Snack recovery control method for feeding robot

Abstract

This application discloses a snack recycling control method for a feeding robot, specifically comprising: controlling the feeding robot to track the consumption of snacks after delivering them; and controlling the feeding robot to execute a snack recycling process based on the snack consumption status. By controlling the feeding robot to execute a targeted snack recycling process based on the snack consumption status, this application reduces the amount of snacks left in the environment, eliminates the impact of residual snacks on environmental hygiene, maintains the fun of snack feeding, reduces the environmental cleaning trouble caused by snack feeding to the user, and optimizes the user experience of using the feeding robot to feed snacks.

Description

Technical Field

[0001] The present application relates to the field of feeding robots, and in particular to a snack recovery control method for a feeding robot. Background Art

[0002] In order to enrich the types of functions that can be realized by intelligent robots, feeding robots for feeding snacks have been developed in the prior art. Currently, feeding robots mostly select pets as feeding objects. In the process of feeding snacks to the feeding objects, snacks are usually not eaten by the feeding objects, but left everywhere in the environment, which is inconvenient for users to clean up. The snacks left in the environment for a long time affect environmental hygiene. Summary of the Invention

[0003] This application provides a snack recovery control method for a feeding robot. The specific technical solution is as follows:

[0004] A snack recycling control method for a feeding robot specifically includes: controlling the feeding robot to track the consumption of the snacks after throwing the snacks; and controlling the feeding robot to execute a snack recycling process based on the consumption of the snacks.

[0005] Furthermore, the tracking of snack consumption specifically includes: the feeding robot determines the estimated landing area of ​​the snack based on the projection trajectory of the snack; using the image acquisition unit mounted on the feeding robot to capture the environmental image of the estimated landing area of ​​the snack; identifying the presence of snacks in the environmental image of the estimated landing area of ​​the snack to determine whether the snack has been consumed within a preset time length.

[0006] Furthermore, the feeding robot determines an estimated snack landing area based on the snack projection trajectory, specifically including: obtaining the snack projection trajectory expected by the feeding robot; determining the coordinates of the estimated snack landing point based on the expected snack projection trajectory; and dividing an estimated snack landing area with the coordinates of the estimated snack landing point as the center point.

[0007] Furthermore, the control of the feeding robot to execute a recycling process for the snacks based on the consumption of the snacks specifically includes: when the snacks are not eaten within a preset time length, controlling the feeding robot to execute a recycling process for the snacks; when tracking that the snacks are eaten within the preset time length, stopping tracking the consumption of the snacks.

[0008] Furthermore, the controlling the feeding robot to execute a recycling process for the snacks specifically includes: the feeding robot obtains the coordinates of the snacks, and records the coordinates of the snacks in a coordinate list of snacks to be recycled, and the feeding robot executes the recycling process based on the coordinate list of snacks to be recycled.

[0009] Furthermore, the snack recycling control method also includes: when the feeding robot finishes the snack feeding work, planning a recycling route based on all the coordinates recorded in the coordinate list of snacks to be recycled, and controlling the feeding robot to traverse along the recycling route to recycle the snacks at each coordinate recorded in the coordinate list of snacks to be recycled.

[0010] Furthermore, the snack recycling control method also includes: when the feeding robot moves to the coordinates of the snacks to be recycled according to the recycling route, controlling the feeding robot to detect whether there are snacks at the coordinates of the snacks to be recycled; when the feeding robot detects that there are snacks at the coordinates of the snacks to be recycled, controlling the feeding robot to move to the coordinates of the snacks to be recycled to recycle the snacks; when the feeding robot detects that there are no snacks at the coordinates of the snacks to be recycled, controlling the feeding robot to move to the coordinates of the snacks to be recycled to perform the snack search process.

