CN103766231A - Pet exercise device and control method thereof - Google Patents
Pet exercise device and control method thereof Download PDFInfo
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- CN103766231A CN103766231A CN201310589356.9A CN201310589356A CN103766231A CN 103766231 A CN103766231 A CN 103766231A CN 201310589356 A CN201310589356 A CN 201310589356A CN 103766231 A CN103766231 A CN 103766231A
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Abstract
The invention discloses a pet exercise device and a control method thereof. The device comprises an exercise vehicle and a signal projector. The exercise vehicle comprises a circular-pie-shaped base, the top of the base is provided with a semi-spherical cover, the side wall of the base is provided with a plurality of ultrasonic transmit-receive integrated probes, keys and a sound output module are also arranged on the base, a drive mechanism is arranged at the bottom of the base, a plurality of movable trundles are also arranged at the bottom of the base, and a central processing unit, a power module, a wireless receiving module and a current sensor for detecting the working current of a second drive motor are arranged in the base. According to the control method of the pet exercise device, the ultrasonic transmit-receive integrated probes detect the positions of a pet and obstacles, the angle which a rotary shaft of the second drive motor needs to reach through rotation is determined in a table look-up mode, and the exercise vehicle moves in the direction away from the pet and the obstacles. The pet exercise device has strong interestingness and can interest the pet easily, and the good exercise effect is achieved through interaction between the pet and the exercise vehicle.
Description
Technical field
The present invention relates to pet body-building technical field, relate in particular to a kind of pet body-building device and control method thereof.
Background technology
Current, many pets (dog, cat etc.) are too obese, and need a kind of body-building device, and particularly abroad, owner is generally used as pet as child and treats, and payes attention to especially their health status, and therefore, the pet being too obese has the needs of fat-reducing.The shortcomings such as existing pet body-building device exists function singleness, interactive not strong, and interest is inadequate.
China Patent Publication No. CN101796926, open day on August 11st, 2010, the name of invention is called multifunctional pet body-building assisting cage, this application case discloses a kind of multifunctional pet body-building assisting cage, it is made up of upper frame and the mobile base that can separate from upper frame, both bottoms are all provided with four universal wheels, wherein, mobile base top is provided with the spacer screen of carrying pet, the bearing plate of depositing pet dung can be inserted in its underpart, the front side of upper frame has main door, its left side has secondary door, and secondary door can upwards overturn around hinge, when use, open auxiliary goalkeeper's upper frame pushes away to treadmill from mobile base, easy to use.Its weak point is, this pet body-building device interactive is not strong, lacks interestingly, is difficult to cause the interest of pet, and the enthusiasm of pet body-building is not high, thereby affects body-building effect.
Summary of the invention
The object of the invention is to overcome existing pet body-building device interactive not strong, lack interesting, be difficult to cause the interest of pet, the enthusiasm of pet body-building is not high, thereby affect the technical problem of body-building effect, a kind of pet body-building device and control method thereof are provided, it has very strong interest, easily cause the interest of pet, pet is by reaching good body-building effect with exercycle interaction.
In order to address the above problem, the present invention is achieved by the following technical solutions:
A kind of pet body-building device of the present invention, comprise the signal projector of exercycle and energy wireless signal emission, described exercycle comprises the base that is round pie, the top of described base is provided with and is hemispheric cover body, described cover body comprises fixed cover and movable guard, described fixed cover is fixedly connected with base, in described base, be provided with the first drive motors that drives movable guard to rotate, the sidewall equal intervals of described base is provided with several ultrasonic transmission/reception one probes, on described base, be also provided with button and sound output module, the center of described base bottom is provided with driving mechanism, described driving mechanism comprises rigid castors, drive the second drive motors of rigid castors rotation and the direction motor that drives rigid castors to horizontally rotate, the rotating shaft of described direction motor is provided with angular transducer, described base bottom is also provided with several movable castors, in described base, be provided with CPU, power module, the current sensor of wireless receiving module and detection the second drive motors operating current, described CPU respectively with the first drive motors, ultrasonic transmission/reception one probe, button, voice output module, the second drive motors, direction motor, angular transducer, power module, wireless receiving module and current sensor electrical connection.
In the technical program, signal projector is worn on it the pet that needs body-building, and signal projector can be launched the wireless signal with specific coding data.In the cover body of exercycle, be placed with the food of pet, fixed cover and movable guard are all transparent, and pet can be seen through cover body the food of the inside.
