CN104440925B - A kind of pet type accompany and attend to robot and system - Google Patents
A kind of pet type accompany and attend to robot and system Download PDFInfo
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- CN104440925B CN104440925B CN201410706366.0A CN201410706366A CN104440925B CN 104440925 B CN104440925 B CN 104440925B CN 201410706366 A CN201410706366 A CN 201410706366A CN 104440925 B CN104440925 B CN 104440925B
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Abstract
The present invention relates to Robotics field, relate in particular to pet type accompany and attend to robot and system. This pet type robot comprises pet type shell and is arranged on sensing element, master controller and the execution unit of pet type enclosure; Sensing element, be used for responding to human action and/or environmental change, wherein sensing element at least comprises following one: for responding to the pressure sensor that human body exerts pressure, the photoelectric sensor changing for induced environment light, for responding to the heat-sensitive sensor of human body temperature, for detection of the microphone of sound, for obtaining the camera of video image and the coal gas detecting sensor for detection of environment gas concentration; Master controller, for sending the action directive corresponding with human action and/or environmental change; Execution unit is used for the control command that performs an action. Pet type robot of the present invention and system can realize the multiple interactive function with people, and the spirit that is applicable to the elderly is accompanied and attended to, and can effectively alleviate old man's feeling of lonely.
Description
Technical field
The present invention relates to Robotics field, in particular to the pet type machine of accompanying and attending toPeople and system.
Background technology
China is the maximum country of elderly population quantity in the world. By the end of the year 2013, ChinaMore than 60 years old elderly population have reached 2.02 hundred million, account for 14.8% of total population. Expect this generationRecord the middle period, the elderly population of China will reach 4.5 hundred million, account for 1/3 of total population. Aging,The life in old age that aging, empty nesting, smaller families cause such as is taken care of, is accompanied and attended at the problem dayBenefit is outstanding, and wherein " empty nest old man " gains a special interest. General at 2010 the 6th time populationWhile looking into, empty nest old man has reached 31.77%, and in empty nest old man, has psychological problemsRatio reaches 60%. Therefore, for the old man that nobody accompanies at one's side at ordinary times, how can be bothThe safety of effectively guarding it, can play again the effect of company, avoids sending out of its mental diseaseRaw, become current problem in the urgent need to address.
In order to address the above problem, people propose to utilize robot to replace people to carry out in recent yearsSafeguard and supervision for the aged. At present more existing researchs relate to the elderly's remote monitoring robot, stillThe design of these robots is all machine external form, shortage and people's interaction, and function is also more singleOne, can not really play the elderly, the effect that alleviates psychologic isolation of accompanying.
Summary of the invention
The object of the present invention is to provide pet type accompany and attend to robot and system, to increase machinePeople's interactive function.
The embodiment of the present invention provides a kind of pet type robot of accompanying and attending to, and comprising: outside pet typeShell and be arranged on sensing element, master controller and the execution unit of described pet type enclosure;Described sensing element, for responding to human action and/or environmental change, wherein said detecting meansPart at least comprises following one: for respond to pressure sensor that human body exerts pressure, forInduced environment light change photoelectric sensor, for respond to human body temperature heat-sensitive sensor,For detection of the microphone of sound, for obtain the camera of video image and for detection ofThe coal gas detecting sensor of gas concentration in environment; Described master controller, for sending and instituteState the corresponding action directive of human action and/or environmental change; Described execution unit,Be used for carrying out described action directive.
Preferably, described execution unit comprises stepper motor and Audio Players; Wherein, instituteThe output of stating stepper motor is connected with the joint part of described pet type shell, described in drivePet type shell acts accordingly; Described Audio Players is used for sending with described human body movingDo and/or the corresponding sound of environmental change.
Preferably, described stepper motor comprises: be arranged at described pet type shell neck forControlling described pet type shell makes the first stepper motor of the action of bowing/come back, is arranged at instituteState pet type shell neck and make the action of head left-right rotation for controlling described pet type shellThe second stepper motor, be arranged at the left shoulders of described pet type shell and right shoulders respectivelyMake left upper arm and right upper arm and open/hold tightly the of action for controlling described pet type shellThree stepper motors and the 4th stepper motor, be arranged at the left shoulders of described pet type shell respectivelyAnd right shoulders is used for controlling, and described pet type shell is made left upper arm and right upper arm is lifted/putThe 5th stepper motor of lower action and the 6th stepper motor, be arranged at outside described pet type respectivelyThe left leg of shell and right leg and trunk junction be used for controlling left leg and right leg make lift/put down movingThe 7th stepper motor and the 8th stepper motor done.
