CN103766231B - Pet exercise device and control method thereof - Google Patents
Pet exercise device and control method thereof Download PDFInfo
- Publication number
- CN103766231B CN103766231B CN201310589356.9A CN201310589356A CN103766231B CN 103766231 B CN103766231 B CN 103766231B CN 201310589356 A CN201310589356 A CN 201310589356A CN 103766231 B CN103766231 B CN 103766231B
- Authority
- CN
- China
- Prior art keywords
- pet
- cpu
- drive motors
- exercycle
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Toys (AREA)
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, particularly relate 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, pet is generally used as child to treat by owner, and the special health status paying attention to them, therefore, the pet be too obese has the needs of fat-reducing.There is function singleness in existing pet body-building device, interactive strong, the shortcomings such as interest is inadequate.
China Patent Publication No. CN101796926, publication date 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 can separated 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 depositing pet dung can be inserted in its underpart, the front side of upper frame has main door, secondary door is had on the left of it, and secondary door upwards can overturn around hinge, during use, open auxiliary goalkeeper 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, and lack interesting, be difficult to the interest causing pet, the enthusiasm of pet body-building is not high, thus 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 the interest causing pet, the enthusiasm of pet body-building is not high, thus affect the technical problem of body-building effect, provide a kind of pet body-building device and control method thereof, 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 solve the 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 in round pie, the top of described base is provided with in hemispheric cover body, described cover body comprises fixed cover and movable guard, described fixed cover is fixedly connected with base, the first drive motors driving movable guard to rotate is provided with in described base, the sidewall of described base is equidistantly provided with several ultrasonic transmission/reception integral probe, described base is 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, the second drive motors driving rigid castors to rotate and the direction motor driving 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, CPU is provided with in described base, 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 integral probe, button, voice output module, second drive motors, direction motor, angular transducer, power module, wireless receiving module and current sensor electrical connection.
In the technical program, signal projector be worn on need body-building pet with it, signal projector can launch the wireless signal with specific coding data.Be placed with the food of pet in the cover body of exercycle, fixed cover and movable guard are all transparent, and pet can pass through the food that cover body sees the inside.
User starts exercycle work by pushing button, and central processor unit controls voice output module work, and voice output module sends the especial sound (as " Su, Su " sound that snacks plastic packaging bag sends) preset, and attracts pet to note.When pet is attracted by the sound that voice output module sends, when 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 received, and this signal strength values being converted into corresponding distance value, this distance value is the distance between pet and exercycle.
When distance between pet and exercycle is less than the startup distance D1 preset, the all ultrasonic transmission/reception integral probe work of central processing unit controls, all ultrasonic transmission/reception integral probe send ultrasonic signal simultaneously, in the stand-by period T1 preset, if there is ultrasonic transmission/reception integral probe to receive reflected signal, CPU judges that the surveyed area receiving the ultrasonic transmission/reception integral 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 when rigid castors is rotated.Then central processing unit controls 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, when the current value detected is more than or equal to the current value M of setting, CPU judges the second drive motors stall, central processing unit controls second drive motors quits work, and then CPU receives by wireless receiving module wireless signal that the signal projector worn of pet sends and calculates the distance between exercycle and pet according to signal strength values.If the distance between exercycle and pet is less than or equal to and default takes food distance D2, CPU judges that the second drive motors stall is that pet catches exercycle to cause, central processing unit controls first drive motors rotates, first drive motors drives movable guard to open, pet can eat the food in cover body, voice output module from service; If wireless receiving module does not receive wireless signal that signal projector that pet wears sends or the distance between exercycle and pet and is greater than and default takes food distance D2, CPU judges that the second drive motors stall is that barrier obstruction causes, movable guard is not opened, voice output module sends chimes of doom, reminding user process.
As preferably, described base is also provided with display screen, described display screen is electrically connected with CPU.Display screen can the electricity of display power supply module, and exercycle continuous working period, pet successfully catches the information such as exercycle number of times.
As preferably, described base is also provided with USB interface, described USB interface is electrically connected with CPU.Calculator communicates with CPU by USB interface, and the service data of exercycle, by the running parameter of computer settings exercycle, also can read in calculator and carry out analytic statistics by user.
As preferably, the top correspondence of each ultrasonic transmission/reception integral probe is provided with a LED, and described CPU is electrically connected with LED.LED flicker sends the light of various different colours, to attract the attention of pet.
