CN104959987B - Partner robot based on artificial intelligence - Google Patents
Partner robot based on artificial intelligence Download PDFInfo
- Publication number
- CN104959987B CN104959987B CN201510413730.9A CN201510413730A CN104959987B CN 104959987 B CN104959987 B CN 104959987B CN 201510413730 A CN201510413730 A CN 201510413730A CN 104959987 B CN104959987 B CN 104959987B
- Authority
- CN
- China
- Prior art keywords
- artificial intelligence
- output
- partner
- output shaft
- driving means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention discloses a kind of partner robot based on artificial intelligence, is included based on the partner robot of artificial intelligence：Housing, housing include：Base, trunk and head, trunk and head can activities；Including first input end and the first motion of the first output shaft, first input end is engaged with the first output gear on the first output shaft, and the first output shaft is rotatably arranged on base；Second motion, the second motion include：Mounting seat, the second output shaft, hollow shaft and output end, mounting seat and the first output shaft fixed connection, second output shaft is arranged in mounting seat, hollow shaft is rotatably arranged on the second output shaft, output end is arranged on hollow shaft, and the second output gear drive output on the second output shaft is rotated or hollow shaft is rotated；Trunk is connected with mounting seat, and head is fixedly connected with output end.According to the partner robot based on artificial intelligence of the present invention, with abundant limb action, can effectively be linked up with user.
Description
Technical field
The present invention relates to robot field, especially relates to a kind of partner robot based on artificial intelligence.
Background technology
Artificial intelligence (Artificial Intelligence), studies, is developed for simulating, extend and extending people
One new technological sciences of the theory, method, technology and application system of intelligence.Artificial intelligence is point of computer science
, it attempts to understand the essence of intelligence, and produces a kind of new intelligence that can be made a response in the way of human intelligence is similar
Machine, the research in the field include robot, language identification, image recognition, natural language processing and expert system etc..Artificial intelligence
Can be since the birth, theory and technology is increasingly mature, and application also constantly expands, it is contemplated that following artificial intelligence is brought
Sci-tech product, it will be the wisdom of humanity " container ".
With social development and scientific and technological progress, engender that some have the companion robot product of artificial intelligence,
The intelligence that the partner robot of artificial intelligence can be thought deeply as people, be likely to more than people.The companion machine of artificial intelligence
People can be set up by voice, word, figure or light and the mankind and effectively link up.The life band that this communication can give people
Carry out great convenience, and delight of life can be increased with the pressure caused by the Working Life rhythm of keeping tensions down；Additionally, also
The sense of loss of the people produced by social interaction can be made up to a certain extent, help Empty nest elderly, Dink family, unmarried
Personage, only-child etc. break away from the feeling of lonely caused due to certain family role disappearance.
Existing one class of companion's humanoid robot is the virtual machine with apple Siri (voice assistant dbase) as representative
People, its are in the nature one group of application program, lack external entity morphology, there is natural estrangement with the mankind；Another kind of be with
Amazon Echo (echo) is the tangible machine people of representative, and its moulding is simple and crude, and single function, in addition to voice or light, does not have
More the mode interactive with human communication, also therefore is difficult to be accepted.
Content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.For this purpose, the present invention is carried
Go out a kind of partner robot based on artificial intelligence, partner robot that should be based on artificial intelligence has abundant limb action,
The partner robot based on artificial intelligence and user can be caused fully to be linked up, so that user feels parent
Cut.
According to the partner robot based on artificial intelligence of the present invention, including：Housing, the housing include：Base, trunk
And head, the trunk is movably disposed on the base, and the head is movably disposed on the trunk；First
Motion, first motion include first input end and the first output shaft, the first input end and described first
The first output gear engagement on output shaft, first output shaft are rotatably arranged on the base and perpendicular to described
Base；First driving means, the first driving means are connected with the first input end；Second motion, described second
Motion includes：Mounting seat, the second output shaft, hollow shaft and output end, the mounting seat are fixed with first output shaft
Connection, second output shaft are arranged in the mounting seat, and the hollow shaft is rotatably arranged in second output shaft
On, the output end is arranged on the hollow shaft, and the second output gear on second output shaft drives the output end
Rotate or the hollow shaft is rotated；Second driving means, second driving means drive second output gear to rotate；Its
In, the trunk is fixedly connected with the mounting seat, and the head is fixedly connected with the output end.
The partner robot based on artificial intelligence according to the present invention, it is possible to achieve it is dynamic that trunk rotates, nods and shakes the head
Make, so that the partner robot based on artificial intelligence has abundant limb action, and then can cause based on people
The partner robot of work intelligence and user are fully linked up so that user feels warm.
In addition, can also be with following additional technical feature according to the partner robot based on artificial intelligence of the present invention：
In some examples of the present invention, second output gear is two and is bevel gear that described two second is defeated
Go out gear to be separately positioned on the both sides of the output end along the axial direction of second output shaft and engage with the output end.