[0011] Furthermore, the control of the feeding robot to move to the coordinates of snacks to be recycled to perform a snack search process specifically includes: when the feeding robot moves to the coordinates of snacks to be recycled, controlling the feeding robot to rotate and simultaneously collecting environmental image information based on the image acquisition unit to identify whether there are snacks in the environment; when it is detected that there are snacks in the collected environmental image information, determining whether the coordinates of the existing snacks have been recorded in the list of coordinates of snacks to be recycled; if the coordinates of the snacks existing in the environmental image information are not recorded in the list of coordinates of snacks to be recycled, recording the coordinates of the snacks existing in the environmental image information in the list of coordinates of snacks to be recycled, updating the recycling route based on all the coordinate information in the list of coordinates of snacks to be recycled, and controlling the feeding robot to traverse and recycle each snack recorded in the list of coordinates of snacks to be recycled according to the updated recycling route; if the coordinates of the snacks existing in the environmental image information are recorded in the list of coordinates of snacks to be recycled, controlling the feeding robot to continue rotating and simultaneously collecting environmental image information based on the image acquisition unit until the coordinates of snacks not recorded in the list of coordinates of snacks to be recycled are detected in the environmental image information, or until the feeding robot rotates back to the starting rotation position, ending the snack search process, and controlling the feeding robot to move to the next coordinate of snacks to be recycled according to the recycling route.

[0012] Furthermore, the snack recycling control method also includes: when the feeding robot moves to a snack coordinate to be recycled according to the recycling route and completes snack recycling at the snack coordinate to be recycled, the snack coordinate to be recycled is deleted from the snack coordinate list to be recycled, the snack coordinate list to be recycled is updated, and the recycling route is re-planned based on the updated snack coordinate list to be recycled.

[0013] Furthermore, the identifying of the presence of snacks in the environmental image of the estimated snack landing area to determine whether the snacks are consumed within a preset time length specifically includes: identifying the presence of snacks in the environmental image of the estimated snack landing area;

[0014] If the presence of the snack is detected to switch from presence to absence, it is determined that the snack has been eaten within the preset time length; if the presence of the snack is always detected within the preset time length, it is determined that the snack has not been eaten within the preset time length; if the snack is not detected in the environmental image of the estimated snack landing area within the preset time length, it is determined that the coordinates of the actual landing point of the snack are offset, and the coordinates of the estimated snack landing point are marked as the coordinates of the snack to be searched, and the feeding robot is controlled to move to the coordinates of the snack to be searched to execute the snack search process.

[0015] Furthermore, the identifying the presence of snacks in the environmental image of the estimated snack landing area to determine whether the snacks are consumed within a preset time length further includes: identifying the presence of feeding objects in the environmental image of the estimated snack landing area;

[0016] If a feeding object is detected in the environmental image of the estimated landing area of ​​the snack within the preset time length, and the presence of the snack is detected to switch from presence to absence, it is determined that the snack has been eaten within the preset time length; if the presence of the snack is detected to switch from presence to absence within the preset time length, and no feeding object appears, it is determined that the coordinates of the actual landing point of the snack are offset, the coordinates of the estimated landing point of the snack are marked as the coordinates of the snack to be searched, and the feeding robot is controlled to move to the coordinates of the snack to be searched to execute the snack search process.

[0017] The snack recycling control method of the feeding robot described in this application controls the feeding robot to execute the recycling process for snacks, thereby reducing the probability of snacks being left in the environment, eliminating the impact of snack residues on environmental hygiene, retaining the fun of snack feeding while reducing the environmental cleaning troubles caused to users by snack feeding, and optimizing the user experience of using the feeding robot to feed snacks. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a flow chart of a snack recovery control method for a feeding robot according to an embodiment of the present application. Implementation Method

[0019] 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.

[0020] In order to solve the problem that when feeding snacks to the feeding objects, some snacks are not eaten by the feeding objects, resulting in some snacks being left in various places in the environment, which are difficult for users to completely clean up and affect environmental hygiene, the present application provides a snack recovery control method for the feeding robot, which aims to control the feeding robot to recycle uneaten snacks, avoid snacks being left in the environment, affecting environmental hygiene, and causing mosquitoes to breed in the environment.

[0021] Specifically, the snack recovery control method of the feeding robot is as follows: Figure 1 As shown, including:

[0022] After the snacks are thrown, the feeding robot is controlled to track whether the snacks have been eaten; wherein, the feeding robot may track whether the snacks have been eaten by, but is not limited to, using a convolutional neural target detection algorithm to detect the outline, color and other information of the snacks on the image information to determine the presence of the snacks and thus determine whether the snacks have been eaten, or by combining the presence of the snacks and the appearance of the feeding object to make a judgment on whether the snacks have been eaten.