As preferably, the rotating shaft of described 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 rotating speed of rigid castors, the size of rigid castors and rigid castors, if stroke exceedes the stroke upper limit N preset, then central processing unit controls 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, ensure that the health of pet.
As preferably, be also provided with PWM module in described base, described CPU is electrically connected with the second drive motors by PWM module.CPU controls the power of the second drive motors by PWM module, thus control the rotating speed of rigid castors, the rotating speed of rigid castors is improved when pet and exercycle close together, when pet and exercycle distant time reduce the rotating speed of rigid castors, namely ensure that pet is not easy to catch exercycle, also prevent exercycle from away from pet, pet is lost interest.
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 integral probe is 6, being compiled by 6 ultrasonic transmission/reception integral probe is in the direction of the clock No. 1 probe, No. 2 probes, No. 3 probes, No. 4 probes, No. 5 probes and No. 6 probes, when the direction machine shaft angle value that angular transducer records is 0 degree, the direction of motion of exercycle is the direction that No. 1 probe is pointed in the base center of circle, the angle value that when rotating shaft of direction motor rotates clockwise, angular transducer records becomes large, 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 and record, and central processor unit controls voice output module work, and voice output module is sounded and attracted pet;
S2: central processing unit controls wireless receiving module works, if wireless receiving module receives wireless data, performs step S4, otherwise perform step S3;
S3: central processing unit controls second drive motors does not work, then performs step S2;
S4: CPU judges that whether the data received are consistent with the unique encodings data prestored, if it is performs step S5, otherwise performs 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 D1 of setting, if it is perform step S2, otherwise perform step S6;
S6: central processing unit controls 6 ultrasonic transmission/reception integral probe work, 6 ultrasonic transmission/reception integral probe send ultrasonic signal simultaneously, in the stand-by period T1 preset, if there is ultrasonic transmission/reception integral probe to receive reflected signal, then perform step S7, otherwise perform step S2;
S7: CPU judges that the surveyed area receiving the ultrasonic transmission/reception integral 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, 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 detected is more than or equal to the current value M of setting, CPU judges the second drive motors stall, perform step S9, if the current value detected is less than the current value M of setting, perform step S2;
S9: central processing unit controls second drive motors quits work, then CPU receives by wireless receiving module wireless signal that the signal projector worn of pet sends and calculates the distance between exercycle and pet according to signal strength values, if the distance between exercycle and pet is less than or equal to and default takes food distance D2, CPU judges that the second drive motors stall is that pet catches exercycle to cause, central processing unit controls controls the first drive motors and rotates, first drive motors drives movable guard to open, pet can eat the food in cover body, voice output module from service, if the distance between exercycle and pet is greater than and default takes food distance D2, CPU judges that the second drive motors stall is that barrier obstruction causes, and movable guard is not opened, and voice output module sends chimes of doom.
As preferably, in the process performing 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 rotating speed of rigid castors, the size of rigid castors and rigid castors, if stroke exceedes the stroke upper limit N preset, then central processing unit controls 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, after exercycle starts, during first motion, the dutycycle of PWM module output waveform is 50%, second drive motors is with 50% power work, first following steps are performed: CPU gathers by certain sampling period Ts the wireless signal strength that signal projector that pet wears sends in the time T2 preset before performing step S2 in the current value M situation being less than setting at the current value detected in described step S8, calculate the distance value that each wireless signal strength collected is corresponding, get the mean value of these distance values, obtain the average distance D3 between pet and exercycle, then average distance D3 compares with startup distance D1 by CPU, if average distance D3 is greater than start distance D1, the dutycycle of central processing unit controls PWM module output waveform reduces, if average distance D3 equals to start distance D1, the dutycycle of central processing unit controls PWM module output waveform is constant, if average distance D3 is less than start distance D1, 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) when 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 does not take food and health risk in time.(3) movement velocity of conservative control exercycle, namely ensure that pet is not easy to catch exercycle, also prevents exercycle from away from pet, pet is lost interest.
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 when receiving reflected signal;
Fig. 5 is the motion schematic diagram of 1, No. 2 probe exercycle when receiving reflected signal;
Fig. 6 is the motion schematic diagram of 1,2, No. 3 probe exercycle when receiving reflected signal;
Fig. 7 is the motion schematic diagram of 1,3, No. 5 probe exercycle when receiving reflected signal;
Fig. 8 is the motion schematic diagram of 1,2,3, No. 4 probe exercycle when receiving reflected signal.
