Pet feeding system and device based on humanoid robot

Abstract

The embodiment of the invention provides a pet feeding system and device based on a humanoid robot. The system comprises a humanoid robot and a feeder, the humanoid robot is in communication connection with the feeder; wherein the humanoid robot is used for controlling the humanoid robot to pick up at least part of scattered food and place the scattered food in a food tray of the feeder under the condition that the feeder is detected to feed a pet and the food is scattered; controlling the feeder to weigh the food in the food tray to obtain a first food weight; according to the preset feeding weight and the first food weight, calculating to obtain a food weight difference; the food weight difference is a difference value between the preset feeding weight and the first food weight; the feeder is controlled to throw 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. The system and the device not only ensure that the pet can eat enough food, but also avoid food waste.

Description

[0001] This application is a divisional application. The application number of the original application is 202510066582.1, the invention title of the original application is Pet Feeding Method Based on Humanoid Robot, the original application date is January 16, 2025, and the entire content of the original application is incorporated herein by reference. Technical Field

[0002] This application relates to humanoid robot technology, and particularly to a pet feeding system and device based on a humanoid robot. Background Art

[0003] During the process of a pet feeder dispensing food to a pet, there may be situations where food spills due to design defects of the feeder, pet contact, etc., that is, pet food is likely to be scattered on the ground. On the one hand, this situation may lead to the pet not consuming enough food, affecting the pet feeding plan and even the pet's health; on the other hand, it causes food waste. Summary of the Invention

[0004] This application provides a pet feeding system and device based on a humanoid robot to achieve the effects of avoiding food waste and ensuring that the pet consumes enough food.

[0005] In a first aspect, this application provides a pet feeding system based on a humanoid robot, the system includes: a humanoid robot, a feeder; there is a communication connection between the humanoid robot and the feeder;

[0006] Wherein, the humanoid robot is used for, when detecting that the feeder is feeding the pet and food spills occur, picking up at least part of the spilled food and placing it in the food tray of the feeder;

[0007] Controlling the feeder to weigh the food in the food tray to obtain a first food weight;

[0008] Calculating a food weight difference based on a preset dispensing weight and the first food weight; the food weight difference is the difference between the preset dispensing weight and the first food weight;

[0009] Controlling the feeder to dispense food to the food tray again according to the food weight difference; wherein, the second food weight of the food dispensed again is equal to the food weight difference.

[0010] In a possible implementation manner, the humanoid robot is specifically used for, when detecting that the feeder is feeding the pet and food spills occur, obtaining environmental space information of the food spill area; determining a graspable area of the humanoid robot in the food spill area according to the environmental space information; picking up the food in the graspable area and placing it in the food tray of the feeder.

[0011] In a possible implementation manner, the humanoid robot is specifically configured to obtain environmental space information of the grain scattering area when detecting that the feeder feeds the pet and grain scattering occurs; determine an unobstructed area and an obstructed area in the grain scattering area according to the environmental space information; identify a processable area of the humanoid robot in the obstructed area; the processable area includes obstacles to be processed; move the obstacles in the processable area away, and pick up the food in the processable area and the unobstructed area and place it on the food tray of the feeder.

[0012] In a possible implementation manner, the humanoid robot is specifically configured to obtain its own joint limit information and the spatial angle information in the environmental space information; determine the processable area of the humanoid robot in the obstructed area according to the joint limit information and the spatial angle information.

[0013] In a possible implementation manner, the humanoid robot is specifically configured to, after picking up all the food that meets the preset conditions, send a preset instruction to the feeder based on the communication connection; control the feeder to weigh the food on the food tray according to the preset instruction to obtain a first food weight.

[0014] In a second aspect, the present application provides a pet feeding device based on a humanoid robot, including: a first control module and a second control module; the first control module is configured to control the humanoid robot to pick up at least part of the scattered food and place it on the food tray of the feeder when detecting that the feeder feeds the pet and grain scattering occurs; the second control module is configured to control the feeder to weigh the food on the food tray to obtain a first food weight; calculate a food weight difference according to a preset feeding weight and the first food weight; the food weight difference is the difference between the preset feeding weight and the first food weight; control the feeder to re-feed food to the food tray according to the food weight difference; wherein, the second food weight of the re-fed food is equal to the food weight difference.

