Pet traction control method, device, pet traction equipment and storage medium

Abstract

The present invention relates to traction control technology, and discloses a control method for pet traction, comprising: receiving a dynamic balance point of a traction rope set by a user, and setting the traction length of the pet's traction rope according to the dynamic balance point of the traction rope, wherein one end of the traction rope is connected to a direct drive motor on the pet, and the other end is a user traction point for user traction; after detecting that the pet walking mode has been entered, performing a tension analysis on the traction rope to obtain a tension analysis result, and calculating a traction acceleration according to the tension analysis result and a preset motion law; constructing a motion traction formula for moving with the traction acceleration, and according to the motion traction formula, performing dynamic traction on the pet through the direct drive motor. The present invention also proposes a pet traction control device, a pet traction device, and a storage medium. The present invention can improve the flexibility of pet traction control.

Description

Technical Field

[0001] The present invention relates to traction control technology, and in particular to a pet traction control method, device, pet traction equipment and storage medium. Background Art

[0002] When pets go out for daily activities, they need to use pet leashes, which generally have the function of automatically releasing and retracting, and are easy to use and highly practical. However, the retraction and release of existing pet leashes generally require manual adjustment by the user. Therefore, when the pet moves or the user accelerates or decelerates, the user needs to adjust the length of the leashes in time to avoid the leashes strangling the user or pet due to untimely retraction and release, or the leashes getting knotted or entangled. Therefore, it is urgent to propose a control method for pet traction with strong flexibility. Summary of the invention

[0003] The present invention provides a pet traction control method, a device, a pet traction device and a storage medium, the main purpose of which is to improve the flexibility of pet traction control.

[0004] To achieve the above object, the present invention provides a pet pulling control method, comprising:

[0005] receiving a dynamic balance point of a traction rope set by a user, and setting a traction length of the traction rope for the pet according to the dynamic balance point of the traction rope, wherein one end of the traction rope is connected to a direct drive motor on the pet, and the other end is a user traction point for user traction;

[0006] After detecting that the pet walking mode has been entered, the pulling force analysis of the traction rope is performed to obtain the pulling force analysis result, and the traction acceleration is calculated according to the pulling force analysis result and the preset motion law;

[0007] A motion traction formula for moving at the traction acceleration is constructed, and according to the motion traction formula, dynamic traction of the pet is performed by the direct drive motor.

[0008] Optionally, setting the traction length of the pet's traction rope according to the dynamic balance point of the traction rope includes:

[0009] Taking the dynamic balance point of the traction rope as a dividing point, dividing the length of the traction rope to obtain a first length from the direct drive motor to the user's traction point and a second length wound in the direct drive motor;

[0010] The direct drive motor is used to control the retraction and extension of the traction rope according to the first length and the second length until the traction length reaches the first length.

[0011] Optionally, performing a tension analysis on the traction rope to obtain a tension analysis result includes:

[0012] Searching for a reference center of the traction rope, and constructing a rectangular coordinate system with the reference center as the center point of the coordinate axis;

[0013] A horizontal reference plane in the rectangular coordinate system is selected as a motion reference plane of the traction rope, and the forces acting on the traction rope in different directions of the motion reference plane are analyzed to obtain a tension analysis result.

[0014] Optionally, constructing a rectangular coordinate system using the reference center as the center point of the coordinate axis includes:

[0015] Taking the coordinate center point as a reference point, extending in the horizontal direction, a horizontal coordinate axis is obtained; taking the coordinate center point as a reference point, extending in the vertical direction, a longitudinal coordinate axis is obtained;

[0016] The coordinate system constructed by the transverse coordinate axis, the longitudinal coordinate axis and the reference center is used as a rectangular coordinate system.

[0017] Optionally, the calculating the traction acceleration according to the pulling force analysis result and a preset motion law includes:

[0018] Calculating the difference between the first tension exerted on the traction rope and the second tension output by the direct drive motor in the tension analysis result to obtain a tension difference;

[0019] Based on the motion formula in the preset motion law, the traction acceleration is calculated according to the pulling force difference.