In some examples of the present invention, it is additionally provided with second output shaft for driving second output gear
Second input gear, second input gear and the second output gear synchronous axial system, second driving means drive
Second input gear is rotated.
In some examples of the present invention, the convex of second input gear on second output gear, is provided with
Rise, second input gear is provided with projection, and the projection is provided with groove, described raised with the groove fit.
In some examples of the present invention, described raised in cross, the groove across.
In some examples of the present invention, the mounting seat includes base plate and side plate, and the side plate is two and difference position
In the both sides of the base plate, the side plate is vertically arranged with the base plate, and the base plate is fixedly connected with first output shaft,
Second output shaft is arranged between described two side plates.
In some examples of the present invention, second driving means are two and are respectively fixedly connected with two sides
On plate.
In some examples of the present invention, the base is cavity structure, and the first driving means are arranged on the bottom
In seat.
In some examples of the present invention, first motion also includes：First thrust bearing, the second thrust bearing
With bearing end plate, first thrust bearing and second thrust bearing are located at axially the two of first output gear respectively
Side, the seat ring of first thrust bearing are fixed on the base, and the seat ring of second thrust bearing is fixed on the axle
On socket end plate, the bearing end plate is parallel with the base and is fixedly connected by securing member.
In some examples of the present invention, second motion also includes：3rd thrust bearing and the first centripetal axle
Hold, the 3rd thrust bearing and first radial bearing are set on second output shaft, first radial bearing
The inner side of second output gear is arranged on, the 3rd thrust bearing is arranged on the outside of second output gear.
In some examples of the present invention, the partner robot based on artificial intelligence also includes：Control system, described
Control system control first driving means and the working condition of second driving means.
In some examples of the present invention, the control system includes：Touch-screen, liquid crystal display, mainboard, audio amplifier, sound card and
Driving plate, the touch-screen is connected with the liquid crystal display bonding and the touch-screen is arranged on the head, the mainboard with
The touch-screen, the audio amplifier are connected with the sound card, and the driving plate is driven with the first driving means and described second
Device is connected.
In some examples of the present invention, the control system can also include：Microphone array, visible light sensor and
Camera, the microphone array are arranged on the trunk and are connected with the sound card, the visible light sensor with described
Mainboard is connected, and the camera is connected with the mainboard.
In some examples of the present invention, the microphone array includes many sub- microphones, the plurality of sub- microphone
It is arranged on the trunk and along the circumferentially distributed of the trunk.
In some examples of the present invention, the first driving means and second driving means are motor.
In some examples of the present invention, the partner robot based on artificial intelligence also includes：Battery and power supply control
Making sheet, the power board are connected with the battery, and the power board is connected with the mainboard and the driving plate.
In some examples of the present invention, the microphone is welded to connect on the mainboard, the audio amplifier and the master
Tone frequency channel wire is connected between plate to constitute electrical connection, and the mainboard and the audio amplifier are fixed on the head by securing member
Interior.
In some examples of the present invention, the microphone, the audio amplifier and the mainboard constitute speech subsystems, user
Voice communication or the partner robot are carried out by the voice with the partner robot by the speech subsystems
Subsystem is to the user with speech form feedback information.
The additional aspect and advantage of the present invention will be set forth in part in the description, and partly will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from the description with reference to accompanying drawings below to embodiment
Substantially and easy to understand, wherein：
Fig. 1 is the structural representation of the partner robot based on artificial intelligence according to embodiments of the present invention；
Fig. 2 is the internal structure schematic diagram of the partner robot based on artificial intelligence according to embodiments of the present invention；
Fig. 3 is that the first motion of the partner robot based on artificial intelligence according to embodiments of the present invention and first drive
The structural representation of dynamic device；
Fig. 4 is the blast of the first motion of the partner robot based on artificial intelligence according to embodiments of the present invention
Figure；
Fig. 5 is the blast of the second motion of the partner robot based on artificial intelligence according to embodiments of the present invention
Figure；、
Fig. 6 is the sectional view of the partner robot based on artificial intelligence according to embodiments of the present invention.
Reference：
Partner robot 1000 based on artificial intelligence；
Housing 100；Base 10；Trunk 20；Head 30；
First motion 200；First input end 210；First output shaft 220；First output gear 230；First thrust
Bearing 240；Second thrust bearing 250；Bearing end plate 260；
First driving means 300；
Second motion 400；Mounting seat 410；Base plate 4110；Side plate 4120；Second output shaft 420；Hollow shaft 430；
Output end 440；Second output gear 450；Second input gear 460；Raised 470；Groove 480；Projection 490；
Second driving means 500；Drive gear 510；
Control system 600；Touch-screen 610；Mainboard 620；Audio amplifier 630；Sound card 640；Driving plate 650；Microphone 660；
Battery 700；Power board 800；
Microphone array 900；Sub- microphone 910；Camera 920；Visible light sensor 930；3rd thrust bearing 940；
First radial bearing 950.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward ", " up time
The orientation of instruction such as pin ", " counterclockwise " or position relationship are based on orientation shown in the drawings or position relationship, are for only for ease of
The description present invention and simplification description, rather than the device or element of instruction or hint indication must be with specific orientation, Yi Te
Fixed azimuth configuration and operation, are therefore not considered as limiting the invention.Additionally, term " first ", " second " are only used for
Description purpose, and it is not intended that indicating or hint relative importance or the implicit quantity for indicating indicated technical characteristic.