User starts exercycle work by pushing button, the work of central processor unit control voice output module, and voice output module is sent predefined especial sound (" Su, the Su " sound sending as snacks plastic packaging bag), attracts pet to note.The sound being sent by voice output module when pet attracts, while moving towards exercycle, the wireless receiving module of exercycle receives the specific coding data that signal projector sends, CPU reads the signal strength values of the specific coding data that receive, and this signal strength values is converted into corresponding distance value, this distance value is the distance between pet and exercycle.
In the time that the distance between pet and exercycle is less than predefined startup distance B 1, the work of all ultrasonic transmission/reception one of central processing unit controls probe, all ultrasonic transmission/reception one probes send ultrasonic signal simultaneously, in predefined stand-by period T1, if there is ultrasonic transmission/reception one probe to receive reflected signal, the surveyed area that CPU judgement receives the ultrasonic transmission/reception one probe of reflected signal has pet or barrier.Then central processing unit controls direction electric machine rotation, turns an angle rigid castors, and exercycle is moved towards the direction away from these regions in the time that rigid castors is rotated.Then central processing unit controls the second drive motors work, the second drive motors drives rigid castors to rotate, and spinning, away from pet or barrier region.
CPU detects the operating current of the second drive motors by current sensor, in the time that the current value detecting is more than or equal to the current value M of setting, CPU judges the second drive motors stall, central processing unit controls the second drive motors quits work, and then CPU is received the wireless signal that signal projector that pet wears sends and calculated the distance between exercycle and pet according to signal strength values by wireless receiving module.If the distance between exercycle and pet is less than or equal to the default distance B 2 that takes food, CPU judges that the second drive motors stall is that pet catches exercycle to cause, central processing unit controls the first drive motors rotates, the first drive motors drives movable guard to open, pet can eat the food in cover body, and voice output module quits work; If not receiving distance between wireless signal or exercycle and the pet that signal projector that pet wears sends, wireless receiving module is greater than the default distance B 2 that takes food, CPU judges that the second drive motors stall is that barrier stops and causes, movable guard is not opened, voice output module is sent chimes of doom, reminding user processing.
As preferably, on described base, be also provided with display screen, described display screen is electrically connected with CPU.Display screen can display power supply module electric weight, exercycle continuous working period, pet successfully catches the information such as exercycle number of times.
As preferably, on described base, be also provided with USB interface, described USB interface is electrically connected with CPU.Calculator can be communicated by letter with CPU by USB interface, and user can pass through the running parameter of computer settings exercycle, also the service data of exercycle can be read and in calculator, carry out analytic statistics.
As preferably, the top correspondence of each ultrasonic transmission/reception one probe is provided with a LED lamp, and described CPU is electrically connected with LED lamp.The light of various different colours is sent in the flicker of LED lamp, to attract the attention of pet.
As preferably, the rotating shaft of described the second drive motors is provided with speed probe, and described speed probe is electrically connected with CPU.Speed probe detects the rotating speed of rigid castors, and send it to CPU, CPU calculates the stroke of exercycle according to the rotation time of the size of the rotating speed of rigid castors, rigid castors and rigid castors, if stroke exceedes predefined stroke upper limit N, central processing unit controls the second drive motors quits work, exercycle does not move, movable guard is opened, pet can eat the food in cover body, prevent pet excessive amount of motion and not feed, guaranteed the health of pet.
As preferably, in described base, be also provided with PWM module, described CPU is electrically connected with the second drive motors by PWM module.CPU is by the power of PWM module controls the second drive motors, thereby control the rotating speed of rigid castors, in the time of pet and exercycle close together, improve the rotating speed of rigid castors, when pet and exercycle reduce the rotating speed of rigid castors when distant, guaranteed that pet is not easy to catch exercycle, also prevented that exercycle from lose interest pet from pet away from.
As preferably, described signal projector comprises control chip, wireless transmitter module, gauge tap and battery, and described control chip is electrically connected with wireless transmitter module, gauge tap and battery respectively.