[0023] Based on the consumption of snacks, the feeding robot is controlled to execute a recycling process for the snacks; among which, when the snacks are not eaten, there is a risk that the snacks will be left in the environment for a long time and affect environmental hygiene. Therefore, this embodiment controls the feeding robot to execute a recycling process for the snacks, thereby eliminating the probability of snacks being left in the environment, reducing the impact of snacks on environmental hygiene, retaining the fun of snack feeding while reducing the environmental cleaning troubles caused by snack feeding to users, and optimizing the user experience of using the feeding robot to feed snacks.

[0024] As one embodiment of the present application, tracking snack consumption specifically includes: a feeding robot determining an estimated snack landing area based on the snack's projection trajectory; utilizing an image acquisition unit mounted on the feeding robot to capture an environmental image of the estimated snack landing area; and identifying the presence of the snack in the environmental image of the estimated snack landing area to determine whether the snack has been consumed within a preset time period. This embodiment defines an estimated snack landing area based on the snack's projection trajectory. Based on this defined estimated snack landing area, the image acquisition unit performs targeted image acquisition, thereby increasing the success rate of identifying the snack in the captured image.

[0025] Specifically, the trajectory of the snack projection is determined based on the mass of the snack, the direction in which the projection device projects the snack, and the projection force. The mass of the snack affects the magnitude of the vertical force applied to the snack during the projection process, thereby affecting the snack's landing position. The direction in which the projection device projects the snack affects the snack's landing position relative to the direction of the projection robot. The projection force of the projection device on the snack affects the snack's ejection speed, thereby affecting the snack's landing position. The quality of the snack can be obtained by, but is not limited to, pre-setting it when the user loads the snack into the feeding robot, or by limiting the mass of the snacks to be fed when the feeding robot leaves the factory, or by providing a mass sensor within the feeding robot to detect the mass of each snack fed. The projection force achieved by the projection device used by the feeding robot is determined based on its projection gear position, so the projection force information can be obtained by the projection gear position used by the projection device during the current snack projection process. In some projection devices, in order to achieve an adjustable projection angle of the projection device, a stepper motor is provided in the projection device so that the shaft of the stepper motor rotates to provide a driving force for the rotation of the projection device. By counting the steps of the stepper motor, the rotation angle of the projection device compared to the initial state can be determined, thereby obtaining the projection angle information of the projection device. In some projection devices that do not have an adjustable projection angle function, the projection angle of the projection device is usually determined based on the rotation angle of the feeding robot. The mass of the projected snacks is usually pre-stored in the feeding robot, and some feeding robots are provided with a weight sensor to obtain the weight of each projected snack. The projection trajectory of the snack is calculated based on information such as the weight of the projected snacks, the projection force and the projection angle, combined with the projectile motion calculation formula.

[0026] The environmental image of the estimated snack landing area refers to an environmental image that accurately captures the grayscale of every pixel in the estimated snack landing area, thereby ensuring the accuracy of the feeding robot's identification of the presence of snacks based on the environmental image of the estimated snack landing area. The method used to identify the presence of snacks in the environmental image of the estimated snack landing area may be, but is not limited to, an image target recognition algorithm such as the YOLO algorithm, the SSD algorithm, the RCNN algorithm, etc., to use the snacks as the recognition target, annotate the snacks using a target detection frame, and determine the presence of the snacks based on the generated target detection frame.

[0027] In one embodiment of the present application, the feeding robot determines an estimated snack landing area based on the snack projection trajectory, specifically comprising: obtaining the feeding robot's estimated snack projection trajectory; determining the estimated snack landing point coordinates based on the estimated snack projection trajectory; and demarcating an estimated snack landing area with the estimated snack landing point coordinates as the center point. The feeding robot calculates the estimated snack projection trajectory based on the snack mass, the projection direction of the projection device, and the projection force, in conjunction with a projectile motion calculation formula. Before executing the snack projection, the feeding robot obtains an environmental map and determines the estimated snack landing point coordinates based on the feeding robot's current location coordinates and the estimated snack projection trajectory. Demarcating the estimated snack landing area with the estimated snack landing point coordinates as the center point of the estimated snack landing area may be, but is not limited to, using the estimated snack landing point coordinates as the center point of the estimated snack landing area and using the average rolling range of historical snack landings as the area size of the estimated snack landing area. In this embodiment, the estimated snack landing point defines an estimated snack landing area, allowing the feeding robot to identify and monitor the presence of snacks within the estimated snack landing area. By limiting the detection range, the computing resources required for snack presence identification are reduced, thereby ensuring identification accuracy.

