CN206426082U - A kind of child intelligently accompanies robot - Google Patents

Abstract

Robot is intelligently accompanied the utility model discloses a kind of child, including rotatable head (1) and torso portion (5), the rotatable head (1) is provided with eye, ear and mouth, rotatable head (1) includes spherical upper shell (8), torso portion (5) includes lower house (16), it is characterised in that：The ear is the sound equipment (3) on the outside of upper shell (8), eye is the touch-screen (2) on the outside of upper shell (8), the left side of touch-screen (2) is provided with infrared sensor (22), the right side of touch-screen (2) is provided with ultrasonic sensor (23), and mouth is the microphone (4) on the outside of upper shell (8).Belong to robotic technology field, solve traditional child and accompany game products can not be according to the state of child instantly and needs, the problem of actively initiating to invite and carry out targetedly interactive.

Description

A kind of child intelligently accompanies robot

Technical field

The utility model belongs to robotic technology field.

Background technology

According to developmental psychology theory, in the developmental process of infant, they need by substantial amounts of Exploratory behavior with And interaction with other people and exchange, the world, developing ability, growth body and mind function are progressively recognized, so as to realize intelligence and personality Grow up healthy and sound and develop.Modern society is busy due to routine work, and father and mother accompany the time of child to be limited, and grand parents year Record longer, the quiet smoothly environment of many preferences, and the active active age characteristics of child and development need difference, therefore More difficult offer and the exploration of child during child is led to need the interaction matched with assisting, the abundant development to child has There is certain limitation.

With IT technologies development and its and traditional toy combination, having occurred in that can much be carried out on the market with child Some interactive childs accompany game products.But it is big multi-form single, the mode mostly responded again after child's operation, It is only limitted to provide simple amusement, communication and education content push function, it is impossible to more realistically simulate true man and child's " interaction " Mode, it is impossible to according to child's state instantly and needs, actively initiate to invite, carry out targetedly interactive.

Utility model content

The purpose of this utility model is to provide a kind of child and intelligently accompanies robot, solves traditional child and accompanies game production Product can not be according to the state of child instantly and needs, the problem of actively initiating to invite and carry out targetedly interactive.

To achieve the above object, the utility model uses following technical scheme：

A kind of child intelligently accompanies robot, including rotatable head and torso portion, and the rotatable head is provided with Eye, ear and mouth, rotatable head include spherical upper shell, torso portion include lower house, the ear be located at Sound equipment on the outside of upper shell, eye is the touch-screen on the outside of upper shell, and the left side of touch-screen is provided with infrared sensor, touched The right side of screen is provided with ultrasonic sensor, and mouth is to set upper mounting plate, upper peace in the microphone on the outside of upper shell, upper shell Dress plate is provided with motor of nodding, and the output shaft for motor of nodding is protruded horizontally up and the output shaft for motor of nodding is connected by connector Upper shell, upper mounting plate is provided with first line plate；

Upper shell is located at the upside of lower house, and upper shell bottom is provided with opening, and lower house top is provided with top opening, lower house Bottom is provided with omnidirectional chassis, and lower house is above provided with LED, and omnidirectional chassis is provided 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 the 3rd The third line of omni-directional wheel walks motor, and the first omni-directional wheel, the second omni-directional wheel, the 3rd omni-directional wheel is triangular in shape is sequentially arranged, omnidirectional bottom Disk is provided with the downside of rotary head motor, upper mounting plate and is fixedly connected with a vertical rotating shaft, and the rotating shaft is driven by rotary head motor；

The lower installation board on the upside of omnidirectional chassis is set in lower house, lower installation board is provided with the second wiring board.

The rotating shaft is vertically arranged, and rotating shaft is extended downwardly into lower house from opening and top opening successively, the side of rotating shaft and opening Along separately, the output shaft of the rotary head motor protrudes upward and docks the bottom of rotating shaft.

The lower installation board is fixedly connected with the internal face of lower house, and the connector is vertical column, connector Top be fixed on the internal face of upper shell, bottom is fixed on and nodded on motor output shaft.

