CN107717992A - A kind of control system and method for the full-automatic dog robot of the funny dog of energy - Google Patents
A kind of control system and method for the full-automatic dog robot of the funny dog of energy Download PDFInfo
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- CN107717992A CN107717992A CN201711045026.8A CN201711045026A CN107717992A CN 107717992 A CN107717992 A CN 107717992A CN 201711045026 A CN201711045026 A CN 201711045026A CN 107717992 A CN107717992 A CN 107717992A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
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Abstract
A kind of control system of the full-automatic dog robot of the funny dog of energy, it is characterised in that：Including communication module, environmental monitoring unit, feeding control unit, the control unit of mechanical hand one, the control unit of mechanical hand two and the travelling control unit being connected in control system two, communication module is connected with mobile phone and computer, and controllable robot is controlled by mobile phone or computer；Environmental monitoring unit can monitor surrounding environment and barrier, allow robot to circumvent barrier；Feeding control unit controls dog food and drinking-water to provide；The control unit mechanical hand one of mechanical hand one, mechanical hand one is allowed to complete to cast ball and pick up the action of ball；The action of two control unit mechanical hand of mechanical hand, two complete traction dog rope；Travelling control unit is used for the track route of control machine people.When owner stays out, dog toss can be accompanied to play.
Description
Technical field
The present invention relates to pet field, the control system of the full-automatic dog robot of more particularly to a kind of funny dog of energy and side
Method.
Background technology
With the propulsion of urbanization, increasing people lives in city, but between neighbours and not yet done network, in order to mediate
Solitarily, increasing people starts to raise pet, or even a member pet as family, pet bring to the life of people
Unlimited enjoyment.And in the pet fed, and based on cat and dog, and dog is because active active, it is necessary to which owner goes out with it daily
Go to play.But people, due to being busy with one's work, normal no time often goes out to walk a dog, and family activity space is narrow and small, and dog dog can not
Activity is opened, and if things go on like this, very unfavorable to the physical and mental health of dog dog, serious even suffers from depression.
When going on business and going out tourism, a problem is usually faced, the pet no one that is in looks after and fed, and exists now
Although there is pet hotel in some cities, pet can be placed in pet hotel and looked after when going on business and travelling, still
Pet is being away from home to after pet hotel, because in strange environment, may be nervous inadaptable.
The content of the invention
The problem to be solved in the present invention is：
1. solve owner to stay out, the uncared-for problem of dog；
2. solve the problems, such as that owner is busy to walk a dog；
The problem of 3. solution owner stays out, and dog no one with playing together.
The technical solution adopted by the present invention is as follows：
A kind of control system of the full-automatic dog robot of the funny dog of energy, it is characterised in that：Including being connected in control system two
Communication module, environmental monitoring unit, feeding control unit, the control unit of mechanical hand one, the control unit of mechanical hand two and walking
Control unit, communication module are connected with mobile phone and computer, and controllable robot is controlled by mobile phone or computer；Environmental monitoring unit
Surrounding environment and barrier can be monitored, allows robot to circumvent barrier；Feeding control unit controls dog food and drinking-water to provide；Machine
The control unit mechanical hand one of hand one, mechanical hand one is allowed to complete to cast ball and pick up the action of ball；The control unit mechanical hand of mechanical hand two
The action of two complete traction dog ropes；Travelling control unit is used for the track route of control machine people.
Further, environmental monitoring unit includes camera one and obstacle monitoring sensor, and camera one is used to identify thing
Body, the barrier that obstacle monitoring sensor is used in monitoring robot walking process, camera one and obstacle monitoring sensor are all
It is connected with control system two.
Further, feeding control unit includes weighing sensor one, valve one, liquid level sensor one, valve two, instruction
Lamp one and indicator lamp two, weighing sensor be used for detect dog food storage room kind dog food number, liquid level sensor one be used for detect
Drunk water in drinking-water storage room number, valve one is used to control break-make between dog food storage room and dog food groove, and valve two is used for
Break-make between control drinking-water storage room and drinking trough, indicator lamp one are used to warn dog food deficiency in dog food storage room；Indicator lamp
Two are used to warn subimbition in drinking-water storage room, weighing sensor one, valve one, liquid level sensor one, valve two, indicator lamp
One and indicator lamp two be all connected with control system two.
