Automatic adjustment method for combing caliber of a combing pet nest

Abstract

The present application provides a kind of automatic adjustment method of combing caliber of combing pet nest, comprising the following steps: S001: according to the width and length of pet detected by distance sensor entering pet nest;S002: the pet entering pet nest is weighed;S003: pet is assumed as cylinder, and the volume of pet is converted according to the weight and density of pet;S004: the diameter of cylinder is calculated according to the volume of pet and the length of pet;S005: the caliber of combing is calculated according to the width of detected pet and the diameter of cylinder;S006: the caliber of combing device of combing pet nest is adjusted according to the caliber of combing.The automatic adjustment method of combing caliber of combing cat nest of the present application can automatically adjust the caliber of combing of combing pet nest according to the size of pet.

Description

Technical Field

[0001] This invention belongs to the field of pet products, specifically relating to a method for automatically adjusting the diameter of the comb opening in a pet grooming bed. Background Technology

[0002] Pet cats shed frequently, especially indoor cats, which shed a lot of fur indoors, requiring owners to groom them regularly. To reduce grooming time, grooming pet beds have been developed on the market. These beds have a grooming device at the entrance, which brushes away loose fur as the cat enters or exits. However, cats vary in size. If the brushing device has a fixed opening, it's not effective for smaller cats and can easily trap larger ones. Therefore, the brushing device needs to be adjustable in size to accommodate different cat sizes. Summary of the Invention

[0003] Therefore, the purpose of this invention is to provide an automatic adjustment method for the brush opening diameter of a pet grooming bed, which can overcome the above-mentioned problems or at least partially solve or alleviate them.

[0004] This invention proposes a method for automatically adjusting the diameter of the comb opening in a pet grooming bed, comprising the following steps:

[0005] S001: Detects the width and length of the pet entering the pet bed using a distance sensor;

[0006] S002: Weigh the pets that enter the pet bed;

[0007] S003: Assume the pet is a cylinder, and calculate the pet's volume based on the pet's weight and density;

[0008] S004: Calculate the diameter of the cylinder based on the pet's volume and length;

[0009] S005: Calculate the comb opening diameter based on the detected width of the pet and the diameter of the cylinder;

[0010] S006: Adjust the diameter of the grooming device in the pet bed according to the size of the grooming nozzle.

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

[0012] Optionally, in step S001, a TOF sensor is used. The TOF sensor is installed above the entrance and exit of the pet's den and tilted downwards to collect the valid identification signal, light intensity signal, and distance signal of the pet entering the preset area.

[0013] Optionally, cells with invalid valid flags are filtered out, and cells with light intensity below a set value range S are filtered out. thThe remaining squares represent the pet's size.

[0014] Optionally, distance information in the corresponding format is extracted from the retained grid cells. The TOF sensor has a vertical field of view and a horizontal field of view of 45°, with each grid cell having an angle range of 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 d between the two ends of the column. u and d d Calculate the distance values ​​for each row and each column. The width and length of the pet can be taken as the maximum value or the average value.

[0015] Optionally, the pet's width and length can be calculated based on the pet's distance value:

[0016] The number of valid cells in this row is n, so the included angle θ1 = nθ s ; Calculate the pet's width using the Law of Cosines

[0017]

[0018] The number of valid cells in this column is m, so the included angle θ2 = mθ s ; Calculate the pet's length using the Law of Cosines

[0019]

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

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

[0022] Optionally, in step S005, the size of the combing nozzle of the grooming device is calculated based on the width of the pet and the diameter of the cylinder, where the combing nozzle diameter w = k1w c +k2w e , where k1 and k2 are the weights for calculating the width of the two types of pets, respectively.

[0023] Optionally, in step S006, the combing device has different aperture settings, and the combing device is adjusted to a setting with a diameter close to the size of the combing aperture.

[0024] The automatic adjustment method for the combing nozzle diameter of the pet grooming nest of the present invention mainly involves first detecting the width and length of the pet entering the pet nest using a distance sensor; then weighing the pet; next, assuming the pet is a cylinder, calculating the pet's volume based on the pet's weight and density; then calculating the cylinder's diameter based on the pet's volume and length; finally, calculating the combing nozzle diameter based on the detected pet width and cylinder diameter; and finally, adjusting the combing nozzle diameter of the pet nest's grooming device according to the size of the combing nozzle. This automatic adjustment method for the combing nozzle diameter of the pet grooming nest of the present invention enables the pet grooming nest to automatically adjust the combing nozzle diameter according to the pet's size, ensuring the effective grooming of the pet. Attached Figure Description

[0025] Figure 1 This is a structural diagram of a pet grooming bed;

[0026] Figure 2 This is a schematic diagram of the grooming device in a pet grooming bed;

[0027] Figure 3 This is a control system diagram for a grooming pet bed.