The control method of a kind of pet body-building device of the present invention, be applicable to above-mentioned a kind of pet body-building device, the quantity of described ultrasonic transmission/reception one probe is 6, in the direction of the clock 6 ultrasonic transmission/reception one probes being compiled is No. 1 probe, No. 2 probes, No. 3 probes, No. 4 probes, No. 5 probes and No. 6 probes, the direction machine shaft angle value recording when angular transducer is that the direction of motion of 0 exercycle while spending is the direction that No. 1 probe is pointed in the base center of circle, it is large that the angle value that when rotating shaft of direction motor clockwise rotates, angular transducer records becomes, it is characterized in that comprising the following steps:
S1: system initialization, CPU is by angular transducer detection side to the current angle value of machine shaft record, and central processor unit control voice output module is worked, and voice output module is sounded and is attracted pet;
S2: the work of central processing unit controls wireless receiving module, if wireless receiving module receives wireless data, perform step S4, otherwise execution step S3;
S3: central processing unit controls the second drive motors is not worked, and then performs step S2;
S4: CPU judges that whether the data that receive are consistent with pre-stored unique coded data, if it is performs step S5, otherwise execution step S3;
S5: CPU reads the signal strength values of this wireless data, and this signal strength values is converted into corresponding distance value, this distance value is the distance between pet and exercycle, CPU judges whether this distance value is greater than the startup distance B 1 of setting, if it is perform step S2, otherwise execution step S6;
S6: 6 ultrasonic transmission/reception one probes of central processing unit controls work, 6 ultrasonic transmission/reception one probes send ultrasonic signal simultaneously, in predefined stand-by period T1, if there is ultrasonic transmission/reception one probe to receive reflected signal, perform step S7, otherwise execution step S2;
S7: the surveyed area that CPU judgement receives the ultrasonic transmission/reception one probe of reflected signal has pet or barrier, then central processing unit controls direction electric machine rotation, rigid castors is turned an angle, control the second drive motors work, the second drive motors drives rigid castors to rotate, spinning, away from pet or barrier region;
S8: CPU detects the operating current of the second drive motors by current sensor, if the current value detecting is more than or equal to the current value M of setting, CPU judges the second drive motors stall, execution step S9, if the current value detecting is less than the current value M of setting, performs step S2;
S9: central processing unit controls the second drive motors quits work, then CPU is received the wireless signal that signal projector that pet wears sends and is calculated the distance between exercycle and pet according to signal strength values by wireless receiving module, if the distance between exercycle and pet is less than or equal to the default distance B 2 that takes food, CPU judges that the second drive motors stall is that pet catches exercycle to cause, central processing unit controls control the first drive motors rotates, the first drive motors drives movable guard to open, pet can eat the food in cover body, voice output module quits work, if the distance between exercycle and pet is greater than the default distance B 2 that takes food, CPU judges that the second drive motors stall is that barrier stops and causes, movable guard is not opened, and voice output module is sent chimes of doom.
As preferably, in the process of execution step S2 to S9, speed probe detects the rotating speed of rigid castors, and sending it to CPU, CPU calculates the stroke of exercycle according to the rotation time of the size of the rotating speed of rigid castors, rigid castors and rigid castors, if stroke exceedes predefined stroke upper limit N, central processing unit controls the second drive motors quits work, exercycle does not move, and movable guard is opened, and pet can eat the food in cover body.
As preferably, while moving for the first time after exercycle starts, the dutycycle of PWM module output waveform is 50%, the second drive motors is with 50% power work, in described step S8, be less than and first carry out following steps before performing step S2 in the current value M situation of setting at the current value detecting: the wireless signal strength that the signal projector that CPU is worn by certain sampling period Ts collection pet default time T 2 in sends, calculate distance value corresponding to each wireless signal strength collecting, get the mean value of these distance values, obtain the average distance D3 between pet and exercycle, then CPU compares average distance D3 with startup distance B 1, if being greater than, average distance D3 starts distance B 1, the dutycycle of central processing unit controls PWM module output waveform reduces, if average distance D3 equals to start distance B 1, the dutycycle of central processing unit controls PWM module output waveform is constant, if being less than, average distance D3 starts distance B 1, the dutycycle of central processing unit controls PWM module output waveform increases.
Substantial effect of the present invention is: (1) has very strong interest, easily causes the interest of pet, and pet is by reaching good body-building effect with exercycle interaction.(2) in the time that the stroke of exercycle reaches certain value, exercycle stop motion, movable guard is opened, and pet can eat the food in cover body, reasonably controls the amount of exercise of pet, prevents pet because of excessive amount of motion and the health risk of not taking food in time.(3) rationally control the movement velocity of exercycle, guaranteed that pet is not easy to catch exercycle, also prevent that exercycle from lose interest pet from pet away from.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the present invention;
Fig. 2 is explosive view of the present invention;
Fig. 3 is a kind of circuit theory link block diagram of the present invention;
Fig. 4 is the motion schematic diagram of No. 1 probe exercycle while receiving reflected signal;
Fig. 5 is the motion schematic diagram of 1, No. 2 probe exercycle while receiving reflected signal;
Fig. 6 is the motion schematic diagram of 1,2, No. 3 probe exercycle while receiving reflected signal;
Fig. 7 is the motion schematic diagram of 1,3, No. 5 probe exercycle while receiving reflected signal;
Fig. 8 is the motion schematic diagram of 1,2,3, No. 4 probe exercycle while receiving reflected signal.
