Path planning method of intelligent pet accompanying robot

Abstract

The invention relates to a path planning method for an intelligent pet accompanying robot, and relates to the technical field of intelligent robots. The method comprises the following steps that S1, an operation space is drawn, walking wheels drive the pet accompanying robot to walk indoors, indoor environment information is obtained, and an indoor pattern distribution diagram is generated based on the indoor environment information; s2, generating a running path, screening the running range of the pet accompanying robot based on the indoor pattern distribution diagram, and generating a conventional moving path; s3, actually measuring the running path, controlling the walking wheels by the main control module to drive the pet accompanying robot to carry out a movement test along the conventional moving path, adjusting the conventional moving path based on a test result, and repeating the step for multiple times until the conventional moving path is adjusted; and S4, setting operation parameters, and adjusting parameters such as operation time and moving speed of the pet accompanying robot based on a test result. The method has the effect that the pet accompanying robot can generate the proper running path based on the actual indoor environment.

Description

Technical Field

[0001] This application relates to the field of intelligent robot technology, and in particular to a path planning method for an intelligent pet companion robot. Background Technology

[0002] Pets are close companions in human life, adding vitality and providing companionship. With the continuous development of society and the increasing demand for human companionship, the number of pet-owning families is increasing day by day. In home life, pets can provide companionship at any time. However, when humans go out, it is inconvenient to take pets with them, resulting in pets being left alone at home. On the one hand, due to the lack of human companionship, pets will feel lonely, affecting their physical and mental health. On the other hand, without human companionship, pets' behavior of seeking entertainment on their own may also pose a risk of damaging furniture. Based on these factors, pet companion robots are gradually being used.

[0003] Pet companion robots are innovative products that combine artificial intelligence, voice understanding, and visual recognition technologies. They are designed to provide pets with interactive companionship and alleviate their separation anxiety, while also helping owners remotely monitor and manage their pets' lives. Existing pet companion robots typically have mobility capabilities; however, due to varying indoor environments, it is not possible to directly set the movement path of the pet companion robot. Therefore, this application provides a path planning method for intelligent pet companion robots, enabling the pet companion robot to generate a suitable running path based on the actual indoor environment. Summary of the Invention

[0004] In order to enable pet companion robots to generate suitable operating paths based on the actual indoor environment, this application provides a path planning method for intelligent pet companion robots.

[0005] The path planning method for an intelligent pet companion robot provided in this application adopts the following technical solution: A path planning method for an intelligent pet companion robot, the pet companion robot comprising a main control module, walking wheels, a camera module, a distance detection module, a height detection module, an obstacle detection module, a collision detection module, and a light source detection module. The method includes the following steps: S1: Running space drawing: The walking wheels drive the pet companion robot to walk indoors, acquire indoor environmental information, and generate an indoor layout distribution map based on the indoor environmental information; S2: Operation path generation: Based on the indoor layout distribution map, the operating range of the pet companion robot is selected, and a regular movement path is generated; S3: Actual test of the running path. The main control module controls the walking wheels to drive the pet companion robot to move along the conventional moving path for testing. Based on the test results, the conventional moving path is adjusted. This step is repeated multiple times until the conventional moving path is adjusted. S4: Setting operating parameters: Based on the test results, adjust the operating time, moving speed, and other parameters of the pet companion robot.

[0006] Preferably, step S1: running space drawing includes: S11: In the initial state, the pet companion robot is placed at the indoor entrance. The distance detection module is set on the side wall of the pet companion robot. The main control module drives the walking wheels to adjust the pet companion robot so that the distance between the side wall of the pet companion robot and the indoor wall is kept at a preset value. The walking wheels run, driving the pet companion robot to run along the wall. During the operation, the preset value between the pet companion robot and the wall is maintained, and the indoor frame is drawn. S12: During the drawing process of the indoor frame, the camera module set at the front end of the pet companion robot captures and identifies the indoor furniture, and records the identified furniture information into the indoor frame. S13: During the process of entering the furniture information, the height of the bottom of the furniture from the ground is detected based on the height detection module. Based on the above-mentioned indoor frame, furniture information and height detection results, a three-dimensional indoor layout distribution map is generated.

[0007] Preferably, step S2: generating the running path includes: S21: Based on the pet's activity range indoors, the operating range of the pet companion robot is divided, and the operating space of the pet companion robot is generated by combining the indoor layout distribution map corresponding to the operating range. S22: Based on the furniture information and related height information in the operating space, combined with the height parameters of the pet companion robot, distinguish between furniture that the pet companion robot can pass through and furniture that cannot pass through, exclude the range of furniture that cannot pass through from the operating space, and generate a detour path through the furniture. S23: Based on the operating space and detour path, generate the regular movement path of the pet companion robot; based on the pet's daily habits, mark the specific location information within the regular movement path, and repeatedly record the specific location information so that the pet companion robot can reach the specific location information multiple times while walking along the regular movement path.

