CN206200977U - Portable distal end is come personally interaction platform - Google Patents
Portable distal end is come personally interaction platform Download PDFInfo
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- CN206200977U CN206200977U CN201620974080.5U CN201620974080U CN206200977U CN 206200977 U CN206200977 U CN 206200977U CN 201620974080 U CN201620974080 U CN 201620974080U CN 206200977 U CN206200977 U CN 206200977U
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- distal end
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Abstract
Come personally interaction platform the utility model discloses a kind of portable distal end, by mankind's artificial head, mankind's emulation body, mobile platform support bracket, from top to bottom connection is constituted successively for mobile base robot.Portable distal end interaction platform of coming personally is a humanoid mobile robot, the image of local end user can be passed through two projecting apparatus by it, it is respectively displayed on the trunk and head of robot, scene around the facial expression and body of user is shown in real time, and the estrangement that people exchanges with the machine human world is reduced to reach.Meanwhile, portable distal end interaction platform of coming personally can collect its ambient condition information, including the environment of surrounding image, sound.By the way that these are gathered with the utilization of information, the telepresenc of user can be improved, make user on the spot in person.Additionally, this portable distal end is come personally, interaction platform also possesses the automatic charge function that makes a return voyage in certain area.
Description
Technical field
The utility model is related to human-computer interaction technique field.Specifically related to a kind of portable distal end is come personally interaction platform.
Background technology
With the quickening of the rhythm of life of people, the situation that people is too busy to attend to anything else increasingly increases, therefore has promoted mobile remote
Interactive development.Just start, due to the birth of internet, in order to keep up with the rhythm of life of people, people's utility model network
Video so that people can indoors simultaneously with how personal contact ac.But people are still unsatisfactory for, by hair for many years
Exhibition, remote interaction has had many new products to be born.The Anybots QB mobile robots of such as Anybots companies and U.S.
The Double robots of Double Robotics companies of state.The function of this two product is all closely similar, all mainly realizes using
" attending to anything else " ability at family, remote control mobile robot is gone to attend a meeting, goes to work and office and go on business indoors to allow user.But mesh
The interactive experience of preceding these products on the market is all poor, basic only one of which screen display and stiff skeleton support, far
End can only interact with the people of robot interactive with ice-cold machine.If tele-robotic is designed into the more laminating mankind, outer
Shape more as the mankind, make it have the real-time face expression of user, so surely the enhancing people that interacts of distal end produce it is warm
Sense, shortens " distance " between machine and people.In addition, for local end user, the experience of its telepresenc is particularly significant.If energy
Virtual reality technology is applied on local end user, makes local end user by virtual reality technology, make its visual field with it is long-range
Robot synchronization, must so strengthen the telepresenc of local end user.
In recent years, many papers related to the patent and patent are generated, it is as follows respectively：
1st, Chinese publication number：CN104898652A, title：Mutually exchanged with a moveable tele-robotic.
Equipment, it is possible to use the various information of family remote collection to the equipment so that user exchanges with the external world, while its upper limbs
Certain motion can be made, but the profile of the equipment is more stiff, it is not attractive in appearance enough, while the feelings of user can not be shown remarkably
Scape information, interactive experience is poor, and the telepresenc of local end user is poor.
2nd, Chinese publication number：CN103802108A, title：Remote assistance office machine people.What the patent was described sets
It is standby to meet general work of the mankind in office, such as audio-visual exchange, remotely make an inspection tour working site, remote file transferring and
Participate in Remote Video Conference etc..But same, the profile of the equipment is more stiff, interaction is aesthetic between the mankind that do not fit, to
The scene situation reducing degree at family is than relatively low.The telepresenc of local end user is not accounted for simultaneously.
3rd, Chinese publication number：CN102755194A, title：A kind of remote monitoring robot.The equipment can pass through
Various Vital status detectors above it guard the life and health situation of patient, can with patient have it is a certain degree of interact,
But its function that can be interacted is fewer, and the outward appearance of the equipment is equally more stiff, does not meet the aesthetic of the mankind, not to
The scene situation at family is reduced, and causes interactive experience very poor.The telepresenc of what is more important its local end user is very poor.
Utility model content
The purpose of this utility model is that such as remote mobile robot is without Faxian in order to solve drawbacks described above of the prior art
Show user situation situation, interactive experience is poor, user's telepresenc difference the problems such as, there is provided a kind of portable distal end is come personally interaction platform.
The purpose of this utility model can be reached by adopting the following technical scheme that：
A kind of portable distal end is come personally interaction platform, and the platform is by mankind's artificial head 1, mankind emulation body 5, mobile
From top to bottom connection is constituted successively for flat top support 8, mobile base robot 9,
Mankind's artificial head 1 includes the first translucent glass plate 2, the first projecting apparatus 10 and head shell, described
Be projected in the image information of local end user head on the first translucent glass plate 2 by the first projecting apparatus 10 so that described
Mankind's artificial head 1 possesses the facial expression of local end user；
The remote subscriber refer to the portable distal end user that interaction platform is exchanged when participating in the cintest, meanwhile, corresponding, local side
User refers to the user of the portable distal end of manipulation interaction platform when participating in the cintest.
Mankind's emulation body 5 includes the second translucent glass plate 7, the second projecting apparatus 11 and body shell, described
Be projected in the image information of remote subscriber body on the second translucent glass plate 7 by the second projecting apparatus 11 so that the people
Class emulation body 5 possesses the body scene of remote subscriber.
Further, first projecting apparatus 10 and second projecting apparatus 11 are each parallel to the described first translucent glass
What glass plate 2 and the second translucent glass plate 7 were placed, first projecting apparatus 10 and second projecting apparatus 11 are distinguished
Including a projecting apparatus image transfer, it is redirect to respectively on corresponding translucent glass plate for just parallel image and is shown
Show.
Further, the projecting apparatus image transfer includes：Fixed plate a1, two-way mirror a2 and fixed plate a3,
The fixed plate a1, the two-way mirror a2 and the fixed plate a3 form a 45° angle and turn the vertical picture of projecting apparatus
To into level.
Further, mini microphone 6,3D cameras 3 and audio amplifier 4 are provided with mankind's emulation body 5, it is described micro-
The voice signal that type microphone 6 is used for around acquisition platform, the signal of video signal that the 3D cameras 3 are used for around acquisition platform,
The audio amplifier 4 is used to play the sound of user.
Further, the mobile platform support bracket 8 plays load-bearing effect and supports that upper-lower height is adjusted, by described
Mobile platform support bracket 8 can adjust the position height of mankind's emulation body 5 and mankind's artificial head 1.
Further, the mobile base robot 9 includes：Sensor assembly, motor and its drive module, power module
And embedded computer,
Wherein, the motor and its drive module, for providing kinetic moment for portable distal end interaction platform of coming personally；
The power module, for providing operating voltage for portable distal end all parts in interaction platform of coming personally, can
Output 24V, 6V, 5V, 3.3V voltage；
The embedded computer, the control for being responsible for whole platform, while it is equipped with wireless network module, for connecing
The control signal and image, voice signal of user are received, meanwhile, the data required for the embedded computer has projecting apparatus connect
Mouth, power interface.
Further, the sensor assembly includes：Hall-type current sensor, gyro sensor and ultrasonic wave are passed
Sensor,
Wherein, the Hall-type current sensor is used to detect the charge condition of portable distal end interaction platform when participating in the cintest；
The gyro sensor is used to measure the steering angle of the mobile base robot 9；
The ultrasonic sensor modules are used to gather the distance of portable distal end interaction platform peripheral obstacle when participating in the cintest, and
Realize automatic obstacle avoiding.
Further, interaction platform is come personally also including external charging pile 12, the charging pile 12 in the portable distal end
The portable distal end of fitting is come personally the profile of interaction platform, when portable distal end interaction platform of coming personally moves to charging pile
During charging, the charging plug of the charging pile 12 just corresponds to the charging jacks of the mobile base robot.
Further, the portable distal end come personally interaction platform can real-time monitoring dump energy, when electricity less than setting
During warning value, platform can alert user, remind user to be charged.
Further, interaction platform is come personally in the certain limit of the charging pile 12 in the portable distal end, can start
Automatic Track Finding backhaul function, returns to the charging pile 12 and voluntarily charges according in it in obstacle avoidance algorithm and the algorithm that tracks.
The utility model has the following advantages and effect relative to prior art：
Come personally interaction platform the utility model discloses a kind of portable distal end, the platform can allow user to realize " attending to anything else "
Effect, indoors the even many portable distal ends of remote control one come personally interaction platform, allow user while appearing in
Various occasions all over the world.The platform can go back the countenance and sound of original subscriber.Compared with other similar-type products,
The platform is conveyed to local end user by by its environmental information, and its environment is reduced by computer equipment and virtual reality glasses,
Therefore coming personally for user feels truer.Meanwhile, the platform supports automated backhaul charge function in the range of certain position,
It is capable of the operation of easy user.
Brief description of the drawings
Fig. 1 is the structure chart of portable distal end disclosed in the utility model interaction platform when participating in the cintest；
Fig. 2 is the partial sectional view of portable distal end disclosed in the utility model interaction platform when participating in the cintest；
Fig. 3 is the structural representation of the first projecting apparatus in the utility model；
Fig. 4 is the structural representation of the second projecting apparatus in the utility model；
Fig. 5 is the structural representation of portable distal end interaction platform charging pile when participating in the cintest；
Fig. 6 is the top view of portable distal end interaction platform charging pile when participating in the cintest.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, is clearly and completely described, it is clear that retouched to the technical scheme in the utility model embodiment
The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Based on the implementation in the utility model
Example, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made is belonged to
The scope of the utility model protection.
Embodiment
The present embodiment provides a kind of portable distal end and comes personally interaction platform, is related to the forward position of human-computer interaction technology to apply.This
Interaction platform can provide the user a mobile robot, and user can just be connect with extraneous people and material object before computer
Touch, exchange.Scene (including expression, sound) perfection of the upper part of the body of local end user can be mapped to movement by this interaction platform
Robot, makes robot possess the countenance of user in real time, and the people for allowing distal end to interact produces cordial feeling.Meanwhile, the machine
Device people can allow user to be exchanged with other people by sound equipment and microphone.Local end user can be by virtual reality eye
Mirror " true " experiences environment of the portable distal end when participating in the cintest where interaction platform, with very strong telepresenc.The interaction platform branch
Automated backhaul charge function is held, user's left-hand seat operation difficulty can be reduced.By using the interaction platform, user can accomplish " to divide
The effect of body ", while appearing in attend all over the world various occasions.
As shown in Fig. 1 and Fig. 2, interaction platform is come personally by mankind's artificial head 1, the first translucent glass plate in portable distal end
2nd, 3D cameras 3, audio amplifier 4, mankind emulation body 5, mini microphone 6, the second translucent glass plate 7, mobile platform load-bearing branch
Frame 8, mobile base robot 9, the first projecting apparatus 10, the second projecting apparatus 11 are constituted.
Described mankind's artificial head 1 and the mankind emulate body 5 as shown in Fig. 2 mankind's artificial head 1 is translucent by first
Glass plate 2, the first projecting apparatus 10 and head shell composition.Its inner hollow, the holding wire and power line of projecting apparatus are along head
Shell, then by shell after torso interior, is ultimately connected to mobile base robot 9 to neck behind portion inside.First projecting apparatus 10
The then rear portion in head shell, the first projecting apparatus 10 projects on the first translucent glass plate 2 image information of user's head,
So that mankind's artificial head 1 possesses the facial expression of user.
Equally, mankind's emulation body 5 is made up of the second translucent glass plate 7, the second projecting apparatus 11 and body shell.
Its inner hollow, the holding wire and power line of projecting apparatus are connected to mobile base robot 9 along shell after torso interior.Second throws
The image information of user's body is projected to the second translucent glass by the then rear portion in body shell of shadow instrument 11, the second projecting apparatus 11
On plate 7 so that mankind's emulation body 5 possesses the body scene of user.Mini microphone 6,3D is provided with mankind's emulation body
Camera 3 and audio amplifier 4, for the environmental information (image, voice signal) around acquisition platform and the sound of broadcasting local end user
Sound.The information conveyance that it is collected in embedded computer to being processed.For the treatment of image, according to different demands,
Use different image processing algorithms.
Because the first projecting apparatus and the second projecting apparatus are parallel to the first translucent glass plate and second translucent
What glass plate was placed, it is therefore desirable to build a projecting apparatus image transfer, parallel image is redirect to translucent glass
Shown on plate.Projecting apparatus transfer is made up of fixed plate a1, two-way mirror a2 and fixed plate a3, and forming a 45° angle will
The vertical picture of projecting apparatus turns into level, projects on the first translucent glass plate 2 or the second translucent glass plate 7.This
Outward, it is necessary to adjust the size of projecting apparatus image, it is possible to according to real needs, convex lens are added in transfer, to reach
Image regulatory function.
For make portable distal end when participating in the cintest interaction platform close to Human stature, it is necessary to it takes 1.75m close to the height of the mankind.
Remove outside mobile base robot, mankind's artificial head, body level altitude, it is remaining highly desirable to be propped up by mobile platform load-bearing
Frame 8 is provided.The position of body and head is increased to mobile platform support bracket 8 position of normal adult, while play holding
Recast is used.
Mobile base robot 9, it is mainly by sensor assembly, motor and its drive module, power module and insertion
Formula computer is constituted.Its sensor assembly includes Hall-type current sensor, gyro sensor and ultrasonic sensor.
Hall-type current sensor is used to detect the current conditions of circuit in whole mobile base robot, plays system protection.
As in the motor course of work, the operating current of system overruns, then it is assumed that system is in abnormal condition.Gyroscope is passed
Sensor is used to measuring the steering angle of mobile base robot, and its information is mainly used in it and automatic makes a return voyage.Ultrasonic sensor
Module is used for the distance of acquisition platform peripheral obstacle, and realizes automatic obstacle avoiding.Motor and its drive module, are portable distal end
Interaction platform provides kinetic moment when participating in the cintest.The characteristics of motor will meet small volume and big moment of torsion.In view of motor mounting space compared with
It is small, and it is larger to bear a heavy burden, and need to choose small volume and the big motor of moment of torsion, such as 57BYG250C types stepper motor.Meanwhile, in order to
Motor is controlled, it is necessary to using motor driver, such as TB6600 motor drivers.
Power module needs to meet the different requirement of voltage needed for modules, can export 24V, 6V, 5V, 3.3V etc. no
Same voltage.The lithium battery of 24V 12AH is chosen, while needing to be equipped with the constant pressure change-over circuit of the different voltages such as 6V, 5V, 3.3V.It is embedding
Enter formula computer, be responsible for whole platform control, while its be equipped with wireless network module, for receive user control signal and
Image, voice signal.Meanwhile, the embedded computer there is projecting apparatus required for data-interface, power interface.
Portable distal end is come personally the charging pile 12 of interaction platform, and smooth ground is fixed on by two screws of d1 and d2
On.Its global shape is a triangular prism, intermediate hollow, and its is hollow to be shaped as cylinder, there is specific groove at its ground,
Position for fixing and limiting mobile base robot 9.Charging pile 12 is by d3 charging plugs and mobile base robot 9
Charging jacks are contacted, so as to be charged.By in it sensor, real-time monitoring movable type distal end is come personally interaction platform
Power conditions.
It is described here in conjunction with the come personally embodiment of interaction platform of portable distal end.When local end user is in computer
The preceding portable distal end of manipulation interaction platform of coming personally goes to company to participate in meeting, is imaged by the come personally 3D of interaction platform of portable distal end
The information of first 3 collection, local end user can wear virtual reality glasses, in virtual reality " body faces scene ", while mobile
Be projected in the countenance of local end user on its mankind's artificial head 1 by formula distal end interaction platform of coming personally.Work as local end user
Need and remote subscriber be when carrying out interaction, local end user can directly with remote subscriber actual conversation, while local end user
The thing that can be taken down notes etc is placed on the place of its upper limbs, is shown by the first projecting apparatus and the second projecting apparatus.
Come personally in view of portable distal end the functional effect of interaction platform, it is desirable to which the image collected to user is carried out necessarily
Image procossing.Due to using two projecting apparatus, and the parameter of two projecting apparatus differs, and causes projected image size to have
Distinguished.And, it is desirable to the head of the first projector user, and the trunk of the second projector user, accordingly, it would be desirable to
Dividing processing is carried out to source images.By the embedded computer of mobile base robot 9, can be to image information at
Reason, is divided into two parts of images of head and trunk.Then, image size is carried out according to the parameter of its correspondence projecting apparatus respectively
The modification of specification, is finally transported to corresponding projecting apparatus respectively, is projected into translucent glass plate.
Portable distal end come personally interaction platform can real-time monitoring its dump energy, when electricity is less than setting warning value, put down
Platform can alert user, remind user to be charged.Portable distal end come personally interaction platform need charge when, local side only need to by
Its manipulation is arrived near charging pile 12, when interaction platform is come personally in the certain limit of charging pile in portable distal end, it is possible to start
Automatic Track Finding backhaul function, voluntarily charges according to charging pile is returned in obstacle avoidance algorithm, the algorithm that tracks in it.Work as charging complete, move
Dynamic formula distal end come personally interaction platform can give user send charging completion signal.
When portable distal end come personally interaction platform need charge when, local side only needs to be manipulated near charging pile,
Then portable distal end interaction platform of coming personally just can voluntarily fill according to charging pile is returned in obstacle avoidance algorithm, the algorithm that tracks in it
Electricity.The portable distal end of charging pile laminating is come personally the profile of interaction platform, when portable distal end interaction platform of coming personally is moved to and filled
When electric stake is charged, the charging plug of charging pile just corresponds to the charging jacks of mobile base robot, and mobile base robot
Wheel just move to charging pile wheel pilot trench bottom, by the position limitation of mobile base robot formulate region in
Charge.
In sum, the interaction platform can realize " attending to anything else " function of user, allow user before computer or before flat board
Remote control interaction platform, interacts with the external world.In addition, the platform can be complete with the real-time scene situation of perfect presentation user
Expression, the sound of U.S.'s performance local end user, reduce the distance between person to person and machine estrangement.It is more prominent, lead to
The information that interaction platform of being come personally to portable distal end collects its surrounding environment is crossed, its reality environment, local side is built
User can make more humane operation by virtual reality glasses " on the spot in person ".Additionally, the utility model has laminating
The outward appearance that human aesthetic sees, the people for allowing distal end to interact produces cordial feeling, there is provided good user-interaction experience.
Above-described embodiment is the utility model preferably implementation method, but implementation method of the present utility model is not by above-mentioned
The limitation of embodiment, it is other it is any without departing from the change made under Spirit Essence of the present utility model and principle, modify, replace
Generation, combination, simplification, should be equivalent substitute mode, be included within protection domain of the present utility model.
Claims (8)
1. a kind of portable distal end is come personally interaction platform, it is characterised in that the platform is by mankind's artificial head (1), Ren Leifang
From top to bottom connection is constituted successively for true body (5), mobile platform support bracket (8), mobile base robot (9),
Mankind's artificial head (1) includes the first translucent glass plate (2), the first projecting apparatus (10) and head shell, institute
State the first projecting apparatus (10) image information of local end user head is projected on the first translucent glass plate (2), make
Obtain the facial expression that mankind's artificial head (1) possesses local end user；
The mankind emulate body (5) includes the second translucent glass plate (7), the second projecting apparatus (11) and body shell, institute
State the second projecting apparatus (11) image information of local end user body is projected on the second translucent glass plate (7), make
Obtain the mankind and emulate the body scene that body (5) possesses local end user.
2. portable distal end according to claim 1 is come personally interaction platform, it is characterised in that first projecting apparatus (10)
And second projecting apparatus (11) is each parallel to the first translucent glass plate (2) and the second translucent glass plate
(7) place, first projecting apparatus (10) and second projecting apparatus (11) include that a projecting apparatus image is turned to respectively
Device, redirect on corresponding translucent glass plate and shows respectively for just parallel image.
3. portable distal end according to claim 2 is come personally interaction platform, it is characterised in that the projecting apparatus image is turned to
Device includes：Fixed plate (a1), two-way mirror (a2) and fixed plate (a3), the fixed plate (a1), the two-way mirror
(a2) and the fixed plate (a3) formed a 45° angle the vertical picture of projecting apparatus is turned into level.
4. portable distal end according to claim 1 is come personally interaction platform, it is characterised in that the mankind emulate body
(5) mini microphone (6), 3D cameras (3) and audio amplifier (4) are provided with, the mini microphone (6) is for acquisition platform week
The voice signal for enclosing, the 3D cameras (3) are used for the signal of video signal around acquisition platform, the audio amplifier (4) for playing
The sound at family.
5. portable distal end according to claim 1 is come personally interaction platform, it is characterised in that the mobile platform load-bearing branch
Frame (8) plays load-bearing effect and supports that upper-lower height is adjusted, and the mankind are can adjust by the mobile platform support bracket (8)
Emulation body (5) and the position height of mankind's artificial head (1).
6. portable distal end according to claim 1 is come personally interaction platform, it is characterised in that the mobile base robot
(9) include：Sensor assembly, motor and its drive module, power module and embedded computer,
Wherein, the motor and its drive module, for providing kinetic moment for portable distal end interaction platform of coming personally；
The power module, for providing operating voltage for portable distal end all parts in interaction platform of coming personally, can export
24V, 6V, 5V, 3.3V voltage；
The embedded computer, the control for being responsible for whole platform, while it is equipped with wireless network module, is used for receiving
The control signal and image at family, voice signal, meanwhile, the embedded computer there is projecting apparatus required for data-interface,
Power interface.
7. portable distal end according to claim 6 is come personally interaction platform, it is characterised in that the sensor assembly bag
Include：Hall-type current sensor, gyro sensor and ultrasonic sensor,
Wherein, the Hall-type current sensor is used to detect the charge condition of portable distal end interaction platform when participating in the cintest；
The gyro sensor is used to measure the steering angle of the mobile base robot (9)；
The ultrasonic sensor modules are used to gather the distance of portable distal end interaction platform peripheral obstacle when participating in the cintest, and realize
Automatic obstacle avoiding.
8. portable distal end according to claim 1 is come personally interaction platform, it is characterised in that come personally the portable distal end
Interaction platform also includes external charging pile (12), and the charging pile (12) the portable distal end of fitting is come personally interaction platform
Profile, when the portable distal end come personally interaction platform move to charging pile charge when, the charging plug of the charging pile (12)
Just correspond to the charging jacks of the mobile base robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620974080.5U CN206200977U (en) | 2016-08-29 | 2016-08-29 | Portable distal end is come personally interaction platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620974080.5U CN206200977U (en) | 2016-08-29 | 2016-08-29 | Portable distal end is come personally interaction platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206200977U true CN206200977U (en) | 2017-05-31 |
Family
ID=58760438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620974080.5U Withdrawn - After Issue CN206200977U (en) | 2016-08-29 | 2016-08-29 | Portable distal end is come personally interaction platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206200977U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217393A (en) * | 2016-08-29 | 2016-12-14 | 华南理工大学 | Portable far-end is come personally interaction platform |
-
2016
- 2016-08-29 CN CN201620974080.5U patent/CN206200977U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217393A (en) * | 2016-08-29 | 2016-12-14 | 华南理工大学 | Portable far-end is come personally interaction platform |
| CN106217393B (en) * | 2016-08-29 | 2018-09-14 | 华南理工大学 | Mobile interaction platform of distally coming personally |
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