[0020] Optionally, the performing dynamic traction of the pet by the direct drive motor according to the motion traction formula includes:

[0021] When the first pulling force increases, controlling the direct drive motor to extend the traction length of the traction rope;

[0022] When the first pulling force decreases, the direct drive motor is controlled to shorten the traction length of the traction rope.

[0023] In order to solve the above problems, the present invention further provides a pet traction control device, comprising:

[0024] A setting module, used for receiving a dynamic balance point of a traction rope set by a user, and setting a traction length of the traction rope for the pet according to the dynamic balance point of the traction rope, wherein one end of the traction rope is connected to a direct drive motor on the pet, and the other end is a user traction point for user traction;

[0025] An analysis module is used to perform a tension analysis on the traction rope after detecting that the pet walking mode has been entered, obtain a tension analysis result, and calculate a traction acceleration based on the tension analysis result and a preset motion law;

[0026] The control module is used to construct a motion traction formula for moving at the traction acceleration, and according to the motion traction formula, the direct drive motor is used to perform dynamic traction on the pet.

[0027] In order to solve the above problems, the present invention further provides a pet traction device, the pet traction device comprising:

[0028] Data processing components, data storage components, direct drive motors, and traction components;

[0029] The data storage component stores a computer program, and when the data processing component executes the computer program, the following operations are implemented:

[0030] Receiving a dynamic balance point of a traction rope set by a user, and setting a traction length of the traction assembly according to the dynamic balance point of the traction rope, wherein one end of the traction assembly is connected to a direct drive motor, and the other end is a user traction point for user traction;

[0031] After detecting that the pet walking mode has been entered, a tension analysis is performed on the traction component to obtain a tension analysis result, and a traction acceleration is calculated based on the tension analysis result and a preset motion law;

[0032] A motion traction formula for moving at the traction acceleration is constructed, and according to the motion traction formula, the pet equipped with the pet traction device is dynamically pulled by the direct drive motor.

[0033] In order to solve the above problems, the present invention further provides a computer-readable storage medium storing a computer program, which implements the above-mentioned pet traction control method when executed by a processor.

[0034] In the embodiment of the present invention, the traction length of the traction rope is set for the pet through the dynamic balance point of the traction rope, the traction rope is adjusted to a suitable length, and the tension analysis is performed on the pet in the pet walking mode to obtain the tension analysis result and the corresponding traction acceleration. The traction acceleration is used as the standard for balancing the pet for traction. According to the motion traction formula constructed by the traction acceleration, the pet is dynamically pulled by the direct drive motor. Therefore, the pet traction control method, device, pet traction equipment and storage medium proposed by the present invention can solve the problem of improving the flexibility of pet traction control. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1A schematic flow chart of a pet pulling control method provided by an embodiment of the present invention;

[0036] Figure 2 A functional module diagram of a pet traction control device provided by an embodiment of the present invention;

[0037] Figure 3 A schematic structural diagram of a pet traction device for implementing the pet traction control method provided by an embodiment of the present invention.

[0038] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0040] The embodiment of the present application provides a control method for pet traction. The execution subject of the control method for pet traction includes but is not limited to at least one of the pet traction devices such as a server and a terminal that can be configured to execute the method provided in the embodiment of the present application. In other words, the control method for pet traction can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and big data and artificial intelligence platforms.

[0041] Reference Figure 1 FIG. 1 is a flow chart of a pet pulling control method provided by an embodiment of the present invention. In this embodiment, the pet pulling control method includes:

[0042] S1. Receive a dynamic balance point of a traction rope set by a user, and set a traction length of the traction rope for the pet according to the dynamic balance point of the traction rope, wherein one end of the traction rope is connected to a direct drive motor on the pet, and the other end is a user traction point for user traction.