Preferably, described sensing element comprises multiple pressure sensors, and multiple described pressure passesSensor is corresponding position, the crown, chin position and the trunk that is distributed in described pet type shell respectivelyOn; Described master controller receives the people of the described pressure sensor transmission that is positioned at position, the crownWhen body is exerted pressure, judge that described human body is exerted pressure and whether be less than the first predetermined threshold value, asBe really, control described the first stepping electric machine rotation, drive described pet type shell to make and bowAction, and control described Audio Players and play the first audio file; Otherwise control describedOne stepper motor rotates, and drives described pet type shell to make the new line alternating movement of bowing, andControl described Audio Players and play the second audio file; Described master controller receives and is positioned atWhen the human body of the described pressure sensor transmission of chin position is exerted pressure, judge described human bodyExert pressure and whether be less than the second predetermined threshold value, if so, control described the first stepper motorRotate, drive described pet type shell to make the action that comes back, and control described Audio PlayersPlay described the first audio file; Described master controller receives the pressure being positioned on trunk and passesWhen the human body of sensor transmission is exerted pressure, judge this human body exert pressure whether be less than the 3rd pre-If threshold value, if so, controls described the 3rd stepper motor and the 4th stepper motor and rotates driveDescribed pet type shell makes left upper arm and right upper arm is opened action, and controls described sound and broadcastPut device and play described the first audio file; Otherwise, control described the second stepper motor, the 7thStepper motor and the 8th stepper motor rotate drive described pet type shell make head turn left/Turn right, the right leg of left leg alternately lifts action, and control described Audio Players and play described theTwo audio files.
Preferably, described sensing element comprises heat-sensitive sensor, the number of described heat-sensitive sensorAmount is two the left hand palm and the right hand palm positions that are arranged at respectively described pet type shell; InstituteWhen stating master controller and receiving the human body temperature of described heat-sensitive sensor transmission, control and this heatThe 5th stepper motor that dependent sensor is corresponding or the 6th stepper motor rotate, and dote on described in driveThe upper arm of the corresponding side of thing type shell is made and is lifted/put down action, and controls described Audio PlayersPlay the 3rd audio file.
Preferably, described sensing element comprises photoelectric sensor; Described master controller receivesWhen the described ambient light of described photoelectric sensor transmission changes, judge that current light environment isNo being less than preset light threshold value, if so, generates dormancy control instruction, and control entersEnter resting state.
Preferably, described sensing element comprises: coal gas detecting sensor; Described main controlWhen device receives the gas concentration of described coal gas detecting sensor transmission, judge that described coal gas is denseWhether degree is greater than default gas concentration value, if so, controls described Audio Players and sendsCoal gas leakage detection, alarm.
Preferably, described sensing element comprises microphone; Described master controller receives instituteWhile stating microphone transmission sound, control described Audio Players and carry out voice answer-back.
Preferably, the described pet type robot of accompanying and attending to, also comprises communication module; Described sensingParts comprise camera; Described main controller, for the video figure that described camera is obtainedPicture is transferred to host computer by described communication module.
The embodiment of the present invention also provides a kind of pet type robot system of accompanying and attending to, and comprises upperMachine and the above-mentioned pet type robot of accompanying and attending to; Described pet type accompany and attend to robot and described host computerConnect.
The pet of the embodiment of the present invention accompany and attend to humanoid robot and system, in pet type enclosurePolytype sensing element can be set as required, as pressure sensor, photoelectric sensingDevice, heat-sensitive sensor, microphone, camera and coal gas detecting sensor etc., can realizeThe induction of various human body action and environmental change, the people that master controller gathers according to sensing elementBody action and environmental change control pet type shell are carried out corresponding action, and realization is many with people'sPlant interactive function, the spirit that is applicable to the elderly is accompanied and attended to, and can effectively alleviate the lonely of old manSense.
For above-mentioned purpose of the present invention, feature and advantage can be become apparent, cited below particularlyPreferred embodiment, and coordinate appended accompanying drawing, be described in detail below.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below will be to embodimentIn the accompanying drawing of required use be briefly described, should be appreciated that the following drawings only showsSome embodiment of the present invention, therefore should not be counted as the restriction to scope, for abilityTerritory those of ordinary skill, is not paying under the prerequisite of creative work, can also basisThese accompanying drawings obtain other relevant accompanying drawings.