Thus, " first " is defined, one or more this feature can be expressed or be implicitly included to the feature of " second ".At this
In the description of invention, " multiple " are meant that two or more, unless otherwise expressly limited specifically.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
To be to be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, permissible
Understand above-mentioned term concrete meaning in the present invention as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score
The first and second feature directly contacts can be included, it is also possible to be not directly contact including the first and second features but by it
Between other characterisation contact.And, fisrt feature second feature " on ", " top " and " above " include that first is special
Levy directly over second feature and oblique upper, or fisrt feature level height is merely representative of higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " below " include fisrt feature immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
The partner robot 1000 based on artificial intelligence according to embodiments of the present invention is described below with reference to Fig. 1-Fig. 5.
According to embodiments of the present invention can be included based on the partner robot 1000 of artificial intelligence：Housing 100, first is transported
Motivation structure 200, first driving means 300, the second motion 400 and the second driving means 500.
As shown in figure 1, housing 100 includes：Base 10, trunk 20 and head 30, trunk 20 are movably disposed in base
On 10, head 30 is movably disposed on trunk 20.That is, trunk 20 and head 30 can be movable with respect thereto 10,
Base 10 can play a part of to support trunk 20 and head 30, wherein, as shown in Fig. 2 base 10 can be circle, and circular
Base 10 is easy to place, and is easy to be contacted with user based on the partner robot 1000 of artificial intelligence without corner angle.
As shown in figs 2-4, the first motion 200 can include first input end 210 and the first output shaft 220, the
One input 210 is engaged with the first output gear 230 on the first output shaft 220, and the first output shaft 220 is rotatably arranged in
On base 10, and the first output shaft 220, perpendicular to base 10, first driving means 300 are connected with first input end 210.Can
Selection of land, first driving means 300 can be motor, and first input end 210 can be gear, and first input end 210 is permissible
It is set on the motor shaft of first driving means 300, when first driving means 300 work, motor shaft can drive first defeated
Enter end 210 to rotate, the first input end 210 of rotation can drive the first output gear 230 and the first output shaft 220 to rotate.Can
Selection of land, first input end 210 and the first output gear 230 can be roller gear, but be not limited to this.Alternatively, in conjunction with
Shown in Fig. 3 and Fig. 4, base 10 can be cavity structure, and first driving means 300 are arranged in base 10, so that
Based on the space connection and reasonable arrangement of the partner robot 1000 of artificial intelligence, it is easy to the first motion 200 and the second motion
400 arrangement, improves based on space availability ratio in the partner robot 1000 of artificial intelligence.
Specifically, in conjunction with shown in Fig. 3 and Fig. 4, partner robot 1000 can also include：First thrust bearing 240, second
Thrust bearing 250 and bearing end plate 260, the first thrust bearing 240 and the second thrust bearing 250 are located at the first output gear respectively
230 axial both sides, the seat ring of the first thrust bearing 240 are fixed on base 10, and the seat ring of the second thrust bearing 250 is fixed on
On bearing end plate 260, bearing end plate 260 is parallel with base 10 and is fixedly connected by securing member.Wherein, the first thrust bearing
240 and second thrust bearing 250 be set on the first output shaft 220, and both sides positioned at the first output gear 230.Optional
Ground, the blowout patche of the first thrust bearing 240 and 220 interference fit of the first output shaft, the blowout patche of the second thrust bearing 250 are defeated with first
220 interference fit of shaft.Bearing end plate 260 can be mutually fixed with base 10 by securing member, and bearing end plate 260 can be with base
10 upper surface is parallel, such that it is able to improve mounting stability of first motion 200 on base 10, further may be used
To improve functional reliability of first motion 200 on base 10.
As shown in Figure 2 and Figure 5, the second motion 400 can include：Mounting seat 410, the second output shaft 420, hollow shaft
430 and output end 440, mounting seat 410 is fixedly connected with the first output shaft 220, and the second output shaft 420 is arranged on mounting seat 410
On, hollow shaft 430 is rotatably arranged on the second output shaft 420, and output end 440 is arranged on hollow shaft 430, the second output
450 drive output 440 of the second output gear on axle 420 is rotated or hollow shaft 430 is rotated, and the second driving means 500 are driven
Move the second output gear 450 to rotate.It is understood that the second driving means 500 can drive 450 turns of the second output gear
Dynamic, the second output gear 450 of rotation can drive output end 440 to rotate, or the second output gear 450 for rotating can be carried
Dynamic hollow shaft 430 is rotated.Alternatively, the second driving means 500 can be motor.
