CN106514612B - A kind of child intelligently accompanies robot - Google Patents
A kind of child intelligently accompanies robot Download PDFInfo
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- CN106514612B CN106514612B CN201710027751.6A CN201710027751A CN106514612B CN 106514612 B CN106514612 B CN 106514612B CN 201710027751 A CN201710027751 A CN 201710027751A CN 106514612 B CN106514612 B CN 106514612B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
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Abstract
The invention discloses a kind of childs intelligently to accompany robot, including rotatable head (1) and torso portion (5), belong to robotic technology field, solving traditional child accompanies game products that cannot actively initiate the problem of inviting and carrying out targeted interaction according to the state of child instantly and needs.
Description
Technical field
The invention belongs to robotic technology fields.
Background technique
According to developmental psychology theory, in the developmental process of infant, they need by a large amount of Exploratory behavior with
And with other people interaction and exchange, gradually recognize the world, developing ability, increase body and mind function, to realize intelligence and personality
It grows up healthy and sound and develops.Modern society is busy due to routine work, and parent accompanies the time of child to be limited, and grand parents year
It records longer, the quiet stable environment of more preferences, and child active active age characteristics and development need difference, therefore
Lead that more difficult offer and the exploration of child during child need to match interact and assistance, to the abundant development tool of child
There is certain limitation.
With IT technology development and its and traditional toy combination, had already appeared many can carry out on the market with child
The child of some interactions accompanies game products.But it is mostly in the form of a single, the mode mostly responded again after child's operation,
It is only limitted to provide simple amusement, communication and education content push function, true man can not be simulated realistically and " interacted " with child
Mode, can not actively initiate to invite according to the state of child instantly and needs, carry out targetedly interaction.
Summary of the invention
The object of the present invention is to provide a kind of childs intelligently to accompany robot, solves traditional child and accompanies game products not
The problem of inviting and carrying out targeted interaction can be actively initiated according to the state of child instantly and needs.
To achieve the above object, the invention adopts the following technical scheme:
A kind of child intelligently accompanies robot, including rotatable head and torso portion, and the rotatable head is equipped with
Eye, ear and mouth, rotatable head include spherical upper housing, and torso portion includes lower case, the ear be set on
Sound equipment on the outside of upper housing, eye are the touch screen on the outside of upper housing, and the left side of touch screen is equipped with infrared sensor, touches
The right side of screen is equipped with ultrasonic sensor, and mouth is the microphone on the outside of upper housing, sets upper mounting plate, upper peace in upper housing
Loading board is equipped with motor of nodding, and the output shaft for motor of nodding protrudes horizontally up and the output shaft for motor of nodding is connected by connector
Upper housing, upper mounting plate are equipped with first line plate；
Upper housing is located at the upside of lower case, and upper housing bottom end is equipped with opening, and lower case top is equipped with top opening, lower case
Bottom is equipped with omnidirectional chassis, is equipped with LED light before lower case, and omnidirectional chassis is equipped with the first omni-directional wheel, the second omni-directional wheel, the
Three omni-directional wheels, the first movable motor for driving the first omni-directional wheel, the second movable motor for driving the second omni-directional wheel and drive third
The third movable motor of omni-directional wheel, the first omni-directional wheel, the second omni-directional wheel, third omni-directional wheel is triangular in shape is sequentially arranged, omnidirectional bottom
Disk is equipped with rotary head motor, is fixedly connected with a vertical shaft on the downside of upper mounting plate, which is driven by rotary head motor；
The lower installation board being set on the upside of omnidirectional chassis in lower case, lower installation board are equipped with the second wiring board.
The shaft is vertically arranged, and shaft successively extends downwardly into lower case from opening and top opening, the side of shaft and opening
Along separately, the output shaft of the rotary head motor stretches out upwards and docks the bottom end of shaft.
The lower installation board is fixedly connected with the inner wall of lower case, and the connector is vertical column, connector
Top be fixed on the inner wall of upper housing, bottom end is fixed on and nods on motor output shaft.
The motor of nodding, rotary head motor, the first movable motor, the second movable motor, third movable motor are stepping
Motor.
The bottom of upper housing is protruded into the top opening of lower case.
Lower case corresponds to the first omni-directional wheel, the second omni-directional wheel and third omni-directional wheel are set there are three stretching out hole, the first omni-directional wheel,
Second omni-directional wheel and third omni-directional wheel pass through three stretching holes respectively and extend downwardly outside lower case.
