Pet education guiding method based on mobile robot, chip and mobile robot

Abstract

This application discloses a pet education and guidance method, chip, and mobile robot based on a mobile robot. The method includes: the mobile robot acquiring the pet's posture in real time; determining the corresponding restricted area and undesirable posture of the pet based on its current location; identifying whether the pet's posture corresponds to the undesirable posture of the restricted area; controlling the mobile robot to send negative feedback information to the pet to stop the pet from continuing to perform the undesirable posture and corresponding undesirable behavior; when the mobile robot detects that the pet has stopped performing the undesirable posture, controlling the mobile robot to guide the pet to a target guidance area to perform the undesirable behavior corresponding to the undesirable posture; when the pet performs the undesirable behavior corresponding to the undesirable posture in the target guidance area, controlling the mobile robot to send positive feedback information to the pet. This application solves the technical problems of the current lack of intelligence in pet education and guidance and the single method of pet behavior training.

Description

Technical Field

[0001] This application relates to the field of pet education, specifically to a pet education guidance method based on a mobile robot, a chip, and a mobile robot. Background Technology

[0002] Currently, pet education and guidance typically requires real-time user supervision. For example, when a pet urinates or defecates indiscriminately, scratches the sofa, or rummages through the trash, existing technologies often involve setting up restricted areas where a mobile robot removes the pet. However, this only addresses the pet's location, limiting its movement. Restricted areas, especially for addressing indiscriminate urination or defecation, can severely restrict a pet's activity. Furthermore, pets often don't understand why they were removed from restricted areas, making it difficult to address specific behavioral issues. The technology only prevents the pet from engaging in undesirable behavior within the restricted areas, resulting in poor educational outcomes. Summary of the Invention

[0003] This application provides a pet education and guidance method, chip, and mobile robot based on a mobile robot. The specific technical solution is as follows:

[0004] A pet education and guidance method based on a mobile robot specifically includes: Step 1: Controlling the mobile robot to maintain at least a first distance from the pet to track the pet and obtain the pet's posture in real time; Step 2: Based on the real-time tracking of the pet by the mobile robot, determining whether the pet's current location is within a restricted area. If yes, proceed to Step 3; otherwise, return to Step 1; Step 3: Determine the corresponding restricted area based on the pet's current location, and determine the corresponding undesirable posture based on the restricted area. Controlling the mobile robot to identify in real time whether the pet's posture is an undesirable posture corresponding to the restricted area. If the pet's posture is an undesirable posture corresponding to the restricted area, proceed to Step 4; if the pet's posture is not an undesirable posture, proceed to Step 5. If the pet's posture does not belong to the undesirable posture corresponding to the restricted area where the pet is currently located, return to step 2; Step 4: Control the mobile robot to send negative feedback information to the pet to stop the pet from continuing to execute the undesirable posture and to stop the pet from performing the undesirable behavior corresponding to the undesirable posture. When the mobile robot detects that the pet has stopped executing the undesirable posture, proceed to step 5; Step 5: Determine the corresponding target guidance area based on the undesirable posture executed by the pet, and control the mobile robot to guide the pet to move to the target guidance area to execute the undesirable behavior corresponding to the undesirable posture. When the pet is guided to move to the target guidance area, proceed to step 6; Step 6: Detect whether the pet is performing the undesirable behavior corresponding to the above undesirable posture within the target guidance area. If so, control the mobile robot to send positive feedback information to the pet.

[0005] Furthermore, if the pet exhibits more than one undesirable behavior in the currently restricted area or while moving to the target guidance area, step 5 further includes: during the process of the mobile robot guiding the pet to the target guidance area, the mobile robot continuously tracks and identifies the pet's posture; when the pet moves to the target guidance area, if the mobile robot identifies that the pet's posture is a new undesirable posture, the mobile robot identifies whether the new undesirable posture corresponds to a new undesirable behavior; if the new undesirable posture corresponds to a new undesirable behavior, the mobile robot updates the target guidance area according to the guidance priority of the new undesirable behavior and the previous undesirable behavior, and the mobile robot guides the pet to move according to the updated target guidance area; if the undesirable behavior corresponding to the new undesirable posture is the same as the previous undesirable behavior, the mobile robot continues to guide the pet to the target guidance area.

