Pet feeding method based on humanoid robot

Abstract

The embodiment of the present application provides a pet feeding method based on a humanoid robot. The method includes: when it is detected that a feeder is feeding a pet and food is spilled, controlling the humanoid robot to pick up at least part of the spilled food and place it in the food tray of the feeder; controlling the feeder to weigh the food in the food tray to obtain a first food weight; calculating the food weight difference based on a preset weight and the first food weight; the food weight difference is the difference between the preset weight and the first food weight; controlling the feeder to put food into the food tray again according to the food weight difference; wherein the second food weight of the food put again is equal to the food weight difference. This method ensures that the pet eats enough food and avoids food waste.

Description

Technical Field

[0001] The present application relates to humanoid robot technology, and more particularly to a pet feeding method based on a humanoid robot. Background Art

[0002] When feeding pets, pet feeders may cause food to scatter due to design defects or pets touching the feeder. This means that pet food is easily scattered on the ground. This will not only lead to the pet's consumption not meeting the standard, but also affect the pet's feeding plan and even the pet's health. It will also cause food waste. Summary of the invention

[0003] The present application provides a pet feeding method based on a humanoid robot, so as to avoid food waste and ensure that the pet eats enough food.

[0004] In a first aspect, the present application provides a pet feeding method based on a humanoid robot, comprising:

[0005] When it is detected that the feeder is feeding the pet and food is spilled, the humanoid robot is controlled to pick up at least part of the spilled food and place it in a food tray of the feeder;

[0006] controlling the feeder to weigh the food in the food tray to obtain a first food weight;

[0007] The food weight difference is calculated according to the preset delivery weight and the first food weight; the food weight difference is the difference between the preset delivery weight and the first food weight;

[0008] The feeder is controlled to put food again into the food tray according to the food weight difference; wherein the second food weight of the food put again is equal to the food weight difference.

[0009] In a possible implementation, when it is detected that the feeder is feeding the pet and food is spilled, controlling the humanoid robot to pick up at least part of the spilled food and place it in a food tray of the feeder includes:

[0010] When it is detected that the feeder is feeding the pet and the food is scattered, the environmental spatial information of the food scattering area is obtained;

[0011] Determining a graspable area of ​​the humanoid robot in the grain spreading area according to the environmental space information;

[0012] The humanoid robot is controlled to pick up the food in the graspable area and place it in the food tray of the feeder.

[0013] In a possible implementation, when it is detected that the feeder is feeding the pet and food is spilled, controlling the humanoid robot to pick up at least part of the spilled food and place it in a food tray of the feeder includes:

[0014] When it is detected that the feeder is feeding the pet and the food is scattered, the environmental spatial information of the food scattering area is obtained;

[0015] According to the environmental space information, respectively determine the unobstructed area and the obstructed area in the grain spreading area;

[0016] Identifying a processable area of ​​the humanoid robot in the blocked area; the processable area includes obstacles to be processed;

[0017] The humanoid robot is controlled to remove obstacles in the processable area, and to pick up food in the processable area and the unobstructed area and place the food in the food tray of the feeder.

[0018] In a possible implementation, the identifying a processable area of ​​the humanoid robot in the blocked area includes:

[0019] Acquiring joint limit information of the humanoid robot and spatial angle information in the environmental space information;

[0020] A processable area of ​​the humanoid robot in the occluded area is determined according to the joint limit information and the space angle information.

[0021] In a possible implementation, the humanoid robot establishes a communication connection with the feeder; and controlling the feeder to weigh the food in the food tray to obtain a first food weight includes:

[0022] When the humanoid robot picks up all the food that meets the preset conditions, controlling the humanoid robot to send a preset instruction to the feeder based on the communication connection;

[0023] The feeder is controlled to weigh the food on the food tray according to the preset instruction to obtain a first food weight.

[0024] In a possible implementation, the food that meets the preset conditions is food scattered in a graspable area of ​​the humanoid robot, or food scattered in a processable area of ​​the humanoid robot in an unobstructed area and an obstructed area.

[0025] In a possible implementation, the method further includes:

[0026] When it is detected that the feeder is feeding the pet and the food is scattered, controlling the feeder to stop feeding the pet;

[0027] After the feeder finishes putting food into the food tray again, the feeder is controlled to continue feeding the pet.

