Bionic machine monkey

Abstract

The invention relates to the technical field of bionic robots, and provides a bionic robot monkey which comprises a simulation body, a sensing detection assembly, a simulation assembly and a control system. The sensing detection assembly is used for collecting feature information of a natural monkey, and the control system is used for obtaining the feature information, sending the feature information to the terminal device, receiving a posture adjustment instruction from the terminal device, controlling the simulation body to adjust the posture to a target posture, and receiving a simulation stimulation instruction from the terminal device. And controlling the simulation component to output the biological simulation information. The bionic machine monkey disclosed by the invention can simulate a natural monkey to the greatest extent, can be hidden in a natural monkey group, can stimulate the natural monkey and observe the stress response of the natural monkey while acquiring the characteristic information of the natural monkey, and can be used as a limb driven recarving device of an experimenter to realize interaction and behavior guidance with the natural monkey; and the information interaction between experimenters and the natural monkeys is well assisted.

Description

Technical Field

[0001] This invention relates to the field of bionic robot technology, and more particularly to a bionic robotic monkey. Background Technology

[0002] With the development of artificial intelligence, intelligent robots have been widely used in people's daily lives. Among them, bionic robots have physical characteristics corresponding to the target animal. Bionic robots can "mingle" into groups of experimental animals in complex environments to imitate, observe, or study the target animal.

[0003] Currently, the most mature bionic robot on the market is the bionic dog, which can achieve relatively realistic biomimicry and even interaction. The development of bionic monkey robots has been slower. As primates related to humans, monkeys have been studied less thoroughly than other animals in terms of movement patterns and habits. In practical applications, existing bionic monkey robots generally suffer from limited functionality and poor flexibility, failing to simulate natural monkeys to the greatest extent possible. This hinders researchers from interacting with natural monkeys and impedes the progress of research on monkey populations. Summary of the Invention

[0004] This invention provides a bionic robotic monkey to at least solve or improve the problem that existing bionic robotic monkeys are not convenient for assisting experimental personnel in exchanging information with natural monkeys.

[0005] This invention provides a bionic robotic monkey, comprising: a simulation body, a sensing and detection component, a simulation component, and a control system;

[0006] The sensing and detection component, the simulation component, and the control system are respectively located on the simulation body; the control system is electrically connected to the simulation body, the sensing and detection component, and the simulation component.

[0007] The sensing and detection component is used to collect feature information of natural monkeys, and the control system is used to acquire the feature information and send the feature information to the terminal device.

[0008] The control system is used to receive attitude adjustment commands from terminal devices, and in response to the attitude adjustment commands, control the simulation body to adjust its attitude to the target attitude corresponding to the attitude adjustment commands.

[0009] The control system is also configured to receive simulated stimulation commands from terminal devices, and in response to the simulated stimulation commands, control the simulation component to output biosimulation information corresponding to the simulated stimulation commands.

[0010] According to the present invention, a bionic robotic monkey is provided, wherein the control system includes a microprocessor, a wireless communication module, and a storage module;

[0011] The microprocessor is electrically connected to the simulation body, the sensing and detection component, the simulation component, the wireless communication module, and the storage module, respectively.

[0012] The wireless communication module is used to electrically connect with the terminal device, which is a wearable sensing module. The wearable sensing module is worn by the experimenter to detect the experimenter's posture information.

[0013] According to the present invention, a bionic robotic monkey is provided, wherein the sensing and detection component includes at least one of a visual sensor, a microphone, and an infrared tracking sensor.

[0014] According to the present invention, a bionic robotic monkey is provided, wherein the simulation component includes a speaker, the storage module stores sound information of a natural monkey, and the microprocessor is used to control the speaker to play the sound information.

[0015] According to the present invention, a bionic robotic monkey is provided, wherein the simulation component includes a gas compression tank, a first proportional valve, and a release port;

[0016] The gas compression tank is connected to the first proportional valve and the release port, and the microprocessor is electrically connected to the first proportional valve to control the opening degree of the first proportional valve.

[0017] The gas compression tank contains bodily fluids from a natural monkey.

[0018] According to the present invention, a bionic robotic monkey is provided, wherein the simulated body includes a simulated skeleton and simulated fur;

[0019] The simulated fur covers the surface of the simulated skeleton, and an electric heating element is provided in the simulated fur; the simulated skeleton includes a head, neck, torso, upper limbs, lower limbs and tail; the head is movably disposed on the neck, and the neck, upper limbs, lower limbs and tail are respectively movably disposed on the torso.

[0020] According to the present invention, a bionic robotic monkey is provided, wherein the head is configured with two sets of bionic eye assemblies, each set of bionic eye assemblies including an eyeball and an eyelid, and is configured with a first driving member and a second driving member;

[0021] The eyeball is rotatably disposed on the face of the head body around a vertical axis, and the eyelid covers the outer side of the eyeball; the first driving member is connected to the eyeball to drive the eyeball to rotate left and right; the second driving member is connected to the eyelid to drive the eyelid to switch between an open state and a closed state.

[0022] The sensing and detection component includes an infrared tracking sensor, which is located on the eyeball.

[0023] According to the present invention, a bionic robotic monkey is provided in the body, wherein a milk tank and a second proportional valve are provided in the body; a simulated breast is provided on the front side of the body, and the milk tank is connected to the nipple of the simulated breast through the second proportional valve;

[0024] The control system is electrically connected to the second proportional valve to control the opening degree of the second proportional valve.

[0025] According to the present invention, a bionic robotic monkey has an upper limb comprising a forearm, a hind arm, and a gripper, and is equipped with a shoulder joint, an elbow joint, and a wrist joint.

[0026] The first end of the hind arm is connected to the shoulder of the body via the shoulder joint, the second end of the hind arm is connected to the first end of the forearm via the elbow joint, and the second end of the forearm is connected to the gripper via the wrist joint.

[0027] The shoulder joint includes a first drive motor and a second drive motor. The first drive motor is located on the shoulder, and the second drive motor is located on the hind arm. The first drive motor is connected to the second drive motor, and the central axis of the first drive motor and the central axis of the second drive motor are perpendicular to each other.

[0028] The elbow joint includes a third drive motor and a fourth drive motor. The third drive motor is located on the rear arm and connected to the fourth drive motor to drive the fourth drive motor to swing. The fourth drive motor is connected to the forearm to drive the forearm to rotate. The central axis of the third drive motor and the central axis of the fourth drive motor are perpendicular to each other.

[0029] According to the present invention, a bionic robotic monkey is provided, wherein the lower limbs include a thigh, a lower leg and a foot, and are equipped with a hip joint, a knee joint and a power wheel;

[0030] The hip joint is located between the hip of the torso and the first end of the thigh, the knee joint is located between the second end of the thigh and the first end of the calf, the foot is located at the second end of the calf, and the power wheel is located at the foot;

[0031] The rear arm is equipped with a driven wheel, and the drive wheel and the driven wheel cooperate to enable the bionic robotic monkey to move in a crawling position.

[0032] According to the present invention, a bionic robotic monkey has a neck that includes a first neck support, a second neck support, a first servo motor, and a second servo motor. The first neck support is located at the top of the body, the first servo motor is located on the first neck support and connected to the second neck support to drive the second neck support to swing left and right around a vertical axis. The second servo motor is located on the second neck support and connected to the lower end of the head to drive the head to pitch around a horizontal axis.

[0033] According to the present invention, a bionic robotic monkey is provided, wherein the tail includes a first motor, a second motor and a tail. The first motor is disposed on the body and connected to the second motor to drive the second motor to swing up and down around a horizontal axis. The second motor is connected to the base of the tail to drive the tail to rotate.

[0034] The bionic robotic monkey provided by this invention can simulate natural monkeys to the greatest extent. It can infiltrate natural monkey groups without interfering with their normal activities. While acquiring characteristic information of natural monkeys, it can also stimulate natural monkeys and observe their stress response. As a limb follower replication device for experimental personnel, it can interact with and guide the behavior of natural monkeys, and effectively assist experimental personnel in information interaction with natural monkeys. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 This is one of the structural schematic diagrams of the bionic robotic monkey provided by the present invention;

[0037] Figure 2 This is a block diagram of the control structure of the bionic robotic monkey provided by the present invention;

[0038] Figure 3 This is the second structural schematic diagram of the bionic robotic monkey provided by the present invention;

[0039] Figure 4 This is the third structural schematic diagram of the bionic robotic monkey provided by the present invention;

[0040] Figure 5 This is one of the structural schematic diagrams of the head and neck assembly provided by the present invention;

[0041] Figure 6 This is the second schematic diagram of the structure of the head and neck in conjunction with the present invention;

[0042] Figure 7 This is a schematic diagram of the upper limb structure provided by the present invention;

[0043] Figure 8 This is a schematic diagram of the lower limb structure provided by the present invention;

[0044] Figure 9 This is a schematic diagram of the tail section provided by the present invention;

[0045] Figure label:

[0046] 1. Simulation body; 2. Sensing and detection components; 3. Simulation components; 4. Control system; 5. Battery components; 6. Terminal equipment;

[0047] 11. Head body; 111. Head shell; 112. Bionic eye assembly; 1121. Eyeball; 1122. Eyelid; 1123. First drive component; 1124. Second drive component;

[0048] 12. Neck; 121. First neck support; 122. Second neck support; 123. First servo; 124. Second servo;

[0049] 13. Body; 131. Receiving cavity; 1301. Milk tank; 1302. Second proportional valve; 1303. Simulated breast;

[0050] 14. Upper limb; 141. Forearm; 142. Hind arm; 143. Gripper; 144. Driven wheel; 1401. Shoulder joint; 1402. Elbow joint; 1403. Wrist joint;

[0051] 15. Lower limbs; 151. Thigh; 152. Lower leg; 153. Foot; 154. Drive wheel; 1501. Hip joint; 1502. Knee joint;

[0052] 16. Tail; 161. First motor; 162. Second motor; 163. Tail;

[0053] 21. Vision sensor; 22. Microphone; 23. Infrared tracking sensor; 41. Microprocessor; 42. Wireless communication module; 43. Storage module. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0055] The following is combined Figures 1-9 The bionic robotic monkey provided in this invention will be described in detail through specific embodiments and application scenarios.

[0056] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a bionic robotic monkey, including: a simulation body 1, a sensing and detection component 2, a simulation component 3, and a control system 4.

[0057] The sensing and detection component 2, the simulation component 3, and the control system 4 are respectively located on the simulation body 1; the control system 4 is electrically connected to the simulation body 1, the sensing and detection component 2, and the simulation component 3 respectively.

[0058] The sensing and detection component 2 is used to collect the characteristic information of natural monkeys, and the control system 4 is used to acquire the characteristic information and send the characteristic information to the terminal device 6.

[0059] The control system 4 is used to receive attitude adjustment commands from the terminal device 6 and, in response to the attitude adjustment commands, control the simulation body 1 to adjust its attitude to the target attitude corresponding to the attitude adjustment commands.

[0060] The control system 4 is also used to receive simulated stimulation commands from the terminal device 6, and in response to the simulated stimulation commands, control the simulation component 3 to output biosimulation information corresponding to the simulated stimulation commands.

[0061] Understandably, the simulated body 1 has morphological features similar to those of a natural monkey. For example, the simulated body 1 is designed based on an adult macaque and prepared at a 1:1 scale. At the same time, the simulated body 1 has a high degree of freedom and can perform various actions corresponding to those of a natural monkey, such as lying down, climbing, and bowing its head.

[0062] The sensing and detection component 2 includes at least one of a visual sensor 21, a microphone 22, and an infrared tracking sensor 23, which can record characteristic information such as the movement trajectory, frequency of occurrence, movement speed, facial expression, and sound of natural monkeys during the experiment.

[0063] Optionally, when the sensing and detection component 2 is a vision sensor 21, the vision sensor 21 can be a camera known in the art. The vision sensor 21 can be mounted on the head 11 or torso 13 of the simulation body 1, and can be arranged in multiple directions and angles. The vision sensor 21 acquires images or videos with a resolution of not less than 720P, a focal length range of 0.6-6m, a frame rate of not less than 30fps, and can store at least 15 days of data.

[0064] Optionally, when the sensing component 2 is a microphone 22, the microphone 22 can be mounted on the head 11 or torso 13 of the simulation body 1, and can collect sound signals from multiple directions. The microphone 22 has a measurement range of 35 to 110 dB, a resolution of 0.1 dB, a frequency range of 20 Hz to 12.5 kHz, and can store at least 15 days of data.

[0065] In practical applications, terminal device 6 can be a wearable sensing module. The wearable sensing module is worn by the experimenter to detect the experimenter's posture information. For example, the experimenter can wear the wearable sensing module and perform various limb movements such as lying down and climbing in a position away from the natural monkey. The wearable sensing module sends posture adjustment instructions to the control system 4 based on the experimenter's limb movements. The control system 4 adaptively adjusts the posture of the simulation body 1 until the posture of the simulation body 1 changes to the target posture required by the experimenter, thereby enabling the bionic monkey to complete a variety of complex actions and simulate the behavioral characteristics of the natural monkey as much as possible.

[0066] At the same time, the terminal device 6 can also send simulated stimulus commands to the control system 4. After receiving the simulated stimulus commands, the control system 4 controls the simulation component 3 to start working, so as to apply biological simulated information such as sound, smell / airflow to the natural monkey at close range, so as to accurately study the natural monkey's response to these stimuli.

[0067] As can be seen from the above, the bionic robotic monkey of the present invention can simulate natural monkeys to the greatest extent. It can infiltrate natural monkey groups without interfering with the normal activities of natural monkeys. While acquiring the characteristic information of natural monkeys, it can also stimulate natural monkeys and observe their stress response, thus better assisting the experimenters in exchanging information with natural monkeys.

[0068] In some embodiments, such as Figure 2 As shown, the control system 4 includes a microprocessor 41, a wireless communication module 42, and a storage module 43. The microprocessor 41 is electrically connected to the simulation body 1, the sensing and detection component 2, the simulation component 3, the wireless communication module 42, and the storage module 43. The wireless communication module 42 is used for electrical connection with the terminal device 6.

[0069] Understandably, the microprocessor 41 can be a Raspberry Pi processor, the wireless communication module 42 can be a WiFi module, 4G module or 5G module known in the art, and the storage module 43 is used to store the feature information collected by the sensing and detection component 2.

[0070] In some embodiments, such as Figure 2 As shown, the simulation component 3 includes a speaker, a storage module 43 that stores the sound information of a natural monkey, and a microprocessor 41 that controls the speaker to play the sound information.

[0071] Understandably, storage module 43 is used to store sound information such as calls or snoring from the natural life of monkeys. The volume of the sound information is adjustable within the range of 20-100 decibels.

[0072] In practical applications, experimenters can input simulated stimulus commands to the terminal device 6 from a remote control distance of more than 40m. The microprocessor 41 responds to the simulated stimulus commands and controls the speaker to play the sound information pre-stored in the storage module 43.

[0073] In some embodiments, such as Figure 2 As shown, the simulation component 3 includes a gas compression tank, a first proportional valve, and a release port; the gas compression tank is connected to the first proportional valve and the release port, and the microprocessor 41 is electrically connected to the first proportional valve to control the opening degree of the first proportional valve; wherein, the gas compression tank stores the body fluid of a natural monkey.

[0074] Understandably, the first proportional valve can be an electromagnetic proportional valve, and the release port can be located at the opening of the head body 11. The release port can consist of multiple air outlets.

[0075] In practical applications, the body fluids of natural monkeys are collected in advance, and the body fluids are compressed into a gas compression tank using a gas compression device for storage. At this time, the gas compression tank is pressurized and has the ability to release gas. When the microprocessor 41 receives the attitude adjustment command from the terminal device 6, the microprocessor 41 sends an electrical control signal to the first proportional valve to control the opening of the first proportional valve and release odor / airflow through the release port.

[0076] The speed of the airflow ejected through the release port is adjustable within the range of 1-10 L / s.

[0077] In some embodiments, the simulation body 1 includes a simulation skeleton and a simulation fur; the simulation fur covers the surface of the simulation skeleton, and an electric heating element is provided in the simulation fur.

[0078] Understandably, the simulated skeleton has physical characteristics similar to those of a natural monkey. The simulated skeleton can be prepared by CNC machining / 3D printing of aluminum alloy, or by combining nylon printing with self-made hydrogel.

[0079] The simulated fur is equipped with heating elements such as heating resistance wires and heating plates. The heating power of the heating elements can be adjusted under the control of the microprocessor 41 to maintain the temperature of the simulated fur at around 38°C, for example, 36-40°C.

[0080] The simulated fur uses hydrogel encapsulation to ensure normal operation while simulating skeletal movements. The simulated fur also has a scent similar to that of a natural monkey, and tactile sensors can be installed on the surface of the simulated fur to sense the pressure information of external objects that the simulated fur comes into contact with in real time.

[0081] Meanwhile, the bionic robotic monkey in this embodiment is made with waterproof materials and processes, and can work normally in environments with humidity greater than 60%. It is also resistant to water droplets and splashes, and has good dust and water resistance.

[0082] Furthermore, such as Figure 1 , Figure 3 and Figure 4 As shown, in order to further ensure the simulation effect of the bionic robotic monkey, the simulation skeleton includes a head 11, a neck 12, a torso 13, upper limbs 14, lower limbs 15 and a tail 16; the head 11 is movably located on the neck 12, and the neck 12, upper limbs 14, lower limbs 15 and tail 16 are respectively movably located on the torso 13.

[0083] There are two upper limbs 14, which are located on the left and right sides of the torso 13 at the shoulder; there are two lower limbs 15, which are located on the left and right sides of the torso 13 at the hip.

[0084] In some embodiments, such as Figure 5 and Figure 6 As shown, the head body 11 is equipped with two sets of bionic eye components 112. Each set of bionic eye components 112 includes an eyeball 1121 and an eyelid 1122, and is equipped with a first drive member 1123 and a second drive member 1124. The eyeball 1121 is rotatably disposed on the face of the head body 11 around a vertical axis, and the eyelid 1122 covers the outer side of the eyeball 1121. The first drive member 1123 is connected to the eyeball 1121 to drive the eyeball 1121 to rotate left and right. The second drive member 1124 is connected to the eyelid 1122 to drive the eyelid 1122 to switch between an open state and a closed state.

[0085] The sensing and detection component 2 includes an infrared tracking sensor 23, which is located on the eyeball 1121.

[0086] Specifically, the face of the head body 11 is provided with eye sockets, and the eyeballs 1121 are rotatably disposed in the eye sockets around a vertical axis; for example, a vertical axis is provided in the eye socket, and the eyeballs 1121 are rotatably disposed on the vertical axis. The first driving member 1123 can be a servo motor and is equipped with a connecting rod. The output end of the first driving member 1123 is rotatably connected to one end of the connecting rod, and the other end of the first connecting rod is rotatably connected to the eyeballs 1121, so that the first driving member 1123 can drive the eyeballs 1121 to rotate left and right relative to the vertical axis through the connecting rod. The maximum rotation speed of the eyeballs 1121 is >300° / s, and the rotation frequency is >100,000 times / day.

[0087] Since the infrared tracking sensor 23 is located on the eyeball 1121, the eyeball 1121 can drive the infrared tracking sensor 23 to rotate. Thus, when a single natural monkey moves, based on the algorithm built into the microprocessor 41 and in combination with the infrared tracking sensor 23, the movement of the natural monkey can be tracked by eye movement.

[0088] Meanwhile, the eyelid 1122 includes an upper eyelid and a lower eyelid, which are rotatably disposed on the front side of the eye socket around a horizontal axis. The second drive unit 1124 can be a servo motor and is equipped with a first linkage, a second linkage and a third linkage. The output end of the second drive unit 1124 is connected to the first end of the first linkage. The second end of the first linkage is connected to the first end of the second linkage and the first end of the third linkage, respectively. The second end of the second linkage is connected to the upper eyelid, and the second end of the third linkage is connected to the lower eyelid.

[0089] Thus, by controlling the second drive member 1124 to rotate in the first direction, the upper eyelid and the lower eyelid can be controlled to move away from each other, so that the eyelid 1122 is in an open state; by controlling the second drive member 1124 to rotate in the second direction, the upper eyelid and the lower eyelid can be controlled to move closer to each other, so that the eyelid 1122 is in a closed state.

[0090] In some embodiments, such as Figure 4 As shown, the body 13 is equipped with a milk tank 1301 and a second proportional valve 1302; the front side of the body 13 is equipped with a simulated breast 1303, and the milk tank 1301 is connected to the nipple of the simulated breast 1303 through the second proportional valve 1302; wherein, the control system 4 is electrically connected to the second proportional valve 1302 to control the opening degree of the second proportional valve 1302.

[0091] Understandably, the milk tank 1301 stores monkey milk, cow's milk, and other dairy products at a preset pressure. The microprocessor 41 in the control system 4 sends control commands to the second proportional valve 1302 to adjust its opening. When the second proportional valve 1302 opens to a certain degree, the dairy products stored in the milk tank 1301 can automatically flow out from the nipple along the corresponding pipeline.

[0092] Optionally, the simulated breast 1303 can be made of soft materials such as latex, and the temperature of the simulated breast 1303 is maintained at around 38°C to achieve a realistic simulation of the mammary structure of a monkey mother. Multiple openings for milk output can be configured on the nipple.

[0093] In practical applications, researchers can send posture adjustment commands to the control system 4 through the terminal device 6. For example, the posture adjustment command is a nursing command. The microprocessor 41 in the control system 4 responds to the nursing command and controls the simulation body 1 to adjust its posture to a nursing posture, thereby simulating the body posture and stroking behavior of a real mother monkey when nursing.

[0094] Of course, the experimenters can also send simulated stimulus commands to the control system 4 through the terminal device 6. For example, the simulated stimulus command is a sound command. The microprocessor 41 in the control system 4 responds to the sound command and controls the speaker to emit a pre-stored monkey call during the nursing process to soothe the monkey.

[0095] In some embodiments, such as Figure 1 and Figure 7 As shown, the upper limb 14 includes: a forearm 141, a hind arm 142 and a gripper 143, and is equipped with a shoulder joint 1401, an elbow joint 1402 and a wrist joint 1403.

[0096] The first end of the hind arm 142 is connected to the shoulder of the body 13 via the shoulder joint 1401. The second end of the hind arm 142 is connected to the first end of the forearm 141 via the elbow joint 1402. The second end of the forearm 141 is connected to the gripper 143 via the wrist joint 1403.

[0097] The shoulder joint 1401 includes a first drive motor and a second drive motor. The first drive motor is located at the shoulder, and the second drive motor is located at the rear arm 142. The first drive motor and the second drive motor are connected, and the central axes of the first drive motor and the second drive motor are perpendicular to each other. The central axis of the first drive motor is horizontal.

[0098] The elbow joint 1402 includes a third drive motor and a fourth drive motor. The third drive motor is located on the rear arm 142 and connected to the fourth drive motor to drive the fourth drive motor to swing. The fourth drive motor is connected to the forearm 141 to drive the forearm 141 to rotate. The central axis of the third drive motor and the central axis of the fourth drive motor are perpendicular to each other.

[0099] Understandably, the upper limb 14 has 6 degrees of freedom: 2 for the shoulder joint, 2 for the elbow joint, 1 for the wrist joint, and 1 for the gripper.

[0100] Shoulder joint 1401, elbow joint 1402, and wrist joint 1403 are all active joints. The microprocessor 41 in the control system 4 is electrically connected to shoulder joint 1401, elbow joint 1402, and wrist joint 1403, respectively. Among them, the first drive motor, second drive motor, third drive motor, and fourth drive motor can all be servo motors.

[0101] The gripper 143 can be an electric gripper, comprising a servo motor, a first gripper body, and a second gripper body. The servo motor is located at the second end of the forearm 141, and its output end is connected to both the first and second gripper bodies to drive them to switch between a separated state and a gripping state. The first and second gripper bodies utilize rubber-based, fish-fin-like structures to effectively protect the gripped object when in the gripping state.

[0102] In some embodiments, such as Figure 8 As shown, the lower limb 15 includes a thigh 151, a lower leg 152 and a foot 153, and is equipped with a hip joint 1501, a knee joint 1502 and a drive wheel 154.

[0103] The hip joint 1501 is located between the hip of the body 13 and the first end of the thigh 151, the knee joint 1502 is located between the second end of the thigh 151 and the first end of the lower leg 152, the foot 153 is located at the second end of the lower leg 152, the power wheel 154 is located at the foot 153, and a DC drive motor is disposed in the power wheel 154.

[0104] The rear arm 142 is equipped with a driven wheel 144, and the drive wheel 154 and the driven wheel 144 cooperate to enable the bionic robotic monkey to move in a crawling position.

[0105] Understandably, the lower limb 15 has 3 degrees of freedom: 1 for the hip joint, 1 for the knee joint, and 1 for the drive wheel.

[0106] The lower side of the body 13 is provided with two lower limbs 15. The hip joint 1501 and knee joint 1502 of each lower limb 15 are active joints. The microprocessor 41 in the control system 4 is electrically connected to the hip joint 1501 and knee joint 1502 respectively. The drive parts corresponding to the hip joint 1501 and knee joint 1502 can be servo motors.

[0107] In practical applications, the bionic robotic monkey stands up using its two lower limbs 15, and can walk upright using the cooperation of its hip joint 1501 and knee joint 1502.

[0108] In another application scenario, the upper limbs 14 of the bionic robotic monkey land on the ground, forming a four-limbed posture. At this time, the drive wheel 154 and the driven wheel 144 simultaneously contact the ground. The drive wheel 154 rotates under the control of the terminal device 6, which enables the bionic robotic monkey to move forward and backward, turn left and right in a crawling state. It can be remotely moved on flat ground or slightly undulating ground, with a maximum movement speed of >5Km / h.

[0109] In some embodiments, such as Figure 5 and Figure 6 As shown, the neck 12 includes a first neck support 121, a second neck support 122, a first servo motor 123, and a second servo motor 124. The first neck support 121 is located at the top of the body 13. The first servo motor 123 is located on the first neck support 121 and connected to the second neck support 122 to drive the second neck support 122 to swing left and right around the vertical axis. The second servo motor 124 is located on the second neck support 122 and connected to the lower end of the head body 11 to drive the head body 11 to pitch around the horizontal axis.

[0110] Understandably, the neck 12 has two degrees of freedom, and under the drive of the first servo 123 and the second servo 124, the head 11 can perform pitching and swaying movements.

[0111] In some embodiments, such as Figure 9 As shown, the tail 16 includes a first motor 161, a second motor 162 and a tail 163. The first motor 161 is located on the body 13 and connected to the second motor 162 to drive the second motor 162 to swing up and down around the horizontal axis. The second motor 162 is connected to the root of the tail 163 to drive the tail 163 to rotate.

[0112] Understandably, the tail 16 has two degrees of freedom. Driven by the first motor 161 and the second motor 162, the tail 163 can swing up and down and rotate. The first motor 161 can be a servo motor, and the second motor 162 can be a servo motor.

[0113] In some embodiments, such as Figure 2 As shown, the bionic robotic monkey is also equipped with a battery assembly 5, which provides power to the various functional modules in the bionic robotic monkey. The battery assembly 5 uses a lithium battery and can provide at least 4 hours of battery life after being fully charged.

[0114] The battery assembly 5 can be located in the cavity 131 of the body 13, or in the thigh 151 or the calf 152.

[0115] In summary, in complex environments, the bionic robotic monkey can "infiltrate" experimental animal groups with its highly realistic appearance, enabling "undercover" behavior. Researchers can remotely control the bionic robotic monkey to provide close-range stimulation such as sound, smell / airflow, and control its limb movements, allowing for precise study of natural monkeys' responses to these stimuli. Furthermore, the researchers can record the natural monkeys' movement trajectories, frequency of appearance, speed, facial expressions, and vocalizations during the experiment. The natural monkeys, the bionic robotic monkey, and the researchers constitute a closed-loop experimental system, which can assist in conducting experiments such as interactive behavior experiments, learning and memory experiments, operational learning experiments, and group care interaction experiments. In addition, this closed-loop experimental system can be used to simulate experiments such as a mother monkey nursing her baby, where humans can remotely control the bionic monkey to stroke natural monkey cubs, mimicking posture changes and vocalizations.

[0116] Thus, through high simulation and high degree of freedom design, this invention can simulate natural monkeys to the greatest extent, guiding and assisting natural monkey behavioral and psychological experiments, and promoting the development of research on non-human primate social behavior, brain disease models, and sensorimotor functions.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A biomimetic robotic monkey, characterized in that, include: Simulation body, sensing and detection components, simulation components, and control system; The sensing and detection component, the simulation component, and the control system are respectively located on the simulation body; the control system is electrically connected to the simulation body, the sensing and detection component, and the simulation component. The sensing and detection component is used to collect feature information of natural monkeys, and the control system is used to acquire the feature information and send the feature information to the terminal device. The control system is used to receive attitude adjustment commands from terminal devices, and in response to the attitude adjustment commands, control the simulation body to adjust its attitude to the target attitude corresponding to the attitude adjustment commands. The control system is also configured to receive simulated stimulation commands from terminal devices, and in response to the simulated stimulation commands, control the simulation component to output biosimulation information corresponding to the simulated stimulation commands.

2. The bionic robotic monkey according to claim 1, characterized in that, The control system includes a microprocessor, a wireless communication module, and a storage module; The microprocessor is electrically connected to the simulation body, the sensing and detection component, the simulation component, the wireless communication module, and the storage module, respectively. The wireless communication module is used to electrically connect with the terminal device, which is a wearable sensing module. The wearable sensing module is worn by the experimenter to detect the experimenter's posture information.

3. The bionic robotic monkey according to claim 2, characterized in that, The sensing and detection components include at least one of a visual sensor, a microphone, and an infrared tracking sensor.

4. The bionic robotic monkey according to claim 2, characterized in that, The simulation component includes a speaker, the storage module stores sound information of a natural monkey, and the microprocessor is used to control the speaker to play the sound information.

5. The bionic robotic monkey according to claim 2, characterized in that, The simulation component includes a gas compression tank, a first proportional valve, and a release port; The gas compression tank is connected to the first proportional valve and the release port, and the microprocessor is electrically connected to the first proportional valve to control the opening degree of the first proportional valve. The gas compression tank contains bodily fluids from a natural monkey.

6. The bionic robotic monkey according to any one of claims 1 to 5, characterized in that, The simulation body includes a simulation skeleton and simulation fur; The simulated fur covers the surface of the simulated skeleton, and an electric heating element is provided in the simulated fur; the simulated skeleton includes a head, neck, torso, upper limbs, lower limbs and tail; the head is movably disposed on the neck, and the neck, upper limbs, lower limbs and tail are respectively movably disposed on the torso.

7. The bionic robotic monkey according to claim 6, characterized in that, The head body is equipped with two sets of bionic eye components. Each set of bionic eye components includes an eyeball and an eyelid, and is equipped with a first driving component and a second driving component. The eyeball is rotatably disposed on the face of the head body around a vertical axis, and the eyelid covers the outer side of the eyeball; the first driving member is connected to the eyeball to drive the eyeball to rotate left and right; the second driving member is connected to the eyelid to drive the eyelid to switch between an open state and a closed state. The sensing and detection component includes an infrared tracking sensor, which is located on the eyeball.

8. The bionic robotic monkey according to claim 6, characterized in that, The body is equipped with a milk tank and a second proportional valve; the front side of the body is equipped with a simulated breast, and the milk tank is connected to the nipple of the simulated breast through the second proportional valve; The control system is electrically connected to the second proportional valve to control the opening degree of the second proportional valve.

9. The bionic robotic monkey according to claim 6, characterized in that, The upper limb includes: forearm, hind arm and gripper, and is equipped with shoulder joint, elbow joint and wrist joint; The first end of the hind arm is connected to the shoulder of the body via the shoulder joint, the second end of the hind arm is connected to the first end of the forearm via the elbow joint, and the second end of the forearm is connected to the gripper via the wrist joint. The shoulder joint includes a first drive motor and a second drive motor. The first drive motor is located on the shoulder, and the second drive motor is located on the hind arm. The first drive motor is connected to the second drive motor, and the central axis of the first drive motor and the central axis of the second drive motor are perpendicular to each other. The elbow joint includes a third drive motor and a fourth drive motor. The third drive motor is located on the rear arm and connected to the fourth drive motor to drive the fourth drive motor to swing. The fourth drive motor is connected to the forearm to drive the forearm to rotate. The central axis of the third drive motor and the central axis of the fourth drive motor are perpendicular to each other.

10. The bionic robotic monkey according to claim 9, characterized in that, The lower limbs include the thigh, calf, and foot, and are equipped with hip joints, knee joints, and drive wheels; The hip joint is located between the hip of the torso and the first end of the thigh, the knee joint is located between the second end of the thigh and the first end of the calf, the foot is located at the second end of the calf, and the power wheel is located at the foot; The rear arm is equipped with a driven wheel, and the drive wheel and the driven wheel cooperate to enable the bionic robotic monkey to move in a crawling position.

11. The bionic robotic monkey according to claim 6, characterized in that, The neck includes a first neck support, a second neck support, a first servo motor, and a second servo motor; the first neck support is located at the top of the body, the first servo motor is located on the first neck support and connected to the second neck support to drive the second neck support to swing left and right around a vertical axis; the second servo motor is located on the second neck support and connected to the lower end of the head body to drive the head body to pitch around a horizontal axis.

12. The bionic robotic monkey according to claim 6, characterized in that, The tail section includes a first motor, a second motor, and a tail. The first motor is located on the body and connected to the second motor to drive the second motor to swing up and down around a horizontal axis. The second motor is connected to the base of the tail to drive the tail to rotate.

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