CN107750998A - Feeding method, system, readable storage medium storing program for executing and the smart machine of robot - Google Patents
Feeding method, system, readable storage medium storing program for executing and the smart machine of robot Download PDFInfo
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- CN107750998A CN107750998A CN201710958283.4A CN201710958283A CN107750998A CN 107750998 A CN107750998 A CN 107750998A CN 201710958283 A CN201710958283 A CN 201710958283A CN 107750998 A CN107750998 A CN 107750998A
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- Prior art keywords
- foodstuff
- weight
- feeding
- robot
- disk
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
- A01K5/0275—Automatic devices with mechanisms for delivery of measured doses
- A01K5/0283—Automatic devices with mechanisms for delivery of measured doses by weight
Abstract
The present invention relates to a kind of feeding method of robot, system, readable storage medium storing program for executing and smart machine, methods described includes：First clout weight corresponding to after current the clout weight and the first preset time in foodstuff disk that acquisition weight sensor detects；Current clout weight and the first clout weight are carried out making difference, to obtain a foodstuff weight difference, to judge whether foodstuff weight difference is more than or equal to preset weight difference；When determining foodstuff weight difference and being more than or equal to preset weight difference, then feed supplement instruction is sent to device for feeding, so that device for feeding continues to launch the foodstuff of the first preset weight into foodstuff disk；It is less than preset weight difference when determining foodstuff weight difference, then sending one to device for feeding stops charging instruction, so that device for feeding is without corresponding charging operation.The feeding method of robot proposed by the present invention, it can effectively avoid the phenomenons fed and fed less more, waste is avoided while food regular supply is ensured.
Description
Technical field
The present invention relates to technical field of robot control, more particularly to a kind of feeding method of robot, system, readable deposit
Storage media and smart machine.
Background technology
In recent years, with the continuous development of mobile communication, computer and Internet technology, the miniaturization of computer equipment
Epoch formally arrive.It is well known that Highgrade integration and powerful disposal ability due to computer software, can
So that less intelligent apparatus has powerful disposal ability.Such as in robot field, because computer has powerful place
Reason ability so that small-sized robot of accompanying and attending to is possibly realized.Accompany and attend to robot in actual applications by voice or other can be with
The interactive smart machine that user is exchanged carries out intelligent interaction with user and exchanged, and is brought greatly for daily life
Facility, be increasingly becoming an important friend indispensable in people's daily life.
At present, feeding is carried out using the artificial pet of machine to have begun to gradually by increasing people be received.When resident family does not have
During having time companion pet, pet robot is undoubtedly a good alternative.However, fed in the artificial pet of machine
During food, because the appetite of pet is uncertain, so often there are the phenomenons fed or fed less, easily cause food wave more
The problem of expense or pet do not have enough, is unfavorable for practical application.
The content of the invention
Based on this, it is an object of the invention to propose that one kind can effectively avoid during actual feeding more feeding or few feeding
Feeding method, system, readable storage medium storing program for executing and the smart machine of the robot of phenomenon, to meet practical application request.
The present invention proposes a kind of feeding method of robot, and the robot is provided with a device for feeding and a foodstuff
Disk, a weight sensor for being used to detect foodstuff weight is provided with below the foodstuff disk, wherein, methods described includes following step
Suddenly：
Obtain current the clout weight and the first preset time in the foodstuff disk that the weight sensor detects
Corresponding first clout weight afterwards；
The current clout weight is carried out making difference to obtain a foodstuff weight difference with the first clout weight, judgement
Whether the foodstuff weight difference is more than or equal to preset weight difference；
When determining the foodstuff weight difference and being more than or equal to the preset weight difference, then sent out to the device for feeding
A feed supplement is sent to instruct, so that the device for feeding continues to launch the foodstuff of the first preset weight into the foodstuff disk；
It is less than the preset weight difference when determining the foodstuff weight difference, then sending one to the device for feeding stops
Only charging instruction, so that the device for feeding is without corresponding charging operation.