[0028] In a possible implementation, when it is detected that the feeder is feeding the pet and food is spilled, controlling the humanoid robot to pick up at least part of the spilled food and place it in a food tray of the feeder includes:

[0029] When it is detected that food is scattered from the feeders corresponding to the pets of different types, the humanoid robot is controlled to identify the type of the scattered food;

[0030] The humanoid robot is controlled to put the food corresponding to the identified food type into the food tray of the feeder corresponding to the food type.

[0031] In a possible implementation, in the case where it is detected that the feeder is feeding the pet and food is spilled, before controlling the humanoid robot to pick up at least part of the spilled food and place it in the food tray of the feeder, the method further includes:

[0032] In the event that the pet's health status is determined to be in a disease state, obtaining the pet's disease type and disease progression;

[0033] Determining a corresponding feeding amount for the pet according to the disease type and the disease progression;

[0034] According to the feeding amount, the feeder is controlled to put food into the food tray.

[0035] In a possible implementation, determining the corresponding feeding amount for the pet according to the disease type and the disease progression includes:

[0036] Obtaining the amount of exercise of the pet within a preset time range;

[0037] The corresponding feeding amount for the pet is determined according to the disease type, the disease progression and the amount of exercise.

[0038] In a second aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above first aspect and / or various possible implementations of the first aspect.

[0039] In a third aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementations of the first aspect.

[0040] The pet feeding method based on a humanoid robot provided in the present application controls the humanoid robot to pick up at least part of the scattered food and place it in the food tray of the feeder when detecting that the feeder is feeding the pet and food is spilled. That is, when food is spilled from the feeder, the scattered food can be picked up and placed in the food tray. Furthermore, the feeder is controlled to weigh the food in the food tray and put food again based on the weighed food weight and the preset put-in weight, so as to feed the pet, avoid the pet's consumption not meeting the standard, and also avoid food waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] Figure 1 Schematic diagram of the pet feeding method based on a humanoid robot provided in this application Figure 1 ;

[0043] Figure 2 Schematic diagram of the pet feeding method based on a humanoid robot provided in this application Figure 2 ;

[0044] Figure 3 Schematic diagram of the pet feeding method based on a humanoid robot provided in this application Figure 3 ;

[0045] Figure 4 Schematic diagram of the pet feeding method based on a humanoid robot provided in this application Figure 4 ;

[0046] Figure 5 Schematic diagram of the pet feeding method based on a humanoid robot provided in this application Figure 5 ;

[0047] Figure 6 Schematic diagram of the pet feeding method based on a humanoid robot provided in this application Figure 6 ;

[0048] Figure 7 A schematic diagram of the structure of a pet feeding device based on a humanoid robot provided in this application;

[0049] Figure 8 A schematic diagram of the architecture of a pet feeding system based on a humanoid robot provided in this application;

[0050] Fig. 9 This is a schematic diagram of the structure of the humanoid robot provided in this application.

[0051] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0052] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0053] First, the terms involved in this application are explained:

[0054] The humanoid robot in the embodiments of the present application may also refer to a pan-humanoid robot.

[0055] A pan-humanoid robot refers to a humanoid robot with mobility, with upper limbs of humanoid structure and dual arms for performing tasks. The end effector may include but is not limited to a two-finger gripper, a three-finger gripper, a five-finger dexterous hand, etc. Optionally, a camera may be added to the end effector to identify and feedback the operation process and to record data. The lower limbs may be a wheeled structure or a leg-foot structure to support the movement of the pan-humanoid robot. The wheeled mobile structure includes but is not limited to a two-wheel differential, a two-wheel differential plus a steering wheel, a four-wheel differential or a Metnam omnidirectional wheel structure. The legged mobile structure includes a two-legged and two-foot structure, a four-legged structure, etc.

[0056] The specific application scenario of the present application is a pet feeding scenario based on a humanoid robot, a pan-humanoid robot or an embodied robot. The method can be executed by a humanoid robot, or a humanoid robot can be executed based on server control, which is not limited in the embodiments of the present application.

[0057] Combined with the above scenario, it can be seen that in the prior art, when feeding food to pets, pet feeders may scatter food due to design defects of the feeder, pets touching the food, etc., that is, pet food is easily scattered on the ground. This situation will not only lead to the pet's consumption not meeting the standard, affecting the pet's feeding plan and even affecting the pet's health; on the other hand, it will cause food waste.