[0015] In a possible implementation manner, the first control module is specifically configured to: obtain environmental space information of the grain scattering area when detecting that the feeder feeds the pet and grain scattering occurs; determine a graspable area of the humanoid robot in the grain scattering area according to the environmental space information; control the humanoid robot to pick up the food in the graspable area and place it on the food tray of the feeder.

[0016] In a possible implementation, the first control module is specifically configured to: when it is detected that the feeder feeds the pet and there is food scattering, obtain the environmental space information of the food scattering area; determine the unobstructed area and the obstructed area in the food scattering area according to the environmental space information; identify the processable area of the humanoid robot in the obstructed area; the processable area includes obstacles to be processed; control the humanoid robot to move the obstacles in the processable area away, and pick up the food in the processable area and the unobstructed area and place it on the food tray of the feeder.

[0017] In a possible implementation, the first control module is specifically configured to: obtain the joint limit information of the humanoid robot and the spatial angle information in the environmental space information; determine the processable area of the humanoid robot in the obstructed area according to the joint limit information and the spatial angle information.

[0018] The pet feeding system and device based on a humanoid robot provided by the present application, by controlling the humanoid robot to pick up at least part of the scattered food and place it on the food tray of the feeder when it is detected that the feeder feeds the pet and there is food scattering, can pick up the scattered food and place it on the food tray when the feeder has food scattering. Further, control the feeder to weigh the food on the food tray, and re-feed the food based on the weighed food weight and the preset feeding weight for feeding the pet, avoiding the situation that the pet's food intake does not meet the standard and also preventing food waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application.

[0020] Figure 1 Schematic flow chart of the pet feeding method based on a humanoid robot provided by the present application Figure 1 ;

[0021] Figure 2 Schematic flow chart of the pet feeding method based on a humanoid robot provided by the present application Figure 2 ;

[0022] Figure 3 Schematic flow chart of the pet feeding method based on a humanoid robot provided by the present application Figure 3 ;

[0023] Figure 4 Schematic flow chart of the pet feeding method based on a humanoid robot provided by the present application Figure 4 ;

[0024] Figure 5 Flow schematic of the pet feeding method based on a humanoid robot provided by this application Figure 5 ;

[0025] Figure 6 Flow schematic of the pet feeding method based on a humanoid robot provided by this application Figure 6 ;

[0026] Figure 7 Structural schematic diagram of the pet feeding device based on a humanoid robot provided by this application;

[0027] Figure 8 Architectural schematic diagram of the pet feeding system based on a humanoid robot provided by this application;

[0028] Figure 9 Structural schematic diagram of the humanoid robot provided by this application.

[0029] Through the above-mentioned drawings, specific embodiments of this application have been shown, and there will be more detailed descriptions hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0030] Here, exemplary embodiments will be described in detail, and examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with this application. On the contrary, they are merely examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0031] First, the terms involved in this application are explained:

[0032] The humanoid robot in the embodiments of this application may also refer to a general humanoid robot.

[0033] A general humanoid robot refers to a humanoid-like robot with the ability to move. Its upper limbs are in a humanoid structure and have two arms capable of performing operations. The end effectors may include, but are not limited to, two-finger grippers, three-finger grippers, five-finger dexterous hands, etc. Optionally, a camera can be added to the end effector for identifying and feeding back the operation process and for data recording. The lower limbs can be in a wheeled structure or a legged structure for supporting the general humanoid robot to move. The wheeled moving structure includes, but is not limited to, two-wheel differential, two-wheel differential plus a steering wheel, four-wheel differential, or Mecanum omnidirectional wheel structure. The legged moving structure includes a two-legged bipedal structure, a four-legged structure, etc.

[0034] The specific application scenario of this application is a pet feeding scenario based on humanoid robots, general humanoid robots or embodied robots. This method can be executed by a humanoid robot or by a humanoid robot based on the control of a server. The embodiments of this application do not limit this.

