CN105340772B - A kind of system and its control method for pet body-building - Google Patents
A kind of system and its control method for pet body-building Download PDFInfo
- Publication number
- CN105340772B CN105340772B CN201510613723.3A CN201510613723A CN105340772B CN 105340772 B CN105340772 B CN 105340772B CN 201510613723 A CN201510613723 A CN 201510613723A CN 105340772 B CN105340772 B CN 105340772B
- Authority
- CN
- China
- Prior art keywords
- pet
- uwb
- alignment sensors
- storage food
- uwb alignment
- 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.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 235000013305 food Nutrition 0.000 claims abstract description 147
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 238000004891 communication Methods 0.000 claims abstract description 48
- 230000008676 import Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 15
- 230000000694 effects Effects 0.000 abstract description 6
- 230000003993 interaction Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 9
- 238000005070 sampling Methods 0.000 description 6
- 230000036541 health Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000004806 packaging method and process Methods 0.000 description 3
- 235000011888 snacks Nutrition 0.000 description 3
- 241000282326 Felis catus Species 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- 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
Landscapes
- 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 invention discloses a kind of system and its control method for pet body-building.The system includes trainer and signal transceiver, trainer includes base, base is provided with column, CPU, first wireless communication module and the first UWB alignment sensors, column is provided with rotating mechanism, rotating mechanism is connected with crossbeam, crossbeam is provided with guide rail, drive mechanism of the guide rail provided with sliding block and driving sliding block movement, provided with storage food device below sliding block, storage food device is spherical in shape, provided with the 2nd UWB alignment sensors and the second electric expansion bar and the 3rd electric expansion bar that transversely set at the top of column, second electric expansion bar front end is provided with the 3rd UWB alignment sensors, 3rd electric expansion bar front end is provided with the 4th UWB alignment sensors.The present invention has very strong interest, easily causes the interest of pet, pet with trainer interaction by reaching good body-building effect.
Description
Technical field
The present invention relates to pet body-building technical field, more particularly to a kind of system and its controlling party for pet body-building
Method.
Background technology
Currently, many pets (dog, cat etc.) are too obese, it is necessary to which a kind of pet body-building system, is particularly abroad, owner
Typically pet is treated as child, especially payes attention to their health status, therefore, the pet being too obese there are the need of fat-reducing
Will.It is single to there is function in existing pet body-building system, interactive not strong, it is interesting not enough the shortcomings of.
China Patent Publication No. CN101796926, publication date August in 2010 11 days, the entitled multifunctional pet of invention
Body-building assisting cage, this application case discloses a kind of multifunctional pet body-building assisting cage, and it is by upper framework and can divide from upper framework
The mobile base composition left, both bottoms are all provided with four universal wheels, wherein, mobile base top is provided with carrying and doted on
The spacer screen of thing, its underpart can be inserted on front side of the bearing plate of storage pet dung, upper framework and be provided with main door, and its left side is provided with pair
Door, and secondary door can be flipped up around hinge, be pushed away in use, opening the upper framework of secondary goalkeeper from mobile base to treadmill
It is upper, it is easy to use.Its weak point is that the pet body-building device interactive is not strong, lacks interesting, it is difficult to cause pet
Interest, the enthusiasm of pet body-building is not high, so as to influence body-building effect.
The content of the invention
The purpose of the present invention is to overcome existing pet body-building system mutual not strong, lacks interesting, it is difficult to cause pet
Interest, the enthusiasm of pet body-building is high, so that influence the technical problem of body-building effect is used for pet body-building there is provided one kind
System and its control method, it has very strong interest, easily causes the interest of pet, pet passes through mutual with trainer
It is dynamic to reach good body-building effect.
In order to solve the above problems, the present invention is achieved using following technical scheme：
A kind of system for pet body-building of the present invention, including trainer and the signal transmitting and receiving being worn on pet
Device, the trainer includes base, and the base is provided with column, CPU, the first wireless communication module and the
One UWB alignment sensors, the column is provided with the rotating mechanism that can be horizontally rotated, and the rotating mechanism is connected with horizontal setting
Crossbeam, the crossbeam is provided with guide rail, and the guide rail is provided with the sliding block that can be moved along guide rail and driving sliding block moves
The storage food device for being used to store pet food is provided with below drive mechanism, the sliding block, the storage food device is spherical in shape, the storage
Eat and the first electric expansion bar is provided with the top of device, the top of first electric expansion bar is connected with sliding block, the storage food device
Top is additionally provided with import door, driving electricity of the storage food bottom of device provided with outlet door and driving outlet door opening and closing
Controller, the second wireless communication module, sound output module and the 2nd UWB positioning labels are additionally provided with machine, the storage food device,
The 2nd UWB alignment sensors and the second electric expansion bar transversely set and the 3rd electric expansion are provided with the top of the column
Bar, the second electric expansion bar front end is provided with the 3rd UWB alignment sensors, and the 3rd electric expansion bar front end is provided with the 4th
UWB alignment sensors, it is fixed that the signal transceiver includes microprocessor, the 3rd wireless communication module, control button and the first UWB
Position label, the CPU respectively with the first wireless communication module, rotating mechanism, drive mechanism, the second electric expansion
Bar, the 3rd electric expansion bar, the first UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and the 4th
UWB alignment sensors electrically connect, the controller respectively with the first electric expansion bar, motor, the second wireless communication module,
Sound output module and the 2nd UWB positioning label electrical connections, the microprocessor are pressed with the 3rd wireless communication module, control respectively
Key and the first UWB positioning label electrical connections.