[0058] The present application provides a pet feeding method based on a humanoid robot. When food is spilled from a feeder, the humanoid robot picks up at least part of the spilled food and places it in a food tray of the feeder. The feeder weighs the food in the food tray and puts food in again based on the weight of the food obtained by weighing. This method ensures that the pet eats enough food and avoids food waste.

[0059] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0060] Figure 1 This is a flow chart of a pet feeding method based on a humanoid robot provided in the present application. The method can be performed by a humanoid robot or a pet feeding device arranged in the humanoid robot. Figure 1 As shown, the method includes:

[0061] S101. When it is detected that the feeder is feeding the pet and food is spilled, the humanoid robot is controlled to pick up at least part of the spilled food and place it in a food tray of the feeder.

[0062] Specifically, the food tray of the feeder is used to put food to feed the pet. The food may spill out of the food tray due to interference such as pet touching or wind during the feeding process, or the food tray may be touched and the put food may spill.

[0063] When the feeder is detected feeding the pet and food is spilled, the humanoid robot is controlled to pick up at least part of the spilled food and place it in the food tray of the feeder. The humanoid robot can pick up the spilled food when it is detected that the feeder stops feeding food and food is spilled. The trigger condition can be determined by identifying and analyzing the scene image captured by the visual camera of the humanoid robot.

[0064] Optionally, in the present application, controlling the humanoid robot and / or controlling the feeder may be executed by the humanoid robot control, or the humanoid robot may be executed based on server control, or, may be executed by server control, and the present application does not limit this.

[0065] S102: Control the feeder to weigh the food in the food tray to obtain a first food weight.

[0066] Specifically, the feeder is controlled to weigh the food in the food tray to obtain a first food weight, where the first food weight may be the sum of the weight of the food picked up by the humanoid robot and the weight of the food in the food tray that has not been spilled.

[0067] Optionally, the humanoid robot sends an instruction to the feeder, instructing the feeder to weigh the food in the food tray; or, the humanoid robot operates a button of the feeder, causing the feeder to weigh the food in the food tray.

[0068] S103, calculating a food weight difference according to a preset delivery weight and a first food weight; the food weight difference is a difference between the preset delivery weight and the first food weight.

[0069] Specifically, the preset delivery weight may be the weight of food that the pet needs to eat at one time, which is generated by default.

[0070] The food weight difference is calculated based on the preset delivery weight and the first food weight, and the feeder can deliver food again based on the food weight difference to feed the pet, ensuring that the pet can eat enough food. The calculation of the food weight difference can be implemented by the feeder, or by a humanoid robot, or by other computing devices such as a server. If it is implemented by other devices other than the feeder, the calculated food weight difference needs to be sent to the feeder so that the feeder can deliver food of the same weight as the food weight difference again.

[0071] Optionally, the humanoid robot may send instructions to the feeder, instructing the feeder to calculate the difference in food weight; or, the humanoid robot may operate a button of the feeder, causing the feeder to calculate the difference in food weight.

[0072] S104, controlling the feeder to put food into the food tray again according to the food weight difference; wherein the second food weight of the food put into the food tray again is equal to the food weight difference.

[0073] Specifically, the feeder is controlled to put food again into the food tray according to the food weight difference, that is, the weight of the food put again is the food weight difference.

[0074] Optionally, the humanoid robot sends an instruction to the feeder, instructing the feeder to put food into the food tray again according to the difference in food weight; or, the humanoid robot operates a button of the feeder so that the feeder puts food into the food tray again according to the difference in food weight.

[0075] The pet feeding method based on a humanoid robot provided in the embodiment of the present application controls the humanoid robot to pick up at least part of the scattered food and place it in the food tray of the feeder when it is detected that the feeder is feeding the pet and food is scattered. That is, when food is scattered from the feeder, the scattered food can be picked up and placed in the food tray. Furthermore, the feeder is controlled to weigh the food in the food tray and put food again based on the weighed food weight and the preset put-in weight, so as to feed the pet, avoid the pet's food intake not meeting the standard, ensure that the pet eats enough food, and avoid food waste.

[0076] In some embodiments, Figure 2 , Figure 3 As shown, S101 can be implemented in the following ways:

[0077] One way:

[0078] S1011. When it is detected that the feeder is feeding the pet and scattering food, obtain environmental spatial information of the food scattering area.

[0079] S1012. Determine the graspable area of ​​the humanoid robot in the grain spreading area according to the environmental space information.