The first line plate is equipped with the 5th driver, ultrasonic interface, motor interface of nodding, acoustic interface, audio
Amplification module, infrared interface, touch screen interface, head control, FLASH memory, audio processing modules and microphone interface,
Acoustic interface connects audio amplification block, and audio amplification block and microphone interface are all connected with audio processing modules, infrared interface,
5th driver, FLASH memory, ultrasonic interface, audio processing modules and touch screen interface are all connected with head control, point
Head motor interface connects the 5th driver；
Second wiring board is equipped with LED light interface, power module, third driver, third movable motor interface, the
Two drivers, the second movable motor interface, the first driver, the first movable motor interface, fourth drive, rotary head motor interface
With trunk controller, third driver connects third movable motor interface, and the second driver connects the second movable motor interface, the
One driver connect the first movable motor interface, fourth drive connect rotary head motor interface, LED light interface, fourth drive,
Third driver, the second driver and the first driver are all connected with trunk controller；
Head control and trunk controller are electrically connected by Serial Port Line, and the 5th driver, infrared connects audio amplification block
Mouth, touch screen interface, head control, FLASH memory and audio processing modules pass through conducting wire electric connection of power supply module；
LED light interface, ultrasonic interface, third driver, the second driver, the first driver, fourth drive and body
Dry controller is all connected with power module；
The power module includes external power interface, lithium battery charging module, 12V lithium battery, 3.3V voltage-stablizer, 8V steady
Depressor and 5V voltage-stablizer, external power interface, 12V lithium battery, 3.3V voltage-stablizer, 8V voltage-stablizer and 5V voltage-stablizer are and lithium battery
Charging module connection, external power interface connect external 12V power supply, the output end of 3.3V voltage-stablizer be LED light interface,
FLASH memory, trunk controller and head control power supply, the output end of 5V voltage-stablizer are the first driver, the second driving
Device, third driver, fourth drive, the 5th driver, audio amplification block, infrared interface, touch screen interface and ultrasonic wave
Interface power supply；
First driver, the second driver, third driver, fourth drive and the 5th driver are equipped with motor power
Input terminal, the motor power input terminal of the first driver, the motor power input terminal of the second driver, third driver motor
The motor power input terminal of power input, the motor power input terminal of fourth drive and the 5th driver is all connected with 8V pressure stabilizing
The output end of device；
The touch screen is electrically connected with touch screen interface by conducting wire, and rotary head motor is electrically connected rotary head motor by conducting wire and connects
Mouthful, sound equipment is electrically connected acoustic interface by conducting wire, and infrared sensor is electrically connected infrared interface by conducting wire, and microphone passes through conducting wire
It is electrically connected microphone interface, LED light is electrically connected LED light interface by conducting wire, and ultrasonic sensor is electrically connected ultrasound by conducting wire
Wave interface, third movable motor are electrically connected third movable motor interface, the second movable motor by conducting wire and are electrically connected by conducting wire
Second movable motor interface, the first movable motor are electrically connected the first movable motor interface by conducting wire, and motor of nodding passes through conducting wire
It is electrically connected motor interface of nodding.
First driver, second driver, the third driver, the fourth drive and the described 5th
The model of driver is A4988 type driver；
The model TEA2025B of the audio amplification block；The head control and the trunk controller are
ARM9 controller；The model TLV320AIC23 of audio processing modules；
Rotary head motor interface, acoustic interface, infrared interface, touch screen interface, microphone interface, LED light interface, ultrasonic wave
Interface, third movable motor interface, the second movable motor interface, the first movable motor interface and rotary head motor interface are wiring
Terminal；
The model RB-URF02 type ultrasonic sensor of the ultrasonic sensor；The model of the infrared sensor
RB-02S017A type infrared human body heat releasing electric transducer；
The model CN3702 of the lithium battery charging module；The model AMS1117 of the 3.3V voltage-stablizer；The 5V
The model LM7805 of voltage-stablizer；The model LM7808 of the 8V voltage-stablizer；
The third movable motor, second movable motor, first movable motor, the rotary head motor and described
The model of motor of nodding is STP-42D；The model DC-036 type Direct current power source socket of the external power interface；
The model 4inch HDMI LCD type IPS touch screen of the touch screen.