[0035] Combined with the above scenario, in the prior art, during the process of a pet feeder dispensing food to a pet, there may be a situation where food spills due to design defects of the feeder, pet contact, etc., that is, pet food is likely to spill onto the ground. On the one hand, this situation may lead to the pet not consuming enough food, affecting the pet feeding plan and even the pet's health; on the other hand, it causes food waste.

[0036] The pet feeding method based on a humanoid robot provided by this application, when food spills from the feeder, the humanoid robot picks up at least part of the spilled food and places it in the food tray of the feeder; the feeder weighs the food in the food tray and re-dispenses the food based on the weighed food weight. This method not only ensures that the pet consumes enough food but also avoids food waste.

[0037] The following uses specific embodiments to elaborate in detail on the technical solution of this application and how the technical solution of this application solves the above technical problems. These several 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 this application will be described below with reference to the accompanying drawings.

[0038] Figure 1 It is a schematic flowchart of the pet feeding method based on a humanoid robot provided by this application. This method can be executed by a humanoid robot or by a pet feeding device set in the humanoid robot, such as Figure 1 shown, this method includes:

[0039] S101. When it is detected that the feeder is feeding the pet and food spills, control the humanoid robot to pick up at least part of the spilled food and place it in the food tray of the feeder.

[0040] Specifically, the food tray of the feeder is used to dispense food and feed the pet. During the dispensing process, the food may spill out of the food tray due to interference factors such as pet contact or wind, or the already dispensed food may spill due to the food tray being touched.

[0041] When it is detected that the feeder feeds the pet and food spills, control the humanoid robot 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 after detecting that the feeder stops dispensing food and food spills. This trigger condition can be determined by collecting and analyzing the on-site images captured by the visual camera of the humanoid robot.

[0042] Optionally, in this application, controlling the humanoid robot and / or controlling the feeder can be executed by the humanoid robot, or the humanoid robot can execute based on the control of the server, or be controlled and executed by the server. This application does not limit this.

[0043] S102. Control the feeder to weigh the food in the food tray to obtain the first food weight.

[0044] Specifically, control the feeder to weigh the food in the food tray to obtain the first food weight. The first food weight can be the sum of the weight of the food picked up by the humanoid robot and the weight of the food that has not spilled in the food tray.

[0045] Optionally, the humanoid robot sends an instruction to the feeder to instruct the feeder to weigh the food in the food tray; or, the humanoid robot operates the button of the feeder to make the feeder weigh the food in the food tray.

[0046] S103. Calculate the food weight difference according to the preset dispensing weight and the first food weight; the food weight difference is the difference between the preset dispensing weight and the first food weight.

[0047] Specifically, the preset dispensing weight can be the weight of the food that the pet needs to eat at one time and is preset.

[0048] Calculate the food weight difference according to the preset dispensing weight and the first food weight. The feeder can re-dispense food according to the food weight difference to feed the pet and ensure that the pet can eat enough food. Among them, the calculation of the food weight difference can be implemented by the feeder, or by the humanoid robot, or by other calculation devices such as the 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 re-dispense food with a weight equal to the food weight difference.

[0049] Optionally, the humanoid robot can send an instruction to the feeder to instruct the feeder to calculate the food weight difference; or, the humanoid robot can operate the button of the feeder to make the feeder calculate the food weight difference.

[0050] S104. Control the feeder to re - deliver food to the food tray according to the food weight difference; wherein, the weight of the second food for re - delivery is equal to the food weight difference.

[0051] Specifically, control the feeder to re - deliver food to the food tray according to the food weight difference, that is, the weight of the re - delivered food is the food weight difference.

[0052] Optionally, the humanoid robot sends an instruction to the feeder, instructing the feeder to re - deliver food to the food tray according to the food weight difference; or, the humanoid robot operates the button of the feeder, so that the feeder re - delivers food to the food tray according to the food weight difference.