Further, the control unit of mechanical hand one includes drive device five, drive device six and angular transducer, driving dress
Five, drive device six and angular transducer is put all with control system two to be connected.
Further, the control unit of mechanical hand two includes recorded voice announcement unit (RVA unit), alignment sensor two, sensor one and motor
Five, recorded voice announcement unit (RVA unit), alignment sensor two, sensor one and motor five are both connected in control system two.
Further, travelling control unit includes the drive device three for allowing robot to move, and drive device three is connected to control
In system two processed.
A kind of control method of the full-automatic dog robot of the funny dog of energy, it is characterised in that including following control method：With
Family sets feeding time and feeding amount by mobile phone or computer, has arrived the time of specified feeding, the control valve one of control system two
Open, dog food drops to dog food groove from dog food storage room, for dog food, weighing sensor detection dog food releasing number, when up to
To the feeding amount of setting, valve one is closed, and when needing to feed water to dog, the control valve two of control system two is opened, and is drunk water from drink
Water storing chamber flows to drinking trough, is drunk for dog, liquid level sensor detection drinking-water release number, when the drinking-water for reaching setting value
Amount, valve two are closed；User can be walked a dog the time with mobile phone or computer setting, when needing outgoing walk a dog, the control of robot
System two controls recorded voice announcement unit (RVA unit) to play the recording that owner calls pet, and pet hears that recording is come by robot, robot
Control system two according to the center of the locating ring of sensor one on the ring of pull rope end, control system two is according to controlled motor
Five control hands grab one and hand grab two openings, the center of ring is then oriented according to the sensor one on ring in installation, further according to control
Formulate level sensor two position sell grab one and hand grab two position, then control hand grab one or hand grab two pass through ring centers,
And close, mechanical hand two has pulled pull rope, and robot is moved to a side, and camera one positions the position for handle of going out, machine
Hand one grips door handle, opens door, and mechanical hand traction dog is gone out, and is then shut off door, user's available handsets or computer setting machine
The route that device people walks a dog, in the way that walks a dog, the barrier in obstacle monitoring sensor detection robot traveling process, control system
Two control drive devices three, which turn to, gets around barrier, and when walking a dog, robot traction dog enters elevator, and camera one is electricity
The building that terraced floor control panel information transfer is inputted to control system two, control system two according to user by mobile phone or computer
Layer, mechanical hand one press the respective storey of elevator, are going out elevator, and when reaching doorway, camera one believes coded lock control panel
Breath is transferred to control system two, the password that control system two is inputted according to user by mobile phone or computer, and mechanical hand one presses phase
The password answered, door are opened, and robot traction dog enters within doors, closes door, and control system two controls hand by controlled motor five
Grab one and hand grab two openings, ring leave hand grab one and hand grab two；Detect that dog in activity, does not rest in camera one, control
For system two according to the control cast toy ball of five control machine hand of drive device one, the time user that each toss is played can be according to hand
Machine or computer are set, and after the time arrives, mechanical hand one stops casting ball, and after interval time arrives, camera detects dog again is
No to rest, if detecting that dog is resting, mechanical hand one does not cast ball；When mechanical hand one casts ball, obstacle monitoring sensing
Device detects surrounding space size and conveys information to control system two, and control system two adjusts palm according to the information received
With the angle of horizontal plane, so as to adjust the road strength that ball is cast out, angular transducer can detect the angle of palm and horizontal plane and anti-
Control system of feeding two.
Further, weighing sensor one can detect dog food in dog food storage room number, and information transfer to control
System two processed, when detecting the dog food deficiency setting value in dog food storage room, control system two controls indicator lamp one to light, and carries
The user that wakes up adds dog food.
