CN204248895U - A kind of pet type is accompanied and attended to robot and system - Google Patents
A kind of pet type is accompanied and attended to robot and system Download PDFInfo
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- CN204248895U CN204248895U CN201420731969.1U CN201420731969U CN204248895U CN 204248895 U CN204248895 U CN 204248895U CN 201420731969 U CN201420731969 U CN 201420731969U CN 204248895 U CN204248895 U CN 204248895U
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Abstract
The utility model relates to robotics, particularly relates to pet type and to accompany and attend to robot and system.This pet type robot comprises pet type shell and is arranged on the sensing element of pet type enclosure, master controller and execution unit; Sensing element is for responding to human action and/or environmental change, and wherein sensing element at least comprises following one: pressure sensor, for induced environment light change photoelectric sensor, for respond to human body temperature heat-sensitive sensor, for detect sound microphone, for obtaining the camera of video image and the coal gas detecting sensor for gas concentration in testing environment; Master controller, for sending the action directive corresponding with human action and/or environmental change; Execution unit is used for the control command that performs an action.The pet type robot of the application and system can realize the multiple interactive function with people, and the spirit being applicable to the elderly is accompanied and attended to, and effectively can alleviate the feeling of lonely of old man.
Description
Technical field
The utility model relates to robotics, to accompany and attend to robot and system in particular to pet type.
Background technology
China is the country that elderly population quantity is maximum in the world.By the end of the year 2013, China's more than 60 years old elderly population will have reached 2.02 hundred million, account for 14.8% of total population.Expect the middle of this century, the elderly population of China will reach 4.5 hundred million, account for 1/3 of total population.The problems such as the life in old age that aging, aging, empty nesting, smaller families cause is taken care of, accompany and attend to become increasingly conspicuous, and wherein " Empty nest elderly " gains a special interest.When the 6th census in 2010, Empty nest elderly reached 31.77%, and the ratio that there is psychological problems in Empty nest elderly reaches 60%.Therefore, for the old man of unmanned company at one's side at ordinary times, how both effectively can guard its safety, the effect of company can be played again, avoid the generation of its mental disease, become current problem in the urgent need to address.
In order to solve the problem, people propose to utilize robot to carry out safeguard and supervision for the aged to replace people in recent years.More existing researchs at present relate to the elderly's remote monitoring robot, but the design of these robots is all machine external form, and lack the interaction with people, function is also more single, really can not play and accompany the elderly, alleviate the effect of psychologic isolation.
Utility model content
The purpose of this utility model is to provide pet type to accompany and attend to robot and system, to increase the interactive function of robot.
The utility model embodiment provides a kind of pet type and to accompany and attend to robot, comprising: pet type shell and be arranged on the sensing element of described pet type enclosure, master controller and execution unit; Described sensing element, for responding to human action and/or environmental change, wherein said sensing element at least comprises following one: for respond to human body execute stressed pressure sensor, for induced environment light change photoelectric sensor, for respond to human body temperature heat-sensitive sensor, for detect sound microphone, for obtaining the camera of video image and the coal gas detecting sensor for gas concentration in testing environment; Described master controller, for sending the action directive corresponding with described human action and/or environmental change; Described execution unit, for performing described action directive.
Preferably, described execution unit comprises stepper motor and Audio Players; Wherein, the output of described stepper motor is connected with the joint part of described pet type shell, drives described pet type shell to act accordingly; Described Audio Players is for sending the sound corresponding with described human action and/or environmental change.
Preferably, described stepper motor comprises: be arranged at described pet type shell neck and make for controlling described pet type shell/the first stepper motor of new line action of bowing, be arranged at described pet type shell neck makes the action of head left-right rotation the second stepper motor for controlling described pet type shell, be arranged at the left shoulders of described pet type shell and right shoulders respectively and make for controlling described pet type shell the 3rd stepper motor and the 4th stepper motor that action is opened/hold tightly to left upper arm and right upper arm, be arranged at the left shoulders of described pet type shell and right shoulders respectively and make for controlling described pet type shell the 5th stepper motor and the 6th stepper motor that action was lifted/put down to left upper arm and right upper arm, be arranged at the left leg of described pet type shell and right leg and trunk junction respectively for controlling left leg and right leg makes the 7th stepper motor and the 8th stepper motor that lift/put down action.