[0053] The pet feeding method based on a humanoid robot provided in the embodiments of the present application, when it is detected that the feeder feeds the pet and there is food scattering, controls the humanoid robot to pick up at least part of the scattered food and place it in the food tray of the feeder. That is, when there is food scattering in the feeder, the scattered food can be picked up and placed in the food tray. Further, control the feeder to weigh the food in the food tray, and re - deliver the food based on the weighed food weight and the preset feeding weight for feeding the pet, avoiding the situation that the pet's food intake does not meet the standard, ensuring that the pet eats enough food, and also not causing food waste.

[0054] In some embodiments, as Figure 2 、 Figure 3 shown, S101 can be implemented in the following several ways:

[0055] One way:

[0056] S1011. When it is detected that the feeder feeds the pet and there is food scattering, obtain the environmental space information of the food - scattering area.

[0057] S1012. Determine the graspable area of the humanoid robot in the food - scattering area according to the environmental space information.

[0058] S1013. Control the humanoid robot to pick up the food in the graspable area and place it in the food tray of the feeder.

[0059] Specifically, when it is detected that there is food scattering in the feeder, obtain the environmental space information of the food - scattering area, for example, including: the position information of the boundary of the food - scattering area, the spatial height information, the information of occluders and obstacles, such as fixed obstacles, movable obstacles, etc.

[0060] For example, the environmental space information can be obtained through cameras, sensors, etc., and / or the environmental space information obtained from other devices installed in this area.

[0061] Determine the graspable area of the humanoid robot in the food - scattering area according to the environmental space information, that is, the area in the food - scattering area where the humanoid robot can reach and pick up food by operating its dexterous fingers, and control the humanoid robot to pick up the food in the graspable area and place it on the food tray of the feeder. The area in the food - scattering area other than the graspable area is the area that the dexterous fingers of the humanoid robot cannot reach.

[0062] Another way:

[0063] S1011a. When it is detected that the feeder is feeding the pet and food is scattered, obtain the environmental space information of the food - scattering area.

[0064] S1012a. According to the environmental space information, determine the unobstructed area and the obstructed area in the food - scattering area respectively.

[0065] S1013a. Identify the processable area of the humanoid robot in the obstructed area; the processable area includes obstacles to be processed.

[0066] S1014a. Control the humanoid robot to move the obstacles in the processable area away, and pick up the food in the processable area and the unobstructed area and place it on the food tray of the feeder.

[0067] Specifically, the environmental space information is as described in the foregoing embodiments. According to the environmental space information, the unobstructed area and the obstructed area in the food - scattering area are determined. The food in the unobstructed area can be directly picked up by the humanoid robot. The obstructed area may include fixed obstacles and movable obstacles. Among them, the processable area can be the area where the movable obstacle is located. A fixed obstacle is an obstacle that cannot be moved. Identify the processable area of the humanoid robot in the obstructed area. For example, a movable obstacle can be moved away by the humanoid robot. After the humanoid robot moves the movable obstacle in the processable area away, pick up the food in the processable area and the unobstructed area and place it on the food tray of the feeder.

[0068] Optionally, there may be some areas for placing large items in the obstructed area. For example, there are obstacles such as tables and drying racks that are not easy to move away in this area. Then, when identifying the processable area, this area is removed from the obstructed area.

[0069] In the above - mentioned implementation manner, the area where the humanoid robot can pick up food in the food - scattering area is determined in multiple ways, and the food is picked up and placed on the food tray of the feeder. It has great flexibility, can reduce food waste, and reduce the impact on the amount of food fed to the pet, does not affect the pet feeding plan, and can ensure the health of the pet.

[0070] In some embodiments, such as Figure 4As shown, "identifying the processable area of the humanoid robot in the occlusion area" in step S1013a can be achieved through the following steps:

[0071] S1013a1. Obtain the spatial angle information in the joint limit information and the environmental space information of the humanoid robot.

[0072] S1013a2. Determine the processable area of the humanoid robot in the occlusion area according to the joint limit information and the spatial angle information. Among them, the above processable area can be the area where the above spatial angle information is within the tolerable range of the joint limit information of the humanoid robot; it can also be the 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 obstacles in the occlusion area is within the tolerable range of the joint limit information of the humanoid robot.

[0073] Optionally, the joint limit information includes: the joint limit information of the end effector of the humanoid robot, for example, the joint limit information of the gripper or the dexterous hand, and / or the joint limit information of other parts of the humanoid robot's body.