[0080] S1013, controlling the humanoid robot to pick up the food in the graspable area and place it in the food tray of the feeder.

[0081] Specifically, when it is detected that the feeder is scattering grain, the environmental space information of the grain scattering area is obtained, including, for example: the position information of the boundary of the grain scattering area, the spatial height information, the information of the obstructions and obstacles, such as fixed obstacles and movable obstacles.

[0082] For example, the environmental spatial information may be acquired through a camera, a sensor, etc., and / or the environmental spatial information may be acquired from other devices installed in the area.

[0083] According to the environmental space information, the graspable area of ​​the humanoid robot in the food spreading area is determined, that is, the area in the food spreading area where the humanoid robot can reach and pick up food by operating its dexterous fingers, and the humanoid robot is controlled to pick up the food in the graspable area and place it in the food tray of the feeder. The area other than the graspable area in the food spreading area is the area that the dexterous fingers of the humanoid robot cannot reach.

[0084] Another way:

[0085] S1011a. When it is detected that the feeder is feeding the pet and the food is scattered, obtain environmental space information of the food scattering area.

[0086] S1012a. Determine the unobstructed area and the obstructed area in the grain spreading area according to the environmental space information.

[0087] S1013a, identifying a processable area of ​​the humanoid robot in the blocked area; the processable area includes obstacles to be processed.

[0088] S1014a, controlling the humanoid robot to remove obstacles in the processable area, and picking up food in the processable area and the unobstructed area and placing them in the food tray of the feeder.

[0089] Specifically, the environmental space information is as described in the aforementioned embodiment. According to the environmental space information, the unobstructed area and the obstructed area in the food spreading area are determined. The food in the unobstructed area can be directly picked up by the humanoid robot, and the obstructed area may include fixed obstacles and movable obstacles. Among them, the processable area can be the area where the movable obstacles are located. Fixed obstacles are obstacles that cannot be moved. The processable area of ​​the humanoid robot in the obstructed area is identified, such as movable obstacles, which can be removed by the humanoid robot. After the humanoid robot removes the movable obstacles in the processable area, the food in the processable area and the unobstructed area is picked up and placed in the food tray of the feeder.

[0090] Optionally, there may be some areas in the occluded area where large items are placed, for example, obstacles such as tables and clothes drying racks that are not easy to remove are placed in the area. In this case, the area is removed from the occluded area when identifying the processable area.

[0091] In the above embodiment, the area in the food scattering area where the humanoid robot can pick up food is determined in a variety of ways, and the food is picked up and placed in the food tray of the feeder. This has greater flexibility and can reduce food waste and the impact on the pet's feeding amount. It does not affect the pet's feeding plan and can ensure the health of the pet.

[0092] In some embodiments, Figure 4 As shown, in step S1013a, "identifying the processable area of ​​the humanoid robot in the blocked area" can be achieved by the following steps:

[0093] S1013a1. Obtain joint limit information of the humanoid robot and spatial angle information in environmental space information.

[0094] S1013a2, determining a processable area of ​​the humanoid robot in the occlusion area according to the joint limit information and the spatial angle information. The processable area may be an area where the spatial angle information is within the tolerable range of the joint limit information of the humanoid robot; or an area where the spatial angle information is within the tolerable range of the joint limit information of the humanoid robot and the weight of the obstacle in the occlusion area is within the tolerable range of the joint limit information of the humanoid robot.

[0095] Optionally, the joint limit information includes: joint limit information of an end effector of the humanoid robot, for example, joint limit information of a gripper or a dexterous hand, and / or joint limit information of other parts of the body of the humanoid robot.

[0096] The joint limit information includes, for example, at least one of the following:

[0097] 1. Angular range: The range of rotation or movement of each joint. Usually expressed in degrees, for example, a joint may have a rotation range from 0 to 180 degrees.

[0098] 2. Speed ​​limit: How fast the joint can move or rotate, usually expressed in degrees / second or radians / second.

[0099] 3. Torque limit: The maximum torque or force that a joint can exert, which is important to ensure that the robot does not damage itself or its surroundings while performing its tasks.

[0100] 4. Load capacity: The maximum load that the joint can withstand, which includes static load and dynamic load.

[0101] 5. Physical limitations: These include mechanical limitations, such as stops or other physical barriers, that prevent the joint from moving beyond its designed range.