Wherein, trunk 20 is fixedly connected with mounting seat 410, and head 30 is fixedly connected with output end 440.May be appreciated
It is that, when first driving means 300 work, the first output shaft 220 can drive mounting seat 410, trunk 20 and head 30 bottom of at
Rotate on seat 10, so that the rotation for completing trunk 20 and head 30 based on the partner robot 1000 of artificial intelligence is moved
Make.When the second driving means 500 work, output end 440 can drive head 30 to rotate around the second output shaft 420, so as to can
So that complete, based on the partner robot 1000 of artificial intelligence, the action that nods, or output end 440 can drive head 30
Around the action that the center rotation of output end 440, the partner robot 1000 such that it is able to complete based on artificial intelligence are shaken the head.
Specifically, as shown in Figure 2 and Figure 5, the second output gear 450 can be two, and two the second output gears
450 are bevel gear, and thus, output end 440 is bevel gear.Two the second output gears 450 are along the axial direction of the second output shaft 420
The both sides of output end 440 are separately positioned on, and two the second output gears 450 are engaged with output end 440.Further,
The second input gear 460 being also provided with two output shafts 420 for driving the second output gear 450, the second input gear
460 and 450 synchronous axial system of the second output gear, the second driving means 500 drive the second input gear 460 to rotate.As Fig. 5 institute
Show, the second driving means 500 are motor, be arranged with drive gear 510, drive on the motor shaft of the second driving means 500
Gear 510 is engaged with the second input gear 460, so that the second output gear 450 drives hollow shaft 430 or output
End 440 rotates.
Alternatively, as shown in figure 5, the second motion 400 can also include：3rd thrust bearing 940 and first is centripetal
Bearing 950, the 3rd thrust bearing 940 and the first radial bearing 950 are set on the second output shaft 420, and the 3rd thrust axis
940 outsides for being arranged on the second output gear 450 are held, the first radial bearing 950 is arranged on the inner side of the second output gear 450.
As shown in figure 5, near the inner side that the side of the second output gear 450 of hollow shaft 430 is the second output gear 450, away from public affairs
The side of the second output gear 450 of rotating shaft 430 is the outside of the second output gear 450.Specifically, as shown in figure 5, the 3rd pushes away
Power bearing 940 is arranged on the outside of the second input gear 460, and the first radial bearing 950 is arranged on the interior of the second output gear 450
Side.By the 3rd thrust bearing 940 and the first radial bearing 950 is arranged, the second output shaft 420 can be effectively reduced defeated with second
Go out between gear 450 and the second input gear 460 in friction axially and radially, such that it is able to improve the second output gear
450 functional reliability.
Alternatively, mounting seat 410 can include base plate 4110 and side plate 4120, and side plate 4120 is for two and respectively the bottom of positioned at
The both sides of plate 4110, side plate 4120 are vertically arranged with base plate 4110, and base plate 4110 is fixedly connected with the first output shaft 220, and second
Output shaft 420 is arranged between two side plates 4120.Wherein, the second driving means 500 are two, and two second drive dress
Put 500 to be respectively fixedly connected with two side plates 4120.
The operation principle of the partner robot 1000 based on artificial intelligence according to embodiments of the present invention is described below in detail.
The operation principle that trunk 20 is rotated：When first driving means 300 work, first input end 210 and first is exported
Gear 230 is engaged, and the first output gear 230 drives the first output shaft 220 to rotate, and the first output shaft 220 drives 410 turns of mounting seat
Dynamic, mounting seat 410 can drive trunk 20 and 30 synchronous axial system of head.
The operation principle that nods：When the second driving means 500 work and two the second driving means 500 rotating speed and steering
When identical, so that the steering of the second output gear 450 of 440 both sides of output end is identical with rotating speed, and then can make
440 two the second output gears 450 relatively of output end that must be Wei Yu two the second output gears 450 between are static, two second
Output gear 450 drives output end 440 and hollow shaft 430 to do revolution motion around the second output shaft 420, is based on such that it is able to be formed
The nodding action of the partner robot 1000 of artificial intelligence.
The operation principle that shakes the head：When the second driving means 500 work and the rotating speed of two the second driving means 500 identical,
When turning to contrary, steering positioned at 440 the second output gear of both sides 450 of output end is contrary and rotating speed is identical, and hollow shaft 430 is relative
Second output shaft 420 is static, 440 rotation of output end, such that it is able to form shaking for the partner robot 1000 based on artificial intelligence
Head action.The partner robot 1000 based on artificial intelligence can be realized by changing the steering of two the second driving means 500
The process that shakes the head to the left and shake the head to the right.
It should be noted that trunk 20 is rotated and nodding action can be carried out simultaneously, driving rotation and the action that shakes the head can
To carry out simultaneously, and nod and shake the head and can be coupled, can be complete so as to the partner robot 1000 based on artificial intelligence
Become the coupled motions that nods and shake the head.In addition, can be integrally placed on desktop based on the partner robot 1000 of artificial intelligence,
Such that it is able to be easy to user to be linked up with the partner robot 1000 based on artificial intelligence.Certain companion based on artificial intelligence
Robot 1000 can also be placed on other positions, such as on bed, on the ground.