In figure: 1, exercycle, 2, signal projector, 3, base, 4, fixed cover, 5, movable guard, 6, first drive motors, 7, ultrasonic transmission/reception integral probe, 8, button, 9, voice output module, 10, rigid castors, 11, 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, 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 in round pie, the top of base 3 is provided with in 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, the first drive motors 6 driving movable guard 5 to rotate is provided with in base 3, the sidewall of base 3 is equidistantly provided with 6 ultrasonic transmission/reception integral probe 7, the top correspondence of each ultrasonic transmission/reception integral probe 7 is provided with a LED 21, and base 3 is also provided with button 8, voice output module 9, display screen 19 and USB interface 20, the center bottom base 3 is provided with driving mechanism, and driving mechanism comprises rigid castors 10, the second drive motors 11 driving rigid castors 10 to rotate and the direction motor 12 driving 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, outer rim place bottom base 3 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 current, CPU 15 respectively with the first drive motors 6, ultrasonic transmission/reception integral 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 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.
Signal projector 2 comprises control chip 24, wireless transmitter module 25, gauge tap 26 and battery 27, and control chip 24 is connected with wireless transmitter module 25, gauge tap 26 and battery electricity 17 respectively.Wireless transmitter module 25 is for launching the wireless signal with specific coding data, and the opening and closing of gauge tap 26 control signal transmitter 2, battery 27 powers to signal projector 2.
Signal projector 2 be worn on need body-building pet with it, signal projector 2 can launch the wireless signal with specific coding data (unique 32bit data encoding).Be placed with the food of pet in the cover body of exercycle 1, fixed cover 4 and movable guard 5 are all transparent, and pet can pass through the food that cover body sees the inside.Fixed cover 4 and movable guard 5 are all provided with through hole, and the smell being convenient to food evaporates, and note to attract pet.
The detection angles of ultrasonic transmission/reception integral probe 7 is 60 degree, and 6 ultrasonic transmission/reception integral probe 7 can detect the region of exercycle 1 surrounding 360 degree.6 ultrasonic transmission/reception integral probe 7 in the direction of the clock number consecutively are No. 1 probe, No. 2 probes, No. 3 probes, No. 4 probes, No. 5 probes and No. 6 probes, and the angle value that when direction motor rotates clockwise, angular transducer records becomes greatly (predetermined angular get clockwise direction into just).When the direction motor 12 rotating shaft angle value that angular transducer 13 records is 0 degree, the direction of motion of exercycle 1 is the direction that No. 1 probe is pointed in base 3 center of circle; When the direction motor 12 rotating shaft angle value that angular transducer 13 records is 60 degree, the direction of motion of exercycle 1 is the direction that No. 2 probes are pointed in base 3 center of circle; When the direction motor 12 rotating shaft angle value that angular transducer 13 records is 120 degree, the direction of motion of exercycle 1 is the direction that No. 3 probes are pointed in base 3 center of circle; When the direction motor 12 rotating shaft angle value that angular transducer 13 records is 180 degree, the direction of motion of exercycle 1 is the direction that No. 4 probes are pointed in base 3 center of circle; When the direction motor 12 rotating shaft angle value that angular transducer 13 records is 240 degree, the direction of motion of exercycle 1 is the direction that No. 5 probes are pointed in base 3 center of circle; When the direction motor 12 rotating shaft angle value that angular transducer 13 records is 300 degree, the direction of motion of exercycle 1 is the direction that No. 6 probes are pointed in base 3 center of circle.
User is worked by the 8 startup exercycles 1 that push button by long, central processing unit 15 unit controls voice output module 9 works, voice output module 9 sends the especial sound (as " Su, Su " sound that snacks plastic packaging bag sends) preset, LED 21 flicker sends the light of various different colours, to attract the attention of pet.Food in the light that the sound sent by voice output module 9 when pet, LED 21 send or cover body attracts, when 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 received, and this signal strength values being converted into corresponding distance value, this distance value is the distance between pet and exercycle 1.