[0102] Specifically, the processable area of ​​the humanoid robot in the occluded area is determined based on the joint limit information of the humanoid robot and the spatial angle information of the food scattering area. For example, some large objects may be placed in the occluded area, such as tables, clothes hangers and other obstacles that are not easy to remove. In this case, the area that the end effector of the humanoid robot can extend into is determined as the processable area; or, there are small obstacles (such as pet toys) in a part of the occluded area, and the scattered food is located under the small obstacle. In this case, this part of the area can be determined as the processable area, and the scattered food can be picked up after the obstacles in this part of the area are removed.

[0103] In the above embodiment, the processable area of ​​the humanoid robot in the obstructed area is determined based on the joint limit information and the spatial angle information, so that the humanoid robot can pick up scattered food in the processable area, avoiding accidents such as collisions of the humanoid robot in the obstructed area, and avoiding affecting the safety of the humanoid robot; and the areas where the humanoid robot can pick up food can be identified, so as to pick up as much food as possible and avoid food waste.

[0104] In some embodiments, the humanoid robot establishes a communication connection with the feeder; S102 can be specifically implemented in the following manner:

[0105] When the humanoid robot picks up all the food that meets the preset conditions, the humanoid robot is controlled to send a preset instruction to the feeder based on the communication connection.

[0106] The feeder is controlled to weigh the food on the food tray according to the preset instruction to obtain a first food weight.

[0107] Specifically, if a communication connection is established between the humanoid robot and the feeder, after the humanoid robot picks up all the food that meets the preset conditions, the humanoid robot can be controlled to send a preset instruction to the feeder based on the communication connection with the feeder, and the feeder weighs the food on the food tray according to the preset instruction to obtain the first food weight.

[0108] Optionally, the food satisfying the preset condition is food scattered in a graspable area of ​​the humanoid robot, or food scattered in a processable area of ​​the humanoid robot in an unobstructed area and an obstructed area.

[0109] In the above implementation, the humanoid robot sends a preset instruction to the feeder, which can instruct the feeder to weigh the food on the food tray. The implementation scheme is relatively simple and efficient.

[0110] In some embodiments, Figure 5 As shown, the above step S101 is replaced by step S105:

[0111] When it is detected that the feeder is feeding the pet and food is spilled, the feeder is controlled to stop feeding the pet, and the humanoid robot is controlled to pick up at least part of the spilled food and place it in the food tray of the feeder.

[0112] In this embodiment, after step S104, the following steps are further included:

[0113] S106: After the feeder finishes putting food into the food tray again, controlling the feeder to continue feeding the pet.

[0114] Specifically, when it is detected that the feeder is feeding the pet and the food is spilled, the feeder is controlled to stop feeding the pet, for example, the food tray is retracted or the food tray is closed.

[0115] After the feeder puts food into the food tray again, the feeder is controlled to continue feeding the pet.

[0116] In the above embodiment, when food scattering is detected, the feeder is controlled to stop feeding the pet, so as to avoid the situation where the pet is eating while the humanoid robot is picking up food. This makes it impossible to determine the amount of food eaten by the pet during the period when the humanoid robot is picking up food, which in turn leads to inaccurate calculation of the food weight difference, disrupting the pet's normal feeding plan and preventing the pet from eating too much food and affecting its health.

[0117] In some embodiments, Figure 6 As shown, step S101 can also be implemented in the following manner:

[0118] S101a: When it is detected that food is being scattered from the feeders corresponding to the pets of different types, the humanoid robot is controlled to identify the types of the scattered food.

[0119] S101b, controlling the humanoid robot to put the food corresponding to the identified food type into the food tray of the feeder corresponding to the food type.

[0120] For example, the humanoid robot detects through a camera that food is being spilled from the feeders corresponding to multiple different types of pets, or, based on food-scattering notification information sent to the humanoid robot by the feeders corresponding to multiple different types of pets, it can be detected that food is being spilled from the feeders corresponding to multiple different types of pets.

[0121] When it is detected that food is scattered from the feeders corresponding to different types of pets, the humanoid robot is controlled to identify the types of scattered food and put the food corresponding to the identified food types into the food trays of the feeders corresponding to the food types.

[0122] For example, if a user has a pet dog and a pet cat indoors and the feeders are placed close to each other, when food is spilled from the feeders corresponding to the pet dog and the pet cat, the various foods may be mixed together. Therefore, the humanoid robot is controlled to identify the type of scattered food and put the food corresponding to the identified food type into the food trays of the feeders corresponding to the food type.

