CN114885848A - Pet management robot - Google Patents
Pet management robot Download PDFInfo
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- CN114885848A CN114885848A CN202210287381.0A CN202210287381A CN114885848A CN 114885848 A CN114885848 A CN 114885848A CN 202210287381 A CN202210287381 A CN 202210287381A CN 114885848 A CN114885848 A CN 114885848A
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- 230000003993 interaction Effects 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 74
- 210000000245 forearm Anatomy 0.000 claims description 32
- 210000000707 wrist Anatomy 0.000 claims description 29
- 239000002245 particle Substances 0.000 claims description 6
- 241000282326 Felis catus Species 0.000 claims description 3
- 230000003760 hair shine Effects 0.000 claims 2
- 230000000474 nursing effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000006872 improvement Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/01—Feed troughs; Feed pails
- A01K5/0114—Pet food dispensers; Pet food trays
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
- A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
- A01K15/025—Toys specially adapted for animals
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
- A01K5/0291—Automatic devices with timing mechanisms, e.g. pet feeders
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Birds (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Zoology (AREA)
- Manipulator (AREA)
- Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
Abstract
The invention provides a pet management robot with functions of automatically feeding and pet attracting. A pet management robot, comprising: a mobile platform; a sensing unit; the feeding unit comprises a food storage device, a food carrying device and a food basin shifting device which are sequentially arranged from top to bottom along the height direction of the moving platform, the food carrying device is configured to be switched between a first position below the food storage device and a second position above the food basin shifting device under the control of the control device, and the food basin shifting device is configured to be switched between a third position inside the moving platform and a fourth position outside the moving platform under the control of the control device; the interaction unit is arranged on the mobile platform and comprises a laser lamp irradiation device and a throwing device; and a control device. The pet feeding device has higher intelligent degree, has the functions of automatically feeding and attracting pets to stay, and realizes humanized accompany and nursing of pets.
Description
Technical Field
The invention relates to a robot, in particular to a pet management robot, and belongs to the technical field of robots.
Background
In recent years, the development of the pet industry is rapid. The sub-industries of pet food, pet products, pet medical treatment and the like are thriving, new industries of pet insurance, pet beauty and the like are gradually started, and the pet economy is in the way. Most of these pet owners have a high degree of purchasing power and impulsivity, and willingness to be active for pet consumption, which has prompted the rise and development of the pet economy.
Along with the improvement of living standard, the pet nurturing requirement of people is also improved, and as the master cannot accompany the pet at home all times, a pet management robot of a few accompanying types is also available in the market to help the master take care of the pet. However, the existing pet management robot on the market is multifunctional and single, is mostly limited to feeding food and water at fixed points, and cannot well accompany and nurse pets in a humanized manner. Therefore, a better and more comprehensive pet management robot for researching and designing work is very important.
Disclosure of Invention
Based on the above background, the present invention is directed to a pet management robot with automatic feeding and pet attracting functions, which solves the problems described in the background art.
In order to achieve the above object, the present invention provides the following technical solutions:
a pet management robot, comprising:
the bottom of the moving platform is provided with a moving wheel component;
the sensing unit is arranged on the mobile platform and comprises an ultrasonic sensor, an infrared sensor, a grating sensor and a water level sensor;
the feeding unit comprises a food storage device, a food carrying device and a food basin shifting device which are sequentially arranged from top to bottom along the height direction of the moving platform, the grating sensor and the water level sensor are arranged in the food storage device, the food carrying device is configured to be switched between a first position below the food storage device and a second position above the food basin shifting device under the control of the control device, and the food basin shifting device is configured to be switched between a third position inside the moving platform and a fourth position outside the moving platform under the control of the control device;
the interaction unit is arranged on the mobile platform and comprises a laser lamp irradiation device and a throwing device; and the number of the first and second groups,
the control device is electrically connected with the ultrasonic sensor, the infrared sensor, the grating sensor, the water level sensor, the food storage device, the food carrying device, the food basin shifting device, the laser lamp irradiation device and the throwing device respectively, and the control device is configured to execute the following control steps: judging whether the feeding time is the feeding time, if not, repeating the steps, if so, detecting the food storage condition of the food storage device through the grating sensor, if not, alarming to prompt that the food is lack, if the food storage does not meet the requirement, operating the food carrying device to the first position to obtain the food and then moving the food to the second position, operating the food basin shifting device to the fourth position, operating the food carrying device to pour the food into the food basin shifting device for feeding, and operating the food basin shifting device to the third position after continuously finishing the set feeding time period.
