CN105340772A - System used for pet fitness and control method therefor - Google Patents

System used for pet fitness and control method therefor Download PDF

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Publication number
CN105340772A
CN105340772A CN201510613723.3A CN201510613723A CN105340772A CN 105340772 A CN105340772 A CN 105340772A CN 201510613723 A CN201510613723 A CN 201510613723A CN 105340772 A CN105340772 A CN 105340772A
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pet
alignment sensor
uwb
uwb alignment
storage food
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CN105340772B (en
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郑林欣
卢艺舟
张震宇
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Zhejiang Lover Health Science and Technology Development Co Ltd
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Zhejiang Lover Health Science and Technology Development Co Ltd
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
    • A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
    • A01K15/027—Exercising equipment, e.g. tread mills, carousels

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Zoology (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Selective Calling Equipment (AREA)
  • Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)

Abstract

The present invention discloses a system used for pet fitness and a control method therefor. The system comprises a training apparatus and a signal transceiver; the training apparatus comprises a base, wherein an upright column, a central processing unit, a first wireless communication module and a first UWB (Ultra Wide Band) positioning sensor are arranged on the base; a rotating mechanism is arranged on the upright column, the rotating mechanism is connected to a cross beam, a guide rail is arranged on the cross beam, a sliding block and a driving mechanism that drives the sliding block to move are arranged on the guide rail, and a spherical food storage apparatus is arranged below the sliding block; a second UWB positioning sensor, a second motorized telescoping pole and a third motorized telescoping pole are arranged on the top of the upright column, the second motorized telescoping pole and the third motorized telescoping pole are arranged transversely, a third UWB positioning sensor is arranged at the front end of the second motorized telescoping pole, and a fourth UWB positioning sensor is arranged at the front end of the third motorized telescoping pole. The system for pet fitness has quite high interestingness and easily attracts a pet, so that the pet can interact with the training apparatus so as to achieve the good fitness effect.

Description

A kind of system for pet body-building and control method thereof
Technical field
The present invention relates to pet body-building technical field, particularly relate to a kind of system for pet body-building and control method thereof.
Background technology
Current, many pets (dog, cat etc.) are too obese, and need a kind of pet body-building system, 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 system, 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 system mutual 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 system for pet body-building and control method thereof, it has very strong interest, easily cause the interest of pet, pet is by reaching good body-building effect with trainer interaction.
In order to solve the problem, the present invention is achieved by the following technical solutions:
A kind of system for pet body-building of the present invention, comprise trainer and be worn on pet signal transceiver with it, described trainer comprises base, described base is provided with column, CPU, first wireless communication module and a UWB alignment sensor, described column is provided with the rotating mechanism that can horizontally rotate, described rotating mechanism is connected with the crossbeam of horizontally set, described crossbeam is provided with guide rail, described guide rail is provided with can along the slide block of guide rail movement and the driving mechanism driving slide block movement, the storage food device for storing pet food is provided with below described slide block, described storage food device is spherical in shape, described storage food device top is provided with the first electric expansion bar, the top of described first electric expansion bar is connected with slide block, described storage food device top is also provided with import door, described storage food bottom of device is provided with outlet door and drives the drive motors of outlet door opening and closing, described storage food device is also provided with controller, second wireless communication module, voice output module and the 2nd UWB positioning label, described column top is provided with the 2nd UWB alignment sensor and the second electric expansion bar transversely arranged and the 3rd electric expansion bar, described second electric expansion bar front end is provided with the 3rd UWB alignment sensor, described 3rd electric expansion bar front end is provided with the 4th UWB alignment sensor, described signal transceiver comprises microprocessor, 3rd wireless communication module, control button and a UWB positioning label, described CPU respectively with the first wireless communication module, rotating mechanism, driving mechanism, second electric expansion bar, 3rd electric expansion bar, one UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the electrical connection of the 4th UWB alignment sensor, described controller respectively with the first electric expansion bar, drive motors, second wireless communication module, voice output module and the electrical connection of the 2nd UWB positioning label, described microprocessor respectively with the 3rd wireless communication module, control button and UWB positioning label electrical connection.
In the technical program, signal transceiver be worn on need body-building pet with it, user manually pet food is put into storage food device.Enabling signal transceiver works, and signal transceiver sends enabled instruction by the 3rd wireless communication module to trainer, and a UWB positioning label sends with the UWB signal of self particular number to trainer.
