A pet walking control method and device, and an automated pet walking apparatus

Abstract

This invention discloses a pet walking control method, device, and automated pet walking equipment, relating to the field of pet walking technology. The pet walking control method includes: locking a target pet connected to the automated pet walking equipment and acquiring the target pet's movement data and / or physiological data in real time; controlling the automated pet walking equipment to move automatically, and adjusting the walking data of the automated pet walking equipment during the movement process based on the target pet's movement data and / or physiological data. This embodiment can automatically guide pet walking, meeting the pet's required amount of activity and activity time.

Description

Technical Field

[0001] This invention relates to the field of pet walking technology, and in particular to a pet walking control method, device, and automated pet walking equipment. Background Technology

[0002] With the increasing number of families keeping pets, pets have gradually become important members of people's families. Most pets need sufficient exercise and time, especially some dogs, which require a lot of exercise every day. However, due to work or life reasons, people are sometimes unable to take their pets out for exercise, and even if they can, they cannot meet the pets' needs for exercise and time. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a pet walking control method, device, and automated pet walking equipment, which can automatically guide pets to walk and meet the pets' required amount of activity and activity time.

[0004] To achieve the above objectives, according to one aspect of the present invention, a pet walking control method is provided, comprising: The system locks onto the target pet connected to the aforementioned automated pet walking device and acquires the target pet's movement data and / or physiological data in real time. The automated pet walking device is controlled to drive automatically, and the driving data of the automated pet walking device is adjusted based on the movement data and / or physiological data of the target pet during the driving process.

[0005] Optionally, locking the target pet connected to the automated pet walking device includes: Obtain the physical characteristics data of the target pet, and locate the target pet based on the physical characteristics data; or, The image of the target pet is obtained, the target pet is identified using image processing technology, and the target pet is locked.

[0006] Optionally, the aforementioned automated pet walking device is connected to the target pet via a stretchable flexible strip; wherein, The end of the aforementioned stretchable flexible strip connected to the aforementioned automated pet walking device is equipped with a buckle that can withstand a maximum tensile force greater than a preset tensile force threshold. The maximum extension length of the aforementioned stretchable flexible strip is less than a preset length threshold.

[0007] Optionally, the above-mentioned real-time acquisition of the target pet's movement data includes: The movement data of the target pet is acquired by radar sensors and image sensors configured in the aforementioned automated pet walking equipment; And / or, The aforementioned physiological data includes heart rate; real-time acquisition of the target pet's physiological data includes: The heart rate of the target pet is collected by a heart rate monitoring sensor configured on the target pet.

[0008] Optionally, controlling the automated pet walking device to move automatically includes: Control the above-mentioned automated pet walking equipment to drive automatically at a preset speed; And / or, The automated pet walking device is controlled to automatically travel along a preset route.

[0009] Optionally, the aforementioned motion data includes the pet's speed, direction of travel, and the distance between the target pet and the automated pet walking device. Based on the aforementioned movement data of the target pet, the driving data of the automated pet walking device is adjusted, including: The difference between the speed of the pet and the speed of the automated pet walking device is controlled by a fixed parameter; And / or, If the distance between the target pet and the automated pet walking device is greater than a preset distance threshold, the forward direction of the automated pet walking device is adjusted to be consistent with the forward direction of the target pet, and the distance between the target pet and the automated pet walking device is reduced to less than or equal to the preset distance threshold.

[0010] Optionally, the aforementioned motion data includes acceleration, and the angle between the direction of travel of the target pet and the direction of travel of the automated pet walking device. Based on the aforementioned movement data of the target pet, the driving data of the automated pet walking device is adjusted, including: When the acceleration of the target pet is greater than or equal to the acceleration threshold and the included angle is not within the preset angle range, the distance between the target pet and the automated pet walking device is gradually reduced.

[0011] Optionally, the driving data of the automated pet walking device can be adjusted based on the aforementioned physiological data of the target pet, including: In response to the detection that the aforementioned physiological data exceeds a preset physiological data threshold, the automated pet walking device is controlled to slow down until it stops.