A kind of child of the present invention intelligently accompanies robot, solves traditional child and accompanies game products cannot basis
Child's state instantly and needs actively initiate the problem of inviting and carrying out targeted interaction, and the present invention can be according to child
The audio of sounding, the emotional state of intelligent decision child, and specific invitation is issued to child according to the emotional state of child, and
Play relevant audio-frequency information.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is cross-sectional view of the invention；
Fig. 3 is the A-A view in Fig. 2；
Fig. 4 is the schematic diagram block diagram of first line plate 19 of the invention；
Fig. 5 is the schematic diagram block diagram of the second wiring board 17 of the invention；
Fig. 6 is the schematic diagram block diagram of power module 37 of the invention；
In figure: rotatable head 1, touch screen 2, sound equipment 3, microphone 4, torso portion 5, LED light 6, the first omni-directional wheel 7A,
Second omni-directional wheel 7B, third omni-directional wheel 7C, upper housing 8, motor 9 of nodding, upper mounting plate 10, opening 11, top opening 12, lower installation board
13, rotary head motor 14, chassis 15, lower case 16, the second wiring board 17, shaft 18, first line plate 19, connector 20, first
Movable motor 21A, the second movable motor 21B, third movable motor 21C, infrared sensor 22, ultrasonic sensor 23, sound equipment
Interface 24, audio amplification block 25, infrared interface 26, touch screen interface 27, ultrasonic interface 28, head control 29, FLASH
Memory 30, motor interface 31 of nodding, the 5th driver 32, microphone interface 33, audio processing modules 34, LED light interface 35,
Trunk controller 36, power module 37, third driver 38, third movable motor interface 39, the second movable motor interface 40,
One movable motor interface 41, rotary head motor interface 42, fourth drive 43, the first driver 44, the second driver 45, external electrical
Source interface 46,5V voltage-stablizer 48,8V voltage-stablizer 49,3.3V voltage-stablizer 50, lithium battery charging module 51, stretches out 12V lithium battery 47
Hole 81, clump weight 221.
Specific embodiment
A kind of child as described in Fig. 1-Fig. 6 intelligently accompanies robot, including rotatable head 1 and torso portion 5, described
Rotatable head 1 is equipped with eye, ear and mouth, and rotatable head 1 includes spherical upper housing 8, under torso portion 5 includes
Shell 16, the ear are the sound equipment 3 set on 8 outside of upper housing, and eye is the touch screen 2 set on 8 outside of upper housing, touch screen
2 left side is equipped with infrared sensor 22, and the right side of touch screen 2 is equipped with ultrasonic sensor 23, infrared sensor 22 and ultrasonic wave
Sensor 23 is also set to 8 outside of upper housing, and mouth is the microphone 4 set on 8 outside of upper housing, sets installation in upper housing 8
Plate 10, upper mounting plate 10 are equipped with motor 9 of nodding, and the output shaft for motor 9 of nodding protrudes horizontally up and the output shaft for motor 9 of nodding
Upper housing 8 is connected by connector 20, upper mounting plate 10 is equipped with first line plate 19；
Upper housing 8 is located at the upside of lower case 16, and 8 bottom end of upper housing is equipped with opening 11, and 16 top of lower case is equipped with top opening
12, omnidirectional chassis 15 is set in the bottom of lower case 16, and (front side outer surface) is equipped with LED light 6, omnidirectional chassis before lower case 16
15 are equipped with the first omni-directional wheel 7A, the second omni-directional wheel 7B, third omni-directional wheel 7C, the first movable motor for driving the first omni-directional wheel 7A
21A, the second movable motor 21B for driving the second omni-directional wheel 7B and the third movable motor 21C for driving third omni-directional wheel 7C, first
The output shaft of movable motor 21A is fixedly connected with the wheel hub of the first omni-directional wheel 7A, and the output shaft of the second movable motor 21B is fixedly connected
The output shaft of the wheel hub of second omni-directional wheel 7B, third movable motor 21C is fixedly connected with the wheel hub of third omni-directional wheel 7C, the first omnidirectional
Wheel 7A, the second omni-directional wheel 7B, third omni-directional wheel 7C is triangular in shape is sequentially arranged, the first omni-directional wheel 7A, the second omni-directional wheel 7B and the
Around 15 center line of omnidirectional chassis, circumferentially (15 center line of omnidirectional chassis and lower case 16 is arranged in line to three omni-directional wheel 7C uniformly at intervals
Center line be overlapped and be vertical extension), the first omni-directional wheel 7A, the second omni-directional wheel 7B and third omni-directional wheel 7C are to set vertically
It sets, the vertical plane and the circumference where the first omni-directional wheel 7A are tangent, the vertical plane where the second omni-directional wheel 7B and the circle
Contour is tangent, and the vertical plane and the circumference where third omni-directional wheel 7C are tangent.Omnidirectional chassis 15 is equipped with rotary head motor 14,
The downside of upper mounting plate 10 is fixedly connected with a vertical shaft 18, which is driven by rotary head motor 14；Omnidirectional chassis 15
Upper first omni-directional wheel 7A, the second omni-directional wheel 7B, the arragement construction of third omni-directional wheel 7C and three respectively with the first movable motor
21A, the second movable motor 21B, third movable motor 21C connection structure be the prior art, therefore be not described in detail, additionally
The mounting structure that other omnidirectional chassis 15 in publication can be used, for example, by using Patent No. ZL2013203466061,
The structure on omnidirectional chassis 15 disclosed in entitled " omnidirectional's chassis structure and robot ".