[0008] Preferably, step S2: generating the running path further includes: S24: Mark special behavior points in the regular movement path. The special behavior points include, but are not limited to, feeding points, resting points, and excretion points, so that the pet companion robot can control the start and stop of the walking wheels based on whether the pet is performing special behaviors during operation.

[0009] Preferably, step S2: generating the running path further includes: S25: Mark the indoor entrance. The camera module detects the status of the indoor entrance in real time. If a pet is detected to have stayed at the indoor entrance for more than a preset time, the pet companion robot will be activated to move along the running path. Otherwise, it will not be activated.

[0010] Preferably, the conventional movement path includes a daytime route and a nighttime route. The main control module selects the corresponding route for operation based on the detection results of the light source detection module. The operating range of the nighttime route is smaller than that of the daytime route.

[0011] Preferably, step S3: actual measurement of the running path includes: S31: Obstacle avoidance detection. During the operation of the pet companion robot along the normal movement path, the obstacle detection module detects newly added obstacles on the normal movement path and makes temporary path adjustments based on the size of the newly added obstacles. S32: Collision avoidance detection. During the operation of the pet companion robot along the normal movement path, the collision detection module detects moving objects on the normal movement path. If the moving object interferes with the pet companion robot's continued operation along the normal movement path, the movement of the pet companion robot is paused; otherwise, it is not paused.

[0012] Preferably, step S3: actual measurement of the running path further includes: S33: Calculate the usage frequency of the temporary path adjustment within the current operating cycle. If the usage frequency exceeds a preset correction threshold, add the temporary path adjustment content to the regular movement path of all subsequent operating cycles until the usage frequency of the temporary path adjustment is lower than the correction threshold.

[0013] In summary, this application includes at least one of the following beneficial technical effects: 1. This application can flexibly generate and adjust the running path of the pet companion robot based on the actual indoor layout, thereby improving the stability and applicability of the pet companion robot's operation; 2. The method of this application can flexibly adjust the regular movement path according to the pet's habits, so that the pet companion robot can better fit the pet's daily habits and play a better companion role. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the pet companion robot according to an embodiment of this application.

[0015] Figure 2 This is a flowchart of a path planning method for an intelligent pet companion robot according to an embodiment of this application.

[0016] Explanation of reference numerals in the attached diagram: 1. Main control module; 2. Walking wheel; 3. Camera module; 4. Distance detection module; 5. Height detection module; 6. Obstacle detection module; 7. Collision detection module; 8. Light source detection module. Detailed Implementation

[0017] The following is in conjunction with the appendix Figure 1-2 This application will be described in further detail.

[0018] This application discloses a path planning method for an intelligent pet companion robot. (Refer to...) Figure 1 The pet companion robot includes a main control module, walking wheels, a camera module, a distance detection module, a height detection module, an obstacle detection module, a collision detection module, and a light source detection module. The walking wheels, camera module, distance detection module, height detection module, obstacle detection module, collision detection module, and light source detection module are all communicatively connected to the main control module. In this embodiment, the main control module uses a PLC controller, the camera module uses a camera, the distance detection module uses a distance sensor, the height detection module uses a height sensor, the obstacle detection module uses an obstacle sensor, the collision detection module uses a collision sensor, and the light source detection module uses a light source sensor.

[0019] Reference Figure 1 The path planning method includes the following steps: S1: Draw the operating space. The walking wheels propel the pet companion robot to walk indoors, acquire indoor environmental information, and generate an indoor layout distribution map based on the indoor environmental information.

[0020] Specifically, step S1: Run-space drawing includes the following steps: S11: In the initial state, the pet companion robot is placed at the indoor entrance. The distance detection module is set on the side wall of the pet companion robot. The main control module drives the walking wheels to adjust the pet companion robot so that the distance between the side wall of the pet companion robot and the indoor wall is kept at the preset value. The walking wheels run, driving the pet companion robot to run along the wall. During the operation, the preset value between the pet companion robot and the wall is maintained, and the indoor frame is drawn.

[0021] In the actual implementation process, the preset value is 5cm, so that the pet companion robot always runs along the wall at a distance of 5cm from the wall, thereby drawing the approximate spatial situation of the room.

[0022] S12: During the drawing process of the indoor frame, the camera module set at the front of the pet companion robot takes pictures and identifies the indoor furniture, and records the identified furniture information into the indoor frame.