The accompany and attend to knot of robot of a kind of pet type that Fig. 1 shows the embodiment of the present invention to be providedStructure schematic diagram;
A kind of pet type that Fig. 2 shows the embodiment of the present invention to be provided robot system of accompanying and attending toStructural representation;
A kind of pet type that Fig. 3 and Fig. 4 show the embodiment of the present invention to be provided machine of accompanying and attending toPeople's concrete structure schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing in the embodiment of the present invention, to the technical side in the embodiment of the present inventionCase is clearly and completely described, and obviously, described embodiment is only the present invention onePart embodiment, instead of whole embodiment. Conventionally in accompanying drawing, describe and illustrate hereinThe assembly of the embodiment of the present invention can arrange and design with various configuration. Therefore,Below the detailed description of the embodiments of the invention that provide in the accompanying drawings being not intended to restriction wantsAsk the scope of the present invention of protection, but only represent selected embodiment of the present invention. Based onEmbodiments of the invention, those skilled in the art are not making under the prerequisite of creative workThe every other embodiment obtaining, belongs to the scope of protection of the invention.
A kind of pet type robot of accompanying and attending to is provided in the present invention, and this robot has multiple friendshipMutually function, can realize mutual with people, therefore can use during old man accompanies and attends to, and realizesThe emotion communication activity such as limbs interaction, voice dialogue with old man, alleviates old man's feeling of lonely.
Below the implementation of humanoid robot that pet of the present invention is accompanied and attended to is said in detailBright. As shown in Figure 1, this pet humanoid robot of accompanying and attending to mainly comprises pet type shell 1 and establishesPut sensing element 2, master controller 3 and execution unit 4 in pet type shell 1 inside; PassSense parts 2, for responding to human action and/or environmental change, wherein sensing element 2 at leastComprise following one: for responding to pressure sensor that human body exerts pressure, for inductance loopEnvironmental light change photoelectric sensor, for respond to the heat-sensitive sensor of human body temperature, forDetect the microphone of sound, for obtaining the camera of video image and for detection of environmentThe coal gas detecting sensor of middle gas concentration, according to the mutual needs of reality, is chosen in petType and the quantity of the type shell 1 inner sensing element 2 arranging.
Sensing element 2 collects after human action and/or environmental change, is transferred to master controller3; Master controller 3, for sending the action control corresponding with human action and/or environmental changeSystem order; Execution unit 4, for the control command that performs an action, for example pet type shell 1The inner sensing element 2 arranging is pressure sensor, executes when pressure sensor senses human bodyWhen plus-pressure, the size control execution unit 4 that master controller 3 is exerted pressure according to human body is doneThe interactive action and/or send interactive voice such as go out to shake hands, embrace, realizes limbs and language with peopleMutual on sound.
In order to realize multiple mutual with people, master controller 3 is controlled execution unit 4 and is carried out phaseThe action directive of answering, when execution unit 4 moves, drives the corresponding of pet type shell 1Position action. As shown in Figure 2, perform an action in the execution unit 4 parts bag of control commandDraw together stepper motor 41 and Audio Players 42; Outside the output of stepper motor 41 and pet typeThe joint part of shell 1 connects, and stepper motor 41 rotates under the drive of master controller 3, stepThe rotation output that enters motor 41 drives pet type shell 1 to act accordingly; Sound is playDevice 42 sends corresponding with human action and/or environmental change under the control of master controller 3Sound. In the time that a kind of human action or a kind of environmental change are responded, can only haveStepper motor 41 or only have Audio Players 42 to respond, also can stepper motor 41 and soundPlayer 42 is made response simultaneously, and for example pressure sensor 21 senses that human body exerts pressureTime, stepper motor 41 drives pet type shell 1 to make and embraces action, simultaneously Audio Players42 send greeting voice.
The pet type of the embodiment of the present invention robot of accompanying and attending to can realize with people's multiple limbs and handing overMutually, be provided with multiple steppings in pet type shell 1 inside alternately in order to realize these multiple limbsMotor 41 is made respectively different actions under the control of master controller 3. Particularly, dote onThe stepper motor 41 of thing type shell 1 inside comprises: be arranged at pet type shell 1 neck forControlling pet type shell 1 makes the first stepper motor of the action of bowing/come back, is arranged at petType shell 1 neck is made second of head left-right rotation action for controlling pet type shell 1Stepper motor, be respectively arranged at pet type shell 1 left shoulders and right shoulders for controlPet type shell 1 make left upper arm and right upper arm open/hold tightly action the 3rd stepper motor andThe 4th stepper motor, be respectively arranged at pet type shell 1 left shoulders and right shoulders forControl pet type shell 1 makes left upper arm and the 5th stepping electricity of action is lifted/put down to right upper armMachine and the 6th stepper motor, be arranged at pet type shell 1 left leg and right leg and trunk respectively and connectThe 7th stepper motor and that lifts/put down action is made for controlling left leg and right leg by the place of connecingEight stepper motors.
The first above-mentioned stepper motor to the eight stepper motors can be respectively a stepper motorAlso can be respectively multiple stepper motors of action simultaneously.