The lower installation board 13 of 15 upside of omnidirectional chassis is set in lower case 16, lower installation board 13 is equipped with the second wiring board
17。
The shaft 18 is vertically arranged, and the top of shaft 18 and the lower face of upper mounting plate 10 are solid by welding or screw
Fixed connection, shaft 18 successively extend downwardly into lower case 16 from opening 11 and top opening 12, and shaft 18 is alternate with the edge of opening 11
Every the output shaft of the rotary head motor 14 stretches out upwards and docks the bottom end of shaft 18.
The lower installation board 13 is fixedly connected with the inner wall of lower case 16, and the connector 20 is vertical column,
The top of connector 20 is fixed on the inner wall of upper housing 8, bottom end is fixed on and nods on 9 output shaft of motor.
The motor 9 of nodding, rotary head motor 14, the first movable motor 21A, the second movable motor 21B, third movable motor
21C is stepper motor.
The bottom of upper housing 8 is protruded into the top opening 12 of lower case 16.
Lower case 16 corresponds to the first omni-directional wheel 7A, the second omni-directional wheel 7B and third omni-directional wheel 7C and sets there are three stretching hole 81,
First omni-directional wheel 7A, the second omni-directional wheel 7B and third omni-directional wheel 7C pass through three stretching holes 81 respectively and extend downwardly lower case 16
Outside.
The first line plate 19 connects equipped with the 5th driver 32, ultrasonic interface 28, nod motor interface 31, sound equipment
Mouthfuls 24, audio amplification block 25, infrared interface 26, touch screen interface 27, head control 29, FLASH memory 30, at audio
Module 34 and microphone interface 33 are managed, acoustic interface 24 connects audio amplification block 25, and audio amplification block 25 and microphone connect
Mouthfuls 33 are all connected with audio processing modules 34, infrared interface 26, the 5th driver 32, FLASH memory 30, ultrasonic interface 28,
Audio processing modules 34 and touch screen interface 27 are all connected with head control 29, and motor interface 31 of nodding connects the 5th driver
32；
Second wiring board 17 is equipped with LED light interface 35, power module 37, third driver 38, the third line leakage of electricity
Machine interface 39, the second driver 45, the second movable motor interface 40, the first driver 44, the first movable motor interface the 41, the 4th
Driver 43, rotary head motor interface 42 and trunk controller 36, the connection third movable motor interface 39 of third driver 38, second
Driver 45 connects the second movable motor interface 40, and the first driver 44 connects the first movable motor interface 41, fourth drive
43 connection rotary head motor interfaces 42, LED light interface 35, fourth drive 43, third driver 38, the second driver 45 and first
Driver 44 is all connected with trunk controller 36；
Head control 29 and trunk controller 36 are electrically connected by Serial Port Line, the 5th driver 32, audio amplification block
25, infrared interface 26, touch screen interface 27, head control 29, FLASH memory 30 and audio processing modules 34 are by leading
Line electric connection of power supply module 37；
LED light interface 35, ultrasonic interface 28, third driver 38, the second driver 45, the first driver the 44, the 4th
Driver 43 and trunk controller 36 are all connected with power module 37；
The power module 37 is steady including external power interface 46, lithium battery charging module 51,12V lithium battery 47,3.3V
Depressor 50,8V voltage-stablizer 49 and 5V voltage-stablizer 48, external power interface 46,12V lithium battery 47,3.3V voltage-stablizer 50,8V pressure stabilizing
Device 49 and 5V voltage-stablizer 48 are connect with lithium battery charging module 51, and external power interface 46 connects external 12V power supply (institute
Stating external 12V power supply is the prior art, admittedly be not described in detail), the output end of 3.3V voltage-stablizer 50 be LED light interface 35,
FLASH memory 30, trunk controller 36 and head control 29 are powered, and the output end of 5V voltage-stablizer 48 is the first driver
44, the second driver 45, third driver 38, fourth drive 43, the 5th driver 32, audio amplification block 25, infrared connect
Mouth 26, touch screen interface 27 and ultrasonic interface 28 are powered；
First driver 44, the second driver 45, third driver 38, fourth drive 43 and the 5th driver 32 are all provided with
There are motor power input terminal, the motor power input terminal of the first driver 44, the motor power input terminal of the second driver 45,
The motor electricity of the motor power input terminal of three drivers 38, the motor power input terminal of fourth drive 43 and the 5th driver 32
Source input terminal is all connected with the output end of 8V voltage-stablizer 49；
The touch screen 2 is electrically connected with touch screen interface 27 by conducting wire, and rotary head motor 14 is electrically connected rotary head by conducting wire
Motor interface 42, sound equipment 3 are electrically connected acoustic interface 24 by conducting wire, and infrared sensor 22 is electrically connected infrared interface by conducting wire
26, microphone 4 is electrically connected microphone interface 33 by conducting wire, and LED light 6 is electrically connected LED light interface 35 by conducting wire, and ultrasonic wave passes
Sensor 23 is electrically connected ultrasonic interface 28 by conducting wire, and third movable motor 21C is electrically connected third movable motor by conducting wire and connects
The 39, second movable motor 21B of mouth is electrically connected the second movable motor interface 40 by conducting wire, the first movable motor 21A passes through conducting wire
It is electrically connected the first movable motor interface 41, motor 9 of nodding is electrically connected motor interface 31 of nodding by conducting wire.