The feeding method of robot proposed by the present invention, by the way that the weight of current clout is corresponding with after the first preset time
The weight of clout be compared, after obtaining foodstuff weight difference corresponding to one, judge whether the foodstuff weight difference is more than
Equal to preset weight difference, it is possible to understand that, if the foodstuff weight difference is more than preset weight difference, illustrate pet now
Appetite demand is larger, and the food of current residual may be not met by the foodstuff demand of pet, then be now further continued for dispensing first
The foodstuff of preset weight；If on the contrary, the foodstuff weight difference is less than preset weight difference, illustrate the appetite demand of pet now
It is smaller, now without adding foodstuff again.The present invention during reality carries out feeding to pet, can effectively solve the problem that feed or
Less feed the problem of, avoid food waste and pet because foodstuff deficiency without having enough the problem of, meet practical application need
Ask.
The feeding method of the robot, wherein, the foodstuff disk is connected with a recovery control device, the recovery control
Device is also connected with a collection bag, continues to launch the foodstuff of the first preset weight into the foodstuff disk in the device for feeding
After step, methods described also includes：
When the foodstuff weight after determining the second preset time in the foodstuff disk does not change, then to described time
Receive control device and send a foodstuff recovery command, so that the foodstuff in the foodstuff disk is recycled to institute by the recovery control device
State in collection bag, wherein second preset time is more than first preset time.The setting is primarily to by foodstuff disk
The foodstuff of interior residual is recycled in collection bag, to avoid the waste of foodstuff.
The feeding method of the robot, wherein, when determine the current PRF number be zero and the robot work as
When preceding mode of operation is the manual feeding pattern, then second mode switching command is generated, so that the robot is from the hand
Dynamic feeding pattern switches to the automatic feeding pattern.The setting is mainly used for when determining resident family and being in, then will be automatic
Feeding pattern switches to manual feeding pattern, in order to which resident family can with more convenient adjust the recipe of pet.
The feeding method of the robot, wherein, methods described also includes：
When determining, the current PRF number is zero and the current operation mode of the robot is the manual feeding mould
During formula, then second mode switching command is generated, so that the robot switches to described automatic feed from the manual feeding pattern
Food pattern.The setting is mainly used for when judging that resident family stays out, and automatically switches to automatic feeding pattern to be carried out to pet
Feeding operation.
The feeding method of the robot, wherein, a material-storing box and wireless telecommunications dress are additionally provided with the robot
Put, the material-storing box is located at the top of the foodstuff disk, and signal is carried out between wireless communication apparatus and the user communication equipment
Transmission, methods described also include：
When detecting that the current storing margin value in the material-storing box is less than default storing margin value, then a charging is generated
Hint instructions are simultaneously sent the charging hint instructions to the user communication equipment by the wireless communication apparatus.The setting
It is mainly used for when the storing in material-storing box is seldom, reminds user to be fed in time.
The feeding method of the robot, wherein, one is additionally provided with the robot and is used to detect the red of pet temperature
Outer body temperature transducer, methods described also include：
The current body temperature value that the infrared body temperature sensor is sent is received, and judges the current body temperature value whether default
In body temperature；
If it is not, then the current body temperature value is sent to the user communication equipment by the wireless communication apparatus.Should
Setting is mainly used in, when the temperature for detecting pet is abnormal, user being sent that information in time, so that user is right in time
Pet carries out medical treatment and nursing.
The present invention also proposes a kind of feeding systems of robot, and the robot is provided with a device for feeding and a foodstuff
Disk, a weight sensor for being used to detect foodstuff weight is provided with below the foodstuff disk, wherein, the system includes：
Weight detecting module, the current clout weight in the foodstuff disk detected for obtaining the weight sensor
And the first first clout weight corresponding to after preset time；
Judging treatmenting module, for carrying out making difference to obtain one with the first clout weight to the current clout weight
Foodstuff weight difference, judges whether the foodstuff weight difference is more than or equal to preset weight difference；
Control module is performed, for when determining the foodstuff weight difference and being more than or equal to the preset weight difference,
Feed supplement instruction then is sent to the device for feeding, so that the device for feeding continues dispensing first into the foodstuff disk and preset
The foodstuff of weight；
The execution control module, the foodstuff weight difference ought be determined by, which being additionally operable to, is less than the preset weight difference,
Then one is sent to the device for feeding and stop charging instruction, so that the device for feeding is without corresponding charging operation.