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

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

[0030] Figure 6 This is a schematic diagram of a TOF sensor filtering signals based on light intensity.

[0031] Figure 7 This is a schematic diagram of the distance signal after filtering by the TOF sensor based on light intensity;

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

[0033] Figure 9 This is a diagram illustrating the principle of calculating the width of a pet cat.

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

[0035] In the above diagram, 1. Pet bed; 2. Entrance / exit; 3. TOF sensor; 4. Grooming device; 5. Diameter adjustment disc; 6. Grooming component; 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 accompanying drawings and embodiments. Detailed Implementation

[0037] by Figure 1 and Figure 2 Taking the pet bed 1 shown as an example, the front face of the pet bed 1 is provided with an entrance 2, and a TOF sensor 3 is provided on the upper part of the entrance 2. The grooming device 4 is located on the inner side of the front face, behind the entrance 2. Multiple grooming parts 6 are slidably arranged on the grooming device 4, and a diameter adjustment disk 5 is also rotatably arranged on the grooming device 4. Each grooming part 6 is slidably engaged with the groove on the diameter adjustment disk 5. The gear teeth on the edge of the diameter adjustment disk 5 mesh with the gear 7. The gear 7 is arranged on the main shaft of the adjustment motor 8. A photoelectric sensor 9 is provided inside the pet bed 1, and a weighing sensor 11 is provided on the support legs of the pet bed 1.

[0038] like Figure 4 As shown, when the 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 bed 1, the weighing sensor 11 detects the weight of the pet cat. When the pet cat leaves the pet bed 1, the photoelectric sensor 9 detects that the pet cat has left. The controller 10 can then calculate the combing diameter based on the width, length and weight of the pet cat, and control the adjusting motor 8 to adjust the combing diameter of the combing device 4.

[0039] refer to Figure 3 The controller 10 has three signal input terminals electrically connected to the TOF sensor 3, the photoelectric sensor 9, and the weighing sensor 11, respectively. One output terminal of the controller 10 is connected to the regulating motor 8. The controller 10 can detect the size of the pet cat using the TOF sensor 3, the weight of the pet cat using the weighing sensor 11, and whether the pet cat is in its pet bed using 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 regulating motor 8, thereby adjusting the combing diameter formed by each combing component 6.

[0040] An embodiment of the present invention proposes an automatic adjustment method for the combing opening diameter of a pet grooming nest, comprising the following steps: S001: detecting the width and length of the pet entering the pet nest using sensors; S002: weighing the pet entering the pet nest; S003: assuming the pet is a cylinder, calculating the pet's volume based on the pet's weight and density; S004: calculating the diameter of the cylinder based on the pet's volume and length; S005: calculating the combing opening diameter based on the detected pet's width and the cylinder's diameter; S006: adjusting the combing opening diameter of the pet nest's grooming device according to the size of the combing opening diameter.

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

[0042] refer to Figure 5 , Figure 6 and Figure 7 Taking the VL53L5CX model of TOF sensor as an example, its horizontal and vertical field of view are both 45°. The TOF sensor has a refresh rate of more than 10Hz and a resolution of 8×8, a total of 64 grids, and detects the distance from the object in front to the TOF sensor in units of grids.

[0043] refer to Figure 4 , Figure 6 , Figure 7 and Figure 8 The TOF sensor is installed above the entrance and exit of the pet bed, facing outward and tilted downward at 30°-60°. Taking a pet cat as an example, the TOF sensor should be able to cover the cat's body parts except for the tail before the pet cat enters the pet bed. Each point of the TOF sensor returns three data points: distance, valid mark, and intensity.

[0044] like Figure 6 As shown, the signal is filtered based on the valid flag and light intensity.

[0045] After filtering out cells whose valid flags are invalid, we get... Figure 6 The light intensity map on the left side of the image is then filtered to remove light intensities below the set range S. th =100 grids, Figure 6 The remaining square on the right side indicates the pet's size. Figure 6 In the middle, S xy The x-row, y-column representation shows the received signal strength. Darker colors indicate stronger signals and closer objects, while lighter colors indicate weaker signals and farther objects. Therefore, S... 74 and S 75 S represents a cat's head. 34 and S 35 It represents a cat's tail.

[0046] like Figure 7 and Figure 8 As shown, the distance information of the pet is extracted based on the filtered detection signal.

[0047] The pet's width and length are calculated based on its distance information.

[0048] like Figure 5 As shown, the TOF sensor has a vertical field of view and a horizontal field of view of 45°, and the vertical and horizontal angle ranges 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 The cosine relationship is as follows Figure 9 As shown.