[0006] Furthermore, each restricted area corresponds to at least one undesirable behavior; different restricted areas correspond to at least one identical or different undesirable behavior; each undesirable behavior corresponds to one or more undesirable postures; the coverage areas of different restricted areas may overlap; each undesirable posture corresponds to one or more undesirable behaviors.

[0007] Furthermore, the pet education and guidance method based on mobile robots also includes: when the mobile robot identifies that the pet's posture belongs to an undesirable posture corresponding to the restricted area where the pet is currently located, and the undesirable posture corresponds to more than one undesirable behavior, that is, when the mobile robot cannot determine the corresponding undesirable behavior based on the undesirable posture and cannot determine the corresponding target guidance area, the undesirable posture is marked as an unclear undesirable posture, and the mobile robot is controlled to continue to identify the pet's posture, and multiple sets of pet postures are fused and identified with the unclear undesirable posture to determine the undesirable behavior corresponding to the unclear undesirable posture.

[0008] Furthermore, the pet education and guidance method based on mobile robots also includes: when the mobile robot identifies in real time that the pet's posture is an undesirable posture corresponding to the restricted area where the pet is currently located, the mobile robot is controlled to acquire environmental information in order to determine whether the pet has performed the undesirable behavior corresponding to the undesirable posture based on the environmental information.

[0009] Furthermore, the pet education and guidance method based on a mobile robot further includes: whenever the mobile robot detects that the pet is exhibiting a corresponding undesirable posture within the pet's current restricted area, it controls the mobile robot to acquire environmental information to determine whether the pet has performed the undesirable behavior corresponding to the posture; if the pet has performed the undesirable behavior, it controls the mobile robot to determine whether the undesirable behavior is a short-term repeatable undesirable behavior or a short-term non-repetitive undesirable behavior; if the undesirable behavior is a short-term non-repetitive undesirable behavior, it controls the mobile robot to transmit a video of the pet performing the undesirable behavior and the location of the undesirable behavior to the user terminal for feedback; if the undesirable behavior is a short-term repeatable undesirable behavior, it... The undesirable posture corresponding to the undesirable behavior is set as the key undesirable posture. The mobile robot is controlled to maintain a second distance from the pet to track the pet's posture in real time and identify the key undesirable posture. If the pet's posture is identified as a key undesirable posture, the mobile robot is controlled to send negative feedback information to the pet to stop the pet from performing the undesirable behavior corresponding to the undesirable posture. Based on the undesirable posture, a corresponding target guidance area is determined. The mobile robot is controlled to guide the pet to move to the target guidance area to perform the undesirable behavior corresponding to the undesirable posture, and when the pet performs the undesirable behavior corresponding to the undesirable posture in the target guidance area, the mobile robot is controlled to send positive feedback information to the pet. The second distance is less than the first distance.

[0010] Furthermore, the pet education and guidance method based on mobile robots also includes: when the restricted area where the pet is currently located is a no-stay area, when the mobile robot detects that the pet has entered the no-stay area, it starts a stay timer; when the pet stays in the no-stay area for a certain duration, it controls the mobile robot to send negative feedback information to the pet and uses a proximity movement method to drive the pet away from the no-stay area.

[0011] Furthermore, the method of controlling the mobile robot to guide the pet to the target guidance area to perform the undesirable behavior corresponding to the undesirable posture specifically includes: controlling the mobile robot to move towards the target guidance area, and sending inducing information to the pet during the movement; when the mobile robot moves to the target guidance area, controlling the mobile robot to send inducing information at a dose of N times to the target guidance area to ensure that the pet is lured into the target guidance area.

[0012] Furthermore, the pet education and guidance method based on mobile robots also includes: during the process of the mobile robot moving towards the target guidance area, the mobile robot detects in real time whether the pet follows the mobile robot. If it is detected that the pet does not follow the mobile robot, the mobile robot is controlled to pause its movement. During the pause, the mobile robot continues to send guidance information to the pet until it detects that the pet is following the mobile robot, and then the mobile robot restarts its movement towards the target guidance area.

[0013] This application also discloses a chip that stores a computer program inside, which is executed by a processor to perform the pet education and guidance method based on a mobile robot as described above.

