for example, firmware).

It should be noted that the above description of the system and its modules is only for convenience of description, and does not limit the present application within the scope of the listed embodiments. It can be understood that for those skilled in the art, after understanding the principle of the system, it is possible to arbitrarily combine various modules, or form a subsystem to connect with other modules without departing from this principle. For example, in some embodiments, for example, the first acquisition module 410 and the second acquisition module 420 disclosed in FIG. 4 may be different modules in a system, or one module may implement the two or more modules mentioned above. Function. For example, the first acquiring module 410 and the second acquiring module 420 may be two modules, or one part may have functions of acquiring images and acquiring instructions at the same time. Such deformations are all within the protection scope of this application.

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

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

In step 510, the feces cleaning device 200 is brought to a first position, where the first position is related to the first target object.

In some embodiments, the movement component 220 may be controlled to move based on the movement control instruction, so that the feces cleaning device 200 reaches the initial position; the distance between the initial position and the first position does not exceed a set threshold. The set threshold may be set according to actual application conditions, for example, the threshold may be set to 30 to 100 mm.

FIG. 9 is a schematic diagram of the excrement cleaning device 200 reaching the initial position according to some embodiments of the present application.

In some embodiments, the user can control the moving component 220 to move accordingly (for example, forward, backward, left or right, etc.) according to the head-up image in front of the main body displayed in real time by the control terminal, so that the feces cleaning device 200 Reach near the first target object. In some embodiments, the feces cleaning device 200 may obtain the position of the first target object, and at the same time obtain the current position of the device 200 according to the positioning detection mechanism, determine the moving path based on a preset path planning algorithm, and then control the moving component to move according to the The path moves to the vicinity of the first target object. In some embodiments, the feces cleaning device 200 can input by controlling the terminal, recognize the captured image data, read from the server 140 or read from the storage unit (for example, the storage module of the device 200, the storage device 150) to obtain Location information of the first target object. In some embodiments, the user may pre-position and configure the first target object by controlling the terminal, and store the position information in the storage module of the apparatus 200, upload it to the service 140 or store it 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 moving component 220 is controlled to stop moving. At this time, the feces cleaning device 200 reaches the initial position.

In some embodiments, the output signals of the at least two first sensors 271 can be used to control the movement of the moving assembly 220 so that the feces cleaning device 200 continues to move to the first position; the first position and the The distance between the first target objects does not exceed the set threshold and the second direction is parallel to a certain side of the first target object. In some embodiments, the first target object is a pet bedpan such as a litter box with a rectangular horizontal cross section (a top view angle), and a certain side of the first target object may be the long side of the litter box. For example only, as shown in FIG. 9, when the first target object is a rectangular parallelepiped and one side of the first target object is K1, the front edge of the body of the device 200 is a straight line K2, which can be understood as the moving direction of the device 200 The second direction in is parallel to the line K2. In some embodiments, the control component can control the moving component 220 to move according to the distances s1 and s2 between the front of the body and the first target object detected by the first sensor 271, so that when s1 and s2 are the same, that is, the straight line K1 Parallel to the straight line K2, the movement component 220 is controlled to stop moving. At this time, the device 200 reaches the first position. Specifically, as shown in FIG. 9, when the device 200 reaches the initial position, the distance between s1 and s2 detected by the first sensor 271 is different, and the first sensor detects that the distance s2 on the right side of the device 200 is greater than the distance s1 on the left side. The wheel on the right rear of the moving component 220 is controlled to rotate so that the right side of the device 200 is close to the first target position until the distance between s1 and s2 is the same, and the moving component 220 is controlled to stop moving. At this time, the device 200 reaches the first position. In some embodiments, each wheel of the moving assembly 220 is independently controlled. For example, only one wheel at the rear right can be driven, and the remaining three wheels are used as driven wheels. It should be noted that the first direction and the second direction mentioned in this application are only used to distinguish two different directions. For example, the first direction can also be set as a certain difference between the first direction and the first target object. One side is parallel.

In some embodiments, the images collected by the first image acquisition device 261 and/or the second image acquisition device 262 may be acquired and transmitted to the control terminal; the movement control instruction of the control terminal may be received. In some embodiments, the control terminal can acquire the images collected by the first image acquisition device 261 and/or the second image acquisition device 262 in real time through the communication module, and display them on the display interface, and the user can issue movement control instructions through the control terminal , Control the mobile component to move accordingly. For example, the user can determine that the right side of the device 200 is farther away from the first target object than the left side through the images collected by the first image acquisition device 261 and/or the second image acquisition device 262, and can control the movement of turning left through the control terminal. Command to make the right side of the device 200 approach the first target position until it is determined from the head-up image and/or the overhead image that the device 200 and the first target object are parallel, for example, the line K1 is parallel to the line K2, and the control device 200 stops moving, when the device 200 reaches the first position.

In step 520, the distance adjustment component 230 is controlled to expand and contract, so that the second image acquisition device 262 can acquire the top view image of the first target object.

In some embodiments, the distance adjustment assembly 230 may be controlled to expand and contract based on the distance adjustment control command. The expansion direction includes the extension or contraction along the length of the distance adjustment assembly 230 until the completeness of the first target object is obtained. Top view image. In some embodiments, the second image acquisition device 262 may be installed on the lower side of the distance adjusting component 230, specifically, it may be installed at the junction of the distance adjusting component 230 and the second angle adjusting component 241, with the camera facing downward, The second image acquisition device can acquire a top view image directly below the distance adjustment component 230. The distance adjusting component 230 is installed at the front of the main body 210. Therefore, when the device 200 reaches the first position, by controlling the length of the distance adjusting component 230, the top view image collected by the second image acquisition device can be controlled to include the first target object.

In some embodiments, the image acquired by the second image acquisition device 262 may be acquired and transmitted to the control terminal; the distance adjustment control instruction of the control terminal may be received. In some embodiments, the control terminal can acquire the image collected by the second image acquisition device 262 in real time through the communication module and display it on the display interface. The user can issue a distance adjustment control instruction through the control terminal to control the distance adjustment component to perform corresponding Stretching until a complete top view image of the first target object is obtained. For example, as shown in FIG. 10, when the first target object on the display interface only includes the straight line K4, but not the straight line K3, the user can send an extended distance adjustment control instruction through the control terminal to control the distance adjustment component 230 to extend A certain length makes the first target object on the display interface include straight lines K3 and K4, so that a complete top view image of the first target object can be obtained on the display interface. For another example, when the first target object on the display interface only includes the straight line K3 but not the straight line K4, the user can send a shortened distance adjustment control command through the control terminal to control the distance adjustment component 230 to shorten a certain length, so that the display interface The first target object above includes straight lines K3 and K4, so that a complete top view image of the first target object can be obtained on the display interface. The length of the extension or shortening of the distance adjusting component can be set according to actual application conditions. For example, the length of the extension or shortening can be set to 100-250 mm. For another example, the extended length can be set to 50 to 300 mm, and the shortened length can be set to 50 to 350 mm.

