An interactive soothing robot

Abstract

The present invention discloses an interactive soothing robot, comprising a carrier, a controller disposed in the carrier, and an acquisition module and an execution module electrically connected to the controller. The acquisition module comprises a camera, an infrared sensor, a posture sensor, a gesture and ambient light sensor, a microphone, a pulse sensor and a touch sensor; the execution module comprises a speaker, a lighting effect light source, a vibration motor and a chest movement mechanism. The present invention is based on the most basic rhythmic movements of breathing and heartbeat, and is equipped with a lighting effect light source, a chest movement mechanism and a vibration motor that are linked to the sounds of breathing and heartbeat, so as to guide users to complete mindfulness exercises, thereby helping users to relieve and release stress and soothe their mood.

Description

Technical Field

[0001] The invention relates to a robot, in particular to a toy with interactive soothing function. Background Art

[0002] With the rapid advancement of society, stress from study, work, and family has become widespread. How to alleviate and release stress has become a major concern for society. Jon Kabat-Zinn believes that mindfulness is a form of awareness that emerges through purposefully focusing attention on the present moment, nonjudgmentally observing each moment's experience. There are many types of mindfulness exercises, including meditation, body scans, and rhythmic movements. Psychological research shows that immersing oneself in mindful exercises can calm people, relax them, and bring them a sense of spiritual pleasure and fulfillment. Among these, rhythmic movements of breathing and heartbeat, as the most basic, are less restricted by environmental constraints and are therefore the easiest to implement.

[0003] The patent document with publication number CN111590600A and titled "A pillow robot system based on multimodal data emotional interaction" discloses a pillow robot with interactive soothing function, whose perception module includes a camera, a microphone, a temperature sensor, a heart rate sensor, a breathing rate sensor, a force sensor and a patting frequency sensor; the sensor data information includes facial image information, user's voice information, user's facial temperature information, user's heart rate information, user's abdominal rise and fall frequency when breathing, user's hugging force information of hugging the pillow body, user's patting frequency information of patting the back of the pillow body, etc. In reality, people will definitely have some secrets in their hearts that they don't want to share with others. Obviously, this pillow robot is suitable for interactive perception and soothing between the first user and the second user, but is not suitable for self-comfort. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides an interactive soothing robot capable of achieving self-soothing.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] An interactive soothing robot includes a carrier, a controller disposed within the carrier, and an acquisition module and an execution module electrically connected to the controller. The acquisition module includes a camera, an infrared sensor, a posture sensor, a gesture and ambient light sensor, a microphone, a pulse sensor, and a touch sensor. The execution module includes a speaker, a lighting effect light source, a vibration motor, and a chest movement mechanism.

[0007] The working mode of the interactive soothing robot is as follows:

[0008] Mode a: When the camera, infrared sensor or microphone does not collect human signals, the speaker, lighting source, vibration motor and chest movement mechanism remain in silent standby mode.

[0009] Mode b: When the camera, infrared sensor or microphone does not collect human signals, the speaker emits a pre-stored normal breathing sound, and the chest movement mechanism coordinates with the breathing sound to imitate the ups and downs of the chest during human breathing. At the same time, the lighting effect light source changes in coordination with the breathing sound, presenting the breathing process through changes in the brightness or color of the light effect.

[0010] When the gesture sensor detects that the carrier is picked up, it enters mode C or mode D.

[0011] Mode c: The chest movement mechanism stops, and the breathing sound is switched to a pre-stored normal heartbeat sound. At the same time, the vibration motor moves synchronously with the heartbeat sound, and the lighting effect light source also lights up and turns off synchronously with the heartbeat sound.

[0012] In mode C, when the touch sensor detects a continuous human touch signal, the heartbeat frequency gradually slows down, the heartbeat sound gradually decreases, the intensity of the vibration motor gradually decreases, and the change in the lighting effect light source gradually decreases.

[0013] In mode c, when the pulse sensor detects a human pulse signal, the heartbeat frequency output by the carrier is the same as the human pulse frequency detected by the pulse sensor.

[0014] Mode d: The chest movement mechanism stops, and the breathing sound switches to a pre-stored rapid heartbeat sound. When the touch sensor detects a continuous human touch signal, the heartbeat frequency gradually slows down, the heartbeat sound gradually decreases, the intensity of the vibration motor gradually decreases, and the change in the light source gradually decreases.