[0014] This application also discloses a mobile robot, comprising: a pet tracking device for real-time acquisition of the pet's location to track the pet and detect whether the pet follows the mobile robot's movement path; an area confirmation device for determining whether the pet's current location belongs to a restricted area or a target guidance area based on the pet's location acquired by the pet tracking device, and determining the undesirable posture corresponding to the restricted area or the guiding posture corresponding to the target guidance area; a pet posture acquisition and recognition device for acquiring the pet's posture and identifying whether the pet's posture is an undesirable posture corresponding to the restricted area based on the restricted area where the pet is located; a negative feedback information sending device for sending negative feedback information to the pet; a positive feedback information sending device for sending positive feedback information to the pet; an inducement information sending device for sending inducement information to induce the pet to follow the mobile robot; and a movement device for realizing the movement function of the mobile robot.

[0015] The pet education and guidance method, chip, and mobile robot described in this application, based on a mobile robot, identify undesirable postures of the pet when it enters a restricted area. Based on the occurrence of these undesirable postures, targeted negative feedback is sent to intelligently educate the pet and guide it towards exhibiting undesirable behaviors within the designated guidance area. This intelligent guidance utilizes the switching between positive and negative feedback to effectively train the pet using the Pavlovian effect, encouraging it to perform appropriate behaviors within the target guidance area and training it to avoid undesirable behaviors within the restricted area. Compared to existing technologies that directly expel pets from restricted areas, this application expands the pet's roaming range within the home. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating a pet education and guidance method based on a mobile robot according to one embodiment of this application. Implementation

[0017] The embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described below are for illustrative purposes only and are not intended to limit the scope of this application.

[0018] The mobile robot described in this application refers to a robot with mobility functions. The mobile robot may be, but is not limited to, a sweeping robot, a mopping robot, a sweeping and mopping robot, a food delivery robot, a pet-playing robot, a security robot, or other commonly used mobile robots with additional functions.

[0019] As one implementation method, a pet education and guidance method based on mobile robots is provided, aiming to solve the technical problems of the current lack of intelligence in pet education and guidance and the monotonous methods of pet behavior training. For example... Figure 1 As shown, the pet education and guidance method based on mobile robots specifically includes:

[0020] Step 1: Control the mobile robot to maintain at least a certain distance from the pet while tracking it to obtain the pet's posture in real time. This step limits the required distance between the mobile robot and the pet to prevent the robot from getting too close and startling or injuring the pet. Maintaining a certain distance also ensures that the mobile robot obtains complete and comprehensive information about the pet's posture. The mobile robot can obtain the pet's posture through, but is not limited to, a visual sensor mounted on the mobile robot or through interaction between the pet and a posture detection wearable device worn on the pet.

[0021] Step 2: Based on the real-time tracking of the pet by the mobile robot, determine whether the pet's current location is within a restricted area. If yes, proceed to Step 3; otherwise, return to Step 1. It should be noted that there can be one or more restricted areas in an environment. The restricted areas can be, but are not limited to, areas pre-defined by the user. This step determines whether the pet is within a restricted area based on its current location. Using the pet being within a restricted area serves as the trigger condition for detecting poor posture. By setting the trigger condition for detecting poor posture, the computational resources required for the mobile robot to detect poor posture are reduced.

[0022] Step 3: Determine the corresponding restricted area where the pet is currently located based on its current position. Based on this restricted area, determine the undesirable posture corresponding to that restricted area. Control the mobile robot to continuously identify whether the pet's posture corresponds to an undesirable posture within the restricted area. If the pet's posture corresponds to an undesirable posture within the restricted area, proceed to Step 4. If the pet's posture does not correspond to an undesirable posture within the restricted area, return to Step 2. It should be noted that overlapping areas are possible between different restricted areas in this application. When the pet's current position is within the overlapping area of ​​more than one restricted area, more than one corresponding restricted area can be determined based on the pet's current position. Consequently, one or more corresponding undesirable postures can be identified. In this case, control the mobile robot to continuously identify whether the pet's posture corresponds to one of the undesirable postures for the pet's current position. More preferably, each restricted area can correspond to one or more undesirable behaviors, and one undesirable behavior can correspond to at least one undesirable posture. For example, the first restricted area can prohibit the first undesirable behavior and the second undesirable behavior, and the second restricted area can prohibit the second undesirable behavior. The first restricted area can be partially or completely covered by the second restricted area. The first undesirable behavior can correspond to multiple undesirable postures. For example, when the first undesirable behavior is urination or defecation, the undesirable posture corresponding to the first undesirable behavior can be, but is not limited to, arching the back or sticking out the buttocks.

