CN209793787U - Chat robot capable of dancing - Google Patents

Abstract

The utility model discloses a dancing chat robot, which comprises a body and a head arranged on the body, wherein the body comprises a body, a thigh support, a shank support, a sole support, a thigh steering engine for connecting the body and the thigh support, a shank steering engine for connecting the thigh support and the shank support, an ankle joint steering engine for connecting the shank support and the sole support, and a controller; the thigh steering engine, the shank steering engine and the ankle steering engine comprise steering engine connecting pieces, motors and action control circuits arranged in the steering engine connecting pieces, and steering wheels rotatably connected with output shafts of the motors; the action control circuit is connected with the controller. The Bluetooth module, the loudspeaker module and the mobile terminal are also included; the Bluetooth module and the loudspeaker module are electrically connected with the controller; the controller is in communication connection with the mobile terminal through the Bluetooth module; the utility model discloses a chat robot that can dance can chat with people's pronunciation, can dance again, and the function is various.

Description

chat robot capable of dancing

Technical Field

The utility model relates to a robot control technical field especially relates to a chat robot that can dance.

Background

Currently, most of the research on robots only has a single function, for example, a sweeping robot is only used for sweeping, for example, a chat robot realizes a robot-to-human conversation based on voice recognition, so that the function of the robot is single.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a chat robot that can dance, the robot can chat with people's pronunciation, can dance again, and the function is various.

The utility model discloses a realize through following technical scheme:

A chat robot capable of dancing comprises a body and a head mounted on the body, wherein the body comprises a body, a thigh support, a shank support, a sole support, a thigh steering engine used for connecting the body and the thigh support, a shank steering engine used for connecting the thigh support and the shank support, an ankle joint steering engine used for connecting the shank support and the sole support, and a controller; the thigh steering engine, the shank steering engine and the ankle steering engine comprise steering engine connecting pieces, motors and action control circuits arranged in the steering engine connecting pieces, and steering wheels rotatably connected with output shafts of the motors; the steering engine connecting piece is connected with the rudder disc through screws; the steering engine connecting piece is respectively fixed with the trunk, the thigh bracket and the shank bracket; the action control circuit is connected with the controller.

The Bluetooth module, the loudspeaker module and the mobile terminal are also included; the Bluetooth module and the loudspeaker module are electrically connected with the controller; the controller is in communication connection with the mobile terminal through the Bluetooth module.

Compared with the prior art, the utility model discloses a robot through pronunciation chat module and a mobile terminal realize with people's chat function, realize the dance function of robot through the hand foot action that sets up joint rudder machine control robot to make this robot function various, give other people and bring better user experience.

Furthermore, the action control circuit comprises an action control chip and a storage chip, and the storage chip is connected with the action control chip; the action control chip is in serial port communication with the controller; and the storage chip is used for storing and controlling action instructions of the thigh steering engine, the shank steering engine and the ankle steering engine.

Further, the motion control chip is STC15W4K16S 4.

Furthermore, thigh steering wheel and shank steering wheel can carry out the rotation of single degree of freedom, the ankle joint steering wheel can control and the rotation of two degrees of freedom around with.

Further, the controller is an STM32 singlechip.

Further, the power supply circuit is also included; the power supply circuit comprises an input end, a voltage stabilizing chip and an output end; the output end outputs 3.3V and 5V voltage.

further, the voltage stabilizing chips are AMS1117-3.3 and AMS1117-5.0, and capacitors are connected between the voltage stabilizing chips and the input end and between the voltage stabilizing chips and the output end.

For a better understanding and an implementation, the present invention is described in detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural view of a robot of the present invention;

Fig. 2 is a circuit diagram of a control chip of the robot and its minimum system;

FIG. 3 is a circuit diagram of the steering engine control for the eyes and eyes of the robot;

Fig. 4 is a circuit diagram of a robot motion control chip according to the present invention;

Fig. 5 is a circuit diagram of a voice chat module of the present invention;

Fig. 6 is a power supply circuit diagram of the present invention;

FIG. 7 is a diagram of a handset APP interface of the present invention.