In figure: 1, exercycle, 2, signal projector, 3, base, 4, fixed cover, 5, movable guard, 6, the first drive motors, 7, ultrasonic transmission/reception one probe, 8, button, 9, voice output module, 10, rigid castors, 11, the second drive motors, 12, direction motor, 13, angular transducer, 14, movable castor, 15, CPU, 16, power module, 17, wireless receiving module, 18, current sensor, 19, display screen, 20, USB interface, 21, LED lamp, 22, speed probe, 23, PWM module, 24, control chip, 25, wireless transmitter module, 26, gauge tap, 27, battery.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment: a kind of pet body-building device of the present invention, as Fig. 1, Fig. 2, shown in Fig. 3, comprise the signal projector 2 of exercycle 1 and energy wireless signal emission, exercycle 1 comprises the base 3 that is round pie, the top of base 3 is provided with and is hemispheric cover body, cover body comprises fixed cover 4 and movable guard 5, fixed cover 4 matches with movable guard 5, fixed cover 4 is fixedly connected with base 3, movable guard 5 is hinged with base 3, in base 3, be provided with the first drive motors 6 that drives movable guard 5 to rotate, the sidewall equal intervals of base 3 is provided with 6 ultrasonic transmission/reception one probes 7, and the top correspondence of each ultrasonic transmission/reception one probe 7 is provided with a LED lamp 21, is also provided with button 8 on base 3, voice output module 9, display screen 19 and USB interface 20, the center of base 3 bottoms is provided with driving mechanism, and driving mechanism comprises rigid castors 10, the second drive motors 11 that driving rigid castors 10 is rotated and the direction motor 12 that drives rigid castors 10 to horizontally rotate, the rotating shaft of direction motor 12 is provided with angular transducer 13, the rotating shaft of the second drive motors 11 is provided with speed probe 22, the outer rim place of base 3 bottoms is equidistantly provided with 4 movable castors 14, is provided with CPU 15 in base 3, power module 16, wireless receiving module 17, PWM module 23 and detect the current sensor 18 of the second drive motors 11 operating currents, CPU 15 respectively with the first drive motors 6, ultrasonic transmission/reception one probe 7, button 8, voice output module 9, direction motor 12, angular transducer 13, power module 16, wireless receiving module 17, current sensor 18, display screen 19, USB interface 20, LED lamp 21 and speed probe 22 are electrically connected, and CPU 15 is also by PWM module 23 and the second drive motors 11 electrical links.
The detection angles of ultrasonic transmission/reception one probe 7 is 60 degree, and 6 ultrasonic transmission/reception one probes 7 can detect the region that exercycle 1 surrounding 360 is spent.6 ultrasonic transmission/reception one probe 7 in the direction of the clock number consecutively is No. 1 probe, No. 2 probes, No. 3 probes, No. 4 probes, No. 5 probes and No. 6 probes, and that the angle value that when direction motor clockwise rotates, angular transducer records becomes is large (predetermined angular get clockwise direction into just).The direction motor 12 rotating shaft angle values that record when angular transducer 13 are that the direction of motion of 0 exercycle 1 while spending is the direction that No. 1 probe is pointed in base 3 centers of circle; The direction motor 12 rotating shaft angle values that record when angular transducer 13 are that the direction of motion of 60 exercycles 1 while spending is the direction that No. 2 probes are pointed in base 3 centers of circle; The direction motor 12 rotating shaft angle values that record when angular transducer 13 are that the direction of motion of 120 exercycles 1 while spending is the direction that No. 3 probes are pointed in base 3 centers of circle; The direction motor 12 rotating shaft angle values that record when angular transducer 13 are that the direction of motion of 180 exercycles 1 while spending is the direction that No. 4 probes are pointed in base 3 centers of circle; The direction motor 12 rotating shaft angle values that record when angular transducer 13 are that the direction of motion of 240 exercycles 1 while spending is the direction that No. 5 probes are pointed in base 3 centers of circle; The direction motor 12 rotating shaft angle values that record when angular transducer 13 are that the direction of motion of 300 exercycles 1 while spending is the direction that No. 6 probes are pointed in base 3 centers of circle.