In the technical program, signal transceiver is worn on the pet for needing body-building, and user is manually by pet food
It is put into storage food device.Enabling signal transceiver is worked, and signal transceiver is sent out by the 3rd wireless communication module to trainer
Enabled instruction is sent, the first UWB positioning labels send the UWB signal with itself particular number to trainer.
Trainer receives enabled instruction by the first wireless communication module, starts working, passes through the first radio communication mold
Block sends enabled instruction to storage food device, and storage food device is started working, and the 2nd UWB positioning labels, which are sent, carries itself particular number
UWB signal to trainer, trainer is using the first UWB alignment sensors as origin, and direction is that Z axis is square straight up
To setting up XYZ three-dimensional cartesian coordinate systems.
The electric expansion bar of central processing unit controls second and the length of the 3rd electric expansion bar elongation setting, the first UWB
Alignment sensor, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB alignment sensors are in XYZ three-dimensional straights
Coordinate in angular coordinate system all determines that the coordinate of the first UWB alignment sensors is (0,0,0), the seat of the 2nd UWB alignment sensors
It is designated as (x2, y2, z2), the coordinate of the 3rd UWB alignment sensors is (x3, y3, z3), and the coordinate of the 4th UWB alignment sensors is
(x4, y4, z4), it is R that the first UWB alignment sensors, which detect it and position the distance between label with the first UWB,1, the 2nd UWB determine
It is R that level sensor, which detects it and positions the distance between label with the first UWB,2, the 3rd UWB alignment sensors detect itself and
The distance between one UWB positioning labels are R3, the 4th UWB alignment sensors detect it the first UWB between positioning label
Distance is R4, it is assumed that the coordinate of the first UWB positioning labels is (x, y, z), sets up equation group, calculates x, y, z value, obtains the
The coordinate value of the coordinate value, i.e. pet of one UWB positioning labels, similarly calculates the coordinate value that the 2nd UWB positions label, i.e. storage food
The coordinate value of device.
CPU eats the coordinate value of device according to storage and the coordinate value of pet calculate storage food device and pet it
Between horizontal range and vertical distance, CPU and controller carry out radio communication, pass through the adjustment storage of the first expansion link
The height of device is eaten so that the vertical distance between storage food device and pet reaches setting value H1, then on control storage food device
Sound output module send especial sound set in advance (such as snacks plastic packaging bag send " Su, Su " sound), attract to dote on
Thing notes.
CPU detects the horizontal range between storage food device and pet in real time, when horizontal range is more than setting value
During D1, control rotating mechanism rotates (speed is slower) to the direction close to pet, drives sliding block to dote on to close by drive mechanism
The direction motion (speed is slower) of thing, attracts pet to note, when horizontal range, which is more than setting value D3, is less than setting value D2, D1 ＞
D2 ＞ D3, control rotating mechanism is rotated to the direction away from pet, and sliding block is driven to the direction away from pet by drive mechanism
Motion (calculates pet translational speed, regulate the speed according to pet speed), and when horizontal range is less than setting value D3, (pet catch up with storage
Eat device) when, central processing unit controls rotating mechanism stops operating, and drive mechanism is stopped, and sends instructions to controller,
Controller is opened the pet food in outlet door, storage food device by motor and fallen from outlet door, and pet is eaten
Thing, sound output module stops sending sound, and trainer is stopped.
CPU detects the coordinate value of pet in real time, is calculated often according to the coordinate value that adjacent double sampling is obtained
The displacement S of individual sampling period peti, so as to calculate total displacement S of pet, i.e.,When pet
When total displacement S reaches preset value, central processing unit controls rotating mechanism stops operating, and drive mechanism is stopped, hair
Instruction is sent to controller, controller opens pet food in outlet door, storage food device from outlet door by motor
Fall, pet obtains food, sound output module stops sending sound, and trainer is stopped.Prevent pet excessive amount of motion
And do not feed, it is ensured that the health of pet.
User can carry out radio communication by smart mobile phone and trainer, and setting trainer carries out pet jump instruction
Practice, central processing unit controls storage food device is moved to above pet, the sound output module on control storage food device sends pre-
The especial sound first set, attract pet note, CPU detect in real time storage food device and pet between it is vertical away from
From, pass through the first electric expansion bar adjustment storage food device height so that storage food device and pet between vertical distance all the time
More than setting value H2, CPU detects the ordinate value of pet, when the height that pet takeoffs upwards is more than setting value H3
Or pet number of skips, when reaching setting value, CPU sends instructions to controller, and controller is beaten by motor
The pet food outputed in a mouthful door, storage food device is fallen from outlet door, and pet obtains food, and sound output module stops hair
Go out sound, trainer is stopped.
Preferably, the line of the first UWB alignment sensors and the 2nd UWB alignment sensors is vertical with base, institute
The line for stating the 2nd UWB alignment sensors and the 3rd UWB alignment sensors is parallel with base, the 2nd UWB alignment sensors
It is parallel with base with the line of the 4th UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and
4th UWB alignment sensors are not on the same line.
Preferably, the line and the 2nd UWB orientation sensings of the 2nd UWB alignment sensors and the 3rd UWB alignment sensors
The angle of the line of device and the 4th UWB alignment sensors is 45-135 degree.