Preferably, described sensing element comprises multiple pressure sensor, multiple described pressure sensor respectively corresponding be distributed in described pet type shell position, the crown, on chin portion and trunk; When described master controller receives the human body applying pressure of the described pressure sensor transmission being positioned at position, the crown, judge that described human body applies pressure and whether is less than the first predetermined threshold value, if, control described first stepping electric machine rotation, drive described pet type shell to make action of bowing, and control described Audio Players and play the first audio file; Otherwise control described first stepping electric machine rotation, drive described pet type shell to make new line alternating movement of bowing, and control described Audio Players and play the second audio file; When described master controller receives the human body applying pressure of the described pressure sensor transmission being positioned at chin portion, judge that described human body applies pressure and whether is less than the second predetermined threshold value, if, control described first stepping electric machine rotation, drive described pet type shell to make new line action, and control described first audio file of described Audio Players broadcasting; When described master controller receives the human body applying pressure of the pressure sensor transmission be positioned on trunk, judge that this human body applies pressure and whether is less than the 3rd predetermined threshold value, if, control described 3rd stepper motor and the 4th stepper motor to rotate and drive described pet type shell to make left upper arm and right upper arm expansion action, and control described Audio Players and play described first audio file; Otherwise described pet type shell makes head left/right turn, the right leg of left leg alternately lifts action to control described second stepper motor, the 7th stepper motor and the 8th stepper motor rotation drive, and controls described second audio file of described Audio Players broadcasting.
Preferably, described sensing element comprises heat-sensitive sensor, and the quantity of described heat-sensitive sensor is two the left hand palm and right hand palm positions being arranged at described pet type shell respectively; When described master controller receives the human body temperature of described heat-sensitive sensor transmission, control five stepper motor corresponding with this heat-sensitive sensor or the 6th stepper motor rotates, drive the upper arm of the corresponding side of described pet type shell to make and lift/put down action, and control described Audio Players broadcasting the 3rd audio file.
Preferably, described sensing element comprises photoelectric sensor; When described master controller receives the described ambient light change of described photoelectric sensor transmission, judge whether current light environment is less than default light threshold value, if so, generate dormancy control instruction, control enters resting state.
Preferably, described sensing element comprises: coal gas detecting sensor; When described master controller receives the gas concentration of described coal gas detecting sensor transmission, judge whether described gas concentration is greater than default gas concentration value, if so, then control described Audio Players and send coal gas leakage detection, alarm.
Preferably, described sensing element comprises microphone; When described master controller receives described microphone transmission sound, control described Audio Players and carry out voice answer-back.
Preferably, described pet type is accompanied and attended to robot, also comprises communication module; Described sensing element comprises camera; Described main controller, is transferred to host computer for the video image obtained by described camera by described communication module.
The utility model embodiment still provides a kind of pet type and to accompany and attend to robot system, comprises host computer and above-mentioned pet type and to accompany and attend to robot; Described pet type robot of accompanying and attending to is connected with described host computer.
The pet of the utility model embodiment is accompanied and attended to humanoid robot and system, in pet type enclosure, can polytype sensing element be set as required, as pressure sensor, photoelectric sensor, heat-sensitive sensor, microphone, camera and coal gas detecting sensor etc., the induction of various human body action and environmental change can be realized, master controller controls pet type shell according to the human action of sensing element collection and environmental change and performs corresponding action, realize the multiple interactive function with people, the spirit being applicable to the elderly is accompanied and attended to, effectively can alleviate the feeling of lonely of old man.
For making above-mentioned purpose of the present utility model, feature and advantage become apparent, preferred embodiment cited below particularly, and coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the utility model embodiment, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present utility model, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
A kind of pet type that Fig. 1 shows the utility model embodiment to be provided is accompanied and attended to the structural representation of robot;
A kind of pet type that Fig. 2 shows the utility model embodiment to be provided is accompanied and attended to the structural representation of robot system;
A kind of pet type that Fig. 3 and Fig. 4 shows the utility model embodiment to be provided is accompanied and attended to the concrete structure schematic diagram of robot.
Detailed description of the invention
Below in conjunction with accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.The assembly of the utility model embodiment describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiment of the present utility model provided in the accompanying drawings and the claimed scope of the present utility model of not intended to be limiting, but selected embodiment of the present utility model is only represented.Based on embodiment of the present utility model, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of the utility model protection.
Provide a kind of pet type in the utility model to accompany and attend to robot, this robot has multiple interactive function, and what can realize with people is mutual, therefore can use during old man accompanies and attends to, realize, with the emotion communication activity such as limbs interaction, voice dialogue of old man, alleviating the feeling of lonely of old man.