User works by the 8 startup exercycles 1 that push button by long, central processing unit 15 unit controls voice output modules 9 are worked, voice output module 9 is sent predefined especial sound (" Su, the Su " sound sending as snacks plastic packaging bag), the light of various different colours is sent in 21 flickers of LED lamp, to attract the attention of pet.When the food in sound that pet is sent by voice output module 9, light or cover body that LED lamp 21 sends attracts, while moving towards exercycle 1, the wireless receiving module 17 of exercycle 1 receives the specific coding data that signal projector 2 sends, CPU 15 reads the signal strength values of the specific coding data that receive, and this signal strength values is converted into corresponding distance value, this distance value is the distance between pet and exercycle 1.
In the time that the distance between pet and exercycle 1 is less than predefined startup distance B 1, CPU 15 is controlled all ultrasonic transmission/reception one probe 7 work, all ultrasonic transmission/reception one probes 7 send ultrasonic signal simultaneously, in predefined stand-by period T1, if there is ultrasonic transmission/reception one probe 7 to receive reflected signal, the surveyed area that CPU 15 judgements receive the ultrasonic transmission/reception one probe 7 of reflected signal has pet or barrier.CPU 15 finds out according to the numbering of ultrasonic transmission/reception one probe 7 that receives reflected signal the angle that the rotating shaft of direction motor 12 should turn in pre-stored movement angle form, then CPU 15 controlling parties are rotated to motor 12, rigid castors 10 is turned to corresponding angle, then CPU 15 is controlled the second drive motors 11 and is worked, the second drive motors 11 drives rigid castors 10 to rotate, exercycle 1 moves, away from pet or barrier region.
When exercycle 1 is worked, speed probe 22 detects the rotating speed of rigid castors 10, and send it to CPU 15, CPU 15 is according to the rotating speed of rigid castors 10, the rotation time of the size of rigid castors 10 and rigid castors 10 calculates the stroke of exercycle 1, if stroke exceedes predefined stroke upper limit N, CPU 15 is controlled the second drive motors 11 and is quit work, exercycle 1 does not move, voice output module 9 and LED lamp 21 are not worked, movable guard 5 is opened, pet can eat the food in cover body, prevent pet excessive amount of motion and not feed, guarantee the health of pet.
The control method of a kind of pet body-building device of the present invention, is applicable to above-mentioned a kind of pet body-building device, comprises the following steps:
S1: system initialization, CPU 15 is passed through angular transducer 13 detection sides to motor 12 rotating shafts current angle value record, central processor unit 15 controls voice output module 9 and LED lamp 21 is worked, voice output module 9 is sent predefined especial sound (imitating " Su, Su " sound that snacks plastic packaging bag sends), the light of various different colours is sent in 21 flickers of LED lamp, attracts pet;
S2: CPU 15 is controlled wireless receiving module 17 and worked, if wireless receiving module 17 receives wireless data, performs step S4, otherwise execution step S3;
S3: CPU 15 is controlled the second drive motors 11 and do not worked, and then performs step S2;
S4: CPU 15 judges that whether the data that receive are consistent with pre-stored unique coded data, if it is performs step S5, otherwise execution step S3;
S5: CPU 15 reads the signal strength values of this wireless data, and this signal strength values is converted into corresponding distance value, this distance value is the distance between pet and exercycle 1, CPU 15 judges whether this distance value is greater than the startup distance B 1 of setting, if it is perform step S2, otherwise execution step S6;
S6: CPU 15 is controlled 6 ultrasonic transmission/reception one probe 7 work, 6 ultrasonic transmission/reception one probes 7 send ultrasonic signal simultaneously, in predefined stand-by period T1, if there is ultrasonic transmission/reception one probe 7 to receive reflected signal, perform step S7, otherwise execution step S2;
S7: the surveyed area that CPU 15 judgements receive the ultrasonic transmission/reception one probe 7 of reflected signal has pet or barrier, CPU 15 finds out according to the numbering of ultrasonic transmission/reception one probe 7 that receives reflected signal the angle that the rotating shaft of direction motor 12 should turn in pre-stored movement angle form, then CPU 15 controlling parties are rotated to motor 12, rigid castors 10 is turned to corresponding angle, controlling the second drive motors 11 works, the second drive motors 11 drives rigid castors 10 to rotate, and exercycle 1 moves;
S8: CPU 15 detects the operating current of the second drive motors 11 by current sensor 18, if the current value detecting is more than or equal to the current value M of setting, CPU 15 judges the second drive motors 11 stalls, execution step S9, if the current value detecting is less than the current value M of setting, the wireless signal strength that the signal projector 2 that CPU 15 is worn by certain sampling period Ts collection pet in default time T 2 sends, calculate distance value corresponding to each wireless signal strength collecting, get the mean value of these distance values, obtain the average distance D3 between pet and exercycle 1, CPU 15 is adjusted the dutycycle of PWM module 23 output waveforms by comparing the size of average distance D3 and startup distance B 1, the movement velocity of exercycle 1 is adjusted to suitable speed, then perform step S2,
S9: CPU 15 is controlled the second drive motors 11 and quit work, then CPU 15 is received the wireless signal that signal projector 2 that pet wears sends and is calculated the distance between exercycle 1 and pet according to signal strength values by wireless receiving module 17, if the distance between exercycle 1 and pet is less than or equal to the default distance B 2 that takes food, CPU 15 judges that the second drive motors 11 stalls are that pet catches exercycle 1 to cause, CPU 15 is controlled the first drive motors 6 and is rotated, the first drive motors 6 drives movable guard 5 to open, pet can eat the food in cover body, voice output module 9 and LED lamp 21 quit work, if the distance between exercycle 1 and pet is greater than the default distance B 2 that takes food, CPU 15 judges that the second drive motors 11 stalls are that barrier stops and causes, movable guard 5 is not opened, and voice output module 9 is sent chimes of doom.
