Method for automatically adjusting combing caliber of combing pet nest

Abstract

The invention provides a method for automatically adjusting the combing caliber of a combing pet house. The method comprises the following steps: S001, detecting the width and length of a pet entering the pet house according to a distance sensor; s002, weighing the pet entering the pet house; s003, assuming the pet as a cylinder, and converting the volume of the pet according to the weight and density of the pet; s004, calculating the diameter of the cylinder according to the volume of the pet and the length of the pet; s005, calculating a combing caliber according to the detected width of the pet and the diameter of the cylinder; and S006, adjusting the combing caliber of the combing device of the pet house according to the size of the combing caliber. According to the method for automatically adjusting the combing caliber of the combing cat nest, the combing caliber of the combing pet nest can be automatically adjusted according to the size of a pet.

Description

Technical Field

[0001] The present invention belongs to the field of pet supplies, and particularly relates to a method for automatically adjusting the grooming aperture of a grooming pet nest. Background Art

[0002] Pet cats often shed their hair. Especially pet cats kept indoors will shed hair indoors, which requires the owner to take care of it frequently. To reduce the time for the owner to take care of the hair, a grooming pet nest has been developed on the market. A grooming device is provided at the entrance and exit of the pet nest, and the hair shed by the pet cat when entering and leaving the pet nest will be combed off by the grooming device. However, pet cats come in different sizes. If the grooming aperture of the grooming device is fixed, the grooming effect on smaller-sized pet cats is not ideal, and it is also easy to get larger-sized pet cats stuck. Therefore, it is necessary for the grooming device to be able to adjust the grooming aperture according to pet cats of different sizes. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a method for automatically adjusting the grooming aperture of a grooming pet nest to overcome or at least partially solve or alleviate the above problems.

[0004] The present invention proposes a method for automatically adjusting the grooming aperture of a grooming pet nest, including the following steps:

[0005] S001: Detect the width and length of the pet entering the pet nest according to a distance sensor;

[0006] S002: Weigh the pet entering the pet nest;

[0007] S003: Assume the pet as a cylinder, and calculate the volume of the pet according to the weight and density of the pet;

[0008] S004: Calculate the diameter of the cylinder according to the volume of the pet and the length of the pet;

[0009] S005: Calculate the grooming aperture according to the detected width of the pet and the diameter of the cylinder;

[0010] S006: Adjust the grooming aperture of the grooming device of the pet nest according to the size of the grooming aperture.

[0011] The present invention also has the following optional features.

[0012] Optionally, in step S001, a TOF sensor is adopted, and the TOF sensor is installed above the entrance and exit of the pet nest and tilted downward to collect the valid flag signal, light intensity signal, and distance signal of the pet entering the preset area.

[0013] Optionally, filter out the grids with invalid valid flags, and filter out the light intensity lower than the set value range S thThe retained cells are the body size signals of the pet.

[0014] Optionally, distance information in a corresponding format is extracted based on the retained cells. The vertical field of view angle and the horizontal field of view angle of the TOF sensor are both 45°, and the angle range of each cell is θ s = 45° / 8 = 5.625°. The distance information d of the cells at both ends of the row is extracted l and d r as well as the distance information d of the cells at both ends of the column u and d d , and the distance values of each row and each column are calculated. The width and length of the pet can take the maximum value or the average value.

[0015] Optionally, the width and length of the pet are calculated based on the distance value of the pet:

[0016] The number of valid cells in this row is n, so the included angle θ 1 = nθ s ; The width of the pet is calculated according to the cosine theorem

[0017]

[0018] The number of valid cells in this column is m, so the included angle θ 2 = mθ s ; The length of the pet is calculated according to the cosine theorem

[0019]

[0020] Optionally, in step S003, the pet is assumed to be a cylinder, and the diameter of the cylinder is the width of the pet. The volume of the pet where ρ is the density of the pet, w e is the diameter of the cylinder, and l c is the length of the pet.

[0021] Optionally, in step S006, in step S004, the diameter of the cylinder

[0022] Optionally, in step S005, the grooming aperture size of the grooming device is calculated based on the width of the pet and the diameter of the cylinder. The grooming aperture w = k 1 w c + k 2 w e , where k 1 and k 2 are the weights calculated based on the widths of two types of pets respectively.