Thus, the partner robot 1000 based on artificial intelligence according to embodiments of the present invention, it is possible to achieve 20 turns of trunk
The action that moves, nod and shake the head, so that the partner robot 1000 based on artificial intelligence has abundant limbs move
Make, and then partner robot 1000 based on artificial intelligence and user can be caused fully to be linked up so that user feels
Warm.
In some examples of the present invention, as shown in figure 5, being provided with the second input gear on the second output gear 450
460 projection 470, the second input gear 460 are provided with projection 490, and projection 490 is provided with groove 480, projection 470 and groove
480 coordinate.Specifically, raised 470 can be in cross, and groove 480 can be with across.Criss-cross raised 470 and groove
480 relative rotations that can effectively prevent the second output gear 450 and the second input gear 460, it is ensured that the second output gear 450
With 460 synchronous axial system of the second input gear.
It should be noted that the second output gear 450 can be fixedly connected with the second input gear 460, or second is defeated
Go out gear 450 and the second input gear 460 can be integrally formed.
In some specific examples of the present invention, as shown in figure 1, the partner robot 1000 based on artificial intelligence is acceptable
Including：Control system, the working condition of control system control first driving means 300 and the second driving means 500.Namely
Say, control system can control the action for whether being rotated, nodded and being shaken the head based on the partner robot 1000 of artificial intelligence.
Alternatively, as shown in figures 1 to 6, control system 600 can include：Touch-screen 610, liquid crystal display, mainboard 620, wheat
Gram wind 660, audio amplifier 630, sound card 640 and driving plate 650, touch-screen 610 is connected with liquid crystal display bonding, and touch-screen 610 can
To be arranged on head 30, mainboard 620 is connected with touch-screen, audio amplifier 630, sound card 640 and driving plate 650, microphone 660 and sound
Card 640 is connected, and sound card 640 can process the audio signal of the collection of microphone 660, driving plate 650 and first driving means 300 and
Second driving means 500 are connected.By arranging touch-screen 610, user can be input into effectively instruction and based on artificial intelligence
Partner robot 1000 is linked up, and the partner robot 1000 based on artificial intelligence can be carried out accordingly according to the instruction of user
Action, for example, partner robot 1000 based on artificial intelligence can in liquid crystal screen display word, pattern and picture, from
And effective communication is carried out with user.Or rotation can be made based on the partner robot 1000 of artificial intelligence, nodded and shake the head
Action answer user back and forth.By arranging liquid crystal display, audio amplifier 630, sound card 640 and driving plate 650, can enrich based on artificial intelligence
The partner robot 1000 of energy and the communicative channel of user, further can be in order to user and the companion's machine based on artificial intelligence
Device people 1000 is linked up, and is improved the ease of use of user, is met the emotion of user.
Alternatively, microphone 660 is welded to connect on mainboard 620, is connected with tone frequency channel wire between audio amplifier 630 and mainboard 620
To constitute electrical connection, and mainboard 620 and audio amplifier 630 are fixed in head 30 by securing member (such as screw bolt and nut).
Further, microphone 660, audio amplifier 630 and mainboard 620 may be constructed speech subsystems, user and companion's machine
People 1000 carries out voice communication or partner robot 1000 by speech subsystems to user with voice by speech subsystems
Form feedback information.
Further, as shown in figure 1, control system can also include：Microphone array 900,930 and of visible light sensor
Camera 920, microphone array 900 are arranged on trunk 20 and are connected with sound card 640, it is seen that optical sensor 930 and mainboard 620
It is connected, camera 940 is connected with mainboard 620.Specifically, microphone array 900 includes many sub- microphones 910, many sub- wheats
Gram wind 910 is arranged on trunk 20 and along the circumferentially distributed of trunk.
Several functions of the partner robot 1000 based on artificial intelligence according to embodiments of the present invention are set forth below.
Microphone array 900 includes many sub- microphones 910, and many sub- microphones 910 can gather audio signal (for example
The sound that user sends), sound card 640 can process the audio signal of the collection of sub- microphone 910, and sound card 640 is passed information to
Mainboard 620, mainboard 620 are calculated according to information, and such that it is able to judge the position of user, mainboard 620 can be with driving plate
650 are connected so that driving plate 650 can drive the first motion 200 to rotate, and the first motion 200 can drive trunk
20 and head 30 towards user direction.Further, driving plate 650 the second motion 400 can be driven to move so that
Second motion 400 can drive head 30 towards user (head of such as user), so that partner robot
1000 liquid crystal display, audio amplifier 630, microphone 660, camera 920 and visible light sensor 930 are maintained at specific posture, just
In 1000 receive user of partner robot information effectively to be linked up with user, and then the ease of use of user.