While moving for the first time after exercycle 1 starts, the dutycycle of PWM module 23 output waveforms is 50%, the second drive motors is with 50% power work, in step S8, the adjustment of PWM module 23 output waveform dutycycles comprises the following steps: CPU 15 compares average distance D3 with startup distance B 1, if being greater than, average distance D3 starts distance B 1, the dutycycle that CPU 15 is controlled PWM module 23 output waveforms reduces 10%, if average distance D3 equals to start distance B 1, it is constant that CPU 15 is controlled the dutycycle of PWM module 23 output waveforms, if being less than, average distance D3 starts distance B 1, central authorities process single 15 dutycycles of controlling PWM module 23 output waveforms and increase 10%,
In the process of execution step S2 to S9, speed probe 22 detects the rotating speed of rigid castors 10, and send it to CPU 15, CPU 15 is according to the rotating speed of rigid castors 10, the rotation time of the size of rigid castors 10 and rigid castors 10 calculates the stroke of exercycle 1, if stroke exceedes predefined stroke upper limit N, CPU 15 is controlled the second drive motors 11 and is quit work, exercycle 1 does not move, voice output module 9 and LED lamp quit work, movable guard 5 is opened, pet can eat the food in cover body, prevent pet excessive amount of motion and not feed, guarantee the health of pet.
In step S6, predefined stand-by period T1 need meet the following conditions: the ultrasonic transmission time of supposing startup distance B 1 correspondence is Tf, be 2D1=V*Tf, be just the situation of D1 for preventing from missing distance between target pet and exercycle 1, ultrasonic transmission/reception one probe 7 sends after ultrasonic signal, until receive reflected signal, the time T 1 of this section of wait should be slightly larger than Tf.
Movement angle form as shown in Table 1,
| Receive the ultrasonic transmission/reception one sensor 's number of reflected signal | The angle (degree) that the rotating shaft of direction motor should turn to |
| 1 | 180 |
| 2 | 240 |
| 3 | 300 |
| 4 | 0 |
| 5 | 60 |
| 6 | 120 |
| 1,2 | 210 |
| 1,3 | 240 |
| 1,4 | 90 |
| 1,5 | 120 |
| 1,6 | 150 |
| 2,3 | 270 |
| 2,4 | 300 |
| 2,5 | 150 |
| 2,6 | 180 |
| 3,4 | 330 |
| 3,5 | 0 |
| 3,6 | 30 |
| 4,5 | 30 |
| 4,6 | 60 |
| 5,6 | 90 |
| 1,2,3 | 240 |
| 1,2,4 | 285 |
| 1,2,5 | 135 |
| 1,2,6 | 180 |
| 1,3,4 | 255 |
| 1,3,5 | Keep current angle |
| 1,3,6 | 225 |
| 1,4,5 | 105 |
| 1,4,6 | 75 |
| 1,5,6 | 120 |
| 2,3,4 | 300 |
| 2,3,5 | 345 |
| 2,3,6 | 195 |
| 2,4,5 | 315 |
| 2,4,6 | Keep current angle |
| 2,5,6 | 165 |
| 3,4,5 | 0 |
| 3,4,6 | 45 |
| 4,5,6 | 60 |
| 1,2,3,4 | 270 |
| 1,2,3,5 | Keep current angle |
| 1,2,3,6 | 180 |
| 1,2,4,5 | Keep current angle |
| 1,2,4,6 | Keep current angle |
| 1,2,5,6 | 150 |
| 1,3,4,5 | Keep current angle |
| 1,3,4,6 | Keep current angle |
| 1,3,5,6 | 75 |
| 1,4,5,6 | 90 |
| 2,3,4,5 | 330 |
| 2,4,5,6 | Keep current angle |
| 3,4,5,6 | 30 |
| 1,2,3,4,5 | Keep current angle |
| 1,2,3,4,6 | Keep current angle |
| 1,2,4,5,6 | Keep current angle |
| 1,3,4,5,6 | Keep current angle |
| 2,3,4,5,6 | Keep current angle |
| 1,2,3,4,5,6 | Keep current angle |
Table one
In the time only having No. 1 probe to receive reflected signal, the direction of motion of exercycle 1 as shown in Figure 4; In the time only having No. 1 probe and No. 2 probes to receive reflected signal, the direction of motion of exercycle 1 as shown in Figure 5; In the time only having No. 1 probe, No. 2 probes and No. 3 probes to receive reflected signal, the direction of motion of exercycle 1 as shown in Figure 6; In the time only having No. 1 probe, No. 3 probes and No. 5 probes to receive reflected signal, exercycle 1 continues motion with slower speed according to original direction of motion, as shown in Figure 7; In the time only having No. 1 probe, No. 2 probes, No. 3 probes and No. 4 probes to receive reflected signal, the direction of motion of exercycle 1 as shown in Figure 8.