The feeding systems of the robot, wherein, the foodstuff disk is connected with a recovery control device, the recovery control
Device is also connected with a collection bag, and the system also includes a recovery control module；
The foodstuff weight that the recovery control module is used for after the second preset time is determined in the foodstuff disk does not have
When changing, then a foodstuff recovery command is sent to the recovery control device, so that the recovery control device is by described in
Foodstuff in foodstuff disk is recycled in the collection bag, wherein second preset time is more than first preset time.Should
Set primarily to the foodstuff remained in foodstuff disk is recycled in collection bag, to avoid the waste of foodstuff.
The present invention also proposes a kind of readable storage medium storing program for executing, is stored thereon with computer program, wherein, the program is by processor
The feeding method of robot as described above is realized during execution.
The present invention also proposes a kind of smart machine, including memory, processor and storage on a memory and can located
The computer program that runs on reason device, wherein, feeding for robot as described above is realized during the computing device described program
Food method, the smart machine are a robot, and a device for feeding and a foodstuff disk are provided with the robot.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is the theory diagram of the robot feeding method in first embodiment of the invention；
Fig. 2 is the flow chart of the robot feeding method in first embodiment of the invention；
Fig. 3 is the structural representation of the robot feeding systems in second embodiment of the invention.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give the preferred embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is made to the disclosure more thorough and comprehensive.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
Fig. 1 and Fig. 2 are referred to, for the feeding method of the robot in first embodiment, the robot is provided with one
Central processing unit, device for feeding and a foodstuff disk, the weight for being used to detect foodstuff weight is provided with below the foodstuff disk
Sensor, wherein, methods described comprises the following steps：
S101, obtain current clout weight in the foodstuff disk that the weight sensor detects and first default
First clout weight corresponding to after time.
For the robot, a central processing unit, the wherein central processing unit and machine are provided with the inside of robot
Electrical connection be present between the multiple executive modules set on device people.It should be understood that the feeding robot is provided with one
Foodstuff disk, a weight sensor is provided with the lower section of the foodstuff disk, and the weight sensor can detect remaining food in the foodstuff disk
The weight of material.
In actual applications, the weight sensor detects the current clout weight (being, for example, 200g) in the foodstuff disk, the
Corresponding first clout weight is 50g to one preset time (being, for example, 5min) afterwards.Namely in the time in the 5min clocks, pet
The 150g foodstuffs in foodstuff disk are eaten up.
S102, the current clout weight is carried out making difference to obtain a foodstuff weight difference with the first clout weight
Value, judges whether the foodstuff weight difference is more than or equal to preset weight difference.
As described above, detect the weight of foodstuff in the foodstuff disk respectively after current time and the first preset time respectively
Amount, then carries out obtaining foodstuff weight difference (now foodstuff weight as difference to current clout weight and the first clout weight
Difference is 150g).After the foodstuff weight difference (150g) has been obtained, whether the foodstuff weight difference (150g) is then judged
More than or equal to preset weight difference.For example, in the present embodiment, the preset weight difference is 100g.
S103, when determining the foodstuff weight difference and being more than or equal to the preset weight difference, then to the feeding
Device sends feed supplement instruction, so that the device for feeding continues to launch the foodstuff of the first preset weight into the foodstuff disk.
Further, if the foodstuff weight difference (150g) is more than or equal to preset weight difference (100g), this is illustrated
When the pet it is larger to the demand of food, the foodstuff of residual is possible to can not meet the needs of pet in foodstuff disk.Therefore this
When located at the central processing unit of robot interior can then generate feed supplement instruction, and send it to device for feeding.Need herein
, it is noted that the device for feeding in the present embodiment includes an at least switch controller and the leakage being connected with switch controller food
Plate, foodstuff disk are photographed on the lower section for Lou eating plate.When device for feeding receives the instruction of a feed supplement, then now switch controller will leak
The food that food plate is opened so that in material-storing box is eaten plate by the leakage and entered in foodstuff disk.Now first is added into foodstuff disk
The foodstuff of preset weight.Wherein first preset weight should be not less than preset weight difference, and in the present embodiment, this is first default
Weight is 100g, namely equal to preset weight difference.