A kind of control method of system for pet body-building of the present invention, comprises the following steps：
S1：Enabling signal transceiver is worked, and signal transceiver is sent to trainer by the 3rd wireless communication module and opened
Dynamic instruction, the first UWB positioning labels send the UWB signal with itself particular number to trainer；
S2：Trainer receives enabled instruction by the first wireless communication module, starts working, passes through the first radio communication
Module sends enabled instruction to storage food device, and storage is eaten device and started working, and the 2nd UWB positioning labels are sent with itself specific volume
Number UWB signal to trainer, trainer is using the first UWB alignment sensors as origin, and direction is that Z axis is square straight up
To setting up XYZ three-dimensional cartesian coordinate systems；
S3：The electric expansion bar of central processing unit controls second and the length of the 3rd electric expansion bar elongation setting, first
UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB alignment sensors are three-dimensional in XYZ
Coordinate in rectangular coordinate system all determines that the coordinate of the first UWB alignment sensors is (0,0,0), the 2nd UWB alignment sensors
Coordinate is (x2, y2, z2), and the coordinate of the 3rd UWB alignment sensors is (x3, y3, z3), the coordinate of the 4th UWB alignment sensors
For (x4, y4, z4), it is R that the first UWB alignment sensors, which detect it and position the distance between label with the first UWB,1, the 2nd UWB
It is R that alignment sensor, which detects it and positions the distance between label with the first UWB,2, the 3rd UWB alignment sensors detect its with
The distance between first UWB positioning labels are R3, the 4th UWB alignment sensors detect it the first UWB between positioning label
Distance be R4, it is assumed that the coordinate of the first UWB positioning labels is (x, y, z), obtains equation group：
Due to x2, x3, x4, y2, y3, y4, z2, z3, z4 is given value, using the most young waiter in a wineshop or an inn based on Taylor series expansion
Multiplication is iterated solution, obtains x, and y, z value obtains the coordinate value of the coordinate value, i.e. pet of the first UWB positioning labels, together
Reason calculates the coordinate value of the coordinate value that the 2nd UWB positions label, i.e. storage food device；
S4：CPU eats the coordinate value of device according to storage and the coordinate value of pet calculates storage food device and pet
Between horizontal range and vertical distance, CPU and controller carry out radio communication, pass through the first expansion link and adjust
The height of storage food device so that the vertical distance between storage food device and pet reaches setting value H1, then controls storage food device
On sound output module send especial sound set in advance and attract pet to note；
S5：CPU detects the horizontal range between storage food device and pet in real time, is set when horizontal range is more than
During definite value D1, control rotating mechanism is rotated to the direction close to pet, and sliding block is driven to the side close to pet by drive mechanism
To motion, when horizontal range, which is more than setting value D3, is less than setting value D2, D1 ＞ D2 ＞ D3, control rotating mechanism is to away from pet
Direction rotate, drive sliding block move to away from the direction of pet by drive mechanism, when horizontal range is less than setting value D3,
Central processing unit controls rotating mechanism stops operating, and drive mechanism is stopped, and sends instructions to controller, and controller passes through
The pet food that motor is opened in outlet door, storage food device is fallen from outlet door, and pet obtains food, sound output
Module stops sending sound, and trainer is stopped.
Preferably, in the step S5, rotating mechanism is when rotating, and controller controls to store up by the first electric expansion bar
Device is eaten to move up and down.Pet is attracted to note, training pet spring.
Preferably, user can carry out radio communication by smart mobile phone and trainer, setting trainer is doted on
Thing jump training, central processing unit controls storage food device is moved to above pet, the sound output mould on control storage food device
Block sends especial sound set in advance and attracts pet to note, CPU is detected between storage food device and pet in real time
Vertical distance, pass through the first electric expansion bar adjustment storage food device height so that storage food device and pet between it is vertical away from
From consistently greater than setting value H2, CPU detects the ordinate value of pet, is set when the height that pet takeoffs upwards is more than
When definite value H3 or pet number of skips reach setting value, CPU sends instructions to controller, and controller passes through driving
The pet food that motor is opened in outlet door, storage food device is fallen from outlet door, and pet obtains food, sound output module
Stopping sends sound, and trainer is stopped.User can also be moved up and down by smart mobile phone remote manual control storage food device.
The present invention substantial effect be：(1) there is very strong interest, easily cause the interest of pet, pet passes through
Good body-building effect is reached with trainer interaction.(2) when pet motions distance reaches certain value, storage food device stops fortune
Dynamic, the pet food that outlet door is automatically opened up in certain time, storage food device is fallen from outlet door, and pet obtains food,
The amount of exercise of rational control pet, prevents pet from endangering health because of excessive amount of motion and without feeding in time.(3) rationally control
The distance between trainer and pet, that is, ensure that pet is not easy to catch trainer, be also prevented from trainer from pet
Pet is set to lose interest farther out.(4) jump training can be carried out to pet.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present invention；
Fig. 2 is the top view of storage food device；
Fig. 3 is a kind of circuit theory connection block diagram of the present invention；
Fig. 4 is the XYZ three-dimensional cartesian coordinate systems set up using the first UWB alignment sensors as origin.