When in step S7, CPU 15 finds out the angle that the rotating shaft of direction motor 12 should turn in pre-stored movement angle form, if when CPU 15 is found " keeping current angle " (be exercycle 1 cannot away from barrier or pet) in movement angle form, the dutycycle that CPU 15 is controlled PWM module 23 output waveforms is 10%, the second drive motors 11 is with 10% power work, and exercycle 1 continues motion with slower speed according to original direction of motion.
Claims (10)
1. a pet body-building device, it is characterized in that: the signal projector (2) that comprises exercycle (1) and energy wireless signal emission, described exercycle (1) comprises the base (3) that is round pie, the top of described base (3) is provided with and is hemispheric cover body, described cover body comprises fixed cover (4) and movable guard (5), described fixed cover (4) is fixedly connected with base (3), in described base (3), be provided with the first drive motors (6) that drives movable guard (5) to rotate, the sidewall equal intervals of described base (3) is provided with several ultrasonic transmission/reception one probes (7), on described base (3), be also provided with button (8) and sound output module (9), the center of described base (3) bottom is provided with driving mechanism, described driving mechanism comprises rigid castors (10), drive second drive motors (11) of rigid castors (10) rotation and the direction motor (12) that drives rigid castors (10) to horizontally rotate, the rotating shaft of described direction motor (12) is provided with angular transducer (13), described base (3) bottom is also provided with several movable castors (14), in described base (3), be provided with CPU (15), power module (16), the current sensor (18) of wireless receiving module (17) and detection the second drive motors (11) operating current, described CPU (15) respectively with the first drive motors (6), ultrasonic transmission/reception one probe (7), button (8), voice output module (9), the second drive motors (11), direction motor (12), angular transducer (13), power module (16), wireless receiving module (17) and current sensor (18) electrical connection.
2. a kind of pet body-building device according to claim 1, is characterized in that: on described base (3), be also provided with display screen (19), described display screen (19) is electrically connected with CPU (15).
3. a kind of pet body-building device according to claim 1, is characterized in that: on described base (3), be also provided with USB interface (20), described USB interface (20) is electrically connected with CPU (15).
4. according to a kind of pet body-building device described in claim 1 or 2 or 3, it is characterized in that: the top correspondence of each ultrasonic transmission/reception one probe (7) is provided with a LED lamp (21), and described CPU (15) is electrically connected with LED lamp (21).
5. according to a kind of pet body-building device described in claim 1 or 2 or 3, it is characterized in that: the rotating shaft of described the second drive motors (11) is provided with speed probe (22), described speed probe (22) is electrically connected with CPU (15).
6. a kind of pet body-building device according to claim 5, is characterized in that: in described base (3), be also provided with PWM module (23), described CPU (15) is electrically connected with the second drive motors (11) by PWM module (23).
