CN114589710A - Pet robot and pet teasing control method and chip of pet robot system - Google Patents
Pet robot and pet teasing control method and chip of pet robot system Download PDFInfo
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- CN114589710A CN114589710A CN202210212638.6A CN202210212638A CN114589710A CN 114589710 A CN114589710 A CN 114589710A CN 202210212638 A CN202210212638 A CN 202210212638A CN 114589710 A CN114589710 A CN 114589710A
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- 230000009471 action Effects 0.000 claims abstract description 67
- 230000000694 effects Effects 0.000 claims description 15
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 description 20
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000036651 mood Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 206010012374 Depressed mood Diseases 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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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
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
- A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses a pet teasing control method and a chip of a pet robot and a pet teasing control system, wherein the pet teasing control method of the pet robot comprises the following steps: control pet robot and carry out pendulum swing action, specifically include: controlling the pet robot to execute a first preset action; and judging whether the robot enters a side inclined state, if so, controlling the pet robot to execute a second preset action to enter a pendulum swinging action, and if not, controlling the pet robot to circularly execute a first preset action until the robot enters the side inclined state. Compared with the conventional common pet teasing robot action, the pendulum swinging action which can be realized based on the spherical robot structure is innovatively provided, the pet teasing action is enriched, and the attraction of the pet robot to the pet is greatly improved.
Description
Technical Field
The invention relates to the technical field of pet robots, in particular to a pet teasing control method and a chip of a pet robot and a pet teasing control system of the pet robot.
Background
With the rapid development of economy, when substances can be satisfied, more and more people seek spiritual consolation, and raising pets becomes a spiritual consolation mode selected by more people, but most pet owners are limited due to various aspects of work and academic industry, so that insufficient time is not provided for companion pets, the pets need to spend most of time alone at home, the pets lack of the owners' companions, the independent moods are easy to breed, the low moods of the pets can influence the health state of the pets, the independent moods of the pets are eliminated, the pet companions robot is desired by a wide range of pet owners, the existing pet companions robot can better solve the problem of eliminating the independent moods of the pets, but the existing pet companions robot has the defects of insufficient attractiveness of the pets and simple and single pet amusing action.
Disclosure of Invention
Compared with the prior common pet teasing robot action, the pendulum swinging action which can be realized based on the spherical robot structure is creatively provided, the pet teasing action is enriched, and the attraction of the pet robot to the pet is greatly improved. The specific technical scheme of the invention is as follows:
a pet teasing control method of a pet robot comprises the following steps: control pet robot and carry out pendulum swing action, specifically include: and judging whether the pet robot enters a side inclined state or not, if so, controlling the pet robot to execute a second preset action to enter a pendulum swinging state, and if not, controlling the pet robot to circularly execute a first preset action until the robot enters the side inclined state.
Further, the method for controlling the pet robot to execute the first preset action specifically comprises the following steps: the motor of the pet robot is controlled to rotate forwards at a first rotating speed for a first preset time, then the pet robot is controlled to brake, and then the motor of the pet robot is controlled to rotate backwards at a second rotating speed for a second preset time.
Further, the method for judging whether the robot enters the side inclined state specifically includes: acquiring pet robot attitude angle information based on a gyroscope of the pet robot; and judging whether the attitude angle of the pet robot is greater than or equal to a preset inclination angle, if so, determining that the robot enters a side inclined state, and if not, determining that the robot does not enter the side inclined state.
Further, the method for judging whether the robot enters the side inclined state further comprises the steps of acquiring the pressure on two sides of the pet robot based on pressure sensors arranged on the two sides of the pet robot; judging whether the pressure on the two sides of the pet robot is greater than or equal to a preset pressure value or not, if not, determining that the robot does not enter a side inclination state, and if so, acquiring and acquiring the attitude angle information of the pet robot based on a gyroscope of the pet robot; and judging whether the attitude angle of the pet robot is greater than or equal to a preset inclination angle, if so, determining that the robot enters a side inclined state, and if not, determining that the robot does not enter the side inclined state.
Further, the method for controlling the pet robot to execute the second preset action to enter the pendulum swinging action specifically comprises the following steps: and controlling a motor of the pet robot to rotate forwards at a third rotating speed based on the fact that the pet robot is in a side inclined state, and realizing that the pet robot moves forwards in a pendulum swinging state.