It is stepping that the motor of nodding, rotary head motor, the first movable motor, the second movable motor, the third line, which walk motor, Motor.

The bottom of upper shell is stretched into the top opening of lower house.

The first omni-directional wheel of lower house correspondence, the second omni-directional wheel and the 3rd omni-directional wheel provided with three stretching holes, the first omni-directional wheel, It is external that second omni-directional wheel and the 3rd omni-directional wheel extend downwardly from lower casing by three stretching holes respectively.

The first line plate is provided 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 amplification block, 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 walks motor interface, the provided with LED interface, power module, the 3rd driver, the third line Two drivers, the second movable motor interface, the first driver, the first movable motor interface, fourth drive, rotary head motor interface With trunk controller, the 3rd driver connects the third line and walks motor interface, and the second driver connects the second movable motor interface, the One driver connect the first movable motor interface, fourth drive connection rotary head motor interface, LED interface, fourth drive, 3rd 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, the 5th driver, audio amplification block, infrared are connect Mouth, touch screen interface, head control, FLASH memory and audio processing modules pass through wire electric connection of power supply module；

LED interface, ultrasonic interface, the 3rd driver, the second driver, the first driver, fourth drive and body Dry controller is all connected with power module；

It is steady that the power module includes external power source interface, lithium cell charging module, 12V lithium batteries, 3.3V voltage-stablizers, 8V Depressor and 5V voltage-stablizers, external power source interface, 12V lithium batteries, 3.3V voltage-stablizers, 8V voltage-stablizers and 5V voltage-stablizers are and lithium battery Charging module is connected, the outside 12V power supplies of external power source interface connection, the output ends of 3.3V voltage-stablizers is LED interface, FLASH memory, trunk controller and head control are powered, and the output end of 5V voltage-stablizers is the first driver, the second driving Device, the 3rd driver, fourth drive, the 5th driver, audio amplification block, infrared interface, touch screen interface and ultrasonic wave Interface is powered；

First driver, the second driver, the 3rd driver, fourth drive and the 5th driver are equipped with motor power Input, the motor power input of the first driver, the motor power input of the second driver, the motor of the 3rd driver The motor power input of power input, the motor power input of fourth drive and the 5th driver is all connected with 8V voltage stabilizings The output end of device；

The touch-screen is electrically connected with touch screen interface by wire, and rotary head motor electrically connects rotary head motor by wire and connect Mouthful, sound equipment electrically connects acoustic interface by wire, and infrared sensor electrically connects infrared interface by wire, and microphone passes through wire Microphone interface is electrically connected, LED electrically connects LED interface by wire, and ultrasonic sensor electrically connects ultrasound by wire Ripple interface, the third line walks motor and electrically connects the third line by wire and walk motor interface, the second movable motor to be electrically connected by wire Second movable motor interface, the first movable motor electrically connect the first movable motor interface by wire, and rotary head motor passes through wire Rotary head motor interface is electrically connected, motor of nodding electrically connects motor interface of nodding by wire.

First driver, second driver, the 3rd driver, the fourth drive and the described 5th The model of driver is A4988 type drivers；

The model TEA2025B of the audio amplification block；The head control and the trunk controller are ARM9 controllers；The model TLV320AIC23 of audio processing modules；

Rotary head motor interface, acoustic interface, infrared interface, touch screen interface, microphone interface, LED interface, ultrasonic wave It is wiring that interface, the third line, which walk motor interface, the second movable motor interface, the first movable motor interface and rotary head motor interface, Terminal；

The model RB-URF02 type ultrasonic sensors of the ultrasonic sensor；The model of the infrared sensor RB-02S017A type infrared human body heat releasing electric transducers；

The model CN3702 of the lithium cell charging module；The model AMS1117 of the 3.3V voltage-stablizers；The 5V The model LM7805 of voltage-stablizer；The model LM7808 of the 8V voltage-stablizers；

Described the third line walks 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 sockets of the external power source interface；

The model 4inch HDMI LCD type IPS touch-screens of the touch-screen.