First driver 44, second driver 45, the third driver 38,43 and of the fourth drive
The model of 5th driver 32 is A4988 type driver；
The VBB1 pin and VBB2 pin of A4988 type driver constitute the motor power input terminal.
The model TEA2025B of the audio amplification block 25；The head control 29 and the trunk controller 36
It is ARM9 controller；The model TLV320AIC23 of audio processing modules 34；
Rotary head motor interface 42, acoustic interface 24, infrared interface 26, touch screen interface 27, microphone interface 33, LED light
Interface 35, ultrasonic interface 28, third movable motor interface 39, the second movable motor interface 40, the first movable motor interface 41
It is connecting terminal with rotary head motor interface 42；
The model RB-URF02 type ultrasonic sensor of the ultrasonic sensor 23；The type of the infrared sensor 22
Number be RB-02S017A type infrared human body heat releasing electric transducer；
The model CN3702 of the lithium battery charging module 51；The model AMS1117 of the 3.3V voltage-stablizer 50；Institute
State the model LM7805 of 5V voltage-stablizer 48；The model LM7808 of the 8V voltage-stablizer 49；
The third movable motor 21C, the second movable motor 21B, the first movable motor 21A, the rotary head
Motor 14 and the model for nodding motor 9 are STP-42D；The model DC-036 type direct current of the external power interface 46
Power outlet；
The model 4inch HDMI LCD type IPS touch screen of the touch screen 2.
When work, when leaving the factory, some music VFs, story audio and language audio are pre-stored in FLASH memory 30,
Language audio is the comfort language recorded in advance；
Infrared sensor 22 is used to acquire the human body information in front, and head control 29 receives the letter of infrared sensor 22
Number, and judge whether infrared sensor 22 collects human body information: if collecting human body information, head control 29 passes through
Serial Port Line sends forward information to trunk controller 36；If not collecting human body information, head control 29 passes through the 5th
Driver 32 controls rotary head motor 14 and is acted, and rotatable head 1 is made to carry out 360 degree of rotations, meanwhile, head control 29 is controlled
The movement of motor 9 of nodding is made, rotatable head 1 is made to carry out upper and lower 45 degree of movement, 29 real-time reception infrared sensing of head control
The signal of device 22, if infrared sensor 22 collects the human body information in front, head control 29 controls 14 He of rotary head motor
The stopping of motor 9 of nodding acts, and makes rotatable head 1 towards human body direction；
When the rotatable head 1 towards human body direction after, head control 29 receive ultrasonic sensor 23 believe
Number, ultrasonic sensor 23 is for measuring human body at a distance from the rotatable head 1, first walking of the control of trunk controller 36
Motor 21A, the second movable motor 21B and third movable motor 21C simultaneously operation, trunk controller 36 is by calculating, to first
Movable motor 21A, the second movable motor 21B and third movable motor 21C set different revolving speeds, and combine the first omni-directional wheel
7A, the second omni-directional wheel 7B and third omni-directional wheel 7C realize that a kind of child intelligently accompanies the Omni-mobile of robot, trunk control
After device 36 processed receives the forward information, controls a kind of child and machine is intelligently accompanied to advance to human body direction；
When the rotatable head 1 reaches 0.5 meter at a distance from human body, head control 29 is sent out to trunk controller 36
Send Stop message, trunk controller 36 receive control after Stop message the first movable motor 21A, the second movable motor 21B and
Third movable motor 21C stopping acts, while trunk controller 36 controls the glittering of LED light 6 and sends to head control 29
Stop message；
After head control 29 receives Stop message, music VF or story sound are transferred from FLASH memory 30
Frequently, music VF or story audio processing and by audio processing modules 34 are played into music at analog signal, and by sound equipment 3
Or story；
Microphone 4 acquires the pronunciation of child in real time, and the pronunciation of child is sent to audio processing modules 34, audio in real time
The pronunciation of child is processed into numeric utterance audio data by processing module 34, and numeric utterance audio data is sent to head control
Device 29 processed, information of voltage and pronunciation Duration Information in numeric utterance audio data comprising the collected audio of microphone 4,
The size of the information of voltage of audio and the decibel of audio are directly proportional, and the present embodiment setting audio size reaches 50 decibels and determines children
Youngster is in angry state, and head control 29 judges according to the height of the information of voltage and the pronunciation Duration Information
Whether child is in angry state, when the pronunciation duration is greater than 1 minute and audio size reaches 50 decibels, head
Controller 29 judges that child is in angry state, at this point, head control 29 transfers the language sound from FLASH memory 30
Frequently, the language audio and by sound equipment 3 is played, after child no longer pronounces, microphone 4 no longer collects the pronunciation of child,
Audio processing modules 34 also no longer transmit numeric utterance audio data to head control 29, and head control 29 is transferred again
Music VF or story audio in FLASH memory 30, and music or story are played by sound equipment 3.