Further, the pet teasing control method further comprises the following steps: and controlling the lamp belts arranged at two sides of the pet robot body to execute corresponding lamp belt changing special effects according to different actions of the pet robot.
Further, the pet teasing control method further comprises the following steps: the shaking action of controlling pet robot execution preset number of times specifically includes: controlling a left wheel motor of the pet robot to rotate forwards at a fourth rotating speed for a third preset time, and simultaneously controlling a right wheel motor of the pet robot to rotate backwards at the fourth rotating speed for the third preset time; then controlling a left wheel motor of the pet robot to rotate backwards at a fourth rotating speed for a third preset time, and simultaneously controlling a right wheel motor of the pet robot to rotate forwards at the fourth rotating speed for the third preset time; the steps are circularly executed for the preset times, so that the pet robot can complete the shaking action for the preset times.
The invention also discloses a pet teasing control method of the pet robot system, the pet robot system comprises a pet robot and a mobile terminal, the pet robot executes the pet teasing control method of the pet robot, and the pet teasing control method of the pet robot system comprises the following steps: a user selects a control instruction through the mobile terminal and transmits the control instruction to the pet robot; the pet robot analyzes the command type based on the control command transmitted by the mobile terminal; when the instruction type is an action instruction, the pet robot executes the action specified by the control instruction; when the instruction type is a multimedia instruction, the pet robot plays a multimedia file specified by the multimedia instruction; when the instruction type is a laser instruction, the pet robot controls the laser device to be turned on or turned off according to the laser control instruction; and when the command type is a light command, the pet robot executes a light conversion special effect specified by the light command.
Further, the method for playing the multimedia file designated by the multimedia instruction by the pet robot specifically comprises the following steps: the pet robot plays an audio file or an audio-video file which is specified by the multimedia instruction and is pre-stored in the pet robot, or the pet robot acquires and plays the audio file or the audio-video file which is specified by the multimedia instruction from a cloud multimedia file library.
The invention also discloses a chip, wherein a computer program is stored in the chip, and the computer program stored in the chip is executed by the steps of the pet robot pet teasing control method when the computer program is run by the processor.
The invention has the beneficial effects that: based on the special spherical structure of the pet robot, the pendulum swinging motion which can be realized only by the spherical structure is innovatively provided, pet teasing motion of the pet robot is enriched, attraction of the pet robot to a pet is improved through irregular pendulum swinging, and a pet robot system consisting of a mobile terminal and the pet robot realizes that a user carries out remote instruction control on the pet robot based on the mobile terminal, so that pet teasing flexibility of the pet robot is improved.
Drawings
Fig. 1 is a flowchart illustrating a pet teasing control method of a pet robot according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a pet robot performing a pendulum swinging motion according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a spherical robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The terms "comprises," "comprising," "including," "has," "having," and any variations thereof, as referred to herein, are intended to cover non-exclusive inclusions, such as: a process, method, system, article, or apparatus that comprises a list of steps or modules is not limited to the listed steps or elements, but may include additional steps or elements not listed, or may include additional steps or elements inherent to such process, method, article, or apparatus.
The pet robot of the present invention is preferably a spherical or spheroidal pet robot, but may be a robot of other shapes. The spherical robot comprises a shell and driving wheels arranged on two sides of the shell; the geometric shape of the driving wheel is a hemisphere or a semi-ellipsoid, the driving wheel can be regarded as a hemispherical wheel, a hemispherical shell of the two symmetrically arranged driving wheels 1 and an upper circular cover and a lower circular cover of the shell 2 form a spherical structure, optionally, the hemisphere is not a completely balanced half of a complete sphere, and is slightly less than the complete sphere, for example, the 0.8 volume proportion part is a sphere; the driving wheel rotates relative to the shell under the driving of the motor contained in the shell, namely rotates relative to the main body of the machine body, and therefore the spherical robot is driven to move. Specifically, the spherical robot can automatically maintain a balanced state under the condition that the spherical robot falls or is pushed down towards the front, the back, the left side or the right side so as to form a tumbler structure; the intelligent spherical robot comprises a shell, a driving wheel and a battery counterweight device installed at the bottom of the shell, and the inside of the shell is also provided with other control assemblies, a sensor assembly and a mechanical transmission assembly. The driving wheels are used for driving the intelligent spherical robot to move, and comprise forward movement, backward movement, left rotation or right rotation, optionally, two driving wheels can be arranged on two sides of the outer part of the shell, as shown in fig. 3, the two driving wheels 1 are respectively arranged on the left side and the right side of the shell 2, the problem that the wheel spacing is smaller due to the fact that the driving wheels are arranged in the shell is solved, and the stability of the intelligent spherical robot is enhanced; in some embodiments, the two drive wheels 1 and the housing 2 constitute one sphere. The upper surface and the lower surface of the housing 2 and the outer side surface (side cover surface) of the driving wheel 1 can be strict cambered surfaces or can be shapes which are close to hemispheroids, for example, a part of the hemispheroids and other shapes are smoothly and continuously formed, so that the friction force can be reduced, and the intelligent spherical robot can conveniently return to the original vertical state.