[0074] The joint limit information includes, for example, at least one of the following:

[0075] 1. Angle range: The rotation or movement range of each joint. Usually expressed in degrees. For example, a joint may have a rotation range from 0 degrees to 180 degrees.

[0076] 2. Speed limit: How fast the joint can move or rotate, usually expressed in degrees per second or radians per second.

[0077] 3. Torque limit: The maximum torque or force that the joint can exert, which is very important for ensuring that the robot does not damage itself or the surrounding environment when performing tasks.

[0078] 4. Load capacity: The maximum load that the joint can bear, which includes static load and dynamic load.

[0079] 5. Physical limit: Includes mechanical structure limitations, such as stop blocks or other physical obstacles, to prevent the joint from exceeding its designed range.

[0080] Specifically, based on the joint limit information of the humanoid robot and the spatial angle information of the food scattering area, determine the processable area of the humanoid robot in the occlusion area. For example, if there may be some large items placed in the occlusion area, such as tables, clothes drying racks and other obstacles that are not easy to move away in this area, then the area that the end effector of the humanoid robot can reach is determined as the processable area; or, there are small obstacles (such as pet toys) in a certain part of the occlusion area, and the scattered food is located under the small obstacles, then this part of the area can be determined as the processable area. After removing the obstacles in this part of the area, the scattered food can be picked up.

[0081] In the above embodiment, according to the joint limit information and the spatial angle information, determine the processable area of the humanoid robot in the occlusion area, so that the humanoid robot can pick up the scattered food in the processable area, avoid accidents such as collisions of the humanoid robot in the occlusion area, and avoid affecting the safety of the humanoid robot; moreover, it can identify all the areas where the humanoid robot can pick up food, pick up as much food as possible, and avoid food waste.

[0082] In some embodiments, the humanoid robot is communicatively connected to the feeder; S102 can be specifically implemented in the following manner:

[0083] After the humanoid robot picks up all the food that meets the preset conditions, control the humanoid robot to send a preset instruction to the feeder based on the communication connection.

[0084] Control the feeder to weigh the food on the food tray according to the preset instruction to obtain the first food weight.

[0085] Specifically, if there is a communication connection between the humanoid robot and the feeder, then 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.

[0086] Optionally, the food that meets the preset conditions is the food scattered within the graspable area of the humanoid robot, or the food scattered within the processable area of the humanoid robot in the unoccluded area and the occluded area.

[0087] In the above embodiment, by sending a preset instruction from the humanoid robot to the feeder, the feeder can be instructed to weigh the food on the food tray, and the implementation scheme is relatively simple and efficient.

[0088] In some embodiments, such as Figure 5As shown, replace the above step S101 with step S105:

[0089] When it is detected that the feeder is feeding the pet and food is spilled, control the feeder to stop feeding the pet, and control the humanoid robot to pick up at least part of the spilled food and place it in the food tray of the feeder.

[0090] In this embodiment, after step S104, the following step is further included:

[0091] S106: After the feeder finishes re-feeding the food tray, control the feeder to continue feeding the pet.

[0092] Specifically, when it is detected that the feeder is feeding the pet and food is spilled, control the feeder to stop feeding the pet, for example, retract the food tray, or close the food tray, etc.

[0093] After the feeder re-feeds the food tray, control the feeder to continue feeding the pet.

[0094] In the above embodiment, when it is detected that food is spilled, controlling the feeder to stop feeding the pet can prevent the pet from eating while the humanoid robot is picking up the food on one side, making it impossible to determine the amount of food the pet eats during the period when the humanoid robot picks up the food, thus resulting in inaccurate calculation of the food weight difference and disrupting the normal feeding plan of the pet, and avoiding the pet overeating and affecting its health.

[0095] In some embodiments, as Figure 6 shown, step S101 can also be implemented in the following manner:

[0096] S101a. When it is detected that the feeders corresponding to multiple different types of pets respectively have food spilled, control the humanoid robot to identify the types of the spilled food.

[0097] S101b. Control the humanoid robot to put the foods corresponding to the identified food types into the food trays of the feeders corresponding to the food types.