7. according to a kind of pet body-building device described in claim 1 or 2 or 3, it is characterized in that: described signal projector (2) comprises control chip (24), wireless transmitter module (25), gauge tap (26) and battery (27), described control chip (24) is electrically connected with wireless transmitter module (25), gauge tap (26) and battery (27) respectively.
8. the control method of a pet body-building device, be applicable to a kind of pet body-building device as claimed in claim 6, the quantity of described ultrasonic transmission/reception one probe is 6, in the direction of the clock 6 ultrasonic transmission/reception one probes being compiled is No. 1 probe, No. 2 probes, No. 3 probes, No. 4 probes, No. 5 probes and No. 6 probes, the direction machine shaft angle value recording when angular transducer is that the direction of motion of 0 exercycle while spending is the direction that No. 1 probe is pointed in the base center of circle, it is large that the angle value that when rotating shaft of direction motor clockwise rotates, angular transducer records becomes, it is characterized in that comprising the following steps:
S1: system initialization, CPU is by angular transducer detection side to the current angle value of machine shaft record, and central processor unit control voice output module is worked, and voice output module is sounded and is attracted pet;
S2: the work of central processing unit controls wireless receiving module, if wireless receiving module receives wireless data, perform step S4, otherwise execution step S3;
S3: central processing unit controls the second drive motors is not worked, and then performs step S2;
S4: CPU judges that whether the data that receive are consistent with pre-stored unique coded data, if it is performs step S5, otherwise execution step S3;
S5: CPU reads the signal strength values of this wireless data, and this signal strength values is converted into corresponding distance value, this distance value is the distance between pet and exercycle, CPU judges whether this distance value is greater than the startup distance B 1 of setting, if it is perform step S2, otherwise execution step S6;
S6: 6 ultrasonic transmission/reception one probes of central processing unit controls work, 6 ultrasonic transmission/reception one probes send ultrasonic signal simultaneously, in predefined stand-by period T1, if there is ultrasonic transmission/reception one probe to receive reflected signal, perform step S7, otherwise execution step S2;
S7: the surveyed area that CPU judgement receives the ultrasonic transmission/reception one probe of reflected signal has pet or barrier, then central processing unit controls direction electric machine rotation, rigid castors is turned an angle, control the second drive motors work, the second drive motors drives rigid castors to rotate, spinning, away from pet or barrier region;
S8: CPU detects the operating current of the second drive motors by current sensor, if the current value detecting is more than or equal to the current value M of setting, CPU judges the second drive motors stall, execution step S9, if the current value detecting is less than the current value M of setting, performs step S2;
S9: central processing unit controls the second drive motors quits work, then CPU is received the wireless signal that signal projector that pet wears sends and is calculated the distance between exercycle and pet according to signal strength values by wireless receiving module, if the distance between exercycle and pet is less than or equal to the default distance B 2 that takes food, CPU judges that the second drive motors stall is that pet catches exercycle to cause, central processing unit controls control the first drive motors rotates, the first drive motors drives movable guard to open, pet can eat the food in cover body, voice output module quits work, if the distance between exercycle and pet is greater than the default distance B 2 that takes food, CPU judges that the second drive motors stall is that barrier stops and causes, movable guard is not opened, and voice output module is sent chimes of doom.
9. the control method of a kind of pet body-building device according to claim 8, it is characterized in that: in the process of execution step S2 to S9, speed probe detects the rotating speed of rigid castors, and send it to CPU, CPU is according to the rotating speed of rigid castors, the size of rigid castors and the rotation time of rigid castors calculate the stroke of exercycle, if stroke exceedes predefined stroke upper limit N, central processing unit controls the second drive motors quits work, exercycle does not move, movable guard is opened, pet can eat the food in cover body.
10. the control method of a kind of pet body-building device according to claim 8 or claim 9, it is characterized in that: while moving for the first time after exercycle starts, the dutycycle of PWM module output waveform is 50%, the second drive motors is with 50% power work, in described step S8, be less than and first carry out following steps before performing step S2 in the current value M situation of setting at the current value detecting: the wireless signal strength that the signal projector that CPU is worn by certain sampling period Ts collection pet default time T 2 in sends, calculate distance value corresponding to each wireless signal strength collecting, get the mean value of these distance values, obtain the average distance D3 between pet and exercycle, then CPU compares average distance D3 with startup distance B 1, if being greater than, average distance D3 starts distance B 1, the dutycycle of central processing unit controls PWM module output waveform reduces, if average distance D3 equals to start distance B 1, the dutycycle of central processing unit controls PWM module output waveform is constant, if being less than, average distance D3 starts distance B 1, the dutycycle of central processing unit controls PWM module output waveform increases.
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