As a preferred embodiment of the present invention, a first embodiment of the present invention provides a pet-teasing control method for a pet robot, including: controlling the pet robot to execute pendulum swinging motion, as shown in fig. 1, specifically includes:
and controlling the pet robot to execute a first preset action, simultaneously judging whether the pet robot enters a side inclined state, if so, controlling the pet robot to execute a second preset action to enter a pendulum swinging state, and if not, controlling the pet robot to circularly execute the first preset action until the robot enters the side inclined state. Specifically, in the process that the pet robot executes the first preset action, whether the robot enters the side inclined state or not is continuously judged, and once the robot is detected to enter the side inclined state, the pet robot is immediately controlled to execute the second preset action, so that the pet robot can enter the pendulum swinging state.
It should be noted that the first preset action and the second preset action are a set of preset action contents, and the action contents include the rotation speed, the rotation direction and the rotation duration of the left wheel motor of the pet robot, the rotation speed, the rotation direction and the rotation duration of the right wheel motor of the pet robot, and the like. Fig. 2 is a diagram of continuous operation of the pet robot when executing a pendulum swinging motion, as shown in fig. 2, the pet robot body is in a state of continuously moving forward and swinging left and right when executing the pendulum swinging motion, and numbers on the pet robot body in fig. 2 indicate the sequence of the pet robot in the position, wherein the pet robot moves from 3 to 4 and then from 4 to 5, and the pet robot swings forward like a pendulum. Multiple experiments show that compared with the deadly and standard and stable pet teasing action, the unstable and irregular swinging pet teasing action is more attractive to the pet, so that the pendulum swinging action is newly adopted as the pet teasing action of the pet robot in the embodiment, the attraction of the pet teasing action to the pet is improved, and the pet teasing effect is improved.
Preferably, in some embodiments of the present invention, the controlling the pet robot to perform the first preset action specifically includes controlling a motor of the pet robot to rotate forward at a first rotation speed for a first preset time, then controlling the pet robot to brake, and then controlling the motor of the pet robot to rotate backward at a second rotation speed for a second preset time. It should be noted that the forward rotation or the backward rotation of the motor is a relative definition, in the present invention, the forward rotation of the motor means that the motor rotates in the direction so that the pet robot moves forward, and conversely, the backward rotation of the motor means that the motor rotates along the laying-down direction so that the pet robot moves backward; the controlling the pet robot to brake means controlling a motor of the pet robot to stop rotating so that the pet robot stops emergently. Specifically, the first rotating speed and the second rotating speed may be the same or different rotating speeds, the first preset time and the second preset time may be the same or different rotating speeds, and the setting of the specific first rotating speed, the specific second rotating speed, the specific first preset time and the specific second preset time may be adjusted based on different priorities of the body size of the pet robot, the ground friction of the application environment, and other factors. In the embodiment, the pet robot is controlled to move forwards quickly, then brake emergently and then move backwards quickly, and the pet robot is unstable by quickly switching the rotating direction of the motor, so that the pet robot enters a side inclined state.