Detailed Description

At present, the feedback that the robot can give people is very limited, the size of light or sound is mostly adopted among the prior art, and the height of tone gives people's feedback, even so, the robot personification degree is still not high enough, and the interactivity between people is relatively poor. Based on this, the utility model provides a robot, on the one hand through the pronunciation chat module realize people and robot's pronunciation chat, on the other hand crosses the eyes that set up as two display screen simulation similar people of robot eyes to rock through eye steering wheel drive display screen action simulation people's eyes, thereby make this robot outside the chat interactive function of realization and people, the personification more improves the interactivity between robot and the people, gives other people and brings better user experience.

Referring to fig. 1, the robot is a schematic structural diagram of the robot, and the robot is divided into a head a and a body B, the head a includes a display screen 1 and an eye steering engine 2 which is in transmission connection with the display screen 1 and is used for driving the display screen 1 to act, the body B of the robot includes a body 3, a thigh support 4, a shank support 5, a sole support 6, a thigh steering engine 7 for connecting the trunk 3 and the thigh support 4, a shank steering engine 8 for connecting the thigh support 4 and the shank support 5, and an ankle joint steering engine 9 for connecting the shank support 5 and the sole support 6. The body 3 can be two flat plates, can be made of metal or plastic, and can fix the display screen 1 and the eye steering engine 2 of the head part through screws, and further, the two ends of the body 3 are also fixed with a loudspeaker module 10 and a Bluetooth module 11.

Please refer to fig. 2-6, which illustrate a circuit implementation of the present invention implemented by a single-chip microcomputer system.

The controller can adopt model STM32F103C8T6, and the minimum system circuit of the control chip is shown in FIG. 2.

The display screen 1 may be an OLED display screen and the displayed images include images with eyes at different positions, such as an image with eyes in the middle, an image with eyes on the left, and an image with eyes on the right.

The eye steering engine 2 comprises a steering engine mounting part fixed with the display screen 1, a motor and an action control circuit arranged in the eye steering engine mounting part, and a steering wheel rotationally connected with the motor, and is controlled by the controller. The eye steering gear 2 is in transmission connection with the display screen 1 and is used for controlling the whole display screen 1 to move up, down, left and right, so that the robot is more flexible and interesting, and the personification degree is higher.

Specifically, the eye steering engine 2 and the display screen 1 are used in a left-right matched mode, and the display screen 1 can be connected with output pins of PB12, PB13, PB14 and PB15 of the STM32F103C8T 6. The eye steering engine 2 can be controlled by PB4 and PB5 pins of a main control chip STM32F103C8T 6.

The thigh support 4, the shank support 5 and the sole support 6 can be made of sheet metal parts or plastic products, the thigh support 4 and the shank support 5 are long-strip-shaped, and the sole support 6 is in an inverted T shape.

With reference to fig. 1, the thigh steering engine 7, the shank steering engine 8 and the ankle steering engine 9 include steering engine connectors 71,81,91, motors and motion control circuits disposed therein, and steering wheels 72,82,92 rotatably connected to output shafts of the motors; the steering engine connecting pieces 71,81 and 91 are connected with the steering wheel 72,82 and 92 through screws; the steering engine connecting piece is respectively fixed with the trunk 3, the thigh support 4 and the shank support 5 and can be fixed by screws. And thigh steering wheel 7, shank steering wheel 8 can only advance or retreat the rotation of a degree of freedom, ankle joint steering wheel 9 can control and the rotation of two degrees of freedom around with. The action control circuit is connected with the controller. The action control circuit comprises an action control chip STC15W4K16S4 and a memory chip. The motion control circuit STC15W4K16S4 is in serial port communication with STM32F103C8T6 and a PC terminal which are used as an upper computer through a serial port level conversion chip CH 340G. The storage chip is W25Q64 and is used for storing and controlling action group instructions of the thigh steering engine 7, the shank steering engine 8 and the ankle steering engine 9. The thigh steering engine 7, the shank steering engine 8 and the ankle joint steering engine 9 are paired left and right, the number of the thigh steering engines, the shank steering engines and the ankle joint steering engines is 6, and the thigh steering engine, the shank steering engines and the ankle joint steering engines are mainly matched with a robot action control circuit to finish various actions such as robot walking, bending, heel-turning and fighting. The rotation of the thigh steering engine 7, the shank steering engine 8 and the ankle steering engine 9 is driven and controlled by ports P1.7, P5.4, P5.5, P3.2, P3.5 and P3.6 of an STC15W4K16S4 single chip microcomputer.