Wherein, when being related to specific instruction in the audio signal of user, such as user require partner robot 1000 to
When user takes pictures, mainboard 620 can open camera 920, and camera 920 can be taken pictures to user.Or user is to companion's machine
During device people transmission other information, partner robot 1000 can transmit pattern-information etc. to enter with user by liquid crystal display to user
Row effective communication.
Partner robot 1000 based on artificial intelligence can carry out voice communication by speech subsystems with user.Mike
The audio signal that wind 660 is collected passes to mainboard 620, and the codec chip coding on mainboard 620 is passed at cpu
Reason, audio format file are decoded through the codec chip on mainboard 620, then are amplified through power amplifier, drive sound further
Speaker operation in case 630.Wherein, voice communication can be with various ways, and such as user is entered with partner robot 1000
Row voice-enabled chat, or user can be by the form of voice to partner robot issue instruction, partner robot 1000 is permissible
User is fed back in the form of speech.For example, how user can inquire partner robot weather tomorrow, partner robot
1000 can play to user in the form of speech according to corresponding Weather information, such that it is able to provide the user facility.In addition,
Partner robot 1000 can also by phonetic function to user play music, say cross-talk, tell a story, remind (schedule, information),
Warning (exception) etc..
In addition, camera 920 can also be with face tracking function.Camera 920 can collect the pattern (example of face
Pattern as user), then pattern is passed to mainboard 620, mainboard 620 can be stored.Thus, when user uses companion
During companion robot 1000, partner robot 1000 can be by verifying the pattern of face whether to judge user as user.
Visible light sensor 930 can be according to light to open and close liquid crystal display.For example, when there is light in front, liquid
Brilliant screen can be with display information to be linked up with user, and when front is unglazed, (body of such as user is near partner robot
1000 and when blocking light), liquid crystal display can be closed, and such that it is able to reduce the power consumption of partner robot 1000, extend companion's machine
The use time of device people 1000.
In addition, visible light sensor 930 also has the function of adjustable liquid crystal display screen brightness.Visible light sensor 930 can root
According to ambient light intensity with the brightness of adjustable liquid crystal display screen, thus, the brightness of liquid crystal display can be adapted with surrounding environment, so as to can
So that partner robot 1000 reaches the optimum efficiency of display, the experience of user is improved.
Alternatively, as shown in figure 1, can also be included based on the partner robot 1000 of artificial intelligence：Battery 700 and power supply
Control panel 800, battery 700 are connected with first driving means 300 and the second driving means 500, power board 800 and battery
700 are connected with energising and the off-position for controlling battery 700.Power board 800 is connected with driving plate 650, mainboard 620 respectively
It is powered；Driving plate 650 is connected with first driving means 300 and the second driving means 500 respectively and is powered；Mainboard 620
It is connected with sound card 640, sound card 640 is connected with microphone and is powered；Other sensors are connected with mainboard 620 and are powered.And
And power board 800 can be also used for voltage stabilizing, for example, voltage is divided into required for the 6V required for motor, mainboard 620
The different voltage outputs such as 5V, 3.3V.
By power board 800 is arranged, the partner robot based on artificial intelligence can be opened and closed in order to user
1000, the electricity consumption of the partner robot 1000 based on artificial intelligence can be further saved, extends the companion based on artificial intelligence
The use time of companion robot 1000.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features, the knot described with reference to the embodiment or example
Structure, material or feature are contained at least one embodiment of the present invention or example.In this manual, to above-mentioned term
Schematic representation is not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or spy
Point can be combined in any one or more embodiments or example in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
These embodiments can be carried out with multiple changes, modification, replacement and modification in the case of the principle and objective of the disengaging present invention, this
The scope of invention is limited by claim and its equivalent.
Claims (18)
1. a kind of partner robot based on artificial intelligence, it is characterised in that include：
Housing, the housing include：Base, trunk and head, the trunk are movably disposed on the base, the head
Portion is movably disposed on the trunk；
First motion, first motion include first input end and the first output shaft, the first input end with
The first output gear engagement on first output shaft, first output shaft are rotatably arranged on the base and hang down
Directly in the base；
First driving means, the first driving means are connected with the first input end；
Second motion, second motion include：Mounting seat, the second output shaft, hollow shaft and output end, the peace
Dress seat is fixedly connected with first output shaft, and second output shaft is arranged in the mounting seat, and the hollow shaft can turn
It is arranged on second output shaft dynamicly, the output end is arranged on the hollow shaft, on second output shaft
Two output gears drive the output end to rotate or the hollow shaft is rotated；
Second driving means, second driving means drive second output gear to rotate；
Wherein, the trunk is fixedly connected with the mounting seat, and the head is fixedly connected with the output end.
2. the partner robot based on artificial intelligence according to claim 1, it is characterised in that second output gear
For two and be bevel gear, described two second output gears are separately positioned on the output along the axial direction of second output shaft
The both sides at end are simultaneously engaged with the output end.