Preferably, in some embodiments of the present invention, the method for determining whether the robot enters the side inclined state specifically includes: acquiring pet robot attitude angle information based on a gyroscope of the pet robot; and judging whether the attitude angle of the pet robot is greater than or equal to a preset inclination angle, if so, determining that the robot enters a side inclination state, and if not, determining that the robot does not enter the side inclination state. Specifically, the attitude angle information may be roll angle, pitch angle, yaw angle, or a combination of at least two of these angles, specifically selected attitude angle information is selected according to a specific arrangement orientation of a gyroscope in the pet robot, and it is emphasized that the selected attitude angle information can reflect whether the pet robot is tilted sideways. The preset inclination angle is preset to pre-judge whether the side inclination condition of the pet robot can meet the angle condition of entering a pendulum swinging state; when the pet robot enters a side inclined state, the pet robot is unstable, and under the condition, a second preset action is executed, so that the pet robot can generate pendulum swing. In the embodiment, whether the pet robot enters the side inclination state is judged in a mode that the gyroscope acquires the attitude angle of the pet robot, the side inclination condition of the pet robot can be more accurately determined based on the angle information, the pet robot can be ensured to smoothly enter the pendulum swinging state,
preferably, in some embodiments of the present invention, the method for determining whether the robot enters the side inclined state further includes acquiring pressures at both sides of the pet robot based on pressure sensors disposed at both sides of the pet robot; judging whether the pressure on the two sides of the pet robot is greater than or equal to a preset pressure value or not, if not, determining that the robot does not enter a side inclination state, and if so, acquiring and acquiring the attitude angle information of the pet robot based on a gyroscope of the pet robot; and judging whether the attitude angle of the pet robot is greater than or equal to a preset inclination angle, if so, determining that the robot enters a side inclined state, and if not, determining that the robot does not enter the side inclined state. In the embodiment, the pressure sensors are arranged on the moving wheels on the two sides of the pet robot to acquire whether the moving wheels on the two sides of the body of the pet robot are extruded by pressure, when the pressure applied to the pressure sensors on the moving wheels on the two sides of the pet robot is greater than or equal to a preset pressure value, the situation that the pet robot possibly has side inclination is indicated, the attitude angle information of the gyroscope is further acquired under the second situation, whether the pet robot enters a side inclination state or not is accurately judged, and the success rate of the pet robot executing the pendulum swinging action is improved.
Preferably, in some embodiments of the present invention, the method for controlling the pet robot to perform the second preset action to enter the pendulum swinging action specifically includes: and controlling a motor of the pet robot to rotate forwards at a third rotating speed based on the fact that the pet robot is in a side inclined state, and realizing that the pet robot moves forwards in a pendulum swinging motion. Specifically, the third rotational speed may be, but is not limited to, the same speed as or different from the aforementioned first rotational speed and the aforementioned second rotational speed. It should be noted that, the forward rotation of the motor is a relative definition, and in the present invention, the forward rotation of the motor means that the motor rotates in the direction so that the pet robot moves forward. The pet robot in the side inclined state is controlled to move forwards quickly, so that the pet robot can move forwards in a non-stable left-right swinging mode, and pet fun of the pet robot is increased.
Preferably, in some embodiments of the present invention, the pet robot pet teasing control method further comprises: and controlling the lamp belts arranged at two sides of the pet robot body to execute corresponding lamp belt changing special effects according to different actions of the pet robot. Specifically, the pet robot executes different actions and has a one-to-one corresponding lamp strip conversion special effect, so that a user or a pet can determine the action currently executed by the pet robot through the lamp strip conversion special effect executed by the pet robot, the user can know the action type executed by the pet robot more visually, and meanwhile, the attraction of the pet robot to the pet is further improved in a mode of combining a pet teasing action with the lamp strip conversion special effect.
Preferably, in some embodiments of the invention, the pet teasing control method further comprises: the shaking action of controlling pet robot execution preset number of times specifically includes: controlling a left wheel motor of the pet robot to rotate forwards at a fourth rotating speed for a third preset time, and simultaneously controlling a right wheel motor of the pet robot to rotate backwards at the fourth rotating speed for the third preset time; then controlling a left wheel motor of the pet robot to rotate backwards at a fourth rotating speed for a third preset time, and simultaneously controlling a right wheel motor of the pet robot to rotate forwards at the fourth rotating speed for the third preset time; the steps are circularly executed for the preset times, so that the pet robot can complete the shaking action for the preset times. Specifically, the fourth rotating speed and the third preset time are set according to the body size of the pet robot, the ground friction of the application environment and other factors to carry out comprehensive consideration and adjustment. This embodiment is through switching the front and back rotation direction of left wheel motor and right wheel motor, realizes controlling pet robot and carries out the shake action, increases to comma pet action interesting.