When distance between pet and exercycle 1 is less than the startup distance D1 preset, CPU 15 controls all ultrasonic transmission/reception integral probe 7 and works, all ultrasonic transmission/reception integral probe 7 send ultrasonic signal simultaneously, in the stand-by period T1 preset, if there is ultrasonic transmission/reception integral probe 7 to receive reflected signal, CPU 15 judges that the surveyed area receiving the ultrasonic transmission/reception integral probe 7 of reflected signal has pet or barrier.The angle that the rotating shaft that CPU 15 finds out direction motor 12 according to the numbering of the ultrasonic transmission/reception integral probe 7 receiving reflected signal in the movement angle form prestored should turn to, then CPU 15 controlling party is rotated to motor 12, rigid castors 10 is turned to corresponding angle, then CPU 15 controls the second drive motors 11 and works, second drive motors 11 drives rigid castors 10 to rotate, exercycle 1 moves, away from pet or barrier region.
CPU 15 detects the operating current of the second drive motors 11 by current sensor 18, when the current value detected is more than or equal to the current value M of setting, CPU 15 judges the second drive motors 11 stall, CPU 15 controls the second drive motors 11 and quits work, and then CPU 15 receives by wireless receiving module 17 wireless signal that signal projector 2 that pet wears sends and calculates the distance between exercycle 1 and pet according to signal strength values.If the distance between exercycle 1 and pet is less than or equal to and default takes food distance D2, CPU 15 judges that the second drive motors 11 stall is that pet catches exercycle 1 to cause, CPU 15 controls the first drive motors 6 and rotates, first drive motors 6 drives movable guard 5 to open, pet can eat the food in cover body, and voice output module 9 and LED 21 quit work; If wireless receiving module 17 does not receive wireless signal that signal projector 2 that pet wears sends or the distance between exercycle 1 and pet and is greater than and default takes food distance D2, CPU 15 judges that the second drive motors 11 stall is that barrier obstruction causes, movable guard 5 is not opened, voice output module 9 sends chimes of doom, reminding user process.After food in cover body has been eaten by pet, user has needed manual-lock cover body, and when next time uses, user needs manually be put in cover body by food, and grows and restart exercycle 1 by button 8 and work.
Display screen 19 can the electricity of display power supply module 16, and the time of exercycle 1 continuous firing, pet successfully catches the information such as exercycle 1 number.Calculator communicates with CPU 15 by USB interface 20, and the service data of exercycle 1, by the running parameter of computer settings exercycle 1, also can read in calculator and carry out analytic statistics by user.
When exercycle 1 works, 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 size of rigid castors 10 and the rotation time of rigid castors 10 calculate the stroke of exercycle 1, if stroke exceedes the stroke upper limit N preset, then CPU 15 controls the second drive motors 11 and quits work, exercycle 1 does not move, voice output module 9 and LED 21 do not work, movable guard 5 is opened, pet can eat the food in cover body, prevent pet excessive amount of motion and not feed, ensure that the health of pet.
CPU 15 also controls the power of the second drive motors 11 by PWM module 23, thus control the rotating speed of rigid castors 10, the rotating speed of rigid castors 10 is improved when pet and exercycle 1 close together, when pet and exercycle 1 distant time reduce the rotating speed of rigid castors 10, namely ensure that pet is not easy to catch exercycle 1, also prevent exercycle 1 from away from pet, pet is lost interest.