Trainer receives enabled instruction by the first wireless communication module, start working, enabled instruction is sent to storage food device by the first wireless communication module, storage food device is started working, 2nd UWB positioning label sends with the UWB signal of self particular number to trainer, trainer is with a UWB alignment sensor for initial point, and direction is Z axis positive direction straight up, sets up XYZ three-dimensional cartesian coordinate system.
Central processing unit controls second electric expansion bar and the 3rd electric expansion bar extend the length of setting, one UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the coordinate of the 4th UWB alignment sensor in XYZ three-dimensional cartesian coordinate system are all determined, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (x2, y2, z2), the coordinate of the 3rd UWB alignment sensor is (x3, y3, z3), the coordinate of the 4th UWB alignment sensor is (x4, y4, z4), one UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 1, the 2nd UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 2, the 3rd UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 3, the 4th UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 4, suppose that the coordinate of a UWB positioning label is for (x, y, z), set up equation group, calculate x, the value of y, z, obtain the coordinate value of a UWB positioning label, i.e. the coordinate value of pet, in like manner calculate the coordinate value of the 2nd UWB positioning label, be i.e. the coordinate value of storage food device.
CPU according to storage food the coordinate value of device and the coordinate value of pet calculate storage food device and pet between horizontal range and vertical distance, CPU and controller carry out radio communication, by the height of the first expansion link adjustment storage food device, the vertical distance of storing up between food device and pet is made to reach setting value H1, then the voice output module controlled on storage food device sends the especial sound (as " Su, Su " sound that snacks plastic packaging bag sends) preset, and attracts pet to note.
CPU detects the horizontal range between storage food device and pet in real time, when horizontal range is greater than setting value D1, control rotating mechanism to rotate (speed is slower) near the direction of pet, slide block is driven to move (speed is slower) near the direction of pet by driving mechanism, pet is attracted to note, when horizontal range be greater than setting value D3 be less than setting value D2 time, D1 > D2 > D3, control rotating mechanism to rotate to the direction away from pet, drive slide block to move to the direction away from pet by driving mechanism and (calculate pet translational speed, regulate the speed according to pet speed), when horizontal range is less than setting value D3 (pet catch up with storage food device), central processing unit controls rotating mechanism stops operating, driving mechanism quits work, send instruction to controller, controller opens outlet door by drive motors, pet food in storage food device falls from outlet door, pet obtains food, voice output module stops sounding, trainer quits work.
CPU detects the coordinate value of pet in real time, and the coordinate value obtained according to adjacent double sampling calculates the displacement S of each sampling period pet i, thus calculate total displacement S of pet, namely when total displacement S of pet reaches preset value, central processing unit controls rotating mechanism stops operating, driving mechanism quits work, send instruction to controller, controller opens outlet door by drive motors, and the pet food in storage food device falls from outlet door, and pet obtains food, voice output module stops sounding, and trainer quits work.Prevent pet excessive amount of motion and not feed, ensure that the health of pet.
User carries out radio communication by smart mobile phone and trainer, setting trainer carries out pet jump training, central processing unit controls storage food device moves to above pet, the voice output module controlled on storage food device sends the especial sound preset, pet is attracted to note, CPU detects the vertical distance between storage food device and pet in real time, by the height of the first electric expansion bar adjustment storage food device, the vertical distance of storing up between food device and pet is made to be greater than setting value H2 all the time, CPU detects the ordinate value of pet, when the height that pet upwards takeoffs is greater than setting value H3 or pet number of skips reaches setting value, CPU sends instruction to controller, controller opens outlet door by drive motors, pet food in storage food device falls from outlet door, pet obtains food, voice output module stops sounding, trainer quits work.
As preferably, a described UWB alignment sensor is vertical with base with the line of the 2nd UWB alignment sensor, described 2nd UWB alignment sensor is parallel with base with the line of the 3rd UWB alignment sensor, described 2nd UWB alignment sensor is parallel with base with the line of the 4th UWB alignment sensor, and described 2nd UWB alignment sensor, the 3rd UWB alignment sensor and the 4th UWB alignment sensor are not on the same line.
As preferably, the angle of the line of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor and the line of the 2nd UWB alignment sensor and the 4th UWB alignment sensor is 45-135 degree.