Based on the foregoing embodiments, as a preferred embodiment of the present invention, a second embodiment of the present invention provides a pet teasing control method for a pet robot system, where the pet robot system includes a pet robot and a mobile terminal, the pet robot performs the pet teasing control method for the pet robot, and the pet teasing control method for the pet robot system includes:
a user selects a control instruction through the mobile terminal and transmits the control instruction to the pet robot;
the pet robot analyzes the command type based on the control command transmitted by the mobile terminal; specifically, the control instruction includes, but is not limited to, an action instruction, a multimedia instruction, a laser instruction, and/or a light instruction.
When the instruction type is an action instruction, the pet robot executes the action specified by the control instruction; specifically, the motion specified by the motion instruction includes, but is not limited to, a forward movement, a backward movement, a pendulum swinging motion, a rotating motion, a figure 8 motion, a shaking motion, a single-turn motion, and/or the like. The rotating action means that the rotating speeds of a left wheel motor and a right wheel motor of the pet robot are controlled to be the same, and the rotating directions are different; the 8-shaped walking motion means that a left wheel motor and a right wheel motor of the pet robot are controlled to perform differential rotation, namely the rotating speeds of the left wheel motor and the right wheel motor are different, so that the pet robot turns; the single-wheel circling action is to control the right wheel motor to be static when the left wheel motor of the pet robot rotates, or the left wheel motor to be static when the right wheel motor rotates.
When the instruction type is a multimedia instruction, the pet robot plays a multimedia file specified by the multimedia instruction; specifically, the method for playing the multimedia file specified by the multimedia instruction by the pet robot may be, but is not limited to, playing an audio file or an audio-video file which is specified by the multimedia instruction and is pre-stored in the pet robot by the pet robot, or acquiring and playing the audio file or the audio-video file specified by the multimedia instruction from a cloud multimedia file library by the pet robot. The pet robot acquires the multimedia files from the cloud multimedia file library in a wireless communication mode. The multimedia file can be an audio file, a video file and/or a video file, etc.
When the instruction type is a laser instruction, the pet robot controls the laser device to be turned on or turned off according to the laser control instruction; specifically, the laser device emits a laser point when being started, and the laser point moves along with the movement of the pet robot, so that the pet robot has the advantage of attracting the attention of a pet, and the pet teasing effect is improved.
When the command type is a light command, the pet robot executes a light conversion special effect specified by the light command; specifically, the light conversion effect includes, but is not limited to, a ticker effect, a turn-around effect, and/or a light point gradation effect.
In addition, an embodiment of the present invention further provides a chip, where a computer program is stored on the chip, and when the computer program is executed by a processor, the steps of the pet teasing control method of the pet robot in the foregoing embodiments are executed.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a terminal device (e.g. nanny robot, etc.) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A pet teasing control method of a pet robot is characterized by comprising the following steps: control pet robot and carry out pendulum swing action, specifically include:
and judging whether the pet robot enters a side inclined state or not, if so, controlling the pet robot to execute a second preset action to enter a pendulum swinging state, and if not, controlling the pet robot to circularly execute a first preset action until the robot enters the side inclined state.
2. The pet teasing control method of the pet robot as claimed in claim 1, wherein the method for controlling the pet robot to execute the first predetermined action specifically comprises: the motor of the pet robot is controlled to rotate forwards at a first rotating speed for a first preset time, then the pet robot is controlled to brake, and then the motor of the pet robot is controlled to rotate backwards at a second rotating speed for a second preset time.
3. The pet teasing control method of the pet robot as claimed in claim 2, wherein the method for determining whether the robot enters the side-tilt state comprises:
acquiring pet robot attitude angle information based on a gyroscope of the pet robot;
and judging whether the attitude angle of the pet robot is greater than or equal to a preset inclination angle, if so, determining that the robot enters a side inclined state, and if not, determining that the robot does not enter the side inclined state.
4. The pet teasing control method for pet robot of claim 3, wherein the method for determining whether the robot enters the side tilt state further comprises:
acquiring pressures on two sides of the pet robot based on pressure sensors arranged on the two sides of the pet robot;
judging whether the pressure on the two sides of the pet robot is greater than or equal to a preset pressure value or not, if not, determining that the robot does not enter a side inclination state, and if so, acquiring and acquiring the attitude angle information of the pet robot based on a gyroscope of the pet robot;
and judging whether the attitude angle of the pet robot is greater than or equal to a preset inclination angle, if so, determining that the robot enters a side inclined state, and if not, determining that the robot does not enter the side inclined state.