As shown in Figure 2, the accompany and attend to sensing element 2 of robot of pet type comprises that multiple pressure passesSensor 21, multiple pressure sensors 21 are the corresponding crown that is distributed in pet type shell 1 respectivelyOn position, chin position and trunk.
Master controller 3 receives and is positioned at the human body that the pressure sensor 21 of position, the crown transmits and executesWhen plus-pressure, judge that human body is exerted pressure and whether be less than the first predetermined threshold value, if so, controlMake the first stepping electric machine rotation, drive pet type shell 1 to make the action of bowing, and control soundSound player 42 is play the first audio file; Otherwise control the first stepping electric machine rotation, drivePet type shell 1 is made the new line alternating movement of bowing, and controls Audio Players 42 and playTwo audio files; Under which, in the time that people touches pet type and accompanies and attends to the position, the crown of robot,The pressure sensor 21 that is positioned at pet type shell 1 position, the crown is responded to human body and is exerted pressure, mainController 3 is by exerting pressure human body and the comparison of the first predetermined threshold value, judges that human body doesWhat go out is soft touch action or firmly beating action, exerts pressure and is less than first when human bodyWhen predetermined threshold value, illustrate that human body exerts pressure littlely, now control pet type shell 1 and makeThe action of bowing preferably, can also be joined when pet type shell 1 is made the action of bowingClose and send mutual sound; Exert pressure while being not less than the first predetermined threshold value when human body, people is describedBody is exerted pressure larger, and now control pet type shell 1 and make the new line alternating movement of bowing,Preferably, make and come back that bow can also sound in alternating movement at pet type shell 1Player 42 sends and represents angry sound, thus on realization and people's a kind of limbs and voiceMutual.
Master controller 3 receives and is positioned at the human body that the pressure sensor 21 of chin position transmits and executesWhen plus-pressure, judge that human body is exerted pressure and whether be less than the second predetermined threshold value, if so, controlMake the first stepping electric machine rotation, drive pet type shell 1 to make the action that comes back, and control soundSound player 42 is play the first audio file; Under which, people is under pet type shell 1Bar position is while exerting pressure, and the pressure sensor 21 that is positioned at chin position is responded to human body and applied pressurePower, main controller is exerted pressure this human body to compare with the second predetermined threshold value, thus judgementPeople is in pet type shell 1 chin position applied pressure size, when what apply in chin positionWhen pressure is less than the second predetermined threshold value, illustrate that people exerts pressure less, pet type shell 1 is doneGo out to come back and move, preferably, all right when pet type shell 1 is made the action that comes backCoordinate send lullaby realize with people's limbs and voice on alternately; When people is at chinExerting pressure while being not less than the second predetermined threshold value in position, illustrates that people exerts pressure larger, master controlDevice 3 processed can be controlled the second stepping electric machine rotation, drives pet type shell 1 head to make a left sideThe moving action of turning right, controls Audio Players 42 simultaneously and sends angry sound.
Master controller 3 receives the human body that the pressure sensor 21 that is positioned on trunk transmits and appliesWhen pressure, judge that this human body is exerted pressure and whether be less than the 3rd predetermined threshold value, if so, controlMaking the 3rd stepper motor and the rotation of the 4th stepper motor drives pet type shell 1 to make left upper armAnd right upper arm opens action, and control Audio Players 42 and play the first audio file; Otherwise,Control the second stepper motor, the 7th stepper motor and the 8th stepper motor and rotate the pet type that drivesShell 1 is made head left/right turn, the right leg of left leg alternately lifts action, and controls sound and broadcastPut device 42 and play the second audio file. Under which, people is on the trunk of pet type shell 1While exerting pressure, the pressure sensor 21 that is positioned at trunk position is responded to human body and is exerted pressure, mainControl device is exerted pressure this human body to compare with the 3rd predetermined threshold value, thereby judges that people is doting onApplied pressure size on the trunk of thing type shell 1, when applied pressure on trunk is less thanWhen the 3rd predetermined threshold value, illustrate that people exerts pressure less, pet type shell 1 is made both arms and is openedThat opens embraces action, preferably, makes in embracing action and also can at pet type shell 1With coordinate send lullaby realize with people's limbs and voice on alternately; When people is at bodyOn dry, exert pressure while being not less than the 3rd predetermined threshold value, illustrate that people exerts pressure larger, master controlDevice 3 processed can be controlled pet type shell 1 and make head left-hand rotation or the action of turning right, simultaneously both legsAlternately lift, preferably can control Audio Players 42 simultaneously and send angry sound, order is doted onThe thing type robot of accompanying and attending to imitates angry state, realize with people's limbs with linguistic alternately.