3. the partner robot based on artificial intelligence according to claim 2, it is characterised in that on second output shaft
The second input gear being additionally provided with for driving two second output gears respectively, second input gear and described the
Two output gear synchronous axial system, second driving means drive second input gear to rotate.
4. the partner robot based on artificial intelligence according to claim 3, it is characterised in that second output gear
On be provided with the projection of second input gear, second input gear is provided with projection, and the projection is provided with recessed
Groove, described raised with the groove fit.
5. the partner robot based on artificial intelligence according to claim 4, it is characterised in that described raised be in cross
Shape, the groove across.
6. the partner robot based on artificial intelligence according to claim 3, it is characterised in that the mounting seat includes bottom
Plate and side plate, the side plate are two and are located at the both sides of the base plate respectively that the side plate is vertically arranged with the base plate, institute
State base plate to be fixedly connected with first output shaft, second output shaft is arranged between described two side plates.
7. the partner robot based on artificial intelligence according to claim 6, it is characterised in that second driving means
For two and it is respectively fixedly connected with two side plates.
8. the partner robot based on artificial intelligence according to claim 1, it is characterised in that the base is cavity knot
Structure, the first driving means are arranged in the base.
9. the partner robot based on artificial intelligence according to claim 1, it is characterised in that also include：First thrust
Bearing, the second thrust bearing and bearing end plate, first thrust bearing and second thrust bearing are located at described the respectively
The axial both sides of one output gear, the seat ring of first thrust bearing are fixed on the base, second thrust bearing
Seat ring be fixed on the bearing end plate, the bearing end plate is parallel with the base and is fixedly connected by securing member.
10. the partner robot based on artificial intelligence according to claim 1, it is characterised in that also include：3rd thrust
Bearing and the first radial bearing, the 3rd thrust bearing and first radial bearing are set on second output shaft,
First radial bearing is arranged on the inner side of second output gear, and it is defeated that the 3rd thrust bearing is arranged on described second
Go out the outside of gear.
11. partner robots based on artificial intelligence according to claim 1, it is characterised in that also include：Control system
System, the working condition of the control system control first driving means and second driving means.
12. partner robots based on artificial intelligence according to claim 11, it is characterised in that the control system bag
Include：Touch-screen, liquid crystal display, mainboard, microphone, audio amplifier, sound card and driving plate, the touch-screen are connected with the liquid crystal display bonding
And the touch-screen is arranged on the head, the mainboard is connected with the touch-screen, the audio amplifier and the sound card, described
Microphone is connected with the sound card, and the driving plate is connected with the first driving means and second driving means.
13. partner robots based on artificial intelligence according to claim 12, it is characterised in that also include：Microphone
Array, visible light sensor and camera, the microphone array are arranged on the trunk and are connected with the sound card, described
Visible light sensor is connected with the mainboard, and the camera is connected with the mainboard.
14. partner robots based on artificial intelligence according to claim 13, it is characterised in that the microphone array
Including many sub- microphones, the plurality of sub- microphone is arranged on the trunk and along the circumferentially distributed of the trunk.
15. partner robots based on artificial intelligence according to claim 1, it is characterised in that described first drives dress
Put motor is with second driving means.
16. partner robots based on artificial intelligence according to claim 12, it is characterised in that also include：Battery and
Power board, the power board are connected with the battery, the power board and the mainboard and the driving plate
It is connected.
17. partner robots based on artificial intelligence according to claim 12, it is characterised in that the microphone welding
Be connected on the mainboard, tone frequency channel wire is connected between the audio amplifier and the mainboard to constitute electrical connection, and the mainboard
It is fixed in the head by securing member with the audio amplifier.