A kind of child described in the utility model intelligently accompanies robot, solves traditional child and accompanies game products can not According to child's state instantly and needs, the problem of actively initiating to invite and carry out targetedly interactive, the utility model can According to the audio of child's sounding, the emotional state of intelligent decision child, and specific is sent to child according to the emotional state of child Invitation, and play correlation audio-frequency information.

Brief description of the drawings

Fig. 1 is structural representation of the present utility model；

Fig. 2 is sectional view of the present utility model；

Fig. 3 is the A-A views in Fig. 2；

Fig. 4 is the schematic diagram block diagram of first line plate 19 of the present utility model；

Fig. 5 is the schematic diagram block diagram of the second wiring board 17 of the present utility model；

Fig. 6 is the schematic diagram block diagram of power module 37 of the present utility model；

In figure：Rotatable head 1, touch-screen 2, sound equipment 3, microphone 4, torso portion 5, LED 6, the first omni-directional wheel 7A, Second omni-directional wheel 7B, the 3rd omni-directional wheel 7C, upper shell 8, motor 9 of nodding, upper mounting plate 10, opening 11, top opening 12, lower installation board 13rd, rotary head motor 14, chassis 15, lower house 16, the second wiring board 17, rotating shaft 18, first line plate 19, connector 20, first Movable motor 21A, the second movable motor 21B, the third line walk 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 interface 35, Trunk controller 36, power module 37, the 3rd driver 38, the third line walk 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 46,12V lithium batteries 47,5V voltage-stablizers 48,8V voltage-stablizers 49,3.3V voltage-stablizers 50, lithium cell charging module 51, stretching Hole 81, balancing weight 221.

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 provided with eye, ear and mouth, and rotatable head 1 includes spherical upper shell 8, under torso portion 5 includes Housing 16, the ear is the sound equipment 3 located at the outside of upper shell 8, and eye is the touch-screen 2 located at the outside of upper shell 8, touch-screen 2 left side is provided with infrared sensor 22, and the right side of touch-screen 2 is provided with ultrasonic sensor 23, infrared sensor 22 and ultrasonic wave Sensor 23 is also located at the outside of upper shell 8, and mouth is to set installation in the microphone 4 located at the outside of upper shell 8, upper shell 8 Plate 10, upper mounting plate 10 provided with nodding motor 9, the output shaft for motor 9 of nodding protrude horizontally up and motor 9 of nodding output shaft Upper shell 8 is connected by connector 20, upper mounting plate 10 is provided with first line plate 19；

Upper shell 8 is located at the upside of lower house 16, and the bottom of upper shell 8 is provided with opening 11, and the top of lower house 16 is provided with top opening 12, (front side outer surface) is set before omnidirectional chassis 15, lower house 16 in the bottom of lower house 16 provided with LED 6, omnidirectional chassis 15 provided with the first omni-directional wheel 7A, the second omni-directional wheel 7B, the 3rd 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 3rd omni-directional wheel 7C of drive the third line walk motor 21C, first Movable motor 21A output shaft is fixedly connected with the first omni-directional wheel 7A wheel hub, and the second movable motor 21B output shaft is fixedly connected Second omni-directional wheel 7B wheel hub, the output shaft that the third line walks motor 21C is fixedly connected with the 3rd omni-directional wheel 7C wheel hub, the first omnidirectional Wheel 7A, the second omni-directional wheel 7B, the 3rd 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 the center line of omnidirectional chassis 15, circumferentially line sets (center line of omnidirectional chassis 15 and lower house 16 to three omni-directional wheel 7C uniformly at intervals Center line overlap and be vertical extension), the first omni-directional wheel 7A, the second omni-directional wheel 7B and the 3rd omni-directional wheel 7C are to set vertically Put, 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 the 3rd omni-directional wheel 7C are tangent.Omnidirectional chassis 15 is provided with rotary head motor 14, The downside of upper mounting plate 10 is fixedly connected with a vertical rotating shaft 18, and the rotating shaft 18 is driven by rotary head motor 14；Omnidirectional chassis 15 Upper first omni-directional wheel 7A, the second omni-directional wheel 7B, the 3rd omni-directional wheel 7C arrangement and three respectively with the first movable motor The attachment structure that 21A, the second movable motor 21B, the third line walk motor 21C is prior art, therefore is not described in detail, additionally The mounting structure on the omnidirectional chassis 15 in other disclosed patents can be used, for example with Patent No. ZL2013203466061, The structure on the omnidirectional chassis 15 disclosed in entitled " omnidirectional's chassis structure and robot ".