5. The pet teasing control method of the pet robot as claimed in claim 3, wherein the method for controlling the pet robot to execute the second predetermined action to enter the pendulum swinging action specifically comprises: and controlling a motor of the pet robot to rotate forwards at a third rotating speed based on the fact that the pet robot is in a side inclined state, and realizing that the pet robot moves forwards in a pendulum swinging state.
6. The pet robot amusing control method for a pet according to claim 5, further comprising: and controlling the lamp belts arranged at two sides of the pet robot body to execute corresponding lamp belt changing special effects according to different actions of the pet robot.
7. The pet robot amusing control method for a pet according to claim 1, further comprising: the shaking action of controlling pet robot execution preset number of times specifically includes:
controlling a left wheel motor of the pet robot to rotate forwards at a fourth rotating speed for a third preset time, and simultaneously controlling a right wheel motor of the pet robot to rotate backwards at the fourth rotating speed for the third preset time;
then controlling a left wheel motor of the pet robot to rotate backwards at a fourth rotating speed for a third preset time, and simultaneously controlling a right wheel motor of the pet robot to rotate forwards at the fourth rotating speed for the third preset time;
the steps are circularly executed for the preset times, so that the pet robot can complete the shaking action for the preset times.
8. A pet teasing control method of a pet robot system, the pet robot system comprising a pet robot and a mobile terminal, the pet robot performing the pet teasing control method of the pet robot as claimed in any one of claims 1 to 7, the pet teasing control method of the pet robot system comprising:
a user selects a control instruction through the mobile terminal and transmits the control instruction to the pet robot;
the pet robot analyzes the command type based on the control command transmitted by the mobile terminal;
when the instruction type is an action instruction, the pet robot executes the action specified by the control instruction;
when the instruction type is a multimedia instruction, the pet robot plays a multimedia file specified by the multimedia instruction;
when the instruction type is a laser instruction, the pet robot controls the laser device to be turned on or turned off according to the laser control instruction;
and when the command type is a light command, the pet robot executes a light conversion special effect specified by the light command.
9. The pet teasing control method of the pet robot system of claim 8, wherein the method for the pet robot to play the multimedia file specified by the multimedia command comprises: the pet robot plays an audio file or an audio-video file which is specified by the multimedia instruction and is pre-stored in the pet robot, or the pet robot acquires and plays the audio file or the audio-video file which is specified by the multimedia instruction from a cloud multimedia file library.
10. A chip, in which a computer program is stored, wherein the computer program stored in the chip is executed by a processor to perform the steps of the pet robot teasing and catching control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210212638.6A CN114589710A (en) | 2022-03-04 | 2022-03-04 | Pet robot and pet teasing control method and chip of pet robot system |
Applications Claiming Priority (1)
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| CN107847806A (en) * | 2016-05-31 | 2018-03-27 | 松下知识产权经营株式会社 | Robot |
| CN207604358U (en) * | 2017-11-29 | 2018-07-13 | 廖瑞宙 | Pet toy electronic ball |
| KR101898661B1 (en) * | 2017-03-06 | 2018-09-14 | 주식회사 네오디스 | Docking station apparatus supporting smart moving device for fet training and system thereof |
| CN210900897U (en) * | 2019-09-02 | 2020-07-03 | 上海鸟语花香宠物有限公司 | Toy cat |
| CN211167161U (en) * | 2019-11-19 | 2020-08-04 | 西南科技大学 | Pendulum-type spherical robot and control system thereof |
| KR20210082118A (en) * | 2019-12-24 | 2021-07-02 | 삼성전자주식회사 | Moving robot apparatus and control method thereof |
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| CN107847806A (en) * | 2016-05-31 | 2018-03-27 | 松下知识产权经营株式会社 | Robot |
| KR101898661B1 (en) * | 2017-03-06 | 2018-09-14 | 주식회사 네오디스 | Docking station apparatus supporting smart moving device for fet training and system thereof |
| CN207604358U (en) * | 2017-11-29 | 2018-07-13 | 廖瑞宙 | Pet toy electronic ball |
| CN210900897U (en) * | 2019-09-02 | 2020-07-03 | 上海鸟语花香宠物有限公司 | Toy cat |
| CN211167161U (en) * | 2019-11-19 | 2020-08-04 | 西南科技大学 | Pendulum-type spherical robot and control system thereof |
| KR20210082118A (en) * | 2019-12-24 | 2021-07-02 | 삼성전자주식회사 | Moving robot apparatus and control method thereof |
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