In figure：1st, trainer, 2, signal transceiver, 3, base, 4, column, 5, CPU, 6, first is wireless
Communication module, the 7, the first UWB alignment sensors, 8, rotating mechanism, 9, crossbeam, 10, guide rail, 11, sliding block, 12, drive mechanism,
13rd, storage food device, the 14, first electric expansion bar, 15, import door, 16, outlet door, 17, motor, 18, controller,
19th, the second wireless communication module, 20, sound output module, the 21, the 2nd UWB alignment sensors, the 22, second electric expansion bar,
23rd, the 3rd electric expansion bar, the 24, the 3rd UWB alignment sensors, the 25, the 4th UWB alignment sensors, 26, microprocessor, 27,
Three wireless communication modules, 28, control button, the 29, the first UWB positioning labels, 30, LED, 31, touch-screen, the 32, the 2nd UWB determines
Position label, 33, through hole.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment：A kind of system for pet body-building of the present embodiment, as shown in Figure 1, Figure 2, Figure 3 shows, including training cartridge
1 and the signal transceiver 2 being worn on pet are put, trainer 1 includes base 3, and base 3 is provided with column 4, center processing
Unit 5, the first wireless communication module 6 and the first UWB alignment sensors 7, column 4 are provided with the rotating mechanism 8 that can be horizontally rotated,
Rotating mechanism 8 is connected with the crossbeam 9 of laterally setting, and crossbeam 9 is provided with guide rail 10, and guide rail 10 is provided with what can be moved along guide rail 10
The drive mechanism 12 that sliding block 11 and driving sliding block 11 are moved, the lower section of sliding block 11 is provided with the storage food device for being used to store pet food
13, storage food device 13 is spherical in shape and is made of clear material, and several LEDs 30, storage food device are additionally provided with storage food device 13
13 tops are provided with the first electric expansion bar 14, and the top of the first electric expansion bar 14 is connected with sliding block 11, the top of storage food device 13
It is additionally provided with import door 15, the motor that storage food device 13 bottom is opened and closed provided with outlet door 16 and driving outlet door 16
17, storage, which is eaten, is additionally provided with controller 18, the second wireless communication module 19, the UWB of sound output module 20 and the 2nd positioning on device 13
Label 32, the top of column 4 is provided with the 2nd UWB alignment sensors 21 and the second electric expansion bar 22 and the 3rd transversely set
Electric expansion bar 23, the front end of the second electric expansion bar 22 is provided with the 3rd UWB alignment sensors 24, the front end of the 3rd electric expansion bar 23
Provided with the 4th UWB alignment sensors 25, signal transceiver 2 includes microprocessor 26, the 3rd wireless communication module 27, control button
28 and the first UWB positioning label 29, CPU 5 respectively with the first wireless communication module 6, rotating mechanism 8, drive mechanism
12nd, the second electric expansion bar 22, the 3rd electric expansion bar 23, the first UWB alignment sensors 7, the 2nd UWB alignment sensors 21,
3rd UWB alignment sensors 24 and the 4th UWB alignment sensors 25 are electrically connected, controller 18 respectively with the first electric expansion bar
14th, motor 17, the second wireless communication module 19, sound output module 20, the electricity of the UWB of LED 30 and the 2nd positioning label 32
Connection, microprocessor 26 is electrically connected with the 3rd wireless communication module 27, the UWB of control button 28 and the first positioning labels 29 respectively.
The line of first UWB alignment sensors 7 and the 2nd UWB alignment sensors 21 is vertical with base 3, the first UWB positioning
The line of the UWB alignment sensors 21 of sensor 7 and the 2nd passes through the center of rotating mechanism 8, the 2nd UWB alignment sensors 21 and the
The line of three UWB alignment sensors 24 is parallel with base 3, the 2nd UWB alignment sensors 21 and the 4th UWB alignment sensors 25
Line is parallel with base 3, and the 2nd UWB alignment sensors 21 and the line of the 3rd UWB alignment sensors 24 and the 2nd UWB positioning are passed
The line of the UWB alignment sensors 25 of sensor 21 and the 4th is vertical.Base is horizontally disposed with, now, the first UWB alignment sensors and the
The line and horizontal plane of two UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and the 4th
Plane and plane-parallel where UWB alignment sensors.Storage food device 13 is provided with several through holes 33, makes the smell of food
Evaporate, attract pet to note.Drive mechanism 12 is linear electric motors.
Signal transceiver is worn on the pet for needing body-building, and pet food is put into storage food device by user manually.
Enabling signal transceiver works, and signal transceiver sends enabled instruction, first by the 3rd wireless communication module to trainer
UWB positioning labels send the UWB signal with itself particular number to trainer.
Trainer receives enabled instruction by the first wireless communication module, starts working, passes through the first radio communication mold
Block sends enabled instruction to storage food device, and storage food device is started working, and the 2nd UWB positioning labels, which are sent, carries itself particular number
UWB signal to trainer, as shown in figure 4, trainer is using the first UWB alignment sensors as origin, positioned with the first UWB
The direction (i.e. direction straight up) that sensor points to the 2nd UWB alignment sensors is Z axis positive direction, is positioned and passed with the 2nd UWB
The direction that sensor points to the 3rd UWB alignment sensors is Y-axis positive direction, and the 4th UWB positioning is pointed to the 2nd UWB alignment sensors
The direction of sensor is X-axis positive direction, sets up XYZ three-dimensional cartesian coordinate systems.
The electric expansion bar of central processing unit controls second and the length of the 3rd electric expansion bar elongation setting, the first UWB
Alignment sensor, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB alignment sensors are in XYZ three-dimensional straights
Coordinate in angular coordinate system all determines that the coordinate of the first UWB alignment sensors is (0,0,0), the seat of the 2nd UWB alignment sensors
Be designated as (0,0, z2), the coordinates of the 3rd UWB alignment sensors is (0, y3, z2), the coordinates of the 4th UWB alignment sensors for (x4,
0, z2) it is R that, the first UWB alignment sensors detect it to position the distance between label with the first UWB by TOA methods1, the
It is R that two UWB alignment sensors detect it to position the distance between label with the first UWB by TOA methods2, the 3rd UWB positioning
It is R that sensor detects it to position the distance between label with the first UWB by TOA methods3, the 4th UWB alignment sensors lead to
It is R to cross TOA methods and detect it to position the distance between label with the first UWB4, it is assumed that the first UWB positioning label coordinate be
(x, y, z), sets up equation group, calculates x, and y, z value obtains the coordinate of the coordinate value, i.e. pet of the first UWB positioning labels
Value, similarly calculates the coordinate value of the coordinate value that the 2nd UWB positions label, i.e. storage food device.