[0023] In the specific implementation process, furniture information includes, but is not limited to, furniture type, furniture placement location, furniture size, etc.

[0024] S13: During the furniture information entry process, the height detection module is used to detect the height of the bottom of the furniture from the ground. Based on the above-mentioned indoor frame, furniture information and height detection results, a three-dimensional indoor layout distribution map is generated.

[0025] S2: Operation path generation. Based on the indoor layout distribution map, the operating range of the pet companion robot is selected, and a regular movement path is generated.

[0026] Specifically, step S2: generating the running path includes the following steps: S21: Based on the pet's activity range indoors, divide the operating area of ​​the pet companion robot, and generate the operating space of the pet companion robot by combining the indoor layout distribution map corresponding to the operating area.

[0027] In practice, the division of the operating space is done manually by the pet owner, who selects the area where the pet is allowed to move around. Based on the selected area, the operating space is generated, which is the space where the pet companion robot can operate.

[0028] S22: Based on the furniture information and related height information in the operating space, combined with the height parameters of the pet companion robot, distinguish between furniture that the pet companion robot can pass through and furniture that cannot pass through, exclude the range of furniture that cannot pass through from the operating space, and generate a detour path through the furniture.

[0029] In practice, if the pet companion robot cannot enter spaces such as under sofas and beds, a detour path will be generated when it encounters such furniture to prevent the pet companion robot from getting stuck in these furniture areas.

[0030] S23: Based on the operating space and detour path, generate the regular movement path of the pet companion robot; based on the pet's daily habits, mark the specific location information within the regular movement path, and repeatedly record the specific location information so that the pet companion robot can reach the specific location information multiple times while walking along the regular movement path.

[0031] In practice, based on the pet's frequented places and preferences, the pet companion robot can guide the pet's activities, thereby effectively enhancing the pet's companionship value.

[0032] S24: Mark special behavior points in the normal movement path. Special behavior points include, but are not limited to, feeding points, resting points, and excretion points, so that the pet companion robot can control the start and stop of the walking wheels based on whether the pet is performing special behaviors during operation.

[0033] S25: Mark the indoor entrance. The camera module detects the status of the indoor entrance in real time. If a pet is detected to stay at the indoor entrance for more than a preset time, the pet companion robot will be activated to move along the running path. Otherwise, it will not be activated.

[0034] In practice, the preset duration is set to 5 minutes. If this time is exceeded, the pet may be waiting for its owner to come home, and the pet may feel bored and lonely. In this case, the pet companion robot can be started outside the set running time to accompany the pet.

[0035] Specifically, the regular movement paths include daytime routes and nighttime routes. The main control module selects the appropriate route based on the detection results of the light source detection module. The operating range of the nighttime route is smaller than that of the daytime route. Therefore, the appropriate route can be selected according to day and night to prevent the pet companion robot from running at night, which may excite the pet and disturb the owner's rest.

[0036] S3: Actual test of the running path. The main control module controls the walking wheels to drive the pet companion robot to move along the normal moving path for testing. Based on the test results, the normal moving path is adjusted. This step is repeated multiple times until the normal moving path is adjusted.

[0037] Specifically, step S3: Actual test of the running path includes the following steps: S31: Obstacle avoidance detection. During the operation of the pet companion robot along the normal movement path, the obstacle detection module detects newly added obstacles on the normal movement path and makes temporary path adjustments based on the size of the newly added obstacles.

[0038] S32: Collision avoidance detection. During the operation of the pet companion robot along the normal movement path, the collision detection module detects moving objects on the normal movement path. If the moving object interferes with the pet companion robot's continued operation along the normal movement path, the movement of the pet companion robot is paused; otherwise, it is not paused.

[0039] In practice, the moving object may be a human or a pet. If the pet companion robot continues to operate, it may collide with the human or pet, causing injury. The collision detection module can stop the pet companion robot before a collision occurs, thereby improving safety.

[0040] S33: Calculate the frequency of use of temporary path adjustments within the current operating cycle. If the frequency of use exceeds the preset correction threshold, add the temporary path adjustment content to the regular movement path of all subsequent operating cycles until the frequency of use of temporary path adjustments is lower than the correction threshold.

[0041] In the actual implementation process, the newly added obstacles may be temporary or newly added furniture. Based on the actual test results, the regular movement path can be flexibly and in real time adjusted, so that the operation of the pet companion robot can be smoother and the path planning can be continuously updated, so that the operation of the pet companion robot can be more in line with the actual situation.

[0042] S4: Setting operating parameters. Based on the test results, adjust parameters such as the running time and movement speed of the pet companion robot.