[0028] As an embodiment of the present application, the control of the feeding robot to execute a recycling process for the snacks based on the consumption of the snacks specifically includes: when the snacks are not consumed within a preset time length, the feeding robot is controlled to execute a recycling process for the snacks; when it is tracked that the snacks are consumed within the preset time length, the tracking of the consumption of the snacks is stopped. The preset time length can be, but is not limited to, determined based on historical statistics of the average length of time that the feeding objects consume the snacks. This embodiment sets a preset time length to limit the maximum length of time that the feeding robot tracks the consumption of the snacks, thereby avoiding the impact of the feeding robot's other tasks due to the long period of non-consumption of snacks. This ensures the accuracy of monitoring the existence of the snacks and avoids the disadvantage of monitoring the same snack for a long time.

[0029] As an embodiment of the present application, the control of the feeding robot to execute the recycling process for snacks specifically includes: the feeding robot obtains the coordinates of the snacks, and records the coordinates of the snacks in a list of coordinates of snacks to be recycled, and the feeding robot executes the recycling process based on the list of coordinates of snacks to be recycled. Among them, the way in which the feeding robot obtains the coordinates of the snacks may be, but is not limited to, obtaining the coordinates of the snacks based on an image of the estimated landing area of ​​the snacks where the snacks are detected, or obtaining the coordinates of the snacks based on the coordinates of the feeding robot combined with sensor detection parameters. The coordinates of the snacks corresponding to the snacks that need to be recycled are recorded in the coordinates of the snacks to be recycled. This embodiment controls the feeding robot to execute the recycling process based on the list of coordinates of the snacks to be recycled, so that the feeding robot can accurately recycle each snack that needs to be recycled and optimize the recycling effect.

[0030] As an embodiment of the present application, the snack recovery control method further includes: when the feeding robot finishes feeding the snacks, a recovery route is planned based on all the coordinates recorded in the coordinate list of the snacks to be recovered, and the feeding robot is controlled to traverse and recover the snacks at each coordinate recorded in the coordinate list of the snacks to be recovered according to the recovery route. Among them, the recovery route planning method may be, but is not limited to, planning based on priority conditions such as the shortest moving route of the feeding robot and the least number of obstacle detours. The method adopted by the feeding robot to recycle the snacks may be, but is not limited to, using the suction force provided by the fan to suck the snacks into the snack recovery box inside the feeding robot body, or using a mechanical structure to grab the snacks and store them in the snack recovery box. This embodiment specifies that after the feeding robot finishes feeding the snacks, it uniformly traverses and recovers all the coordinates recorded in the coordinate list of the snacks to be recovered, so as to prevent the feeding robot from performing the snack recovery work and affecting the snack feeding effect, and plans the recovery route based on multiple coordinates of the snacks to be recovered, so as to effectively optimize the recovery efficiency and recovery effect.

[0031] As one embodiment of the present application, the snack recovery control method further includes: when the feeding robot moves along the recovery route to the coordinates of the snack to be recovered, controlling the feeding robot to detect whether a snack exists at the coordinates of the snack to be recovered. If the feeding robot detects the presence of a snack at the coordinates of the snack to be recovered, controlling the feeding robot to move to the coordinates of the snack to be recovered to recover the snack; and if the feeding robot detects the absence of a snack at the coordinates of the snack to be recovered, controlling the feeding robot to move to the coordinates of the snack to be recovered to perform a snack search process. Specifically, the feeding robot may detect the coordinates of the snack to be recovered by, but is not limited to, utilizing an image recognition target detection algorithm to specifically detect the presence of a snack at the coordinates of the snack to be recovered. Since the coordinates of the snack to be recovered may change due to external forces in the environment while the feeding robot is waiting to recover the snack, resulting in the feeding robot being unable to detect the presence of the snack at the coordinates of the snack to be recovered, this embodiment addresses this issue by controlling the feeding robot to perform a snack search process. This process causes the feeding robot to search for the snack at the coordinates of the snack to be recovered, ensuring that the snack can still be recovered despite the change in coordinates, thereby improving the success rate of snack recovery.