Further, liquid level sensor one can detect drunk water in drinking-water storage room number, and convey information to control
System two processed, when detecting the subimbition setting value in drinking-water storage room, control system lights to two control indicator lamps two,
User is reminded to add drinking-water.
In summary, the beneficial effects of the invention are as follows：
1. when owner goes out, owner can be replaced to look after dog；
2. when owner has no time and walked a dog, robot can be automatically performed and walk a dog；
3. when owner stays out, dog toss can be accompanied to play.
Brief description of the drawings
Fig. 1 is the schematic diagram of robot;
Fig. 2 is the schematic diagram of mechanical hand one；
Fig. 3 is the schematic internal view of mechanical hand one；
Fig. 4 is the schematic diagram of mechanical hand two；
Fig. 5 is the schematic internal view of mechanical hand two.
Fig. 6 is control system figure.
Marked in figure：10- rings, 11- sensors one, 16- housings one, 17- hands grab one, 18- hands and grab two, 19- motors five,
20- rotating shafts five, 21- rotating shafts six, 22- gears one, 23- gears two, 24- recorded voice announcement unit (RVA unit)s, 25- alignment sensors two, 30-
Handgrip one, 31- housings two, 32- hands grab three, 33- hands and grab four, 34- alignment sensors five, 35- pressure sensors six, 36- electricity
Machine six, 37- rotating shafts seven, 38- rotating shafts eight, 39- gears three, 40- gears four, 42- pressings refer to, 45- arm parts one, 51- heads,
52- fuselages, 53- cameras one, 54- dog food storage rooms, 55- drinking-water storage rooms, 56- dog food grooves, 57- drinking troughs, 58- indicator lamps
One, 59- indicator lamp two, 65- arm parts two, 66- handgrips two, 85- palms three, 86- arms three, 87- jumper bars, 88- springs
One, 89- drive device five, 90- steel wire ropes, 91- fixed pulleys, 92- articulations digitorum manus, 93- fixators, 94- fingers, the 95- palms of the hand.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
Embodiment
A kind of full-automatic dog robot that can tease dog, including head 51, fuselage 52 and control system two, the bottom of fuselage 52
It is provided with and allows the mobile drive device three of robot, it is characterised in that：Head 51 can rotate relative to fuselage 52, pacify on head 51
Equipped with camera 1, the output end of camera 1 is connected with control system two, and fuselage 52 is provided with the He of dog food storage room 54
Drinking-water storage room 55, the lower section of dog food storage room 54 are provided with dog food groove 56, pass through valve between dog food storage room 54 and dog food groove 56
One control break-make, the lower section of drinking-water storage room 55 are provided with drinking trough 57, pass through valve two between storage room 55 of drinking water and drinking trough 57
Break-make is controlled, valve one and valve two are controlled by control system two；The machine for the ball that walks a dog can be launched by being provided with fuselage 52
Hand one and the mechanical hand two of traction dog, the control machine hand one of control system two and mechanical hand two, control system two and mobile phone or electricity
Brain connects.The bottom of dog food storage room 54 is provided with weighing sensor one, when weighing sensor one detects dog food storage room 54
In dog food when being less than setting value, control system two controls the indicator lamp 1 in dog food storage room 54 to light；Drinking-water storage room
Liquid level sensor 1 is installed in 55, when liquid level sensor one detects that the water level of drinking-water storage room 55 is less than setting value, control
Indicator lamp 2 59 in the control of system two drinking-water storage room 55 processed lights.Control system two can control dog food groove 56 and drinking trough 57
Slided with respect to fuselage 52, when to dog feeding, dog food groove 56 and drinking trough 57 skid off fuselage 52, when need not be to dog feeding,
Dog food groove 56 and drinking trough 57 slide into fuselage 52.Mechanical hand one includes palm 3 85 and arm 3 86, palm 3 85 and arm three
86 connections, palm 3 85 can grasp object, and the catapult-launching gear for launching the ball that walks a dog is provided with arm 3 86.Catapult-launching gear includes punching