Preferably, the food storage device includes a first support and a storage box, the storage box is fixedly connected to the mobile platform through the first support, the storage box is provided with a food storage cavity and a water storage cavity, the water storage cavity is provided with a water pump, the water level sensor is disposed in the water storage cavity and electrically connected to the water pump, the grating sensor is disposed in the food storage cavity, the bottom of the food storage cavity is provided with a food dropping hole for food particles to pass through, the side portion of the storage box is provided with a baffle plate for blocking the food dropping hole and a food dropping motor, the baffle plate is connected to an output end of the food dropping motor, the food dropping motor is electrically connected to the control device, and the control device is further configured to perform the following control steps: judging whether the feeding time is the feeding time, if not, repeating the steps, if so, detecting the water storage condition in the water storage cavity through a water level sensor, if the water storage does not meet the requirement, giving an alarm to prompt that the water is short, and if the water storage meets the requirement, operating a water pump to lead the water into the water storage cavity; when the food conveying device is operated to the first position, the food falling motor is operated to enable at least part of the baffle to leave the food falling hole, so that the food particles fall into the food conveying device.
As preferred, food handling device includes first base, upper arm subassembly, forearm subassembly, wrist subassembly and food shovel, first base and moving platform fixed connection, the one end of upper arm subassembly articulates in first base, and the articulated shaft of upper arm subassembly and first base sets up along moving platform direction of height, the one end of forearm subassembly articulates in the other end of upper arm subassembly, and the articulated shaft of forearm subassembly and upper arm subassembly sets up along the direction with moving platform height looks vertically, the wrist subassembly articulates in the other end of forearm subassembly, and the articulated shaft of wrist subassembly and forearm subassembly sets up along the direction with moving platform height looks vertically, food shovel fixed connection is in wrist subassembly tip.
Preferably, the upper arm assembly comprises an upper arm motor, a first fixing plate, a second fixing plate and a first connecting plate, the output end of the upper arm motor is hinged to the first base, the upper arm motor is fixedly connected with the first fixing plate, the first fixing plate is fixedly connected with the second fixing plate through the first connecting plate, and the upper arm motor is electrically connected with the control device.
Preferably, the forearm assembly includes forearm motor, third fixed plate, fourth fixed plate and fifth fixed plate, the output of forearm motor articulate in the second fixed plate, forearm motor fixed connection third fixed plate, the third fixed plate passes through fourth fixed plate fixed connection fifth fixed plate, forearm motor and controlling means electric connection.
Preferably, the wrist assembly comprises a wrist motor, a sixth fixing plate and a second connecting plate, the output end of the wrist motor is hinged to the fifth fixing plate, the wrist motor is fixedly connected with the sixth fixing plate, the sixth fixing plate is fixedly connected with the food shovel through the second connecting plate, and the wrist motor is electrically connected with the control device.
Preferably, the food basin shifting device comprises a double-rocker assembly, a food basin and a water basin, the food basin and the water basin are fixedly connected to the double-rocker assembly, the double-rocker assembly is movably connected with the moving platform, the double-rocker assembly comprises a double-rocker motor, a first connecting rod, a second connecting rod and a third connecting rod, the double-rocker motor is fixedly connected to the moving platform, the output end of the double-rocker motor is hinged to one end of the first connecting rod, the other end of the first connecting rod is hinged to one end of the third connecting rod, the other end of the third connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to the moving platform, the food basin and the water basin are fixedly connected to the surface of the third connecting rod, and the double-rocker motor is electrically connected with the control device.
Preferably, the laser lamp irradiation device comprises a second base, a swing arm assembly, an irradiation arm assembly and an infrared emitter, one end of the swing arm assembly is hinged to the second base, a hinged shaft of the swing arm assembly and the second base is arranged in the height direction of the moving platform, the irradiation arm assembly is hinged to the other end of the swing arm assembly, the hinged shaft of the irradiation arm assembly and the swing arm assembly is arranged in the direction perpendicular to the height direction of the moving platform, and the infrared emitter is fixedly connected to the top of the irradiation arm assembly.
Preferably, the swing arm assembly comprises a swing arm motor, a seventh fixing plate, a third connecting plate and an eighth fixing plate, the output end of the swing arm motor is hinged to the second base, the swing arm motor is fixedly connected to the seventh fixing plate, the seventh fixing plate is fixedly connected with the eighth fixing plate through the third connecting plate, the eighth fixing plate is located above the seventh fixing plate, and the swing arm motor is electrically connected with the control device.
Preferably, the irradiation arm assembly comprises an irradiation arm motor, a ninth fixing plate and a tenth fixing plate, the output end of the irradiation arm motor is hinged to the eighth fixing plate, the irradiation arm motor is fixedly connected to the ninth fixing plate, the end portion of the ninth fixing plate is fixedly connected to the tenth fixing plate, the infrared emitter is fixedly connected to the surface of the tenth fixing plate, and the irradiation arm motor is electrically connected with the control device.