[0032] As one embodiment of the present application, controlling a feeding robot to move to the coordinates of a snack to be collected to perform a snack search process specifically includes: when the feeding robot moves to the coordinates of the snack to be collected, controlling the feeding robot to rotate while simultaneously capturing environmental image information using an image acquisition unit to identify the presence of a snack in the environment; wherein the feeding robot rotates while capturing environmental image information, enabling the feeding robot to detect the presence of a snack around the coordinates of the snack to be collected based on the environmental image information. If a snack is detected in the captured environmental image information, determining whether the coordinates of the snack are already recorded in a list of coordinates of snacks to be collected. If no snack is detected in the captured environmental image information, controlling the feeding robot to continue rotating and capturing new environmental image information until the environmental image information detects the presence of a snack not recorded in the list of coordinates of snacks to be collected, or until the feeding robot returns to its starting position, terminating the snack search process. This step, by determining whether the detected snack coordinates in the environmental image information are already recorded coordinates of a snack to be collected, prevents the situation where a snack at a recorded coordinate of a snack to be collected is mistakenly identified as a snack to be collected after its coordinates have changed, thereby improving the accuracy of the search for snacks to be collected.

[0033] If the coordinates of the snacks in the environmental image information are not recorded in the coordinate list of snacks to be recycled, the coordinates of the snacks in the environmental image information are recorded in the coordinate list of snacks to be recycled, and the recycling route is updated based on all the coordinate information in the coordinate list of snacks to be recycled, and the feeding robot is controlled to traverse and recycle the snacks of each coordinate recorded in the coordinate list of snacks to be recycled according to the updated recycling route; this step confirms the new snack coordinates that are not recorded in the coordinate list of snacks to be recycled as the coordinates of the snacks to be recycled after the coordinate change, and updates the coordinate list of snacks to be recycled accordingly, and replans the recycling route so that the recycling route remains optimal after the coordinate list of snacks to be recycled is updated.

[0034] If the coordinates of a snack in the environmental image information are recorded in the list of coordinates of snacks to be recycled, the feeding robot is controlled to continue rotating while simultaneously capturing environmental image information using the image acquisition unit until the coordinates of a snack not recorded in the list of coordinates of snacks to be recycled are detected in the environmental image information, or until the feeding robot rotates back to its starting position. The snack search process ends, and the feeding robot is controlled to move to the coordinates of the next snack to be recycled along the recycling route. This step defines the conditions under which the feeding robot ends the snack search process, abandoning the search for snacks that are difficult to find, thus avoiding the situation where the feeding robot is stuck in the snack search process without ever finding a snack to be recycled.

[0035] As one embodiment of the present application, the snack recovery control method further includes: when the feeding robot moves to a coordinate of a snack to be recovered along the recovery route and completes snack recovery at the coordinate of the snack to be recovered, deleting the coordinate of the snack to be recovered from a list of coordinates of the snacks to be recovered, updating the list of coordinates of the snacks to be recovered, and replanning the recovery route based on the updated list of coordinates of the snacks to be recovered. This embodiment maintains the deletion and updating of the list of coordinates of the snacks to be recovered based on the snack recovery progress of the coordinates of the snacks to be recovered, maintains the timely optimization of the recovery route, and reduces the computing resources required to traverse and compare the list of coordinates of the snacks to be recovered during the snack recovery process and the snack search process.

