TW202119169A - Intelligent cat teasing system and method thereof - Google Patents

Abstract

An intelligent cat teasing system is provided. After a mobile terminal transmits a starting signal to a mobile robot, the mobile robot moves toward a current position of a cat according to a current machine position signal corresponding to a current position of the mobile robot, a current cat position signal corresponding to the current position of the cat, and an image signal continuously generated by the mobile robot. When the mobile robot determines that a distance between the mobile robot and the cat is less than a predetermined distance and the cat looks at the mobile robot, a plurality of cat teasing units of the mobile robot are randomly accommodated in a housing of the mobile robot or protrude from the housing of the mobile robot. After the mobile terminal transmits a sound signal to the mobile robot, the mobile robot plays the sound signal. Therefore, it is available for the owner to interact with the cat by remote means.

Description

Intelligent cat funny system and method

The invention relates to an intelligent system and a method thereof, particularly an intelligent cat funny system and a method thereof.

Now that we have entered an aging society, most people choose to keep pets in order to add to the fun of life or to fill the sense of emptiness. According to research, keeping pets can make people feel happy. Therefore, the trend of keeping pets is becoming more and more popular. Among them, because cats do not require more care like dogs, they have become one of the most beloved pets.

In the process of raising pet cats, it is very important for the pet cat to develop the habit of playing, otherwise it will easily become fat if it does not move. However, modern people go out early and return at night. When they return home, they are sometimes exhausted and have no physical strength or enough time to interact with the pet cat. Therefore, there are some problems that the owner cannot make the pet cat develop and play because the owner sometimes can't make the effort to interact with the pet cat. For the problem of habit, it is necessary to propose improved technical means to solve this problem.

The present invention discloses an intelligent cat funny system and method thereof.

First of all, the present invention discloses a smart cat funny system for interacting with a pet cat, the pet cat is wearing a collar. The smart cat system includes: mobile robots and mobile terminals. The mobile terminals are wirelessly connected to the mobile robots. The mobile robots include: housing, transmission and reception modules, camera modules, mobile modules, positioning modules, control modules, and tracking Module, teasing module and sound module, camera module is connected to transmission and reception module, positioning module is connected to transmission and reception module, control module is connected to camera module, transmission and reception module, mobile module and positioning module, The tracking module is connected to the positioning module and the transmitting and receiving module, the teasing module is connected to the tracking module, the positioning module and the transmitting and receiving module, and the sound module is connected to the transmitting and receiving module.

The housing includes a plurality of storage slots; the transmission and reception module is used to receive the start signal and the sound signal and the current cat position signal from the collar is continuously received; the camera module is used to continuously photograph the housing after the transmission and reception module receives the start signal The surrounding environment is used to output image signals; the mobile module is used to move the mobile robot; the positioning module is used to continuously obtain the current machine position signal of the mobile robot after the transmission and reception module receives the start signal. The control module is used to control the mobile module according to the current machine position signal, the current cat position signal and the image signal continuously generated by the camera module, so that the mobile robot moves toward the position corresponding to the current cat position signal; the tracking module is used for When judging that the distance between the mobile robot and the pet cat is less than the preset distance based on the current machine position signal and the current cat position signal, it continuously tracks and shoots the pet cat image, and judges the pet cat’s gaze direction based on the pet cat image to output the gaze signal .

The teasing module includes a judging unit and a plurality of teasing stick units. The judging unit is connected to the teasing stick units. The teasing stick units are selectively stored in the receiving grooves or protruding from the housing. When the judging unit is based on watching When the signal judges that the pet cat is looking at the mobile robot, the cat stick units are randomly stored in the storage slots or protrude from the housing; the sound module is used to play the stored music signal after the transmission and reception module receives the activation signal, And after the transmitting and receiving module receives the sound signal, the sound signal is played. The mobile terminal is used for receiving and displaying the image signal continuously generated by the camera module and transmitting the start signal and the sound signal to the transmitting and receiving module.