It according to psychology by music VF and story audio classification is general category and angry class before present invention factory, and by sound
Two different sectors of the musical sound frequency with story audio storage in FLASH memory 30, the sound of a sector storage general category
Musical sound frequency and story audio, another sector store the music VF and story audio of angry class, when a kind of child's intelligence
Accompany robot when judge child vapidly, a kind of child intelligently accompanies robot to play the music VF or former of general category
Thing audio；When a kind of child intelligently accompanies robot to judge child's anger, a kind of child intelligently accompanies robot
Play the music VF or story audio of angry class；It is interacted to realize with child.
The present invention is equipped with clump weight 221, and clump weight 221 is set on omnidirectional chassis 15, can make a kind of child's intelligence
Robot is accompanied to be not easy to translate into when walking.
A kind of child of the present invention intelligently accompanies robot, solves traditional child and accompanies game products cannot basis
Child's state instantly and needs actively initiate the problem of inviting and carrying out targeted interaction, and the present invention can be according to child
The audio of sounding, the emotional state of intelligent decision child, and specific invitation is issued to child according to the emotional state of child, and
Play relevant audio-frequency information.
Claims (7)
1. a kind of child intelligently accompanies robot, including rotatable head (1) and torso portion (5), the rotatable head (1)
It is equipped with eye, ear and mouth, rotatable head (1) includes spherical upper housing (8), and torso portion (5) includes lower case
(16), it is characterised in that: the ear is the sound equipment (3) on the outside of upper housing (8), and eye is on the outside of upper housing (8)
Touch screen (2), the left side of touch screen (2) is equipped with infrared sensor (22), and the right side of touch screen (2) is equipped with ultrasonic sensor
(23), mouth is the microphone (4) on the outside of upper housing (8), sets upper mounting plate (10), upper mounting plate in upper housing (8)
(10) it is equipped with and nods motor (9), the output shaft of motor of nodding (9) protrudes horizontally up and the output shaft of motor of nodding (9) passes through
Connector (20) connects upper housing (8), and upper mounting plate (10) is equipped with first line plate (19)；
Upper housing (8) is located at the upside of lower case (16), and upper housing (8) bottom end is equipped with opening (11), and lower case (16) top is set
Have top opening (12), the bottom of lower case (16) is equipped with omnidirectional chassis (15), is equipped with LED light (6) before lower case (16), omnidirectional
Chassis (15) is equipped with the first omni-directional wheel (7A), the second omni-directional wheel (7B), third omni-directional wheel (7C), drives the first omni-directional wheel (7A)
The first movable motor (21A), drive the second omni-directional wheel (7B) the second movable motor (21B) and drive third omni-directional wheel (7C)
Third movable motor (21C), the first omni-directional wheel (7A), the second omni-directional wheel (7B), third omni-directional wheel (7C) are triangular in shape successively
Arrangement, omnidirectional chassis (15) are equipped with rotary head motor (14), are fixedly connected with a vertical shaft on the downside of upper mounting plate (10)
(18), which is driven by rotary head motor (14)；
The lower installation board (13) being set on the upside of omnidirectional chassis (15) in lower case (16), lower installation board (13) are equipped with the second line
Road plate (17)；
The first line plate (19) is equipped with the 5th driver (32), ultrasonic interface (28), motor interface of nodding (31), sound
Ring interface (24), audio amplification block (25), infrared interface (26), touch screen interface (27), head control (29), FLASH
Memory (30), audio processing modules (34) and microphone interface (33), acoustic interface (24) connect audio amplification block (25),
Audio amplification block (25) and microphone interface (33) are all connected with audio processing modules (34), infrared interface (26), the 5th driving
Device (32), FLASH memory (30), ultrasonic interface (28), audio processing modules (34) and touch screen interface (27) are all connected with
Head control (29), motor interface of nodding (31) connect the 5th driver (32)；
Second wiring board (17) is equipped with LED light interface (35), power module (37), third driver (38), the third line
Walk motor interface (39), the second driver (45), the second movable motor interface (40), the first driver (44), the first row leakage of electricity
Machine interface (41), fourth drive (43), rotary head motor interface (42) and trunk controller (36), third driver (38) connection
Third movable motor interface (39), the second driver (45) connect the second movable motor interface (40), and the first driver (44) is even