The lower installation board 13 of the upside of omnidirectional chassis 15 is set in lower house 16, lower installation board 13 is provided with the second wiring board 17。

The rotating shaft 18 is vertically arranged, and the top of rotating shaft 18 is solid by welding or screw with the lower face of upper mounting plate 10 Fixed connection, rotating shaft 18 is extended downwardly into lower house 16 from opening 11 and top opening 12 successively, and rotating shaft 18 is alternate with the edge of opening 11 Every the output shaft of the rotary head motor 14 protrudes upward and docks the bottom of rotating shaft 18.

The lower installation board 13 is fixedly connected with the internal face of lower house 16, and the connector 20 is vertical column, The top of connector 20 is fixed on the internal face of upper shell 8, bottom is fixed on and nodded on the output shaft of motor 9.

The motor 9 of nodding, rotary head motor 14, the first movable motor 21A, the second movable motor 21B, the third line walk motor 21C is stepper motor.

The bottom of upper shell 8 is stretched into the top opening 12 of lower house 16.

First omni-directional wheel 7A of the correspondence of lower house 16, the second omni-directional wheel 7B and the 3rd omni-directional wheel 7C stretch out holes 81 provided with three, First omni-directional wheel 7A, the second omni-directional wheel 7B and the 3rd omni-directional wheel 7C stretch out hole 81 by three respectively and extend downwardly from lower house 16 Outside.

The first line plate 19 connects provided 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 amplification block 25, 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 provided with LED interface 35, power module 37, the 3rd 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 3rd driver 38 connection the third line walk motor interface 39, 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 interface 35, fourth drive 43, the 3rd 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 25th, 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 interface 35, ultrasonic interface 28, the 3rd 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；

It is steady that the power module 37 includes external power source interface 46, lithium cell charging module 51,12V lithium batteries 47,3.3V Depressor 50,8V voltage-stablizers 49 and 5V voltage-stablizers 48, external power source interface 46,12V lithium batteries 47,3.3V voltage-stablizers 50,8V voltage stabilizings Device 49 and 5V voltage-stablizers 48 are connected with lithium cell charging module 51, and external power source interface 46 connects outside 12V power supplies (institute It is outside 12V power supplies are stated for prior art, solid not describe in detail), the output ends of 3.3V voltage-stablizers 50 be LED interface 35, FLASH memory 30, trunk controller 36 and head control 29 are powered, and the output end of 5V voltage-stablizers 48 is the first driver 44th, the second driver 45, the 3rd 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, the 3rd driver 38, the driver 32 of fourth drive 43 and the 5th are all provided with There are motor power input, the motor power input of the first driver 44, the motor power input of the second driver 45, The motor electricity of the motor power input of three drivers 38, the motor power input of fourth drive 43 and the 5th driver 32 Source input is all connected with the output end of 8V voltage-stablizers 49；

The touch-screen 2 is electrically connected with touch screen interface 27 by wire, and rotary head motor 14 electrically connects rotary head by wire Motor interface 42, sound equipment 3 electrically connects acoustic interface 24 by wire, and infrared sensor 22 electrically connects infrared interface by wire 26, microphone 4 electrically connects microphone interface 33 by wire, and LED 6 electrically connects LED interface 35 by wire, and ultrasonic wave is passed Sensor 23 electrically connects ultrasonic interface 28 by wire, and the third line, which walks motor 21C and electrically connects the third line by wire and walk motor, to be connect The 39, second movable motor 21B of mouth electrically connects the second movable motor interface 40, the first movable motor 21A by wire and passes through wire The first movable motor interface 41 is electrically connected, rotary head motor 14 electrically connects rotary head motor interface 42 by wire, and motor 9 of nodding passes through Wire electrically connects motor interface 31 of nodding.