The control method of a kind of system for pet body-building of the present invention, comprises the following steps:
S1: enabling signal transceiver works, and signal transceiver sends enabled instruction by the 3rd wireless communication module to trainer, a UWB positioning label sends with the UWB signal of self particular number to trainer;
S2: trainer receives enabled instruction by the first wireless communication module, start working, enabled instruction is sent to storage food device by the first wireless communication module, storage food device is started working, 2nd UWB positioning label sends with the UWB signal of self particular number to trainer, trainer is with a UWB alignment sensor for initial point, and direction is Z axis positive direction straight up, sets up XYZ three-dimensional cartesian coordinate system;
S3: central processing unit controls second electric expansion bar and the 3rd electric expansion bar extend the length of setting, one UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the coordinate of the 4th UWB alignment sensor in XYZ three-dimensional cartesian coordinate system are all determined, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (x2, y2, z2), the coordinate of the 3rd UWB alignment sensor is (x3, y3, z3), the coordinate of the 4th UWB alignment sensor is (x4, y4, z4), one UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 1, the 2nd UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 2, the 3rd UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 3, the 4th UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 4, suppose that the coordinate of a UWB positioning label is for (x, y, z), obtains equation group:
R 1 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - 0 ) 2 R 2 2 = ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 R 3 2 = ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 R 4 2 = ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2
Due to x2, x3, x4, y2, y3, y4, z2, z3, z4 are given values, adopt and carry out iterative based on the method for least squares of Taylor series expansion, obtain x, y, the value of z, obtains the coordinate value of a UWB positioning label, i.e. the coordinate value of pet, in like manner calculate the coordinate value of the 2nd UWB positioning label, i.e. the coordinate value of storage food device;
S4: CPU according to storage food the coordinate value of device and the coordinate value of pet calculate storage food device and pet between horizontal range and vertical distance, CPU and controller carry out radio communication, by the height of the first expansion link adjustment storage food device, make the vertical distance of storing up between food device and pet reach setting value H1, the voice output module then controlled on storage food device sends the especial sound preset and attracts pet to note;
S5: CPU detects the horizontal range between storage food device and pet in real time, when horizontal range is greater than setting value D1, control rotating mechanism to rotate near the direction of pet, slide block is driven to move near the direction of pet by driving mechanism, when horizontal range be greater than setting value D3 be less than setting value D2 time, D1 > D2 > D3, control rotating mechanism to rotate to the direction away from pet, slide block is driven to move to the direction away from pet by driving mechanism, when horizontal range is less than setting value D3, central processing unit controls rotating mechanism stops operating, driving mechanism quits work, send instruction to controller, controller opens outlet door by drive motors, pet food in storage food device falls from outlet door, pet obtains food, voice output module stops sounding, trainer quits work.
As preferably, in described step S5, rotating mechanism is when rotating, and controller controls storage food device by the first electric expansion bar and moves up and down.Pet is attracted to note, the spring of training pet.
As preferably, user carries out radio communication by smart mobile phone and trainer, setting trainer carries out pet jump training, central processing unit controls storage food device moves to above pet, the voice output module controlled on storage food device sends the especial sound preset and attracts pet to note, CPU detects the vertical distance between storage food device and pet in real time, by the height of the first electric expansion bar adjustment storage food device, the vertical distance of storing up between food device and pet is made to be greater than setting value H2 all the time, CPU detects the ordinate value of pet, when the height that pet upwards takeoffs is greater than setting value H3 or pet number of skips reaches setting value, CPU sends instruction to controller, controller opens outlet door by drive motors, pet food in storage food device falls from outlet door, pet obtains food, voice output module stops sounding, trainer quits work.User also moves up and down by smart mobile phone remote manual control storage food device.
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 trainer interaction.(2) when pet motions distance reaches certain value, the stop motion of storage food device, outlet door opens certain hour automatically, pet food in storage food device falls from outlet door, pet obtains food, the amount of exercise of rational control pet, prevents pet because of excessive amount of motion and does not take food and health risk in time.(3) distance between conservative control trainer and pet, namely ensure that pet is not easy to catch trainer, also prevents trainer from away from pet, pet is lost interest.(4) jump training can be carried out to pet.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the present invention;
Fig. 2 is the vertical view of storage food device;
Fig. 3 is that a kind of circuit theory of the present invention connects block diagram;
Fig. 4 is the XYZ three-dimensional cartesian coordinate system set up for initial point with a UWB alignment sensor.