S104, it is less than the preset weight difference when determining the foodstuff weight difference, then is sent out to the device for feeding
Stopping charging instruction is sent, so that the device for feeding is without corresponding charging operation.
Further, when determining the foodstuff weight difference, less than preset weight difference, (this is default in the present embodiment
Weight difference is 100g), then illustrate that less (such as the foodstuff weight difference now detected is now the eaten foodstuff of pet
50g, can deduce, 150g foodstuff is now also remained in foodstuff disk, the quantity of food demand of pet for a period of time can be supplied),
Because the foodstuff now remained in foodstuff disk is more, therefore without continuing to feed into foodstuff disk.
At the same time, due to often occurring that pet is quite full during the feeding of reality but still remaining food in foodstuff disk
The phenomenon of thing.If can not effectively be reclaimed to the food of residual, waste is easily caused.In order to solve this problem, at this
In embodiment, a recovery control device is additionally provided with the lower surface of the foodstuff disk.Wherein, in the present embodiment, the recovery control
Device processed is a device for being used to be overturn on the foodstuff disk, and the recovery control device is connected with a collection bag, and should
Collection bag is located at the underface of foodstuff disk.It should be understood that when recovery control device controls the foodstuff disk to be overturn downwards,
Food in the foodstuff disk can be recovered in collection bag.
Specifically, above-mentioned device for feeding continue into the foodstuff disk launch the first preset weight foodstuff or confirm to
After device for feeding sends a stopping charging instruction, when determining the second preset time, (wherein second preset time is more than institute
The first preset time is stated, such as second preset time is 30min in the present embodiment) the foodstuff weight afterwards in foodstuff disk do not have
When changing (namely now pet does not continue to use food explanation, or now pet is quite full, without being used again
Food), then now central processing unit sends a foodstuff recovery command to the recovery control device, so that the recovery control device
Foodstuff in the foodstuff disk is recycled in the collection bag, namely when recovery control device receive foodstuff recovery command it
Afterwards, the recovery control device is overturn foodstuff disk so that the food in foodstuff disk is entered in collection bag.The setting is main
It is in order to which the foodstuff remained in foodstuff disk is recycled in collection bag, to avoid the waste of foodstuff.
Further, for the robot, the mode of operation of the robot includes automatic feeding pattern and manually
Feeding pattern, free switching can be carried out between both of which in actual applications in order to actual feeding operation.
For the switching between implementation pattern, in the present embodiment, one is provided with the robot and is used to detect human body arteries and veins
The pulse detector of signal is rushed, the pulse monitors can enter horizontal pulse in default detection time to the pulse signal detected
Count to obtain a current PRF number.Then obtained current PRF number will be counted compared with predetermined pulse number, work as judgement
It is more than predetermined pulse number (can now determine that resident family is in) to current PRF number and the current operation mode of the robot is
During the automatic feeding pattern, it can be now responsible for carrying out artificial feed to pet by resident family.It is corresponding, now central processing unit
Generate a pattern switching instruction so that robot from automatic feeding pattern switching be manual feeding pattern.The setting is mainly used
Then it is manual feeding pattern by automatic feeding pattern switching, in order to which resident family can be more square in when determining resident family and being in
Just the recipe (such as feeding some wet grains manually for pet hand) of pet is adjusted.
Conversely, it is zero (explanation can now be stayed out with resident family, in the pattern of leaving home) when determining the current PRF number
And the current operation mode of the robot is when being manual feeding pattern (the manual feeding pattern switched when last user is in),
Because now resident family stays out, it is possible to understand that, now need correspondingly to switch back into automatic feeding pattern.It is corresponding, the centre
Device generation mode switching command is managed, so that robot switches to automatic feeding pattern from manual feeding pattern.The setting is mainly
For when judging that resident family stays out, automatically switching to automatic feeding pattern with to pet progress feeding operation.
Further, in actual feeding operation, often need to carry out charging operation to robot.Specifically, state robot
Be provided with a material-storing box and a wireless communication apparatus, wherein, material-storing box be located at foodstuff disk top, the wireless communication apparatus with
Signal transmission is carried out between user communication equipment.