Below the implementation of humanoid robot of accompanying and attending to pet of the present utility model is described in detail.As shown in Figure 1, this pet humanoid robot of accompanying and attending to mainly comprises pet type shell 1 and is arranged on the sensing element 2 of pet type shell 1 inside, master controller 3 and execution unit 4; Sensing element 2, for responding to human action and/or environmental change, wherein sensing element 2 at least comprises following one: for respond to human body execute stressed pressure sensor, for induced environment light change photoelectric sensor, for respond to human body temperature heat-sensitive sensor, for detect sound microphone, for obtaining the camera of video image and the coal gas detecting sensor for gas concentration in testing environment, according to the needs that reality is mutual, select type and the quantity of the sensing element 2 arranged in pet type shell 1 inside.
After sensing element 2 collects human action and/or environmental change, be transferred to master controller 3; Master controller 3, for sending the action directive corresponding with human action and/or environmental change; Execution unit 4, for the control command that performs an action, the sensing element 2 that such as pet type shell 1 inside is arranged is pressure sensor, when pressure sensor senses that human body applies pressure, master controller 3 is executed stressed size according to human body and is controlled execution unit 4 and make and the interactive action such as to shake hands, embrace and/or send interactive voice, and what realize with on the limbs of people and voice is mutual.
Alternately multiple in order to what realize with people, master controller 3 controls execution unit 4 and performs corresponding action directive, during execution unit 4 action, drives the corresponding site action of pet type shell 1.As shown in Figure 2, the parts of the control command that performs an action in execution unit 4 comprise stepper motor 41 and Audio Players 42; The output of stepper motor 41 is connected with the joint part of pet type shell 1, and stepper motor 41 rotates under the drive of master controller 3, and the rotation output of stepper motor 41 drives pet type shell 1 to act accordingly; Audio Players 42 sends the sound corresponding with human action and/or environmental change under the control of master controller 3.When responding a kind of human action or a kind of environmental change, only can there is stepper motor 41 or only have Audio Players 42 to respond, also stepper motor 41 and Audio Players 42 can make response simultaneously, such as, when pressure sensor 21 senses that human body applies pressure, stepper motor 41 drives pet type shell 1 to make and embraces action, and Audio Players 42 sends greeting voice simultaneously.
The pet type of the utility model embodiment robot of accompanying and attending to can realize with the multiple limbs of people mutual, alternately pet type shell 1 inside being provided with multiple stepper motor 41 to realize these multiple limbs, under the control of master controller 3, making different actions respectively.Particularly, the stepper motor 41 of pet type shell 1 inside comprises: be arranged at pet type shell 1 neck and make for controlling pet type shell 1/the first stepper motor of new line action of bowing, be arranged at pet type shell 1 neck makes the action of head left-right rotation the second stepper motor for controlling pet type shell 1, be arranged at the left shoulders of pet type shell 1 and right shoulders respectively and make for controlling pet type shell 1 the 3rd stepper motor and the 4th stepper motor that action is opened/hold tightly to left upper arm and right upper arm, be arranged at the left shoulders of pet type shell 1 and right shoulders respectively and make for controlling pet type shell 1 the 5th stepper motor and the 6th stepper motor that action was lifted/put down to left upper arm and right upper arm, be arranged at the left leg of pet type shell 1 and right leg and trunk junction respectively for controlling left leg and right leg makes the 7th stepper motor and the 8th stepper motor that lift/put down action.
The first above-mentioned stepper motor to the 8th stepper motor can be respectively the stepper motor of action while that a stepper motor also can being respectively multiple.
As shown in Figure 2, the accompany and attend to sensing element 2 of robot of pet type comprises multiple pressure sensor 21, multiple pressure sensor 21 respectively corresponding be distributed in pet type shell 1 position, the crown, on chin portion and trunk.
When master controller 3 receives the human body applying pressure of pressure sensor 21 transmission being positioned at position, the crown, judge that human body applies pressure and whether is less than the first predetermined threshold value, if, control the first stepping electric machine rotation, drive pet type shell 1 to make action of bowing, and control Audio Players 42 and play the first audio file, otherwise control the first stepping electric machine rotation, drive pet type shell 1 to make new line alternating movement of bowing, and control Audio Players 42 and play the second audio file, under which, when people touch pet type accompany and attend to the position, the crown of robot time, human body applying pressure responded to by the pressure sensor 21 being positioned at position, pet type shell 1 crown, master controller 3 is by applying comparing of pressure and the first predetermined threshold value by human body, what judge that human body makes is soft touch action or firmly pats action, when human body applying pressure is less than the first predetermined threshold value, illustrate that human body applies pressure less, now control pet type shell 1 and make action of bowing, preferably, can also coordinate while pet type shell 1 makes action of bowing and send interactive sound, when human body applying pressure is not less than the first predetermined threshold value, illustrate that human body applies pressure larger, now control pet type shell 1 and make new line alternating movement of bowing, preferably, make at pet type shell 1 that coming back bows while alternating movement can also send the sound representing indignation by Audio Players 42, realize thus and mutual on a kind of limbs of people and voice.