Preferably, the throwing device comprises a throwing motor, a crank rocker assembly, a first belt wheel, a second belt wheel, a traction belt, an elastic belt, a throwing support, a throwing straight rail and a throwing bent rail, wherein the throwing motor is arranged on the throwing support, the output end of the throwing motor is connected with the first belt wheel through the crank rocker assembly, the middle part of the throwing straight rail is hinged to the throwing support, one end of the throwing straight rail is connected with the throwing support through the elastic belt, the other end of the throwing straight rail is connected with the throwing bent rail, the throwing straight rail is adjacent to the bottom of one end of the throwing bent rail and is connected with the traction belt, and the traction belt penetrates through the second belt wheel and is connected with the first belt wheel.
Preferably, the control device is further configured to execute the following control steps: judging the type of the front object according to signals received by the ultrasonic sensor and the infrared sensor, and if the front object is judged to be a dog, operating the throwing device; if the cat is judged, operating a laser lamp irradiation device; and if the moving wheel assembly is judged to be other, stopping running the moving wheel assembly to avoid the obstacle.
Compared with the prior art, the invention has the following advantages:
compared with the existing products for feeding at fixed points, the pet management robot has higher intelligent degree, can adapt to the change of the surrounding environment well, has the functions of automatically feeding and attracting pets to tease pets, and realizes humanized companion and nursing of pets.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic perspective view of a pet management robot according to the present invention;
FIG. 2 is a schematic structural view of a moving wheel assembly of the present invention;
FIG. 3 is a schematic view of the food storage device of the present invention;
FIG. 4 is a schematic view of the food handling apparatus of the present invention;
FIG. 5 is a schematic view of the bowl shifting device of the present invention;
FIG. 6 is a schematic view showing the structure of a laser lamp irradiation apparatus according to the present invention;
FIG. 7 is a schematic view of the construction of the casting apparatus of the present invention;
FIG. 8 is a flow chart of the feeding control by the control device according to the present invention;
FIG. 9 is a flow chart of the control device for controlling pet teasing according to the present invention;
FIG. 10 is a prototype view of the pet management robot of the present invention;
FIG. 11 is a programming diagram of the control device of the present invention for determining water shortage and alarming;
FIG. 12 is a programming diagram of the control device of the present invention controlling feeding;
FIG. 13 is a programming diagram of the control device of the present invention controlling displacement of the bowl;
FIG. 14 is a programming diagram of the temperature and humidity detection control of the control device according to the present invention;
FIG. 15 is a programming diagram of the control device for controlling the laser lamp irradiating device according to the present invention;
fig. 16 is a programming diagram of the control device for controlling the moving wheel assembly to walk and avoid the obstacle in the invention.
In the figure: 1. a mobile platform; 2. a sensing unit; 3. a food storage device; 4. a food handling device; 5. a bowl displacement device; 6. a laser lamp irradiation device; 7. a throwing device; 8. a control device; 101. a moving wheel motor; 102. a moving wheel support; 103. a wheel; 201. an ultrasonic sensor; 202. an infrared sensor; 203. a grating sensor; 204. a water level sensor; 205. A temperature and humidity sensor; 301. a first bracket; 302. a storage box; 3021. a food storage cavity; 3022. a water storage cavity; 3023. dropping the food hole; 303. a baffle plate; 304. a food dropping motor; 401. a first base; 402. an upper arm assembly; 403. a forearm assembly; 404. a wrist assembly; 405. a food shovel; 4021. an upper arm motor; 4022. a first fixing plate; 4023. a second fixing plate; 4024. a first connecting plate; 4031. a forearm motor; 4032. a third fixing plate; 4033. a fourth fixing plate; 4034. a fifth fixing plate; 4041. A wrist motor; 4042. a sixth fixing plate; 4043. a second connecting plate; 501. a food basin; 502. a basin; 503. a double-rocker motor; 504. a first link; 505. a second link; 506. a third link; 601. a second base; 602. a swing arm assembly; 603. an illumination arm assembly; 604. an infrared emitter; 6021. a swing arm motor; 6022. a seventh fixing plate; 6023. a third connecting plate; 6024. an eighth fixing plate; 6031. an irradiation arm motor; 6032. a ninth fixing plate; 6033. a tenth fixing plate; 701. a throwing motor; 702. a crank rocker assembly; 703. a first pulley; 704. a second pulley; 705. a traction belt; 706. An elastic band; 707. a support is thrown; 708. throwing the straight rail; 709. throwing the curved rail.
Detailed Description
The technical solution of the present invention is further specifically described below by way of specific examples in conjunction with the accompanying drawings. It is to be understood that the practice of the invention is not limited to the following examples, and that any variations and/or modifications may be made thereto without departing from the scope of the invention.
In the present invention, all parts and percentages are by weight, unless otherwise specified, and the equipment and materials used are commercially available or commonly used in the art. The methods in the following examples are conventional in the art unless otherwise specified. The components or devices in the following examples are, unless otherwise specified, standard parts or parts known to those skilled in the art, the structure and principle of which are known to those skilled in the art through technical manuals or through routine experimentation.