[0098] For example, the humanoid robot detects through a camera that the feeders corresponding to multiple different types of pets all have food spilled, or, based on the notification information about food spillage sent by the feeders corresponding to multiple different types of pets to the humanoid robot, it can be detected that the feeders corresponding to multiple different types of pets all have food spilled.

[0099] When it is detected that there is food scattering in the feeders corresponding to different types of pets respectively, control the humanoid robot to identify the types of the scattered food, and put the food corresponding to the identified food type into the food trays of the feeders corresponding to this food type respectively.

[0100] For example, there are a pet dog and a pet cat indoors of the user, and the feeders are placed relatively close. When there is food scattering in the feeders corresponding to the pet dog and the pet cat respectively, various foods may be mixed together. Therefore, control the humanoid robot to identify the types of the scattered food, and put the food corresponding to the identified food type into the food trays of the feeders corresponding to this food type respectively.

[0101] In the above implementation manner, by identifying the types of the scattered food, it is possible to avoid putting the food of other pets into the food trays of the feeders of the current pet, which may affect the pet's eating, resulting in the pet's food intake not meeting the standard, and also causing food waste.

[0102] In some embodiments, before step S101, the method further includes:

[0103] When it is determined that the health status of the pet is in a diseased state, obtain the disease type and disease process of the pet.

[0104] According to the disease type and the disease process, determine the feeding amount corresponding to the pet.

[0105] According to the feeding amount, control the feeder to put food into the food tray.

[0106] Specifically, when the pet is in a diseased state, usually the feeding amount of the pet is different from that in the normal situation. For example, it may be reduced compared with the feeding amount in the normal situation, and for different diseases and / or disease processes, the feeding amount is also different. Among them, the disease process can indicate which stage the disease is in, such as the initial stage, the middle stage, the late stage, or which day of the onset.

[0107] Therefore, it is necessary to determine the disease type and disease process of the pet, determine the feeding amount corresponding to the pet according to the disease type and disease process, and control the feeder to put food into the food tray according to this 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 process to obtain the corresponding feeding amount. Among them, the first preset database records the feeding amounts matched by this type of pet in different disease types and different disease processes.

[0108] In the above embodiments, before feeding a pet, the feeding amount corresponding to the pet can be determined according to the type and progression of the pet's disease; further, according to the determined feeding amount, controlling the feeder to put food into the food tray can make the determined pet feeding amount more accurate, avoid wasting food, and be better for the pet's health.

[0109] In some embodiments, determining the feeding amount corresponding to the pet according to the disease type and the disease progression includes:

[0110] Obtaining the exercise amount of the pet within a preset time range;

[0111] Determining the feeding amount corresponding to the pet according to the disease type, the disease progression, and the exercise amount.

[0112] Specifically, for the same disease type and disease progression, the states of different pets may vary. The exercise amount of a pet affects its food intake and digestion. Therefore, the feeding amount corresponding to the pet can be determined according to the disease type, the disease progression, and the exercise amount within a preset time range. In specific implementation, this step can be matched in a second preset database according to the pet type, disease type, disease progression, and one-day exercise amount to obtain the corresponding feeding amount. Among them, the second preset database records the feeding amounts matched by this type of pet under different disease types, different disease progressions, and different one-day exercise amounts.

[0113] The preset time range is, for example, the interval between two feedings, or the day of feeding, etc.

[0114] For example, if the pet's daily exercise amount is large, the feeding amount can be appropriately increased.

[0115] In the above embodiments, when determining the feeding amount corresponding to the pet, in addition to considering the type and progression of the pet's disease, the exercise amount of the pet is further considered, making the determined pet feeding amount more accurate.

[0116] Figure 2 The following is a schematic structural diagram of a pet feeding device based on a humanoid robot provided by the present application, as Figure 2 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;

[0117] The first control module 701 is configured 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 it detects that the feeder is feeding the pet and food is spilled;

[0118] The second control module 702 is configured to control the feeder to weigh the food in the food tray to obtain a first food weight;

[0119] The second control module 702 is further configured to calculate a food weight difference according to a preset feeding weight and the first food weight; the food weight difference is the difference between the preset feeding weight and the first food weight;

[0120] The second control module 702 is further configured to control the feeder to re-feed food to the food tray according to the food weight difference; wherein, a second food weight of the re-fed food is equal to the food weight difference.