[0023] Step 4: Control the mobile robot to send negative feedback information to the pet to stop the pet from continuing to perform the bad posture and the bad behavior corresponding to the bad posture. When the mobile robot detects that the pet has stopped performing the bad posture, proceed to step 5. Specifically, the negative feedback information can be, but is not limited to, playing stimulating sounds (such as: the owner's scolding voice, high-frequency sounds, simulated juicer sounds, thunder sounds, etc.), releasing pet-averse but harmless odors (such as: the smell of vinegar, eucalyptus oil, animal leather smell, citrus smell, etc.), spraying water, etc., which pets dislike. This allows the pet to receive training information that it is being punished for its inappropriate behavior when it receives the negative feedback information, so that after repeated training, the Pavlovian effect can be achieved, effectively training the pet not to perform bad behavior in the restricted area.

[0024] Step 5: Determine the corresponding target guidance area based on the undesirable posture performed by the pet, and control the mobile robot to guide the pet to move to the target guidance area to perform the undesirable behavior corresponding to the undesirable posture. When the pet is guided to the target guidance area, proceed to Step 6. Specifically, the determination of the corresponding target guidance area based on the undesirable posture performed by the pet is based on the correspondence between undesirable postures and undesirable behaviors, as well as the correspondence between undesirable behaviors and target guidance areas. It should be noted that each undesirable behavior has a one-to-one corresponding target guidance area. For example, the target guidance area for the pet's defecation behavior is the pet toilet area, the target guidance area for the pet's scratching and clawing behavior is the pet scratching post area, and the target guidance area for the pet's rummaging through the trash can is the pet food bowl area, etc.

[0025] Step 6: Detect whether the pet performs the undesirable behavior corresponding to the aforementioned undesirable posture within the target guidance area. If so, control the mobile robot to send positive feedback information to the pet. Specifically, the positive feedback information may be, but is not limited to, releasing scents that the pet likes (such as the smell of meat or milk) or playing sounds that the pet likes (such as the owner's praise). This can make the pet feel rewarded when it receives positive feedback information, so as to achieve the Pavlov effect after repeated training and effectively encourage the pet to perform the corresponding behavior within the target guidance area.

[0026] Preferably, in some embodiments, an undesirable posture can correspond to more than one undesirable behavior; whenever the mobile robot recognizes an undesirable posture that corresponds to more than one undesirable behavior, the mobile robot is controlled to continue to recognize pet postures to fuse multiple sets of pet postures for the fusion recognition of undesirable postures and undesirable behaviors, so as to improve the recognition accuracy of undesirable postures corresponding to undesirable behaviors.

[0027] As one implementation method, if the pet exhibits one or more undesirable behaviors in the restricted area where it is currently located or while moving to the target guidance area, then step 5 of the pet education and guidance method based on the mobile robot further includes:

[0028] During the process of the mobile robot guiding the pet to the target guidance area, the mobile robot continuously tracks and identifies the pet's posture.

[0029] As the pet moves to the target guidance area, if the mobile robot detects that the pet's posture is a new undesirable posture, it then determines whether this new undesirable posture corresponds to a new undesirable behavior. Specifically, the mobile robot detects that the pet's posture is a new undesirable posture by: identifying that the pet's posture belongs to the undesirable posture corresponding to the pet's current restricted area; and determining whether the pet's posture is the same as the undesirable posture corresponding to the target guidance area. If they are different, the pet's posture is a new undesirable posture; if they are the same, the pet's posture is not a new undesirable posture. In this step, whether the pet's posture is a new undesirable posture is only compared with the undesirable posture corresponding to the target guidance area. The purpose of this comparison is to determine whether an update of the target guidance area is needed. It should be noted that each target guidance area has a corresponding undesirable behavior, and each undesirable behavior has at least one corresponding undesirable posture. Therefore, each target guidance area has at least one corresponding undesirable posture. In this step, the new undesirable posture essentially refers to an undesirable posture that is different from the target guidance area to which the mobile robot is currently moving.