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 by angular transducer 13 detection side to the current angle value of motor 12 rotating shaft and record, central processor unit 15 controls voice output module 9 and LED 21 works, voice output module 9 sends the especial sound (imitating " Su, Su " sound that snacks plastic packaging bag sends) preset, LED 21 flicker sends the light of various different colours, attracts pet;
S2: CPU 15 controls wireless receiving module 17 and works, if wireless receiving module 17 receives wireless data, performs step S4, otherwise perform step S3;
S3: CPU 15 controls the second drive motors 11 and do not work, then performs step S2;
S4: CPU 15 judges that whether the data received are consistent with the unique encodings data prestored, if it is performs step S5, otherwise performs 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 D1 of setting, if it is perform step S2, otherwise perform step S6;
S6: CPU 15 controls 6 ultrasonic transmission/reception integral probe 7 and works, 6 ultrasonic transmission/reception integral probe 7 send ultrasonic signal simultaneously, in the stand-by period T1 preset, if there is ultrasonic transmission/reception integral probe 7 to receive reflected signal, then perform step S7, otherwise perform step S2;
S7: CPU 15 judges that the surveyed area receiving the ultrasonic transmission/reception integral probe 7 of reflected signal has pet or barrier, the angle that the rotating shaft that CPU 15 finds out direction motor 12 according to the numbering of the ultrasonic transmission/reception integral probe 7 receiving reflected signal in the movement angle form prestored should turn to, then CPU 15 controlling party is rotated to motor 12, rigid castors 10 is turned to corresponding angle, control the second drive motors 11 to work, 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 detected is more than or equal to the current value M of setting, CPU 15 judges the second drive motors 11 stall, perform step S9, if the current value detected 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 the time T2 preset sends, calculate the distance value that each wireless signal strength collected is corresponding, get the mean value of these distance values, obtain the average distance D3 between pet and exercycle 1, CPU 15 is by comparing the dutycycle of size adjustment PWM module 23 output waveform of average distance D3 and startup distance D1, the movement velocity of exercycle 1 is adjusted to suitable speed, then step S2 is performed,
S9: CPU 15 controls the second drive motors 11 and quits work, then CPU 15 receives by wireless receiving module 17 wireless signal that signal projector 2 that pet wears sends and calculates the distance between exercycle 1 and pet according to signal strength values, if the distance between exercycle 1 and pet is less than or equal to and default takes food distance D2, CPU 15 judges that the second drive motors 11 stall is that pet catches exercycle 1 to cause, CPU 15 controls the first drive motors 6 and rotates, first drive motors 6 drives movable guard 5 to open, pet can eat the food in cover body, voice output module 9 and LED 21 quit work, if the distance between exercycle 1 and pet is greater than and default takes food distance D2, CPU 15 judges that the second drive motors 11 stall is that barrier obstruction causes, and movable guard 5 is not opened, and voice output module 9 sends chimes of doom.
When exercycle 1 starts rear first motion, the dutycycle of PWM module 23 output waveform is 50%, second drive motors is with 50% power work, in step S8, the adjustment of PWM module 23 output waveform dutycycle comprises the following steps: average distance D3 compares with startup distance D1 by CPU 15, if average distance D3 is greater than start distance D1, the dutycycle that CPU 15 controls PWM module 23 output waveform reduces 10%, if average distance D3 equals to start distance D1, the dutycycle that CPU 15 controls PWM module 23 output waveform is constant, if average distance D3 is less than start distance D1, the dutycycle that central authorities' process single 15 controls PWM module 23 output waveform increases 10%,
In the process performing 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 size of rigid castors 10 and the rotation time of rigid castors 10 calculate the stroke of exercycle 1, if stroke exceedes the stroke upper limit N preset, then CPU 15 controls the second drive motors 11 and quits work, exercycle 1 does not move, voice output module 9 and LED quit work, movable guard 5 is opened, pet can eat the food in cover body, prevent pet excessive amount of motion and not feed, ensure that the health of pet.
The stand-by period T1 preset in step S6 need meet the following conditions: suppose that the ultrasonic transmission time starting distance D1 corresponding is Tf, i.e. 2D1=V*Tf, for the spacing preventing from missing target pet and exercycle 1 is just the situation of D1, after ultrasonic transmission/reception integral probe 7 sends ultrasonic signal, until receive reflected signal, the time T1 that this section is waited for should slightly larger than Tf.
Movement angle form as shown in Table 1,
| Receive the ultrasonic transmission/reception integral probe numbering 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 angular |
| 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 angular |
| 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 angular |
| 1,2,3,6 | 180 |
| 1,2,4,5 | Keep current angular |
| 1,2,4,6 | Keep current angular |
| 1,2,5,6 | 150 |
| 1,3,4,5 | Keep current angular |
| 1,3,4,6 | Keep current angular |
| 1,3,5,6 | 75 |
| 1,4,5,6 | 90 |
| 2,3,4,5 | 330 |
| 2,4,5,6 | Keep current angular |
| 3,4,5,6 | 30 |
| 1,2,3,4,5 | Keep current angular |
| 1,2,3,4,6 | Keep current angular |
| 1,2,4,5,6 | Keep current angular |
| 1,3,4,5,6 | Keep current angular |
| 2,3,4,5,6 | Keep current angular |
| 1,2,3,4,5,6 | Keep current angular |
Table one
When only having No. 1 probe to receive reflected signal, the direction of motion of exercycle 1 as shown in Figure 4; When 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; When 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; When 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; When 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.