[0123] In the above embodiment, by identifying the type of spilled food, it is possible to avoid putting other pets' food into the food tray of the current pet's feeder, which would affect the pet's eating and cause the pet's food intake to fall short of the standard, and also cause food waste.

[0124] In some embodiments, before step S101, the method further includes:

[0125] In the event that the pet's health status is determined to be in a disease state, the pet's disease type and disease progression are obtained.

[0126] The corresponding feeding amount for the pet is determined according to the disease type and the disease progression.

[0127] According to the feeding amount, the feeder is controlled to put food into the food tray.

[0128] Specifically, when a pet is in a disease state, the amount of food the pet is fed will usually be different from the normal amount, for example, the amount of food the pet is fed will be reduced compared to the normal amount. The amount of food the pet is fed will also be different for different diseases and / or disease processes. The disease process may indicate the stage of the disease, such as the early, middle, or late stages, or the number of days of the disease.

[0129] Therefore, it is necessary to determine the disease type and disease progression of the pet, determine the corresponding feeding amount of the pet according to the disease type and disease progression, and control the feeder to put food into the food tray according to the feeding amount, so as to feed the pet. In specific implementation, this step can be matched in the first preset database according to the pet type, disease type, and disease progression to obtain the corresponding feeding amount. The first preset database records the matching feeding amounts of this type of pet under different disease types and different disease progressions.

[0130] In the above embodiment, before feeding the pet, the corresponding feeding amount for the pet can be determined according to the pet's disease type and disease progression; further, according to the determined feeding amount, the feeder is controlled to put food into the food tray, which can make the determined pet feeding amount more accurate, avoid food waste, and be better for the pet's health.

[0131] In some embodiments, determining the corresponding feeding amount for the pet according to the disease type and the disease progression includes:

[0132] Obtaining the amount of exercise of the pet within a preset time range;

[0133] The corresponding feeding amount for the pet is determined according to the disease type, the disease progression and the amount of exercise.

[0134] Specifically, for the same disease type and disease progression, the status of different pets may be different. The amount of exercise of a pet will affect the amount of food it eats and its digestion. Therefore, the corresponding amount of food to feed a pet can be determined based on the disease type, disease progression, and amount of exercise within a preset time range. In specific implementation, this step can be matched in the second preset database based on the pet type, disease type, disease progression, and daily exercise amount to obtain the corresponding amount of food to feed. The second preset database records the matching amount of food to feed this type of pet under different disease types, different disease progressions, and different daily exercise amounts.

[0135] Preset time ranges such as the interval between two feedings, or the day of feeding, etc.

[0136] For example, if your pet exercises a lot on that day, you can increase the amount of food you feed it appropriately.

[0137] In the above embodiment, when determining the corresponding feeding amount for the pet, in addition to considering the disease type and disease progression of the pet, the amount of exercise of the pet is further considered, so that the determined feeding amount for the pet is more accurate.

[0138] Figure 7 A schematic diagram of the structure of a pet feeding device based on a humanoid robot provided in this application, such as Figure 7 As shown, the pet feeding device based on a humanoid robot provided in this embodiment includes: a first control module 701 and a second control module 702;

[0139] The first control module 701 is used to control the humanoid robot to pick up at least part of the spilled food and place it in the food tray of the feeder when detecting that the feeder is feeding the pet and spilling food;

[0140] A second control module 702 is used to control the feeder to weigh the food in the food tray to obtain a first food weight;

[0141] The second control module 702 is further used to calculate a food weight difference according to a preset delivery weight and the first food weight; the food weight difference is a difference between the preset delivery weight and the first food weight;

[0142] The second control module 702 is further used to control the feeder to put food into the food tray again according to the food weight difference; wherein the second food weight of the food put into the food tray again is equal to the food weight difference.

[0143] In a possible implementation manner, the first control module 701 is specifically configured to:

[0144] When it is detected that the feeder is feeding the pet and the food is scattered, the environmental spatial information of the food scattering area is obtained;

[0145] Determining a graspable area of ​​the humanoid robot in the grain spreading area according to the environmental space information;

[0146] The humanoid robot is controlled to pick up the food in the graspable area and place it in the food tray of the feeder.