When master controller 3 receives the human body applying pressure of pressure sensor 21 transmission being positioned at chin portion, judge that human body applies pressure and whether is less than the second predetermined threshold value, if, control the first stepping electric machine rotation, drive pet type shell 1 to make new line action, and control Audio Players 42 and play the first audio file, under which, people applies pressure during at the chin position of pet type shell 1, human body applying pressure responded to by the pressure sensor 21 being positioned at chin portion, this human body is applied pressure with main controller and the second predetermined threshold value compares, thus judge that people is in pet type shell 1 chin portion applied pressure size, when being less than the second predetermined threshold value at chin portion applied pressure, illustrate that people applies pressure less, pet type shell 1 makes new line action, preferably, send that lullaby realizes with on the limbs of people and voice mutual can also be coordinated while pet type shell 1 makes new line action, when people is not less than the second predetermined threshold value at chin portion applying pressure, illustrate that people applies pressure larger, master controller 3 can control the second stepping electric machine rotation, drives pet type shell 1 head to make the action of left-right rotation, controls Audio Players 42 simultaneously and send angry sound.
When master controller 3 receives the human body applying pressure of pressure sensor 21 transmission be positioned on trunk, judge that this human body applies pressure and whether is less than the 3rd predetermined threshold value, if, control the 3rd stepper motor and the 4th stepper motor to rotate and drive pet type shell 1 to make left upper arm and right upper arm expansion action, and control Audio Players 42 and play the first audio file; Otherwise, control the second stepper motor, the 7th stepper motor and the 8th stepper motor and rotate and drive that pet type shell 1 makes head left/right turn, the right leg of left leg alternately lifts action, and control Audio Players 42 and play the second audio file.Under which, when people applies pressure on the trunk of pet type shell 1, human body applying pressure responded to by the pressure sensor 21 being positioned at trunk position, this human body is applied pressure with main controller and the 3rd predetermined threshold value compares, thus judge people's applied pressure size on the trunk of pet type shell 1, when on trunk, applied pressure is less than the 3rd predetermined threshold value, illustrate that people applies pressure less, pet type shell 1 make open arms embrace action, preferably, pet type shell 1 make embrace action while can also coordinate send that lullaby realizes with on the limbs of people and voice mutual, when people apply on trunk pressure be not less than the 3rd predetermined threshold value time, illustrate that people applies pressure larger, master controller 3 can control pet type shell 1 and make head left-hand rotation or right-hand rotation action, both legs alternately lift simultaneously, preferably can control Audio Players 42 simultaneously and send angry sound, make pet type robot of accompanying and attending to imitate angry state, realize and the limbs of people and alternately linguistic.
In addition, when the torso portion volume of pet type shell 1 is larger, multiple pressure sensor 21 can be set on the trunk of pet type shell 1, realize obtaining people's applied pressure on pet type shell 1 from multiple angle.
As shown in Figure 2, pet type accompany and attend to robot sensing element 2 in can also comprise heat-sensitive sensor 23, the quantity of heat-sensitive sensor 23 is two the left hands palm and the right hand palm positions that are arranged at pet type shell 1 respectively, when master controller 3 receives the human body temperature of heat-sensitive sensor 23 transmission, control five stepper motor corresponding with this heat-sensitive sensor 23 or the 6th stepper motor rotates, drive the upper arm of the corresponding side of pet type shell 1 to make and lift/put down action, and control Audio Players 42 and play the 3rd audio file, under which, when people holds the palm part of pet type shell 1 (the left hand palm and/or the right hand palm), the heat-sensitive sensor 23 being positioned at pet type shell 1 palm part senses human body temperature, master controller 3 controls the upper arm of the corresponding side of pet type shell 1 according to the human body temperature obtained and makes and lift/put down action simulation and people shakes hands, such as when people holds the left hand palm of pet type shell 1, the left upper arm that master controller 3 controls pet type shell 1 is lifted/is put down, while pet type shell 1 makes dohandshake action, Audio Players 42 can also be controlled and send greeting voice.
As shown in Figure 2, pet type accompany and attend to robot sensing element 2 in also comprise photoelectric sensor 22; When master controller 3 receives the ambient light change of photoelectric sensor 22 transmission, judge whether current light environment is less than default light threshold value, if so, generate dormancy control instruction, control enters resting state.
To accompany and attend to robot lifelike image more to make pet type, photoelectric sensor 22 is arranged at the eyes of pet type shell 1, when photoelectric sensor 22 senses the change of extraneous light and current light environment is less than default light threshold value, more when people's rest at night, master controller 3 control enters resting state, pet type can be reduced on the one hand to accompany and attend to the power consumption of robot, can prevent pet type robot of accompanying and attending to from sounding and affect the rest of old man on the other hand.