[0043] In the embodiment of the present invention, the pet can be a real pet or a pet robot. In the embodiment of the present invention, a direct drive motor is hung on the pet. One end of the traction rope is connected to the direct drive motor, and the other end is a user traction point for the user to traction.

[0044] Furthermore, the traction length of the traction rope refers to the length from the direct drive motor to the user's traction point. The dynamic balance point of the traction rope refers to the point that ensures that the traction length is the optimal pet walking length. Preferably, the traction length can be 2 to 4 meters.

[0045] Furthermore, the setting of the traction length of the pet's traction rope according to the dynamic balance point of the traction rope includes:

[0046] Taking the dynamic balance point of the traction rope as a dividing point, dividing the length of the traction rope to obtain a first length from the direct drive motor to the user's traction point and a second length wound in the direct drive motor;

[0047] The direct drive motor is used to control the retraction and extension of the traction rope according to the first length and the second length until the traction length reaches the first length.

[0048] In the embodiment of the present invention, the first length may be 2-4 meters, and the second length may be three times the length of the first length, so that a longer distance can be provided for the direct drive motor to perform buffering.

[0049] S2. After detecting that the pet walking mode has been entered, a tension analysis is performed on the traction rope to obtain a tension analysis result, and a traction acceleration is calculated based on the tension analysis result and a preset motion law.

[0050] In the embodiment of the present invention, the performing of tension analysis on the traction rope to obtain the tension analysis result includes:

[0051] Searching for a reference center of the traction rope, and constructing a rectangular coordinate system with the reference center as the center point of the coordinate axis;

[0052] A horizontal reference plane in the rectangular coordinate system is selected as a motion reference plane of the traction rope, and the forces acting on the traction rope in different directions of the motion reference plane are analyzed to obtain a tension analysis result.

[0053] In detail, the forces in different directions on the horizontal reference plane include the first tension F exerted on the traction rope 拉 , and the second pulling force F output by the direct drive motor m Wherein, the first tension F 拉 It can be the pulling force of the traction rope applied by the user when the user is pulling the pet, or it can be the pulling force of the traction rope applied by the pet when the pet is pulling the user. m It is a constant inward reeling force maintained by the direct drive motor.

[0054] Furthermore, the construction of a rectangular coordinate system using the reference center as the center point of the coordinate axis includes:

[0055] Taking the coordinate center point as a reference point, extending in the horizontal direction, a horizontal coordinate axis is obtained; taking the coordinate center point as a reference point, extending in the vertical direction, a longitudinal coordinate axis is obtained;

[0056] The coordinate system constructed by the transverse coordinate axis, the longitudinal coordinate axis and the reference center is used as a rectangular coordinate system.

[0057] Specifically, the traction acceleration is calculated according to the pulling force analysis result and a preset motion law, including:

[0058] Calculating the difference between the first tension exerted on the traction rope and the second tension output by the direct drive motor in the tension analysis result to obtain a tension difference;

[0059] Based on the motion formula in the preset motion law, the traction acceleration is calculated according to the pulling force difference.

[0060] In detail, in the embodiment of the present invention, the tension difference is calculated: F pull - m , the preset law of motion is Newton's second law, that is, the magnitude of the acceleration of an object is proportional to the force, inversely proportional to the mass of the object, and proportional to the inverse of the mass of the object. Therefore, the motion formula is F=ma, where F is the tension difference, so F pull- m =a, and m is the mass of the pet or the user, which is a known value, so the traction acceleration can be calculated.

[0061] In another embodiment of the present invention, the direct drive motor may be reversed by an external force, and the reverse acceleration may be obtained by a Hall encoder.

[0062] S3. Construct a motion traction formula corresponding to a pet moving at the traction acceleration, and according to the motion traction formula, dynamically traction the pet is performed by the direct drive motor.