Step 530, controlling the moving component 220 and/or the distance adjusting component 230, so that a certain reference point on the excavating component 250 moves to a target position along the first direction and/or the second direction.

In some embodiments, controlling the movement of the mining assembly 250 to the target location may include an automatic control mode or a manual control mode. In some embodiments, the target location is designated by the controlling terminal. The second image acquisition device 262 can acquire a complete top view image of the first target object, and send the image to the control terminal through the communication module for display, and the user calibrates the target position of the object through the display interface of the control terminal (for example, , The object is pet feces). In some embodiments, in the case of automatic control, the distance between the reference point and the target position in the first direction and the second direction may be determined based on the overhead image. In some embodiments, the reference point may be set according to actual application conditions, for example, the center of the first bucket or a certain point at the end of the first bucket is set as a reference point. In some embodiments, based on the distance between the reference point and the target position in the first direction and the second direction, respectively, the moving component 220 and/or the distance adjusting component 230 may be controlled according to a preset algorithm, so that the mining A certain reference point of the 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.

Among them, A1 is the image area, which displays the image collected by the second image acquisition device, and A2 is the first target object area, which may specifically be a pet potty. P is the aiming point, which can be displayed in the image area in the form of a floating button, and the user can drag it to make it coincide with the position of the pet excrement displayed in the A2 area to control the movement of the excavating component. The control terminal can obtain 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 containing multiple pixels, and its position coordinates (a, b) may be the coordinates of the one pixel or the center pixel of the area The coordinates of, where a represents the row in the image where the aiming point is located, and b represents the column where it is located.

In some embodiments, the target position calibrated by the user in the image collected by the second image acquisition device may be acquired through the control terminal, and the coordinates of the target position in the rectangular coordinate system are (X0, Y0), and the rectangular coordinate system may be based on The image acquired by the second image acquisition device is established, where the X axis is parallel to the width direction of the image, upward is the positive direction, the Y axis is parallel to the height direction of the image, and the right is the positive direction, and the vertex of the lower left corner of the image is the origin of the coordinates. . Specifically, according to the pixel coordinates (a, b) of the aiming point, the height value and width of the image, the pixel coordinates (a, b) of the aiming point can be converted to obtain the target position in the rectangular coordinate system. Coordinates (X0, Y0). In some embodiments, the first target object in the image can be recognized according to the edge extraction algorithm, and the width and height of the first target object in the image can be recognized as W1 and H1, respectively. The boundary extraction algorithm may be Roberts Cross algorithm, Prewitt algorithm, Sobel algorithm, Canny algorithm, Krisch algorithm, Marr-Hildreth 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 excavating assembly 250 and the center point of the second image acquisition device 262 when the excavating assembly 250 moves to the target position. In some embodiments, the user can preset the actual width and height of the first target object by controlling the terminal, which are W2 and H2, respectively. In some embodiments, the center of the first bucket may be used as a reference point to control the moving assembly 220 to translate based on the first position.

when

, Control the moving component 220 to translate to the right, when

When, control the moving component 220 to move to the left; control the distance adjustment component to expand and contract based on the original position

when

When the distance adjustment assembly 230 is controlled to extend the corresponding distance, when

At this time, the distance adjusting component 230 is controlled to shorten the corresponding distance, and the excavating component 250 is moved to the target position through the above-mentioned control operation. The foregoing method for calculating the distance may be executed on the server, the control component of the device 200, or the control terminal.

In some embodiments, L0 is the horizontal distance between the reference point of the excavating assembly 250 and the center point of the second image acquisition device 262 when the excavating assembly 250 moves to the target position. The assembly and the second can be adjusted according to the first angle. The rotation angle of the angle adjustment component, the length of the first mechanical arm, and the geometric size of the first bucket are calculated. In some embodiments, the size of each component of the device 200 (for example, the arm length of the first robot arm, the length and width of the first bucket, the depth of the bucket, etc.), the angle of rotation of the angle adjustment assembly, and the distance adjustment assembly Data such as the telescopic distance can be stored in a storage module on the device 200. For example, the device 200 may store the rotation angle of the corresponding steering gear through the first code table and the second code table. In some embodiments, the aforementioned 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 value of L0 when the first angle adjustment component and the second angle adjustment component rotate at different rotation angles can be calculated in advance, and the measurement result is stored. Specifically, it may be stored in the storage module of the apparatus 200, the server 140 or the storage device 150. The specific value of L0 can be determined by detecting the first angle adjustment component and the second angle adjustment component. Or the first angle adjustment component and the second angle adjustment component can be controlled to rotate to the set value as needed to ensure that when the excavation assembly 250 moves to the target position, the reference point on the excavation assembly 250 and the center point of the second image acquisition device 262 The horizontal distance between is L0.

Fig. 11 is a schematic diagram of a mining component mining process according to some embodiments of the present application.

In step 540, the first angle adjusting component 240 and/or the second angle adjusting machine component 241 are controlled to rotate, so that the excavating assembly 250 completes one excavation.

As shown in FIG. 11, in some embodiments, the first angle adjustment assembly 240 and/or the second angle adjustment assembly 241 can be controlled to rotate, so that the excavation assembly 250 sequentially enters the excavation preparation state, the contact state, and the initial shovel. Status, deep shovel status, and completion status.

Fig. 12 is an overall schematic diagram of the excavation device 200 when the excavating assembly 250 enters the excavation preparation state according to some embodiments of the present application.

As shown in FIG. 12, in some embodiments, the entering the excavation assembly 250 into the excavation preparation state includes: controlling the first angle adjustment assembly 240 and the second angle adjustment assembly 241 to rotate according to an angle adjustment assembly control instruction , So that the first mechanical arm rotates downward, and at the same time makes the opening side of the first bucket parallel to the first mechanical arm, until the vertical distance between the first bucket and the first target object is the preset third distance. FIG. 13 is a schematic diagram of the excavation assembly 250 entering the excavation preparation state according to some embodiments of the present application. As shown in FIG. 13, the first angle adjustment component 240 and the second angle adjustment component 241 rotate a preset angle so that the vertical distance h0 between the end of the first bucket and the first target object is a preset third At this time, the excavation assembly 250 enters the excavation preparation state. The third distance can be set according to actual applications, for example, the third distance is set to 50 to 100 mm.