The embodiment of the invention discloses a pet management robot, which comprises a mobile platform 1, a sensing unit 2, a feeding unit, an interaction unit and a control device 8. The bottom of the mobile platform 1 is provided with a mobile wheel component. The sensing unit 2 is arranged on the mobile platform 1, and the sensing unit 2 comprises an ultrasonic sensor 201, an infrared sensor 202, a grating sensor 203 and a water level sensor 204. The feeding unit comprises a food storage device 3, a food carrying device 4 and a food basin shifting device 5 which are sequentially arranged from top to bottom along the height direction of the moving platform 1. The grating sensor 203 and the water level sensor 204 are provided within the food storage device 3, the food handling device 4 is configured to switch between a first position below the food storage device 3 and a second position above the bowl shifting device 5 under the control of the control device 8, and the bowl shifting device 5 is configured to switch between a third position inside the mobile platform 1 and a fourth position outside the mobile platform 1 under the control of the control device 8. The interactive unit is arranged on the mobile platform 1 and comprises a laser lamp irradiation device 6 and a throwing device 7. The ultrasonic sensor 201, the infrared sensor 202, the grating sensor 203, the water level sensor 204, the food storage device 3, the food handling device 4, the food basin shifting device 5, the laser lamp irradiation device 6 and the throwing device 7 are respectively electrically connected with the control device 8. The control device 8 is configured to perform the following control steps: judging whether the feeding time is the feeding time, if not, repeating the steps, if so, detecting the food storage condition of the food storage device 3 through the grating sensor 203, if not, alarming to prompt that the food is lack, if the food storage does not meet the requirement, operating the food carrying device 4 to the first position to obtain the food, then moving the food carrying device to the second position, then operating the food basin shifting device 5 to the fourth position, operating the food carrying device 4 to pour the food into the food basin shifting device 5 for feeding, and operating the food basin shifting device 5 to the third position after continuously finishing the set feeding time period. Through the rational arrangement to above-mentioned unit and device, for the product of feeding at present fixed point, this pet management robot intelligent degree is higher, adaptation surrounding environment's that can be fine change has automatic feeding and eats and draws the function of pet commander, realizes carrying out humanized companion and nurse to the pet. The following detailed description of embodiments of the invention refers to the accompanying drawings.
A pet management robot is shown in figure 1 and comprises a mobile platform 1, a sensing unit 2, a feeding unit, an interaction unit and a control device 8.
The bottom of the mobile platform 1 is provided with a mobile wheel component. The number of the moving wheel assemblies is four, and the moving wheel assemblies are respectively located at four corners of the bottom of the moving platform 1, as shown in fig. 2, each moving wheel assembly comprises a moving wheel motor 101, a moving wheel support 102 and a wheel 103, an output end of the moving wheel motor 101 is connected with the wheel 103, and the moving wheel motor 101 is fixedly connected to the moving wheel support 102.
The sensing unit 2 is arranged on the mobile platform 1, and the sensing unit 2 comprises an ultrasonic sensor 201, an infrared sensor 202, a grating sensor 203 and a water level sensor 204. In this embodiment, the sensing unit 2 further includes a temperature and humidity sensor 205 for acquiring an ambient temperature and an ambient humidity, which can help a pet owner to intuitively know whether the environment where the pet is located is comfortable. The ultrasonic sensor 201, the infrared sensor 202, the grating sensor 203, the water level sensor 204 and the temperature and humidity sensor 205 are electrically connected with the control device 8 respectively. Of course, the temperature/humidity sensor 205 may not be provided in another embodiment.
The feeding unit comprises a food storage device 3, a food carrying device 4 and a feeding basin shifting device 5 which are sequentially arranged from top to bottom along the height direction of the moving platform 1, and the food storage device 3, the food carrying device 4 and the feeding basin shifting device 5 are respectively and electrically connected with a control device 8. The grating sensor 203 and the water level sensor 204 are provided within the food storage device 3, the food handling device 4 is configured to switch between a first position below the food storage device 3 and a second position above the bowl shifting device 5 under the control of the control device 8, and the bowl shifting device 5 is configured to switch between a third position inside the mobile platform 1 and a fourth position outside the mobile platform 1 under the control of the control device 8.
Specifically, as shown in fig. 3, the food storage device 3 includes a first support 301 and a storage box 302, the storage box 302 is fixedly connected to the mobile platform 1 through the first support 301, the storage box 302 is provided with a food storage cavity 3021 and a water storage cavity 3022, a water pump is arranged in the water storage cavity 3022, a water outlet end of the water pump is connected to a water pipe, the other end of the water pipe is connected to the basin 502, the water level sensor 204 is arranged in the water storage cavity 3022 and electrically connected to the water pump, the grating sensor 203 is arranged in the food storage cavity 3021, a food dropping hole 3023 for food particles to pass through is arranged at the bottom of the food storage cavity 3021, a baffle 303 and a food dropping motor 304 for blocking the food dropping hole 3023 are arranged at the side of the storage box 302, the baffle 303 is connected to an output end of the food dropping motor 304, and the food dropping motor 304 is electrically connected to the control device 8.