referring to fig. 6, the controller and its minimum system, the motion control circuit of the display screen 1 and the eye steering engine 2, and the motion control circuit of the robot require stable power supplies with different voltages, so that the power supply circuit of the present invention mainly comprises AMS1117-3.3, AMS1117-5.3 voltage regulation chips, diodes, capacitors, etc. to provide 3.3v and 5v power supply voltages. Wherein, C1 and C2, C5 and C6 are rectifier capacitors and are used for preventing voltage inversion after power failure; c3 and C4, C7 and C8 are filter capacitors, and the filter capacitors are used for inhibiting self-oscillation. The lithium battery voltage of the robot power supply is 9V, so that a voltage stabilizing chip circuit is required to convert the voltage so as to meet the working requirements of different chips.

In order to realize the control of each part of the robot, the robot also comprises a control terminal, wherein the control terminal can be a mobile terminal or a PC terminal, and when the control terminal is the mobile terminal, the control terminal can be a mobile phone, an IPAD and other intelligent equipment. Referring to fig. 7, when the control terminal selects the mobile terminal, a dedicated APP is provided, the control terminal is connected to the bluetooth module 11 of the robot through the bluetooth module of the mobile terminal, and the chat and dance functions of the robot are realized by issuing an action instruction on the APP interface of the mobile phone and communicating with the voice text information. The Bluetooth module 11 is electrically connected with the controller and is communicated with a serial port 1 of a control chip STM32F103C8T 6; the controller is in communication connection with the control terminal through the Bluetooth module 11. The mobile phone APP interface comprises a direction ball control part which is used for controlling the robot to move forwards, backwards, leftwards and rightwards according to the dragging direction of the direction ball; the device also comprises action controls, wherein the action controls comprise upright, forward, backward, front flip, back flip and dancing controls; the controller is used for controlling the microphone to acquire user voice, recognizing the user voice, converting the user voice into voice text information and sending the voice text information to the controller.

The loudspeaker module 11 is connected with an output pin of the control chip and performs signal interaction with a serial port 3 of the control chip STM32F103C8T 6.

The principle of simulating the eye display and shaking is as follows: the controller is used for receiving voice text information of the control terminal, processing and forwarding the voice text information to the loudspeaker module for broadcasting; the controller is also used for controlling the display screen to switch images displayed by the display screen according to a preset mode and adjusting the rotation angle of the eye steering engine so as to simulate the rotation and shaking of eyes. A timer 2 in a control chip is adopted for counting the timer, the timer is triggered once in 0.4s, the time value is added with 1 every time the time value is triggered, the time value is taken as the timer counting value, and when the image of the display screen is controlled to be switched, the eye picture is not switched when the time is less than or equal to 8; when the time is more than or equal to 9 and is more than or equal to 12, the time is increased by 1, a group of images (left) are switched, and the left rotation action of the eyes is finished; when time is more than or equal to 13 and is more than or equal to 20, the pictures are not switched; when the time is more than or equal to 21 and is more than or equal to 24, the time is increased by 1, a group of images (right) are switched, and the left rotation action of the eyes is finished; when the times is greater than or equal to 25, the time value zero clearing cycle begins again. The control mode of the eye steering engine is similar to that of the eye steering engine, the angle of the eye steering engine is changed in a counting mode of a timer, and if the time is less than 6, the eye steering engine keeps 180 degrees and the display screen is centered; when the time is equal to 6, the angle of the left eye steering engine is 150 degrees, the angle of the right eye steering engine is 210 degrees, the two display screens used as eyes shake towards the outside, when the time is equal to 7, the eye steering engines keep 180 degrees, and the display screens are centered; when times is equal to 14, the angle of the left eye steering engine is 210 degrees, the angle of the right eye steering engine is 150 degrees, and the two display screens serving as eyes shake inwards; when times is equal to 15, the eye steering engine keeps 180 degrees, and the display screen is centered.