Bar 87, spring 1 and the drive device 5 89 that ejection power is provided to jumper bar 87, one end connection connection jumper bar of spring 1
87, other end connection drive device 5 89.Palm 3 85 includes finger 94 and the palm of the hand 95, and finger 94 and the palm of the hand 95 pass through articulations digitorum manus
92 connections, fixator 93 is provided with the inner upper end of finger 94；In the inside of finger 94 and the palm of the hand 95, the lower section of fixator 93
Fixed pulley 91 is installed, the junction of fixator 93 and fixed pulley 91 is provided with steel wire rope 90, steel wire rope 90 and drive device six
It is connected.The angular transducer of detection palm 3 85 and horizontal plane angle is installed on palm 3 85.Mechanical hand two includes handgrip
2 66 and arm part 2 65, handgrip 2 66 is arranged on the end of arm part 2 65, and arm part 2 65 is arranged on fuselage 52, hand
Pull rope can have been led automatically by grabbing portion 2 66.Handgrip 2 66 includes housing 1, hand grab 1 and hand grab 2 18, housing one
Alignment sensor 2 25 is installed on 16, drive device one is installed in housing 1, the energy band of drive device one starts to grab 1
2 18 openings are grabbed with hand or are closed to pull pull rope, and recorded voice announcement unit (RVA unit) 24, drive device one, record are installed on housing 1
Sound playing device 24 and alignment sensor 2 25 are connected with the control system two of robot.Drive device one include motor 5 19,
Rotating shaft 5 20, rotating shaft 6 21, gear 1, gear 2 23, motor 5 19 are arranged on housing 1, the output shaft of motor 5 19
Connection rotating shaft 5 20, rotating shaft 5 20 are provided with gear 1 in housing 1 in rotating shaft 5 20, rotating shaft 6 21 is arranged on housing
In one 16, gear 2 23 is installed in rotating shaft 6 21, gear 1 and gear 2 23 are meshed, hand grab 1 and hand grab 2 18 points
An Zhuan not be on gear 1 and gear 2 23.
A kind of control system of the full-automatic dog robot of the funny dog of energy, it is characterised in that：Including being connected to control system
Communication module, environmental monitoring unit, feeding control unit, the control unit of mechanical hand one, the control unit of mechanical hand two on two and
Travelling control unit, communication module are connected with mobile phone and computer, and controllable robot is controlled by mobile phone or computer；Environmental monitoring
Unit can monitor surrounding environment and barrier, allow robot to circumvent barrier；Feeding control unit controls dog food and drinking-water to provide；
The control unit mechanical hand one of mechanical hand one, mechanical hand one is allowed to complete to cast ball and pick up the action of ball；The control unit machine of mechanical hand two
The action of the complete traction dog rope of device hand two；Travelling control unit is used for the track route of control machine people.
Further, environmental monitoring unit includes camera 1 and obstacle monitoring sensor, and camera 1 is used to know
Other object, the barrier that obstacle monitoring sensor is used in monitoring robot walking process, camera 1 and obstacle monitoring pass
Sensor is all connected with control system two.
Further, feeding control unit includes weighing sensor one, valve one, liquid level sensor one, valve two, instruction
Lamp 1 and indicator lamp 2 59, weighing sensor be used for detect 54 kinds of dog foods of dog food storage room number, liquid level sensor one is used
Drunk water in storage room 55 is drunk water in detection number, valve one is used to controlling logical between dog food storage room 54 and dog food groove 56
Disconnected, valve two is used to control the break-make between drinking-water storage room 55 and drinking trough 57, and indicator lamp one is used to warn dog food storage room
Dog food deficiency in 54；Indicator lamp two is used to warn subimbition in drinking-water storage room 55, weighing sensor one, valve one, liquid level
Sensor one, valve two, indicator lamp 1 and indicator lamp 2 59 are all connected with control system two.
Further, the control unit of mechanical hand one includes drive device five, drive device six and angular transducer, driving dress
Five, drive device six and angular transducer is put all with control system two to be connected.