Specifically, as shown in fig. 4, the food handling device 4 includes a first base 401, an upper arm component 402, a forearm component 403, a wrist component 404 and a food shovel 405, the first base 401 is fixedly connected to the mobile platform 1, one end of the upper arm component 402 is hinged to the first base 401, a hinge axis of the upper arm component 402 and the first base 401 is disposed along the height direction of the mobile platform 1, one end of the forearm component 403 is hinged to the other end of the upper arm component 402, a hinge axis of the forearm component 403 and the upper arm component 402 is disposed along the direction perpendicular to the height direction of the mobile platform 1, the wrist component 404 is hinged to the other end of the forearm component 403, a hinge axis of the wrist component 404 and the forearm component 403 is disposed along the direction perpendicular to the height direction of the mobile platform 1, and the food shovel 405 is fixedly connected to an end of the wrist component 404.
Specifically, the upper arm assembly 402 includes an upper arm motor 4021, a first fixing plate 4022, a second fixing plate 4023 and a first connecting plate 4024, the output end of the upper arm motor 4021 is hinged to the first base 401, the upper arm motor 4021 is fixedly connected to the first fixing plate 4022, the first fixing plate 4022 is fixedly connected to the second fixing plate 4023 through the first connecting plate 4024, and the upper arm motor 4021 is electrically connected to the control device 8.
Specifically, the forearm assembly 403 includes a forearm motor 4031, a third fixing plate 4032, a fourth fixing plate 4033 and a fifth fixing plate 4034, the output end of the forearm motor 4031 is hinged to the second fixing plate, the forearm motor 4031 is fixedly connected to the third fixing plate 4032, the third fixing plate 4032 is fixedly connected to the fifth fixing plate 4034 through the fourth fixing plate 4033, and the forearm motor 4031 is electrically connected to the control device 8.
Specifically, wrist assembly 404 includes a wrist motor 4041, a sixth fixing plate 4042 and a second connecting plate 4043, an output end of wrist motor 4041 is hinged to fifth fixing plate 4034, wrist motor 4041 is fixedly connected to sixth fixing plate 4042, sixth fixing plate 4042 is fixedly connected to food shovel 405 through second connecting plate 4043, and wrist motor 4041 is electrically connected to control device 8.
Specifically, as shown in fig. 5, the bowl shifting device 5 includes a double-rocker assembly, a bowl 501 and a basin 502, the bowl 501 and the basin 502 are fixedly connected to the double-rocker assembly, and the double-rocker assembly is movably connected to the moving platform 1. The double-rocker assembly comprises a double-rocker motor 503, a first connecting rod 504, a second connecting rod 505 and a third connecting rod 506, the double-rocker motor 503 is fixedly connected to the moving platform 1, the output end of the double-rocker motor 503 is hinged to one end of the first connecting rod 504, the other end of the first connecting rod 504 is hinged to one end of the third connecting rod 506, the other end of the third connecting rod 506 is hinged to one end of the second connecting rod 505, the other end of the second connecting rod 505 is hinged to the moving platform 1, the food basin 501 and the water basin 502 are fixedly connected to the surface of the third connecting rod 506, and the double-rocker motor 503 is electrically connected with the control device 8.
The interactive unit is arranged on the mobile platform 1 and comprises a laser lamp irradiation device 6 and a throwing device 7. The laser lamp irradiation device 6 and the throwing device 7 are respectively electrically connected with the control device 8.
Specifically, as shown in fig. 6, the laser lamp irradiation device 6 includes a second base 601, a swing arm assembly 602, an irradiation arm assembly 603 and an infrared emitter 604, wherein one end of the swing arm assembly 602 is hinged to the second base 601, a hinge axis of the swing arm assembly 602 and the second base 601 is arranged along a height direction of the mobile platform 1, the irradiation arm assembly 603 is hinged to the other end of the swing arm assembly 602, the hinge axis of the irradiation arm assembly 603 and the swing arm assembly 602 is arranged along a direction perpendicular to the height direction of the mobile platform 1, and the infrared emitter 604 is fixedly connected to the top of the irradiation arm assembly 603. The infrared emitter 604 emits infrared laser light, and the infrared emitter 604 moves in different directions by the movement of the swing arm assembly 602 and the irradiation arm assembly 603, thereby achieving the pet teasing effect.
Specifically, the swing arm assembly 602 includes a swing arm motor 6021, a seventh fixing plate 6022, a third connecting plate 6023 and an eighth fixing plate 6024, the output end of the swing arm motor 6021 is hinged to the second base 601, the swing arm motor 6021 is fixedly connected to the seventh fixing plate 6022, the seventh fixing plate 6022 is fixedly connected to the eighth fixing plate 6024 through the third connecting plate 6023, the eighth fixing plate 6024 is located above the seventh fixing plate 6022, and the swing arm motor 6021 is electrically connected to the control device 8.