In addition, the present invention discloses a smart cat making method for interacting with a pet cat. The pet cat is wearing a collar. The smart cat making method includes the following steps: providing a mobile robot and a mobile terminal, and the mobile terminal wirelessly connects the mobile robot to the mobile robot. Including: housing, transmission and reception module, camera module, mobile module, positioning module, control module, tracking module, tease module, and sound module. The camera module is connected to the transmission and reception module for positioning The module is connected to the transmitting and receiving module, the control module is connected to the camera module, the transmitting and receiving module, the mobile module and the positioning module, the tracking module is connected to the positioning module and the transmitting and receiving module, the teasing module is connected to the tracking module, The positioning module and the transmitting and receiving module, the sound module is connected to the transmitting and receiving module, the housing includes a plurality of storage slots, the teasing module includes a judging unit and a plurality of teasing stick units, and the judging unit is connected to the teasing stick units, The cat stick units are selectively received in the receiving slots or protrude from the housing; the mobile terminal transmits an activation signal to the transmission and reception module; the transmission and reception module receives the activation signal and continuously receives the current cat position signal from the collar; After the transmitter/receiver module receives the activation signal, the camera module continuously captures the surrounding environment of the housing to output image signals; the mobile terminal receives and displays the image signal continuously generated by the camera module; the transmitter/receiver module receives the activation signal After the signal, the positioning module continuously obtains the current machine position signal of the mobile robot; after the transmission and reception module receives the start signal, the sound module plays its stored music signal; the control module is based on the current machine position signal, current cat position signal and The image signal continuously generated by the camera module controls the mobile module so that the mobile robot moves toward the position corresponding to the current cat position signal; the tracking module determines the relationship between the mobile robot and the pet cat based on the current machine position signal and the current cat position signal When the distance is less than the preset distance, continue to track and shoot the pet cat image, determine the pet cat’s gaze direction according to the pet cat image, and output the gaze signal; when the judging unit determines that the pet cat is gazing at the mobile robot according to the gaze signal, these The cat stick unit is randomly stored in the receiving slots or protrudes from the housing; the mobile terminal transmits the sound signal to the transmitting and receiving module; and the transmitting and receiving module receives the sound signal, and the sound module plays the sound signal.

The system and method disclosed in the present invention are as above. The difference from the prior art is that after the present invention transmits the activation signal to the mobile robot through the mobile terminal, the mobile robot uses the current machine position signal corresponding to the current position of the mobile robot and corresponds to the current position of the pet cat. The current cat position signal of the position and the image signal it continuously generates move towards the current position of the pet cat, and when the mobile robot judges that the distance between it and the pet cat is less than the preset distance and judges that the pet cat is watching the mobile robot, move The multiple cat stick units of the robot are randomly housed in the housing of the mobile robot or protrude from the housing of the mobile robot; when the mobile terminal transmits a sound signal to the mobile robot, the mobile robot plays the sound signal.

Through the above-mentioned technical means, the present invention allows the owner to remotely control the interaction between the mobile robot and the pet cat through the mobile terminal.

Before describing the smart cat funny system and its method disclosed in the present invention, firstly, the terms defined by the present invention will be explained. The mobile robots and mobile terminals included in the smart cat funny system of the present invention can mainly use hardware methods. It can be realized, and it can work with software or firmware at the same time. Among them, the software or firmware used in the implementation can be stored on machine-readable storage media, such as: read-only memory (ROM), random access memory (RAM), disk storage media, optical storage media, Flash memory devices, etc., and can be executed by one or more general-purpose or special-purpose programmable microprocessors. The mobile robot and the mobile terminal of the present invention can communicate with each other through a wireless network to transmit signals, messages and/or data.

The following describes the implementation of the present invention in detail with the drawings and embodiments, so as to fully understand and implement the implementation process of how the present invention uses technical means to solve technical problems and achieve technical effects.

Please refer to "Figure 1" first. "Figure 1" is a system block diagram of an embodiment of the smart cat cat system of the present invention. In this embodiment, the smart cat cat system 100 can be used to interact with a pet cat. The pet cat wears a collar (not drawn), and the collar has a Global Positioning System (GPS) module, which can be used to obtain the pet cat. The current cat position signal is continuously transmitted to the mobile robot 110 (that is, the collar can continuously provide the current position of the pet cat to the mobile robot 110). The smart cat cat system 100 may include: a mobile robot 110 and a mobile terminal 120. The mobile terminal 120 is wirelessly connected to the mobile robot 110. The mobile robot 110 may include: a housing 111, a transmitting and receiving module 112, a camera module 113, and a mobile module. Group 114, positioning module 115, control module 116, tracking module 117, teasing module 118 and sound module 119, transmission and reception module 112, camera module 113, mobile module 114, positioning module 115, control The module 116, the tracking module 117, the teasing module 118, and the sound module 119 can be arranged on the housing 111 or in the housing 111, the camera module 113 is connected to the transmitting and receiving module 112, and the positioning module 115 is connected to the transmitting and receiving module Group 112, the control module 116 is connected to the camera module 113, the transmitting and receiving module 112, the mobile module 114 and the positioning module 115, the tracking module 117 is connected to the positioning module 115 and the transmitting and receiving module 112, and the teasing module 118 is connected The tracking module 117, the positioning module 115, the transmitting and receiving module 112, and the sound module 119 are connected to the transmitting and receiving module 112.