[0030] If a new undesirable posture corresponds to a new undesirable behavior, the mobile robot updates the target guidance area based on the guidance priority of the new undesirable behavior and the previous undesirable behavior. The mobile robot then guides the pet to move according to the updated target guidance area. Specifically, the guidance priority can be, but is not limited to, a user-preset priority, or it can be prioritized based on whether the undesirable behavior can be repeated within a short period of time. For example, setting inappropriate urination / defecation as the highest guidance priority. If the undesirable behavior corresponding to the new undesirable posture is the same as the previous undesirable behavior, the mobile robot continues to guide the pet to the target guidance area. This implementation method ensures that the pet follows the mobile robot while maintaining the recognition of new undesirable postures during the guidance process, preventing the pet from performing new undesirable behaviors during the guidance process. By updating the target guidance area based on the guidance priority of undesirable behaviors, the pet can more promptly perform the undesirable behavior within the corresponding target guidance area. Updating the target guidance area also allows for a more reasonable planning of the guidance sequence for pet behavior, improving the rationality of educational guidance.

[0031] As one implementation method, the pet education and guidance method based on a mobile robot further includes: when the mobile robot identifies in real time that the pet's posture is an undesirable posture corresponding to the pet's current restricted area, it controls the mobile robot to acquire environmental information to determine whether the pet has performed the undesirable behavior corresponding to the undesirable posture. Specifically, the environmental information acquired by the mobile robot may include, but is not limited to, acquiring infrared thermal imaging information, temperature change information, humidity change information, ground flatness information, sound change information, and environmental image information; for example, based on infrared thermal imaging information, temperature change information, humidity change information, or ground flatness information, it can detect the pet's urination and defecation behavior, and based on sound change information, it can detect the pet's scratching, etc. In this implementation, environmental information can be used to monitor common undesirable behaviors of pets at home, and the pet's undesirable posture can be used as an early warning of the occurrence of undesirable behavior to further determine whether the undesirable behavior has occurred. By using the occurrence of undesirable behavior as a trigger condition for controlling the mobile robot to further educate and guide the pet, the effectiveness of intelligent pet education is improved.

[0032] As one implementation method, the pet education and guidance method based on a mobile robot further includes: whenever the mobile robot detects that the pet is exhibiting a corresponding undesirable posture within the pet's current restricted area, it controls the mobile robot to acquire environmental information to determine whether the pet has performed the undesirable behavior corresponding to the posture; if the pet has performed the undesirable behavior, it controls the mobile robot to determine whether the undesirable behavior is a short-term repeatable undesirable behavior or a short-term non-repetitive undesirable behavior; if the undesirable behavior is a short-term non-repetitive undesirable behavior, it controls the mobile robot to transmit a video of the pet performing the undesirable behavior and the location of the undesirable behavior to the user terminal for feedback; if the undesirable behavior is a short-term repeatable undesirable behavior... If the undesirable behavior is identified as a key undesirable behavior, the mobile robot is controlled to maintain a second distance from the pet to track the pet and acquire the pet's posture in real time. The pet's posture is then identified as a key undesirable behavior. If the pet's posture is identified as a key undesirable behavior, the mobile robot is controlled to send negative feedback information to the pet to stop the pet from performing the undesirable behavior corresponding to the undesirable posture. Based on the undesirable posture, a corresponding target guidance area is determined. The mobile robot is controlled to guide the pet to move to the target guidance area to perform the undesirable behavior corresponding to the undesirable posture. When the pet performs the undesirable behavior corresponding to the undesirable posture in the target guidance area, the mobile robot is controlled to send positive feedback information to the pet. The second distance is less than the first distance.

[0033] Specifically, the short-term repeatable bad behavior refers to bad behavior that a pet can repeat within a short period of time, such as scratching the sofa, rummaging through the trash can, scratching the wallpaper, climbing onto the table, etc. The short-term non-repeatable bad behavior refers to bad behavior that a pet cannot repeat within a short period of time after it has been performed, such as urinating or defecating indiscriminately. This implementation uses the distinction between short-term repeatable and short-term non-repetitive undesirable behaviors performed by the pet as the dividing line for mobile robot control. When a pet performs a short-term non-repetitive undesirable behavior, it means that the pet will not perform the same behavior again in the short term. Since the pet has already performed the undesirable behavior, focusing on monitoring the corresponding undesirable posture is ineffective. In this implementation, the mobile robot is controlled to provide feedback on the location and video of the undesirable behavior to the user, so that the user can promptly understand the location of the short-term non-repetitive undesirable behavior and check and deal with the consequences of the undesirable behavior at the specific location. Conversely, when a pet performs a short-term repeatable undesirable behavior, it means that the pet may perform the same undesirable behavior again in the short term. In this case, the mobile robot is controlled to focus on identifying the undesirable posture corresponding to the short-term repeatable undesirable behavior, thereby increasing the success rate of the mobile robot in stopping the pet from performing the short-term repeatable undesirable behavior. In order to further improve the effectiveness of the mobile robot in stopping the pet's undesirable behavior, the mobile robot is controlled to track and monitor the pet at a closer distance, so that the mobile robot can more quickly transmit negative feedback information to stop the pet's undesirable posture.