In addition, in the time that the torso portion volume of pet type shell 1 is larger, can be in pet typeMultiple pressure sensors 21 are set on the trunk of shell 1, and realization is obtained people from multiple angles and is existedApplied pressure on pet type shell 1.
As shown in Figure 2, in accompanying and attending to the sensing element 2 of robot, pet type can also compriseHeat-sensitive sensor 23, the quantity of heat-sensitive sensor 23 is two and is arranged at respectively outside pet typeThe left hand palm of shell 1 and right hand palm position; Master controller 3 receives heat-sensitive sensor 23Transmission human body temperature time, control five stepper motor corresponding with this heat-sensitive sensor 23Or the 6th stepper motor rotate, drive the upper arm of pet type shell 1 corresponding side to make to lift/Put down action, and control Audio Players 42 and play the 3rd audio file; Under which, whenWhen people holds the palm part of pet type shell 1, (the left hand palm and/or the right hand palm), is positioned at and dotes onThe heat-sensitive sensor 23 of thing type shell 1 palm part senses human body temperature, master controller 3Make and lift/put down according to the upper arm of the human body temperature control pet type shell 1 corresponding side of obtainingAction simulation and people shake hands, for example, hold the left hand when palm of pet type shell 1 as people, master controlDevice 3 processed is controlled the left upper arm of pet type shell 1 and is lifted/put down, and makes at pet type shell 1When dohandshake action, can also control Audio Players 42 and send greeting voice.
As shown in Figure 2, in accompanying and attending to the sensing element 2 of robot, pet type also comprises photoelectricitySensor 22; Master controller 3 receives the ambient light variation that photoelectric sensor 22 transmitsTime, judge that whether current light environment is less than default light threshold value, if so, generates dormancyControl instruction, control enters resting state.
In order to make the pet type robot lifelike image more of accompanying and attending to, photoelectric sensor 22 is arranged atThe eyes position of pet type shell 1, sense that extraneous light changes when photoelectric sensor 22 andWhen current light environment is less than default light threshold value, more in the time of night people's rest, master controlDevice 3 controls processed enter resting state, can reduce on the one hand the pet type machine of accompanying and attending toPeople's power consumption, can prevent that the pet type robot of accompanying and attending to from sounding and affect old man on the other handRest.
As shown in Figure 2, in accompanying and attending to the sensing element 2 of robot, pet type also comprises: coalGas detecting sensor 24; Master controller 3 receives the coal that coal gas detecting sensor 24 is transmittedWhen gas concentration, judge whether gas concentration is greater than default gas concentration value, if so, controlAudio Players 42 processed sends coal gas leakage detection, alarm, can realize thus the coal gas prison in environmentSurvey, guard against gas poisoning.
As shown in Figure 2, in accompanying and attending to the sensing element 2 of robot, pet type also comprises MikeWind 25; Master controller 3 receives microphone 25 while transmitting sound, controls Audio Players42 carry out voice answer-back; Under which, in the time that people sends interactive voice, microphone 25 is adoptedCollection people's sound, the interactive voice that master controller 3 sends according to people carries out voice answer-back, realNow with people's interactive voice.
As shown in Figure 2, in accompanying and attending to robot, pet type also comprises communication module 5; SensingIn parts 2, also comprise camera 26; The video figure that main controller can obtain camera 26Picture is transferred to host computer b by communication module 5, realizes the picture control to people's state.
Preferably, microphone 25 gathers voice and/or video image pass by communication moduleBe defeated by host computer b, host computer b by the voice transfer of monitoring side to the pet type robot of accompanying and attending toRealize the real-time, interactive with old man.
The pet type of the embodiment of the present invention robot of accompanying and attending to comprises control module, control moduleComprise master controller 3, power circuit 33, clock circuit 34, A/D convertor circuit 31And peripheral interface circuit 32, power circuit 33, clock circuit 34, A/D convertor circuit 31And peripheral interface circuit 32 is all connected with master controller 3. Clock circuit 34 can be realized timingFunction, can be realized and be waken, take medicine timed reminding etc. by the timing function of clock circuit 34Function.
Pressure sensor 21, photoelectric sensor 22, heat-sensitive sensor 23 and coal gas detect and passSensor 24 is connected with master controller 3 by A/D convertor circuit 31; Microphone 25 and shooting26 are connected with master controller 3 by peripheral interface circuit 32, stepper motor 41 and soundPlayer 42 is connected with master controller 3 by peripheral interface circuit 32.
Accompany and attend in robot in pet type, communication module 5 comprises Computer Interface Module 51And wireless communication module 52 for the wired or wireless communication of host computer.