Specifically, the irradiation arm assembly 603 includes an irradiation arm motor 6031, a ninth fixing plate 6032 and a tenth fixing plate 6033, an output end of the irradiation arm motor 6031 is hinged to the eighth fixing plate 6024, the irradiation arm motor 6031 is fixedly connected to the ninth fixing plate 6032, an end of the ninth fixing plate 6032 is fixedly connected to the tenth fixing plate 6033, the infrared emitter 604 is fixedly connected to a surface of the tenth fixing plate 6033, and the irradiation arm motor 6031 is electrically connected to the control device 8.
Specifically, as shown in fig. 7, the throwing device 7 includes a throwing motor 701, a crank rocker assembly 702, a first belt pulley 703, a second belt pulley 704, a traction belt 705, an elastic belt 706, a throwing support 707, a throwing straight rail 708 and a throwing curved rail 709, the throwing motor 701 is disposed on the throwing support 707, an output end of the throwing motor 701 is connected to the first belt pulley 703 through the crank rocker assembly 702, the crank rocker assembly is used in the prior art for converting the rotation motion of the throwing motor 701 into the intermittent oscillation of the first belt pulley 703, the middle part of the throwing straight rail 708 is hinged to the throwing support 707, one end of the throwing straight rail 708 is connected to the throwing support 707 through the elastic belt 706, the other end of the throwing straight rail 708 is connected to the throwing curved rail 709, the bottom of one end of the throwing straight rail 708 adjacent to the throwing curved rail 709 is connected to the traction belt 705, and the traction belt 705 is disposed through the second belt 704 and connected to the first belt 703. The toy ball to be thrown is placed on the throwing straight rail 708, when the throwing motor 701 operates, the first belt pulley 703 is rotated through the crank rocker assembly 702, the throwing curved rail 709 is pulled to rotate to the lowest position along the hinging shaft of the throwing straight rail 708 and the throwing bracket 707 firstly, at the moment, the elastic belt 706 is stretched, the position of one end of the throwing straight rail 708, which deviates from the throwing curved rail 709, is higher than the other end, the toy ball slides to the bent part of the throwing curved rail 709 along the throwing straight rail 708 under the action of gravity, and stops, along with the continuous operation of the crank rocker assembly 702, the first belt pulley 703 rotates reversely, traction is not provided to the throwing curved rail 709 through the traction belt 705, the throwing straight rail 708 is quickly reset under the action of the quick retraction highest position of the elastic belt 706, and the throwing curved rail 709 rotates to the highest position quickly, so that the toy ball moves along the rail of the throwing curved rail 709 and is thrown.
The control device 8 is configured to perform the following control steps: judging whether the feeding time is the feeding time, if not, repeating the steps, if so, detecting the food storage condition of the food storage device 3 through the grating sensor 203, if not, alarming to prompt that the food is short, if the food storage meets the requirement, operating the food carrying device 4 to the first position, operating the food dropping motor 304 to enable the baffle plate 303 to be at least partially separated from the food dropping hole 3023, enabling the set amount of food particles to fall into the food shovel 405 of the food carrying device 4, then enabling the baffle plate 303 to return to the original position, then moving the food carrying device 4 to the second position, then operating the food basin shifting device 5 to the fourth position, operating the food carrying device 4 to pour the food into the food basin shifting device 5 for feeding, and operating the food basin shifting device 5 to the third position after the set feeding time period is continuously completed. The control device 8 is further configured to perform the following control steps: and judging whether the feeding time is the feeding time, if not, repeating the steps, if so, detecting the water storage condition in the water storage cavity 3022 through the water level sensor 204, if the water storage does not meet the requirement, giving an alarm to prompt that the water is lack, and if the water storage meets the requirement, operating the water pump to lead the water into the water storage cavity 3022. The control device 8 is further configured to perform the following control steps: judging the type of the front object according to signals received by the ultrasonic sensor 201 and the infrared sensor 202, and if the front object is judged to be a dog, operating the throwing device 7; if the cat is judged, the laser lamp irradiation device 6 is operated; and if the moving wheel assembly is judged to be other, stopping running the moving wheel assembly to avoid the obstacle. A specific flowchart of the feeding step performed by the control device 8 is shown in fig. 8 and 9.