CPU eats the coordinate value of device according to storage and the coordinate value of pet calculate storage food device and pet it
Between horizontal range and vertical distance, CPU and controller carry out radio communication, pass through the adjustment storage of the first expansion link
The height of device is eaten so that the vertical distance between storage food device and pet reaches setting value H1, then on control storage food device
Sound output module send especial sound set in advance (such as snacks plastic packaging bag send " Su, Su " sound), control LED
Lamp flashes the light for sending various different colours, to attract the attention of pet.Angle of the rotating mechanism provided with detection rotational angle
Detection module, 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 more than setting value
During D1, control rotating mechanism rotates (speed is slower) to the direction close to pet, drives sliding block to dote on to close by drive mechanism
The direction motion (speed is slower) of thing, attracts pet to note, when horizontal range, which is more than setting value D3, is less than setting value D2, D1 ＞
D2 ＞ D3, control rotating mechanism is rotated to the direction away from pet, and sliding block is driven to the direction away from pet by drive mechanism
Motion (calculates pet translational speed, the rotating speed of rotating mechanism and the translational speed of sliding block are adjusted according to pet speed correspondence), when
When horizontal range is less than setting value D3 (pet catch up with storage food device), central processing unit controls rotating mechanism stops operating, and drives
Motivation structure is stopped, and sends instructions to controller, and controller opens doting in outlet door, storage food device by motor
Thing food is fallen from outlet door, and pet obtains food, and sound output module stops sending sound, and LED stops flicker, training
Device is stopped.
CPU detects the coordinate value of pet in real time, is calculated often according to the coordinate value that adjacent double sampling is obtained
The displacement S of individual sampling period peti, so as to calculate total displacement S of pet, i.e.,When pet
When total displacement S reaches preset value, central processing unit controls rotating mechanism stops operating, and drive mechanism is stopped, hair
Instruction is sent to controller, controller opens pet food in outlet door, storage food device from outlet door by motor
Fall, pet obtains food, sound output module stops sending sound, and LED stops flicker, and trainer is stopped.It is anti-
Only pet excessive amount of motion and do not feed, it is ensured that the health of pet.
Touch-screen 31 is additionally provided with base 3, touch-screen 31 is electrically connected with CPU 5.Touch-screen can show training
The parameters such as device continuous working period, dump energy, user can set the running parameter and history of trainer by touch-screen
Training record.Storage food device may be alternatively configured various animals shaped, such as dog, the shape of cat, be conducive to attracting pet.
User can carry out radio communication by smart mobile phone and trainer, and setting trainer carries out pet jump instruction
Practice, can also be set by touch-screen, central processing unit controls storage food device is moved to above pet, on control storage food device
Sound output module sends especial sound set in advance, and LED flicker attracts pet to notice that CPU is examined in real time
The vertical distance surveyed between storage food device and pet, the height of storage food device is adjusted by the first electric expansion bar so that storage food
Vertical distance between device and pet is consistently greater than setting value H2, and CPU detects the ordinate value of pet, when doting on
When the height that thing takeoffs upwards is more than setting value H3 or pet number of skips and reaches setting value, CPU is sent instructions to
Controller, controller is opened the pet food in outlet door, storage food device by motor and fallen from outlet door, pet
Food is obtained, sound output module stops sending sound, and LED stops flicker, and trainer is stopped.
The control method of a kind of system for pet body-building of the present embodiment, it is adaptable to which above-mentioned one kind is strong for pet
The system of body, comprises the following steps：
S1：Enabling signal transceiver is worked, and signal transceiver is sent to trainer by the 3rd wireless communication module and opened
Dynamic instruction, the first UWB positioning labels send the UWB signal with itself particular number to trainer；
S2：Trainer receives enabled instruction by the first wireless communication module, starts working, passes through the first radio communication
Module sends enabled instruction to storage food device, and storage is eaten device and started working, and the 2nd UWB positioning labels are sent with itself specific volume
Number UWB signal to trainer, trainer is referred to using the first UWB alignment sensors as origin with the first UWB alignment sensors
It is Z axis positive direction to the direction (i.e. direction straight up) of the 2nd UWB alignment sensors, is pointed to the 2nd UWB alignment sensors
The direction of 3rd UWB alignment sensors is Y-axis positive direction, and the 4th UWB alignment sensors are pointed to the 2nd UWB alignment sensors
Direction is X-axis positive direction, sets up XYZ three-dimensional cartesian coordinate systems；
S3：The electric expansion bar of central processing unit controls second and the length of the 3rd electric expansion bar elongation setting, first
UWB alignment sensors, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB alignment sensors are three-dimensional in XYZ
Coordinate in rectangular coordinate system all determines that the coordinate of the first UWB alignment sensors is (0,0,0), the 2nd UWB alignment sensors
Coordinate is (0,0, z2), and the coordinate of the 3rd UWB alignment sensors is (0, y3, z2), and the coordinate of the 4th UWB alignment sensors is
(x4,0, z2), it is R that the first UWB alignment sensors, which detect it and position the distance between label with the first UWB,1, the 2nd UWB determine
It is R that level sensor, which detects it and positions the distance between label with the first UWB,2, the 3rd UWB alignment sensors detect itself and
The distance between one UWB positioning labels are R3, the 4th UWB alignment sensors detect it the first UWB between positioning label
Distance is R4, it is assumed that the coordinate of the first UWB positioning labels is (x, y, z), obtains equation group：
Due to x4, y3, z2 is given value, and solution is iterated using the least square method based on Taylor series expansion,
X is obtained, y, z value obtains the coordinate value of the coordinate value, i.e. pet of the first UWB positioning labels, similarly calculates the 2nd UWB and determine
The coordinate value of the coordinate value of position label, i.e. storage food device；
S4：CPU eats the coordinate value of device according to storage and the coordinate value of pet calculates storage food device and pet
Between horizontal range and vertical distance, CPU and controller carry out radio communication, pass through the first expansion link and adjust
The height of storage food device so that the vertical distance between storage food device and pet reaches setting value H1, then controls storage food device
On sound output module send especial sound set in advance (such as snacks plastic packaging bag send " Su, Su " sound), control
LED flashes the light for sending various different colours, to attract the attention of pet；
S5：CPU detects the horizontal range between storage food device and pet in real time, is set when horizontal range is more than
During definite value D1, control rotating mechanism to close to pet direction rotate (speed is slower), by drive mechanism drive sliding block to by
The direction motion (speed is slower) of nearly pet, attracts pet to note, when horizontal range, which is more than setting value D3, is less than setting value D2,
D1 ＞ D2 ＞ D3, control rotating mechanism is rotated to the direction away from pet, and sliding block is driven to remote pet by drive mechanism
Direction motion (calculates pet translational speed, the movement of the rotating speed and sliding block of rotating mechanism is adjusted according to pet translational speed correspondence
Speed, makes rotating mechanism angular speed and the sum velocity of sliding block translational speed be equal to or more than pet speed), when horizontal range is less than
During setting value D3 (pet catch up with storage food device), central processing unit controls rotating mechanism stops operating, and drive mechanism stops work
Make, send instructions to controller, controller opens pet food in outlet door, storage food device from outlet by motor
Door is fallen, and pet obtains food, and sound output module stops sending sound, and LED stops flashing, and trainer stops
Work.