In actual applications, (the example when detecting that the current storing margin value in material-storing box is less than default storing margin value
Such as, current storing margin value is 15g, and default storing margin value is 50g), then the charging of central processing unit generation one is instructed and led to
Wireless communication apparatus is crossed to send to user communication equipment.Wherein, the user communication equipment can be mobile phone and the individual of user
Computer etc..After user terminal receives charging instruction, it can be fed in time in the material-storing box into the robot, with
Ensure the normal supply of food.It should be added that, charging instruction includes current storing margin value and needs herein
The value of addition, in order to which user relatively accurately holds the amount of charging.The setting is mainly used for when the storing in material-storing box
When seldom, user is reminded to be fed in time.
Further, the robot in the present invention can not only realize the function that feeding is carried out to pet, can also be to doting on
The real-time volume temperature value of thing is monitored.In order to realize this function, one is additionally provided with robot and is used to detect pet temperature
Infrared body temperature sensor, the infrared body temperature sensor are electrically connected with central processing unit.
Specifically, the central processing unit receives the current body temperature value that the infrared body temperature sensor is sent, and judge institute
Current body temperature value is stated whether in default body temperature；If current body temperature value is not in default body temperature (for example, current body temperature value
For 39.2 DEG C, and default body temperature is 37.5~38.5 DEG C) when, then precursor is worked as by described in by described wireless communication apparatus
Temperature value is sent to the user communication equipment.The setting is mainly used in when the temperature for detecting pet is abnormal, in time should
Information is sent to user, so that user carries out medical treatment and nursing to pet in time.
The feeding method of robot proposed by the present invention, by the way that the weight of current clout is corresponding with after the first preset time
The weight of clout be compared, after obtaining foodstuff weight difference corresponding to one, judge whether the foodstuff weight difference is more than
Equal to preset weight difference, it is possible to understand that, if the foodstuff weight difference is more than preset weight difference, illustrate pet now
Appetite demand is larger, and the food of current residual may be not met by the foodstuff demand of pet, then be now further continued for dispensing first
The foodstuff of preset weight；If on the contrary, the foodstuff weight difference is less than preset weight difference, illustrate the appetite demand of pet now
It is smaller, now without adding foodstuff again.The present invention during reality carries out feeding to pet, can effectively solve the problem that feed or
Less feed the problem of, avoid food waste and pet because foodstuff deficiency without having enough the problem of, meet practical application need
Ask.
Referring to Fig. 3, for the feeding systems of the robot in second embodiment, the robot is provided with a centre
Device, device for feeding and a foodstuff disk are managed, a weight sensor for being used to detect foodstuff weight is provided with below the foodstuff disk,
Wherein, the system include be sequentially connected weight detecting module 10, judging treatmenting module 20, perform control module 30 and return
Receive control module 40；
Wherein described weight detecting module 10, working as in the foodstuff disk detected for obtaining the weight sensor
First clout weight corresponding to after preceding clout weight and the first preset time；
The judging treatmenting module 20, for the current clout weight and the first clout weight make difference with
A foodstuff weight difference is obtained, judges whether the foodstuff weight difference is more than or equal to preset weight difference；
The execution control module 30, for poor more than or equal to the preset weight when determining the foodstuff weight difference
During value, then the central processing unit sends feed supplement instruction to the device for feeding, so that the device for feeding is to the foodstuff
Continue the foodstuff of the first preset weight of dispensing in disk；
The execution control module 30, it is poor less than the preset weight when determining the foodstuff weight difference to be additionally operable to
Value, then the central processing unit is to the stopping charging instruction of device for feeding transmission one, so that the device for feeding is without right
The charging operation answered.
At the same time, be additionally provided with a recovery control device in the lower surface of the foodstuff disk, the recovery control device with
One collection bag connects, and the system also includes a recovery control module 40, and the recovery control module 40 performs control with described
Module 30 connects；
The foodstuff weight that the recovery control module 40 is used for after the second preset time is determined in the foodstuff disk does not have
When changing, then the central processing unit sends a foodstuff recovery command to the recovery control device, so that described time
Receive control device the foodstuff in the foodstuff disk is recycled in the collection bag, wherein second preset time is more than described
First preset time.The setting is primarily to the foodstuff remained in foodstuff disk is recycled in collection bag, to avoid foodstuff
Waste.