[0063] In the embodiment of the present invention, the traction acceleration can be used as a parameter for dynamically traction of the pet. Constructing a motion traction formula corresponding to a pet moving at the traction acceleration means taking different forces on the pet as the acting force in a preset motion law, calculating the traction acceleration and the mass of the pet or the user, and taking them as the value equivalent to the acting force in the preset motion law.

[0064] Specifically, the step of dynamically pulling the pet by the direct drive motor according to the motion pulling formula includes:

[0065] When the first pulling force increases, controlling the direct drive motor to extend the traction length of the traction rope;

[0066] When the first pulling force decreases, the direct drive motor is controlled to shorten the traction length of the traction rope.

[0067] In detail, when the user thrusts in, the pulling force increases F 拉 , that is, when the acceleration is very fast, the direct drive motor is controlled to release the rope, that is, ma is increased, and the F of the direct drive motor m will gradually increase, reducing ma and reducing the release speed until the pet catches up with the person; if the person slows down, F 拉 Reduce, the direct-drive motor drives the tightening of the rope to prevent excess parts of the rope from falling on the ground and from being entangled with obstacles and exchanging angles. When the pet runs too fast, pulling the person to run can also play a buffering role. When the pet and the user maintain the dynamic balance point of the traction rope, or a shorter distance, the direct-drive motor will shrink the traction rope to prevent excess parts of the rope from falling on the ground and from being entangled with obstacles. This buffers the effect of the pet being pulled and prevents the pet or the user from being pulled by a large force.

[0068] In the embodiment of the present invention, the traction length of the traction rope is set for the pet through the dynamic balance point of the traction rope, the traction rope is adjusted to a suitable length, and the tension analysis is performed on the pet in the pet walking mode to obtain the tension analysis result and the corresponding traction acceleration. The traction acceleration is used as the standard for balancing the pet for traction. According to the motion traction formula constructed by the traction acceleration, the pet is dynamically pulled by the direct drive motor. Therefore, the pet traction control method proposed by the present invention can solve the problem of low flexibility in improving the control of pet traction.

[0069] like Figure 2 , which is a functional module diagram of a pet traction control device provided by an embodiment of the present invention.

[0070] The pet traction control device 100 of the present invention can be installed in a pet traction device. According to the functions to be implemented, the pet traction control device 100 can include a setting module 101, an analysis module 102 and a traction control module 103.

[0071] In this embodiment, the functions of each component are as follows:

[0072] The setting module 101 is used to receive a dynamic balance point of a traction rope set by a user, and to set a traction length of the traction rope for the pet according to the dynamic balance point of the traction rope, wherein one end of the traction rope is connected to a direct drive motor on the pet, and the other end is a user traction point for user traction;

[0073] The analysis module 102 is used to perform tension analysis on the traction rope after detecting that the pet walking mode has been entered, obtain a tension analysis result, and calculate the traction acceleration according to the tension analysis result and a preset motion law;

[0074] The traction control module 103 is used to construct a motion traction formula for moving at the traction acceleration, and according to the motion traction formula, perform dynamic traction on the pet through the direct drive motor.

[0075] In detail, the specific implementation of each module of the pet traction control device 100 is as follows:

[0076] Step 1, the setting module 101 receives the dynamic balance point of the traction rope set by the user, and sets the traction length of the pet's traction rope according to the dynamic balance point of the traction rope, wherein one end of the traction rope is connected to the direct drive motor on the pet, and the other end is a user traction point for user traction.

[0077] In the embodiment of the present invention, the pet can be a real pet or a pet robot. In the embodiment of the present invention, a direct drive motor is hung on the pet. One end of the traction rope is connected to the direct drive motor, and the other end is a user traction point for the user to traction.

[0078] Furthermore, the traction length of the traction rope refers to the length from the direct drive motor to the user's traction point. The dynamic balance point of the traction rope refers to the point that ensures that the traction length is the optimal pet walking length. Preferably, the traction length can be 2 to 4 meters.