The first movable motor interface (41) is connect, fourth drive (43) connects rotary head motor interface (42), LED light interface (35), the 4th
Driver (43), third driver (38), the second driver (45) and the first driver (44) are all connected with trunk controller (36)；
Head control (29) and trunk controller (36) are electrically connected by Serial Port Line, and the 5th driver (32), audio amplify mould
Block (25), infrared interface (26), touch screen interface (27), head control (29), FLASH memory (30) and audio processing mould
Block (34) passes through conducting wire electric connection of power supply module (37)；
LED light interface (35), ultrasonic interface (28), third driver (38), the second driver (45), the first driver
(44), fourth drive (43) and trunk controller (36) are all connected with power module (37)；
The power module (37) include external power interface (46), lithium battery charging module (51), 12V lithium battery (47),
3.3V voltage-stablizer (50), 8V voltage-stablizer (49) and 5V voltage-stablizer (48), external power interface (46), 12V lithium battery (47), 3.3V
Voltage-stablizer (50), 8V voltage-stablizer (49) and 5V voltage-stablizer (48) are connect with lithium battery charging module (51), external power interface
(46) external 12V power supply is connected, the output end of 3.3V voltage-stablizer (50) is LED light interface (35), FLASH memory
(30), trunk controller (36) and head control (29) power supply, the output end of 5V voltage-stablizer (48) be the first driver (44),
Second driver (45), third driver (38), fourth drive (43), the 5th driver (32), audio amplification block (25),
Infrared interface (26), touch screen interface (27) and ultrasonic interface (28) power supply；
First driver (44), the second driver (45), third driver (38), fourth drive (43) and the 5th driver
(32) it is equipped with motor power input terminal, the motor of the motor power input terminal of the first driver (44), the second driver (45)
Power input, the motor power input terminal of third driver (38), the motor power input terminal of fourth drive (43) and
The motor power input terminal of five drivers (32) is all connected with the output end of 8V voltage-stablizer (49)；
The touch screen (2) is electrically connected with touch screen interface (27) by conducting wire, and rotary head motor (14) is electrically connected by conducting wire to be switched through
Head motor interface (42), sound equipment (3) are electrically connected acoustic interface (24) by conducting wire, and infrared sensor (22) is electrically connected by conducting wire
Infrared interface (26), microphone (4) are electrically connected microphone interface (33) by conducting wire, and LED light (6) is electrically connected LED by conducting wire
Lamp interface (35), ultrasonic sensor (23) are electrically connected ultrasonic interface (28) by conducting wire, and third movable motor (21C) passes through
Conducting wire electrical connection third movable motor interface (39), the second movable motor (21B) are electrically connected the second movable motor by conducting wire and connect
Mouth (40), the first movable motor (21A) are electrically connected the first movable motor interface (41) by conducting wire, and motor of nodding (9) is by leading
Motor interface (31) are nodded in line electrical connection.
2. a kind of child as described in claim 1 intelligently accompanies robot, it is characterised in that: the shaft (18) sets vertically
It sets, shaft (18) successively extends downwardly into lower case (16) from opening (11) and top opening (12), shaft (18) and opening (11)
Separately, the output shaft of the rotary head motor (14) stretches out upwards and docks the bottom end of shaft (18) at edge.
3. a kind of child as claimed in claim 2 intelligently accompanies robot, it is characterised in that: the lower installation board (13) is under
The inner wall of shell (16) is fixedly connected, and the connector (20) is vertical column, and the top of connector (20) is fixed on
On the inner wall of upper housing (8), bottom end is fixed on motor of nodding (9) output shaft.
4. a kind of child as claimed in claim 3 intelligently accompanies robot, it is characterised in that: the motor of nodding (9), described
Rotary head motor (14), first movable motor (21A), second movable motor (21B) and the third movable motor
(21C) is stepper motor.
5. a kind of child as claimed in claim 4 intelligently accompanies robot, it is characterised in that: the bottom of upper housing (8) is protruded into
In the top opening (12) of lower case (16).
6. a kind of child as claimed in claim 5 intelligently accompanies robot, it is characterised in that: lower case (16) corresponding first is complete
To wheel (7A), the second omni-directional wheel (7B) and third omni-directional wheel (7C) set there are three stretch out hole (81), the first omni-directional wheel (7A), second
Omni-directional wheel (7B) and third omni-directional wheel (7C) extend downwardly lower case (16) outside by three stretching holes (81) respectively.