[0012] To achieve the above objectives, according to another aspect of the present invention, a pet walking control device is provided, configured in an automated pet walking device, comprising: The acquisition module is used to lock the target pet connected to the above-mentioned automated pet walking device and acquire the target pet's movement data and / or physiological data in real time. The control module is used to control the automated pet walking device to drive automatically, and adjusts the driving data of the automated pet walking device based on the movement data and / or physiological data of the target pet during the driving process.

[0013] To achieve the above objectives, according to another aspect of the present invention, an automated pet walking device is provided.

[0014] An automated pet walking device according to an embodiment of the present invention includes: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement a pet walking control method according to an embodiment of the present invention.

[0015] To achieve the above objectives, according to another aspect of the present invention, a computer-readable storage medium is provided.

[0016] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a pet walking control method according to an embodiment of the present invention.

[0017] One embodiment of the above invention has the following advantages or beneficial effects: by locking the target pet connected to the automated pet walking device and acquiring the target pet's movement data and / or physiological data in real time; controlling the automated pet walking device to drive automatically, the device can lock the target pet and guide it to walk when the user is unable to lead the pet, meeting the pet's required amount of activity and time. During automatic driving, the device's driving data is adjusted according to the target pet's movement data and / or physiological data, allowing the automated pet walking device to adaptively adjust and adapt to the target pet's walking habits, while controlling the target pet's movement to avoid affecting others or other objects.

[0018] The further effects of the aforementioned unconventional alternative methods will be explained below in conjunction with specific implementation methods. Attached Figure Description

[0019] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein: Figure 1This is a flowchart illustrating a pet walking control method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a first possible structure of an automated pet walking device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a second possible structure of an automated pet walking device according to an embodiment of the present invention; Figure 4 This is a schematic diagram showing the latch of the automated pet walking device according to an embodiment of the present invention located in front of it; Figure 5 This is a schematic diagram of the main modules of a pet walking control device according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a computer system suitable for implementing the pet walking control method or pet walking control device of the present invention. Detailed Implementation

[0020] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0021] It should be noted that, unless otherwise specified, the embodiments of the present invention and the technical features thereof can be combined with each other.

[0022] Figure 1 This is a schematic diagram illustrating the main steps of a pet walking control method according to an embodiment of the present invention. Figure 1 As shown, the pet walking control method of this invention mainly includes the following steps S101 to S102: Step S101: Lock the target pet connected to the above-mentioned automated pet walking device, and acquire the target pet's movement data and / or physiological data in real time. Automated pet walking devices can include, but are not limited to, robots, smart cars, or vehicles equipped with intelligent driving systems that can move according to remote user commands or move autonomously. For example, see [reference needed]. Figure 2 , Figure 2 A smart car that can be used as an automated pet walking device is shown; Reference Figure 3 , Figure 3 A car that can be used as an automated pet walking device is shown.

[0023] Pre-connect the automated pet walking device to the target pet (such as a dog or horse). The connection method should be a flexible pull connection, such as a webbing connection, wire rope connection, elastic rope connection, or hemp rope connection. A flexible pull connection allows the target pet to move freely within the connected area, avoiding excessive restriction of its movement.

[0024] The system uses various sensors pre-configured in automated pet walking equipment to lock onto the target pet, such as by using radar sensors and / or image acquisition devices to lock onto the target pet in real time, preventing the target pet from going out of control, and acquiring at least one of its movement data and physiological data in real time.

[0025] Preferably, the image acquisition device is a panoramic camera device to avoid the target pet going out of the image acquisition range of the image acquisition device during the locking process, which would require re-identification and locking of the target pet.

[0026] By acquiring at least one of the target pet's movement data and physiological data in real time, the target pet's movement status and physiological status can be determined, so as to better control the walking behavior.

[0027] The target pet's movement data may include one or more of the following: pet speed, direction of travel, distance between the target pet and the automated pet walking device, acceleration, and the angle between the target pet's direction of travel and the automated pet walking device's direction of travel. This movement data can be acquired using radar sensors and image acquisition devices configured in the automated pet walking device.

[0028] The target pet's physiological data may include heart rate, respiratory rate, body temperature, etc. This physiological data can be acquired through physiological monitoring sensors. For example, the target pet's heart rate can be collected using a heart rate monitoring sensor configured on the target pet.

[0029] The target pet can be a pet dog, pet cat, pet fox, or pet horse, etc., without specific restrictions.

[0030] Step S102: Control the automated pet walking device to drive automatically. During the driving process, adjust the driving data of the automated pet walking device based on the movement data and / or physiological data of the target pet.

[0031] The aforementioned automated pet walking equipment can have automatic driving function or remote operation function. It can drive automatically according to preset driving rules, be equipped with an intelligent driving system and drive automatically under the control of the intelligent driving system, or drive automatically according to the user's remote operation command, so as to automatically walk the target pet.

[0032] Because pets' movements are highly variable, in order to keep them within a controllable range, the driving data can be adjusted during automatic driving based on the target pet's real-time movement and physiological data.

[0033] When using automated pet walking equipment, users need to determine the driving environment of the automated pet walking equipment in advance, and ensure that the automated pet walking equipment is in an open space, a non-public road or other driving environment, so as to reduce the impact of the pet walking process on other people or objects.

[0034] In one alternative embodiment, locking the target pet connected to the automated pet walking device can include the following two methods: The first method Obtain the physical characteristics data of the target pet, and locate the target pet based on the physical characteristics data. The physical characteristics data of the target pet can be input by the user.

[0035] Body shape data can include any one or more of height, color, and pattern.

[0036] After acquiring the target pet's physical characteristics data, radar sensors can be used to determine the height, size, and movement data of each object around the automated pet walking device. Image acquisition devices can also be used to acquire the color, pattern, and other characteristics of each object around the device. Using the multi-source data collected by the radar sensors and image acquisition devices, a list containing each object and its multi-source data is generated. The target pet's physical characteristics data are then matched one by one with the multi-source data in the list. The object corresponding to the most consistent match is identified as the target pet, and the target pet is continuously locked onto.

[0037] The second method

[0038] The system acquires images of the target pets, uses image processing technology to identify them, and then locks onto the target pets. The images of the target pets can be input by the user or obtained from historical walk video data.

[0039] Historical pet walking video data refers to video data captured by the image acquisition device of automated pet walking equipment during historical periods, including images of the target pet locked during those walks. If the target pet locked during a historical walk matches the target pet to be locked currently, the image of the target pet can be directly obtained from the historical pet walking video data.

[0040] By acquiring images of the target pet, image processing techniques are used to extract the pet's features. These features are then compared with the features of each object in video data acquired by the image acquisition device surrounding the automated pet walking equipment. The object with the highest similarity is identified as the target pet for this walk, and the target pet is continuously locked onto. Optionally, cosine similarity can be used to calculate the similarity.

[0041] To improve the accuracy of target pet identification, both methods can be used simultaneously, and the identification results from both methods can be combined to determine the target pet. Specifically, if the objects identified by the two methods are the same, they can be identified as the target pet; if the objects identified by the two methods are different, the matching degree of the first method and the similarity of the second method are compared, and the object identified by the method with the higher value is identified as the target pet.

[0042] It should be noted that, in addition to the two methods mentioned above, other methods can also be used to identify and locate the target pet. For example, an object connected to an automated pet walking device can be identified in video data captured by an image acquisition device and used as the target pet.

[0043] In one alternative embodiment, the automated pet walking device is connected to the target pet via a stretchable flexible strip.

[0044] The stretchable flexible strap's stretchability can be achieved either through the strap's inherent properties or through an adjustable length component connected to it, allowing the target pet some room to move. When stretchability is achieved through the strap's inherent properties, it can be an elastic cord, such as a tension rope or a stretch cord. When stretchability is achieved through an adjustable length component, the component can be positioned at the end of the stretchable flexible strap closest to the automated pet walking device.

[0045] One end of the stretchable flexible strip is connected to the automated pet walking device, and the other end is connected to the target pet.

[0046] The end of the aforementioned stretchable flexible strap connected to the automated pet walking device is equipped with a buckle that can withstand a maximum tensile force greater than a preset tensile force threshold. This prevents the target pet from suddenly lunging or experiencing excessive pulling force in a direction away from the automated pet walking device, which could cause the buckle to loosen and the target pet to detach from the device. Similarly, the flexible strap's maximum tensile force is greater than a preset tensile force threshold to prevent the flexible strap from breaking during pet walking, thus preventing the target pet from escaping the control of the automated pet walking device. The aforementioned buckle is fixedly connected to the automated pet walking device to prevent detachment.

[0047] Optionally, without affecting the automatic movement of the automated pet walking device, the aforementioned latch can be set at any position on the automated pet walking device.

[0048] The end of the aforementioned stretchable flexible strap connected to the target pet can be equipped with a pet harness that matches the target pet's body shape. The target pet wears the pet harness to connect the stretchable flexible strap to the pet. The pet harness can also distribute the traction force of the stretchable flexible strap, improving the target pet's comfort.

[0049] The maximum extension length of the aforementioned stretchable flexible strap is less than a preset length threshold to prevent the target pet from having an excessive range of movement, which could affect other people or objects. When the extension length is less than the preset length threshold, the extension length of the flexible strap is positively correlated with the pulling force of the target pet in the direction away from the automated pet walking device.

[0050] In one optional embodiment, controlling the automated pet walking device to drive automatically may include: controlling the automated pet walking device to drive automatically according to pre-set automatic walking rules, remote operation commands from the user, or driving decisions from an intelligent driving system.

[0051] Optionally, the above-mentioned automatic walking rules may include speed rules, route rules, distance rules, etc. As an example, the above-mentioned automatic walking rules may include: Speed ​​Rule 1: Control the aforementioned automated pet walking device to move automatically at a preset speed. The preset speed can be determined based on the stored historical movement data of the target pet during walks; for example, the average speed of historical pets in the historical movement data can be set as the preset speed.

[0052] Speed ​​Rule Two: A fixed parameter is preset to control the difference between the pet's speed and the speed of the automated pet walking device, so that the speed of the automated pet walking device can be adjusted in real time according to the pet's speed. It can be understood that the difference between the pet's speed and the walking speed refers to the difference between the pet's speed and the walking speed.

[0053] In this case, a speed threshold needs to be set to ensure that the speed of the automated pet walking device is less than or equal to the speed threshold, so as to avoid the target pet from suddenly rushing or the pet moving too fast.

[0054] As an example, a fixed parameter of 1 km / h is set, and the driving speed is adjusted according to the real-time speed of the pet. When the pet speed is 20 km / h, the driving speed of the automated pet walking device is adjusted to 19 km / h.

[0055] Route rules: Set a preset driving route through the navigation map, and control the above-mentioned automated pet walking equipment to drive automatically according to the preset driving route.

[0056] Distance Rule 1: If the distance between the target pet and the automated pet walking device is greater than a preset distance threshold, the forward direction of the automated pet walking device will be adjusted to be consistent with the forward direction of the target pet, and the distance between the target pet and the automated pet walking device will be reduced to less than or equal to the preset distance threshold.

[0057] To reduce the distance between the target pet and the automated pet walking device, one can increase the speed of the automated pet walking device or reduce the extension length of the stretchable flexible strip.

[0058] Whether the direction of travel of the automated pet walking device matches the direction of travel of the target pet can be determined by the angle between them. A pre-set range of angles indicating whether the directions of travel are aligned is established. If the angle is outside this range, the directions are considered misaligned, and the automated pet walking device needs to be adjusted until the angle falls within the indicated range. For example, the indicated angle range could be 0° to 15°.

[0059] Distance Rule 2: When the acceleration of the target pet is greater than or equal to the acceleration threshold and the included angle is not within the preset angle range, the distance between the target pet and the automated pet walking device is gradually reduced.

[0060] The preset angle range is related to the position of the latch on the automated pet walking device. For example, as Figure 4 As shown, when the buckle is set in front of the automated pet walking device 401, the angle between the forward direction of the automated pet walking device 401 and the forward direction of the target pet 402 is θ, and the preset angle range can be set to 0~45°; when the buckle is set on the left or right side of the automated pet walking device, the preset angle range can be set to 5°~110°.

[0061] In addition, the speed rule 1, speed rule 2, route rule and automatic gliding rule mentioned above may include other rules, which are not specifically limited here.

[0062] It should be noted that in cases of conflicting rules, they cannot be executed simultaneously. Specifically, if the driving speeds of Speed ​​Rule 1 and Speed ​​Rule 2 conflict, the automated pet walking device cannot be controlled to automatically drive according to both Speed ​​Rule 1 and Speed ​​Rule 2 at the same time; it can only automatically drive according to either Speed ​​Rule 1 or Speed ​​Rule 2. Similarly, if the direction of the route rule and Distance Rule 1 conflicts, the automated pet walking device cannot be controlled to automatically drive according to both route rule and Distance Rule 1 at the same time. However, Distance Rule 1 and Distance Rule 2 do not conflict, and the automated pet walking device can be controlled to execute them simultaneously.

[0063] In the event of rule conflicts, different priorities can be set for different rules to determine the rule to be used, either based on priority or user instructions. For example, if the priority of the route rule is set to high and the priority of distance rule one is set to low, the automated pet walking device will be controlled to travel in the direction of the preset route indicated by the route rule.

[0064] In one optional embodiment, adjusting the driving data of the automated pet walking device based on the physiological data of the target pet may include: in response to recognizing that the physiological data is greater than a preset physiological data threshold, controlling the automated pet walking device to decelerate until it stops.

[0065] At the same time, it can also generate prompts to reduce the training intensity of the target pet or indicate any abnormalities in the target pet's physical condition, and send them to the user terminal that is bound to the automated pet walking device so that the user can take timely action.

[0066] By monitoring the target pet's physiological data in real time and adjusting the speed of the automated pet walking device based on the physiological data, any physical abnormalities that occur during the pet's walk can be detected in a timely manner.

[0067] Optionally, the conditions for determining whether to stop the automated pet walking device may also include: whether the automated pet walking device has reached the preset walking time, whether the driving distance has reached the preset driving distance, and whether the preset driving route has been completed.

[0068] In one optional embodiment, the target pet's movement data and / or physiological data, the driving data of the automated pet walking device, and the target pet's video data are stored during the pet walking process. This allows for tracing the source of any abnormalities in the target pet using the aforementioned data, and also enables the adjustment of the automated walking rules based on the data to better suit the target pet's walking habits.

[0069] According to an embodiment of the present invention, a pet walking control method applied to an automated pet walking device locks onto a target pet connected to the automated pet walking device and acquires the target pet's movement data and / or physiological data in real time. The automated pet walking device is then controlled to move automatically. This allows the device to lock onto the target pet and guide it during walks when the user is unable to lead the pet, meeting the pet's required activity level and duration. During automatic movement, the device's movement data is adjusted based on the target pet's movement data and / or physiological data, enabling the automated pet walking device to adaptively adjust to and match the target pet's walking habits while controlling the target pet's movement to avoid impacting others or other objects.

[0070] The pet walking control method of this invention is particularly suitable for pets that require a large amount of activity and have a long activity time.

[0071] Figure 5 This is a schematic diagram of the main modules of a pet walking control device according to an embodiment of the present invention. Figure 5 As shown, the pet walking control device 500 configured in the automated pet walking device according to an embodiment of the present invention includes: an acquisition module 501, used to lock the target pet connected to the automated pet walking device and acquire the target pet's movement data and / or physiological data in real time; and a control module 502, used to control the automated pet walking device to drive automatically, and adjust the driving data of the automated pet walking device during the driving process based on the target pet's movement data and / or physiological data.

[0072] In an optional embodiment of the present invention, the acquisition module 501 is further configured to acquire the body feature data of the target pet, and lock the target pet based on the body feature data; or, acquire an image of the target pet, identify the target pet through image processing technology, and lock the target pet.

[0073] In an optional embodiment of the present invention, the automated pet walking device and the target pet are connected by a stretchable flexible strip; wherein, one end of the stretchable flexible strip connected to the automated pet walking device is provided with a buckle that can withstand a maximum tensile force greater than a preset tensile force threshold; and the maximum extension length of the stretchable flexible strip is less than a preset length threshold.

[0074] In an optional embodiment of the present invention, the acquisition module 501 is further configured to acquire the movement data of the target pet through the radar sensor and image sensor configured in the automated pet walking device.

[0075] In an optional embodiment of the present invention, the aforementioned physiological data includes heart rate. The acquisition module 501 is further configured to acquire the heart rate of the target pet using a heart rate monitoring sensor configured on the target pet.

[0076] In an optional embodiment of the present invention, the control module 502 is further configured to control the automated pet walking device to drive automatically at a preset speed.

[0077] In an optional embodiment of the present invention, the control module 502 is further configured to control the automated pet walking device to automatically drive along a preset route.

[0078] In an optional embodiment of the present invention, the above-mentioned motion data includes the pet's speed, direction of travel, and distance between the target pet and the automated pet walking device.

[0079] The aforementioned control module 502 is further configured to control the difference between the speed of the pet and the speed of the automated pet walking device to be a fixed parameter; and / or, when the distance between the target pet and the automated pet walking device is greater than a preset distance threshold, adjust the forward direction of the automated pet walking device to be consistent with the forward direction of the target pet, and reduce the distance between the target pet and the automated pet walking device to be less than or equal to the preset distance threshold.

[0080] In an optional embodiment of the present invention, the motion data includes acceleration and the angle between the direction of travel of the target pet and the direction of travel of the automated pet walking device.

[0081] The control module 502 is further configured to gradually reduce the distance between the target pet and the automated pet walking device when the acceleration of the target pet is greater than or equal to the acceleration threshold and the included angle is not within the preset angle range.

[0082] In an optional embodiment of the present invention, the control module 502 is further configured to control the automated pet walking device to decelerate until it stops in response to the detection that the physiological data is greater than a preset physiological data threshold.

[0083] According to an embodiment of the present invention, a pet walking control device locks onto a target pet connected to an automated pet walking device and acquires the target pet's movement data and / or physiological data in real time. It controls the automated pet walking device to move automatically, allowing the device to lock onto the target pet and guide it during walks when the user is unable to lead the pet. This satisfies the pet's required amount of activity and time. During automatic movement, the device adjusts its movement data based on the target pet's movement data and / or physiological data, enabling it to adaptively adjust to the target pet's walking habits while controlling the pet's movement to avoid impacting others or other objects.

[0084] This invention also provides an automated pet walking device, including one or more processors and a storage device. The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the pet walking control method of this invention.

[0085] Optionally, such as Figure 2 or Figure 3 As shown, automated pet walking devices can be robots, smart cars, or cars with intelligent driving systems that move according to remote operation commands from users or move autonomously. This embodiment of the invention does not impose specific limitations on the external structure of automated pet walking devices.

[0086] As an example, such as Figure 2 As shown, the automated pet walking device may include an image acquisition device, a main body, and wheel hubs. A locking mechanism is fixedly installed on the main body, connecting to a flexible strap to allow the automated pet walking device to connect to the target pet. A storage platform may also be installed above the main body, surrounded by a fence. The platform can be used to place items used by the pet during the walk, such as a water bowl, and the fence helps to keep these items in place and prevent them from falling. The image acquisition device can rotate 360 ​​degrees.

[0087] The following is for reference. Figure 6 It shows a schematic diagram of a computer system suitable for implementing the pet walking control method or pet walking control device of the present invention. Figure 6 The computer system shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0088] like Figure 6As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 602 or programs loaded from storage section 608 into random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the computer system 600. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0089] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0090] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs the functions defined above in the system of this invention.

[0091] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0092] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0093] The modules described in the embodiments of the present invention can be implemented in software or hardware. The described modules can also be housed in a processor; for example, a processor can be described as including an acquisition module and a control module. The names of these modules do not necessarily limit the module itself; for example, the acquisition module can also be described as "a module that locks onto a target pet connected to the aforementioned automated pet walking device and acquires the target pet's movement data and / or physiological data in real time."

[0094] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs that, when executed by the device, cause the device to: lock a target pet connected to the automated pet walking device and acquire the target pet's movement data and / or physiological data in real time; control the automated pet walking device to drive automatically, and adjust the driving data of the automated pet walking device during driving based on the target pet's movement data and / or physiological data.

[0095] According to the technical solution of this invention, by locking the target pet connected to the automated pet walking device and acquiring the target pet's movement data and / or physiological data in real time, the automated pet walking device can be controlled to drive automatically. This allows the device to lock the target pet and guide it during walks when the user is unable to lead the pet, meeting the pet's required activity level and time. During automatic driving, the device's driving data is adjusted based on the target pet's movement data and / or physiological data, enabling the automated pet walking device to adaptively adjust to and match the target pet's walking habits while controlling the target pet's movement to avoid affecting others or other objects.

[0096] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A pet walking control method characterized by comprising: Applications in automated pet walking equipment include: The system locks onto the target pet connected to the automated pet walking device and acquires the target pet's movement data and / or physiological data in real time. The automated pet walking device is controlled to drive automatically, and the driving data of the automated pet walking device is adjusted according to the movement data and / or physiological data of the target pet during the driving process.

2. The pet walking control method according to claim 1, characterized by, The step of locking the target pet connected to the automated pet walking device includes: Obtain the physical characteristics data of the target pet, and locate the target pet based on the physical characteristics data; or, The system acquires an image of the target pet, identifies the target pet using image processing technology, and locks onto the target pet.

3. The pet walking control method according to claim 1, characterized by, The automated pet walking device is connected to the target pet via a stretchable flexible strip; wherein... The end of the stretchable flexible strip connected to the automated pet walking device is equipped with a buckle that can withstand a maximum tensile force greater than a preset tensile force threshold. The maximum extension length of the stretchable flexible strip is less than a preset length threshold.

4. The pet walking control method according to claim 1, characterized in that, The real-time acquisition of the target pet's movement data includes: The movement data of the target pet is acquired by radar sensors and image sensors configured in the automated pet walking device; And / or, The physiological data includes heart rate; Real-time acquisition of the target pet's physiological data, including: The heart rate of the target pet is collected by a heart rate monitoring sensor configured on the target pet.

5. The pet walking control method according to claim 1, characterized by, Controlling the automated pet walking device to drive automatically includes: The automated pet walking device is controlled to move automatically at a preset speed. And / or, The automated pet walking device is controlled to automatically travel along a preset route.

6. The pet walking control method according to claim 1, characterized by, The motion data includes the pet's speed, direction of travel, and the distance between the target pet and the automated pet walking device; Adjusting the driving data of the automated pet walking device based on the movement data of the target pet includes: The difference between the pet's speed and the speed of the automated pet walking device is a fixed parameter; And / or, If the distance between the target pet and the automated pet walking device is greater than a preset distance threshold, the forward direction of the automated pet walking device is adjusted to be consistent with the forward direction of the target pet, and the distance between the target pet and the automated pet walking device is reduced to less than or equal to the preset distance threshold.

7. The pet walking control method according to claim 1, characterized by, The motion data includes acceleration, and the angle between the direction of travel of the target pet and the direction of travel of the automated pet walking device; Adjusting the driving data of the automated pet walking device based on the movement data of the target pet includes: When the acceleration of the target pet is greater than or equal to the acceleration threshold and the included angle is not within the preset angle range, the distance between the target pet and the automated pet walking device is gradually reduced.

8. The pet walking control method according to any one of claims 1 to 7, characterized by, Adjusting the driving data of the automated pet walking device based on the physiological data of the target pet includes: In response to the detection that the physiological data is greater than a preset physiological data threshold, the automated pet walking device is controlled to slow down until it stops.

9. A pet walk control device, characterized by, Configured for automated pet walking devices, including: The acquisition module is used to lock the target pet connected to the automated pet walking device and acquire the target pet's movement data and / or physiological data in real time. The control module is used to control the automated pet walking device to drive automatically, and adjust the driving data of the automated pet walking device based on the movement data and / or physiological data of the target pet during the driving process.

10. An automated pet walking apparatus, characterized by, include: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-8.

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