The housing 111 may include a plurality of storage grooves (not shown), and the storage grooves may be arranged at different positions of the housing 111 according to actual requirements. The teasing module 118 may include a judging unit 50 and a plurality of teasing stick units 52. The judging unit 50 is connected to the teasing stick units 52. The teasing stick units 52 can be selectively stored in the storage slots (ie, the The cat stick units 52 can be hidden in the housing 111 without being exposed to the housing 111 or protrude from the housing 111, and the judging unit 50 can be used to control the cat stick units 52 to be stored in the storage slots Or protrude from the housing 111. In this embodiment, one cat stick unit 52 corresponds to one storage slot, the number of cat stick units 52 may be but not limited to three, and the actual number of cat stick units 52 can be adjusted according to actual needs.

In this embodiment, the transmitting and receiving module 112 can be used to receive the start signal and the sound signal and continuously receive the current cat position signal from the collar. Among them, the start signal and the sound signal come from the mobile terminal 120, and the start signal is used to start the mobile robot 110 (that is, the owner sends a start signal to the transmission and collection module 112 to start the mobile robot 110 through its mobile terminal 120); It has a mobile terminal 120 that speaks, and the mobile terminal 120 converts the owner's voice into a sound signal and transmits it to the transmission and reception module 112, so that the sound module 119 can play the sound signal.

In this embodiment, the camera module 113 can be used to continuously photograph the surrounding environment of the housing 111 after the transmission and reception module 112 receives the activation signal to output image signals; the mobile module 114 can be used to move the mobile robot 110, for example, In other words, the mobile module 114 may include a motor (not shown) and a plurality of wheels (not shown). The motor rotates the wheels to move the mobile robot 110; the positioning module 115 may be used to receive the activation in the transmission and reception module 112. After the signal, the current machine position signal of the mobile robot 110 is continuously obtained. For example, the positioning module 115 may be but not limited to a GPS module to obtain the current machine position signal of the mobile robot 110 (ie the current position of the mobile robot 110) .

In this embodiment, the control module 116 can be used to control the mobile module 114 according to the current machine position signal, the current cat position signal, and the image signal continuously generated by the camera module 113, so that the mobile robot 110 moves toward the current cat position signal. The corresponding position moves. Among them, the image signal continuously generated by the camera module 113 is used to provide the control module 116 to determine whether there are obstacles around the mobile robot 110, so as to control the mobile module 114, and avoid moving the mobile robot 110 toward the current cat position signal corresponding to the Hit an obstacle while moving the position. In more detail, after the transmitting and receiving module 112 receives the start signal, the control module 116 can continuously receive the current machine position signal of the mobile robot 110, the current cat position signal of the pet cat, and the image signal continuously generated by the camera module 113. , The control module 116 can continuously update the moving route and direction of the mobile module 114 at any time according to the current machine position signal of the mobile robot 110 and the current cat position signal of the pet cat (because the pet cat may move its position at any time), and it is also equipped with a camera module. The image signal continuously generated by the group 113 corrects the moving route and direction to avoid hitting an obstacle when the mobile robot 110 moves toward the position corresponding to the current cat position signal.

In this embodiment, the tracking module 117 can be used to determine that the distance between the mobile robot 110 and the pet cat is less than a preset distance based on the current machine position signal and the current cat position signal, and continue to track and shoot images of the pet cat according to the pet cat. The cat image judges the gaze direction of the pet cat to output a gaze signal. Among them, the preset distance can be adjusted according to actual needs. In more detail, the tracking module 117 can first obtain the distance between the mobile robot 110 and the pet cat according to the current machine position signal of the mobile robot 110 and the pet cat’s current cat position signal. When the distance of is less than the preset distance, it will continue to track and shoot an image that includes the figure of the pet cat (ie, the pet cat image), obtain the pet cat’s eye area in the pet cat image, and analyze its gaze direction, for example: through the pet The position of the cat’s pupil in the eye socket determines the gaze direction of the pet cat’s eyes. When the pupil is located in the center of the eye socket, it means that the cat’s eyes are looking at the front. When the pupil is at the right of the eye socket, it means the pet cat’s eyes are looking at. On the right, when the pupil is located at the left position of the eye socket, it means that the pet cat’s eyes are watching its left, and then outputting a gaze signal corresponding to the gaze direction to tease the module 118.