The embodiment of the present invention also provides a kind of pet type robot system of accompanying and attending to, as Fig. 2 instituteShow, comprise host computer b and the above-mentioned pet type a of robot that accompanies and attends to; The pet type a of robot that accompanies and attends toB is connected with host computer.
In host computer, setting program arranges module b1 and video monitoring module b2, passes through programModule b1 is set to be realized the accompany and attend to setting of robot Program of pet type, video monitoring moduleB2 controls the pet type robot of accompanying and attending to and carries out video monitoring. Computer in communication module 5 connectsMouth module 51 realizes the wired number between master controller 3 and host computer b by USB interfaceAccording to communication, support USB connecting line and two kinds of modes of Bluetooth wireless transmission. Wireless communication module52 by connecting wireless Internet or 3G network, realize master controller 3 and host computer b itBetween remote data communication.
In the embodiment of the present invention, also further having provided the accompany and attend to one of robot of pet type showsExample.
This pet type robot of accompanying and attending to comprises pet type shell, and preferably pet type shell is hairSuede shell.
Comprise 6 pressure sensor 1b1 (mark at the sensing element of pet type enclosure settingNumber be respectively 1b1-1～1b1-6), 1 photoelectric sensor 1b2,1 coal gas detecting sensor1b3,2 heat-sensitive sensor 1b4-1 and 1b4-2,1 camera 1b5 and 1 sound passSensor (microphone) 1b6. Wherein pressure sensor 1b1, photoelectric sensor 1b2, coal gasDetecting sensor 1b3 and heat-sensitive sensor 1b4 are connected to main control by A/D convertor circuitDevice, sends to master controller by the information detecting and carries out information processing. Camera 1b5 andMicrophone 1b6 is connected to master controller by peripheral interface circuit, decodes and identifies.
Execution unit comprises 9 stepper motor 1c1 and 1 loudspeaker 1c2, by peripheryInterface circuit is connected to master controller, is respectively used to realize limb motion and speech play.
Host computer comprises programming module and video monitoring module. Wherein, programming mouldPiece has content and time that affairs prompts such as taking medicine is set, editor's voice dialogue content and soundThe functions such as happy played file. Video monitoring module can be carried out the monitoring of pet robot cameraIn scope, the real time remote of picture is play and storage, and has the function of taking pictures with photo storage.
With reference to accompanying drawing 3 and Fig. 4, pet type accompany and attend to sensor element and the enforcement division of robotPart is distributed in the different parts of pet type shell separately. Wherein:
Pressure sensor 1b1-1 is positioned at the accompany and attend to crown of robot of pet type, for experiencing headPortion stroking and patting; Pressure sensor 1b1-2 is positioned at the accompany and attend to chin of robot of pet type,For experiencing stroking of chin; Pressure sensor 1b1-3, pressure sensor 1b1-4, pressureSensor 1b1-5 and pressure sensor 1b1-6 are distributed in the pet type robot of accompanying and attending to side by sideBack, for experiencing stroking and patting of back; Photoelectric sensor 1b2 is embedded in pet typeAccompany and attend in the left eye of robot, secretly change for detection of the light of surrounding environment; Coal gas detects and passesSensor 1b3 is as the accompany and attend to nose of robot of pet type, for detection of hazardous gas aroundExist; Heat-sensitive sensor 1b4-1 and heat-sensitive sensor 1b4-2 lay respectively at pet type and accompany and attend toThe right hand of robot and left hand palm, for detection of palm temperature; Camera 1b5 is embedded inPet type is accompanied and attended in the right eye of robot, monitors for video; Microphone 1b6 is arranged on and dotes onThing type is accompanied and attended in the left ear of robot, for obtaining ambient sound.
Stepper motor 1c1-1 and stepper motor 1c1-2 are positioned at the pet type robot of accompanying and attending to side by sideNeck, be synchronized with the movement and realize the action that robot comes back/bows. Stepper motor 1c1-3 positionIn the accompany and attend to neck of robot of pet type, realize the action of robot head left-right rotation. StepEnter motor 1c1-4 and stepper motor 1c1-5 and lay respectively at the accompany and attend to right shoulder of robot of pet typeWith left shoulder, realize the action that robot upper arm opens/hold tightly. Stepper motor 1c1-6 and steppingMotor 1c1-7 lays respectively at pet type accompany and attend to right shoulder and the left shoulder of robot, realizes robotThe action that upper arm lifts/puts down. Stepper motor 1c1-8 and stepper motor 1c1-9 lay respectively atPet type accompany and attend to right leg and the left leg of robot, realize moving that robot leg lifts/puts downDo. Loudspeaker 1c2 is positioned at pet robot abdomen, for playing sound.