In some embodiments, the bringing the excavating assembly 250 into the contact state includes: controlling the second angle adjusting assembly 241 to rotate a preset angle so that the end of the first bucket contacts the first target object. bottom. FIG. 14 is a schematic diagram of the excavating assembly 250 entering a contact state according to some embodiments of the present application. As shown in FIG. 14, the first angle adjustment component 240 does not rotate, so that the first mechanical arm remains stationary, and the second angle adjustment component 241 rotates, so that the end of the first bucket contacts the first target object. At this time, the excavating assembly 250 enters the contact state.

FIG. 15 is a schematic diagram of the excavating assembly 250 entering the initial shovel state according to some embodiments of the present application. In some embodiments, the step of making the excavation assembly 250 into the initial shoveling state includes: as shown in FIG. 15, controlling the first angle adjustment assembly 240 to rotate a preset angle, and at the same time, controlling the second angle adjustment assembly 241 to rotate The preset angle is such that the line between the end of the first bucket and the center point of the rotation axis of the second angle adjustment assembly 241 is perpendicular to the bottom of the first target object, and the end of the first bucket is kept at The bottom of the first target object touches. At this time, the excavating assembly 250 enters the initial shovel state.

Fig. 16 is a schematic diagram of the excavating assembly 250 entering a deep shovel state according to some embodiments of the present application. In some embodiments, the entering the excavating assembly 250 into the deep shovel state includes: as shown in FIG. 16, controlling the second angle adjustment assembly 241 to rotate a preset angle, and at the same time, controlling the first angle adjustment assembly 240 to rotate The preset angle is such that the bottom of the first bucket is parallel to the bottom of the first target object. At this time, the excavating assembly 250 enters the deep shovel state.

FIG. 17 is a schematic diagram of the excavating assembly 250 according to some embodiments of the present application entering a completed state. In some embodiments, the putting the excavating component 250 into the completed state includes: as shown in FIG. 17, controlling the second angle adjusting component 241 to rotate a preset angle, and at the same time, controlling the first angle adjusting component 240 to rotate to a preset angle. The angle is set so that the first mechanical arm and the horizontal direction form an included angle that exceeds the preset first angle, and the opening side of the first bucket faces upwards and does not exceed the preset second angle with the horizontal direction. The included angle, the excavating assembly 250 is now in a completed state. In some embodiments, the angle between the first angle α1 and the second angle α2 can be set according to the actual application. For example, the angle between the first angle α1 is set to 25 degrees, and the angle between the second angle α2 is set Set to 10 degrees.

In each of the above states, the preset angle that the first angle adjustment component and the second angle adjustment component need to rotate can be measured in advance through experiments, and the measurement results can be stored in the storage module of the apparatus 200, the server 140 or the storage device 150, So that it can be called during the digging control process.

In some embodiments, as shown in FIG. 11, after the excavating assembly 250 enters the completed state, the method 500 may further include: controlling the first bucket to vibrate for a certain period of time. The vibration component drives the first bucket to vibrate, so that the objects (for example, cat litter) in the first bucket shake out of the first bucket through the sieve holes, so as to prevent excess cat litter from being scooped out of the cat litter box. The vibration time can be set according to actual application conditions, for example, controlling the first bucket to vibrate for 10 seconds.

In some embodiments, the rotation angles of the first angle adjustment component and the second angle adjustment component in different states may be preset, so as to control the excavating component to reach the corresponding position.

In some embodiments, the method 500 may further include:

In step 550, based on the movement control instruction, the movement component 220 is controlled to move so that the feces cleaning device 200 reaches a second position, where the second position is related to the second target object.

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

FIG. 18 is a schematic diagram of the feces cleaning device 200 according to some embodiments of the present application reaching the second position. As shown in FIG. 18, the second sensor on the front of the feces cleaning device 200 corresponds to the sensor on the second target object (for example, trash box), and the moving component 220 moves according to the control command of the control component until the first sensor on the main body 210 The second sensor 272 stops moving when corresponding to the sensor on the second target object. At this time, the feces cleaning device 200 reaches the second position. In some embodiments, the second sensor 272 may be an infrared pair tube. In some embodiments, the second sensor 272 may be installed on the front of the main body 210 (for example, installed in the middle of the two first sensors 271) to detect the difference between the main body and the second target object. Whether the sensor corresponds. In some embodiments, an infrared pair tube corresponding to the second sensor is also installed on the outside of the second target object (for example, a trash box). For example, when the second sensor 272 installed on the main body 210 is an infrared receiving tube, the sensor installed on the second target object may be an infrared emitting tube. The infrared emitting tube on the second target object can convert electric energy into infrared rays and radiate it out. The infrared receiving tube on the body 210 only responds to infrared rays. When the body 210 gets closer to the second target object, the infrared receiving tube receives The stronger the infrared light is, the infrared receiver tube can convert the light energy into electrical energy when receiving light with a certain intensity, thereby generating an output signal indicating that the main body 210 has reached the vicinity of the second target object, and the control component can be based on The output signal controls the main body 210 to stop moving. At this time, the excrement cleaning device 200 reaches the second position.

Step 560: Control the second angle adjustment assembly 241 to rotate, and dump the object in the first bucket into the second target object.

In some embodiments, the second angle adjustment component 241 is controlled to rotate so that the opening side of the first bucket faces downward and forms an included angle with the horizontal direction exceeding a preset third angle, for example, the opening side is parallel to the horizontal direction And face down, dump the object in the bucket (for example, pet feces) into the second target object. The included angle of the third angle can be set according to actual conditions, for example, the included angle of the third angle is set to 90 degrees.

It should be noted that the foregoing description of the process 500 is only for example and description, and does not limit the scope of application of this application. For those skilled in the art, various modifications and changes can be made to the process 500 under the guidance of this application. However, these amendments and changes are still within the scope of this application.

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

As shown in FIG. 6, the control method 600 can be applied to control the excrement cleaning device 200, and the method includes:

Step 610: Obtain and display the image obtained by the first image obtaining device 261 and/or the image obtained by the second image obtaining device 262.

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 through a communication module. For example, when it is necessary to control the excrement cleaning device 200 to move to the initial position, the user can display the head-up image in front of the body collected by the first image obtaining device 261 on the control terminal. For another example, when the target position of an object (for example, pet feces) in the first target object needs to be acquired, the user can display the top view image in front of the body collected by the second image acquisition device 262 on the control terminal.