CPU detects the coordinate value of pet in real time, is calculated often according to the coordinate value that adjacent double sampling is obtained
The displacement S of individual sampling period peti, so as to calculate total displacement S of pet, i.e.,When pet
When total displacement S reaches preset value, central processing unit controls rotating mechanism stops operating, and drive mechanism is stopped, hair
Instruction is sent to controller, controller opens pet food in outlet door, storage food device from outlet door by motor
Fall, pet obtains food, sound output module stops sending sound, and LED stops flashing, and trainer stops work
Make, prevent pet excessive amount of motion and do not feed, it is ensured that the health of pet.
In step S5, rotating mechanism is when rotating, and controller above and below the first electric expansion bar control storage food device by transporting
It is dynamic.Pet is attracted to note, training pet spring.
User can carry out radio communication by smart mobile phone and trainer, and setting trainer carries out pet jump instruction
Practice, central processing unit controls storage food device is moved to above pet, the sound output module on control storage food device sends pre-
The especial sound that first sets attracts pet to note, CPU detect in real time between storage food device and pet it is vertical away from
From, pass through the first electric expansion bar adjustment storage food device height so that storage food device and pet between vertical distance all the time
More than setting value H2, CPU detects the ordinate value of pet, when the height that pet takeoffs upwards is more than setting value H3
Or pet number of skips, when reaching setting value, CPU sends instructions to controller, and controller is beaten by motor
The pet food outputed in a mouthful door, storage food device is fallen from outlet door, and pet obtains food, and sound output module stops hair
Go out sound, LED stops flashing, and trainer is stopped.User can also pass through smart mobile phone remote manual control storage food dress
Put up and down motion.
Claims (6)
1. a kind of system for pet body-building, it is characterised in that：Including trainer (1) and the signal being worn on pet
Transceiver (2), the trainer (1) includes base (3), and the base (3) is provided with column (4), CPU
(5), the first wireless communication module (6) and the first UWB alignment sensors (7), the column (4) are provided with the rotation that can be horizontally rotated
Rotation mechanism (8), the rotating mechanism (8) is connected with the crossbeam (9) of laterally setting, and the crossbeam (9) is provided with guide rail (10), institute
Guide rail (10) is stated provided with the sliding block (11) and the mobile drive mechanism (12) of driving sliding block (11) that can be moved along guide rail (10),
The storage food device (13) for being used to store pet food is provided with below the sliding block (11), the storage food device (13) is spherical in shape, institute
State and the first electric expansion bar (14), the top of first electric expansion bar (14) and sliding block are provided with the top of storage food device (13)
(11) connect, import door (15) is additionally provided with the top of the storage food device (13), described storage food device (13) bottom is provided with outlet
Controller is additionally provided with door (16) and the motor (17) of driving outlet door (16) opening and closing, the storage food device (13)
(18), the second wireless communication module (19), sound output module (20) and the 2nd UWB positioning labels (32), the column (4)
Top is provided with the 2nd UWB alignment sensors (21) and the second electric expansion bar (22) transversely set and the 3rd electric expansion
Bar (23), the second electric expansion bar (22) front end is provided with the 3rd UWB alignment sensors (24), the 3rd electric expansion bar
(22) front end is provided with the 4th UWB alignment sensors (25), and the signal transceiver (2) includes microprocessor (26), the 3rd wireless
Communication module (27), control button (28) and the first UWB positioning labels (29), the CPU (5) is respectively with first
Wireless communication module (6), rotating mechanism (8), drive mechanism (12), the second electric expansion bar (22), the 3rd electric expansion bar
(23), the first UWB alignment sensors (7), the 2nd UWB alignment sensors (21), the 3rd UWB alignment sensors (24) and the 4th
UWB alignment sensors (25) electrically connect, the controller (18) respectively with the first electric expansion bar (14), motor (17),
Second wireless communication module (19), sound output module (20) and the 2nd UWB positioning labels (32) electrical connection, the microprocessor
(26) electrically connected respectively with the 3rd wireless communication module (27), control button (28) and the first UWB positioning label (29)；
CPU eats the coordinate value of device according to storage and the coordinate value of pet is calculated between storage food device and pet
Horizontal range and vertical distance, CPU carry out radio communication with controller, pass through the first expansion link adjustment storage food dress
The sound on device is eaten in the height put so that the vertical distance between storage food device and pet reaches setting value H1, then control storage
Sound output module sends especial sound set in advance, attracts pet to note, CPU detect in real time storage food device with
Horizontal range between pet, when horizontal range is more than setting value D1, control rotating mechanism is rotated to the direction close to pet,
Drive sliding block to be moved to the direction close to pet by drive mechanism, attract pet to note, when horizontal range is more than setting value D3
During less than setting value D2, D1 ＞ D2 ＞ D3, control rotating mechanism is rotated to the direction away from pet, is driven and slided by drive mechanism
Block is moved to the direction away from pet, and when horizontal range is less than setting value D3, central processing unit controls rotating mechanism stops
Rotate, drive mechanism is stopped, send instructions to controller, controller opens outlet door, storage food dress by motor
Pet food in putting is fallen from outlet door, and pet obtains food, and sound output module stops sending sound, and trainer stops
Only work.