Further, the control unit of mechanical hand two includes recorded voice announcement unit (RVA unit) 24, alignment sensor 2 25, sensor 1
With motor 5 19, recorded voice announcement unit (RVA unit) 24, alignment sensor 2 25, sensor 1 and motor 5 19 are both connected to control system
On two.
Further, travelling control unit includes the drive device three for allowing robot to move, and drive device three is connected to control
In system two processed.
A kind of control method of the full-automatic dog robot of the funny dog of energy, it is characterised in that including following control method：With
Family sets feeding time and feeding amount by mobile phone or computer, has arrived the time of specified feeding, the control valve one of control system two
Open, dog food drops to dog food groove 56 from dog food storage room 54, for dog food, weighing sensor detection dog food releasing number,
When the feeding amount for reaching setting, valve one is closed, and when needing to feed water to dog, the control valve two of control system two is opened, drinking-water
Flow to drinking trough 57 from drinking-water storage room 55, drunk for dog, liquid level sensor detection drinking-water release number, when reaching setting value
Amount of drinking water, valve two closes；User can be walked a dog the time with mobile phone or computer setting, when needing outgoing walk a dog, robot
Control system two control recorded voice announcement unit (RVA unit) 24 to play the recording that owner calls pet, pet hears that robot is come in recording
Side, the control system two of robot is according to the center of the locating ring 10 of sensor 1 on the ring 10 of pull rope end, control system
System two according to controlled motor 5 19 control hand grab 1 and hand grab 2 18 opening, then according to the sensor one on ring 10 in installation
11 orient the center of ring 10, further according to control alignment sensor 2 25 position sell grab 1 and hand grab 2 18 position, so
Afterwards control hand grab 1 or hand grab 2 18 centers for passing through ring 10, and close, mechanical hand two pull pull rope, and robot moves
To door side, camera 1 orients the position of door handle, and mechanical hand one grips door handle, opens door, mechanical hand traction dog
Go out, be then shut off door, the route that user's available handsets or computer setting robot walk a dog, in the way that walks a dog, obstacle monitoring passes
Barrier in sensor detection robot traveling process, control system two control drive device three to turn to and get around barrier, sauntering
When dog returns, robot traction dog enters elevator, camera one elevator floor control panel information transfer to control system two,
The floor that control system two is inputted according to user by mobile phone or computer, mechanical hand one press the respective storey of elevator, are going out electricity
Ladder, when reaching doorway, coded lock control faceplate formation is transferred to control system two by camera one, and control system two is according to user
The password inputted by mobile phone or computer, mechanical hand one press corresponding password, and door is opened, and robot traction dog enters within doors,
Close door, control system two by controlled motor 5 19 control hand grab 1 and hand grab 2 18 openings, ring 10 leaves hand and grabs one
17 and hand grab 2 18；Detect that dog in activity, does not rest in camera one, control system two is according to control drive device 5 89
The cast toy ball of control machine hand one, the time user that each toss is played can be set according to mobile phone or computer, after the time arrives,
Mechanical hand one stops casting ball, and after interval time arrives, camera detects whether dog is resting again, if detecting that dog stops
Breath, mechanical hand one do not cast ball；When mechanical hand one casts ball, obstacle monitoring sensor detects surrounding space size and information
Control system two is passed to, control system two adjusts the angle of palm and horizontal plane, thrown so as to adjust ball according to the information received
The road strength of injection, angular transducer can detect the angle of palm and horizontal plane and feed back to control system two.
Further, weighing sensor one can detect the number of dog food in dog food storage room 54, and information transfer is given
Control system two, when detecting the dog food deficiency setting value in dog food storage room 54, control system two controls indicator lamp 1
Light, remind user to add dog food.