In figure: 1, trainer, 2, signal transceiver, 3, base, 4, column, 5, CPU, 6, first wireless communication module, 7, one UWB alignment sensor, 8, rotating mechanism, 9, crossbeam, 10, guide rail, 11, slide block, 12, driving mechanism, 13, storage food device, 14, first electric expansion bar, 15, import door, 16, outlet door, 17, drive motors, 18, controller, 19, second wireless communication module, 20, voice output module, 21, 2nd UWB alignment sensor, 22, second electric expansion bar, 23, 3rd electric expansion bar, 24, 3rd UWB alignment sensor, 25, 4th UWB alignment sensor, 26, microprocessor, 27, 3rd wireless communication module, 28, control button, 29, one UWB positioning label, 30, LED, 31, touch-screen, 32, 2nd UWB positioning label, 33, through hole.
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 system for pet body-building of the present embodiment, as Fig. 1, Fig. 2, shown in Fig. 3, comprise trainer 1 and be worn on pet signal transceiver 2 with it, trainer 1 comprises base 3, base 3 is provided with column 4, CPU 5, first wireless communication module 6 and a UWB alignment sensor 7, column 4 is provided with the rotating mechanism 8 that can horizontally rotate, rotating mechanism 8 is connected with the crossbeam 9 of horizontally set, crossbeam 9 is provided with guide rail 10, guide rail 10 is provided with can along the slide block 11 of guide rail 10 movement and the driving mechanism 12 driving slide block 11 movement, the storage food device 13 for storing pet food is provided with below slide block 11, storage food device 13 is spherical in shape and be made up of transparent material, storage food device 13 is also provided with several LED 30, storage food device 13 top is provided with the first electric expansion bar 14, the top of the first electric expansion bar 14 is connected with slide block 11, storage food device 13 top is also provided with import door 15, be provided with outlet door 16 bottom storage food device 13 and drive the drive motors 17 of outlet door 16 opening and closing, storage food device 13 is also provided with controller 18, second wireless communication module 19, voice output module 20 and the 2nd UWB positioning label 32, column 4 top is provided with the 2nd UWB alignment sensor 21 and the second electric expansion bar 22 transversely arranged and the 3rd electric expansion bar 23, second electric expansion bar 22 front end is provided with the 3rd UWB alignment sensor 24, 3rd electric expansion bar 23 front end is provided with the 4th UWB alignment sensor 25, signal transceiver 2 comprises microprocessor 26, 3rd wireless communication module 27, control button 28 and a UWB positioning label 29, CPU 5 respectively with the first wireless communication module 6, rotating mechanism 8, driving mechanism 12, second electric expansion bar 22, 3rd electric expansion bar 23, one UWB alignment sensor 7, 2nd UWB alignment sensor 21, 3rd UWB alignment sensor 24 and the 4th UWB alignment sensor 25 are electrically connected, controller 18 respectively with the first electric expansion bar 14, drive motors 17, second wireless communication module 19, voice output module 20, LED 30 and the 2nd UWB positioning label 32 are electrically connected, microprocessor 26 respectively with the 3rd wireless communication module 27, control button 28 and a UWB positioning label 29 are electrically connected.
One UWB alignment sensor 7 is vertical with base 3 with the line of the 2nd UWB alignment sensor 21, the line of the one UWB alignment sensor 7 and the 2nd UWB alignment sensor 21 passes the center of rotating mechanism 8,2nd UWB alignment sensor 21 is parallel with base 3 with the line of the 3rd UWB alignment sensor 24,2nd UWB alignment sensor 21 is parallel with base 3 with the line of the 4th UWB alignment sensor 25, and the 2nd UWB alignment sensor 21 is vertical with the line of the 4th UWB alignment sensor 25 with the 2nd UWB alignment sensor 21 with the line of the 3rd UWB alignment sensor 24.Base is horizontally disposed with, now, and the line of a UWB alignment sensor and the 2nd UWB alignment sensor and horizontal plane, the plane at the 2nd UWB alignment sensor, the 3rd UWB alignment sensor and the 4th UWB alignment sensor place and plane-parallel.Storage food device 13 is provided with several through holes 33, and the smell of food is evaporated, and attracts pet to note.Driving mechanism 12 is linear electric motors.