Further, a pulse detector for being used to detect human body pulse signal, the machine are additionally provided with the robot
The mode of operation of device people includes automatic feeding pattern and manual feeding pattern, and the system also includes a mode switch module
50, the mode switch module 50 is connected with the execution control module 30；
The mode switch module 50 is specifically used for：
Horizontal pulse statistics is entered to obtain a current PRF number to the pulse signal detected in default detection time, judged
Whether the current PRF number is more than predetermined pulse number；
It is when determining current operation mode of the current PRF number more than the predetermined pulse number and the robot
During the automatic feeding pattern, then the central processing unit generates pattern switching instruction so that the robot from it is described from
Dynamic feeding pattern switches to the manual feeding pattern.
The mode switch module 50 also particularly useful for：
When determining, the current PRF number is zero and the current operation mode of the robot is the manual feeding mould
During formula, then the central processing unit generates the pattern switching instruction, so that the robot is cut from the manual feeding pattern
It is changed to the automatic feeding pattern.
Further, a material-storing box and a wireless communication apparatus are additionally provided with the robot, the material-storing box is located at
The top of the foodstuff disk, signal transmission, the judgement processing are carried out between wireless communication apparatus and the user communication equipment
Module 20 also particularly useful for：
When detecting that the current storing margin value in the material-storing box is less than default storing margin value, then the centre
The charging of reason device generation one is instructed and sent by the wireless communication apparatus to the user communication equipment.
The feeding systems of the robot, wherein, one is additionally provided with the robot and is used to detect the red of pet temperature
Outer body temperature transducer, the system also include a body temperature monitoring modular 60, and the temperature monitoring module 60 performs control with described
Module 20 connects, and the temperature monitoring module 60 is specifically used for：
The central processing unit receives the current body temperature value that the infrared body temperature sensor is sent, and works as precursor described in judgement
Whether temperature value is in default body temperature；
If determining the current body temperature value in the default body temperature, by the wireless communication apparatus by institute
Current body temperature value is stated to send to the user communication equipment.
The present invention also proposes a kind of readable storage medium storing program for executing, is stored thereon with computer program, wherein, the program is by processor
The feeding method of robot as described above is realized during execution.
The present invention also proposes a kind of smart machine, including memory, processor and storage on a memory and can located
The computer program that runs on reason device, wherein, feeding for robot as described above is realized during the computing device described program
Food method.In the present embodiment, the smart machine is a robot, wherein, in the robot be provided with a device for feeding with
And foodstuff disk.In addition, the robot also includes a recovery control device for being used to control foodstuff disk to carry out food recovery.
Can be with one of ordinary skill in the art will appreciate that realizing that all or part of step in above-described embodiment method is
The hardware of correlation is instructed to complete by program.Described program can be stored in a computer read/write memory medium.
The program upon execution, including the step described in the above method.Described storage medium, including：ROM/RAM, magnetic disc, CD
Deng.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of feeding method of robot, the robot is provided with a device for feeding and a foodstuff disk, in the foodstuff
A weight sensor for being used to detect foodstuff weight is provided with below disk, it is characterised in that methods described comprises the following steps：
It is right after current the clout weight and the first preset time in the foodstuff disk that the weight sensor detects to obtain
The the first clout weight answered；
To the current clout weight and the first clout weight make difference to obtain a foodstuff weight difference, described in judgement
Whether foodstuff weight difference is more than or equal to preset weight difference；
When determining the foodstuff weight difference and being more than or equal to the preset weight difference, then one is sent to the device for feeding
Feed supplement instructs, so that the device for feeding continues to launch the foodstuff of the first preset weight into the foodstuff disk；
It is less than the preset weight difference when determining the foodstuff weight difference, then sending one to the device for feeding stops adding
Material instruction, so that the device for feeding is without corresponding charging operation.