Step 620: Acquire and send the movement control instruction, the distance adjustment control instruction, the target position and/or the excavation instruction input by the user.

In some embodiments, the control terminal may obtain a movement control instruction, a distance adjustment instruction, a target position, and/or a mining instruction input by the user. For example, the user can input a movement control instruction according to the head-up image in front of the main body displayed by the control terminal, and control the moving components of the excrement cleaning device 200 to move accordingly until it moves to the initial position.

In some embodiments, the floating button P may be displayed on the display interface of the image acquired by the second image acquiring device 262; the user's operation on the floating button P is detected and after the operation is completed, the floating button P is in the Location information in the image; determining the target location based on the location information. As shown in FIG. 10, when the target position of the object (for example, pet feces) in the first target object needs to be acquired, the user can display the top view image in front of the body collected by the second image acquisition device 262 on the control terminal, thereby Calibration target position. As shown in FIG. 10, four direction arrow buttons are displayed in the lower left corner of the area A1, and the user can click the up, down, left, and right arrows to initiate a movement control instruction to control the movement component 220 to move forward, backward, left translation, and right translation. In the lower right corner of the area A1, two direction arrow buttons are displayed. The user can click the up and down arrows to initiate a distance adjustment control command, and control the distance adjustment component 230 to extend or contract. Below the center of the area A1, a "dig" button is displayed. The user clicks the "dig" button to initiate a digging instruction, thereby controlling the excrement cleaning device 200 to perform digging operations.

FIG. 7 is an exemplary flowchart of another method 700 for cleaning up feces according to some embodiments of the present application.

As shown in FIG. 7, a feces cleaning method 700 is applied to the feces cleaning device 200, and the method may include:

Step 710: Bring the feces cleaning device 200 to a first position, where the first position is related to the first target object.

In some embodiments, the user can issue a movement control instruction according to the head-up image in front of the main body displayed in real time by the control terminal. After the excrement cleaning device 200 obtains the movement control instruction, it controls the movement component 220 to move accordingly (for example, forward and backward). , Move left or right, etc.) to reach the first position. In some embodiments, the feces cleaning device 200 may automatically generate a movement control instruction according to a preset route planning algorithm to control the movement component to reach the first position. For the specific content of bringing the feces cleaning device 200 to the first position in step 710, refer to the related introduction of step 510 in FIG. 5, which will not be repeated here.

In step 720, the distance adjustment component 230 is controlled to expand and contract, so that the second image acquisition device 262 can acquire a top view image of the first target object.

In some embodiments, the feces cleaning device 200 may automatically generate a distance adjustment control command based on the distance adjustment control command, and control the distance adjustment assembly 230 to expand and contract. The expansion direction includes extension or contraction along the length of the distance adjustment assembly 230. Until the complete top view image of the first target object is obtained. The feces cleaning device 200 can recognize the complete edge of the first target object according to a preset image recognition algorithm (for example, an image edge algorithm), thereby recognizing a complete top view image of the first target object. For the specific content of obtaining the top view image of the first target object in step 720, refer to the related introduction of step 520 in FIG. 5, which will not be repeated here.

Step 730: Divide 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 they can be combined to cover the 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 correspondingly according to a preset dividing algorithm, for example, the first target object is divided into two rectangles, and for example, the first target The object is divided into 4 rectangles, and the divided area is like "Tian". After the area is divided, the target position is determined in the corresponding divided area, and the algorithm for calculating the target position can be performed on the background server communicating with the stool cleaning device 200 or the stool cleaning device 200 itself, which is not specifically limited in this application. FIG. 19 is a schematic diagram of dividing the first target object into several regions according to some embodiments of the present application. In some embodiments, as shown in FIG. 19, the first target object is divided into rectangular areas with 2 rows and 3 columns, and the 6 rectangular areas are respectively B1 to B6. In some embodiments, the device 200 may excavate according to the order of the number of the rectangular area, for example, the area excavated for the first time is B1, the area excavated for the second time is B2, and so on, the area excavated for the sixth time is B6. In each excavation, the target location in the area to be excavated can be determined according to a preset algorithm, for example, the center point of the area to be excavated B1 is used as the target T1. The device 200 can obtain the position coordinates (a1, b1) of the target T1 in the image. In some embodiments, the target T1 may be one pixel or an area containing multiple pixels, and its position coordinates (a1, b1) may be the coordinates of the one pixel or the coordinates of the center pixel of the area , Where a1 represents the row in the top view image where the target T1 is located, and b1 represents the column where it is located. In some embodiments, the pixel coordinates (a1, b1) of the target T1 can be converted according to the pixel coordinates (a1, b1) of the target T1, the height and width values of the top view image, and the target T1 is in the rectangular coordinate system. The coordinates (X1, Y1) in, the target position of the area B1 to be excavated is obtained. The rectangular coordinate system may be established based on the top view image collected by the second image acquisition device 262, where the X axis is parallel to the width direction of the image, upward is the positive direction, the Y axis is parallel to the height direction of the image, and the right is the positive direction. , 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 position: control the moving component 220 and/or the distance adjusting component 230 so that the reference point on the excavating component 250 reaches the target position.

In some embodiments, the reference point may be set according to actual application conditions, for example, the center of the first bucket or a certain point at the end of the first bucket is set as a reference point. In some embodiments, the feces cleaning device 200 may determine the distance between the reference point and the target position in the first direction and the second direction, respectively, based on the top view image, so as to generate a movement control instruction and/or The distance adjustment control instruction automatically controls the moving component 220 and/or the distance adjusting component 230 so that the reference point of the excavating component 250 moves to the target position. In some embodiments, in some embodiments, the first direction and the second direction are orthogonal to each other, and the first direction may be parallel to the direction in which the distance adjusting component 230 expands and contracts. For the specific content of making the reference point on the excavating component 250 reach the target position in step 740, refer to the related introduction of step 530 in FIG. 5, which will not be repeated here.

Step 741, controlling the first angle adjusting component 240 and/or the second angle adjusting machine component 241 to rotate, so that the excavator component 250 completes one excavation.

In some embodiments, the excrement cleaning device 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, so that the excavation assembly 250 sequentially enters the excavation preparation state , Contact state, initial shovel state, deep shovel state and completed state. For the specific content of the mining component 250 to complete a mining in step 741, refer to the related introduction of step 540 in FIG. 5, which will not be repeated here.