As shown in Figure 2, pet type accompany and attend to robot sensing element 2 in also comprise: coal gas detecting sensor 24; When master controller 3 receives the gas concentration of coal gas detecting sensor 24 transmission, judge whether gas concentration is greater than default gas concentration value, if so, then control Audio Players 42 and send coal gas leakage detection, alarm, the coal gas monitoring in environment can be realized thus, guard against gas poisoning.
As shown in Figure 2, pet type accompany and attend to robot sensing element 2 in also comprise microphone 25; Master controller 3 receives microphone 25 when transmitting sound, controls Audio Players 42 and carries out voice answer-back; Under which, when people sends interactive voice, microphone 25 gathers the sound of people, and the interactive voice that master controller 3 sends according to people carries out voice answer-back, realizes the interactive voice with people.
As shown in Figure 2, in robot accompanied and attended to by pet type, communication module 5 is also comprised; Camera 26 is also comprised in sensing element 2; The video image that camera 26 can obtain by main controller is transferred to host computer b by communication module 5, realizes the picture control to people's state.
Preferably, the voice that microphone 25 gathers and/or video image are transferred to host computer b by communication module, and the voice transfer of monitoring side to be accompanied and attended to robot realization and the real-time, interactive of old man to pet type by host computer b.
The pet type of the utility model embodiment robot of accompanying and attending to comprises control module, control module comprises master controller 3, power circuit 33, clock circuit 34, A/D converter circuit 31 and peripheral interface circuit 32, and power circuit 33, clock circuit 34, A/D converter circuit 31 and peripheral interface circuit 32 are all connected with master controller 3.Clock circuit 34 can realize timing function, can realize waking, taking medicine the functions such as timed reminding by the timing function of clock circuit 34.
Pressure sensor 21, photoelectric sensor 22, heat-sensitive sensor 23 and coal gas detecting sensor 24 are connected with master controller 3 by A/D converter circuit 31; Microphone 25 and camera 26 are connected with master controller 3 by peripheral interface circuit 32, and stepper motor 41 and Audio Players 42 are connected with master controller 3 by peripheral interface circuit 32.
Accompany and attend in robot in pet type, communication module 5 comprises Computer Interface Module 51 and wireless communication module 52 for the wired or wireless communication with host computer.
The utility model embodiment still provides a kind of pet type and to accompany and attend to robot system, as shown in Figure 2, comprises host computer b and above-mentioned pet type and to accompany and attend to robot a; The pet type robot a that accompanies and attends to is connected with host computer b.
In host computer, setting program arranges module b1 and video monitoring module b2, the setting of the robot Program that realizes accompanying and attending to pet type by programming module b1, and video monitoring module b2 controls pet type robot of accompanying and attending to and carries out video monitoring.Computer Interface Module 51 in communication module 5 realizes the wired data communication between master controller 3 and host computer b by USB interface, supports USB connecting line and Bluetooth wireless transmission two kinds of modes.Wireless communication module 52, by connecting wireless Internet or 3G network, realizes the remote data communication between master controller 3 and host computer b.
Also furthermore present pet type in the utility model embodiment to accompany and attend to a kind of example of robot.
This pet type robot of accompanying and attending to comprises pet type shell, and preferably pet type shell is lint shell.
The sensing element arranged in pet type enclosure comprises 6 pressure sensor 1b1 (label is respectively 1b1-1 ~ 1b1-6), 1 photoelectric sensor 1b2,1 coal gas detecting sensor 1b3,2 heat-sensitive sensor 1b4-1 and 1b4-2,1 camera 1b5 and 1 sound transducer (microphone) 1b6.Wherein pressure sensor 1b1, photoelectric sensor 1b2, coal gas detecting sensor 1b3 and heat-sensitive sensor 1b4 are connected to master controller by A/D converter circuit, the information detected is sent to master controller and carries out information processing.Camera 1b5 and microphone 1b6 is connected to master controller by peripheral interface circuit, carries out decoding and identifying.
Execution unit comprises 9 stepper motor 1c1 and 1 loudspeaker 1c2, is connected to master controller by peripheral interface circuit, is respectively used to realize limb motion and speech play.
Host computer comprises programming module and video monitoring module.Wherein, programming module has the content and time that arrange affairs prompts such as taking medicine, function such as editor voice dialogue content and music playing file etc.The real time remote that video monitoring module can carry out picture in pet robot camera monitoring range is play and is stored, and has the function of taking pictures with photo storage.