Signal transceiver be worn on need body-building pet with it, user manually pet food is put into storage food device.Enabling signal transceiver works, and signal transceiver sends enabled instruction by the 3rd wireless communication module to trainer, and a UWB positioning label sends with the UWB signal of self particular number to trainer.
Trainer receives enabled instruction by the first wireless communication module, start working, enabled instruction is sent to storage food device by the first wireless communication module, storage food device is started working, 2nd UWB positioning label sends with the UWB signal of self particular number to trainer, as shown in Figure 4, trainer with a UWB alignment sensor for initial point, the direction (namely straight up direction) of the 2nd UWB alignment sensor is pointed to for Z axis positive direction with a UWB alignment sensor, the direction of the 3rd UWB alignment sensor is pointed to for Y-axis positive direction with the 2nd UWB alignment sensor, the direction of the 4th UWB alignment sensor is pointed to for X-axis positive direction with the 2nd UWB alignment sensor, set up XYZ three-dimensional cartesian coordinate system.
Central processing unit controls second electric expansion bar and the 3rd electric expansion bar extend the length of setting, one UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the coordinate of the 4th UWB alignment sensor in XYZ three-dimensional cartesian coordinate system are all determined, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z2), the coordinate of the 3rd UWB alignment sensor is (0, y3, z2), the coordinate of the 4th UWB alignment sensor is (x4, 0, z2), by TOA method, one UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 1, by TOA method, the 2nd UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 2, by TOA method, the 3rd UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 3, by TOA method, the 4th UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 4, suppose that the coordinate of a UWB positioning label is for (x, y, z), set up equation group, calculate x, the value of y, z, obtain the coordinate value of a UWB positioning label, i.e. the coordinate value of pet, in like manner calculate the coordinate value of the 2nd UWB positioning label, be i.e. the coordinate value of storage food device.
CPU according to storage food the coordinate value of device and the coordinate value of pet calculate storage food device and pet between horizontal range and vertical distance, CPU and controller carry out radio communication, by the height of the first expansion link adjustment storage food device, the vertical distance of storing up between food device and pet is made to reach setting value H1, then the voice output module controlled on storage food device sends the especial sound that presets (as " Su that snacks plastic packaging bag sends, Su " sound), control the light that LED flicker sends various different colours, to attract the attention of pet.Rotating mechanism is provided with the angle detection module detecting rotational angle, and angle detection module is electrically connected with CPU.
CPU detects the horizontal range between storage food device and pet in real time, when horizontal range is greater than setting value D1, control rotating mechanism to rotate (speed is slower) near the direction of pet, slide block is driven to move (speed is slower) near the direction of pet by driving mechanism, pet is attracted to note, when horizontal range be greater than setting value D3 be less than setting value D2 time, D1 > D2 > D3, control rotating mechanism to rotate to the direction away from pet, drive slide block to move to the direction away from pet by driving mechanism and (calculate pet translational speed, according to the pet speed correspondence adjustment rotating speed of rotating mechanism and the translational speed of slide block), when horizontal range is less than setting value D3 (pet catch up with storage food device), central processing unit controls rotating mechanism stops operating, driving mechanism quits work, send instruction to controller, controller opens outlet door by drive motors, pet food in storage food device falls from outlet door, pet obtains food, voice output module stops sounding, LED stops flicker, trainer quits work.
CPU detects the coordinate value of pet in real time, and the coordinate value obtained according to adjacent double sampling calculates the displacement S of each sampling period pet i, thus calculate total displacement S of pet, namely when total displacement S of pet reaches preset value, central processing unit controls rotating mechanism stops operating, driving mechanism quits work, send instruction to controller, controller opens outlet door by drive motors, and the pet food in storage food device falls from outlet door, pet obtains food, voice output module stops sounding, and LED stops flicker, and trainer quits work.Prevent pet excessive amount of motion and not feed, ensure that the health of pet.
Base 3 is also provided with touch-screen 31, and touch-screen 31 is electrically connected with CPU 5.Touch-screen can show the parameters such as trainer continuous working period, dump energy, and user sets running parameter and the history training record of trainer by touch-screen.Storage food device also can be made various animals shaped, as the shape of dog, cat, is conducive to attracting pet.