[0036] As an embodiment of the present application, the identification of the presence of snacks in the environmental image of the estimated snack landing area to determine whether the snacks have been consumed within a preset time period specifically includes: identifying the presence of snacks in the environmental image of the estimated snack landing area; if the presence of the snack is detected to switch from presence to absence, determining that the snack has been consumed within the preset time period; if the presence of the snack is always detected within the preset time period, determining that the snack has not been consumed within the preset time period; if the presence of the snack is not detected in the environmental image of the estimated snack landing area within the preset time period, determining that the coordinates of the actual landing point of the snack have shifted, marking the coordinates of the estimated snack landing point as the coordinates of the snack to be searched, and controlling the feeding robot to move to the coordinates of the snack to be searched to execute the snack search process. Detecting that the presence of the snack switches from presence to absence means that, during the process of the feeding robot identifying the presence of the snack, it is first identified that the snack exists in the environmental image of the estimated snack landing area, and then it is detected that the snack does not exist in the environmental image of the estimated snack landing area within the preset time period. Specifically, the method for identifying the presence of snacks in the environmental image of the estimated landing area of ​​snacks can be, but is not limited to, collecting the environmental video of the estimated landing area of ​​snacks based on the image acquisition unit, and detecting snacks by performing a convolutional neural target detection algorithm on the frame-by-frame video of the estimated landing environment of snacks, to determine whether a snack detection frame can be generated in each frame. When a snack detection frame can be generated in a frame of video, it means that the snack exists at the moment when the frame of video is collected. On the contrary, when the snack detection frame cannot be generated in a frame of video, it means that the snack cannot be detected, and it is inferred that the snack does not exist at the moment when the frame of video is collected. When the snack exists in the previous video frame and does not exist in the next video frame, it is confirmed that the existence of the snack has switched from existence to non-existence.

[0037] As one embodiment of the present application, identifying the presence of a snack in an environmental image of the estimated snack landing area to determine whether the snack has been consumed within a preset time period further includes: identifying the presence of a feeding object in the environmental image of the estimated snack landing area; wherein the method for identifying the presence of a feeding object may be, but is not limited to, detecting the outline of the feeding object in the environmental image of the estimated snack landing area based on a target detection algorithm. If a feeding object is detected in the environmental image of the estimated snack landing area within the preset time period, and the presence of the snack is detected to have switched from presence to absence, the snack is determined to have been consumed within the preset time period. If the presence of the snack is detected to have switched from presence to absence within the preset time period, and no feeding object is detected, the coordinates of the actual landing point of the snack are determined to have shifted, the estimated snack landing point coordinates are marked as the snack coordinates to be searched, and the feeding robot is controlled to move to the snack coordinates to execute the snack search process. This embodiment combines the presence of the feeding object and the presence of the snack in the environmental image of the estimated snack landing area to more accurately determine whether the snack has been consumed.

[0038] Those skilled in the art will understand that all or part of the steps in the above-mentioned 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 single-chip microcomputer, chip, or processor to execute all or part of the steps in the methods described in the various embodiments of this application. The aforementioned storage medium includes various media that can store 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.

[0039] 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 application 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.

[0040] 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 snack recovery control method for a feeding robot, characterized in that: The snack recycling control method specifically includes: controlling the feeding robot to track the consumption of the snacks after throwing the snacks; and controlling the feeding robot to execute a recycling process for the snacks based on the consumption of the snacks; The tracking of snack consumption specifically includes: The feeding robot determines the estimated landing area of ​​the snack based on the snack projection trajectory; The image acquisition unit mounted on the feeding robot is used to collect environmental images of the estimated landing area of ​​the snacks; Identify the presence of snacks in the environmental image of the estimated snack landing area to determine whether the snacks have been consumed within a preset time period; The feeding robot determines the estimated landing area of ​​the snack based on the projection trajectory of the snack, specifically including: Get the snack delivery trajectory predicted by the feeding robot; Determining the estimated landing coordinates of the snack based on the predicted trajectory of the snack; An estimated snack landing area is divided with the estimated snack landing point coordinates as the center point.

2. The snack recovery control method of the feeding robot according to claim 1, characterized in that: The method of controlling the feeding robot to execute a recycling process for the snacks based on the consumption status of the snacks specifically includes: when the snacks are not eaten within a preset time length, controlling the feeding robot to execute a recycling process for the snacks; when tracking that the snacks are eaten within the preset time length, stopping tracking the consumption status of the snacks.

3. The snack recovery control method of the feeding robot according to claim 1, characterized in that: The controlling the feeding robot to execute the recycling process for the snacks specifically includes: the feeding robot obtaining the coordinates of the snacks, and recording the coordinates of the snacks in a coordinate list of snacks to be recycled, and the feeding robot executing the recycling process based on the coordinate list of snacks to be recycled.