[0034] In one implementation, if the undesirable behavior corresponding to the restricted area where the pet is currently located is urination or defecation, then whenever the mobile robot detects that the pet is in a posture preparing to urinate or defecate within the restricted area, the mobile robot sends negative feedback information to the pet to stop the pet from performing the undesirable behavior. This continues until the mobile robot detects that the pet is performing urination or defecation within the target guidance area corresponding to the urination or defecation behavior, at which point the mobile robot sends positive feedback information to the pet to encourage the pet to perform urination or defecation within the target guidance area. Herein, the target guidance area corresponding to the urination or defecation behavior is the area where the pet toilet is located.

[0035] As one implementation method, the pet education and guidance method based on a mobile robot further includes: when the restricted area where the pet is currently located is a no-stay zone, when the mobile robot detects that the pet has entered the no-stay zone, it starts a timer for the pet to stay. When the pet's stay time in the no-stay zone reaches a timer threshold, the mobile robot sends negative feedback information to the pet and uses proximity movement to expel the pet from the no-stay zone. This implementation implements a timer for pets entering restricted areas, using time as the trigger condition for the mobile robot to expel the pet, thus preventing pets from staying in restricted areas for too long.

[0036] In one implementation, controlling the mobile robot to guide the pet to the target guidance area to perform the undesirable behavior corresponding to the undesirable posture specifically includes: controlling the mobile robot to move towards the target guidance area, and during the movement, emitting inducing information to the pet; when the mobile robot reaches the target guidance area, controlling the mobile robot to emit an inducing information at a dose N times greater than the target guidance area to ensure that the pet is lured into the target guidance area. Specifically, the inducing information may be, but is not limited to, playing sounds that the pet is interested in, such as the sound of opening a can of food, opening a bag of treats, or the barking of other pets, or releasing scents that the pet likes, or using gases that induce physiological behaviors in the pet, such as pet toilet training agents. This implementation increases the success rate of luring the pet into the target guidance area by emitting an inducing information at a dose N times greater than that during the movement, and prolongs the time the pet stays in the target guidance area after entering it, allowing the pet sufficient time to discover that the target guidance area is more suitable for performing the undesirable behavior, thereby achieving a better pet education and training effect.

[0037] In one implementation, as the mobile robot moves towards the target guidance area, it continuously monitors whether the pet follows its path. If the pet is not following, the robot pauses its movement and continues to send cues to the pet until it detects the pet is following. At this point, the robot resumes its movement towards the target guidance area. This implementation detects the pet's movement while guiding it to the target area, preventing situations where the robot moves alone without the pet following. When the pet is not following, the robot continues to send cues so the pet can locate the source of the cues, thus achieving the desired effect of the pet following the robot.

[0038] As one embodiment of this application, a mobile robot is provided, comprising at least: a pet tracking device for real-time acquisition of the pet's location to track the pet and detect whether the pet follows the mobile robot's movement path; an area confirmation device for determining, based on the pet's location acquired by the pet tracking device, whether the pet's current location belongs to a restricted area or a target guidance area, and determining the undesirable posture corresponding to the restricted area or the guiding posture corresponding to the target guidance area; wherein, the guiding posture refers to the undesirable posture that guides the pet to perform within the target guidance area; a pet posture acquisition and recognition device for acquiring the pet's posture and identifying whether the pet's posture is an undesirable posture corresponding to the restricted area based on the restricted area where the pet is located; a negative feedback information sending device for sending negative feedback information to the pet; a positive feedback information sending device for sending positive feedback information to the pet; an inducement information sending device for sending inducement information to induce the pet to follow the mobile robot; and a movement device for realizing the movement function of the mobile robot. The mobile robot provided in this embodiment can track the pet's undesirable behaviors and postures, and send corresponding feedback to the pet based on the pet's undesirable behavior and posture information. For example, when the pet performs an undesirable behavior in a restricted area or exhibits an undesirable posture that indicates an intention to perform an undesirable behavior, negative feedback information is sent to the pet. When the pet performs the behavior in the correct area, positive feedback information is sent to the pet. By sending positive / negative feedback information, the mobile robot achieves the technical effect of intelligent behavior training for the pet.