7. a kind of child as claimed in claim 6 intelligently accompanies robot, it is characterised in that: first driver (44),
Second driver (45), the third driver (38), the fourth drive (43) and the 5th driver (32)
Model be A4988 type driver；
The model TEA2025B of the audio amplification block (25)；The head control (29) and the trunk controller
It (36) is ARM9 controller；The model TLV320AIC23 of audio processing modules (34)；
Rotary head motor interface (42), acoustic interface (24), infrared interface (26), touch screen interface (27), microphone interface (33),
LED light interface (35), ultrasonic interface (28), third movable motor interface (39), the second movable motor interface (40), the first row
Walking motor interface (41) and rotary head motor interface (42) is connecting terminal；
The model RB-URF02 type ultrasonic sensor of the ultrasonic sensor (23)；The type of the infrared sensor (22)
Number be RB-02S017A type infrared human body heat releasing electric transducer；
The model CN3702 of the lithium battery charging module (51)；The model AMS1117 of the 3.3V voltage-stablizer (50)；Institute
State the model LM7805 of 5V voltage-stablizer (48)；The model LM7808 of the 8V voltage-stablizer (49)；
The third movable motor (21C), second movable motor (21B), first movable motor (21A), described turn
The model of head motor (14) and the motor of nodding (9) is STP-42D；The model DC- of the external power interface (46)
036 type Direct current power source socket；
The model 4inch HDMI LCD type IPS touch screen of the touch screen (2).
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| CN201710027751.6A CN106514612B (en) | 2017-01-16 | 2017-01-16 | A kind of child intelligently accompanies robot |
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| CN201710027751.6A CN106514612B (en) | 2017-01-16 | 2017-01-16 | A kind of child intelligently accompanies robot |
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| CN106514612B true CN106514612B (en) | 2018-12-14 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6833600B2 (en) * | 2017-04-19 | 2021-02-24 | パナソニック株式会社 | Interaction devices, interaction methods, interaction programs and robots |
| CN107553502B (en) * | 2017-09-29 | 2018-10-12 | 南京昱晟机器人科技有限公司 | A kind of robot and its interactive approach |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2626568Y (en) * | 2003-05-28 | 2004-07-21 | 马春虎 | Toy robot |
| CN2813032Y (en) * | 2005-06-23 | 2006-09-06 | 陈忠伟 | Intelligent robot toy |
| CN203108198U (en) * | 2013-01-06 | 2013-08-07 | 上海晓卓智能机器人技术有限公司 | Easily-expanded toy robot |
| CN106272449A (en) * | 2015-05-27 | 2017-01-04 | 鸿富锦精密工业（深圳）有限公司 | Robot nursed by man-machine interaction type |
| CN204819537U (en) * | 2015-07-31 | 2015-12-02 | 北京家度科技有限公司 | Teach robot multi -functional morning |
| CN105150216B (en) * | 2015-09-07 | 2017-06-06 | 上海人智信息科技有限公司 | A kind of intelligence accompanies voice interface robot |
| CN205097196U (en) * | 2015-10-27 | 2016-03-23 | 众德迪克科技（北京）有限公司 | Robot with interactive function |
| CN205219134U (en) * | 2015-12-17 | 2016-05-11 | 河源市勇艺达科技有限公司 | Intelligent robot |
| CN205799531U (en) * | 2016-05-20 | 2016-12-14 | 迟同斌 | Robot |
| CN106003069B (en) * | 2016-05-30 | 2017-08-15 | 深圳市鼎盛智能科技有限公司 | A kind of robot |
| CN105856253A (en) * | 2016-06-06 | 2016-08-17 | 深圳市优萌达智能科技有限公司 | Intelligent walking robot |
| CN105856260A (en) * | 2016-06-24 | 2016-08-17 | 深圳市鑫益嘉科技股份有限公司 | On-call robot |
| CN106003089A (en) * | 2016-07-03 | 2016-10-12 | 深圳市中幼国际教育科技有限公司 | Intelligent partner robot for children |
| CN106113058B (en) * | 2016-07-19 | 2018-07-03 | 东莞市优陌儿智护电子科技有限公司 | One kind is accompanied and attended to robot |
| CN106313076A (en) * | 2016-10-31 | 2017-01-11 | 河池学院 | Chargeable educational robot |
| CN106313082B (en) * | 2016-11-21 | 2020-04-14 | 深圳哈乐派科技有限公司 | Accompanying robot |
| CN206426082U (en) * | 2017-01-16 | 2017-08-22 | 成都萌宝睿贝健康咨询有限公司 | A kind of child intelligently accompanies robot |
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Effective date of registration: 20181108 Address after: 210000 57 57 Zi Dong Road, Ma Qun street, Qixia District, Nanjing, Jiangsu. Applicant after: Nanjing Meng Rui Bei Education Technology Co., Ltd. Address before: 610041 No. 1, 3 floor, No. 1, Tianfu Avenue, 1388 middle and high tech Zone, Chengdu, Sichuan. Applicant before: Chengdu Bao Rui Rui Pui Health Consulting Co., Ltd. |
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