User carries out radio communication by smart mobile phone and trainer, setting trainer carries out pet jump training, also set by touch-screen, central processing unit controls storage food device moves to above pet, the voice output module controlled on storage food device sends the especial sound preset, LED is glimmered, pet is attracted to note, CPU detects the vertical distance between storage food device and pet in real time, by the height of the first electric expansion bar adjustment storage food device, the vertical distance of storing up between food device and pet is made to be greater than setting value H2 all the time, CPU detects the ordinate value of pet, when the height that pet upwards takeoffs is greater than setting value H3 or pet number of skips reaches setting value, CPU sends instruction to controller, controller opens outlet door by drive motors, pet food in storage food device falls from outlet door, pet obtains food, voice output module stops sounding, LED stops flicker, trainer quits work.
The control method of a kind of system for pet body-building of the present embodiment, is applicable to above-mentioned a kind of system for pet body-building, comprises the following steps:
S1: enabling signal transceiver works, and signal transceiver sends enabled instruction by the 3rd wireless communication module to trainer, a UWB positioning label sends with the UWB signal of self particular number to trainer;
S2: trainer receives enabled instruction by the first wireless communication module, start working, enabled instruction is sent to storage food device by the first wireless communication module, storage food device is started working, 2nd UWB positioning label sends with the UWB signal of self particular number to trainer, trainer with a UWB alignment sensor for initial point, the direction (namely straight up direction) of the 2nd UWB alignment sensor is pointed to for Z axis positive direction with a UWB alignment sensor, the direction of the 3rd UWB alignment sensor is pointed to for Y-axis positive direction with the 2nd UWB alignment sensor, the direction of the 4th UWB alignment sensor is pointed to for X-axis positive direction with the 2nd UWB alignment sensor, set up XYZ three-dimensional cartesian coordinate system,
S3: central processing unit controls second electric expansion bar and the 3rd electric expansion bar extend the length of setting, one UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the coordinate of the 4th UWB alignment sensor in XYZ three-dimensional cartesian coordinate system are all determined, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z2), the coordinate of the 3rd UWB alignment sensor is (0, y3, z2), the coordinate of the 4th UWB alignment sensor is (x4, 0, z2), one UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 1, the 2nd UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 2, the 3rd UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 3, the 4th UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 4, suppose that the coordinate of a UWB positioning label is for (x, y, z), obtains equation group:
R 1 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - 0 ) 2 R 2 2 = ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 R 3 2 = ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 R 4 2 = ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2
Because x4, y3, z2 are given values, the method for least squares based on Taylor series expansion is adopted to carry out iterative, obtain x, the value of y, z, obtain the coordinate value of a UWB positioning label, the i.e. coordinate value of pet, in like manner calculates the coordinate value of the 2nd UWB positioning label, i.e. the coordinate value of storage food device;
S4: CPU according to storage food the coordinate value of device and the coordinate value of pet calculate storage food device and pet between horizontal range and vertical distance, CPU and controller carry out radio communication, by the height of the first expansion link adjustment storage food device, the vertical distance of storing up between food device and pet is made to reach setting value H1, then the voice output module controlled on storage food device sends the especial sound that presets (as " Su that snacks plastic packaging bag sends, Su " sound), control the light that LED flicker sends various different colours, to attract the attention of pet,
S5: CPU detects the horizontal range between storage food device and pet in real time, when horizontal range is greater than setting value D1, control rotating mechanism to rotate (speed is slower) near the direction of pet, slide block is driven to move (speed is slower) near the direction of pet by driving mechanism, pet is attracted to note, when horizontal range be greater than setting value D3 be less than setting value D2 time, D1 > D2 > D3, control rotating mechanism to rotate to the direction away from pet, drive slide block to move to the direction away from pet by driving mechanism and (calculate pet translational speed, according to the pet translational speed correspondence adjustment rotating speed of rotating mechanism and the translational speed of slide block, the sum velocity of rotating mechanism angular speed and slide block translational speed is made to be equal to or greater than pet speed), when horizontal range is less than setting value D3 (pet catch up with storage food device), central processing unit controls rotating mechanism stops operating, driving mechanism quits work, send instruction to controller, controller opens outlet door by drive motors, pet food in storage food device falls from outlet door, pet obtains food, voice output module stops sounding, LED stops flashing, trainer quits work.