In the time that user strokes robot head, pressure sensor 1b1-1 experiences lighter pressurePower, main controller controls motor 1c1-1 and motor 1c1-2 rotation, realize the action of bowing,Loudspeaker 1c2 sends comfortable cry simultaneously; In the time that user strokes robot chin, pressureSensor 1b1-2 experiences lighter pressure, main controller controls motor 1c1-1 and motor1c1-2 rotation, realizes the action coming back, and loudspeaker 1c2 sends comfortable cry simultaneously; WhenWhen user pats robot head, pressure sensor 1b1-1 experiences heavier pressure, mainController control motor 1c1-1 and motor 1c1-2 fast rotational, realize and bow and lift fastThe action of head, loudspeaker 1c2 sends angry cry simultaneously.
In the time that user strokes robot back, pressure sensor 1b1-3/1b1-4/1b1-5/1b1-6Experience lighter pressure, main controller controls motor 1c1-4 and motor 1c1-5 rotation,Upper arm opens, and realizes the action of embracing, and loudspeaker 1c2 sends comfortable cry simultaneously; WhenWhen user pats robot back, pressure sensor 1b1-3/1b1-4/1b1-5/1b1-6 impressionTo heavier pressure, main controller controls motor 1c1-8, motor 1c1-9 and motor 1c1-3Rotation, head rotates to the left or to the right, and shank alternately lifts, and imitates angry action, withTime loudspeaker 1c2 send angry cry.
In the time that user holds robot left side palm, corresponding heat-sensitive sensor 1b4-2 impressionTo variations in temperature, main controller controls motor 1c1-7 rotation, left side upper arm lifts/puts down,The action that imitation is shaken hands, loudspeaker 1c2 sends the voice of greeting simultaneously; When user holds machineWhen device people right side palm, corresponding heat-sensitive sensor 1b4-1 experiences variations in temperature, master controlDevice control motor 1c1-6 rotation processed, right side upper arm lifts/puts down, and imitates the action of shaking hands,Loudspeaker 1c2 sends the voice of greeting simultaneously.
In the time that microphone 1b6 detects sound, master controller carries out speech recognition automatically, andPlay the corresponding voice of answering according to the output control loudspeaker 1c2 of identification. When coal gas detectsSensor 1b3 detects when hazardous gas exists, main controller controls loudspeaker 1c2 broadcastingCorresponding prompting alarm voice. Photoelectric sensor 1b2 can experience light and secretly change, at nightUnder the dark conditions such as evening, automatically open park mode, when power saving, avoid bothering owner and have a rest.
In the time that host computer b opens video monitoring function by video monitoring module b2, by taking the photographObtain video information as 26, and realize camera function. Host computer b can also pass through programThe information such as time, content that module b1 arranges affairs prompts such as taking medicine is set, and master controller existsWhen the time of advent, automatically control Audio Players 42 and play the corresponding voice of reminding.
Outstanding feature of the present invention is that the robot of accompanying and attending to has pet external form, is convenient to old man's bosomWith carry, can realize and people's the emotion communication activity such as limbs interaction, voice dialogue,Have more affinity, be easily extensively subject to liking of the elderly, be specially adapted to old solitary peopleSpirit accompany and attend to, can effectively alleviate old man's feeling of lonely. Meanwhile, robot has musicPlay, take medicine the function such as prompting, routine matter prompting, can assist life of elderly person, rightThe bad old man of the memory such as dull-witted is especially useful; The peace such as gas alarm and monitoring remote videoFull monitoring function, can the effective guarantee old man safety of living environment at home. Can be widely used inThe multiple place such as Old Age Homes, home for destitute, has wide market prospects.