Fig. 10 shows a prototype of a pet management robot manufactured according to the technical solution of the present embodiment, wherein a program for the control device 8 to determine that the water storage cavity 3022 is short of water and to alarm is shown in fig. 11, a program for the control device 8 to control the food storage device 3 to discharge food and water is shown in fig. 12, a program for the control device 8 to control the bowl shifting device 5 is shown in fig. 13, a program for the control device 8 to control the temperature and humidity detection is shown in fig. 14, a program for the control device 8 to control the laser lamp irradiation device 6 is shown in fig. 15, and a program for the control device 8 to control the moving wheel assembly to travel and avoid obstacles is shown in fig. 16.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A pet management robot, characterized in that: this pet management robot includes:
the device comprises a moving platform (1), wherein a moving wheel assembly is arranged at the bottom of the moving platform (1);
The sensing unit (2) is arranged on the mobile platform (1), and the sensing unit (2) comprises an ultrasonic sensor (201), an infrared sensor (202), a grating sensor (203) and a water level sensor (204);
the feeding unit comprises a food storage device (3), a food carrying device (4) and a food basin shifting device (5) which are sequentially arranged from top to bottom along the height direction of the moving platform (1), the grating sensor (203) and the water level sensor (204) are arranged in the food storage device (3), the food carrying device (4) is configured to be switched between a first position below the food storage device (3) and a second position above the food basin shifting device (5) under the control of a control device (8), and the food basin shifting device (5) is configured to be switched between a third position inside the moving platform (1) and a fourth position outside the moving platform (1) under the control of the control device (8);
the interaction unit is arranged on the mobile platform (1) and comprises a laser lamp irradiation device (6) and a throwing device (7); and the number of the first and second groups,
control device (8), ultrasonic sensor (201), infrared sensor (202), grating sensor (203), level sensor (204), food storage device (3), food handling device (4), edible basin shift unit (5), laser lamp irradiation device (6) and jettison device (7) are all respectively with control device (8) electric connection, control device (8) are configured to carry out following control step: judging whether the feeding time is the feeding time, if not, repeating the steps, if so, detecting the food storage condition of the food storage device (3) through the grating sensor (203), if not, alarming to prompt that food is lacked, if the food storage does not meet the requirement, operating the food carrying device (4) to the first position to obtain food, then moving the food carrying device to the second position, operating the food basin shifting device (5) to the fourth position, operating the food carrying device (4) to pour the food into the food basin shifting device (5) for feeding, and operating the food basin shifting device (5) to the third position after continuously finishing the set feeding time period.
2. The pet management robot of claim 1, wherein: the food storage device (3) comprises a first bracket (301) and a storage box (302), the storage box (302) is fixedly connected with the mobile platform (1) through a first bracket (301), the storage box (302) is provided with a food storage cavity (3021) and a water storage cavity (3022), a water pump is arranged in the water storage cavity (3022), the water level sensor (204) is arranged in the water storage cavity (3022) and is electrically connected with the water pump, the grating sensor (203) is arranged in the food storage cavity (3021), a food falling hole (3023) for food particles to pass through is arranged at the bottom of the food storage cavity (3021), the side part of the storage box (302) is provided with a baffle (303) for plugging a food falling hole (3023) and a food falling motor (304), the baffle (303) is connected with the output end of the food falling motor (304), the food falling motor (304) is electrically connected with a control device (8), and the control device (8) is further configured to execute the following control steps: judging whether the feeding time is the feeding time, if not, repeating the steps, if so, detecting the water storage condition in the water storage cavity (3022) through a water level sensor (204), if the water storage does not meet the requirement, giving an alarm to prompt that the water is lack, and if the water storage meets the requirement, operating a water pump to lead the water into the water storage cavity (3022); when the food carrying device (4) is operated to the first position, the food dropping motor (304) is operated to enable the baffle plate (303) to at least partially leave the food dropping hole (3023), and food particles are dropped into the food carrying device (4).
3. The pet management robot of claim 1, wherein: the food carrying device (4) comprises a first base (401), an upper arm component (402), a forearm component (403), a wrist component (404) and a food shovel (405), wherein the first base (401) is fixedly connected with the mobile platform (1), one end of the upper arm component (402) is hinged to the first base (401), a hinged shaft of the upper arm component (402) and the first base (401) is arranged along the height direction of the mobile platform (1), one end of the forearm component (403) is hinged to the other end of the upper arm component (402), a hinged shaft of the forearm component (403) and the upper arm component (402) is arranged along the direction vertical to the height of the mobile platform (1), the wrist component (404) is hinged to the other end of the forearm component (403), a hinged shaft of the wrist component (404) and the forearm component (403) is arranged along the direction vertical to the height of the mobile platform (1), the food shovel (405) is fixedly connected to the end of the wrist assembly (404).
4. The pet management robot of claim 3, wherein: the upper arm assembly (402) comprises an upper arm motor (4021), a first fixing plate (4022), a second fixing plate (4023) and a first connecting plate (4024), the output end of the upper arm motor (4021) is hinged to the first base (401), the upper arm motor (4021) is fixedly connected with the first fixing plate (4022), the first fixing plate (4022) is fixedly connected with the second fixing plate through the first connecting plate (4024), and the upper arm motor (4021) is electrically connected with the control device (8); the forearm assembly (403) comprises a forearm motor (4031), a third fixing plate (4032), a fourth fixing plate (4033) and a fifth fixing plate (4034), the output end of the forearm motor (4031) is hinged to the second fixing plate, the forearm motor (4031) is fixedly connected with the third fixing plate (4032), the third fixing plate (4032) is fixedly connected with the fifth fixing plate (4034) through the fourth fixing plate (4033), and the forearm motor (4031) is electrically connected with the control device (8); wrist subassembly (404) includes wrist motor (4041), sixth fixed plate (4042) and second connecting plate (4043), the output of wrist motor (4041) articulate in fifth fixed plate (4034), wrist motor (4041) fixed connection sixth fixed plate (4042), sixth fixed plate (4042) is through second connecting plate (4043) fixed connection food shovel (405), wrist motor (4041) and controlling means (8) electric connection.