In step 742, the moving component 220 is controlled to move so that the feces cleaning device 200 reaches a second position, where the second position is related to a second target object.

In some embodiments, the feces cleaning device 200 can actively acquire the output signal of the second sensor 272; based on the output signal of the second sensor 272, it is determined whether the feces cleaning device 200 has reached the second position. In some embodiments, the second sensor 272 may be an infrared pair tube. The excrement cleaning device 200 corresponds to the sensor on the second target object (for example, trash box) through the second sensor 272 installed on the front of the body, generates a movement control instruction, and controls the moving assembly 220 to move until the first sensor on the body 210 The second sensor 272 stops moving when corresponding to the sensor on the second target object. At this time, the feces cleaning device 200 reaches the second position.

Fig. 20a is a schematic diagram of a placement method of a first target object and a second target object according to some embodiments of the present application.

Fig. 20b is a schematic diagram of another arrangement of the first target object and the second target object according to some embodiments of the present application.

In some embodiments, the first target object may be placed parallel to the second target object. For example, as shown in (a) of FIG. 20, the first target object may be placed to the left of the second target object, and Make a certain edge K1 of the first target object parallel to a certain edge K1' of the second target object. For another example, as shown in FIG. 20(b), the first target object can be placed to the right of the second target object, and a certain edge K1 of the first target object and a certain edge of the second target object K1' is parallel. The above two placement modes of the first target object and the second target object enable the device 200 to move from the first position to the second position only by translation. For the specific content of detecting whether the feces cleaning device 200 reaches the second position in step 742, refer to the related introduction of step 550 in FIG. 5, which will not be repeated here.

Step 743: Control the second angle adjustment assembly 241 to rotate, and dump the object in the first bucket into the second target object.

In some embodiments, the feces cleaning device 200 can automatically control the second angle adjustment assembly 241 to rotate, so that the opening side of the first bucket faces downward and forms an included angle with the horizontal direction that exceeds a preset third angle. Objects in the bucket (for example, pet feces) are dumped into the second target object. The included angle of the third angle can be set according to actual conditions, for example, the included angle of the third angle is set to 90 degrees.

In step 744, the moving component 220 and/or the distance adjusting component 230 are controlled to make the excavating component 250 reach the next target position.

In some embodiments, as shown in FIG. 19, after the device 200 completes one excavation (for example, excavation of the area B1) and dumps the excavated object to the second target object, first, the device 200 controls the moving component 220 to move, so that the device 200 Pan to the first position. In some embodiments, the recorded movement time (the movement time is proportional to the movement distance), whether the top view captured by the second image acquisition device 262 contains a complete image of the first target object or the output of the first sensor 271, etc. The method determines whether the device 200 has reached the first position. Secondly, on the basis of the first position, control the moving component 220 and/or the distance adjusting component 230 according to the distance between the reference point and the next target position (for example, the target position of the area B2) in the first and second directions, The digging assembly 250 is brought to the next target position. For the distance algorithms in the first and second directions, refer to step 530, which will not be repeated here. The device 200 stops working until the device 200 performs an excavation and dumping operation on all objects in the divided areas (for example, the areas B1 to B6).

It should be noted that the foregoing description of the process 700 is only for example and description, and does not limit the scope of application of this application. For those skilled in the art, various modifications and changes can be made to the process 700 under the guidance of this application. However, these amendments and changes are still within the scope of this application.

FIG. 8 is a block diagram of another feces cleaning system 800 shown in some embodiments of the fundamental application.

As shown in FIG. 8, the feces cleaning system 800 can be configured on the feces cleaning device 200, and the system 800 can include a positioning module 810, a distance adjustment module 820, a target position determination module 830, and a cleaning module 840.

The positioning module 810 is used to make the feces cleaning device 200 reach a first position, and the first position is related to a first target object.

In some embodiments, the positioning module 810 may control the movement component 220 to move based on the movement control instruction, so that the feces cleaning device 200 reaches the initial position; the distance between the initial position and the first position does not exceed the setting Set threshold. The movement control instruction may be a movement control instruction input by a user automatically generated by the feces cleaning device 200 according to a preset path planning algorithm or acquired through a communication module. The excrement cleaning device 200 can control the movement of the moving assembly 220 through the output signals of at least two first sensors 271 and the positioning module 810, so that the excrement cleaning device 200 can continue to move to the first position; The distance between the position and the first target object does not exceed the set threshold and makes the second direction parallel to a certain side 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 the direction in which the distance adjusting component 230 expands and contracts.

The distance adjustment module 820 is configured to control the distance adjustment component 230 to expand and contract, so that the second image acquisition device 262 can acquire the top view image of the first target object.

In some embodiments, the distance adjustment module 820 may control the distance adjustment assembly 230 to expand and contract based on the distance adjustment control command. The expansion direction includes the extension or contraction along the length of the distance adjustment assembly 230 until the first A complete top view image of the target object.

The target position determining module 830 is configured to divide 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 they can be combined to cover the 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 determination module 830 may divide the first target object according to a preset division algorithm, for example, divide the first target object into 2 rectangles, or for example, divide the first target object into 2 rectangles. The first target object is divided into 4 rectangles, and the divided area is like a "Tian" grid. After the area is divided, the target position is determined in the corresponding divided area, and the algorithm for calculating the target position can be performed on the background server communicating with the stool cleaning device 200 or the stool cleaning device 200 itself, which is not specifically limited in this application.

The cleaning module 840 is used for each target position: controlling the moving component 220 and/or the distance adjusting component 230 so that the reference point on the excavating component 250 reaches the target position; controlling the first angle adjusting component 240 and/or the second angle adjusting component 240 The angle adjusting component 241 rotates so that the excavating component 250 completes one excavation; the moving component 220 is controlled to move so that the feces cleaning device 200 reaches the second position, the second position being related to the second target object; Control the second angle adjustment component 241 to rotate to dump the object in the first bucket into the second target object; control the movement component 220 and/or the distance adjustment component 230 to make the reference on the excavating component 250 Point to reach the next target location.