In this embodiment, when the judging unit 50 of the teasing module 118 judges that the pet cat is looking at the mobile robot 110 according to the gaze signal, the pets stick units 52 are randomly stored in the receiving slots or protrude from the housing 111. In more detail, the judging unit 50 can first obtain the gaze direction of the pet cat according to the gaze signal, and then can use the current machine position signal of the mobile robot 110 and the current cat position signal of the pet cat (that is, between the mobile robot 110 and the pet cat). The relative position relationship of the pet cat) is to determine whether the pet cat is looking at the mobile robot 110. When the pet cat’s looking direction is consistent with the relative position relationship between the mobile robot 110 and the pet cat (for example: the pet cat is looking at its left and the mobile robot 110 is located When the pet cat is on the left), the judging unit 50 can control the funny cat stick units 52 to be stored in the receiving slots or protrude from the housing 111 in a random manner. It should be noted that each cat stick unit 52 can have a sensor. When it is caught or pressed by the pet cat, the sensor can output a sensing signal to the judging unit 50. When the judging unit 50 judges a prediction If no sensing signal is received within the time, the time for the cat stick units 52 to protrude from the housing 111 can be extended, so that the pet cat has a chance to catch any cat stick unit 52; when the judgment unit 50 judges When the number of times of receiving the sensing signal within the preset time is too many, the time for the cat stick units 52 to protrude from the housing 111 can be shortened, so that the pet cat has no chance to catch any cat stick unit 52 to maintain The pet cat's interest in playing.

In this embodiment, the sound module 119 can be used to play the stored music signal after the transmission and reception module 112 receives the start signal, and to play the sound signal after the transmission and reception module 112 receives the sound signal. In more detail, when the mobile robot 110 is activated (that is, after the transmission and reception module 112 receives the activation signal), the sound module 119 can attract the pet cat’s attention by playing its stored music signal, so that the pet cat will approach and move on its own initiative. In the robot 110, the music signal can also be replaced with the pre-recorded sound signal of the owner; in addition, the sound module 119 can also attract the attention of the pet cat by playing the sound signal transmitted by the owner through the mobile terminal 120, and make the pet cat take the initiative Approach the mobile robot 110 by itself. It should be noted that if the transmission and reception module 112 suddenly receives a sound signal while the sound module 118 is playing a music signal, the sound module 118 will play the sound signal first (that is, the sound module 118 will cut off the music signal first. To play, the sound signal is played first, and after the sound signal is played, it will continue to play from the cut-off point of the music signal).

The mobile terminal 120 can be used to receive and display the image signal continuously generated by the camera module 113 (that is, the owner can watch the situation of teasing the pet cat), and transmit the start signal and the sound signal to the receiving module 112.

Therefore, in this embodiment, the owner can remotely control the mobile robot 110 to interact with the pet cat through the mobile terminal 120. It should be noted that when the owner can transmit a stop signal to the mobile robot 110 through the mobile terminal 120, the mobile robot 110 can stop teasing the pet cat, and can return to its starting position when it was started according to its historical movement path ( The starting position can be but is not limited to the position of the charging stand). However, in one embodiment, the start signal for starting the mobile robot 110 can be replaced by the owner setting the start time of the mobile robot 110, and the stop signal for stopping the mobile robot 110 from teasing the pet cat can be replaced by the owner setting the mobile robot 110 to return to its start time. When the start time is up, the mobile robot 110 can start on its own to start the procedure of teasing the pet cat. When the stop time is up, the mobile robot 110 can stop teasing the pet cat. It can also return to its starting position when it is started according to its historical movement path, where the starting time and the stopping time can be fixed times each day, so as to develop the habit of pet cats playing in a fixed time zone every day.

Please continue to refer to "Figure 1", the mobile robot 110 may also include a flight module 60 connected to the control module 116. When the transmitting and receiving module 112 receives the flight signal from the mobile terminal 120, the control module 116 can be based on the current machine The position signal, the current cat position signal, and the image signal continuously generated by the camera module 113 control the flight module 60 so that the mobile robot 110 can fly to the position corresponding to the current cat position signal while maintaining a predetermined height from the ground. , The preset height can be adjusted according to actual needs, for example: the preset height can be adjusted according to the length of the pet cat. When the tracking module 117 determines that the distance between the mobile robot 110 and the pet cat is less than the preset distance based on the current machine position signal and the current cat position signal, it tracks the eyes of the pet cat and determines the gaze direction of the pet cat to output a gaze signal. When the judging unit 50 judges that the pet cat is gazing at the mobile robot 110 according to the gaze signal, each cat stick unit 52 can randomly extend and protrude from the housing 111 with different lengths by means of an elastic cord (not shown) connected to it. The length of an elastic rope is less than the preset height. In more detail, in this embodiment, each cat stick unit 52 may have an elastic rope to connect it with the judging unit 50. When the judging unit 50 randomly controls each cat stick unit 52 to protrude in front of the housing 111 , The length of the elastic rope needs to be controlled first, and then the distance between each cat stick unit 52 and the ground when it protrudes from the housing 111 (because the mobile robot 110 maintains the predetermined height from the ground to fly). It should be noted that the length of each elastic rope needs to be less than the preset height to prevent each cat stick unit 52 from contacting the ground when protruding from the housing 111.