[0147] In a possible implementation manner, the first control module 701 is specifically configured to:

[0148] When it is detected that the feeder is feeding the pet and the food is scattered, the environmental spatial information of the food scattering area is obtained;

[0149] According to the environmental space information, respectively determine the unobstructed area and the obstructed area in the grain spreading area;

[0150] Identifying a processable area of ​​the humanoid robot in the blocked area; the processable area includes obstacles to be processed;

[0151] The humanoid robot is controlled to remove obstacles in the processable area, and to pick up food in the processable area and the unobstructed area and place the food in the food tray of the feeder.

[0152] In a possible implementation manner, the first control module 701 is specifically configured to:

[0153] Acquiring joint limit information of the humanoid robot and spatial angle information in the environmental space information;

[0154] A processable area of ​​the humanoid robot in the occluded area is determined according to the joint limit information and the space angle information.

[0155] In a possible implementation manner, the humanoid robot establishes a communication connection with the feeder; the second control module 702 is specifically used to:

[0156] When the humanoid robot picks up all the food that meets the preset conditions, controlling the humanoid robot to send a preset instruction to the feeder based on the communication connection;

[0157] The feeder is controlled to weigh the food on the food tray according to the preset instruction to obtain a first food weight.

[0158] In a possible implementation, the food that meets the preset conditions is food scattered in a graspable area of ​​the humanoid robot, or food scattered in a processable area of ​​the humanoid robot in an unobstructed area and an obstructed area.

[0159] In a possible implementation manner, the second control module 702 is further configured to:

[0160] When it is detected that the feeder is feeding the pet and the food is scattered, controlling the feeder to stop feeding the pet;

[0161] After the feeder puts food into the food tray again, the feeder is controlled to continue feeding the pet.

[0162] In a possible implementation manner, the first control module 701 is specifically configured to:

[0163] When it is detected that food is scattered from the feeders corresponding to the pets of different types, the humanoid robot is controlled to identify the type of the scattered food;

[0164] The humanoid robot is controlled to put the food corresponding to the identified food type into the food tray of the feeder corresponding to the food type.

[0165] In a possible implementation manner, the first control module 701 is further configured to:

[0166] In the case where it is detected that the feeder feeds the pet and food is spilled, before the humanoid robot is controlled to pick up at least part of the spilled food and place it in the food tray of the feeder, in the case where it is determined that the health status of the pet is in a disease state, obtaining the disease type and disease process of the pet;

[0167] Determining a corresponding feeding amount for the pet according to the disease type and the disease progression;

[0168] According to the feeding amount, the feeder is controlled to put food into the food tray.

[0169] In a possible implementation manner, the first control module 701 is specifically configured to:

[0170] Obtaining the amount of exercise of the pet within a preset time range;

[0171] The corresponding feeding amount for the pet is determined according to the disease type, the disease progression and the amount of exercise on that day.

[0172] The pet feeding device based on a humanoid robot provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0173] The present application also provides a pet feeding system based on a humanoid robot, the system is applied to the method as described in any one of the aforementioned embodiments, such as Figure 8 As shown, the system comprises:

[0174] A humanoid robot 100 and a feeder 200;

[0175] Wherein, the humanoid robot is used to pick up at least part of the spilled food and place it in the food tray of the feeder when detecting that the feeder is feeding the pet and spilling food;

[0176] controlling the feeder to weigh the food in the food tray to obtain a first food weight;

[0177] The food weight difference is calculated according to the preset delivery weight and the first food weight; the food weight difference is the difference between the preset delivery weight and the first food weight;

[0178] The feeder is controlled to put food again into the food tray according to the food weight difference; wherein the second food weight of the food put again is equal to the food weight difference.

[0179] Optionally, there may be a communication connection between the humanoid robot 100 and the feeder 200 (eg Figure 8 ), or does not have a communications connection.

[0180] Fig. 9 This is a schematic diagram of the structure of the humanoid robot provided in this application. Fig. 9 As shown, the humanoid robot provided in this embodiment includes: at least one processor 901 and a memory 902. Optionally, the humanoid robot also includes a communication component 903. The processor 901, the memory 902 and the communication component 903 are connected via a bus.

[0181] In a specific implementation process, at least one processor 901 executes the computer execution instructions stored in the memory 902, so that at least one processor 901 executes the above method.

[0182] The specific implementation process of the processor 901 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0183] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0184] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0185] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0186] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0187] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0188] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0189] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0190] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0191] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0192] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0193] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0194] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0195] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A pet feeding method based on a humanoid robot, characterized in that: include: When it is detected that the feeder is feeding the pet and food is spilled, the humanoid robot is controlled to pick up at least part of the spilled food and place it in a food tray of the feeder; controlling the feeder to weigh the food in the food tray to obtain a first food weight; Calculating the food weight difference according to the preset delivery weight and the first food weight; The food weight difference is the difference between the preset delivery weight and the first food weight; The feeder is controlled to put food again into the food tray according to the food weight difference; wherein the second food weight of the food put again is equal to the food weight difference.

2. The pet feeding method based on a humanoid robot according to claim 1, characterized in that: When it is detected that the feeder is feeding the pet and food is spilled, the humanoid robot is controlled to pick up at least part of the spilled food and place it in the food tray of the feeder, comprising: When it is detected that the feeder is feeding the pet and the food is scattered, the environmental spatial information of the food scattering area is obtained; Determining a graspable area of ​​the humanoid robot in the grain spreading area according to the environmental space information; The humanoid robot is controlled to pick up the food in the graspable area and place it in the food tray of the feeder.

3. The pet feeding method based on a humanoid robot according to claim 1, characterized in that: When it is detected that the feeder is feeding the pet and food is spilled, the humanoid robot is controlled to pick up at least part of the spilled food and place it in the food tray of the feeder, comprising: When it is detected that the feeder is feeding the pet and the food is scattered, the environmental spatial information of the food scattering area is obtained; According to the environmental space information, respectively determine the unobstructed area and the obstructed area in the grain spreading area; Identifying a processable area of ​​the humanoid robot in the blocked area; the processable area includes obstacles to be processed; The humanoid robot is controlled to remove obstacles in the processable area, and to pick up food in the processable area and the unobstructed area and place the food in the food tray of the feeder.

4. The pet feeding method based on a humanoid robot according to claim 3, characterized in that: The identifying a processable area of ​​the humanoid robot in the blocked area comprises: Acquiring joint limit information of the humanoid robot and spatial angle information in the environmental space information; A processable area of ​​the humanoid robot in the occluded area is determined according to the joint limit information and the space angle information.

5. The pet feeding method based on a humanoid robot according to any one of claims 1 to 4, characterized in that: The humanoid robot establishes a communication connection with the feeder; and the controlling the feeder to weigh the food in the food tray to obtain a first food weight includes: When the humanoid robot picks up all the food that meets the preset conditions, controlling the humanoid robot to send a preset instruction to the feeder based on the communication connection; The feeder is controlled to weigh the food on the food tray according to the preset instruction to obtain a first food weight.

6. The pet feeding method based on a humanoid robot according to claim 5, characterized in that: The food meeting the preset condition is the food scattered in the graspable area of ​​the humanoid robot, or the food scattered in the processable area of ​​the humanoid robot in the unblocked area and the blocked area.

7. The pet feeding method based on a humanoid robot according to any one of claims 1 to 4, characterized in that: The method further comprises: When it is detected that the feeder is feeding the pet and the food is scattered, controlling the feeder to stop feeding the pet; After the feeder finishes putting food into the food tray again, the feeder is controlled to continue feeding the pet.

8. The pet feeding method based on a humanoid robot according to any one of claims 1 to 4, characterized in that: When it is detected that the feeder is feeding the pet and food is spilled, the humanoid robot is controlled to pick up at least part of the spilled food and place it in the food tray of the feeder, including: When it is detected that food is scattered from the feeders corresponding to the pets of different types, the humanoid robot is controlled to identify the type of the scattered food; The humanoid robot is controlled to put the food corresponding to the identified food type into the food tray of the feeder corresponding to the food type.

9. The pet feeding method based on a humanoid robot according to any one of claims 1 to 4, characterized in that: Before the humanoid robot is controlled to pick up at least part of the spilled food and place it in the food tray of the feeder when the feeder is detected feeding the pet and spilling the food, the method further includes: In the event that the pet's health status is determined to be in a disease state, obtaining the pet's disease type and disease progression; Determining a corresponding feeding amount for the pet according to the disease type and the disease progression; According to the feeding amount, the feeder is controlled to put food into the food tray.

10. The pet feeding method based on a humanoid robot according to claim 9, characterized in that: Determining the corresponding feeding amount for the pet according to the disease type and the disease progression includes: Obtaining the amount of exercise of the pet within a preset time range; The corresponding feeding amount for the pet is determined according to the disease type, the disease progression and the amount of exercise.

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