[0121] In a possible implementation manner, the first control module 701 is specifically configured to:

[0122] When it is detected that the feeder feeds the pet and food scattering occurs, obtain environmental space information of the food scattering area;

[0123] Determine a graspable area of the humanoid robot in the food scattering area according to the environmental space information;

[0124] Control the humanoid robot to pick up the food in the graspable area and place it on the food tray of the feeder.

[0125] In a possible implementation manner, the first control module 701 is specifically configured to:

[0126] When it is detected that the feeder feeds the pet and food scattering occurs, obtain environmental space information of the food scattering area;

[0127] According to the environmental space information, respectively determine an unobstructed area and an obstructed area in the food scattering area;

[0128] Identify a processable area of the humanoid robot in the obstructed area; the processable area includes obstacles to be processed;

[0129] Control the humanoid robot to move the obstacles in the processable area away, and pick up the food in the processable area and the unobstructed area and place it on the food tray of the feeder.

[0130] In a possible implementation manner, the first control module 701 is specifically configured to:

[0131] Obtain joint limit information of the humanoid robot and spatial angle information in the environmental space information;

[0132] Determine the processable area of the humanoid robot in the occlusion area according to the joint limit information and the spatial angle information.

[0133] In a possible implementation manner, the humanoid robot is communicatively connected to the feeder; the second control module 702 is specifically configured to:

[0134] After the humanoid robot picks up all the food that meets the preset conditions, control the humanoid robot to send a preset instruction to the feeder based on the communication connection;

[0135] Control the feeder to weigh the food on the food tray according to the preset instruction to obtain the first food weight.

[0136] In a possible implementation manner, the food that meets the preset conditions is the food scattered within the graspable area of the humanoid robot, or the food scattered within the processable area of the humanoid robot in the unoccluded area and the occluded area.

[0137] In a possible implementation manner, the second control module 702 is further configured to:

[0138] When it is detected that the feeder feeds the pet and there is food scattering, control the feeder to stop feeding the pet;

[0139] After the feeder re-drops food onto the food tray, control the feeder to continue feeding the pet.

[0140] In a possible implementation manner, the first control module 701 is specifically configured to:

[0141] When it is detected that there is food scattering in the feeders corresponding to multiple different types of pets respectively, control the humanoid robot to identify the types of the scattered food;

[0142] Control the humanoid robot to put the food corresponding to the identified food type into the food trays of the feeders corresponding to the food type.

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

[0144] Before controlling 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 feeds the pet and there is food scattering, and when it is determined that the health status of the pet is in a diseased state, obtain the disease type and disease process of the pet;

[0145] According to the disease type and the disease process, determine the feeding amount corresponding to the pet;

[0146] Control the feeder to deliver food to the food tray according to the feeding amount.

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

[0148] Obtain the exercise amount of the pet within a preset time range;

[0149] Determine the feeding amount corresponding to the pet according to the disease type, the disease process, and the daily exercise amount.

[0150] The pet feeding device based on the humanoid robot provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effects are similar, which will not be elaborated here in this embodiment.

[0151] This application also provides a pet feeding system based on a humanoid robot. This system is applied to the method described in any one of the foregoing embodiments. As Figure 8 shown, the system includes:

[0152] A humanoid robot 100 and a feeder 200;

[0153] Wherein, the humanoid robot is used for picking up at least part of the scattered food and placing it in the food tray of the feeder when it detects that the feeder feeds the pet and there is food scattering;

[0154] Control the feeder to weigh the food in the food tray to obtain the first food weight;

[0155] Calculate a food weight difference according to a 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;

[0156] Control the feeder to deliver food to the food tray again according to the food weight difference; wherein, the second food weight of the food delivered again is equal to the food weight difference.

[0157] Optionally, there may be a communication connection (as shown in Figure 3 ) between the humanoid robot 100 and the feeder 200, or there may be no communication connection.