With reference to accompanying drawing 3 and Fig. 4, the accompany and attend to sensor element of robot and execution unit of pet type is distributed in the different parts of pet type shell separately.Wherein:
Pressure sensor 1b1-1 is positioned at pet type and accompanies and attends to the crown of robot, for experiencing stroking and patting of head; Pressure sensor 1b1-2 is positioned at pet type and accompanies and attends to the chin of robot, for experiencing stroking of chin; Pressure sensor 1b1-3, pressure sensor 1b1-4, pressure sensor 1b1-5 and pressure sensor 1b1-6 are distributed in pet type side by side and accompany and attend to the back of robot, for experiencing stroking and patting of back; Photoelectric sensor 1b2 is embedded in pet type and accompanies and attends in the left eye of robot, secretly changes for the light detecting surrounding environment; Coal gas detecting sensor 1b3 accompanies and attends to as pet type the nose of robot, for detecting the existence of hazardous gas around; Heat-sensitive sensor 1b4-1 and heat-sensitive sensor 1b4-2 lays respectively at pet type and to accompany and attend to the right hand of robot and left-hand palm, for detecting palm temperature; Camera 1b5 is embedded in pet type and accompanies and attends in the right eye of robot, for video surveillance; Microphone 1b6 is arranged on pet type and accompanies and attends in the left ear of robot, for obtaining ambient sound.
Stepper motor 1c1-1 and stepper motor 1c1-2 is positioned at pet type side by side and accompanies and attends to the neck of robot, is synchronized with the movement and realizes the action that robot comes back/bow.Stepper motor 1c1-3 is positioned at pet type and accompanies and attends to the neck of robot, realizes the action of robot head left-right rotation.Stepper motor 1c1-4 and stepper motor 1c1-5 lays respectively at pet type and to accompany and attend to the right shoulder of robot and left shoulder, realizes the action that robot upper arm is opened/hold tightly.Stepper motor 1c1-6 and stepper motor 1c1-7 lays respectively at pet type and to accompany and attend to the right shoulder of robot and left shoulder, realizes the action that robot upper arm is lifted/put down.Stepper motor 1c1-8 and stepper motor 1c1-9 lays respectively at pet type and to accompany and attend to the right leg of robot and left leg, realizes the action that robot leg lifts/puts down.Loudspeaker 1c2 is positioned at pet robot abdomen, for playing sound.
When user strokes robot head, pressure sensor 1b1-1 experiences lighter pressure, and main controller controls motor 1c1-1 and motor 1c1-2 rotates, and realizes the action of bowing, and loudspeaker 1c2 sends comfortable cry simultaneously; When user strokes robot chin, pressure sensor 1b1-2 experiences lighter pressure, and main controller controls motor 1c1-1 and motor 1c1-2 rotates, and realizes the action come back, and loudspeaker 1c2 sends comfortable cry simultaneously; When user pats robot head, pressure sensor 1b1-1 experiences heavier pressure, main controller controls motor 1c1-1 and motor 1c1-2 fast rotational, realizes bowing fast the action come back again, and loudspeaker 1c2 sends angry cry simultaneously.
When user strokes robot back, pressure sensor 1b1-3/1b1-4/1b1-5/1b1-6 experiences lighter pressure, and main controller controls motor 1c1-4 and motor 1c1-5 rotates, and upper arm opens, realize the action of embracing, loudspeaker 1c2 sends comfortable cry simultaneously; When user pats robot back, pressure sensor 1b1-3/1b1-4/1b1-5/1b1-6 experiences heavier pressure, main controller controls motor 1c1-8, motor 1c1-9 and motor 1c1-3 rotate, head rotates to the left or to the right, leg alternately lifts, imitate angry action, loudspeaker 1c2 sends angry cry simultaneously.
When on the left of user holds robot during palm, corresponding heat-sensitive sensor 1b4-2 experiences variations in temperature, and main controller controls motor 1c1-7 rotates, and left side upper arm lifts/puts down, and imitates the action of shaking hands, and loudspeaker 1c2 sends the voice of greeting simultaneously; When on the right side of user holds robot during palm, corresponding heat-sensitive sensor 1b4-1 experiences variations in temperature, and main controller controls motor 1c1-6 rotates, and right side upper arm lifts/puts down, and imitates the action of shaking hands, and loudspeaker 1c2 sends the voice of greeting simultaneously.
When microphone 1b6 detects sound, master controller carries out speech recognition automatically, and answers voice accordingly according to the output control loudspeaker 1c2 broadcasting identified.When coal gas detecting sensor 1b3 detects that hazardous gas exists, main controller controls loudspeaker 1c2 plays and points out alarm voice accordingly.Photoelectric sensor 1b2 can experience light and secretly change, under the dark conditions such as night, automatically open park mode, avoids bothering owner and have a rest while power saving.