2. the feeding method of robot according to claim 1, it is characterised in that the foodstuff disk and a recovery control dress
Connection is put, the recovery control device is also connected with a collection bag, continues to launch into the foodstuff disk in the device for feeding
After the step of foodstuff of first preset weight, methods described also includes：
When the foodstuff weight after determining the second preset time in the foodstuff disk does not change, then controlled to the recovery
Device processed sends a foodstuff recovery command, so that the foodstuff in the foodstuff disk is recycled to described return by the recovery control device
In closing bag, wherein second preset time is more than first preset time.
3. the feeding method of robot according to claim 2, it is characterised in that be additionally provided with one in the robot and be used for
The pulse detector of human body pulse signal is detected, the mode of operation of the robot includes automatic feeding pattern and manual feeding
Pattern, methods described also include：
Enter horizontal pulse statistics to the pulse signal detected in default detection time to obtain a current PRF number, described in judgement
Whether current PRF number is more than predetermined pulse number；
It is described when determining the current PRF number more than the current operation mode of the predetermined pulse number and the robot
During automatic feeding pattern, then first mode switching command is generated, so that the robot is from the automatic feeding pattern switching
The manual feeding pattern.
4. the feeding method of robot according to claim 3, it is characterised in that methods described also includes：
It is zero and when the current operation mode of the robot is the manual feeding pattern when determining the current PRF number,
Second mode switching command is then generated, so that the robot switches to the automatic feeding mould from the manual feeding pattern
Formula.
5. the feeding method of robot according to claim 1 a, it is characterised in that storing is additionally provided with the robot
Box and a wireless communication apparatus, the material-storing box are located at the top of the foodstuff disk, and the wireless communication apparatus leads to user
Signal transmission is carried out between news equipment, methods described also includes：
When detecting that the current storing margin value in the material-storing box is less than default storing margin value, then a charging prompting is generated
Instruct and sent the charging hint instructions to the user communication equipment by the wireless communication apparatus.
6. the feeding method of robot according to claim 5 a, it is characterised in that use is additionally provided with the robot
In the infrared body temperature sensor of detection pet temperature, methods described also includes：
The current body temperature value that the infrared body temperature sensor is sent is received, and judges the current body temperature value whether in default body temperature
In the range of；
If it is not, then the current body temperature value is sent to the user communication equipment by the wireless communication apparatus.
7. a kind of feeding systems of robot, the robot is provided with a device for feeding and a foodstuff disk, in the foodstuff
A weight sensor for being used to detect foodstuff weight is provided with below disk, it is characterised in that the system includes：
Weight detecting module, the current clout weight in the foodstuff disk detected for obtaining the weight sensor and
First clout weight corresponding to after first preset time；
Judging treatmenting module, for carrying out making difference to obtain a foodstuff with the first clout weight to the current clout weight
Weight difference, judges whether the foodstuff weight difference is more than or equal to preset weight difference；
Perform control module, for when determining the foodstuff weight difference and being more than or equal to the preset weight difference, then to
The device for feeding sends feed supplement instruction, so that the device for feeding continues to launch the first preset weight into the foodstuff disk
Foodstuff；
The execution control module, be additionally operable to be less than the preset weight difference when determining the foodstuff weight difference, then to
The device for feeding sends one and stops charging instruction, so that the device for feeding is without corresponding charging operation.
8. the feeding systems of robot according to claim 7, it is characterised in that the foodstuff disk and a recovery control dress
Connection is put, the recovery control device is also connected with a collection bag, and the system also includes a recovery control module；
The foodstuff weight that the recovery control module is used for after the second preset time is determined in the foodstuff disk does not occur
During change, then a foodstuff recovery command is sent to the recovery control device, so that the recovery control device is by the foodstuff
Foodstuff in disk is recycled in the collection bag, wherein second preset time is more than first preset time.
9. a kind of readable storage medium storing program for executing, is stored thereon with computer program, wherein, realized as above when the program is executed by processor
State the feeding method of the robot described in claim 1 to 6 any one.
10. a kind of smart machine, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, wherein, the machine as described in above-mentioned claim 1 to 6 any one is realized during the computing device described program
The feeding method of device people, the smart machine are a robot, and a device for feeding and a foodstuff are provided with the robot
Disk.
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Application publication date: 20180306 |