First driver 44, second driver 45, the 3rd driver 38, the and of the fourth drive 43 The model of 5th driver 32 is A4988 type drivers；

The VBB1 pins and VBB2 pins of A4988 type drivers constitute the motor power input.

The model TEA2025B of the audio amplification block 25；The head control 29 and the trunk controller 36 It is ARM9 controllers；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 Interface 35, ultrasonic interface 28, the third line walk motor interface 39, the second movable motor interface 40, the first movable motor interface 41 It is binding post with rotary head motor interface 42；

The model RB-URF02 type ultrasonic sensors of the ultrasonic sensor 23；The type of the infrared sensor 22 Number be RB-02S017A type infrared human body heat releasing electric transducers；

The model CN3702 of the lithium cell charging module 51；The model AMS1117 of the 3.3V voltage-stablizers 50；Institute State the model LM7805 of 5V voltage-stablizers 48；The model LM7808 of the 8V voltage-stablizers 49；

Described the third line walks 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 currents of the external power source interface 46 Power outlet；

The model 4inch HDMI LCD type IPS touch-screens of the touch-screen 2.

During work, when dispatching from 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；

The human body information that infrared sensor 22 is used in front of collection, 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 The control rotary head of driver 32 motor 14 is acted, and rotatable head 1 is carried out 360 degree of rotations, meanwhile, head control 29 is controlled Make motor 9 of nodding to act, make 45 degree above and below the progress of rotatable head 1 of motion, the real-time reception infrared sensing of head control 29 The signal of device 22, if infrared sensor 22 collects the human body information in front, the He of the control rotary head of head control 29 motor 14 The stopping of motor 9 of nodding is acted, 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 believes Number, ultrasonic sensor 23 is used for the distance for measuring human body and the rotatable head 1, and the control of trunk controller 36 first is walked Motor 21A, the second movable motor 21B and the third line are walked motor 21C and acted simultaneously, and trunk controller 36 is by calculating, to first Movable motor 21A, the second movable motor 21B and the third line rotating speed that to walk motor 21C settings different, and combine the first omni-directional wheel 7A, the second omni-directional wheel 7B and the 3rd omni-directional wheel 7C realize that a kind of child intelligently accompanies the Omni-mobile of robot, trunk control Device 36 processed is received after the forward information, controls a kind of child intelligently to accompany machine to advance to human body direction；

When the distance of the rotatable head 1 and human body reaches 0.5 meter, head control 29 is sent out to trunk controller 36 Send Stop message, trunk controller 36 receive controlled after Stop message the first movable motor 21A, the second movable motor 21B and The third line is walked motor 21C stoppings and acted, while the control of trunk controller 36 LED 6 is glittered and sent to head control 29 Stop message；

Head control 29 is received after Stop message, and music VF or story sound are transferred from FLASH memory 30 Frequently, music VF or story audio frequency process and by audio processing modules 34 are played into music into analog signal, and by sound equipment 3 Or story；

Microphone 4 gathers the pronunciation of child in real time, and the pronunciation of child is sent into audio processing modules 34, audio in real time The pronunciation of child is processed into numeric utterance voice data by processing module 34, and numeric utterance voice data is sent into head control The information of voltage and pronunciation Duration Information of the audio collected in device 29 processed, numeric utterance voice data comprising 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 judges children Youngster is in angry state, and head control 29 judges according to the height and the pronunciation Duration Information of the information of voltage Whether child is in angry state, when the pronunciation duration is more than 1 minute and audio size reaches 50 decibels, head Controller 29 judges that child is in angry state, and now, 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 voice 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.

Music VF and story audio classification according to psychology are general category and angry class before dispatching from the factory by the utility model, and Two different sectors by music VF with story audio storage in FLASH memory 30 a, sector stores general category Music VF and story audio, another sector storage general category music VF and story audio, as a kind of child When intelligence company robot judges child vapidly, a kind of child intelligently accompanies the music VF of robot broadcasting general category Or story audio；When a kind of child intelligently accompanies robot to judge that child is angry, the intelligent chaperone machine of a kind of child Device people plays the music VF or story audio of angry class；So as to realize the interaction with child.