[0023] Optionally, in step S006, the grooming device has grooming apertures of different gears, and the grooming device is adjusted to a gear with a grooming aperture size close to the calculated grooming aperture size.

[0024] The method for automatically adjusting the carding aperture of the carding pet nest of the present invention mainly includes first detecting the width and length of the pet entering the pet nest through a distance sensor; then weighing the pet entering the pet nest; then assuming the pet as a cylinder and calculating the volume of the pet according to the weight and density of the pet; then calculating the diameter of the cylinder according to the volume of the pet and the length of the pet; comprehensively calculating the carding aperture according to the detected width of the pet and the diameter of the cylinder; and finally adjusting the carding aperture of the carding device of the pet nest according to the size of the carding aperture. The method for automatically adjusting the carding aperture of the carding cat nest of the present invention can enable the carding pet nest to automatically adjust the carding aperture according to the size of the pet, ensuring the carding effect of the carding pet nest on the pet. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic structural diagram of the carding pet nest;

[0026] Figure 2 is a schematic structural diagram of the carding device in the carding pet nest;

[0027] Figure 3 is a control system diagram of the carding pet nest.

[0028] Figure 4 is a schematic diagram of the sensor measuring the pet cat;

[0029] Figure 5 is a schematic diagram of the detection range of the TOF sensor;

[0030] Figure 6 is a schematic diagram of the TOF sensor filtering the signal according to the light intensity;

[0031] Figure 7 is a schematic diagram of the distance signal after the TOF sensor filters the light intensity;

[0032] Figure 8 is a bar chart of the distance signal detected by the TOF sensor;

[0033] Figure 9 is a schematic diagram of the principle for calculating the width of the pet cat;

[0034] Figure 10 is a schematic diagram of the principle for calculating the length of the pet cat.

[0035] In the above figures, 1, pet nest; 2, entrance and exit; 3, TOF sensor; 4, carding device; 5, aperture adjustment disc; 6, carding part; 7, gear; 8, adjustment motor; 9, photoelectric sensor; 10, controller; 11, weighing sensor.

[0036] The present invention will be further described in detail below with reference to the drawings and embodiments. Detailed implementation mode

[0037] Taking Figure 1 and Figure 2 The pet nest 1 shown in the figure as an example, an entrance 2 is provided on the front end face of the pet nest 1, a TOF sensor 3 is provided above the entrance 2, a grooming device 4 is provided inside the front end face, behind the entrance 2. A plurality of grooming members 6 are slidably arranged on the grooming device 4, and a diameter adjustment disc 5 is also rotatably arranged on the grooming device 4. Each grooming member 6 is respectively slidably matched with the chute on the diameter adjustment disc 5. The teeth on the edge of the diameter adjustment disc 5 are meshed with a gear 7, and the gear 7 is arranged on the main shaft of an adjustment motor 8. A photoelectric sensor 9 is arranged inside the pet nest 1, and a weighing sensor 11 is arranged on the support feet of the pet nest 1.

[0038] As Figure 4 shown, when a pet cat enters the entrance 2, the TOF sensor 3 detects the width and length signals of the pet cat. When the pet cat enters the pet nest 1, the weighing sensor 11 detects the weight of the pet cat. When the pet cat leaves the pet nest 1, the photoelectric sensor 9 detects that the pet cat has left. The controller 10 can calculate the grooming diameter according to the width, length and weight of the pet cat, and control the adjustment motor 8 to adjust the grooming diameter of the grooming device 4.

[0039] Referring to Figure 3 , three signal input ends of the controller 10 are respectively electrically connected to the TOF sensor 3, the photoelectric sensor 9 and the weighing sensor 11, and one output end of the controller 10 is signal-connected to the adjustment motor 8. The controller 10 can detect the size of the pet cat according to the TOF sensor 3, can detect the weight of the pet cat according to the weighing sensor 11, can detect whether the pet cat is in the pet nest according to the photoelectric sensor 9. The controller 10 can also adjust the rotation position of the diameter adjustment disc 5 by controlling the rotation position of the adjustment motor 8, so as to adjust the grooming diameter formed by each grooming member 6.