[0015] The present invention also includes an electric bracket, which includes a base and an electric support rod with a lower end fixed to the base. A loading platform is installed at the upper end of the electric support rod, and the loading platform is provided with a first charging and data exchange port. The bottom of the carrier is provided with a second charging and data exchange port that matches the first charging and data exchange port.

[0016] Furthermore, the controller is also connected to a wireless communication module.

[0017] As a further improvement of the present invention, the chest movement mechanism includes a left movement plate, a right movement plate and a motor, the left movement plate is provided with a first hole position located on the left side and a connecting shaft located on the right side, and the left movement plate is provided with a strip-shaped inclined hole; the right movement plate is provided with a third hole position located on the left side and a second hole position located on the right side; a first convex shaft and a second convex shaft are provided in the carrier, the first hole position is installed on the first convex shaft, the second hole position is installed on the second convex shaft, the connecting shaft is inserted into the third hole position, the motor is fixed in the carrier, an output code disk is installed on the output shaft of the motor, and a code disk lever is provided on the output code disk which extends into the strip-shaped inclined hole. When the output code disk rotates, the code disk lever slides in the strip-shaped inclined hole to drive the left movement plate and the right movement plate to move in opposite directions synchronously.

[0018] Furthermore, the carrier is also provided with function keys electrically connected to the controller.

[0019] The beneficial effects of the present invention are: the present invention is based on the most basic rhythmic movements of breathing and heartbeat, and is equipped with a lighting source, chest movement mechanism and vibration motor linked to the sounds of breathing and heartbeat, to guide users to complete mindfulness exercises, which helps users relieve and release stress and soothe their mood. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings and examples.

[0021] Figure 1 Schematic diagram of the carrier structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of the thoracic movement mechanism.

[0023] Figure 3 It is a structural diagram of the carrier and electric bracket combination. DETAILED DESCRIPTION

[0024] Reference Figures 1 to 3 An interactive soothing robot, comprising a carrier 1, can be shaped in various forms, such as an owl, a bunny, a panda, or a humanoid. The main body of the carrier 1 is a plastic support frame, covered with owl, bunny, or panda fur to make the shape appear more realistic and adorable. This embodiment uses an owl as an example, comprising a body and a head with ears. Both the head and body are composed of an injection-molded front and rear shells, each made of a relatively elastic plastic material.

[0025] A controller 2 is provided in the carrier, and the controller mainly includes an MCU, a clock circuit, a reset circuit, a FLASH memory, an audio encoding and decoding circuit, and various driving circuits. The circuit part of the controller and the control method principle of this embodiment belong to the prior art and are not described in detail in this invention.

[0026] The carrier 1 is also provided with an acquisition module and an execution module electrically connected to the controller 2. The acquisition module includes a camera 3, an infrared sensor 4, a posture sensor 11, a gesture and ambient light sensor 20, a microphone 5, a pulse sensor 6, and a touch sensor 7. The execution module includes a speaker 8, a lighting effect light source 9, a vibration motor 10, and a chest movement mechanism 12.

[0027] Camera 3, a miniature high-definition camera, is mounted on the front of the head and is used to capture facial images. Infrared sensor 4, mounted on the front of the head, collects infrared signals from the human body to determine if someone is approaching. Microphone 5, mounted on the front of the body, collects user voice information. The controller can also perform voice recognition on the voice information and control the operating state of the toy or electric stand based on the voice information. Speaker 8, mounted near the front of the middle of the body, is used to output interactive voice and simulate breathing and heartbeat sounds. This speaker can be a vibrating speaker that emits a heartbeat sound accompanied by a vibration effect, or a non-vibrating speaker, using a vibration motor to achieve the heartbeat vibration effect. Lighting source 9, mounted near the front of the middle of the body, is an RGB LED light source used to create an atmosphere through changing lighting effects. Vibration motor 10, mounted near the front of the lower body of the carrier, is a miniature vibration motor commonly used in mobile phones and other devices, used to simulate the vibrations of a heartbeat. Pulse sensor 6, mounted on the ear 18 of the carrier's head, collects human pulse information. Touch sensor 7, mounted on the back of the body, is a touch electrode, etc., used to receive touch signals from a human hand. The chest movement mechanism 12 is mounted on the chest of the body to simulate the rising and falling movement of the chest during breathing. The posture sensor 11 is mounted in the middle or upper part of the body. This posture sensor is a gyroscope and is used to detect the posture of the carrier. The present invention uses a rechargeable internal battery 19 to power the above electronic components.

[0028] The gesture and ambient light sensor 20 is mounted on the front of the head and is used to collect gestures and ambient light. Based on the collected ambient light, the intensity of the lighting effect light source can be controlled. For example, during bright daylight hours, the intensity of the lighting effect light source is higher, while at night, when light levels are lower, the intensity is reduced to prevent glare. User gestures are collected to enable gesture control, such as switching the operating mode of the carrier or controlling the position of the motorized stand.

[0029] The present invention also includes an electric support, which includes a base 14 and an electric support rod with its lower end fixed to the base 14, and a loading platform 15 is installed on the upper end of the electric support rod. The support rod has a three-section structure. The upper end of the lower support rod 17 is connected to the lower end of the middle support rod 13 by an electric joint 16. The upper end of the middle support rod 13 is also connected to the lower end of the upper support rod 35 by an electric joint 16. The lower end of the lower support rod 17 is fixedly connected to the base 14, and the upper end of the upper support rod 35 is also connected to the loading platform by an electric joint. The electric joint can keep the loading platform 15 always level during the movement of the electric support. The loading platform 15 is provided with a first charging and data exchange port, and the bottom of the carrier 1 is provided with a second charging and data exchange port that matches the first charging and data exchange port. The charging and data exchange port and the second charging and data exchange port can be a combination of conductive needles and conductive sheets, that is, a number of concentric rings are arranged at the bottom of the carrier, a number of conductive needles are arranged on the loading platform, and corresponding alignment ferromagnets are arranged on the loading platform and the bottom of the carrier. After the carrier is placed on the loading platform, the alignment ferromagnets are magnetically aligned and fixed, so that the first charging and data exchange port and the second charging and data exchange port are in physical contact to form an electrical connection, thereby realizing charging and data transmission. The data transmitted here is used to control the movement state of the electric bracket.

[0030] Furthermore, the controller is also connected to a wireless communication module 21, which is a Bluetooth module or a WiFi module. By installing the corresponding control software or applet on the mobile phone and communicating with the controller through the wireless communication module, function settings can be realized. For example, the "personality" of the product can be set through the mobile phone, such as a quiet type with less disturbance, a lively type that likes interaction, etc. Function buttons 34 electrically connected to the controller are set on the ears 18 on the head of the carrier 1. The function buttons can be used to switch personalities, enter sleep mode, etc. A main switch 22 is set at the bottom of the carrier, and the main switch 22 can be used to turn off or on the functions of the carrier.

[0031] As a further improvement of the present invention, the chest movement mechanism 12 includes a left movement plate 23, a right movement plate 24 and a motor. The left movement plate 23 and the right movement plate 24 are in the shape of an inverted right triangle. The left movement plate 23 is provided with a first hole position 25 on the left and a connecting shaft 26 on the right. The left movement plate 23 is provided with a strip-shaped inclined hole 27; the right movement plate 24 is provided with a third hole position 28 on the left and a second hole position 29 on the right; a first protruding shaft 30 and a second protruding shaft 31 are provided in the carrier 1, the first hole position 25 is installed on the first protruding shaft 30, the second hole position 29 is installed on the second protruding shaft 31, the connecting shaft 26 is inserted into the third hole position 28, the motor is fixed in the carrier 1, and an output code disk 32 is installed on the output shaft of the motor, and the output code disk 32 is provided with a code disk extending into the strip-shaped inclined hole 27 When the output code disk 32 rotates, the code disk lever 33 slides in the strip-shaped inclined hole 27, driving the left moving plate 23 and the right moving plate 24 to move synchronously in the opposite directions. Since the carrier has a certain elasticity, the left moving plate 23 and the right moving plate 24 push the inner wall of the carrier when they move, causing the carrier to undergo a certain deformation, and the chest of the carrier will perform an ups and downs movement that imitates human breathing. It is also possible to set a space on the carrier corresponding to the left moving plate 23 and the right moving plate 24, so that after the left moving plate 23 and the right moving plate 24 are unfolded, a part of the left moving plate 23 and the right moving plate 24 extends out of the space, and the left moving plate 23 and the right moving plate 24 push up the fur to perform an ups and downs movement to imitate human breathing, or install an ups and downs plate on the part of the left moving plate 23 and the right moving plate 24 that extends out of the space, so that when the left moving plate 23 and the right moving plate 24 move, the ups and downs plate is driven to move, and after the left moving plate 23 and the right moving plate 24 are contracted, the ups and downs plate is close to the outer wall of the carrier.

[0032] The working mode of the interactive soothing robot of the present invention is as follows:

[0033] Mode a: When the camera, infrared sensor or microphone does not collect human body signals (a valid signal can be collected by one of the three, or by two or three of them at the same time), the speaker, lighting source, vibration motor and chest movement mechanism remain in a silent standby state.

[0034] Mode b: When the camera, infrared sensor, or microphone doesn't detect any human signals, the speaker emits a pre-stored, normal breathing sound (medically, a respiratory rate of 20-30 breaths / minute for children and 16-20 breaths / minute for adults is considered normal. This embodiment uses a normal breathing sound of 18 breaths / minute, which the user can also customize in the control software or mini-program). The chest movement mechanism coordinates with this breathing sound, mimicking the rise and fall of the chest during breathing. Simultaneously, the lighting effect light source changes in sync with the breathing sound, visualizing the breathing process through changes in brightness or color. Users can practice breathing exercises by comparing the breathing sound they hear with the lighting effect light source and the rise and fall of the chest. In this mode, the vibration motor is inactive. The lighting effect light source brightens during inhalation and gradually dims during exhalation, with the duration of on and off being the same as during inhalation. Alternatively, the lighting effect light source can change color, for example, gradually brightening green during inhalation and dimming blue during exhalation. The chest movement mechanism gradually expands at the beginning of inhalation and contracts during exhalation. The breathing sounds, chest movement mechanism, and lighting effects are synchronized.

[0035] When the gesture sensor detects that the carrier is picked up, it enters mode C or mode D. Mode C and mode D are optional and are switched by the user through the function button 34. The user sets the default mode in the control software or applet.

[0036] Mode c: The chest movement mechanism stops, and the breathing sound switches to a pre-stored normal heartbeat sound (this heartbeat sound is a thumping sound that imitates a heartbeat. Medically, a heart rate of 60-100 beats / minute is normal, and 70-90 beats / minute is relatively healthy. The pre-stored normal heartbeat sound in this embodiment is 75 beats / minute, and the user can also set it by themselves in the control software or applet). At the same time, the vibration motor moves synchronously with the heartbeat sound (vibrates once when the heartbeat occurs), and the lighting effect light source also lights up and goes out synchronously with the heartbeat sound (lights up when the heartbeat occurs). The user can do mindfulness exercises based on hearing the synchronized heartbeat sound, seeing the changes in the lighting effect light source, and sensing the heartbeat vibration, so that their own heartbeat sound gradually becomes consistent with the pre-stored heartbeat sound, making the user's heartbeat stable and entering the mindfulness mode.

[0037] In mode c, when the touch sensor detects a continuous human touch signal, the heartbeat frequency gradually slows down, the heartbeat sound gradually decreases, the intensity of the vibration motor gradually decreases, and the change of the light effect light source gradually decreases. Finally, the heartbeat sound stops, the vibration motor also stops, and the light effect light source goes out. The continuous human hand touch signal here can be understood as a valid touch signal after the touch signal is continuously detected within 10 seconds. As the touch signal time increases, the heartbeat frequency gradually slows down, the heartbeat sound gradually decreases, the intensity of the vibration motor gradually decreases, and the change of the light effect light source gradually decreases until it stops. The time from this gradual change to stopping can be set to 5-15 minutes, the default is 15 minutes, and the user can also set it by themselves in the control software or applet.

[0038] In mode C, when the pulse sensor detects a human pulse signal, it collects the user's pulse frequency. The heartbeat frequency output by the carrier (synchronized with heartbeat sound, vibration, and light changes) is the same as the human pulse frequency detected by the pulse sensor, allowing the user to quietly see and hear their own heartbeat (the pulse frequency is the same as the heartbeat frequency).

[0039] Mode d: The chest movement mechanism stops, and the breathing sound switches to a pre-stored rapid heartbeat sound (human heart rates can reach over 200 beats / minute. In this example, the rapid heartbeat rate is set to gradually decrease from 160 beats / minute). When the touch sensor detects a sustained human touch signal, the heartbeat rate gradually slows down, the heartbeat sound gradually decreases, the vibration motor intensity gradually decreases, and the light effect light source gradually decreases. This gradual change to cessation can be set from 5 to 15 minutes, with a default of 15 minutes, which can be customized by the user in the control software or mini-program. The rapid heartbeat sound is similar to the state of a frightened person or small animal. Through human touch, it is like a person comforting a frightened person or small animal, gradually calming the person or small animal, and entering the soothing mode.

[0040] The present invention is based on the most basic rhythmic movements of breathing and heartbeat, and is equipped with a lighting effect light source, chest movement mechanism and vibration motor that are linked to the sounds of breathing and heartbeat to guide users to complete mindfulness exercises, helping users to relieve and release stress and soothe their mood.

[0041] The above embodiments cannot limit the protection scope of the present invention. Equal modifications and changes made by those skilled in the art without departing from the overall concept of the present invention are still within the scope of the present invention.

Claims

1. An interactive soothing robot, comprising a carrier, wherein a controller is provided in the carrier, characterized in that The carrier is further provided with an acquisition module and an execution module electrically connected to the controller; the acquisition module includes a camera, an infrared sensor, a posture sensor, a gesture and ambient light sensor, a microphone, a pulse sensor, and a touch sensor; the execution module includes a speaker, a lighting effect light source, a vibration motor, and a chest movement mechanism; The chest movement mechanism includes a left movement plate, a right movement plate and a motor, and the motor drives the left movement plate and the right movement plate to move synchronously in opposite directions; The modes of the interactive soothing robot are as follows: Mode a: When the camera, infrared sensor, or microphone does not detect any human signals, the speaker, lighting source, vibration motor, and chest movement mechanism remain in silent standby mode. Mode b: When the camera, infrared sensor, or microphone does not detect human signals, the speaker emits pre-stored normal breathing sounds, and the chest movement mechanism coordinates with the breathing sounds to simulate the chest movement during human breathing. At the same time, the light source of the lighting effect changes in coordination with the breathing sounds, presenting the breathing process through changes in brightness or color of the light effect; When the gesture sensor detects that the carrier is picked up, it enters mode C or mode D; Mode c: The chest movement mechanism stops, and the breathing sound switches to a pre-stored normal heartbeat sound. At the same time, the vibration motor operates in sync with the heartbeat sound, and the light source also turns on and off in sync with the heartbeat sound. In mode C, when the touch sensor detects a continuous human touch signal, the heartbeat frequency gradually slows down, the heartbeat sound gradually decreases, the intensity of the vibration motor gradually decreases, and the change in the light source of the lighting effect gradually decreases; In mode c, when the pulse sensor detects a human pulse signal, the heartbeat frequency output by the carrier is the same as the human pulse frequency detected by the pulse sensor; Mode d: The chest movement mechanism stops, and the breathing sound switches to a pre-stored rapid heartbeat sound. When the touch sensor detects a continuous human touch signal, the heartbeat frequency gradually slows down, the heartbeat sound gradually decreases, the intensity of the vibration motor gradually decreases, and the change in the light source gradually decreases.

2. The interactive soothing robot according to claim 1, characterized in that It also includes an electric bracket, which includes a base and an electric support rod with a lower end fixed to the base. A loading platform is installed on the upper end of the electric support rod. The loading platform is provided with a first charging and data exchange port, and the bottom of the carrier is provided with a second charging and data exchange port that matches the first charging and data exchange port.

3. The interactive soothing robot according to claim 1 or 2, characterized in that The controller is also connected to a wireless communication module.

4. The interactive soothing robot according to claim 1, characterized in that The left motion plate is provided with a first hole position located on the left side and a connecting shaft located on the right side, and the left motion plate is provided with a strip-shaped oblique hole; the right motion plate is provided with a third hole position located on the left side and a second hole position located on the right side; a first convex shaft and a second convex shaft are provided in the carrier, the first hole position is installed on the first convex shaft, the second hole position is installed on the second convex shaft, and the connecting shaft is inserted into the third hole position, the motor is fixed in the carrier, and an output code disk is installed on the output shaft of the motor, and a code disk lever extending into the strip-shaped oblique hole is provided on the output code disk. When the output code disk rotates, the code disk lever slides in the strip-shaped oblique hole to drive the left motion plate and the right motion plate to move synchronously in opposite directions.

5. The interactive soothing robot according to claim 1, characterized in that The carrier is also provided with function keys electrically connected to the controller.

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