The utility model is provided with balancing weight 221, and balancing weight 221 can make a kind of child on omnidirectional chassis 15 Intelligence accompanies robot to be difficult to translate into when walking.

A kind of child described in the utility model intelligently accompanies robot, solves traditional child and accompanies game products can not According to child's state instantly and needs, the problem of actively initiating to invite and carry out targetedly interactive, the utility model can According to the audio of child's sounding, the emotional state of intelligent decision child, and specific is sent to child according to the emotional state of child Invitation, and play correlation audio-frequency information.

Claims (8)

1. a kind of child intelligently accompanies robot, including rotatable head (1) and torso portion (5), the rotatable head (1) Eye, ear and mouth are provided with, rotatable head (1) includes spherical upper shell (8), and torso portion (5) includes lower house (16), it is characterised in that：The ear is the sound equipment (3) on the outside of upper shell (8), and eye is on the outside of upper shell (8) Touch-screen (2), the left side of touch-screen (2) is provided with infrared sensor (22), and the right side of touch-screen (2) is provided with ultrasonic sensor (23), mouth is to set upper mounting plate (10), upper mounting plate in the microphone (4) on the outside of upper shell (8), upper shell (8) (10) provided with motor (9) of nodding, the output shaft of motor of nodding (9) is protruded horizontally up and the output shaft of motor of nodding (9) passes through Connector (20) connection upper shell (8), upper mounting plate (10) is provided with first line plate (19)；

Upper shell (8) is located at the upside of lower house (16), and upper shell (8) bottom is provided with opening (11), and lower house (16) top is set There is top opening (12), the bottom of lower house (16) is provided with omnidirectional chassis (15), LED (6), omnidirectional are provided with before lower house (16) Chassis (15) is provided with the first omni-directional wheel (7A), the second omni-directional wheel (7B), the 3rd omni-directional wheel (7C), the first omni-directional wheel of drive (7A) The first movable motor (21A), drive the second omni-directional wheel (7B) the second movable motor (21B) and drive the 3rd omni-directional wheel (7C) The third line walk motor (21C), the first omni-directional wheel (7A), the second omni-directional wheel (7B), the 3rd omni-directional wheel (7C) are triangular in shape successively Arrangement, omnidirectional chassis (15) are provided with the downside of rotary head motor (14), upper mounting plate (10) and are fixedly connected with a vertical rotating shaft (18), the rotating shaft (18) is driven by rotary head motor (14)；

The lower installation board (13) on the upside of omnidirectional chassis (15) is set in lower house (16), lower installation board (13) is provided with the second line Road plate (17).

2. a kind of child as claimed in claim 1 intelligently accompanies robot, it is characterised in that：The rotating shaft (18) sets vertically Put, rotating shaft (18) is extended downwardly into lower house (16) from opening (11) and top opening (12) successively, rotating shaft (18) and opening (11) Separately, the output shaft of the rotary head motor (14) protrudes upward and docks the bottom of rotating 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 with The internal face of housing (16) is fixedly connected, and the connector (20) is vertical column, and the top of connector (20) is fixed on On the internal face of upper shell (8), bottom 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：It is the motor of nodding (9), described Rotary head motor (14), first movable motor (21A), second movable motor (21B) and described the third line walk 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 shell (8) is stretched into In the top opening (12) of lower house (16).

6. a kind of child as claimed in claim 5 intelligently accompanies robot, it is characterised in that：Lower house (16) correspondence first is complete Hole (81) are stretched out provided with three to wheel (7A), the second omni-directional wheel (7B) and the 3rd omni-directional wheel (7C), the first omni-directional wheel (7A), second Omni-directional wheel (7B) and the 3rd omni-directional wheel (7C) stretch out hole (81) by three respectively and extend downwardly from lower house (16) outside.