[0043] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A path planning method for an intelligent pet companion robot, the pet companion robot comprising a main control module, walking wheels, a camera module, a distance detection module, a height detection module, an obstacle detection module, a collision detection module, and a light source detection module, characterized in that: The method includes the following steps: S1: Running space drawing: The walking wheels drive the pet companion robot to walk indoors, acquire indoor environmental information, and generate an indoor layout distribution map based on the indoor environmental information; S2: Operation path generation: Based on the indoor layout distribution map, the operating range of the pet companion robot is selected, and a regular movement path is generated; S3: Actual test of the running path. The main control module controls the walking wheels to drive the pet companion robot to move along the conventional moving path for testing. Based on the test results, the conventional moving path is adjusted. This step is repeated multiple times until the conventional moving path is adjusted. S4: Setting operating parameters: Based on the test results, adjust the operating time, moving speed, and other parameters of the pet companion robot.

2. The path planning method for an intelligent pet companion robot according to claim 1, characterized in that: Step S1: Drawing the runtime space includes: S11: In the initial state, the pet companion robot is placed at the indoor entrance. The distance detection module is set on the side wall of the pet companion robot. The main control module drives the walking wheels to adjust the pet companion robot so that the distance between the side wall of the pet companion robot and the indoor wall is kept at a preset value. The walking wheels run, driving the pet companion robot to run along the wall. During the operation, the preset value between the pet companion robot and the wall is maintained, and the indoor frame is drawn. S12: During the drawing process of the indoor frame, the camera module set at the front end of the pet companion robot captures and identifies the indoor furniture, and records the identified furniture information into the indoor frame. S13: During the process of entering the furniture information, the height of the bottom of the furniture from the ground is detected based on the height detection module. Based on the above-mentioned indoor frame, furniture information and height detection results, a three-dimensional indoor layout distribution map is generated.

3. The path planning method for an intelligent pet companion robot according to claim 2, characterized in that: Step S2: Running path generation includes: S21: Based on the pet's activity range indoors, the operating range of the pet companion robot is divided, and the operating space of the pet companion robot is generated by combining the indoor layout distribution map corresponding to the operating range. S22: Based on the furniture information and related height information in the operating space, combined with the height parameters of the pet companion robot, distinguish between furniture that the pet companion robot can pass through and furniture that cannot pass through, exclude the range of furniture that cannot pass through from the operating space, and generate a detour path through the furniture. S23: Based on the operating space and detour path, generate the regular movement path of the pet companion robot; based on the pet's daily habits, mark the specific location information within the regular movement path, and repeatedly record the specific location information so that the pet companion robot can reach the specific location information multiple times while walking along the regular movement path.

4. The path planning method for an intelligent pet companion robot according to claim 3, characterized in that: Step S2: Running path generation also includes: S24: Mark special behavior points in the regular movement path. The special behavior points include, but are not limited to, feeding points, resting points, and excretion points, so that the pet companion robot can control the start and stop of the walking wheels based on whether the pet is performing special behaviors during operation.

5. The path planning method for an intelligent pet companion robot according to claim 4, characterized in that: Step S2: Running path generation also includes: S25: Mark the indoor entrance. The camera module detects the status of the indoor entrance in real time. If a pet is detected to have stayed at the indoor entrance for more than a preset time, the pet companion robot will be activated to move along the running path. Otherwise, it will not be activated.

6. The path planning method for an intelligent pet companion robot according to claim 3, characterized in that: The conventional movement path includes daytime routes and nighttime routes. The main control module selects the corresponding route to run based on the detection results of the light source detection module. The operating range of the nighttime route is smaller than that of the daytime route.

7. The path planning method for an intelligent pet companion robot according to claim 1, characterized in that: Step S3: Actual measurement of the running path includes: S31: Obstacle avoidance detection. During the operation of the pet companion robot along the normal movement path, the obstacle detection module detects newly added obstacles on the normal movement path and makes temporary path adjustments based on the size of the newly added obstacles. S32: Collision avoidance detection. During the operation of the pet companion robot along the normal movement path, the collision detection module detects moving objects on the normal movement path. If the moving object interferes with the pet companion robot's continued operation along the normal movement path, the movement of the pet companion robot is paused; otherwise, it is not paused.

8. The path planning method for an intelligent pet companion robot according to claim 7, characterized in that: Step S3: Actual measurement of the running path also includes: S33: Calculate the usage frequency of the temporary path adjustment within the current operating cycle. If the usage frequency exceeds a preset correction threshold, add the temporary path adjustment content to the regular movement path of all subsequent operating cycles until the usage frequency of the temporary path adjustment is lower than the correction threshold.

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