4. The snack recovery control method for a feeding robot according to claim 3, characterized in that: The snack recycling control method also includes: after the feeding robot finishes feeding the snacks, planning a recycling route based on all the coordinates recorded in the coordinate list of the snacks to be recycled, and controlling the feeding robot to traverse along the recycling route to recycle the snacks at each coordinate recorded in the coordinate list of the snacks to be recycled.

5. The snack recovery control method for a feeding robot according to claim 4, characterized in that: The snack recycling control method also includes: when the feeding robot moves to the coordinates of the snacks to be recycled according to the recycling route, controlling the feeding robot to detect whether there are snacks at the coordinates of the snacks to be recycled; when the feeding robot detects that there are snacks at the coordinates of the snacks to be recycled, controlling the feeding robot to move to the coordinates of the snacks to be recycled to recycle the snacks; when the feeding robot detects that there are no snacks at the coordinates of the snacks to be recycled, controlling the feeding robot to move to the coordinates of the snacks to be recycled to perform a snack search process.

6. The snack recovery control method for a feeding robot according to claim 5, characterized in that: The process of controlling the feeding robot to move to the coordinates of the snacks to be collected to search for snacks specifically includes: When the feeding robot moves to the coordinates of the snacks to be collected, the feeding robot is controlled to rotate while the image acquisition unit collects environmental image information to identify whether there are snacks in the environment; When it is detected that there are snacks in the collected environmental image information, it is determined whether the coordinates of the existing snacks have been recorded in the snack coordinate list to be recycled; If the coordinates of the snacks in the environmental image information are not recorded in the coordinate list of snacks to be recycled, the coordinates of the snacks in the environmental image information are recorded in the coordinate list of snacks to be recycled, and the recycling route is updated based on all the coordinate information in the coordinate list of snacks to be recycled. The feeding robot is controlled to traverse and recycle the snacks at each coordinate recorded in the coordinate list of snacks to be recycled according to the updated recycling route; If the snack coordinates in the environmental image information are recorded in the list of snack coordinates to be recycled, the feeding robot is controlled to continue rotating while collecting environmental image information based on the image acquisition unit until the existence of snack coordinates that are not recorded in the list of snack coordinates to be recycled is detected in the environmental image information, or until the feeding robot rotates back to the starting rotation position, ending the snack search process, and controlling the feeding robot to move to the next snack coordinate to be recycled along the recycling route.

7. The snack recovery control method for a feeding robot according to claim 6, characterized in that: The snacks recycling control method further includes: When the feeding robot moves to a snack coordinate to be recycled according to the recycling route and completes snack recycling at the snack coordinate to be recycled, the snack coordinate to be recycled is deleted from the snack coordinate list to be recycled, the snack coordinate list to be recycled is updated, and the recycling route is replanned based on the updated snack coordinate list to be recycled.

8. The snack recovery control method for a feeding robot according to claim 7, characterized in that: The identifying the presence of snacks in the environmental image of the estimated snack landing area to determine whether the snacks have been consumed within a preset time period specifically includes: Identify the presence of snacks in the environmental image of the estimated snack landing area; If the snack presence condition is detected to switch from presence to absence, it is determined that the snack has been consumed within the preset time period; If the presence of the snack is always detected within the preset time length, it is determined that the snack has not been eaten within the preset time length; If no snacks are detected in the environmental image of the estimated snack landing area within the preset time length, it is determined that the coordinates of the actual snack landing point are offset, and the estimated snack landing point coordinates are marked as the snack coordinates to be searched. The feeding robot is controlled to move to the snack coordinates to be searched to execute the snack search process.

9. The snack recovery control method for a feeding robot according to claim 8, characterized in that: The identifying the presence of snacks in the image of the estimated snack landing area to determine whether the snacks have been consumed within a preset time period also includes: Identify the presence of feeding objects in the environmental image of the estimated snack landing area; If a feeding object is detected in the environmental image of the estimated snack landing area within the preset time length, and the presence of the snack is detected to switch from presence to absence, it is determined that the snack has been consumed within the preset time length; If the presence of the snack is detected to switch from presence to absence within the preset time length, and no feeding object appears, it is determined that the coordinates of the actual landing point of the snack have shifted, and the estimated landing point coordinates of the snack are marked as the coordinates of the snack to be searched. The feeding robot is controlled to move to the coordinates of the snack to be searched to execute the snack search process.

Images