[0079] Furthermore, the setting of the traction length of the pet's traction rope according to the dynamic balance point of the traction rope includes:

[0080] Taking the dynamic balance point of the traction rope as a dividing point, dividing the length of the traction rope to obtain a first length from the direct drive motor to the user's traction point and a second length wound in the direct drive motor;

[0081] The direct drive motor is used to control the retraction and extension of the traction rope according to the first length and the second length until the traction length reaches the first length.

[0082] In the embodiment of the present invention, the first length may be 2-4 meters, and the second length may be three times the length of the first length, so that a longer distance can be provided for the direct drive motor to perform buffering.

[0083] Step 2: After the analysis module 102 detects that the pet walking mode has been entered, it performs a tension analysis on the traction rope to obtain a tension analysis result, and calculates the traction acceleration based on the tension analysis result and a preset motion law.

[0084] In the embodiment of the present invention, the performing of tension analysis on the traction rope to obtain the tension analysis result includes:

[0085] Searching for a reference center of the traction rope, and constructing a rectangular coordinate system with the reference center as the center point of the coordinate axis;

[0086] A horizontal reference plane in the rectangular coordinate system is selected as a motion reference plane of the traction rope, and the forces acting on the traction rope in different directions of the motion reference plane are analyzed to obtain a tension analysis result.

[0087] In detail, the forces on the traction rope in different directions on the horizontal reference plane include the first tension F 拉 , and the second pulling force F output by the direct drive motor m Wherein, the first tension F 拉 It can be the pulling force of the traction rope applied by the user when the user is pulling the pet, or it can be the pulling force of the traction rope applied by the pet when the pet is pulling the user. m It is a constant inward reeling force maintained by the direct drive motor.

[0088] Furthermore, the construction of a rectangular coordinate system using the reference center as the center point of the coordinate axis includes:

[0089] Taking the coordinate center point as a reference point, extending in the horizontal direction, a horizontal coordinate axis is obtained; taking the coordinate center point as a reference point, extending in the vertical direction, a longitudinal coordinate axis is obtained;

[0090] The coordinate system constructed by the transverse coordinate axis, the longitudinal coordinate axis and the reference center is used as a rectangular coordinate system.

[0091] Specifically, the traction acceleration is calculated according to the pulling force analysis result and a preset motion law, including:

[0092] Calculating the difference between the first tension exerted on the traction rope and the second tension output by the direct drive motor in the tension analysis result to obtain a tension difference;

[0093] Based on the motion formula in the preset motion law, the traction acceleration is calculated according to the pulling force difference.

[0094] In detail, in the embodiment of the present invention, the tension difference is calculated: F 拉 -F m , the preset law of motion is Newton's second law, that is, the magnitude of the acceleration of an object is proportional to the force, inversely proportional to the mass of the object, and proportional to the inverse of the mass of the object. Therefore, the motion formula is F=ma, where F is the difference in pulling force, so F is obtained. 拉 -F m =ma, and m is the mass of the pet or the user, which is a known value, so the traction acceleration can be calculated.

[0095] In another embodiment of the present invention, the direct drive motor may be reversed by an external force, and the reverse acceleration may be obtained by a Hall encoder.

[0096] Step three, the traction control module 103 constructs a motion traction formula corresponding to the pet moving at the traction acceleration, and according to the motion traction formula, performs dynamic traction on the pet through the direct drive motor.

[0097] In the embodiment of the present invention, the traction acceleration can be used as a parameter for dynamically traction of the pet. Constructing a motion traction formula corresponding to a pet moving at the traction acceleration means taking different forces on the pet as the acting force in a preset motion law, calculating the traction acceleration and the mass of the pet or the user, and taking them as the value equivalent to the acting force in the preset motion law.

[0098] Specifically, the step of dynamically pulling the pet by the direct drive motor according to the motion pulling formula includes:

[0099] When the first pulling force increases, controlling the direct drive motor to extend the traction length of the traction rope;

[0100] When the first pulling force decreases, the direct drive motor is controlled to shorten the traction length of the traction rope.