In some embodiments, the reference point may be set according to actual application conditions, for example, the center of the first bucket or a certain point at the end of the first bucket is set as a reference point. In some embodiments, the cleaning module 840 may determine the distance between the reference point and the target position in the first direction and the second direction, respectively, based on the top view image, thereby generating a movement control instruction and/or distance The adjustment control instruction automatically controls the moving component 220 and/or the distance adjusting component 230 so that the reference point of the excavating component 250 moves to the target position. In some embodiments, the first direction and the second direction are orthogonal to each other, and the first direction may be parallel to the direction in which the distance adjusting component 230 expands and contracts. In some embodiments, the cleaning module 840 may generate an angle adjustment control instruction to automatically control the rotation of the first angle adjustment component 240 and/or the second angle adjustment component 241, so that the excavation assembly 250 enters the excavation preparation state, The contact state, the initial shovel state, the deep shovel state, and the completion state enable the excavating assembly 250 to complete one excavation. In some embodiments, the cleaning module 840 can actively acquire the output signal of the second sensor 272; based on the output signal of the second sensor 272, it is determined whether the feces cleaning device 200 has reached the second position. In some embodiments, the cleaning module 840 can automatically control the second angle adjustment assembly 241 to rotate so that the opening side of the first bucket faces downward and forms an included angle with the horizontal direction exceeding a preset third angle, and the bucket Objects in (for example, pet feces) are poured into the second target object. The included angle of the third angle can be set according to actual conditions, for example, the included angle of the third angle is set to 90 degrees. In some embodiments, after the cleaning module 840 completes one excavation and dumps the excavated object to the second target object, it controls the moving component 220 and/or the distance adjusting component 230 until the objects in the divided area are excavated and dumped once. After the operation, the feces cleaning device 200 stops working.

It should be understood that the system and its modules shown in FIG. 8 can be implemented in various ways. For example, in some embodiments, the system and its modules may be implemented by hardware, software, or a combination of software and hardware. Among them, the hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. Those skilled in the art can understand that the above-mentioned methods and systems can be implemented using computer-executable instructions and/or included in processor control codes, for example on a carrier medium such as a disk, CD or DVD-ROM, such as a read-only memory (firmware Such codes are provided on a programmable memory or a data carrier such as an optical or electronic signal carrier. The system and its modules of this application can not only be implemented by hardware circuits 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. It can also be implemented by software executed by various types of processors, or can be implemented by a combination of the aforementioned hardware circuit and software (for example, firmware).

It should be noted that the above description of the system and its modules is only for convenience of description, and does not limit the present application within the scope of the listed embodiments. It can be understood that for those skilled in the art, after understanding the principle of the system, it is possible to arbitrarily combine various modules, or form a subsystem to connect with other modules without departing from this principle. For example, in some embodiments, for example, the positioning module 810 and the distance adjustment module 820 disclosed in FIG. 8 may be different modules in a system, or one module may realize the functions of the above two or more modules. . For example, the positioning module 810 and the distance adjustment module 820 may be two modules, or one part may have both the positioning function and the distance adjustment function. Such deformations are all within the protection scope of this application.

The possible beneficial effects of the embodiments of the present application include but are not limited to: (1) Mecanum wheels are used in the moving component, so that the feces cleaning device can be moved in any direction, which realizes efficient walking, facilitates user control, and reduces operation difficulty , To improve the user’s experience; (2) The excavating component adopts a single-arm structure, with only one mechanical arm and bucket, which is convenient for users to carry out excavation operations, and the excrement cleaning is easier; (3) The vibration unit is used to control the The excrement and other objects to be cleaned are shaken, and objects that are not pet excrement (for example, cat litter) are shaken off into the first target object through the sieve in the first bucket, which reduces waste and reduces user costs. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the possible beneficial effects may be any one or a combination of the above, or any other beneficial effects that may be obtained.

The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only an example, and does not constitute a limitation to the application. Although it is not explicitly stated here, those skilled in the art may make various modifications, improvements and amendments to this application. Such modifications, improvements, and corrections are suggested in this application, so such modifications, improvements, and corrections still belong to the spirit and scope of the exemplary embodiments of this application.

At the same time, this application uses specific words to describe the embodiments of the application. For example, "one embodiment", "an embodiment", and/or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that “one embodiment” or “one embodiment” or “an alternative embodiment” mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. . In addition, some features, structures, or characteristics in one or more embodiments of the present application can be appropriately combined.

In addition, those skilled in the art can understand that various aspects of this application can be illustrated and described through a number of patentable categories or situations, including any new and useful process, machine, product, or combination of substances, or for them Any new and useful improvements. Correspondingly, various aspects of the present application can be completely executed by hardware, can be completely executed by software (including firmware, resident software, microcode, etc.), or can be executed by a combination of hardware and software. The above hardware or software can all be called "data block", "module", "engine", "unit", "component" or "system". In addition, various aspects of this application may be embodied as a computer product located in one or more computer-readable media, and the product includes computer-readable program codes.

The computer storage medium may contain a propagated data signal containing a computer program code, for example on a baseband or as part of a carrier wave. The propagation signal may have multiple manifestations, including electromagnetic forms, optical forms, etc., or a suitable combination. The computer storage medium may be any computer readable medium other than the computer readable storage medium, and the medium may be connected to an instruction execution system, device, or device to realize communication, propagation, or transmission of the program for use. The program code located on the computer storage medium can be transmitted through any suitable medium, including radio, cable, fiber optic cable, RF, or similar medium, or any combination of the above medium.

The computer program codes required for the operation of each part of this application can be written in any one or more programming languages, including object-oriented programming languages such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python Etc., conventional programming languages 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. The program code can run entirely on the user's computer, or run as an independent software package on the user's computer, or partly run on the user's computer and partly run on a remote computer, or run entirely on the remote computer or server. In the latter case, the remote computer can 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 to an external computer (for example, via the Internet), or in a cloud computing environment, or as a service Use software as a service (SaaS).

In addition, unless explicitly stated in the claims, the order of processing elements and sequences, the use of numbers and letters, or the use of other names in this application are not used to limit the order of the procedures and methods of this application. Although the foregoing disclosure uses various examples to discuss some invention embodiments that are currently considered useful, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. On the contrary, the rights The requirements are intended to cover all modifications and equivalent combinations that conform to the essence and scope of the embodiments of the present application. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on existing servers or mobile devices.

For the same reason, it should be noted that, in order to simplify the expressions disclosed in this application and to help the understanding of one or more embodiments of the invention, in the foregoing description of the embodiments of this application, multiple features are sometimes combined into one embodiment. In the drawings or its description. However, this disclosure method does not mean that the subject of the application requires more features than those mentioned in the claims. In fact, the features of the embodiment are less than all the features of the single embodiment disclosed above.