[0158] Figure 9 This is a schematic structural diagram of the humanoid robot provided by this application. As Figure 9 shown, the humanoid robot provided in this embodiment includes: at least one processor 901 and a memory 902. Optionally, the device 90 further includes a communication component 903. Wherein, the processor 901, the memory 902, and the communication component 903 are connected through a bus.

[0159] In a specific implementation process, at least one processor 901 executes computer-executable instructions stored in a memory 902, so that at least one processor 901 executes the above-mentioned method.

[0160] For the specific implementation process of the processor 901, reference may be made to the above method embodiments. Their implementation principles and technical effects are similar, and will not be elaborated here in this embodiment.

[0161] In the above embodiments, it should be understood that the processor may be a central processing unit (Central Processing Unit, CPU for short), or may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly embodied as being executed and completed by a hardware processor, or executed and completed by a combination of hardware and software modules in the processor.

[0162] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0163] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, 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.

[0164] This application also provides a computer program product, including a computer program, which when executed by a processor implements the above-mentioned method.

[0165] This application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the processor executes the computer-executable instructions, the above-mentioned method is implemented.

[0166] The above-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 accessible by a general-purpose or special-purpose computer.

[0167] An exemplary readable storage medium is coupled to the processor, enabling the processor to read information from 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 (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in a device.

[0168] The division of units is only a logical function division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed coupling or direct coupling or communication connection between each other can be an indirect coupling or communication connection through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0169] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0170] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0171] If a 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, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs, etc., all kinds of media that can store program codes.

[0172] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When this program is executed, it executes the steps including the above method embodiments; and the aforementioned storage medium includes: ROMs, RAMs, magnetic disks, or optical discs, etc., all kinds of media that can store program codes.

[0173] Finally, it should be noted that: After considering the specification and practicing the invention disclosed herein, those skilled in the art will easily think of other implementation manners of the present invention. The present invention is intended to cover any variations, uses, or adaptations of the present invention, and these variations, uses, or adaptations follow the general principles of the present invention and include common general knowledge or conventional technical means in the technical field not disclosed in the present invention. It is not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A pet feeding system based on a humanoid robot, characterized in that: The system comprises: a humanoid robot and a feeder; the humanoid robot and the feeder are in communication connection; 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; controlling the feeder to weigh the food in the food tray to obtain a first food weight; 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; 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 system according to claim 1, characterized in that: The humanoid robot is specifically used to obtain environmental spatial information of a food scattering area when detecting that the feeder is feeding the pet and the food is scattering; Determining a graspable area of ​​the humanoid robot in the grain spreading area according to the environmental space information; The food in the graspable area is picked up and placed in the food tray of the feeder.

3. The pet feeding system according to claim 1, characterized in that: The humanoid robot is specifically used to obtain environmental spatial information of a food scattering area when detecting that the feeder is feeding the pet and the food is scattering; 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; Obstructions in the treatable area are removed, and food in the treatable area and the unobstructed area is picked up and placed in the food tray of the feeder.

4. The pet feeding system according to claim 3, characterized in that: The humanoid robot is specifically used to obtain its own joint limit information and the 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 system according to any one of claims 1 to 4, characterized in that: The humanoid robot is specifically configured to send a preset instruction to the feeder based on the communication connection after picking up all the food that meets the preset conditions; The feeder is controlled to weigh the food on the food tray according to the preset instruction to obtain a first food weight.

6. A pet feeding device based on a humanoid robot, characterized in that: include: a first control module and a second control module; The first control module 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 the food is spilled; The second control module is used to control 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.

7. The pet feeding device according to claim 6, characterized in that: The first control module is specifically used to: when it is detected that the feeder feeds the pet and scatters food, obtain environmental space information of the food scattering area; 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.

8. The pet feeding device according to claim 6, characterized in that: The first control module is specifically used to: when it is detected that the feeder feeds the pet and scatters food, obtain environmental space information of the food scattering area; 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.

9. The pet feeding device according to claim 8, characterized in that: The first control module is specifically used to: obtain the joint limit information of the humanoid robot and the space 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.

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