During the angle that the rotating shaft that CPU 15 finds out direction motor 12 in the movement angle form prestored in the step s 7 should turn to, if when CPU 15 finds " maintenance current angular " (i.e. exercycle 1 cannot away from barrier or pet) in movement angle form, the dutycycle that CPU 15 controls PWM module 23 output waveform is 10%, second drive motors 11 is with 10% power work, and exercycle 1 continues motion with slower speed according to original direction of motion.
Claims (8)
1. a pet body-building device, it is characterized in that: the signal projector (2) comprising exercycle (1) and energy wireless signal emission, described exercycle (1) comprises the base (3) in round pie, the top of described base (3) is provided with in hemispheric cover body, described cover body comprises fixed cover (4) and movable guard (5), described fixed cover (4) is fixedly connected with base (3), the first drive motors (6) driving movable guard (5) to rotate is provided with in described base (3), the sidewall of described base (3) is equidistantly provided with several ultrasonic transmission/reception integral probe (7), described base (3) is 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), the second drive motors (11) driving rigid castors (10) to rotate and the direction motor (12) driving rigid castors (10) to horizontally rotate, the rotating shaft in described direction motor (12) is provided with angular transducer (13), described base (3) bottom is also provided with several movable castors (14), CPU (15) is provided with in described base (3), 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 integral probe (7), button (8), voice output module (9), second drive motors (11), direction motor (12), angular transducer (13), power module (16), wireless receiving module (17) and current sensor (18) electrical connection, the rotating shaft of described second drive motors (11) is provided with speed probe (22), described speed probe (22) is electrically connected with CPU (15), PWM module (23) is also provided with in described base (3), described CPU (15) is electrically connected with the second drive motors (11) by PWM module (23).
2. a kind of pet body-building device according to claim 1, it is characterized in that: described base (3) is 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, it is characterized in that: described base (3) is also provided with USB interface (20), described USB interface (20) is electrically connected with CPU (15).
4. a kind of pet body-building device according to claim 1 or 2 or 3, is characterized in that: the top correspondence of each ultrasonic transmission/reception integral probe (7) is provided with a LED (21), and described CPU (15) is electrically connected with LED (21).
5. a kind of pet body-building device according to 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.
6. the control method of a pet body-building device, be applicable to a kind of pet body-building device as claimed in claim 1, the quantity of described ultrasonic transmission/reception integral probe is 6, being compiled by 6 ultrasonic transmission/reception integral probe is in the direction of the clock No. 1 probe, No. 2 probes, No. 3 probes, No. 4 probes, No. 5 probes and No. 6 probes, when the direction machine shaft angle value that angular transducer records is 0 degree, the direction of motion of exercycle is the direction that No. 1 probe is pointed in the base center of circle, the angle value that when rotating shaft of direction motor rotates clockwise, angular transducer records becomes large, 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 and record, and central processor unit controls voice output module work, and voice output module is sounded and attracted pet;
S2: central processing unit controls wireless receiving module works, if wireless receiving module receives wireless data, performs step S4, otherwise perform step S3;
S3: central processing unit controls second drive motors does not work, then performs step S2;
S4: CPU judges that whether the data received are consistent with the unique encodings data prestored, if it is performs step S5, otherwise performs 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 D1 of setting, if it is perform step S2, otherwise perform step S6;
S6: central processing unit controls 6 ultrasonic transmission/reception integral probe work, 6 ultrasonic transmission/reception integral probe send ultrasonic signal simultaneously, in the stand-by period T1 preset, if there is ultrasonic transmission/reception integral probe to receive reflected signal, then perform step S7, otherwise perform step S2;
S7: CPU judges that the surveyed area receiving the ultrasonic transmission/reception integral 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, 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 detected is more than or equal to the current value M of setting, CPU judges the second drive motors stall, perform step S9, if the current value detected is less than the current value M of setting, perform step S2;
S9: central processing unit controls second drive motors quits work, then CPU receives by wireless receiving module wireless signal that the signal projector worn of pet sends and calculates the distance between exercycle and pet according to signal strength values, if the distance between exercycle and pet is less than or equal to and default takes food distance D2, CPU judges that the second drive motors stall is that pet catches exercycle to cause, central processing unit controls controls the first drive motors and rotates, first drive motors drives movable guard to open, pet can eat the food in cover body, voice output module from service, if the distance between exercycle and pet is greater than and default takes food distance D2, CPU judges that the second drive motors stall is that barrier obstruction causes, and movable guard is not opened, and voice output module sends chimes of doom.