When host computer b opens video monitoring function by video monitoring module b2, obtain video information by camera 26, and realize camera function.Host computer b can also arrange the information such as time, content of affairs prompt such as to take medicine by programming module b1, and master controller automatically controls Audio Players 42 and plays and remind voice accordingly when the time of advent.
Outstanding feature of the present utility model is that robot of accompanying and attending to has pet external form, be convenient to old man's bosom and carry with, the emotion communication activity such as limbs interaction, voice dialogue with people can be realized, have more affinity, easily extensively be subject to liking of the elderly, the spirit being specially adapted to old solitary people is accompanied and attended to, and effectively can alleviate the feeling of lonely of old man.Meanwhile, robot has music, take medicine the function such as prompting, routine matter prompting, and can assist life of elderly person, the old man bad to memory such as dementias is especially useful; The safety custody such as gas alarm and monitoring remote video function, can the safety of effective guarantee old man at home living environment.The multiple place such as Old Age Homes, home for destitute can be widely used in, there are wide market prospects.
Above; be only detailed description of the invention of the present utility model; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; change can be expected easily or replace, all should be encompassed within protection domain of the present utility model.Therefore, protection domain of the present utility model should described be as the criterion with the protection domain of claim.
Claims (10)
1. pet type is accompanied and attended to a robot, it is characterized in that, comprising: pet type shell and be arranged on the sensing element of described pet type enclosure, master controller and execution unit;
Described sensing element, for responding to human action and/or environmental change, wherein said sensing element at least comprises following one: for respond to human body execute stressed pressure sensor, for induced environment light change photoelectric sensor, for respond to human body temperature heat-sensitive sensor, for detect sound microphone, for obtaining the camera of video image and the coal gas detecting sensor for gas concentration in testing environment;
Described master controller, for sending the action directive corresponding with described human action and/or environmental change;
Described execution unit, for performing described action directive.
2. pet type according to claim 1 is accompanied and attended to robot, and it is characterized in that, described execution unit comprises stepper motor and Audio Players;
Wherein, the output of described stepper motor is connected with the joint part of described pet type shell, drives described pet type shell to act accordingly;
Described Audio Players is for sending the sound corresponding with described human action and/or environmental change.
3. pet type according to claim 2 is accompanied and attended to robot, it is characterized in that, described stepper motor comprises: be arranged at described pet type shell neck and make for controlling described pet type shell/the first stepper motor of new line action of bowing, be arranged at described pet type shell neck makes the action of head left-right rotation the second stepper motor for controlling described pet type shell, be arranged at the left shoulders of described pet type shell and right shoulders respectively and make for controlling described pet type shell the 3rd stepper motor and the 4th stepper motor that action is opened/hold tightly to left upper arm and right upper arm, be arranged at the left shoulders of described pet type shell and right shoulders respectively and make for controlling described pet type shell the 5th stepper motor and the 6th stepper motor that action was lifted/put down to left upper arm and right upper arm, be arranged at the left leg of described pet type shell and right leg and trunk junction respectively for controlling left leg and right leg makes the 7th stepper motor and the 8th stepper motor that lift/put down action.
4. pet type according to claim 3 is accompanied and attended to robot, and it is characterized in that, described sensing element comprises multiple pressure sensor, multiple described pressure sensor respectively corresponding be distributed in described pet type shell position, the crown, on chin portion and trunk;
When described master controller receives the human body applying pressure of the described pressure sensor transmission being positioned at position, the crown, judge that described human body applies pressure and whether is less than the first predetermined threshold value, if, control described first stepping electric machine rotation, drive described pet type shell to make action of bowing, and control described Audio Players and play the first audio file; Otherwise control described first stepping electric machine rotation, drive described pet type shell to make new line alternating movement of bowing, and control described Audio Players and play the second audio file;
When described master controller receives the human body applying pressure of the described pressure sensor transmission being positioned at chin portion, judge that described human body applies pressure and whether is less than the second predetermined threshold value, if, control described first stepping electric machine rotation, drive described pet type shell to make new line action, and control described first audio file of described Audio Players broadcasting;
When described master controller receives the human body applying pressure of the pressure sensor transmission be positioned on trunk, judge that this human body applies pressure and whether is less than the 3rd predetermined threshold value, if, control described 3rd stepper motor and the 4th stepper motor to rotate and drive described pet type shell to make left upper arm and right upper arm expansion action, and control described Audio Players and play described first audio file; Otherwise described pet type shell makes head left/right turn, the right leg of left leg alternately lifts action to control described second stepper motor, the 7th stepper motor and the 8th stepper motor rotation drive, and controls described second audio file of described Audio Players broadcasting.