In addition, the mobile robot 110 may also include a meow recognition module 70. The meow recognition module 70 is connected to the tracking module 117 to receive the call of a pet cat and identify the type of the pet cat’s call, as well as matching The pet cat images continuously captured by the tracking module 117 determine the status of the pet cat, and when it is determined that the status of the pet cat is abnormal, a notification signal is transmitted to the mobile terminal 120 to notify the owner. The abnormal state of the pet cat may be, but is not limited to, that the pet cat is in a panic, angry, or anxious state. For example, when the cat bark recognition module 70 receives the pet cat’s bark and recognizes that the pet cat’s bark is a ferocious hiss, and the pet cat’s image continuously captured by the tracking module 117 knows the pet cat’s call. When the ears of the cat are flat, the tongue is arched, the pupils are dilated, the mouth is exposed with sharp teeth, and the beard is upturned, the meow recognition module 70 can determine that the pet cat is in a state of fear or anger; when the meow recognition module 70 receives the pet The cat’s call and identify that the pet cat’s call is a low-pitched growl, and the pet cat’s images continuously captured by the tracking module 117 know that the pet cat’s tail is placed very low or even caught between the legs, the cat barks The voice recognition module 70 can determine that the pet cat is in an anxious state.

In addition, the mobile robot 110 may also include a scent module 80, which is connected to the transmitting and receiving module 112 and the meow recognition module 70. The scent module 80 can be used as the transmitting and receiving module 112 to receive control from the mobile terminal 120. When the signal is emitted, an inducing scent is emitted to attract the attention of the pet cat; and when the cat's call recognition module 70 determines that the status of the pet cat is abnormal, a soothing scent is emitted to soothe the pet cat's emotions. Among them, the inducing smell may be, but not limited to, the smell of food that pet cats like to eat, and the soothing smell may be, but not limited to, the smell of catnip or Polygonum matata.

Furthermore, the mobile robot 110 may further include a storage module 90 connected to the transmission and reception module 112 for storing the current cat position signal continuously received from the collar by the transmission and reception module 112 to generate a pet cat history Stay information. Therefore, when the pet cat has a condition, the owner or doctor can be provided to determine the possible cause of the pet cat's condition, or the owner can understand the pet cat's preferences, so that the owner can organize or arrange a suitable environment according to the pet cat's preferences.

Next, please refer to "Figure 2A" and "Figure 2B". "Figure 2A" and "Figure 2B" are the flow chart of an embodiment of the smart cat making method executed by the smart cat system of "Figure 1". . In this embodiment, the smart cat making method can be used to interact with the pet cat. The pet cat is wearing a collar. The smart cat making method includes the following steps: a mobile robot and a mobile terminal are provided, and the mobile terminal wirelessly connects the mobile robot. The mobile robot includes ：Shell, transmission and reception module, camera module, mobile module, positioning module, control module, tracking module, tease module and sound module, among which the camera module is connected to the transmission and reception module, positioning module The group is connected to the transmission and reception module, the control module is connected to the camera module, the transmission and reception module, the mobile module and the positioning module, the tracking module is connected to the positioning module and the transmission and reception module, and the teaser module is connected to the tracking module and positioning The module is connected to the transmission and reception module. The sound module is connected to the transmission and reception module. The housing includes a plurality of storage slots. The teasing module includes a judging unit and a plurality of cat making stick units. The judging unit is connected to the cat making stick units. The cat stick units are selectively received in the receiving slots or protrude from the housing (step 210); the mobile terminal transmits the activation signal to the transmission and reception module (step 220); the transmission and reception module receives the activation signal and continues to receive The current cat position signal of the collar (step 230); after the transmission and reception module receives the start signal, the camera module continuously captures the surrounding environment of the housing to output image signals (step 240); the mobile terminal receives and displays the camera module The image signal generated continuously (step 250); after the transmission and reception module receives the start signal, the positioning module continuously obtains the current machine position signal of the mobile robot (step 260); after the transmission and reception module receives the start signal, the sound The module plays its stored music signal (step 270); the control module controls the mobile module according to the current machine position signal, the current cat position signal, and the image signal continuously generated by the camera module to make the mobile robot move toward the current cat position signal The corresponding position moves (step 280); the tracking module judges that the distance between the mobile robot and the pet cat is less than the preset distance based on the current machine position signal and the current cat position signal, and continues to track and shoot the pet cat image according to the pet The cat image judges the gaze direction of the pet cat to output a gaze signal (step 290); when the judging unit determines that the pet cat is gazing at the mobile robot according to the gaze signal, the cat stick units are randomly stored in the storage slots or protrude from the shell Body (step 300); the mobile terminal transmits the sound signal to the transmission and reception module (step 310); and the transmission and reception module receives the sound signal, so that the sound module plays the sound signal (step 320). Through the above steps, the feed owner can remotely control the interaction between the mobile robot and the pet cat through the mobile terminal. The detailed description has been described above and will not be repeated here.