Further, liquid level sensor one can detect drunk water in drinking-water storage room 55 number, and convey information to
Control system two, when detecting the subimbition setting value in drinking-water storage room 55, control system is to two control indicator lamps two
59 light, and remind user to add drinking-water.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (9)
- A kind of 1. control system of the full-automatic dog robot of the funny dog of energy, it is characterised in that：Including being connected to control system two On communication module, environmental monitoring unit, feeding control unit, the control unit of mechanical hand one, the control unit of mechanical hand two and row Control unit is walked, communication module is connected with mobile phone and computer, and controllable robot is controlled by mobile phone or computer；Environmental monitoring list Member can monitor surrounding environment and barrier, allow robot to circumvent barrier；Feeding control unit controls dog food and drinking-water to provide；Machine The control unit mechanical hand one of device hand one, mechanical hand one is allowed to complete to cast ball and pick up the action of ball；The control unit machine of mechanical hand two The action of the complete traction dog rope of hand two；Travelling control unit is used for the track route of control machine people.
- 2. the control system of the full-automatic dog robot of the funny dog of a kind of energy as claimed in claim 1, it is characterised in that described Environmental monitoring unit includes camera one（53）Sensor, camera one are monitored with obstacle（53）For identifying object, obstacle prison Survey the barrier that sensor is used in monitoring robot walking process, camera one（53）Sensor is monitored with obstacle all and is controlled System two is connected.
- 3. the control system of the full-automatic dog robot of the funny dog of a kind of energy as claimed in claim 1, it is characterised in that described Feeding control unit includes weighing sensor one, valve one, liquid level sensor one, valve two, indicator lamp one（58）And indicator lamp Two（59）, weighing sensor is for detecting dog food storage room（54）Kind of dog food number, liquid level sensor one, which is used to detect, drinks water Storage room（55）Middle drinking-water number, valve one be used for control dog food storage room（54）With dog food groove（56）Between break-make, valve Door two is used to control drinking-water storage room（55）With drinking trough（57）Between break-make, indicator lamp one be used for warn dog food storage room （54）Middle dog food deficiency；Indicator lamp two is used to warn drinking-water storage room（55）Middle subimbition, weighing sensor one, valve one, Liquid level sensor one, valve two, indicator lamp one（58）With indicator lamp two（59）All it is connected with control system two.
- 4. the control system of the full-automatic dog robot of the funny dog of a kind of energy as claimed in claim 1, it is characterised in that described The control unit of mechanical hand one includes drive device five, drive device six and angular transducer, drive device five, the and of drive device six Angular transducer is all connected with control system two.
- 5. the control system of the full-automatic dog robot of the funny dog of a kind of energy as claimed in claim 1, it is characterised in that described The control unit of mechanical hand two includes recorded voice announcement unit (RVA unit)（24）, alignment sensor two（25）, sensor one（11）With motor five （19）, recorded voice announcement unit (RVA unit)（24）, alignment sensor two（25）, sensor one（11）With motor five（19）It is both connected to control system On system two.
- 6. the control system of the full-automatic dog robot of the funny dog of a kind of energy as claimed in claim 1, it is characterised in that described Travelling control unit includes the drive device three for allowing robot to move, and drive device three is connected in control system two.