the principle of voice chat is as follows: the APP by the mobile terminal receives and recognizes voice, the voice response information is acquired from the Turing server through a mobile phone network, the response information is sent to the control chip through the Bluetooth module, and the control chip processes the response information and outputs the response information to the loudspeaker module through the I/O for broadcasting.

The dancing principle of the robot is as follows: the controller is used for receiving an action instruction of the control terminal, processing the action instruction and driving the action control circuit to control the thigh steering engine, the shank steering engine and the ankle joint steering engine to rotate by corresponding angles. Give the action command by mobile terminal's APP, send the control chip for the robot through bluetooth module, 6 joint steering engines of action control chip control that control chip calls the host computer move according to steering engine turned angle and the action duration that draws respectively in the action command.

the present invention is not limited to the above embodiment, and if various modifications or variations of the present invention do not depart from the spirit and scope of the present invention, they are intended to be covered if they fall within the scope of the claims and the equivalent technology of the present invention.

Claims (7)

1. A chat robot capable of dancing, characterized in that: the ankle joint control device comprises a body and a head arranged on the body, wherein the body comprises a body, a thigh support, a shank support, a sole support, a thigh steering engine used for connecting a trunk and the thigh support, a shank steering engine used for connecting the thigh support and the shank support, an ankle joint steering engine used for connecting the shank support and the sole support, and a controller; the thigh steering engine, the shank steering engine and the ankle steering engine comprise steering engine connecting pieces, motors and action control circuits arranged in the steering engine connecting pieces, and steering wheels rotatably connected with output shafts of the motors; the steering engine connecting piece is connected with the rudder disc through screws; the steering engine connecting piece is respectively fixed with the trunk, the thigh bracket and the shank bracket; the action control circuit is connected with the controller;

The Bluetooth module, the loudspeaker module and the mobile terminal are also included; the Bluetooth module and the loudspeaker module are electrically connected with the controller; the controller is in communication connection with the mobile terminal through the Bluetooth module.

2. The dancing chat robot of claim 1, wherein: the action control circuit comprises an action control chip and a storage chip, and the storage chip is connected with the action control chip; the action control chip is in serial port communication with the controller; and the storage chip is used for storing and controlling action instructions of the thigh steering engine, the shank steering engine and the ankle steering engine.

3. The dancing chat robot of claim 2, wherein: the motion control chip is STC15W4K16S 4.

4. the dancing chat robot of claim 1, wherein: the thigh steering engine and the shank steering engine can rotate in a single degree of freedom, and the ankle joint steering engine can rotate in left and right degrees of freedom and in front and back degrees of freedom.

5. the dancing chat robot of claim 1, wherein: the controller is an STM32 singlechip.

6. The dancing chat robot of claim 1, wherein: also includes a power supply circuit; the power supply circuit comprises an input end, a voltage stabilizing chip and an output end; the output end outputs 3.3V and 5V voltage.

7. The dancing chat robot of claim 6, wherein: the voltage stabilizing chips are AMS1117-3.3 and AMS1117-5.0, and capacitors are connected between the voltage stabilizing chips and the input end and between the voltage stabilizing chips and the output end.