Some examples use numbers describing the number of ingredients and attributes. It should be understood that such numbers used in the description of the examples use the modifier "about", "approximately" or "substantially" in some examples. Retouch. Unless otherwise stated, "approximately", "approximately" or "substantially" indicate that the number is allowed to vary by ±20%. Correspondingly, in some embodiments, the numerical parameters used in the description and claims are approximate values, and the approximate values can be changed according to the required characteristics of individual embodiments. In some embodiments, the numerical parameter should consider the prescribed effective digits and adopt the general digit retention method. Although the numerical ranges and parameters used to confirm the breadth of the ranges in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values is as accurate as possible within the feasible range.

For each patent, patent application, patent application publication and other materials cited in this application, such as articles, books, specifications, publications, documents, etc., the entire contents of which are hereby incorporated into this application by reference. The application history documents that are inconsistent or conflicting with the content of this application are excluded, and documents that restrict the broadest scope of the claims of this application (currently or later attached to this application) are also excluded. It should be noted that if there is any inconsistency or conflict between the description, definition, and/or term usage in the attached materials of this application and the content described in this application, the description, definition and/or term usage of this application shall prevail .

Finally, it should be understood that the embodiments described in this application are only used to illustrate the principles of the embodiments of this application. Other variations may also fall within the scope of this application. Therefore, as an example and not a limitation, the alternative configuration of the embodiment of the present application can be regarded as consistent with the teaching of the present application. Accordingly, the embodiments of the present application are not limited to the embodiments explicitly introduced and described in the present application.

Claims

A feces cleaning device, characterized in that the device comprises:

Main body, control component, moving component, distance adjustment component, first angle adjustment component and excavation component;

The distance adjustment component is arranged on the body, and is used to expand and contract based on the control instruction of the control component;

The digging assembly is installed on the distance adjustment assembly through a first angle adjustment assembly; the first angle adjustment assembly is used to rotate based on a control command of the control assembly;

The moving component is installed on the main body and is used to drive the main body to move based on a control command of the control component, and the moving direction of the moving component includes at least a first direction and a second direction orthogonal to each other.
The device of claim 1, wherein:

The device also includes a first image acquisition device and a second image acquisition device;

The first image acquisition device is used to acquire a head-up image in front of the main body;

The second image acquisition device is used to acquire a top view image of the front of the body.
3. The device of claim 2, wherein the first image acquisition device is installed on the body; the second image acquisition device is installed on the distance adjustment assembly.
The device of claim 2, wherein the device further comprises:

At least two first sensors are used to determine the relative position relationship between the body and the first target object.
3. The device of claim 2, wherein the device further comprises a second sensor for determining the relative positional relationship between the main body and the second target object.
The device according to claim 1, wherein the distance adjustment assembly comprises an electric push rod; one end of the push rod is fixedly connected to the body, and the excavation assembly is installed on the push rod through the first angle adjustment assembly The other end of the push rod; the telescopic direction of the push rod is parallel to the length direction of the push rod.
The device of claim 1, wherein the excavating assembly includes a first mechanical 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 and the first bucket are connected by a second angle adjustment assembly, and the second angle adjustment assembly is used to rotate based on a control command of the control assembly.
The device of claim 7, wherein the device further comprises:

The vibration component is used to drive the first bucket to vibrate based on the control command of the control component;

The first bucket has at least one screen hole.
The device of claim 1, wherein the angle adjustment component is a steering gear.
The device of claim 1, wherein the moving component is a mecanum wheel.
8. The device of claim 1, further comprising a communication module, and the control component has a signal connection with the communication module.
8. The device of claim 1, wherein the second direction is also orthogonal to the expansion and contraction direction of the distance adjustment component.
A feces cleaning system, characterized by comprising the feces cleaning device according to claims 1-12 and a control terminal;

The feces cleaning device performs signal interaction with the control terminal through a communication module.
A feces cleaning system, characterized by comprising the feces cleaning device as claimed in claims 1-12, a control terminal and a server;

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

The control terminal has a signal connection with the server.
A feces cleaning method, applied to the feces cleaning device according to claims 1-12, characterized in that the method comprises:

Enabling the feces cleaning device to reach a first position, the first position being related to a first target object;

Controlling the distance adjusting component to expand and contract, so that the second image acquisition device acquires a top view image of the first target object;

Controlling the moving component and/or the distance adjusting component so that a reference point on the excavating component moves to a target position along the first direction and/or the second direction;

Control the rotation of the first angle adjustment assembly and/or the second angle adjustment assembly so that the excavation assembly completes one excavation.
The method according to claim 15, wherein said bringing said feces cleaning device to the first position further comprises:

Based on the movement control instruction, the movement component is controlled to move so that the feces cleaning device reaches the initial position; the distance between the initial position and the first position does not exceed a set threshold.
The method of claim 16, further comprising:

Acquiring the image collected by the first image acquiring device and transmitting it to the control terminal;

Receive movement control instructions from the control terminal.
The method of claim 16, wherein said bringing said feces cleaning device to the first position further comprises:

Through the output signals of at least two first sensors, the moving assembly is controlled to move, so that the feces cleaning device continues to move to the first position; the distance between the first position and the first target object does not exceed The threshold is set and the second direction is parallel to a certain side of the first target object.
The method according to claim 15, wherein the controlling the distance adjusting component to expand and contract so that the second image acquisition device can acquire the top view image of the first target object comprises:

Based on the distance adjustment control command, the distance adjustment component is controlled to expand and contract, and the expansion direction includes extension or contraction along the length direction of the distance adjustment component until a complete top view image of the first target object is obtained.
The method of claim 19, further comprising:

Acquiring the image collected by the second image acquiring device and transmitting it to the control terminal;

Receive distance adjustment control instructions from the control terminal.
The method according to claim 15, wherein the control movement component and/or the distance adjustment component makes a reference point on the excavation component move to the target along the first direction and/or the second direction Location, also includes:

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

Based on the distance, the moving component and/or the distance adjusting component are controlled so that a certain reference point on the excavating component moves to the target position along the first direction and/or the second direction.
The method according to claim 15, wherein the control movement component and/or the distance adjustment component makes a reference point on the excavation component move to the target along the first direction and/or the second direction Location, also includes:

Acquiring the image collected by the second image acquiring device and transmitting it to the control terminal;

Receive movement control instructions from the control terminal;

Based on the movement control instruction, the movement component and/or the distance adjustment component are controlled so that a certain reference point on the excavation component moves to the target position along the first direction and/or the second direction.
The method according to claim 15, wherein the target location is designated by the controlling terminal.
The method according to claim 15, wherein the controlling the rotation of the first angle adjusting component and/or the second angle adjusting component so that the excavating component completes one excavation comprises:

Control the rotation of the first angle adjustment assembly and/or the second angle adjustment assembly so that the excavation assembly enters the excavation preparation state, the contact state, the initial shovel state, the deep shovel state, and the completion state in sequence.
The method of claim 24, wherein:

The entering the excavation component into an excavation preparation state includes:

According to the control command of the angle adjustment assembly, the first angle adjustment assembly and the second angle adjustment assembly are controlled to rotate so that the first mechanical arm rotates downward, and at the same time, 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 the preset third distance;

The bringing the excavating component into a contact state includes:

Controlling the second angle adjustment assembly to rotate so that the end of the first bucket contacts the bottom of the first target object;

The step of bringing the excavating assembly into a preliminary shoveling state includes:

The first angle adjustment component is controlled to rotate, and at the same time, the second angle adjustment component is controlled to rotate, so that the line between the first bucket end and the center point of the rotation axis of the second angle adjustment component is connected to the first target object The bottom is vertical;

The entering the digging assembly into a deep shovel state includes:

Controlling the second angle adjustment component to rotate, and at the same time, controlling the first angle adjustment component to rotate so that the bottom of the first bucket is parallel to the bottom of the first target object;

The bringing the mining component into a completed state includes:

The second angle adjustment component is controlled to rotate, and at the same time, the first angle adjustment component is controlled to rotate so that the first mechanical arm and the horizontal direction form an included angle that exceeds the preset first angle. The opening side of the first bucket It faces upward and forms an included angle with the horizontal direction that does not exceed the preset second angle.
The method of claim 24, further comprising controlling the first bucket to vibrate for a certain period of time.
The method according to claim 15, wherein the method further comprises:

Based on the movement control instruction, controlling the movement component to move so that the feces cleaning device reaches a second position, where the second position is related to a second target object;

The second angle adjustment assembly is controlled to rotate, and the object in the first bucket is dumped into the second target object.
The method of claim 27, further comprising:

Acquiring the output signal of the second sensor;

It is determined whether the feces cleaning device reaches the second position based on the output signal of the second sensor.
A control method, characterized in that it is used to control the excrement cleaning device according to claims 1-12, comprising:

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

Acquire and send the movement control instruction, the distance adjustment control instruction, the target position and/or the excavation instruction input by the user.
The method of claim 29, wherein said obtaining the target location input by the user comprises:

Displaying a floating button on the display interface of the image acquired by the second image acquiring device;

Detecting the user's operation on the floating button and the position information of the floating button in the image after the operation is completed;

The target location is determined based on the location information.
A feces cleaning method, applied to the feces cleaning device according to claims 1-12, characterized in that the method comprises:

Enabling the feces cleaning device to reach a first position, the first position being related to a first target object;

Controlling the distance adjusting component to expand and contract, so that the second image acquisition device acquires a top view image of the first target object;

Determining at least two target positions based on the overhead image;

For each target location:

Controlling the moving component and/or the distance adjusting component so that the reference point on the excavating component reaches the target position;

Controlling the rotation of the first angle adjusting component and/or the second angle adjusting component, so that the digging component completes one excavation;

Controlling the moving component to move so that the feces cleaning device reaches a second position, where the second position is related to a second target object;

Controlling the rotation of the first angle adjusting component and/or the second angle adjusting component to dump the object in the first bucket into the second target object;

Control the moving component and/or the distance adjusting component so that a certain reference point on the excavating component reaches the next target position.
The method of claim 31, wherein the determining at least two target positions 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.
The method according to claim 32, wherein the at least two areas do not overlap, and they can be combined to cover the area of the first target object.
The method according to claim 32, 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.
A feces cleaning device, characterized in that the device at least includes a processor and at least one memory;

The at least one memory is used to store computer instructions;

The at least one processor is configured to execute at least part of the computer instructions to implement the operation according to any one of claims 15-28.
A control device, characterized in that the device includes at least one processor and at least one memory;

The at least one memory is used to store computer instructions;

The at least one processor is configured to execute at least part of the computer instructions to implement the operation according to any one of claims 29-30.
A feces cleaning device, characterized in that the device at least includes a processor and at least one memory;

The at least one memory is used to store computer instructions;

The at least one processor is configured to execute at least part of the computer instructions to implement the operation according to any one of claims 31 to 34.
A computer storable medium, characterized in that the storage medium stores computer instructions, and when at least part of the instructions in the computer instructions are executed by a processor, the implementation of any one of claims 15 to 34 operating.
A feces cleaning system for being configured on the feces cleaning device according to any one of claims 1-12, characterized in that it comprises:

A positioning module for making the feces cleaning device reach a first position, where the first position is related to a first target object;

The distance adjustment module is used to control the distance adjustment component to expand and contract, so that the second image acquisition device can acquire the top view image of the first target object;

The moving module controls the moving component and/or the distance adjusting component so that a reference point on the excavating component moves to a target position along the first direction and/or the second direction;

The excavation module is used to control the rotation of the first angle adjustment assembly and/or the second angle adjustment assembly so that the excavation assembly completes one excavation.
A control system, characterized in that it is used to control the excrement cleaning device according to claims 1-12, comprising:

The first acquisition module is configured to acquire and display 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 to acquire the movement control instruction, the distance adjustment control instruction, the target position and/or the mining instruction input by the user;

The sending module is used to send the movement control instruction, the distance adjustment control instruction, the target position and/or the excavation instruction input by the user.
The system of claim 40, wherein the second acquisition module is further configured to:

Displaying a floating button on the display interface of the image acquired by the second image acquiring device;

Detecting the user's operation on the floating button and the position information of the floating button in the image after the operation is completed;

The target location is determined based on the location information.
A feces cleaning system for being configured on the feces cleaning device according to claims 1-12, characterized in that it comprises:

A positioning module for making the feces cleaning device reach a first position, where the first position is related to a first target object;

The distance adjustment module is used to control the distance adjustment component to expand and contract, so that the second image acquisition device can acquire the top view image of the first target object;

A target position determining module, configured to determine at least two target positions based on the overhead image;

Cleanup module for each target location:

Controlling the moving component and/or the distance adjusting component so that a certain reference point on the excavating component reaches the target position;

Controlling the rotation of the first angle adjustment component and/or the second angle adjustment component, so that the excavating assembly completes one excavation;

Controlling the moving component to move so that the feces cleaning device reaches a second position, where the second position is related to a second target object;

Controlling the second angle adjustment assembly to rotate, dumping the object in the first bucket into the second target object;

Control the moving component and/or the distance adjusting component so that a certain reference point on the excavating component reaches the next target position.