CPU detects the coordinate value of pet in real time, and the coordinate value obtained according to adjacent double sampling calculates the displacement S of each sampling period pet i, thus calculate total displacement S of pet, namely when total displacement S of pet reaches preset value, central processing unit controls rotating mechanism stops operating, and driving mechanism quits work, and sends instruction to controller, controller opens outlet door by drive motors, pet food in storage food device falls from outlet door, and pet obtains food, and voice output module stops sounding, LED stops flashing, trainer quits work, and prevents pet excessive amount of motion and not feed, ensure that the health of pet.
In step S5, rotating mechanism is when rotating, and controller controls storage food device by the first electric expansion bar and moves up and down.Pet is attracted to note, the spring of training pet.
User carries out radio communication by smart mobile phone and trainer, setting trainer carries out pet jump training, central processing unit controls storage food device moves to above pet, the voice output module controlled on storage food device sends the especial sound preset and attracts pet to note, CPU detects the vertical distance between storage food device and pet in real time, by the height of the first electric expansion bar adjustment storage food device, the vertical distance of storing up between food device and pet is made to be greater than setting value H2 all the time, CPU detects the ordinate value of pet, when the height that pet upwards takeoffs is greater than setting value H3 or pet number of skips reaches setting value, CPU sends instruction to controller, controller opens outlet door by drive motors, pet food in storage food device falls from outlet door, pet obtains food, voice output module stops sounding, LED stops flashing, trainer quits work.User also moves up and down by smart mobile phone remote manual control storage food device.

Claims (6)

1. the system for pet body-building, it is characterized in that: comprise trainer (1) and be worn on pet signal transceiver with it (2), described trainer (1) comprises base (3), described base (3) is provided with column (4), CPU (5), first wireless communication module (6) and a UWB alignment sensor (7), described column (4) is provided with the rotating mechanism (8) that can horizontally rotate, described rotating mechanism (8) is connected with the crossbeam (9) of horizontally set, described crossbeam (9) is provided with guide rail (10), described guide rail (10) is provided with can along the slide block (11) of guide rail (10) movement and the driving mechanism (12) driving slide block (11) movement, described slide block (11) below is provided with storage food device (13) for storing pet food, described storage food device (13) is spherical in shape, described storage food device (13) top is provided with the first electric expansion bar (14), the top of described first electric expansion bar (14) is connected with slide block (11), described storage food device (13) top is also provided with import door (15), described storage food device (13) bottom is provided with outlet door (16) and drives the drive motors (17) of outlet door (16) opening and closing, described storage food device (13) is also provided with controller (18), second wireless communication module (19), voice output module (20) and the 2nd UWB positioning label (21), described column (4) top is provided with the 2nd UWB alignment sensor (21) and the second electric expansion bar (22) transversely arranged and the 3rd electric expansion bar (23), described second electric expansion bar (22) front end is provided with the 3rd UWB alignment sensor (24), described 3rd electric expansion bar (22) front end is provided with the 4th UWB alignment sensor (25), described signal transceiver (2) comprises microprocessor (26), 3rd wireless communication module (27), control button (28) and a UWB positioning label (29), described CPU (5) respectively with the first wireless communication module (6), rotating mechanism (8), driving mechanism (12), second electric expansion bar (22), 3rd electric expansion bar (23), one UWB alignment sensor (7), 2nd UWB alignment sensor (21), 3rd UWB alignment sensor (24) and the electrical connection of the 4th UWB alignment sensor (25), described controller (18) respectively with the first electric expansion bar (14), drive motors (17), second wireless communication module (19), voice output module (20) and the electrical connection of the 2nd UWB positioning label (32), described microprocessor (26) respectively with the 3rd wireless communication module (27), control button (28) and a UWB positioning label (29) electrical connection.
2. a kind of system for pet body-building according to claim 1, it is characterized in that: a described UWB alignment sensor (7) is vertical with base (3) with the line of the 2nd UWB alignment sensor (21), described 2nd UWB alignment sensor (21) is parallel with base (3) with the line of the 3rd UWB alignment sensor (24), described 2nd UWB alignment sensor (21) is parallel with base (3) with the line of the 4th UWB alignment sensor (25), described 2nd UWB alignment sensor (21), 3rd UWB alignment sensor (24) and the 4th UWB alignment sensor (25) are not on the same line.