2. a kind of system for pet body-building according to claim 1, it is characterised in that：The first UWB positioning is passed
The line of sensor (7) and the 2nd UWB alignment sensors (21) is vertical with base (3), the 2nd UWB alignment sensors (21) and
The line of 3rd UWB alignment sensors (24) is parallel with base (3), and the 2nd UWB alignment sensors (21) and the 4th UWB are fixed
The line of level sensor (25) is parallel with base (3), the 2nd UWB alignment sensors (21), the 3rd UWB alignment sensors
(24) and the 4th UWB alignment sensors (25) not on the same line.
3. a kind of system for pet body-building according to claim 2, it is characterised in that：2nd UWB alignment sensors
(21) and the 3rd UWB alignment sensors (24) line and the 2nd UWB alignment sensors (21) and the 4th UWB alignment sensors
(25) angle of line is 45-135 degree.
4. the control method of a kind of system for pet body-building, it is adaptable to as described in any claim in claim 1-3
A kind of system for pet body-building, it is characterised in that comprise the following steps：
S1：Enabling signal transceiver works, and signal transceiver sends startup to trainer by the 3rd wireless communication module and referred to
Order, the first UWB positioning labels send the UWB signal with itself particular number to trainer；
S2：Trainer receives enabled instruction by the first wireless communication module, starts working, passes through the first wireless communication module
Enabled instruction is sent to storage food device, storage food device is started working, and the 2nd UWB positioning labels are sent with itself particular number
UWB signal is to trainer, and trainer is using the first UWB alignment sensors as origin, and direction is Z axis positive direction straight up,
Set up XYZ three-dimensional cartesian coordinate systems；
S3：The electric expansion bar of central processing unit controls second and the length of the 3rd electric expansion bar elongation setting, the first UWB determine
Level sensor, the 2nd UWB alignment sensors, the 3rd UWB alignment sensors and the 4th UWB alignment sensors are at the three-dimensional right angles of XYZ
Coordinate in coordinate system all determines that the coordinate of the first UWB alignment sensors is (0,0,0), the coordinate of the 2nd UWB alignment sensors
For (x2, y2, z2), the coordinate of the 3rd UWB alignment sensors is (x3, y3, z3), and the coordinate of the 4th UWB alignment sensors is
(x4, y4, z4), it is R that the first UWB alignment sensors, which detect it and position the distance between label with the first UWB,1, the 2nd UWB determine
It is R that level sensor, which detects it and positions the distance between label with the first UWB,2, the 3rd UWB alignment sensors detect itself and
The distance between one UWB positioning labels are R3, the 4th UWB alignment sensors detect it the first UWB between positioning label
Distance is R4, it is assumed that the coordinate of the first UWB positioning labels is (x, y, z), obtains equation group：
Due to x2, x3, x4, y2, y3, y4, z2, z3, z4 is given value, using the least square method based on Taylor series expansion
Solution is iterated, x is obtained, y, z value obtains the coordinate value of the coordinate value, i.e. pet of the first UWB positioning labels, similarly counted
Calculate the coordinate value of the coordinate value that the 2nd UWB positions label, i.e. storage food device；
S4：CPU eats the coordinate value of device according to storage and the coordinate value of pet is calculated between storage food device and pet
Horizontal range and vertical distance, CPU and controller carry out radio communication, pass through the first expansion link adjustment storage food
The height of device so that the vertical distance between storage food device and pet reaches setting value H1, then on control storage food device
Sound output module sends especial sound set in advance and attracts pet to note；
S5：CPU detects the horizontal range between storage food device and pet in real time, when horizontal range is more than setting value
During D1, control rotating mechanism is rotated to the direction close to pet, drives sliding block to be transported to the direction close to pet by drive mechanism
Dynamic, when horizontal range, which is more than setting value D3, is less than setting value D2, D1 ＞ D2 ＞ D3 control rotating mechanism to the side away from pet
To rotation, sliding block is driven to be moved to the direction away from pet by drive mechanism, when horizontal range is less than setting value D3, center
Processing unit control rotating mechanism stops operating, and drive mechanism is stopped, and sends instructions to controller, and controller passes through driving
The pet food that motor is opened in outlet door, storage food device is fallen from outlet door, and pet obtains food, sound output module
Stopping sends sound, and trainer is stopped.
5. a kind of control method of system for pet body-building according to claim 4, it is characterised in that：The step
In S5, rotating mechanism is when rotating, and controller is moved up and down by the first electric expansion bar control storage food device.