The mobile robot may also include a flight module, and the flight module is connected to the control module, so that the smart cat funny method may further include the following steps: when the transmission and reception module receives the flight signal from the mobile terminal, the control module is based on the current machine The position signal, the current cat position signal, and the image signal continuously generated by the camera module control the flight module so that the mobile robot flies to the position corresponding to the current cat position signal and maintains a predetermined height from the ground to fly; and when the judgment unit When judging that the pet cat is gazing at the mobile robot according to the gaze signal, each cat stick unit randomly extends and protrudes from the housing with different lengths through the connected elastic rope, wherein the length of each elastic rope is less than a preset height. The detailed description has been described above and will not be repeated here.

In addition, the mobile robot may also include a meow recognition module, which is connected to the tracking module, so that the smart cat funny method may further include the following steps: the meow recognition module receives the pet cat’s call and Identify the type of the pet cat’s call, and the pet cat’s images continuously captured by the tracking module, and then determine the status of the pet cat; and transmit a notification when the cat’s call recognition module determines that the pet cat’s status is abnormal Signal to the mobile terminal. The detailed description has been described above and will not be repeated here.

In addition, the mobile robot may also include a scent module, which is connected to the transmission and reception module and the meow recognition module, so that the smart cat making method may further include the following steps: when the transmission and reception module receives a control signal from the mobile terminal When the scent module emits an inducing scent to attract the pet cat’s attention; and when the cat’s call recognition module determines that the pet cat’s state is abnormal, the scent module emits a soothing scent to soothe the pet cat’s emotions. The detailed description has been described above and will not be repeated here.

Furthermore, the mobile robot may further include a storage module connected to the transmission and reception module, so that the smart cat funny method may further include the following steps: the storage module stores the transmission and reception module continuously receiving the current cat position signal from the collar , In order to produce the historical stay data of pet cats. The detailed description has been described above and will not be repeated here.

It should be noted that, if there is no causal relationship between the above steps, the present invention does not limit the order of their execution.

In summary, it can be seen that the difference between the present invention and the prior art is that after transmitting the activation signal to the mobile robot through the mobile terminal, the mobile robot uses the current machine position signal corresponding to the current position of the mobile robot and the current position corresponding to the current position of the pet cat. The cat’s position signal and its continuously generated image signal move towards the pet cat’s current position, and when the mobile robot determines that the distance between it and the pet cat is less than the preset distance and determines that the pet cat is looking at the mobile robot, the mobile robot has A plurality of cat stick units are randomly housed in the housing of the mobile robot or protruding from the housing of the mobile robot; when the mobile terminal transmits a sound signal to the mobile robot, the mobile robot plays the sound signal. This technical method can solve the problem. The problem with the technology allows the owner to remotely control the interaction between the mobile robot and the pet cat through the mobile terminal.

Although the present invention is disclosed in the foregoing embodiments as above, it is not intended to limit the present invention. Anyone familiar with similar art can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the present invention The scope of patent protection shall be subject to the definition of the scope of patent application attached to this specification.

50: Judgment unit 52: funny cat stick unit 60: Flight Module 70: Meow recognition module 80: scent module 90: storage module 100: Smart funny cat system 110: mobile robot 111: shell 112: Transmission and Receiving Module 113: camera module 114: Mobile Module 115: positioning module 116: Control Module 117: Tracking Module 118: teasing module 119: Sound Module 120: mobile terminal Step 210: Provide a mobile robot and a mobile terminal. The mobile terminal is wirelessly connected to the mobile robot. The mobile robot includes: a housing, a transmitting and receiving module, a camera module, a mobile module, a positioning module, a control module, a tracking module, and a teaser Module and sound module, among them, the camera module is connected to the transmission and reception module, the positioning module is connected to the transmission and reception module, the control module is connected to the camera module, the transmission and reception module, the mobile module and the positioning module, and the tracking module The group is connected with the positioning module and the transmission and reception module. The teasing module is connected with the tracking module, the positioning module and the transmission and reception module. The sound module is connected with the transmission and reception module. The housing includes multiple storage slots. The teasing module includes judgment The unit and a plurality of cat stick units, the judging unit is connected to the cat stick units, and the cat stick units are selectively received in the receiving slots or protrude from the housing Step 220: The mobile terminal transmits the start signal to the transmitting and receiving module Step 230: The transmitting and receiving module receives the start signal and continuously receives the current cat position signal from the collar Step 240: After the transmission and reception module receives the activation signal, the camera module continuously captures the surrounding environment of the housing to output an image signal Step 250: The mobile terminal receives and displays the image signal continuously generated by the camera module Step 260: After the transmission and reception module receives the start signal, the positioning module continuously obtains the current machine position signal of the mobile robot Step 270: After the transmission and reception module receives the start signal, the sound module plays its stored music signal Step 280: The control module controls the mobile module according to the current machine position signal, the current cat position signal, and the image signal continuously generated by the camera module, so that the mobile robot moves toward the position corresponding to the current cat position signal Step 290: When the tracking module determines that the distance between the mobile robot and the pet cat is less than the preset distance based on the current machine position signal and the current cat position signal, it tracks the eyes of the pet cat and determines the gaze direction of the pet cat to output a gaze signal Step 300: When the judging unit judges that the pet cat is gazing at the mobile robot according to the gaze signal, the cat stick units are randomly stored in the storage slots or protrude from the housing Step 310: The mobile terminal transmits the sound signal to the transmission and reception module Step 320: The transmitting and receiving module receives the sound signal, so that the sound module plays the sound signal