[0039] Those skilled in the art will understand that all or part of the steps in the methods described above can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. As one embodiment of this application, a chip is provided that internally stores a computer program. When the computer program stored inside the chip is run by a processor, it executes the aforementioned pet education and guidance method based on a mobile robot.

[0040] It should be noted that any process or method description in the flowchart or otherwise described herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order described, including substantially simultaneously or in reverse order depending on the function involved, as should be understood by those skilled in the art to which the embodiments of the invention pertain.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. The sequence numbers of the above embodiments of the present invention are merely for description and do not represent the superiority or inferiority of the embodiments.

Claims

1. A pet education and guidance method based on a mobile robot, characterized in that, The mobile robot-based pet education and guidance method specifically includes: Step 1: Control the mobile robot to maintain at least a first distance from the pet and track the pet to obtain the pet's posture in real time; Step 2: Based on the real-time tracking of the pet by the mobile robot, determine whether the pet's current location is within a restricted area. If yes, proceed to Step 3; otherwise, return to Step 1. Step 3: Determine the restricted area where the pet is currently located based on the pet's current position. Determine the undesirable posture corresponding to the restricted area where the pet is currently located. Control the mobile robot to identify in real time whether the pet's posture is an undesirable posture corresponding to the restricted area where the pet is currently located. If the pet's posture is an undesirable posture corresponding to the restricted area where the pet is currently located, proceed to Step 4. If the pet's posture is not an undesirable posture corresponding to the restricted area where the pet is currently located, return to Step 2. Step 4: Control the mobile robot to send negative feedback information to the pet to stop the pet from continuing to perform the bad posture and to stop the pet from performing the bad behavior corresponding to the bad posture. When the mobile robot detects that the pet has stopped performing the bad posture, proceed to step 5. Step 5: Determine the corresponding target guidance area based on the undesirable posture performed by the pet, control the mobile robot to guide the pet to move to the target guidance area to perform the undesirable behavior corresponding to the undesirable posture, and proceed to step 6 when the pet is guided to move to the target guidance area; Step 6: Detect whether the pet performs the undesirable behavior corresponding to the above-mentioned undesirable posture within the target guidance area. If so, control the mobile robot to send positive feedback information to the pet. If the pet exhibits one or more undesirable behaviors while currently in the restricted area or while moving to the target guidance area, then step 5 further includes: During the process of the mobile robot guiding the pet to the target guidance area, the mobile robot continuously tracks and identifies the pet's posture. When the pet moves to the target guidance area, if the mobile robot recognizes that the pet's posture is a new undesirable posture, then the mobile robot is controlled to identify whether the new undesirable posture corresponds to a new undesirable behavior. If a new undesirable posture corresponds to a new undesirable behavior, the mobile robot is controlled to update the target guidance area according to the guidance priority of the new undesirable behavior and the previous undesirable behavior. The mobile robot then guides the pet to move according to the updated target guidance area. If the new undesirable posture corresponds to the same undesirable behavior as the previous undesirable behavior, then control the mobile robot to continue guiding the pet to the target guidance area.

2. The pet education and guidance method based on a mobile robot according to claim 1, characterized in that, Each restricted area corresponds to at least one undesirable behavior; different restricted areas correspond to at least one identical or different undesirable behavior; each undesirable behavior corresponds to one or more undesirable postures; the coverage areas of different restricted areas may overlap; each undesirable posture corresponds to one or more undesirable behaviors.

3. The pet education and guidance method based on a mobile robot according to claim 2, characterized in that, The pet education and guidance method based on mobile robots further includes: when the mobile robot identifies that the pet's posture belongs to an undesirable posture corresponding to the restricted area where the pet is currently located, and the undesirable posture corresponds to more than one undesirable behavior, that is, when the mobile robot cannot determine the corresponding undesirable behavior based on the undesirable posture and cannot determine the corresponding target guidance area, the undesirable posture is marked as an unclear undesirable posture, and the mobile robot is controlled to continue to identify the pet's posture, and multiple sets of pet postures are fused and identified with the unclear undesirable posture to determine the undesirable behavior corresponding to the unclear undesirable posture.