[0101] In detail, when the user thrusts in, the pulling force increases F 拉 , that is, when the acceleration is very fast, the direct drive motor is controlled to release the rope, that is, ma is increased, and the F of the direct drive motor m It will gradually increase, reducing ma and the line-releasing speed until the pet catches up with the person's speed; if the person slows down, F pull decreases, and the direct-drive motor drives the rope to tighten to prevent excess rope from falling on the ground and entangled with obstacles and exchanging angles. When the pet runs too fast, pulling the person to run can also play a buffering role. When the pet and the user maintain the dynamic balance point of the traction rope again, or a shorter distance, the direct-drive motor will shrink the traction rope to prevent excess rope from falling on the ground and entangled with obstacles, thereby buffering the effect of the pet being pulled and preventing the pet or the user from being pulled by a large force.

[0102] like Figure 3 , which is a schematic diagram of the structure of a pet traction device for implementing a pet traction control method provided by an embodiment of the present invention.

[0103] The pet traction device 1 may include a data processing component 10, a data storage component 11, a direct drive motor 12, a traction component 13, a communication bus 14 and a communication interface 15, and may also include a computer program stored in the data storage component 11 and executable on the data processing component 10, such as a pet traction control program.

[0104] In some embodiments, the data processing component 10 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips, etc. The data processing component 10 is the control core (Control Unit) of the pet traction device, and uses various interfaces and lines to connect various components of the entire pet traction device, and executes various functions of the pet traction device and processes data by running or executing programs or modules stored in the data storage component 11 (for example, executing a control program for pet traction, etc.), and calling data stored in the data storage component 11.

[0105] The data storage component 11 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a mobile hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the data storage component 11 may be an internal storage unit of the pet traction device, such as a mobile hard disk of the pet traction device. In other embodiments, the data storage component 11 may also be an external storage device of the pet traction device, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card, etc. equipped on the pet traction device. Further, the data storage component 11 may also include both an internal storage unit of the pet traction device and an external storage device. The data storage component 11 may not only be used to store application software and various types of data installed in the pet traction device, such as the code of the control program of the pet traction, but also be used to temporarily store data that has been output or is to be output.

[0106] The communication bus 14 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The bus is configured to realize connection and communication between the data storage component 11 and at least one data processing component 10, etc.

[0107] The communication interface 15 is used for communication between the above-mentioned pet traction device and other devices, including a network interface and a user interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the pet traction device and other pet traction devices. The user interface may be a display (Display), an input unit (such as a keyboard (Keyboard)), and optionally, the user interface may also be a standard wired interface, a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the pet traction device and to display a visual user interface.

[0108] Figure 3 Only the pet traction device with components is shown, and it can be understood by those skilled in the art that Figure 3 The structure shown does not constitute a limitation of the pet traction device 1, and may include fewer or more components than shown, or combine certain components, or arrange the components differently.

[0109] For example, although not shown, the pet traction device may also include a power source (such as a battery) for supplying power to various components. Preferably, the power source may be logically connected to the at least one data processing component 10 through a power management device, so that the power management device can realize functions such as charging management, discharging management, and power consumption management. The power source may also include any components such as one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, and power status indicators. The pet traction device may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0110] It should be understood that the embodiment is for illustration only and the scope of the patent application is not limited to this structure.

[0111] The pet traction control program stored in the data storage component 11 in the pet traction device 1 is a combination of multiple instructions. When running in the data processing component 10, the following can be achieved:

[0112] receiving a dynamic balance point of the traction rope set by a user, and setting a traction length of the traction assembly 13 according to the dynamic balance point of the traction rope;

[0113] After detecting that the pet walking mode has been entered, the traction component 13 is subjected to a tension analysis to obtain a tension analysis result, and the traction acceleration is calculated according to the tension analysis result and a preset motion law;

[0114] A motion traction formula for moving at the traction acceleration is constructed, and according to the motion traction formula, the pet equipped with the pet traction device is dynamically pulled by the direct drive motor 14.