5. pet type according to claim 3 is accompanied and attended to robot, and it is characterized in that, described sensing element comprises heat-sensitive sensor, and the quantity of described heat-sensitive sensor is two the left hands palm and right hand palm positions being arranged at described pet type shell respectively;
When described master controller receives the human body temperature of described heat-sensitive sensor transmission, control five stepper motor corresponding with this heat-sensitive sensor or the 6th stepper motor rotates, drive the upper arm of the corresponding side of described pet type shell to make and lift/put down action, and control described Audio Players broadcasting the 3rd audio file.
6. pet type according to claim 1 is accompanied and attended to robot, and it is characterized in that, described sensing element comprises photoelectric sensor;
When described master controller receives the described ambient light change of described photoelectric sensor transmission, judge whether current light environment is less than default light threshold value, if so, generate dormancy control instruction, control enters resting state.
7. pet type according to claim 2 is accompanied and attended to robot, and it is characterized in that, described sensing element comprises: coal gas detecting sensor;
When described master controller receives the gas concentration of described coal gas detecting sensor transmission, judge whether described gas concentration is greater than default gas concentration value, if so, then control described Audio Players and send coal gas leakage detection, alarm.
8. pet type according to claim 2 is accompanied and attended to robot, and it is characterized in that, described sensing element comprises microphone;
When described master controller receives described microphone transmission sound, control described Audio Players and carry out voice answer-back.
9. pet type according to claim 1 is accompanied and attended to robot, it is characterized in that, also comprises communication module; Described sensing element comprises camera;
Described main controller, is transferred to host computer for the video image obtained by described camera by described communication module.
10. pet type is accompanied and attended to robot system, it is characterized in that, comprises host computer and the pet type as described in any one of claim 1 to 9 and to accompany and attend to robot; Described pet type robot of accompanying and attending to is connected with described host computer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420731969.1U CN204248895U (en) | 2014-11-27 | 2014-11-27 | A kind of pet type is accompanied and attended to robot and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420731969.1U CN204248895U (en) | 2014-11-27 | 2014-11-27 | A kind of pet type is accompanied and attended to robot and system |
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| CN204248895U true CN204248895U (en) | 2015-04-08 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440925A (en) * | 2014-11-27 | 2015-03-25 | 国家康复辅具研究中心 | Pet type accompanying robot and system |
| CN105364916A (en) * | 2015-12-17 | 2016-03-02 | 成都英博格科技有限公司 | Robot structure |
| WO2017000800A1 (en) * | 2015-06-30 | 2017-01-05 | 芋头科技（杭州）有限公司 | System and method for intelligently controlling activity of robot |
| CN107116563A (en) * | 2017-06-22 | 2017-09-01 | 国家康复辅具研究中心 | Pet type robot and robot control system |
| CN109070356A (en) * | 2016-04-28 | 2018-12-21 | 富士通株式会社 | robot |
| CN110021294A (en) * | 2018-01-09 | 2019-07-16 | 深圳市优必选科技有限公司 | Control method, device and the storage device of robot |
| CN114603602A (en) * | 2022-01-07 | 2022-06-10 | 美的集团(上海)有限公司 | Robot and interactive module thereof |
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2014
- 2014-11-27 CN CN201420731969.1U patent/CN204248895U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440925A (en) * | 2014-11-27 | 2015-03-25 | 国家康复辅具研究中心 | Pet type accompanying robot and system |
| WO2017000800A1 (en) * | 2015-06-30 | 2017-01-05 | 芋头科技（杭州）有限公司 | System and method for intelligently controlling activity of robot |
| CN105364916A (en) * | 2015-12-17 | 2016-03-02 | 成都英博格科技有限公司 | Robot structure |
| CN105364916B (en) * | 2015-12-17 | 2017-06-09 | 成都英博格科技有限公司 | Robot architecture |
| CN109070356A (en) * | 2016-04-28 | 2018-12-21 | 富士通株式会社 | robot |
| CN109070356B (en) * | 2016-04-28 | 2022-06-28 | 富士通株式会社 | Robot |
| CN107116563A (en) * | 2017-06-22 | 2017-09-01 | 国家康复辅具研究中心 | Pet type robot and robot control system |
| CN110021294A (en) * | 2018-01-09 | 2019-07-16 | 深圳市优必选科技有限公司 | Control method, device and the storage device of robot |
| CN114603602A (en) * | 2022-01-07 | 2022-06-10 | 美的集团(上海)有限公司 | Robot and interactive module thereof |
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