Figure 1 is a system block diagram of an embodiment of the smart cat cat system of the present invention. Figures 2A and 2B are flowcharts of an embodiment of the smart cat making method executed by the smart cat making system in Figure 1.

50: Judgment unit

52: funny cat stick unit

60: Flight Module

70: Meow recognition module

80: scent module

90: storage module

100: Smart funny cat system

110: mobile robot

111: shell

112: Transmission and Receiving Module

113: camera module

114: Mobile Module

115: positioning module

116: Control Module

117: Tracking Module

118: teasing module

119: Sound Module

120: mobile terminal

Claims (10)

An intelligent funny cat system for interacting with a pet cat, the pet cat is wearing a ring, and the intelligent funny cat system includes: A mobile robot, which includes: A housing including a plurality of storage slots; A transmission and reception module for receiving a start signal and a sound signal and continuously receiving a current cat position signal from the circle; A camera module, connected to the transmission and reception module, for continuously photographing the surrounding environment of the housing after the transmission and reception module receives the start signal, so as to output an image signal; A mobile module for moving the mobile robot; A positioning module connected to the transmitting and receiving module for continuously obtaining a current machine position signal of the mobile robot after the transmitting and receiving module receives the start signal; A control module connected to the camera module, the transmission and reception module, the mobile module, and the positioning module, and is used to continuously generate the camera module based on the current machine position signal, the current cat position signal, and the camera module The image signal controls the mobile module so that the mobile robot moves toward the position corresponding to the current cat position signal; A tracking module connected to the positioning module and the transmitting and receiving module for judging that the distance between the mobile robot and the pet cat is less than a preset distance based on the current machine position signal and the current cat position signal, Continuously tracking and shooting a pet cat image, and judging the gaze direction of the pet cat based on the pet cat image to output a gaze signal; A teasing module connected to the tracking module, the positioning module and the transmitting and receiving module, the teasing module includes a judging unit and a plurality of teasing stick units, the judging unit is connected to the teasing stick units, the The cat stick units are selectively stored in the receiving slots or protrude from the housing. When the judging unit determines that the pet cat is looking at the mobile robot according to the gaze signal, the cat stick units are randomly stored in the Some receiving grooves or protruding from the shell; and A sound module connected to the transmission and reception module for playing a stored music signal after the transmission and reception module receives the start signal, and plays the sound signal after the transmission and reception module receives the sound signal; as well as A mobile terminal is wirelessly connected to the mobile robot for receiving and displaying the image signal continuously generated by the camera module and transmitting the activation signal and the sound signal to the transmission and reception module. According to the smart cat cat system described in item 1 of the scope of patent application, the mobile robot further includes a flight module, the flight module is connected to the control module, and when the transmission and reception module receives a message from the mobile terminal During the flight signal, the control module controls the flight module according to the current machine position signal, the current cat position signal, and the image signal continuously generated by the camera module to make the mobile robot fly to the current cat position signal The corresponding position and maintain a predetermined height from the ground. When the judging unit judges that the pet cat is watching the mobile robot according to the gaze signal, each of the second cat stick units is connected by an elastic rope Randomly extend and protrude from the casing with different lengths, wherein the length of each elastic cord is less than the predetermined height. According to the smart cat cat system described in item 1 of the scope of patent application, the mobile robot further includes a meow sound recognition module connected to the tracking module for receiving the pet cat’s Call and identify the type of the pet cat's call, and the pet cat images continuously captured by the tracking module, and then determine the status of the pet cat, and transmit a notification signal when the status of the pet cat is judged to be abnormal Give the mobile terminal. According to the smart cat cat system described in item 3 of the scope of patent application, the mobile robot further includes a scent module, which connects the transmitting and receiving module and the cat sound recognition module to act as the transmitting and receiving module When receiving a control signal from the mobile terminal, it emits an alluring scent to attract the pet cat’s attention; and when the cat’s bark recognition module determines that the pet cat’s state is abnormal, it emits a comforting scent to soothe the pet cat Emotions. According to the smart cat cat system described in item 1 of the scope of patent application, the mobile robot further includes a storage module connected to the transmission and reception module for storing the continuous reception by the transmission and reception module from the circle The current cat position signal is used to generate a historical stay data of the pet cat. A smart cat funny method is used to interact with a pet cat, the pet cat is wearing