[0115] Specifically, the specific implementation method of the data processing component 10 for the above instructions can refer to the description of the relevant steps in the corresponding embodiment of the accompanying drawings, which will not be repeated here.

[0116] Furthermore, if the module / unit integrated in the pet traction device 1 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. The storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0117] The present invention also provides a storage medium, wherein the readable storage medium stores a computer program, and when the computer program is executed by a processor of a pet traction device, the computer program can achieve:

[0118] receiving a dynamic balance point of a traction rope set by a user, and setting a traction length of the traction rope for the pet according to the dynamic balance point of the traction rope, wherein one end of the traction rope is connected to a direct drive motor on the pet, and the other end is a user traction point for user traction;

[0119] After detecting that the pet walking mode has been entered, the pulling force analysis of the traction rope is performed to obtain the pulling force analysis result, and the traction acceleration is calculated according to the pulling force analysis result and the preset motion law;

[0120] A motion traction formula corresponding to a pet moving at the traction acceleration is constructed, and according to the motion traction formula, dynamic traction of the pet is performed by the direct drive motor.

[0121] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0122] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0123] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0124] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0125] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present invention is limited by the appended claims rather than the above description, so it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any attached figure mark in the claims should not be regarded as limiting the claims involved.

[0126] The blockchain referred to in this invention is a new application mode of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, encryption algorithm, etc. Blockchain is essentially a decentralized database, a string of data blocks generated by cryptographic methods. Each data block contains a batch of network transaction information, which is used to verify the validity of its information (anti-counterfeiting) and generate the next block. Blockchain can include the underlying blockchain platform, platform product service layer, and application service layer.

[0127] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Among them, artificial intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0128] In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the system claim can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A pet traction control method, characterized in that: The method comprises: Receive a dynamic balance point of the traction rope set by a user, the dynamic balance point of the traction rope refers to a point that ensures that the traction length of the traction rope is the optimal pet walking length, and divide the length of the traction rope using the dynamic balance point of the traction rope as a dividing point to obtain a first length from the direct drive motor to the user's traction point and a second length wound in the direct drive motor; According to the first length and the second length, the direct drive motor controls the retraction and extension of the traction rope until the traction length reaches the first length, one end of the traction rope is connected to the direct drive motor on the pet, and the other end is a user traction point for user traction; After detecting that the pet walking mode has been entered, the tension analysis of the traction rope is performed to obtain a tension analysis result, and a difference calculation is performed between a first tension exerted on the traction rope and a second tension output by the direct drive motor in the tension analysis result to obtain a tension difference, and based on Newton's second law and the known mass of the pet or user, the traction acceleration is calculated according to the tension difference; Based on the traction acceleration, the direct drive motor performs dynamic traction on the pet. When the first pulling force increases, the direct drive motor is controlled to extend the traction length of the traction rope. When the first pulling force decreases, the direct drive motor is controlled to shorten the traction length of the traction rope. The traction acceleration serves as a parameter for dynamic traction of the pet. When the user suddenly increases the pulling force, that is, accelerates very quickly, the direct drive motor drives the rope to be released, and the release speed is reduced until the pet catches up with the user's speed; if the user slows down, the direct drive motor drives the rope to be collected to prevent excess part of the rope from falling to the ground.

2. The pet traction control method according to claim 1, characterized in that: The performing of tension analysis on the traction rope to obtain a tension analysis result includes: Searching for a reference center of the traction rope, and constructing a rectangular coordinate system with the reference center as the center point of the coordinate axis; A horizontal reference plane in the rectangular coordinate system is selected as a motion reference plane of the traction rope, and the forces acting on the traction rope in different directions of the motion reference plane are analyzed to obtain a tension analysis result.