3. a kind of system for pet body-building according to claim 2, is characterized in that: the angle of the line of the 2nd UWB alignment sensor (21) and the 3rd UWB alignment sensor (24) and the line of the 2nd UWB alignment sensor (21) and the 4th UWB alignment sensor (25) is 45-135 degree.
4., for a control method for the system of pet body-building, be applicable to a kind of system for pet body-building as described in claim arbitrary in claim 1-3, it is characterized in that, comprise the following steps:
S1: enabling signal transceiver works, and signal transceiver sends enabled instruction by the 3rd wireless communication module to trainer, a UWB positioning label sends with the UWB signal of self particular number to trainer;
S2: trainer receives enabled instruction by the first wireless communication module, start working, enabled instruction is sent to storage food device by the first wireless communication module, storage food device is started working, 2nd UWB positioning label sends with the UWB signal of self particular number to trainer, trainer is with a UWB alignment sensor for initial point, and direction is Z axis positive direction straight up, sets up XYZ three-dimensional cartesian coordinate system;
S3: central processing unit controls second electric expansion bar and the 3rd electric expansion bar extend the length of setting, one UWB alignment sensor, 2nd UWB alignment sensor, 3rd UWB alignment sensor and the coordinate of the 4th UWB alignment sensor in XYZ three-dimensional cartesian coordinate system are all determined, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (x2, y2, z2), the coordinate of the 3rd UWB alignment sensor is (x3, y3, z3), the coordinate of the 4th UWB alignment sensor is (x4, y4, z4), one UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 1, the 2nd UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 2, the 3rd UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 3, the 4th UWB alignment sensor detects that the distance between itself and a UWB positioning label is R 4, suppose that the coordinate of a UWB positioning label is for (x, y, z), obtains equation group:
R 1 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - 0 ) 2 R 2 2 = ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 R 3 2 = ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 R 4 2 = ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2
Due to x2, x3, x4, y2, y3, y4, z2, z3, z4 are given values, adopt and carry out iterative based on the method for least squares of Taylor series expansion, obtain x, y, the value of z, obtains the coordinate value of a UWB positioning label, i.e. the coordinate value of pet, in like manner calculate the coordinate value of the 2nd UWB positioning label, i.e. the coordinate value of storage food device;
S4: CPU according to storage food the coordinate value of device and the coordinate value of pet calculate storage food device and pet between horizontal range and vertical distance, CPU and controller carry out radio communication, by the height of the first expansion link adjustment storage food device, make the vertical distance of storing up between food device and pet reach setting value H1, the voice output module then controlled on storage food device sends the especial sound preset and attracts pet to note;
S5: CPU detects the horizontal range between storage food device and pet in real time, when horizontal range is greater than setting value D1, control rotating mechanism to rotate near the direction of pet, slide block is driven to move near the direction of pet by driving mechanism, when horizontal range be greater than setting value D3 be less than setting value D2 time, D1 > D2 > D3, control rotating mechanism to rotate to the direction away from pet, slide block is driven to move to the direction away from pet by driving mechanism, when horizontal range is less than setting value D3, central processing unit controls rotating mechanism stops operating, driving mechanism quits work, send instruction to controller, controller opens outlet door by drive motors, pet food in storage food device falls from outlet door, pet obtains food, voice output module stops sounding, trainer quits work.
5. the control method of a kind of system for pet body-building according to claim 4, is characterized in that: in described step S5, and rotating mechanism is when rotating, and controller controls storage food device by the first electric expansion bar and moves up and down.
6. the control method of a kind of system for pet body-building according to claim 4, it is characterized in that: user carries out radio communication by smart mobile phone and trainer, setting trainer carries out pet jump training, central processing unit controls storage food device moves to above pet, the voice output module controlled on storage food device sends the especial sound preset and attracts pet to note, CPU detects the vertical distance between storage food device and pet in real time, by the height of the first electric expansion bar adjustment storage food device, the vertical distance of storing up between food device and pet is made to be greater than setting value H2 all the time, CPU detects the ordinate value of pet, when the height that pet upwards takeoffs is greater than setting value H3 or pet number of skips reaches setting value, CPU sends instruction to controller, controller opens outlet door by drive motors, pet food in storage food device falls from outlet door, pet obtains food, voice output module stops sounding, trainer quits work.
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CN114190295A (en) * 2021-12-20 2022-03-18 珠海一微半导体股份有限公司 Multi-pet robot control method, system and chip

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