6. a kind of control method of system for pet body-building according to claim 4, it is characterised in that：User Ke Tong
Cross smart mobile phone and carry out radio communication with trainer, setting trainer carries out pet jump training, CPU control
System storage food device is moved to above pet, and the sound output module on control storage food device sends especial sound set in advance and inhaled
Draw pet to note, CPU detects the vertical distance between storage food device and pet in real time, passes through the first electric expansion
The height of bar adjustment storage food device so that the vertical distance between storage food device and pet is consistently greater than setting value H2, centre
The ordinate value that unit detects pet is managed, when the height that pet takeoffs upwards is more than setting value H3 or pet number of skips reaches and set
During definite value, CPU sends instructions to controller, and controller is opened in outlet door, storage food device by motor
Pet food fallen from outlet door, pet obtains food, and sound output module stops sending sound, and trainer stops work
Make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510613723.3A CN105340772B (en) | 2015-09-23 | 2015-09-23 | A kind of system and its control method for pet body-building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510613723.3A CN105340772B (en) | 2015-09-23 | 2015-09-23 | A kind of system and its control method for pet body-building |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105340772A CN105340772A (en) | 2016-02-24 |
| CN105340772B true CN105340772B (en) | 2017-10-27 |
Family
ID=55317062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510613723.3A Expired - Fee Related CN105340772B (en) | 2015-09-23 | 2015-09-23 | A kind of system and its control method for pet body-building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105340772B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107232083B (en) * | 2017-06-08 | 2022-05-24 | 浙江中医药大学 | Automatic record variable speed rotation diving platform experimental apparatus |
| CN107736268B (en) * | 2017-11-21 | 2019-11-22 | 台州缔亚时洁具有限公司 | A kind of pet interesting interaction toy |
| CN109349158B (en) * | 2018-12-08 | 2020-12-08 | 温州圆拓机械科技有限公司 | Livestock dog habit training device with protection and protection functions |
| CN109377900B (en) * | 2018-12-24 | 2023-09-29 | 福建明业新能源科技有限公司 | Storage structure of building facade LED screen |
| CN110575690B (en) * | 2019-09-30 | 2021-08-17 | 邵芮 | Pressing mechanism of filter press |
| CN114190295B (en) * | 2021-12-20 | 2023-06-09 | 珠海一微半导体股份有限公司 | Multi-pet robot control method, system and chip |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5111771A (en) * | 1990-01-25 | 1992-05-12 | Mathews Steven W | Exercise and amusement device for pets |
| CN103392618A (en) * | 2013-07-19 | 2013-11-20 | 长兴俊达塑胶玩具有限公司 | Fitness toy for pets |
| CN103766231A (en) * | 2013-11-22 | 2014-05-07 | 浙江科技学院 | Pet exercise device and control method thereof |
| CN105325313A (en) * | 2015-09-23 | 2016-02-17 | 浙江科技学院 | Pet fitness training system and working method thereof |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5648832A (en) * | 1979-09-28 | 1981-05-02 | Tadashi Iida | Exercising apparatus of racing horse |
| US8922363B2 (en) * | 2011-11-07 | 2014-12-30 | Min Jae SO | Animal training apparatus for locating collar transceiver using GPS and method of controlling the same |
-
2015
- 2015-09-23 CN CN201510613723.3A patent/CN105340772B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5111771A (en) * | 1990-01-25 | 1992-05-12 | Mathews Steven W | Exercise and amusement device for pets |
| CN103392618A (en) * | 2013-07-19 | 2013-11-20 | 长兴俊达塑胶玩具有限公司 | Fitness toy for pets |
| CN103766231A (en) * | 2013-11-22 | 2014-05-07 | 浙江科技学院 | Pet exercise device and control method thereof |
| CN105325313A (en) * | 2015-09-23 | 2016-02-17 | 浙江科技学院 | Pet fitness training system and working method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105340772A (en) | 2016-02-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105340772B (en) | A kind of system and its control method for pet body-building | |
| CN105325313B (en) | A kind of pet body-building training system and its method of work | |
| CN201761984U (en) | Medicine basket lifting device, conveying device, and fetching-delivering device | |
| CN106852262B (en) | A kind of layer stereo automation moving nursery bed system | |
| CN105309327B (en) | A kind of pet intelligent steward | |
| CN105309333B (en) | A kind of pet body-building system and its control method | |
| CN105284659B (en) | A kind of system and its method of work for helping pet body-building | |
| CN203345217U (en) | Automatic bagging device for barrels of water dispenser | |
| CN103766231B (en) | Pet exercise device and control method thereof | |
| CN105684979B (en) | A kind of automatic feeding device of the aquatic model organism of artificial feeding | |
| CN103749328A (en) | Pet bodybuilding system and working method for same | |
| CN209628422U (en) | Mulberry silkworm rearing transmission platform | |
| CN203692196U (en) | Bait feeding device | |
| CN206152725U (en) | Animal husbandry is with epidemic prevention medicine mixing apparatus | |
| CN102577993B (en) | Precision feeding equipment for free-range sow farming | |
| CN206068268U (en) | Follow-on feed mechanism | |
| CN203219798U (en) | Precise lactating sow feeding device | |
| CN207631823U (en) | Drug automatic medicine-dispensing device | |
| CN112005960A (en) | Method for automatically breeding pregnant female mice | |
| CN205760913U (en) | A kind of liquid veterinary drug produces uses quick mixing stirring device | |
| CN101758496B (en) | Scissor-fork type drug feeding mechanical hand | |
| CN107347460A (en) | A kind of edible mushroom cycle detection for bottled planting fungi fills agricultural equipment | |
| CN208783519U (en) | Breeding pigeon trough | |
| CN201423649Y (en) | Forficiform type medicine-feeding mechanical hand | |
| CN107047354A (en) | One kind pig feeding device and its control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171027 |