- 7. a kind of control method of the full-automatic dog robot of the funny dog of energy, it is characterised in that including following control method：User Feeding time and feeding amount are set by mobile phone or computer, arrived the time of specified feeding, the control valve of control system two a dozen Open, dog food is from dog food storage room（54）Drop to dog food groove（56）, for dog food, weighing sensor detection dog food is released more Few, when the feeding amount for reaching setting, valve one is closed, and when needing to feed water to dog, the control valve two of control system two is opened, drink Water from drinking-water storage room（55）Flow to drinking trough（57）, drunk for dog, liquid level sensor detection drinking-water release number, when reaching The amount of drinking water of setting value, valve two are closed；User can be walked a dog the time with mobile phone or computer setting, when needing outgoing walk a dog, The control system two of robot controls recorded voice announcement unit (RVA unit)（24）The recording that owner calls pet is played, pet hears that recording is come By robot, the control system two of robot is according to the ring of pull rope end（10）On sensor one（11）Locating ring（10）'s Center, control system two is according to controlled motor five（19）Control hand grabs one（17）Two are grabbed with hand（18）Open, then according to ring （10）On installation sensor one（11）Orient ring（10）Center, further according to control alignment sensor two（25）Orient Hand grabs one（17）Two are grabbed with hand（18）Position, then control hand grab one（17）Or hand grabs two（18）Through ring（10）Center, And close, mechanical hand two has pulled pull rope, and robot is moved to a side, camera one（53）The position of door handle is oriented, Mechanical hand one grips door handle, opens door, and mechanical hand traction dog is gone out, and is then shut off door, user's available handsets or computer are set Determine the route that robot walks a dog, in the way that walks a dog, the barrier in obstacle monitoring sensor detection robot traveling process, control System two controls drive device three to turn to and gets around barrier, and when walking a dog, robot traction dog enters elevator, camera one Elevator floor control panel information transfer is inputted to control system two, control system two according to user by mobile phone or computer Floor, mechanical hand one press the respective storey of elevator, are going out elevator, when reaching doorway, camera one is coded lock control panel The password that information transfer is inputted to control system two, control system two according to user by mobile phone or computer, mechanical hand one are pressed Corresponding password, door are opened, and robot traction dog enters within doors, closes door, control system two passes through controlled motor five（19） Control hand grabs one（17）Two are grabbed with hand（18）Open, ring（10）Leave hand and grab one（17）Two are grabbed with hand（18）；Examined in camera one Dog is measured in activity, is not rested, control system two is according to control drive device five（89）The cast toy ball of control machine hand one, The time user that each toss is played can be set according to mobile phone or computer, and after the time arrives, mechanical hand one stops casting ball, After the time arrives, camera detects whether dog is resting again, if detecting that dog is resting, mechanical hand one does not cast ball； When mechanical hand one casts ball, obstacle monitoring sensor detection surrounding space size simultaneously conveys information to control system two, controls System two adjusts the angle of palm and horizontal plane, so as to adjust the road strength that ball is cast out, angular transducer according to the information received The angle of palm and horizontal plane can be detected and feed back to control system two.
- 8. the control method of the full-automatic dog robot of the funny dog of a kind of energy as claimed in claim 7, it is characterised in that described Weighing sensor one can detect dog food storage room（54）The number of middle dog food, and information transfer is worked as inspection to control system two Measure dog food storage room（54）In dog food deficiency setting value when, control system two control indicator lamp one（58）Light, remind and use Add dog food in family.
- 9. the control method of the full-automatic dog robot of the funny dog of a kind of energy as claimed in claim 7, it is characterised in that described Liquid level sensor one can detect drinking-water storage room（55）The number of middle drinking-water, and control system two is conveyed information to, work as inspection Measure drinking-water storage room（55）In subimbition setting value when, control system to two control indicator lamps two（59）Light, remind User adds drinking-water.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711045026.8A CN107717992A (en) | 2017-10-31 | 2017-10-31 | A kind of control system and method for the full-automatic dog robot of the funny dog of energy |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711045026.8A CN107717992A (en) | 2017-10-31 | 2017-10-31 | A kind of control system and method for the full-automatic dog robot of the funny dog of energy |
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| CN107717992A true CN107717992A (en) | 2018-02-23 |
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| CN201711045026.8A Withdrawn CN107717992A (en) | 2017-10-31 | 2017-10-31 | A kind of control system and method for the full-automatic dog robot of the funny dog of energy |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020125266A1 (en) * | 2018-12-20 | 2020-06-25 | 珠海市一微半导体有限公司 | Pet amusement control apparatus of robot and mobile robot |
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2017
- 2017-10-31 CN CN201711045026.8A patent/CN107717992A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020125266A1 (en) * | 2018-12-20 | 2020-06-25 | 珠海市一微半导体有限公司 | Pet amusement control apparatus of robot and mobile robot |
| US11938614B2 (en) | 2018-12-20 | 2024-03-26 | Amicro Semiconductor Co., Ltd. | Control device for robot to tease pet and mobile robot |
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