a ring, and the smart cat funny method includes the following steps: A mobile robot and a mobile terminal are provided. The mobile terminal is wirelessly connected to the mobile robot. The mobile robot includes: a housing, a transmission and reception module, a camera module, a mobile module, a positioning module, and a control Module, a tracking module, a teasing module and a sound module, wherein the camera module is connected to the transmission and reception module, the positioning module is connected to the transmission and reception module, and the control module is connected to the camera module Group, the transmitting and receiving module, the mobile module and the positioning module, the tracking module is connected to the positioning module and the transmitting and receiving module, the teasing module is connected to the tracking module, the positioning module and the positioning module Transmitting and receiving module, the sound module is connected to the transmitting and receiving module, the housing includes a plurality of storage slots, the teasing module includes a judging unit and a plurality of teasing stick units, and the judging unit is connected to the teasing sticks Unit, the cat funny stick units are selectively received in the receiving grooves or protruded from the housing; The mobile terminal transmits an activation signal to the transmission and reception module; The transmitting and receiving module receives the start signal and continuously receives a current cat position signal from the circle; After the transmission and reception module receives the activation signal, the camera module continuously photographs the surrounding environment of the housing to output an image signal; The mobile terminal receives and displays the image signal continuously generated by the camera module; After the transmitting and receiving module receives the start signal, the positioning module continuously obtains a current machine position signal of the mobile robot; After the transmission and reception module receives the activation signal, the sound module plays a music signal stored therein; The control module controls the mobile module according to the current machine position signal, the current cat position signal, and the image signal continuously generated by the camera module, so that the mobile robot moves toward the position corresponding to the current cat position signal ； When the tracking module determines that the distance between the mobile robot and the pet cat is less than a preset distance based on the current machine position signal and the current cat position signal, it continuously tracks and shoots a pet cat image, and judges based on the pet cat image The gaze direction of the pet cat to output a gaze signal; When the judging unit judges that the pet cat is gazing at the mobile robot according to the gaze signal, the cat stick units are randomly stored in the storage slots or protrude from the housing; The mobile terminal transmits a voice signal to the transmitting and receiving module; and The transmitting and receiving module receives the sound signal, and causes the sound module to play the sound signal. According to the smart cat making method described in item 6 of the scope of patent application, the mobile robot further includes a flight module connected to the control module, and the smart cat making method further includes the following steps: When the transmitting and receiving module receives a flight signal from the mobile terminal, the control module controls the flight module according to the current machine position signal, the current cat position signal, and the image signal continuously generated by the camera module , So that the mobile robot flies to the position corresponding to the current cat position signal and maintains a predetermined height from the ground; and When the judging unit judges that the pet cat is gazing at the mobile robot according to the gaze signal, each cat stick unit randomly extends and protrudes from the housing with different lengths through an elastic cord connected to it. The length of the elastic cord is less than the preset height. According to the smart cat making method described in item 6 of the scope of patent application, the mobile robot further includes a meowing sound recognition module connected to the tracking module, and the smart cat making method further includes The following steps: The cat call recognition module receives the pet cat's call and recognizes the type of the pet cat's call, and cooperates with the pet cat images continuously captured by the tracking module to determine the status of the pet cat; and When the cat call recognition module determines that the status of the pet cat is abnormal, it transmits a notification signal to the mobile terminal. According to the smart cat making method described in item 8 of the scope of patent application, the mobile robot further includes a scent module connected to the transmitting and receiving module and the cat calling recognition module, and the smart cat making method further includes the following step: When the transmitting and receiving module receives a control signal from the mobile terminal, the scent module emits an inducing scent to attract the attention of the pet cat; and When the cat call recognition module determines that the pet cat is in an abnormal state, the smell module emits a comforting scent to soothe the pet cat's emotions. According to the smart cat making method described in item 6 of the scope of patent application, the mobile robot further includes a storage module connected to the transmitting and receiving module, and the smart cat making method further includes the following steps: the storage module stores the The transmitting and receiving module continuously receives the current cat position signal from the circle to generate a historical stay data of the pet cat.

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