[0050] The number of valid cells in this row is n = 4, so the included angle θ1 = nθ s =4 × 5.625° = 22.5°. Calculate the pet's width using the Law of Cosines.

[0051]

[0052] Calculate d using the fourth column as an example. u =d 24 d d =d 74 The cosine relationship is as follows Figure 10 As shown.

[0053] The number of valid cells in this column is m = 6, so the included angle θ2 = mθ s =6 × 5.625° = 33.75°; Calculate the pet's length using the Law of Cosines.

[0054]

[0055] In step S003, the pet cat is assumed to be a cylinder, and the diameter of the cylinder is the width of the pet cat, and the volume of the pet cat is... Where ρ is the density of the pet cat, w e Let l be the diameter of the cylinder. c This refers to the body length of a pet cat.

[0056] In step S004, the length l of the pet cat is measured. c =0.39m, the width w of the pet cat c =0.17m, the weight of the pet cat is W = 4kg, and the density of the pet cat is ρ = 0.975g / cm³. 3 The diameter of the cylinder

[0057]

[0058] In step S005, the size of the combing nozzle of the grooming device is calculated based on the width of the pet cat and the diameter of the cylinder. The combing nozzle diameter w = k1w c +k2w e , where k1 and k2 are the weights of the two measured widths of the pet cat, respectively.

[0059] Both k1 and k2 are set to 0.5, so the comb opening diameter w = k1w c +k2we =0.5×0.17+0.5×0.12=0.15m.

[0060] In step S006, the combing device 4 has different bristle diameters, and the combing device 4 is adjusted to a bristle diameter that is close to the size of the bristle diameter.

[0061] The combing device 4 has six combing aperture settings: 0.1m, 0.12m, 0.14m, 0.16m, 0.18m, and 0.2m. The 0.14m and 0.16m settings are closest to the calculated combing aperture of 0.15m. To prevent the combing device 4 from getting stuck in the cat's mouth, when the adjusting motor 8 in the combing device 4 is rotated to the fourth setting, the combing aperture of the combing device 4 is 0.16m.

[0062] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims. Components and structures not described in detail in this embodiment are well-known components and common structures or common means in the industry, and will not be described in detail here.

Claims

1. A method for automatically adjusting the diameter of the comb opening in a pet grooming bed, characterized in that, Includes the following steps: S001: Detects the width and length of the pet entering the pet bed using a distance sensor; S002: Weigh the pets that enter the pet bed; S003: Assume the pet is a cylinder, and calculate the pet's volume based on the pet's weight and density; S004: Calculate the diameter of the cylinder based on the pet's volume and length; S005: Calculate the comb opening diameter based on the detected width of the pet and the diameter of the cylinder; S006: Adjust the diameter of the grooming device in the pet bed according to the size of the grooming nozzle.

2. The method for automatically adjusting the brush nozzle diameter of a pet grooming nest according to claim 1, characterized in that, In step S001, the distance sensor is a TOF sensor. The TOF sensor is installed above the entrance and exit of the pet's den and tilted downwards to collect the valid marking signal, light intensity signal and distance signal of the pet entering the preset area.

3. The method for automatically adjusting the brush nozzle diameter of a pet grooming bed according to claim 2, characterized in that, Filter out cells with invalid valid flags, and filter out cells with light intensity below the set range S. th The remaining squares represent the pet's size.

4. The method for automatically adjusting the brush nozzle diameter of a pet grooming bed according to claim 3, characterized in that, Distance information in the corresponding format is extracted from the preserved grid. The TOF sensor has a vertical field of view and a horizontal field of view of 45°, with each grid's angle range being 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 d between the two ends of the column. u and d d Calculate the distance values ​​for each row and each column. The width and length of the pet can be taken as the maximum value or the average value.

5. The method for automatically adjusting the brush nozzle diameter of a pet grooming nest according to claim 4, characterized in that, Calculate the pet's width and length based on the distance value: The number of valid cells in this row is n, so the included angle θ1 = nθ s ; Calculate the pet's width using the Law of Cosines The number of valid cells in this column is m, so the included angle θ2 = mθ s ; Calculate the pet's length using the Law of Cosines 6. The method for automatically adjusting the brush nozzle diameter of a pet grooming nest according to claim 1, characterized in that, In step S003, the pet is assumed to be a cylinder, and the diameter of the cylinder is the width of the pet, and the volume of the pet is... Where ρ is the density of the pets, w e Let l be the diameter of the cylinder. c For the length of the pet.

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

9. The method for automatically adjusting the brush nozzle diameter of a pet grooming bed according to claim 1, characterized in that, In step S006, the combing device has different bristle diameters at different settings, and the combing device is adjusted to a bristle diameter that is close to the size of the bristle diameter.

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