5. The pet management robot of claim 1, wherein: the food basin shifting device (5) comprises a double-rocker assembly, a food basin (501) and a water basin (502), the food basin (501) and the water basin (502) are fixedly connected to the double-rocker assembly, the double-rocker assembly is movably connected with the moving platform (1), the double-rocker assembly comprises a double-rocker motor (503), a first connecting rod (504), a second connecting rod (505) and a third connecting rod (506), the double-rocker motor (503) is fixedly connected to the moving platform (1), the output end of the double-rocker motor (503) is hinged to one end of the first connecting rod (504), the other end of the first connecting rod (504) is hinged to one end of the third connecting rod (506), the other end of the third connecting rod (506) is hinged to one end of the second connecting rod (505), the other end of the second connecting rod (505) is hinged to the moving platform (1), and the food basin (501) and the water basin (502) are fixedly connected to the surface of the third connecting rod (506), the double-rocker motor (503) is electrically connected with the control device (8).
6. The pet management robot of claim 1, wherein: the laser lamp irradiation device (6) comprises a second base (601), a swing arm component (602), an irradiation arm component (603) and an infrared emitter (604), one end of the swing arm component (602) is hinged to the second base (601), the hinge shaft of the swing arm component (602) and the second base (601) is arranged along the height direction of the moving platform (1), the irradiation arm component (603) is hinged to the other end of the swing arm component (602), the hinge shaft of the irradiation arm component (603) and the swing arm component (602) is arranged along the direction vertical to the height of the moving platform (1), and the infrared emitter (604) is fixedly connected to the top of the irradiation arm component (603).
7. The pet management robot of claim 6, wherein: the swing arm assembly (602) comprises a swing arm motor (6021), a seventh fixing plate (6022), a third connecting plate (6023) and an eighth fixing plate (6024), wherein the output end of the swing arm motor (6021) is hinged to the second base (601), the swing arm motor (6021) is fixedly connected to the seventh fixing plate (6022), the seventh fixing plate (6022) is fixedly connected with the eighth fixing plate (6024) through the third connecting plate (6023), the eighth fixing plate (6024) is positioned above the seventh fixing plate (6022), and the swing arm motor (6021) is electrically connected with the control device (8).
8. The pet management robot of claim 7, wherein: shine arm subassembly (603) including shining arm motor (6031), ninth fixed plate (6032) and tenth fixed plate (6033), the output that shines arm motor (6031) articulates in eighth fixed plate (6024), shines arm motor (6031) fixed connection in ninth fixed plate (6032), the tip fixed connection of ninth fixed plate (6032) is in tenth fixed plate (6033), infrared emitter (604) fixed connection is in tenth fixed plate (6033) surface, shine arm motor (6031) and controlling means (8) electric connection.
9. The pet management robot of claim 1, wherein: the throwing device (7) comprises a throwing motor (701), a crank rocker assembly (702), a first belt wheel (703), a second belt wheel (704), a traction belt (705), an elastic belt (706), a throwing bracket (707), a throwing straight rail (708) and a throwing curved rail (709), the throwing motor (701) is arranged on the throwing bracket (707), the output end of the throwing motor (701) is connected with a first belt wheel (703) through a crank rocker component (702), the middle part of the throwing straight rail (708) is hinged with a throwing bracket (707), one end of the throwing straight rail (708) is connected with the throwing bracket (707) through an elastic belt (706), the other end of the throwing straight rail (708) is connected with a throwing curved rail (709), the bottom of one end of the throwing straight rail (708) adjacent to the throwing curved rail (709) is connected with a traction belt (705), the traction belt (705) penetrates through the second belt wheel (704) and is connected with the first belt wheel (703).
10. The pet management robot of claim 1, wherein: the control device (8) is further configured to perform the following control steps: judging the type of the front object according to signals received by the ultrasonic sensor (201) and the infrared sensor (202), and operating the throwing device (7) if the front object is judged to be a dog; if the cat is judged, operating a laser lamp irradiation device (6); and if the moving wheel assembly is judged to be other, stopping running the moving wheel assembly to avoid the obstacle.
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| CN202210287381.0A CN114885848B (en) | 2022-03-22 | 2022-03-22 | Pet management robot |
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| CN202210287381.0A CN114885848B (en) | 2022-03-22 | 2022-03-22 | Pet management robot |
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