[0040] An embodiment of the present invention proposes an automatic adjustment method for the grooming diameter of a grooming pet nest, including the following steps: S001: Detect the width and length of the pet entering the pet nest according to the sensor; S002: Weigh the pet entering the pet nest; S003: Assume the pet as a cylinder, and calculate the volume of the pet according to the weight and density of the pet; S004: Calculate the diameter of the cylinder according to the volume of the pet and the length of the pet; S005: Calculate the grooming diameter according to the detected width of the pet and the diameter of the cylinder; S006: Adjust the grooming diameter of the grooming device of the pet nest according to the size of the grooming diameter.

[0041] As Figure 1 , Figure 4 and Figure 5As shown in the figure, in step S001, a TOF sensor is used. The TOF sensor is installed above the entrance and exit of the pet nest and tilted downward at a certain angle to collect the valid flag signal, light intensity signal, and the distance signal of the pet entering the preset area.

[0042] Reference Figure 5 、 Figure 6 and Figure 7 , taking the VL53L5CX model as an example, the horizontal and vertical field of view angles of the TOF sensor are both 45°. The refresh rate of the TOF sensor is greater than 10Hz, and the resolution is 8×8, with a total of 64 grids. The distance from the object in front to the TOF is detected in units of grids.

[0043] Reference Figure 4 、 Figure 6 、 Figure 7 and Figure 8 , the TOF sensor is installed above the entrance and exit of the pet nest, facing the front outside and tilted downward by 30° - 60°. Taking a pet cat as an example, before the pet cat enters the pet nest, the TOF sensor should be able to cover the cat's body part except the tail. Each point of the TOF returns three data, namely distance, valid flag, and intensity.

[0044] As Figure 6 shown, the signals are filtered according to the valid flag and light intensity.

[0045] Filter out the grids with invalid valid flags to obtain Figure 6 the light intensity map on the left in th , and then filter out the grids with light intensity lower than the set value range S Figure 6 =100. The grids remaining on the right in Figure 6 are the body shape signals of the pet. xy In 74 , S 75 represents the received signal strength of the x - row and y - column. Dark color indicates that the object with strong signal is close, and light color indicates that the object with weak signal is far. Therefore, S 34 and S 35 represent the cat's head, and S

[0046] As Figure 7 and Figure 8 shown, the distance information of the pet is extracted according to the filtered detection signals.

[0047] The width and length of the pet are calculated based on the distance information of the pet.

[0048] As Figure 5 shown, both the vertical field of view angle and the horizontal field of view angle of the TOF sensor are 45°. The vertical angle range and the horizontal angle range of each grid are both θ s =45 / 8=5.625°.

[0049] Taking the sixth row as an example, calculate d l = d 63 , d r = d 66 , and its cosine relationship is as Figure 9 shown.

[0050] The number of valid cells in this row is n = 4, so the included angle θ 1 = nθ s = 4 × 5.625° = 22.5°. Calculate the pet width according to the cosine theorem

[0051]

[0052] Taking the fourth column as an example, calculate d u = d 24 , d d = d 74 , and its cosine relationship is as Figure 10 shown.

[0053] The number of valid cells in this column is m = 6, so the included angle θ 2 = mθ s = 6 × 5.625° = 33.75°; Calculate the pet length according to the cosine theorem

[0054]

[0055] In step S003, assume the pet cat as a cylinder, and the diameter of the cylinder is the width of the pet cat. The volume of the pet cat where ρ is the density of the pet cat, w e is the diameter of the cylinder, and l c is the body length of the pet cat.

[0056] In step S004, the measured length l of the pet cat c = 0.39m, the width w of the pet cat c = 0.17m, the weighing value W of the pet cat is 4kg, and the known density ρ of the pet cat is 0.975g / cm 3 , the diameter of the cylinder

[0057]

[0058] In step S005, calculate the grooming aperture size of the grooming device according to the width of the pet cat and the diameter of the cylinder. The grooming aperture w = k 1 w c + k 2 w e , where k 1 and k 2They are the weights for measuring the widths of two pet cats respectively.