7. a kind of child as claimed in claim 6 intelligently accompanies robot, it is characterised in that：On the first line plate (19) Provided with the 5th driver (32), ultrasonic interface (28), motor interface of nodding (31), acoustic 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) connection audio amplification block (25), audio amplification block (25) and Mike Wind interface (33) is all connected with audio amplification block (25), 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), motor of nodding Interface (31) connects the 5th driver (32)；

Second wiring board (17) is provided with LED interface (35), power module (37), the 3rd 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), the connection of the 3rd driver (38) The third line walks motor interface (39), and the second driver (45) connects the second movable motor interface (40), and the first driver (44) is even Connect the first movable motor interface (41), fourth drive (43) connection rotary head motor interface (42), LED interface (35), the 4th Driver (43), the 3rd 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, the 5th driver (32), audio amplification mould Block (25), infrared interface (26), touch screen interface (27), head control (29), FLASH memory (30) and audio frequency process mould Block (34) passes through wire electric connection of power supply module (37)；

LED interface (35), ultrasonic interface (28), the 3rd 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 source interface (46), lithium cell charging module (51), 12V lithium batteries (47), 3.3V voltage-stablizers (50), 8V voltage-stablizers (49) and 5V voltage-stablizers (48), external power source interface (46), 12V lithium batteries (47), 3.3V Voltage-stablizer (50), 8V voltage-stablizers (49) and 5V voltage-stablizers (48) are connected with lithium cell charging module (51), external power source interface (46) outside 12V power supplies are connected, the output end of 3.3V voltage-stablizers (50) is LED interface (35), FLASH memory (30), trunk controller (36) and head control (29) power supply, the output ends of 5V voltage-stablizers (48) is the first driver (44), Second driver (45), the 3rd 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), the 3rd driver (38), fourth drive (43) and the 5th driver (32) motor power input, motor power input, the motor of the second driver (45) of the first driver (44) are equipped with Power input, the motor power input of the 3rd driver (38), the motor power input of fourth drive (43) and The motor power input of five drivers (32) is all connected with the output end of 8V voltage-stablizers (49)；

The touch-screen (2) is electrically connected with touch screen interface (27) by wire, and rotary head motor (14) is electrically connected by wire to be switched through Head motor interface (42), sound equipment (3) electrically connects acoustic interface (24) by wire, and infrared sensor (22) is electrically connected by wire Infrared interface (26), microphone (4) electrically connects microphone interface (33) by wire, and LED (6) electrically connects LED by wire Lamp interface (35), ultrasonic sensor (23) electrically connects ultrasonic interface (28) by wire, and the third line is walked motor (21C) and passed through Wire electrically connect the third line walk motor interface (39), the second movable motor (21B) by wire electrically connect the second movable motor connect Mouth (40), the first movable motor (21A) electrically connect the first movable motor interface (41) by wire, and rotary head motor (14) is by leading Line electrical connection rotary head motor interface (42), motor of nodding (9) electrically connects motor interface (31) of nodding by wire.

8. a kind of child as claimed in claim 7 intelligently accompanies robot, it is characterised in that：First driver (44), Second driver (45), the 3rd driver (38), the fourth drive (43) and the 5th driver (32) Model be A4988 type drivers；

The model TEA2025B of the audio amplification block (25)；The head control (29) and the trunk controller (36) it is ARM9 controllers；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 interface (35), ultrasonic interface (28), the third line walk motor interface (39), the second movable motor interface (40), the first row It is binding post to walk motor interface (41) and rotary head motor interface (42)；

The model RB-URF02 type ultrasonic sensors of the ultrasonic sensor (23)；The type of the infrared sensor (22) Number be RB-02S017A type infrared human body heat releasing electric transducers；

The model CN3702 of the lithium cell charging module (51)；The model AMS1117 of the 3.3V voltage-stablizers (50)；Institute State the model LM7805 of 5V voltage-stablizers (48)；The model LM7808 of the 8V voltage-stablizers (49)；

Described the third line walk 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 source interface (46) 036 type Direct current power source socket；

The model 4inch HDMI LCD type IPS touch-screens of the touch-screen (2).