4. The pet education and guidance method based on a mobile robot according to claim 1, characterized in that, The pet education and guidance method based on mobile robots further includes: when the mobile robot identifies in real time that the pet's posture is an undesirable posture corresponding to the restricted area where the pet is currently located, the mobile robot is controlled to acquire environmental information to determine whether the pet has performed the undesirable behavior corresponding to the undesirable posture based on the environmental information.

5. The pet education and guidance method based on a mobile robot according to claim 4, characterized in that, The mobile robot-based pet education and guidance method also includes: Whenever the mobile robot detects that the pet is exhibiting an undesirable posture within the restricted area where the pet is currently located, it controls the mobile robot to acquire environmental information in order to determine whether the pet has performed the undesirable behavior corresponding to the undesirable posture. If the pet has performed the bad behavior corresponding to the bad posture, the mobile robot is controlled to determine whether the bad behavior is a short-term repeatable bad behavior or a short-term non-repeatable bad behavior. If the undesirable behavior is a short-term, non-repeating behavior, the mobile robot will transmit the video of the pet performing the undesirable behavior and the location of the undesirable behavior to the user terminal for feedback. If the undesirable behavior is a short-term, repeatable undesirable behavior, then the corresponding undesirable posture is set as a key undesirable posture. The mobile robot is controlled to maintain a second distance from the pet to track the pet and acquire the pet's posture in real time. The pet's posture is then used to identify key undesirable postures. If a key undesirable posture is identified, the mobile robot is controlled to send negative feedback information to the pet to stop the pet from performing the undesirable behavior corresponding to that posture. Based on the undesirable posture, a corresponding target guidance area is determined. The mobile robot is controlled to guide the pet to move to the target guidance area to perform the undesirable behavior corresponding to that posture. When the pet performs the undesirable behavior corresponding to that posture within the target guidance area, the mobile robot is controlled to send positive feedback information to the pet. The second distance is smaller than the first distance.

6. The pet education and guidance method based on a mobile robot according to claim 1, characterized in that, The pet education and guidance method based on mobile robots further includes: when the restricted area where the pet is currently located is a no-stay area, when the mobile robot detects that the pet has entered the no-stay area, it starts a stay timer; when the pet stays in the no-stay area for a certain duration, it controls the mobile robot to send negative feedback information to the pet and uses a proximity movement method to drive the pet away from the no-stay area.

7. The pet education and guidance method based on a mobile robot according to claim 1, characterized in that, The method of controlling the mobile robot to guide the pet to the target guidance area to perform the undesirable behavior corresponding to the undesirable posture specifically includes: controlling the mobile robot to move towards the target guidance area, and sending inducement information to the pet during the movement; when the mobile robot moves to the target guidance area, controlling the mobile robot to send N times the dose of inducement information to the target guidance area to ensure that the pet is lured into the target guidance area.

8. The pet education and guidance method based on a mobile robot according to claim 1, characterized in that, The pet education and guidance method based on mobile robots further includes: during the process of the mobile robot moving towards the target guidance area, the mobile robot detects in real time whether the pet follows the mobile robot. If it is detected that the pet does not follow the mobile robot, the mobile robot is controlled to pause its movement. During the pause, the mobile robot continues to send guidance information to the pet until it detects that the pet is following the mobile robot, and then the mobile robot restarts its movement towards the target guidance area.

9. A chip internally storing a computer program, characterized in that, The computer program stored inside the chip is executed by the processor to perform the pet education and guidance method based on a mobile robot as described in any one of claims 1 to 8.

10. A mobile robot, characterized in that, For implementing the pet education and guidance method based on a mobile robot as described in any one of claims 1 to 8, the mobile robot comprises: Pet tracking device is used to obtain the pet's location in real time, so as to track the pet and detect whether the pet follows the movement path of the mobile robot. The area confirmation device is used to determine whether the area where the pet is currently located is a restricted area or a target guidance area based on the pet's location obtained by the pet tracking device, and to determine the undesirable posture corresponding to the restricted area or the guiding posture corresponding to the target guidance area. A pet posture acquisition and recognition device is used to acquire pet postures and identify whether the pet posture is an undesirable posture corresponding to the restricted area corresponding to the area where the pet is located. A negative feedback information sending device, used to send negative feedback information to the pet; A positive feedback information sending device, used to send positive feedback information to the pet; A guidance information sending device is used to send guidance information to induce pets to follow the mobile robot. Mobile devices are used to enable the mobility of mobile robots.

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