18. partner robots based on artificial intelligence according to claim 17, it is characterised in that the microphone, institute
State audio amplifier and the mainboard constitutes speech subsystems, user carries out voice with the partner robot by the speech subsystems
Link up or the partner robot is by the speech subsystems to the user with speech form feedback information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510413730.9A CN104959987B (en) | 2015-07-14 | 2015-07-14 | Partner robot based on artificial intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510413730.9A CN104959987B (en) | 2015-07-14 | 2015-07-14 | Partner robot based on artificial intelligence |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104959987A CN104959987A (en) | 2015-10-07 |
| CN104959987B true CN104959987B (en) | 2017-03-08 |
Family
ID=54214157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510413730.9A Active CN104959987B (en) | 2015-07-14 | 2015-07-14 | Partner robot based on artificial intelligence |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104959987B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283430A (en) * | 2016-03-30 | 2017-10-24 | 芋头科技（杭州）有限公司 | A kind of robot architecture |
| CN105957535A (en) * | 2016-04-15 | 2016-09-21 | 青岛克路德机器人有限公司 | Robot voice signal detecting and identifying system |
| CN105741626A (en) * | 2016-05-16 | 2016-07-06 | 苏州金建达智能科技有限公司 | Education robot arm containing touch screen |
| JP6735013B2 (en) * | 2016-05-31 | 2020-08-05 | パナソニック株式会社 | robot |
| CN107538517A (en) * | 2016-06-23 | 2018-01-05 | 江苏雷动智能制造有限公司 | A kind of robot head rotating mechanism |
| CN106240764A (en) * | 2016-08-01 | 2016-12-21 | 江苏科技大学 | Compensation of undulation special purpose robot and compensation of undulation method |
| CN106512438A (en) * | 2016-09-20 | 2017-03-22 | 上海未来伙伴机器人有限公司 | Steering module and building block |
| CN107914293A (en) * | 2016-10-11 | 2018-04-17 | 芋头科技（杭州）有限公司 | A kind of robot polycrystalline substance |
| CN106782519A (en) * | 2016-12-23 | 2017-05-31 | 深圳先进技术研究院 | A kind of robot |
| CN107150344A (en) * | 2017-05-12 | 2017-09-12 | 重庆大学 | Differential bevel gear formula robot neck controlling organization |
| CN108000529A (en) * | 2017-12-08 | 2018-05-08 | 子歌教育机器人（深圳）有限公司 | Intelligent robot |
| CN108582101A (en) * | 2018-04-28 | 2018-09-28 | 广东金贝贝智能机器人研究院有限公司 | a kind of intelligent life robot |
| CN108742331B (en) * | 2018-05-28 | 2021-02-19 | 山东名护智能科技有限公司 | Robot avatar method |
| CN111267114B (en) * | 2020-01-17 | 2021-10-08 | 尹凡 | Infant pacifies guardianship robot |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2577410B2 (en) * | 1987-12-03 | 1997-01-29 | 株式会社東芝 | Manipulator joint mechanism |
| JP2005279856A (en) * | 2004-03-30 | 2005-10-13 | Victor Co Of Japan Ltd | Robot |
| KR100819802B1 (en) * | 2006-03-03 | 2008-04-07 | 삼성테크윈 주식회사 | Actuation mechanism having 2 degree of freedom and sentry robot having the same |
| CN101486192B (en) * | 2008-01-16 | 2010-06-30 | 中国科学院自动化研究所 | Single motor driven two-freedom degree joint structure |
| CN101927498B (en) * | 2009-11-12 | 2011-08-24 | 哈尔滨工业大学 | Two-degree-of-freedom robot wrist |
| CN101837592B (en) * | 2010-05-12 | 2011-09-14 | 哈尔滨工业大学 | Humanoid robot head based on bevel gear differential coupling mechanism |
| CN201940040U (en) * | 2010-09-27 | 2011-08-24 | 深圳市杰思谷科技有限公司 | Domestic robot |
| CN102610116A (en) * | 2012-03-13 | 2012-07-25 | 浙江百新机电科技有限公司 | High-simulation intelligent traffic police robot |
| CN204409483U (en) * | 2014-12-01 | 2015-06-24 | 广州达意隆包装机械股份有限公司 | Ice cream maker service robot |
| CN104690730B (en) * | 2015-02-06 | 2016-03-02 | 浙江工业大学 | The four limbs of a kind of anthropomorphic robot and trunk mechanism |
-
2015
- 2015-07-14 CN CN201510413730.9A patent/CN104959987B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104959987A (en) | 2015-10-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104959987B (en) | Partner robot based on artificial intelligence | |
| CN102302858A (en) | Family entertainment robot | |
| CN105093986A (en) | Humanoid robot control method based on artificial intelligence, system and the humanoid robot | |
| CN106113058B (en) | One kind is accompanied and attended to robot | |
| TW201935186A (en) | Robot assisted interaction system and method thereof | |
| CN106976098A (en) | A kind of service robot neck structure | |
| CN104575141A (en) | Man-computer interaction auxiliary classroom teaching aid | |
| CN206066467U (en) | A kind of robot head and neck motion | |
| CN205058054U (en) | Multi -functional interactive usher robot | |
| US7942720B1 (en) | Animated “peek-a-boo” stuffed toy creature | |
| CN205197549U (en) | Virtual reality seat | |
| US20220347860A1 (en) | Social Interaction Robot | |
| US20220071839A1 (en) | Sliding touch sensitive vibrating toy spear | |
| CN204791614U (en) | Juvenile study machine people of intelligence | |
| CN205750354U (en) | A kind of expression robot | |
| CN205787669U (en) | A kind of Smart Home robot | |
| CN206315459U (en) | Robot toy for children based on auditory localization and Face datection | |
| CN206426082U (en) | A kind of child intelligently accompanies robot | |
| CN106514612B (en) | A kind of child intelligently accompanies robot | |
| EP2874721B1 (en) | Interactive embodied robot videogame through the use of sensors and physical objects | |
| CN206480361U (en) | A kind of 3D, which is shown, uses billboard | |
| CN105251219B (en) | A kind of intelligent marionette idol control system | |
| CN212241060U (en) | Deformation dancing robot imitating orchid mantis | |
| CN105904463B (en) | A kind of robot | |
| CN107481563A (en) | A kind of Edutainment robot based on neuron control form |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |