A throwing control method for a pet-amusing robot

Abstract

The present application discloses a throwing control method for a pet-amusing robot, specifically comprising: the pet-amusing robot obtains all of its throwable areas; the pet-amusing robot obtains the pet's current location; based on the pet's current location, a throwable area is selected from all of the throwable areas as a target throwing area; and the pet-amusing robot is controlled to perform a throwing action toward the target throwing area so that the target thrown object lands within the target throwing area. The present application selects a throwable area as the target throwing area based on the pet's current location, which not only ensures the feasibility of the target throwing area, but also enables the pet-amusing robot to perform intelligent throwing adjustments based on the pet's current location, thereby improving the pet-amusing robot's throwing flexibility and making targeted throwing for the pet's location, effectively increasing the attractiveness and fun of throwing for the pet.

Description

Technical Field

[0001] The present application relates to the field of pet-amusing robots, and specifically to a throwing control method for a pet-amusing robot. Background Art

[0002] In order to improve the interaction with pets, some pet-entertaining robots are currently equipped with a throwing function. However, the throwing function of the current pet-entertaining robots generally has the problems of poor throwing flexibility and low intelligence, which makes it difficult for the throwing behavior of the pet-entertaining robots to achieve a better pet-entertaining effect. After the pet-entertaining robots throw many times, pets can usually master the throwing rules, which seriously affects the attractiveness of the throwing function to pets. In addition, the throwing behavior is likely to cause environmental safety problems, such as: throwing causes damage to environmental items, throwing harms creatures, etc. Summary of the Invention

[0003] This application provides a throwing control method for a pet-playing robot, and the specific technical solution is as follows:

[0004] A throwing control method for a pet-amusing robot specifically includes: the pet-amusing robot obtains all of its throwing areas; the pet-amusing robot obtains the area where the pet is currently located; based on the area where the pet is currently located, a throwing area is selected from all of the throwing areas as a target throwing area; and the pet-amusing robot is controlled to execute a throwing and amusing behavior toward the target throwing area so that the landing point of the target throwing object is within the target throwing area.

[0005] Furthermore, the method of selecting a throwable area from all throwable areas as a target throwing area based on the pet's current location specifically includes: traversing and calculating the area distances between all throwable areas and the pet's current location; and selecting a throwable area from all throwable areas that has the longest area distance to the pet's current location as the target throwing area.

[0006] Furthermore, the throwing control method also includes: each time the pet-amusing robot completes a throwing and amusing behavior, it records the target throwing area corresponding to the throwing and amusing behavior, and marks the recorded target throwing area as a historical throwing area in the area map.

[0007] Furthermore, before traversing and calculating the area distance between all throwable areas and the area where the pet is currently located, it also includes: performing a first screening process on all throwable areas; wherein, the first screening process on all throwable areas specifically includes: traversing and determining whether all throwable areas are marked as historical throwing areas in the area map; if the throwable area is marked as a historical throwing area in the area map, then removing it from all throwable areas; if the throwable area is not marked as a historical throwing area in the area map, then retaining it in all throwable areas.

[0008] Furthermore, the throwing control method also includes: when the pet-playing robot is restarted, initializing the area map to delete all marked historical throwing areas in the area map.

[0009] Furthermore, the throwing control method also includes: before controlling the pet-amusing robot to perform the throwing and amusing behavior toward the target throwing area, determining whether the throwing and amusing behavior involves the throwing restricted area; if the throwing and amusing behavior involves the throwing restricted area, controlling the pet-amusing robot to update the throwing and amusing behavior so that the updated throwing and amusing behavior does not involve the throwing restricted area; if the throwing and amusing behavior does not involve the throwing restricted area, controlling the pet-amusing robot to perform the throwing and amusing behavior toward the target throwing area.

[0010] Furthermore, the method for judging whether the throwing and teasing behavior involves the throwing restricted area specifically includes: judging whether the target throwing area corresponding to the throwing and teasing behavior belongs to the throwing restricted area; if the target throwing area corresponding to the throwing and teasing behavior belongs to the throwing restricted area, determining that the throwing and teasing behavior involves the throwing restricted area; if the target throwing area corresponding to the throwing and teasing behavior does not belong to the throwing restricted area, obtaining the target throwing path corresponding to the throwing and teasing behavior, and judging whether the target throwing path of the throwing and teasing behavior passes through the throwing restricted area space; if the target throwing path of the throwing and teasing behavior passes through the throwing restricted area space, determining that the throwing and teasing behavior involves the throwing restricted area; if the target throwing path of the throwing and teasing behavior does not pass through the target throwing path, determining that the throwing and teasing behavior does not involve the throwing restricted area.

[0011] Furthermore, the pet-amusing robot is controlled to update the throwing and amusing behavior so that the updated throwing and amusing behavior does not involve the throwing restricted area, specifically including: if the target throwing area corresponding to the throwing and amusing behavior belongs to the throwing restricted area, the pet-amusing robot is controlled to perform a first update on the throwing and amusing behavior; if the target throwing area corresponding to the throwing and amusing behavior does not belong to the throwing restricted area, but the target throwing path of the throwing and amusing behavior passes through the throwing restricted area space, the pet-amusing robot is controlled to perform a second update on the throwing and amusing behavior.

[0012] Furthermore, the pet-playing robot is controlled to perform a first update on the throwing and pet-playing behavior, specifically including: judging in turn whether each throwing area involves a throwing restricted area according to the order of the distance between all throwing areas and the area where the pet is currently located from long to short; when there is a throwing area that does not involve a throwing restricted area, the throwing area that does not involve a throwing restricted area is updated as a target throwing area to achieve the update of the throwing and pet-playing behavior.

[0013] Furthermore, the control of the pet-amusing robot performs a second update on the throwing and amusing behavior, specifically including: obtaining all target throwing paths corresponding to all throwable angles of the pet-amusing robot for throwing to the target throwing area; traversing and judging whether there is a target throwing path that does not involve the throwing restricted area space among all target throwing paths; if there is a target throwing path that does not involve the throwing restricted area space among all target throwing paths, then selecting the target throwing angle with the smallest angle with the current throwing angle of the pet-amusing robot from the throwable angles corresponding to the target throwing paths that do not involve the throwing restricted area space as the target throwing angle, and updating the pet-amusing robot from the current throwing angle to the target throwing angle degrees, and updates the projection range of the pet-amusing robot based on the target throwing angle, so that the pet-amusing robot still throws the target throwing object within the target throwing area under the target throwing angle and the updated projection range; if there is no target throwing path that does not involve the throwing restricted area space among all target throwing paths, then judge whether each throwing area involves the throwing restricted area in turn according to the distance between all throwing areas and the area where the pet is currently located, from long to short. When there is a throwing area that does not involve the throwing restricted area, then the throwing area that does not involve the throwing restricted area is updated as the target throwing area to realize the update of the throwing pet-amusing behavior.

[0014] The throwing control method of the pet-amusing robot described in this application filters out a throwing area as the target throwing area through the area where the pet is currently located. This not only ensures the executability of the target throwing area, but also enables the pet-amusing robot to perform intelligent throwing adjustments based on the area where the pet is currently located, thereby improving the throwing flexibility of the pet-amusing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart of a throwing control method for a pet-amusing robot according to an embodiment of the present application. Implementation Method

[0016] The following will describe the embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described below are only used to explain the present application and are not intended to limit the present application.

[0017] In order to improve the interaction with pets, some pet-entertaining robots are currently equipped with a throwing function. However, the throwing function of the pet-entertaining robots generally has the problems of poor throwing flexibility and low intelligence, which makes it difficult for the throwing behavior of the pet-entertaining robots to achieve a better pet-entertaining effect. After the pet-entertaining robots throw many times, pets can usually master the throwing rules, which seriously affects the attractiveness of the throwing function to pets. In addition, the throwing behavior is likely to cause environmental safety problems, such as: throwing causes damage to environmental items, throwing hurts creatures, etc.

[0018] In order to solve the problem of poor flexibility and low intelligence of the throwing function of the pet-amusing robot, this application provides a throwing control method for the pet-amusing robot, which enables the pet-amusing robot to flexibly select and switch the target throwing area, improves the attractiveness of the throwing function to the pet, and can screen the target throwing area according to the actual situation of the pet to ensure the safety of throwing. Specifically, the throwing control method of the pet-amusing robot, such as Figure 1 As shown, specifically including:

[0019] The pet-amusing robot obtains its entire throwing area; among them, since the throwing range of the pet-amusing robot is limited and the throwing angle adjustment is limited, the area that the pet-amusing robot can throw is limited. This step obtains the entire throwing area of ​​the pet-amusing robot based on the throwing range and throwing angle of the pet-amusing robot, so that the pet-amusing robot can perform more reasonable throwing and amusing behaviors based on the entire throwing area.

[0020] The pet-entering robot obtains the current area where the pet is located; specifically, the method for the pet-entering robot to obtain the current area where the pet is located can be, but is not limited to, based on the visual sensor carried by the pet-entering robot in combination with the pet recognition algorithm, or based on information interaction between the wearable device on the pet and the pet-entering robot.

[0021] Based on the current area where the pet is located, a throwable area is selected from all throwable areas as the target throwing area; wherein, the selection influencing factors for selecting the target throwing area from all throwable areas based on the current area where the pet is located may be but are not limited to the distance between areas, the size of the areas and / or the passability of the pet between areas, etc.

[0022] The pet-playing robot is controlled to execute throwing behaviors toward a target throwing area so that the target thrown object lands within the target throwing area. This embodiment selects a throwable area as the target throwing area based on the pet's current location. This not only ensures the feasibility of the target throwing area, but also enables the pet-playing robot to intelligently adjust its throwing based on the pet's current location, improving the robot's throwing flexibility.

[0023] As one embodiment of the present application, before executing the throwing control method, the pet-playing robot first obtains an environmental area map. The environmental area map can be obtained by, but is not limited to, obtaining an environmental area map pre-stored in the pet-playing robot, or by obtaining environmental information based on sensors. After obtaining the environmental area map, the pet-playing robot divides the environmental area map into a plurality of areas of the same shape and size and a plurality of corner areas through a rasterization method. The area of ​​the divided areas is set based on the target throwing object of the pet-playing robot so that each area can accommodate at least one target throwing object, such as by limiting the minimum area of ​​the divided areas to be at least greater than the maximum cross-sectional area of ​​the target throwing object of the pet-playing robot to ensure that each area can accommodate at least one target throwing object. Since the size of the area affects the number of divided areas, when the number of divided areas is too large, the computing power required by the pet-playing robot to divide and manage the areas is also increased accordingly. Therefore, in some embodiments, in order to reduce the computing power required by the pet-playing robot to divide and manage the areas, the minimum area threshold of the divided areas is increased to reduce the number of divided areas.

[0024] As an embodiment of the present application, based on the environmental area map obtained by the pet-playing robot and the divided areas in the environmental area map, the method for the pet-playing robot to obtain all its throwable areas includes: the pet-playing robot obtains its position coordinates in the environmental area map; taking the position coordinates of the pet-playing robot as the radiation center, the maximum throwable range of the pet-playing robot as the radiation radius, and the throwable angle of the pet-playing robot as the radiation arc, the throwing radiation range of the pet-playing robot is obtained based on the radiation center, the radiation radius and the radiation arc; the area whose boundaries all fall within the throwing radiation range of the pet-playing robot is confirmed as the throwable area; wherein, the way for the pet-playing robot to obtain its position coordinates may be, but not limited to, a relative positioning method or an absolute positioning method, wherein, the relative positioning method may be, but not limited to, using an odometer, Gyroscopes, inertial sensors, etc. calculate the distance and azimuth change of the posture of the amusing robot at each moment relative to the posture of the previous moment, thereby realizing the acquisition of the coordinates of the current position of the amusing robot; the absolute positioning method can be but is not limited to the use of navigation beacons and logos in the environment, or, using map matching or global positioning system, or based on ultrasonic, laser, computer vision and other data, such as based on ultrasonic navigation and positioning technology, or based on visual navigation and positioning technology, or based on GPS global positioning system, or based on light reflection navigation and positioning technology, or based on SLAM technology, etc.; the throwing angle of the amusing robot refers to the angle that the throwing device on the amusing robot can rotate. If the angle that the throwing device can rotate is 360°, the throwing radiation range of the amusing robot is a circular range with the radiation center as the center of the circle and the radiation radius as the radius of the circle. In this embodiment, only the area where all area boundaries fall within the throwing radiation range of the amusing robot is confirmed as the throwing area, so that the entire range included in the throwing area is within the throwing range of the amusing robot, ensuring the feasibility of throwing in the throwing area.

[0025] As an embodiment of the present application, the control of the pet-entertaining robot to perform a throwing and entertaining behavior toward a target throwing area so that the landing point of the target thrown object is within the target throwing area specifically includes: calculating the distance between the center point coordinates of the target throwing area and the position coordinates of the pet-entertaining robot as the target projection distance; selecting the target range gear of the throwing device of the pet-entertaining robot according to the target projection distance; wherein, the method of selecting the target range gear is to calculate the range distance of each range gear of the throwing device in the horizontal direction, and select the range gear corresponding to the minimum difference between the horizontal range distance and the target projection distance as the target range gear; calculating the first angle between the first connecting line of the center point coordinates of the target throwing area and the position coordinates of the pet-entertaining robot and the perpendicular bisector of the throwing outlet of the throwing device of the pet-entertaining robot, and adjusting the rotation of the throwing device of the pet-entertaining robot based on the first angle so that the perpendicular bisector of the throwing outlet coincides with the first connecting line after the throwing device rotates; controlling the pet-entertaining robot to perform the throwing and entertaining behavior based on the target range gear and the adjusted throwing device angle.

[0026] Specifically, the primary purpose of the pet-amusing robot's throwing and pet-amusing behavior varies based on user needs. It can be, but is not limited to, to mobilize pet activities so that the pet's physical fitness can be trained, or to prioritize the safety of movement during the pet's activities, or to prioritize the safety of environmental objects during the pet's activities, etc. Based on the different primary purposes of the pet-amusing robot's throwing and pet-amusing behavior, the distance between the target throwing area and the pet's current area, the moving path, etc. will affect the degree of realization of the primary purpose of the pet-amusing robot's throwing and pet-amusing behavior.

[0027] When the pet-amusing robot wants to maximize the amount of physical training for the pet, since the distance between the target throwing area and the pet's current area will affect the amount of exercise the pet needs to expend to follow the target thrown object, the target throwing area can be selected based on the distance between the pet's current area and the throwing area, so as to increase the amount of exercise the pet needs to expend to follow the target thrown object to a greater extent.

[0028] When the pet-playing robot wants to allow the pet to enter the target throwing area smoothly, the size of the target throwing area will affect the pet's entry area. When the target throwing area is small, it is usually because there are obstacles near the target throwing area, which affects the pet's smooth entry into the area. Therefore, the target throwing area can be selected based on the size of the area currently occupied by the pet and the size of the throwing area to ensure the feasibility and smoothness of the pet's entry into the target throwing area.

[0029] When the pet-amusing robot wants to ensure the safety and smoothness of the route of the pet in the process of throwing objects to follow the target, since the pet needs to move from the current area where the pet is to the target throwing area to follow the target throwing object, and some pets are actually large in size and their movement in the environment is restricted by the size of the environmental channels, the passability between the pet's current area and the throwing area is taken into consideration to optimize the rationality of the target throwing area selection.

[0030] As one of the embodiments of the present application, the method of selecting a throwable area from all throwable areas as a target throwing area based on the area where the pet is currently located specifically includes: traversing and calculating the area distances between all throwable areas and the area where the pet is currently located; selecting a throwable area with the longest area distance from the area where the pet is currently located from all throwable areas as the target throwing area. Specifically, the calculation method of the area distance between the throwable area and the area where the pet is currently located can be, but is not limited to, calculating the distance between the center points of the two areas as the area distance through a point-to-point distance calculation formula, or calculating the distance between the nearest points on the boundaries of the two areas as the area distance through a point-to-point distance calculation formula. This embodiment traverses and calculates the area distance between each throwable area and the area where the pet is currently located, uses the area distance as a reference factor for selecting the target throwing area, and uses the throwable area with the longest area distance as the target throwing area, so that the pet-amusing robot can mobilize the pet's required physical energy for activity to the greatest extent through one throwing and amusing behavior, effectively exercise the pet's physical fitness, and improve the pet's activity.

[0031] As one of the embodiments of the present application, the throwing control method further includes: each time the pet-amusing robot completes a throwing and amusing behavior, it records the target throwing area corresponding to the throwing and amusing behavior, and marks the recorded target throwing area as a historical throwing area in the area map. Specifically, the method of marking the historical throwing area in the area map may be, but is not limited to, marking with text, color and / or symbols, or recording the center point coordinate information of the recorded target throwing area in the historical throwing area list. This embodiment enables the pet-amusing robot to intelligently adjust its throwing and amusing behavior based on the historical throwing area information and optimize the adjustment intelligence by marking the historical throwing area in the area map.

[0032] As one of the implementation methods of the present application, before traversing and calculating the regional distance between all throwable areas and the area where the pet is currently located, it also includes: performing a first screening process on all throwable areas; wherein, the first screening process on all throwable areas specifically includes: traversing and determining whether all throwable areas are marked as historical throwing areas in the area map; if the throwable area is marked as a historical throwing area in the area map, then removing it from all throwable areas; if the throwable area is not marked as a historical throwing area in the area map, then retaining it in all throwable areas. Specifically, before the pet-amusing robot calculates the regional distance between the throwable area and the area where the pet is currently located, the throwable area is screened once to remove the throwable areas that have been marked as historical throwing areas, so that the target throwing areas of the pet-amusing robot's throwing and amusing behavior are not repeated each time, thereby increasing the difficulty for the pet to master the throwing rules of the pet-amusing robot and optimizing the fun of throwing and amusing pets.

[0033] As one of the embodiments of the present application, the throwing control method further includes: when the pet-amusing robot is restarted, the area map is initialized to delete all the marked historical throwing areas in the area map. It should be noted that the initialization process of the area map should at least include deleting all the marked historical throwing areas in the area map, and other processes may also be performed. In this embodiment, the restart of the pet-amusing robot is used as a trigger condition for the initialization process of the area map, so that after each restart of the pet-amusing robot, the historical throwing areas in the area map are cleared, to avoid the long-term accumulation of historical throwing areas, resulting in most areas in the area map being unable to be used as throwing areas, affecting the execution of the throwing and amusing behavior of the pet-amusing robot.

[0034] As one of the embodiments of the present application, the throwing control method further includes: before controlling the pet-amusing robot to perform the throwing and amusing behavior toward the target throwing area, determining whether the throwing and amusing behavior involves a throwing restricted area; if the throwing and amusing behavior involves a throwing restricted area, controlling the pet-amusing robot to update the throwing and amusing behavior so that the updated throwing and amusing behavior does not involve a throwing restricted area; if the throwing and amusing behavior does not involve a throwing restricted area, controlling the pet-amusing robot to perform the throwing and amusing behavior toward the target throwing area. Specifically, the throwing restricted area may include but is not limited to a throwing restricted area and a throwing restricted area space. The throwing restricted area refers to a horizontal area on the ground that cannot be used as a landing point for target throwing objects. The throwing restricted area space refers to a space in the environment where target throwing objects cannot pass through. For example, if there is a vase in the environment, the space occupied by the vase can be set as a throwing restricted area space to prevent target throwing objects from passing through. The setting of a throwing restricted area is usually due to the presence of objects of a certain height that cannot be thrown within the area, such as a vase or crystal chandelier. In order to prevent the target thrown object from damaging the vase or crystal chandelier, it is necessary to avoid the possibility of the target thrown object's target throwing path colliding with the object. The setting of the throwing restricted area can be, but is not limited to, pre-selected by the user, or identified and set by the sensor module onboard the pet-entering robot. The setting of the throwing restricted area is usually to ensure the safety of the throwing and entertaining behavior, and to avoid the situation where environmental objects are damaged, pets are injured, or users are injured due to throwing. The control of the pet-entering robot to update the throwing and entertaining behavior is to ensure that the updated throwing and entertaining behavior does not involve the throwing restricted area. The updating method can be, but is not limited to, adjusting the target throwing area of ​​the throwing and entertaining behavior, or adjusting the throwing angle, throwing range, etc. of the pet-entering robot. This embodiment ensures the safety of the throwing and entertaining behavior execution process by judging whether the throwing and entertaining behavior involves the throwing restricted area before the pet-entering robot executes the throwing and entertaining behavior.

[0035] As one of the embodiments of the present application, the method for determining whether the throwing and teasing behavior involves a throwing restricted area specifically includes: determining whether the target throwing area corresponding to the throwing and teasing behavior belongs to the throwing restricted area; specifically, the method for determining whether the target throwing area belongs to the throwing restricted area may be, but is not limited to, traversing and comparing the area boundary of the target throwing area with the area boundary of each throwing restricted area to determine whether there is an overlap in area boundaries or whether there is a full or partial overlap in areas. When all or part of the target throwing area belongs to the throwing restricted area, it is determined that the target throwing area belongs to the throwing restricted area.

[0036] If the target throwing area corresponding to the throwing and teasing behavior belongs to the throwing restricted area, it is determined that the throwing and teasing behavior involves the throwing restricted area; when the target throwing area belongs to the throwing restricted area, it can be directly determined that the throwing and teasing behavior involves the throwing restricted area. When the target throwing area does not belong to the throwing restricted area, since there is still a possibility that the throwing path of the throwing and teasing behavior involves the throwing restricted area space, when the target throwing area corresponding to the throwing and teasing behavior does not belong to the throwing restricted area, the target throwing path corresponding to the throwing and teasing behavior is obtained, and it is determined whether the target throwing path of the throwing and teasing behavior passes through the throwing restricted area space. If the target throwing path of the throwing and teasing behavior passes through the throwing restricted area space, it is determined that the throwing and teasing behavior involves the throwing restricted area. If the target throwing path of the throwing and teasing behavior does not pass through the target throwing path, it is determined that the throwing and teasing behavior does not involve the throwing restricted area. This embodiment improves the accuracy of judging whether the target throwing area of ​​the throwing and teasing behavior involves the throwing restricted area by first judging whether the target throwing area belongs to the throwing restricted area, and then judging whether the target throwing path passes through the throwing restricted area when the target throwing area does not belong to the throwing restricted area.

[0037] As one embodiment of the present application, the pet-entertaining robot is controlled to update the throwing and amusing behavior so that the updated throwing and amusing behavior does not involve the throwing restricted area, specifically including: if the target throwing area corresponding to the throwing and amusing behavior belongs to the throwing restricted area, then the pet-entertaining robot is controlled to perform a first update on the throwing and amusing behavior; if the target throwing area corresponding to the throwing and amusing behavior does not belong to the throwing restricted area, but the target throwing path of the throwing and amusing behavior passes through the throwing restricted area, then the pet-entertaining robot is controlled to perform a second update on the throwing and amusing behavior. This embodiment controls the pet-entertaining robot to perform corresponding different first updates or second updates on the throwing and amusing behavior according to the different ways in which the throwing and amusing behavior involves the throwing restricted area, so as to achieve the purpose of not involving the throwing restricted area in the throwing and amusing behavior through the minimum update.

[0038] As one embodiment of the present application, the control robot for playing with pets performs a first update on the throwing and playing with pets behavior, specifically including: according to the regional distance between all the throwing areas and the area where the pet is currently located, it is judged in turn whether each throwing area involves the throwing restricted area, and when there is a throwing area that does not involve the throwing restricted area, the throwing area that does not involve the throwing restricted area is updated as the target throwing area to achieve the update of the throwing and playing with pets behavior. This embodiment targets the situation where the target throwing area is within the throwing restricted area, and specifically achieves the first update of the throwing and playing with pets behavior by updating the target throwing area. According to the regional distance between the throwing area and the area where the pet is currently located, it is judged in turn whether the throwing area involves the throwing restricted area, so that the target throwing area finally updated is the throwing area that does not involve the throwing restricted area and has the longest regional distance with the area where the pet is currently located, which not only ensures that the throwing and playing with pets behavior does not involve the throwing restricted area, but also ensures that the regional distance between the target throwing area and the area where the pet is currently located is the farthest.

[0039] As one of the embodiments of the present application, the control pet-amusing robot performs a second update on the throwing and amusing behavior, specifically including: obtaining all target throwing paths corresponding to all throwable angles of the pet-amusing robot for throwing to the target throwing area; traversing and judging whether there is a target throwing path that does not involve the throwing restricted area space among all target throwing paths; if there is a target throwing path that does not involve the throwing restricted area space among all target throwing paths, then selecting the target throwing angle with the smallest angle with the current throwing angle of the pet-amusing robot from the throwable angles corresponding to the target throwing paths that do not involve the throwing restricted area space as the target throwing angle, updating the current throwing angle of the pet-amusing robot to the target throwing angle, and updating the throwing angle of the pet-amusing robot based on the target throwing angle. The target throwing range is set so that the pet-amusing robot still throws the target object into the target throwing area under the target throwing angle and the updated projection range; it should be noted that when the pet-amusing robot uses different throwing angles to throw, the corresponding throwing paths are also different. Therefore, in order to adjust and obtain the target throwing path that does not involve the throwing restricted area, the present embodiment gives priority to adjusting the throwing angle of the pet-amusing robot. The adjustment method can be, but is not limited to, traversing and analyzing all corresponding target throwing paths based on all the throwable angles of the pet-amusing robot to see whether they involve the projection restricted area, so that the second updated throwing pet-amusing behavior can still throw to the target throwing area without the target throwing path involving the throwing restricted area. When there are multiple throwing paths corresponding to the throwable angles that do not involve the throwing restricted area, in order to enable the pet-amusing robot to achieve the minimum update, the one with the smallest angle with the current throwing angle is selected as the target throwing angle, which not only achieves that the updated throwing pet-amusing behavior does not involve the throwing restricted area, but also minimizes the update amplitude.

[0040] If there is no target throwing path that does not involve the throwing restricted area space among all the target throwing paths, then according to the sorting method of the regional distance between all the throwing areas and the area where the pet is currently located from long to short, each throwing area is judged in turn whether it involves the throwing restricted area. When there is a throwing area that does not involve the throwing restricted area, the throwing area that does not involve the throwing restricted area is updated as the target throwing area to achieve the update of the throwing and teasing behavior. Specifically, when all the target throwing paths involve the throwing restricted area space, that is, the throwing paths corresponding to all the throwing angles of the pet-teasing robot all involve the throwing restricted area space, it is impossible to make the updated throwing and teasing behavior not involve the throwing restricted area by only adjusting the throwing angle of the pet-teasing robot. For this situation, the pet-teasing robot is controlled to update its target throwing area, which not only ensures that the throwing and teasing behavior does not involve the throwing restricted area, but also ensures that the regional distance between the target throwing area and the area where the pet is currently located is the farthest.

[0041] Obviously, the above embodiments are only some, not all, of the embodiments of the present invention, and the technical solutions of the various embodiments may be combined with each other. If terms such as "first," "second," and "third" appear in the embodiments, they are for the purpose of distinguishing related features and should not be construed as indicating or implying their relative importance, order, or number of technical features.

[0042] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented by instructing the relevant hardware through a program. The program is stored in a storage medium and includes a number of instructions for causing a microcontroller, chip, or processor to execute all or part of the steps in the method embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0043] It should be noted that any process or method description in the flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising: one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which the functions may not be performed in the order described or discussed, including performing the functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art of the art to which the embodiments of the present invention belong.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements 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.

Claims

1. A throwing control method for a pet-amusing robot, characterized in that: The throwing control method specifically includes: The pet robot obtains all its throwable areas; The pet-playing robot obtains the pet's current location; Select a throwable area from all throwable areas as the target throwing area based on the pet's current location; Control the pet-playing robot to perform throwing behaviors toward the target throwing area so that the target thrown object lands within the target throwing area; Among them, each time the pet-playing robot completes a throwing and teasing behavior, it records the target throwing area corresponding to the throwing and teasing behavior, and marks the recorded target throwing area as a historical throwing area in the area map.

2. The throwing control method of the pet-amusing robot according to claim 1, characterized in that: The step of selecting a throwable area from all throwable areas as a target throwable area based on the current area of ​​the pet specifically includes: Traverse and calculate the distance between all throwing areas and the area where the pet is currently located; From all the throwable areas, select the one with the longest distance to the area where the pet is currently located as the target throwing area.

3. The throwing control method of the pet-amusing robot according to claim 2, characterized in that: Before traversing and calculating the distance between all throwable areas and the area where the pet is currently located, the method further includes: performing a first screening process on all throwable areas; wherein the first screening process on all throwable areas specifically includes: Traverse and determine whether all throwable areas are marked as historical throw areas in the area map; If a throwable area is marked as a historical throwable area on the area map, it will be removed from all throwable areas; If a throwable area is not marked as a historical throwable area on the area map, it will be retained in the total throwable area.

4. The throwing control method of the pet-amusing robot according to claim 3, characterized in that: The throwing control method further includes: when the pet-playing robot is restarted, initializing the area map to delete all marked historical throwing areas in the area map.

5. The throwing control method of the pet-amusing robot according to claim 2, characterized in that: The throwing control method also includes: before controlling the pet-amusing robot to perform the throwing and amusing behavior toward the target throwing area, judging whether the throwing and amusing behavior involves the throwing restricted area; if the throwing and amusing behavior involves the throwing restricted area, controlling the pet-amusing robot to update the throwing and amusing behavior so that the updated throwing and amusing behavior does not involve the throwing restricted area; if the throwing and amusing behavior does not involve the throwing restricted area, controlling the pet-amusing robot to perform the throwing and amusing behavior toward the target throwing area.

6. The throwing control method of the pet-amusing robot according to claim 5, characterized in that: The method for determining whether the throwing behavior involves the throwing restricted area specifically includes: Determine whether the target throwing area corresponding to the throwing pet behavior belongs to the throwing restricted area; If the target throwing area corresponding to the throwing behavior falls within the throwing restricted area, it is determined that the throwing behavior involves the throwing restricted area; If the target throwing area corresponding to the throwing and teasing behavior does not belong to the throwing restricted area, then the target throwing path corresponding to the throwing and teasing behavior is obtained, and it is determined whether the target throwing path of the throwing and teasing behavior passes through the throwing restricted area space. If the target throwing path of the throwing and teasing behavior passes through the throwing restricted area space, then it is determined that the throwing and teasing behavior involves the throwing restricted area. If the target throwing path of the throwing and teasing behavior does not pass through the throwing restricted area space, then it is determined that the throwing and teasing behavior does not involve the throwing restricted area.

7. The throwing control method of the pet-amusing robot according to claim 6, characterized in that: The controlling the pet-playing robot to update the throwing pet-playing behavior so that the updated throwing pet-playing behavior does not involve the throwing restricted area specifically includes: If the target throwing area corresponding to the throwing pet teasing behavior belongs to the throwing restricted area, controlling the pet teasing robot to perform a first update on the throwing pet teasing behavior; If the target throwing area corresponding to the throwing pet teasing behavior does not belong to the throwing restricted area, but the target throwing path of the throwing pet teasing behavior passes through the throwing restricted area, the throwing pet teasing robot is controlled to perform a second update on the throwing pet teasing behavior.

8. The throwing control method of the pet-amusing robot according to claim 7, characterized in that: The controlling the pet-playing robot to perform a first update on the throwing pet-playing behavior specifically includes: According to the order of the distance between all throwing areas and the pet's current area from long to short, each throwing area is judged in turn whether it involves the throwing restricted area. When there is a throwing area that does not involve the throwing restricted area, a throwing area that does not involve the throwing restricted area is updated as the target throwing area to achieve the update of the throwing and teasing pet behavior.

9. The throwing control method of the pet-amusing robot according to claim 7, characterized in that: The controlling the pet-playing robot to perform a second update on the throwing pet-playing behavior specifically includes: Obtain all target throwing paths corresponding to all possible throwing angles of the pet-playing robot for throwing into the target throwing area; Traverse all target throwing paths to determine whether there is a target throwing path that does not involve the throwing restricted area space; If there is a target throwing path that does not involve the throwing restricted area among all the target throwing paths, then the angle with the smallest angle with the current throwing angle of the pet-playing robot is selected from the throwing angles corresponding to the target throwing paths that do not involve the throwing restricted area as the target throwing angle, and the pet-playing robot is updated from the current throwing angle to the target throwing angle, and the projection range of the pet-playing robot is updated based on the target throwing angle, so that the pet-playing robot can still throw the target throwing object within the target throwing area under the target throwing angle and the updated projection range; If there is no target throwing path that does not involve the throwing restricted area among all target throwing paths, then each throwing area is judged in turn whether it involves the throwing restricted area based on the distance between all throwing areas and the area where the pet is currently located, which is sorted from long to short. When there is a throwing area that does not involve the throwing restricted area, a throwing area that does not involve the throwing restricted area is updated as the target throwing area to achieve the update of the throwing and teasing pet behavior.

Images