[0059] k 1 and k 2 Both take 0.5. Therefore, the grooming aperture w = k 1 w c + k 2 w e = 0.5×0.17 + 0.5×0.12 = 0.15 m.

[0060] In step S006, the grooming device 4 has apertures of different gears, and the grooming device 4 is adjusted to a grooming aperture of a gear close to the size of the grooming aperture.

[0061] The grooming aperture of the grooming device 4 has six gears, which are 0.1 m, 0.12 m, 0.14 m, 0.16 m, 0.18 m and 0.2 m respectively. Among them, the two gears of 0.14 m and 0.16 m are the closest to the calculated grooming aperture of 0.15 m. To prevent the grooming device 4 from jamming the pet cat, when the adjustment motor 8 in the grooming device 4 rotates to the position of the fourth gear, the grooming aperture of the grooming device 4 is 0.16 m.

[0062] As mentioned above, it is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any change or replacement that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims. The components and structures not described in detail in this embodiment are well-known components and common structures or common means in this industry, and will not be described one by one here.

Claims

1. A method for automatically adjusting the combing caliber of a combing pet bed, characterized in that: The following steps are involved: S001: Detecting the width and length of the pet entering the pet nest according to the distance sensor; S002: Weigh the pets entering the pet kennel; S003: Assume the pet to be a cylinder and calculate the volume of the pet according to the weight and density of the pet; S004: Calculate the diameter of the cylinder according to the volume and length of the pet; S005: Calculate the combing caliber according to the detected width of the pet and the diameter of the cylinder; S006: Adjust the combing aperture of the combing device of the pet bed according to the combing aperture.

2. The method for automatically adjusting the combing aperture of a combing pet bed according to claim 1, characterized in that: In step S001, a TOF sensor is used as the distance sensor. The TOF sensor is installed above the entrance of the pet kennel and tilted downward to collect valid sign signals, light intensity signals and distance signals of the pet entering the preset area.

3. The method for automatically adjusting the combing aperture of a combing pet bed according to claim 2, characterized in that: Filter out grids with invalid effective marks and filter out light intensity below the set value range S th The grids that remain are the pet's size signals.

4. The method for automatically adjusting the combing aperture of a combing pet bed according to claim 3, characterized in that: The distance information of the corresponding format is extracted according to the retained grid. The vertical and horizontal field of view angles of the TOF sensor are both 45°, and the angle range of each grid is θ s =45° / 8=5.625°, extract the distance information d between the two ends of the row l and d r And the distance information d between the two ends of the column u and d d , calculate the distance value of each row and column, the width and length of the pet can take the maximum value or the average value.

5. The method for automatically adjusting the combing aperture of a combing pet bed according to claim 4, characterized in that: Calculate the width and length of the pet based on the pet's distance value: The number of effective grids in this row is n, so the angle θ1 = nθ s ; Calculate the width of the pet using the law of cosines The number of effective grids in this column is m, so the angle θ2 = mθ s ; Find the length of the pet according to the law of cosines 6. The method for automatically adjusting the combing aperture of a combing pet bed according to claim 1, characterized in that: In step S003, the pet is assumed to be a cylinder, the diameter of the cylinder is the width of the pet, and the volume of the pet is Where ρ is the density of pets, w e is the diameter of the cylinder, l c The length of the pet.

7. The method for automatically adjusting the combing aperture of a combing pet bed according to claim 6, characterized in that: In step S004, the diameter of the cylinder 8. The method for automatically adjusting the combing aperture of a combing pet bed according to claim 7, characterized in that: In step S005, the combing aperture size of the combing device is calculated according to the width of the pet and the diameter of the cylinder, and the combing aperture w=k1w c +k2w e , where k1 and k2 are the weights for calculating the width of the two pets.

9. The method for automatically adjusting the combing aperture of a combing pet bed according to claim 1, characterized in that: In step S006, the combing device has calibers of different gears, and the combing device is adjusted to a combing caliber of a gear that is close to the combing caliber.

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