3. The pet traction control method according to claim 2, characterized in that: The step of constructing a rectangular coordinate system using the reference center as the center point of the coordinate axis includes: Taking the coordinate center point as a reference point, extending in the horizontal direction, a horizontal coordinate axis is obtained; taking the coordinate center point as a reference point, extending in the vertical direction, a longitudinal coordinate axis is obtained; The coordinate system constructed by the transverse coordinate axis, the longitudinal coordinate axis and the reference center is used as a rectangular coordinate system.

4. A pet traction control device, characterized in that: The device comprises: A setting module, for receiving a dynamic balance point of a traction rope set by a user, wherein the dynamic balance point of the traction rope refers to a point that ensures that the traction length of the traction rope is the optimal length for walking the pet, and the traction rope is divided in length with the dynamic balance point of the traction rope as a dividing point to obtain a first length from the direct drive motor to the user traction point and a second length wound in the direct drive motor; according to the first length and the second length, the traction rope is controlled to be retracted and released by the direct drive motor until the traction length reaches the first length, one end of the traction rope is connected to the direct drive motor on the pet, and the other end is a user traction point for user traction; an analysis module, for performing tension analysis on the traction rope after detecting that the pet walking mode has been entered, obtaining a tension analysis result, performing difference calculation between a first tension exerted on the traction rope and a second tension output by the direct drive motor in the tension analysis result, obtaining a tension difference, and calculating a traction acceleration according to the tension difference based on Newton's second law and a known mass of the pet or user; The traction control module is used to control the direct drive motor to perform dynamic traction on the pet based on the traction acceleration. When the first pulling force increases, the direct drive motor is controlled to extend the traction length of the traction rope. When the first pulling force decreases, the direct drive motor is controlled to shorten the traction length of the traction rope. The traction acceleration is used as a parameter for dynamic traction of the pet. When the user suddenly increases the pulling force, that is, accelerates very quickly, the direct drive motor drives the rope to be released, and the release speed is reduced until the pet catches up with the speed of the user; if the user slows down, the direct drive motor drives the rope to be collected to prevent excess part of the rope from falling to the ground.

5. A pet traction device, characterized in that: The pet traction device comprises: Data processing components, data storage components, direct drive motors, and traction components; The data storage component stores a computer program, and when the data processing component executes the computer program, the following operations are implemented: Receive a dynamic balance point of the traction rope set by a user, the dynamic balance point of the traction rope refers to a point that ensures that the traction length of the traction rope is the optimal pet walking length, and divide the length of the traction rope with the dynamic balance point of the traction rope as a dividing point to obtain a first length from the direct drive motor to the user traction point and a second length wound in the direct drive motor; according to the first length and the second length, control the retraction and release of the traction rope through the direct drive motor until the traction length reaches the first length, one end of the traction assembly is connected to the direct drive motor, and the other end is the user traction point for user traction; After detecting that the pet walking mode has been entered, the traction component is subjected to a tension analysis to obtain a tension analysis result, a difference calculation is performed between a first tension exerted on the traction rope and a second tension output by the direct drive motor in the tension analysis result to obtain a tension difference, and a traction acceleration is calculated based on the tension difference based on Newton's second law and the known mass of the pet or user; Based on the traction acceleration, the direct drive motor performs dynamic traction on the pet. When the first pulling force increases, the direct drive motor is controlled to extend the traction length of the traction rope. When the first pulling force decreases, the direct drive motor is controlled to shorten the traction length of the traction rope. The traction acceleration serves as a parameter for dynamic traction of the pet. When the user suddenly increases the pulling force, that is, accelerates very quickly, the direct drive motor drives the rope to be released, and the release speed is reduced until the pet catches up with the user's speed; if the user slows down, the direct drive motor drives the rope to be collected to prevent excess part of the rope from falling to the ground.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the pet traction control method according to any one of claims 1 to 3 is implemented.

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