Above, be only the specific embodiment of the present invention, but protection scope of the present invention is notBe confined to this, any be familiar with those skilled in the art the present invention disclose technology modelIn enclosing, can expect easily changing or replacing, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (7)
1. the pet type robot of accompanying and attending to, is characterized in that, comprising: pet type shellAnd be arranged on sensing element, master controller and the execution unit of described pet type enclosure;
Described sensing element, for responding to human action and/or environmental change, wherein said biographySense parts at least comprise following one: for respond to pressure sensor that human body exerts pressure,For the photoelectric sensor of induced environment light variation, for responding to the temperature-sensitive biography of human body temperatureSensor, for detection of the microphone of sound, for obtaining camera and the use of video imageThe coal gas detecting sensor of gas concentration in testing environment;
Described master controller, corresponding with described human action and/or environmental change for sendingAction directive;
Described execution unit, for carrying out described action directive;
Described execution unit comprises: stepper motor and Audio Players;
Wherein, the joint part of the output of described stepper motor and described pet type shell connectsConnect, drive described pet type shell to act accordingly;
Described Audio Players is used for sending relative with described human action and/or environmental changeThe sound of answering;
Described stepper motor comprises: be arranged at described pet type shell neck for described in controllingPet type shell make bow/come back action the first stepper motor, be arranged at described pet typeShell neck is made the second step of head left-right rotation action for controlling described pet type shellEnter motor, be arranged at the left shoulders of described pet type shell and right shoulders for controlling respectivelyDescribed pet type shell makes left upper arm and the 3rd stepping electricity of action is opened/hold tightly to right upper armMachine and the 4th stepper motor, be arranged at the left shoulders of described pet type shell and right shoulder respectivelyPosition is made left upper arm and right upper arm and is lifted/put down action for controlling described pet type shellThe 5th stepper motor and the 6th stepper motor, be respectively arranged at the left leg of described pet type shell andRight leg and trunk junction are made and are lifted/put down the 7th of action for controlling left leg and right legStepper motor and the 8th stepper motor;
Described sensing element comprises multiple pressure sensors, and multiple described pressure sensors respectivelyCorrespondence is distributed on position, the crown, chin position and the trunk of described pet type shell;
Described master controller receives the people of the described pressure sensor transmission that is positioned at position, the crownWhen body is exerted pressure, judge that described human body is exerted pressure and whether be less than the first predetermined threshold value, asBe really, control described the first stepping electric machine rotation, drive described pet type shell to make and bowAction, and control described Audio Players and play the first audio file; Otherwise control describedOne stepper motor rotates, and drives described pet type shell to make the new line alternating movement of bowing, andControl described Audio Players and play the second audio file;
Described master controller receives the people of the described pressure sensor transmission that is positioned at chin positionWhen body is exerted pressure, judge that described human body is exerted pressure and whether be less than the second predetermined threshold value, asBe really, control described the first stepping electric machine rotation, drive described pet type shell to make new lineAction, and control described Audio Players and play described the first audio file;
The human body that described master controller receives the pressure sensor transmission being positioned on trunk appliesWhen pressure, judge that this human body is exerted pressure and whether be less than the 3rd predetermined threshold value, if so, controlMaking described the 3rd stepper motor and the 4th stepper motor rotates and drives described pet type shell to makeLeft upper arm and right upper arm are opened action, and control described Audio Players and play described the first soundFrequency file; Otherwise, control described the second stepper motor, the 7th stepper motor and the 8th steppingElectric machine rotation drives that described pet type shell is made head left/right turn, the right leg of left leg is alternately liftedPlay action, and control described Audio Players and play described the second audio file.
2. the pet type according to claim 1 robot of accompanying and attending to, is characterized in that,Described sensing element comprises heat-sensitive sensor, and the quantity of described heat-sensitive sensor is two differenceBe arranged at the left hand palm and the right hand palm position of described pet type shell;
When described master controller receives the human body temperature of described heat-sensitive sensor transmission, controlFive stepper motor corresponding with this heat-sensitive sensor or the 6th stepper motor rotate, and driveThe upper arm of the corresponding side of described pet type shell is made and is lifted/put down action, and controls described soundPlayer plays the 3rd audio file.
3. the pet type according to claim 1 robot of accompanying and attending to, is characterized in that,Described sensing element comprises photoelectric sensor;
The described ambient light that described master controller receives described photoelectric sensor transmission changesTime, judge that whether current light environment is less than default light threshold value, if so, generates dormancyControl instruction, control enters resting state.
4. the pet type according to claim 1 robot of accompanying and attending to, is characterized in that,Described sensing element comprises: coal gas detecting sensor;
When described master controller receives the gas concentration of described coal gas detecting sensor transmission,Judge whether described gas concentration is greater than default gas concentration value, if so, described in controllingAudio Players sends coal gas leakage detection, alarm.
5. the pet type according to claim 1 robot of accompanying and attending to, is characterized in that,Described sensing element comprises microphone;
When described master controller receives described microphone transmission sound, control described sound and broadcastPut device and carry out voice answer-back.
6. the pet type according to claim 1 robot of accompanying and attending to, is characterized in that,Also comprise communication module; Described sensing element comprises camera;
Described main controller, for video image that described camera is obtained by described communicationModule is transferred to host computer.
7. the pet type robot system of accompanying and attending to, is characterized in that, comprises host computer and as powerProfit requires the robot of accompanying and attending to of the pet type described in 1 to 6 any one; The described pet type machine of accompanying and attending toDevice people is connected with described host computer.
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| CN201410706366.0A CN104440925B (en) | 2014-11-27 | 2014-11-27 | A kind of pet type accompany and attend to robot and system |
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