7. the control method of a kind of pet body-building device according to claim 6, it is characterized in that: in the process performing 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 the stroke upper limit N preset, then central processing unit controls second drive motors quits work, exercycle does not move, movable guard is opened, pet can eat the food in cover body.
8. the control method of a kind of pet body-building device according to claim 6 or 7, it is characterized in that: after exercycle starts, during first motion, the dutycycle of PWM module output waveform is 50%, second drive motors is with 50% power work, first following steps are performed: CPU gathers by certain sampling period Ts the wireless signal strength that signal projector that pet wears sends in the time T2 preset before performing step S2 in the current value M situation being less than setting at the current value detected in described step S8, calculate the distance value that each wireless signal strength collected is corresponding, get the mean value of these distance values, obtain the average distance D3 between pet and exercycle, then average distance D3 compares with startup distance D1 by CPU, if average distance D3 is greater than start distance D1, the dutycycle of central processing unit controls PWM module output waveform reduces, if average distance D3 equals to start distance D1, the dutycycle of central processing unit controls PWM module output waveform is constant, if average distance D3 is less than start distance D1, the dutycycle of central processing unit controls PWM module output waveform increases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310589356.9A CN103766231B (en) | 2013-11-22 | 2013-11-22 | Pet exercise device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310589356.9A CN103766231B (en) | 2013-11-22 | 2013-11-22 | Pet exercise device and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103766231A CN103766231A (en) | 2014-05-07 |
| CN103766231B true CN103766231B (en) | 2015-07-01 |
Family
ID=50559362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310589356.9A Active CN103766231B (en) | 2013-11-22 | 2013-11-22 | Pet exercise device and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103766231B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104351075B (en) * | 2014-09-15 | 2016-05-11 | 浙江科技学院 | A kind of anti-dog device of hurting sb.'s feelings |
| CN104322389B (en) * | 2014-09-15 | 2016-06-29 | 浙江科技学院 | A kind of device preventing pet dog to sting people |
| CN105284659B (en) * | 2015-09-23 | 2017-11-10 | 浙江科技学院 | A kind of system and its method of work for helping pet body-building |
| CN105340772B (en) * | 2015-09-23 | 2017-10-27 | 浙江科技学院 | A kind of system and its control method for pet body-building |
| CN105325313B (en) * | 2015-09-23 | 2017-11-14 | 浙江科技学院 | A kind of pet body-building training system and its method of work |
| CN105309333B (en) * | 2015-09-23 | 2017-11-10 | 浙江科技学院 | A kind of pet body-building system and its control method |
| WO2020054887A1 (en) * | 2018-09-13 | 2020-03-19 | (주)바램시스템 | Training robot having treat discharging function for promoting pet health |
| CN110754375B (en) * | 2019-11-04 | 2021-08-03 | 台州傲京厨卫有限公司 | Intelligent pet house |
| CN111839332B (en) * | 2020-06-20 | 2022-07-08 | 珠海一微半导体股份有限公司 | Control method of intelligent window cleaning machine and intelligent window cleaning machine |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR940004375B1 (en) * | 1992-03-25 | 1994-05-23 | 삼성전자 주식회사 | Drive system for automatic vacuum cleaner |
| US6505576B2 (en) * | 2000-03-15 | 2003-01-14 | Barbara Nathanson | Pet toy |
| KR100478681B1 (en) * | 2003-07-29 | 2005-03-25 | 삼성광주전자 주식회사 | an robot-cleaner equipped with floor-disinfecting function |
| US6799537B1 (en) * | 2004-01-06 | 2004-10-05 | Yi-Chia Liao | Pet training device |
| WO2005077240A2 (en) * | 2004-02-12 | 2005-08-25 | Arcelik Anonim Sirketi | A robot vacuum cleaner and a control method |
| KR100863248B1 (en) * | 2007-02-20 | 2008-10-15 | 삼성전자주식회사 | Robot cleaner and control method of the same of |
| CN101278653B (en) * | 2007-09-26 | 2011-08-24 | 深圳先进技术研究院 | Intelligent robot for nursing household pet |
| CN101278654B (en) * | 2007-09-26 | 2010-12-01 | 深圳先进技术研究院 | Robot system for nursing pet |
| EP2045624A1 (en) * | 2007-10-01 | 2009-04-08 | Samsung Electronics Co., Ltd. | Ultrasonic distance sensor and robot cleaner using the same |
| US20100024740A1 (en) * | 2008-02-26 | 2010-02-04 | Ryan Grepper | Remotely Operable User Controlled Pet Entertainment Device |
-
2013
- 2013-11-22 CN CN201310589356.9A patent/CN103766231B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN103766231A (en) | 2014-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103766231B (en) | Pet exercise device and control method thereof | |
| CN112450098B (en) | Intelligent feeder | |
| CN202948293U (en) | Mobile monitoring robot | |
| CN105314300B (en) | A kind of intelligent garbage bin | |
| CN108010260A (en) | A kind of anti-bird pest monitoring and warning system of power transmission line intelligent and its method of work | |
| CN105030489B (en) | A kind of intelligent blind crutch | |
| CN103749328A (en) | Pet bodybuilding system and working method for same | |
| CN105340772A (en) | System used for pet fitness and control method therefor | |
| CN107996487A (en) | A kind of fish jar automatic feeder and method | |
| JP2000300103A (en) | Automatic brushing device for animal | |
| CN201242221Y (en) | Air conditioner | |
| CN206404042U (en) | A kind of portable intelligent medicine box of lid rotation | |
| CN206744385U (en) | A kind of bird repellent scarecrow of energy sounding and water spray | |
| CN108552062A (en) | Nursing pet device and nursing pet system | |
| CN212436875U (en) | Automatic pet feeding device | |
| CN203444599U (en) | Monitoring system having function of automatically driving pets | |
| CN105151595B (en) | A kind of removable lateral sliding automatic lid closing/opening refuse receptacle based on microwave induced technology | |
| CN109319343B (en) | Flip intelligent garbage can | |
| CN205320861U (en) | Automatic station of feeding | |
| CN209391258U (en) | A kind of self-service intelligent medicine box based on Internet of Things | |
| CN110937277A (en) | Intelligent garbage classification can | |
| CN109588406A (en) | A kind of new energy insect expelling device | |
| CN217007999U (en) | Intelligent environment monitoring system applied to pasture | |
| CN207083792U (en) | A kind of multi-functional automatic feeding groove | |
| CN203327700U (en) | Rotary animal sleep deprivation instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171031 Address after: 401147 Chongqing city Yubei District Longxi street new irrigation Road No. 18 building 11 24-11 City Ambassador Patentee after: Chongqing view Intellectual Property Service Co.,Ltd. Address before: 510380, No. 2, building 2101, No. 48, Longxi East Road, Guangzhou, Guangdong, Liwan District, No. 0254 Patentee before: Lizhi (Guangzhou) Intellectual Property Service Co.,Ltd. Effective date of registration: 20171031 Address after: 510380, No. 2, building 2101, No. 48, Longxi East Road, Guangzhou, Guangdong, Liwan District, No. 0254 Patentee after: Lizhi (Guangzhou) Intellectual Property Service Co.,Ltd. Address before: 310023 Xihu District, Zhejiang Province, and the left road, No. 318, Patentee before: Zhejiang University of Science and Technology |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190221 Address after: 401120 Chongqing Yubei District Longxi Street Jinlong Road 259 Finance and Information City International 4 1-6 Patentee after: Chongqing Haoting Zhongtuo Environmental Technology Co.,Ltd. Address before: 401147 Guobin City, No. 18 Xinji Avenue, Longxi Street, Yubei District, Chongqing City, 11 blocks, 24-11 Patentee before: Chongqing view Intellectual Property Service Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201118 Address after: No.1 Yong'an Avenue, Panpu eco industrial park, Meicheng Town, Qianshan City, Anhui Province, 246300 Patentee after: ANHUI YOOAN RAINGEAR Co.,Ltd. Address before: 401120 Chongqing Yubei District Longxi Street Jinlong Road 259 Finance and Information City International 4 1-6 Patentee before: Chongqing Haoting Zhongtuo Environmental Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |