Interactive robot

Abstract

The invention relates to an interactive robot. The interactive robot comprises a robot body, a first arm, a second arm and a head. The first arm and the second arm are rotatably arranged on the two sides of the robot body respectively, and rotatable palms are arranged at the ends, connected with the robot body, of the first arm and the second arm; wherein the palm of the first arm is provided with a two-dimensional code scanner; the palm of the second arm is provided with a card reader antenna; the head is rotatably arranged at the top of the machine body, a camera device is arranged on one side of the head, a voice collector is further arranged on the head, and the main control unit is suitable for controlling the sound device to send instruction inquiry according to portrait information and voice information; the machine body is provided with a touch screen and is suitable for issuing instruction information to the main control unit through the touch screen, and the main control unit is suitable for controlling the first arm and the palm of the first arm to rotate according to the instruction information so as to display the two-dimensional code scanner to a user or controlling the second arm and the palm of the second arm to rotate according to the instruction information so as to display the card reader antenna to the user.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent robots, and in particular to an interactive robot. Background Art

[0002] Intelligent service robots with the ability to automatically build maps, independently plan walking paths, autonomously avoid obstacles, and automatically walk are widely used in public spaces such as lobbies, hotels, and exhibition centers to provide people with guidance, explanation, consultation and other services.

[0003] The current application of intelligent service machines and equipment that can automatically vend tickets is still in its infancy. The most commonly used electronic payment interaction devices, such as card reading antennas and QR code scanners, are separately set up with the intelligent service machines and equipment, and there is no special integration optimization, resulting in low overall interaction efficiency of the intelligent service machines and equipment and insufficient interactivity in the user experience. Therefore, this application proposes an interactive robot that integrates electronic payment interaction devices with intelligent service robots. Summary of the invention

[0004] In view of this, the present application proposes an interactive robot.

[0005] According to one aspect of the present application, there is provided an interactive robot, comprising: a body, a first arm, a second arm and a head;

[0006] The first arm and the second arm are rotatably arranged on both sides of the fuselage, and the ends of the first arm and the second arm connected to the fuselage are both provided with rotatable palms; the palm of the first arm is provided with a QR code scanner; the palm of the second arm is provided with a card reader antenna;

[0007] The head is rotatably arranged on the top of the fuselage, and a camera device is arranged on one side of the head, which is suitable for collecting portrait information and transmitting the portrait information to the main control unit; the head is also provided with a voice collector, which collects voice information through the voice collector and transmits the voice information to the main control unit, and the main control unit is suitable for controlling the sound device to issue command inquiries according to the portrait information and voice information; the fuselage is provided with a touch screen, which is suitable for sending command information to the main control unit through the touch screen, and the main control unit is suitable for controlling the first arm and its palm to rotate according to the command information to display the QR code scanner to the user or controlling the second arm and its palm to rotate according to the command information to display the card reader antenna to the user.

[0008] In a possible implementation, a first connecting shaft is fixedly provided on one side where the first arm and the second arm are connected to the fuselage; the first connecting shaft penetrates the side wall of the fuselage and extends into the cavity of the fuselage, and the first connecting shaft is rotatably connected to the fuselage.

[0009] In a possible implementation, two arm drive motors are provided inside the cavity of the fuselage; the output shafts of the two arm drive motors are fixedly connected to the two first connecting shafts respectively, and the two arm drive motors are suitable for driving the first arm and the second arm to rotate.

[0010] In a possible implementation, a palm drive motor and a second connecting shaft are provided inside the cavities of the first arm and the second arm;

[0011] The output shaft of the palm drive motor is connected to one end of the second connecting shaft and is suitable for driving the second connecting shaft to rotate; the other end of the second connecting shaft is fixedly connected to the palm.

[0012] In one possible implementation, two adjacent photoelectric sensors are provided inside the cavities of the first arm and the second arm; when the second connecting axis triggers one of the photoelectric sensors, the palm is directed toward the side where the fuselage is located, and when the second connecting axis triggers the other photoelectric sensor, the palm is rotated to a maximum preset angle with the connection part between the arm and the palm as the axis.

[0013] In a possible implementation, it further includes: a neck shaft;

[0014] The neck shaft is arranged between the head and the body, and the neck shaft is fixedly connected to the head; a head driving motor is arranged inside the cavity of the body, and the head driving motor is connected to the neck shaft and is suitable for driving the neck shaft to rotate.

[0015] Beneficial effects: The present application integrates the most commonly used QR code scanner and card reader antenna in the palms of both sides of the interactive robot. Passengers can click on the touch screen or send voice commands such as recharge / ticket purchase / payment to the interactive robot through intelligent voice technology. The main control unit determines the payment method selected by the user according to the user's instructions, and controls one of the first arm and the second arm to automatically rotate to a set angle according to different payment methods; when the user chooses to pay by scanning the QR code, the first arm rotates out to the set angle alone, and the first palm rotates to the set angle at the same time, and the QR code scanner is displayed outward alone, which is convenient for passengers to scan the code; when the user chooses to swipe When paying with the card, the second arm automatically rotates out to a set angle, and the second palm rotates flat to a set angle, and the card reader antenna is displayed outward alone, which is convenient for the passenger to swipe the card; when the passenger finishes purchasing the ticket, the palm turns back to its original position, and the arm turns back to its original position, and finally the scanning end of the QR code scanner and the card reading end of the card reader antenna are facing the fuselage, and are blocked by the fuselage to a certain extent to avoid both being directly exposed to the outside. The present application integrates the electronic payment interaction device and the robot into one with a high degree of integration optimization, which meets the requirements of ergonomics, allows passengers to interact with the robot in a very comfortable way, improves the interaction efficiency, enhances the interactivity and entertainment between people and equipment, and embodies the characteristics of smart devices.

[0016] Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the present application and, together with the description, serve to explain the principles of the present application.

[0018] Figure 1 A main structure diagram of an interactive robot according to an embodiment of the present application is shown;

[0019] Figure 2 A main structure diagram of an interactive robot according to an embodiment of the present application is shown;

[0020] Figure 3 An internal view of a first arm of an interactive robot according to an embodiment of the present application is shown;

[0021] Figure 4 A cross-sectional view showing a first arm of an interactive robot according to an embodiment of the present application;

[0022] Figure 5 Show Figure 4 A partial enlarged view of

[0023] Figure 6 A partial enlarged view of the interactive robot according to an embodiment of the present application is shown;

[0024] Figure 7 A main structural diagram of the head of the interactive robot according to an embodiment of the present application is shown;

[0025] Figure 8 Show Figure 7 A partial map of

[0026] Fig. 9 A partial enlarged view of the interactive robot according to an embodiment of the present application is shown;

[0027] Fig.10 A partial enlarged view of the interactive robot according to an embodiment of the present application is shown;

[0028] Fig.11 A partial enlarged view of the interactive robot according to an embodiment of the present application is shown;

[0029] Fig.12 A partial enlarged view of the interactive robot according to an embodiment of the present application is shown;

[0030] Fig.13 A partial enlarged view of the interactive robot according to an embodiment of the present application is shown;

[0031] Fig.14A partial enlarged view of the interactive robot according to an embodiment of the present application is shown;

[0032] Fig.15 A main structural diagram of a walking chassis of an interactive robot according to an embodiment of the present application is shown;

[0033] Fig.16 A partial structural diagram of a walking chassis of an interactive robot according to an embodiment of the present application is shown;

[0034] Fig.17 A partial structural diagram of a walking chassis of an interactive robot according to an embodiment of the present application is shown;

[0035] Fig.18 A partial enlarged view of the interactive robot according to an embodiment of the present application is shown;

[0036] Fig.19 A partial enlarged view of the interactive robot according to an embodiment of the present application is shown;

[0037] Fig. 20 A partial structural diagram of a walking chassis of an interactive robot according to an embodiment of the present application is shown;

[0038] Fig.21 A main structure diagram of a triggering member according to an embodiment of the present application is shown;

[0039] Fig. 22 A partial enlarged view of the interactive robot according to an embodiment of the present application is shown;

[0040] Fig.23 A rear view of the interactive robot according to an embodiment of the present application is shown;

[0041] Fig.24 A diagram showing the internal module composition of an interactive robot according to an embodiment of the present application.

[0042] The body 100, the first arm 300, the second arm 390, the head 200, the QR code scanner 500, the card reader antenna 600, the touch screen 110, the sound hole 120, the walking chassis 700, the palm drive motor 410, the second connecting shaft 420, the second bearing 450, the arm drive motor 320, the first connecting shaft 310, the photoelectric sensor 440, the trigger sheet 441, the voice collector 230, the main control unit 800, the neck shaft 250, the collar 260, the first depth camera 772, the second depth camera 261, the head drive motor 251, the neck shaft 250, the placement plate 830, the support frame 840, the support plate 820, the ultrasonic sensor 730, the shell 710, the isolation plate 720, the drive wheel 760, the universal wheel 770, the industrial computer 743, the drive plate 741, the laser radar 773, and the lithium battery 780. DETAILED DESCRIPTION

[0043] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0044] Among them, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application or simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0046] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0047] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

[0048] like Figure 1As shown, the interactive robot comprises: a body 100, a first arm 300, a second arm 390 and a head 200; one end of the first arm 300 and the second arm 390 are rotatably arranged on both sides of the body 100, and the other ends of the first arm 300 and the second arm 390 are provided with rotatable palms; wherein the first palm 400 of the first arm 300 is suitable for placing a QR code scanner 500; the second palm 490 of the second arm 390 is suitable for placing a card reader antenna 600; the head 200 is rotatably arranged on the top of the body 100, and a camera device is provided on the front side of the head 200 for collecting portrait information and transmitting the portrait information to the main control unit 800; the head 200 is also provided with a voice collector 230, which collects voice information through the voice collector 230 and transmits the voice information to the main control unit 800, and the main control unit 800 is suitable for controlling the sound device 121 to issue command inquiries according to the portrait information and the voice information; the body 100 is provided with a touch screen 110, which is suitable for sending command information to the main control unit 800 through the touch screen 110, and the main control unit 800 is suitable for controlling the first arm 300 and the first palm 400 to rotate according to the command information to display the QR code scanner 500 to the user or controlling the second arm 390 and the second palm 490 to rotate according to the command information to display the card reader antenna 600 to the user.

[0049] Here, it should be noted that the present application can be applied to multiple service occasions such as the ticket hall of a station. The fuselage 100 can increase the overall height while providing a mounting base for the first arm 300, the second arm 390 and the head 200, so as to facilitate the interactive operation between the passenger and the interactive robot. The passenger can issue instructions by operating the touch screen 110 of the fuselage 100, and the passenger can also directly issue voice instructions to the interactive robot. The voice collector 230 on the top of the head 200 can collect human voice information, and the interactive robot executes instructions according to the human voice information; the expression screen 210 of the head 200 can display expressions, which can increase the interactive fun between the passenger and the interactive robot; the camera device of the head 200 is suitable for face recognition. The present application integrates the QR code scanner 500 and the card reader antenna 600, which are most commonly used in the human-computer interaction process, on the first palm 400 and the second palm 490 of the body 100. When the passenger clicks the touch screen 110 or the passenger issues a voice command such as payment to the interactive robot through intelligent voice technology, the main control unit 800 determines the payment method selected by the user according to the user command, and controls one of the first arm 300 and the second arm 390 to automatically rotate to a set angle according to different payment methods; when the user chooses to pay by scanning the QR code, the first arm 300 rotates out to a set angle alone, and the first palm 400 turns flat to display the QR code scanner 500 outward, so that the passenger can scan the code and buy tickets; when the user chooses to pay by swiping the card, the second arm 390 automatically rotates out to a set angle alone, and the second palm 490 turns flat at the same time to display the card reader antenna 600 outward, so that the passenger can swipe the card. When the passenger finishes buying the ticket, the palm turns back to the original position, the arm turns back to the original position, and finally the scanning end of the QR code scanner 500 and the card reading end of the card reader antenna 600 face the fuselage 100, and are blocked by the fuselage 100 to prevent the two from being directly exposed to the outside, prevent others from accidentally touching the card reader antenna 600, and prevent the QR code scanner 500 from accidentally scanning. At the same time, the height of the first palm 400 and the second palm 490 is about 100 cm, which is suitable for the needs of passengers of different heights. Passengers can easily perform operations such as scanning codes and reading cards. The adaptability is wide, the surrounding space is large, and the operation is convenient. After the operation is completed, the first palm 400 and / or the second palm 490 are reset, and the first arm 300 and / or the second arm 390 turn back to the starting position to wait for the next passenger operation instruction. The present application meets the requirements of ergonomics, allows passengers to interact with the robot in a very comfortable way, improves the interaction efficiency, enhances the interactivity and entertainment between people and devices, and embodies the characteristics of smart devices.

[0050] In a possible implementation, the first arm 300 and the second arm 390 are both fixedly provided with a first connecting shaft 310 on one side where they are connected to the fuselage 100; the first connecting shaft 310 penetrates through the side wall of the fuselage 100 and enters into the cavity of the fuselage 100, and the first connecting shaft 310 is rotatably connected to the fuselage 100. Figure 4 As shown, the first arm 300 and the second arm 390 are both provided with a connecting shaft mounting portion protruding on one side facing the fuselage 100, and one end of the first connecting shaft 310 penetrates the connecting shaft mounting portion and is fixedly connected to the connecting shaft mounting portion. The other end of the first connecting shaft 310 penetrates the fuselage 100 and is rotatably connected to the fuselage 100.

[0051] In a possible implementation, two arm drive motors 320 are provided inside the cavity of the fuselage 100; the output shafts of the two arm drive motors 320 are respectively fixedly connected to the two first connecting shafts 310, and the arm drive motors 320 are suitable for driving the first connecting shaft 310 to rotate. Here, it should be noted that a connection hole is provided at one end of the first connecting shaft 310 connected to the arm drive motor 320, and the output shaft of the arm drive motor 320 is inserted into the connection hole and fixedly connected thereto. When the arm drive motor 320 rotates, the first connecting shaft 310 can be driven to rotate. Since the first connecting shaft 310 is fixedly connected to the arm, the first arm 300 or the second arm 390 is driven to rotate. Furthermore, the maximum rotation angle that the first arm 300 and the second arm 390 can rotate forward is 180 degrees; the maximum rotation angle that can be rotated backward is 50 degrees.

[0052] The arm drive motor 320 uses a DC gear reduction motor; RS775, 12V, 30rpm.

[0053] In a possible implementation, it also includes: two first bearings 311, the two first bearings 311 are arranged adjacent to each other, and the inner rings of the two first bearings 311 are sleeved on the first connecting shaft 310, and the outer rings of the two first bearings 311 are fixedly connected to the fuselage 100. Under the connection effect of the first bearings 311, not only the position stability between the first connecting shaft 310 and the fuselage 100 can be ensured, but also the rotation smoothness of the first connecting shaft 310 can be improved.

[0054] In one possible implementation, Figure 4 As shown, both arm drive motors 320 are provided with a magnetic encoding sensor 321; the magnetic encoding sensor 321 measures the rotation angle of the first arm 300 and the second arm 390 by detecting the change of the magnetic field. When the first arm 300 and the second arm 390 rotate to the maximum rotation angle, the arm drive motor 320 stops driving.

[0055] In a possible implementation, a palm drive motor 410 and a second connecting shaft 420 are provided inside the cavities of the first arm 300 and the second arm 390; the output shaft of the palm drive motor 410 is connected to one end of the second connecting shaft 420 and is suitable for driving the second connecting shaft 420 to rotate; the other end of the second connecting shaft 420 is fixedly connected to the first palm 400 or the second palm 490. Here, it should be noted that the overall structure of the first arm 300 and the second arm 390 is the same and both are shaped like human arms. The interior of the first arm 300 and the second arm 390 is a hollow structure, which is suitable for placing the palm drive motor 410 that drives the first palm 400 or the second palm 490 to rotate. Figure 3 and Figure 4 As shown, the output shaft of the palm drive motor 410 is fixedly connected to one end of the second connecting shaft 420 through a coupling 430. When the palm drive motor 410 rotates, the second connecting shaft 420 can be driven to rotate. The other end of the second connecting shaft 420 passes through the connecting tube 460 inside the cavity of the first palm 400 or the second palm 490, and is fixedly connected to the connecting tube 460 by rivet connection. When the palm drive motor 410 is working, it can drive the second connecting shaft 420 to rotate, thereby driving the first palm 400 or the second palm 490 to rotate.

[0056] The palm drive motor 410 adopts a DC gear reduction motor; 25-370, 12V, 60rpm.

[0057] In a possible implementation, it further includes: a first motor bracket 411; the palm drive motor 410 is disposed inside the cavity of the first arm 300 and the second arm 390 through the first motor bracket 411. Figure 3 As shown, the main body of the first motor bracket 411 is an "L"-shaped bracket structure, one side of which is fixedly connected to the inner walls of the first arm 300 and the second arm 390 by bolts, and the palm drive motor 410 is placed on the top surface of the other side. The output shaft of the palm drive motor 410 passes through the first motor bracket 411 and is transmission-connected to the second connecting shaft 420 below the first motor bracket 411.

[0058] In a possible implementation, it further includes: two second bearings 450, the two second bearings 450 are fixedly connected to the inner wall of the arm through a bearing seat, and the inner rings of the two second bearings 450 are sleeved in the middle of the second connecting shaft 420; under the connection effect of the second bearings 450, not only the position stability between the second connecting shaft 420 and the two arms can be ensured, but also the rotation smoothness of the second connecting shaft 420 can be improved. Further, as Figure 3 As shown, the bearing seat of the second bearing 450 is fixedly connected to the inner wall of the arm by bolts, and the second connecting shaft 420 penetrates into the inner ring of the second bearing 450.

[0059] In a possible implementation, two adjacent photoelectric sensors 440 are disposed inside the cavities of the first arm 300 and the second arm 390; Fig.21 and Fig. 22 As shown, the second connecting shaft 420 is fixedly provided with a trigger piece 441; the main body of the trigger piece 441 is an L-shaped plate structure, and a connecting hole 443 is provided on one side of the trigger piece 441, which is suitable for connecting with the second connecting shaft 420; the adjacent side of the trigger piece 441 is inserted into the two photoelectric sensors 440, and a through hole 442 is provided on the trigger piece 441. The trigger piece 441 rotates with the second connecting shaft 420. When the through hole 442 on the trigger piece 441 moves to the position of any photoelectric sensor 440, the light beam emitted by the transmitting end of the photoelectric sensor is emitted to the receiving end of the photoelectric sensor 440 through the through hole 442, and the photoelectric sensor 440 is turned on and triggered. Similarly, when the through hole 442 on the trigger piece 441 does not move to the position of any photoelectric sensor 440, the light beams emitted by the transmitting ends of all photoelectric sensors 440 are blocked by the trigger piece 441 and cannot be emitted to the receiving end of the photoelectric sensor 440, and the photoelectric sensor 440 is not turned on and triggered. It is applicable that when the trigger sheet 441 triggers one of the photoelectric sensors 440, the first palm 400 or the second palm 490 is in the original position (initial state), and it is applicable that when the trigger sheet 441 triggers the other photoelectric sensor 440, the first palm 400 or the second palm 490 rotates to the maximum preset angle. Figure 5 As shown, the sensor support is arranged on the top of one of the second bearings 450, and two photoelectric sensors 440 are arranged on the sensor support; and the triggering side of the two photoelectric sensors 440 are both facing the second connecting shaft 420, and the triggering sheet 441 is inserted into the triggering side of the two photoelectric sensors 440. In the initial state, the side of the first palm 400 equipped with the QR code scanner 500 and the side of the second palm 490 equipped with the card reader antenna 600 are both facing the fuselage 100. At this time, the first palm 400 and the second palm 490 are both in the original position (initial state), and one of the photoelectric sensors 440 is triggered. In the working state, the first palm 400 and the second palm 490 rotate upward until the side of the first palm 400 equipped with the QR code scanner 500 and the side of the second palm 490 equipped with the card reader antenna 600 face the passenger, then another photoelectric sensor 440 is triggered. At this time, the first palm 400 and the second palm 490 rotate in place and stop rotating. The palm drive motor 410 can control the working state according to the triggering status of the two photoelectric sensors 440 in the arm. Further, the maximum preset rotation angle of the first palm 400 and the second palm 490 ranges from 85° to 95°; preferably, the maximum preset rotation angle of the first palm 400 and the second palm 490 is 90°.

[0060] In one possible implementation, Figure 3 As shown, a scanning hole is opened on the palm side of the first palm 400, and the four sides of the two-dimensional code scanner 500 are fixed to the inner wall of the palm 400 by bolt connection, and the scanning end of the two-dimensional code scanner 500 is ejected outward through the scanning hole.

[0061] In a possible implementation, an antenna fixing hole is opened on the palm side of the second palm 490, and the antenna plate of the card reader antenna 600 is clamped in the antenna fixing hole on the palm 400, suitable for reading card information. The relevant parameters of the card reader antenna 600 are as follows: the external dimensions are 75mm×45mm: in line with ISO / IEC 14443 standard; communication rate: ≥106Kbit / s; operating frequency: 13.56MHz (adjustable); anti-interference: meets GB / T17618-1998 Class B standard.

[0062] In a possible implementation, it further includes: a card reader host 850; the card reader antenna 600 on the second palm 490 is connected to the card reader host 850 via a coaxial cable. The card reader host 850 is connected to the main control unit 800 via RS232 communication. The function of the card reader host 850 is to read various contactless cards, such as IC cards, one-way tickets, mobile phone NFC cards, etc.

[0063] In a possible implementation, it also includes: a neck shaft 250; Fig. 9 As shown, the neck shaft 250 is disposed between the head 200 and the body 100, and the neck shaft 250 is fixedly connected to the head 200; a head drive motor 251 is disposed inside the cavity of the body 100, and the head drive motor 251 is connected to the neck shaft 250 and is suitable for driving the neck shaft 250 to rotate. Here, it should be noted that the neck shaft 250, as a transitional connection piece between the head 200 and the body 100, not only beautifies the appearance effect but also assists in realizing the rotation drive of the head 200. Further, as Fig.10As shown, the main body of the neck shaft 250 is a cylindrical tube structure, one end of the neck shaft 250 is fixedly connected to the head 200, and the other end of the neck shaft 250 passes through the top surface of the fuselage 100, the output shaft of the head driving motor 251 is fixedly connected to the central axis of the connecting member 253, the connecting member 253 is fixedly connected to the first rotating disk 254, the second rotating disk 255 is arranged below the first rotating disk 254, and the first rotating disk 254 is fixedly connected to the second rotating disk 255, the neck shaft 250 is sleeved on the outside of the first rotating disk 254 and is located above the second rotating disk 255, the neck shaft 250 is fixedly connected to the second rotating disk 255, when the head driving motor 251 is working, it drives the connecting member 253 to rotate, the connecting member 253 drives the first rotating disk 254 to rotate, the first rotating disk 254 drives the second rotating disk 255 to rotate, the second rotating disk 255 drives the neck shaft 250 to rotate, and the neck shaft 250 finally drives the head 200 to rotate.

[0064] The head drive motor uses a DC gear reduction motor: RS775, 12V, 30rpm.

[0065] Furthermore, a groove is formed on the bottom surface of the head 200 , and a bolt hole is formed on the top wall of the groove. The neck shaft 250 penetrates into the groove and is fixedly connected to the head 200 by bolts.

[0066] In a possible implementation, it also includes: a second motor bracket 256, the head drive motor 251 is arranged inside the cavity of the fuselage 100 through the second motor bracket 256, the main body of the second motor bracket 256 is a plate-like structure, the top surface of the second motor bracket 256 is fixedly connected to the connecting part 251 on the top of the fuselage 100, and the output shaft of the head drive motor 251 passes through the second motor bracket 256 and is connected to the connecting piece 253.

[0067] In one possible implementation, Figure 7 As shown, a voice collector 230 is provided on the top of the head 200; the voice collector 230 sends the audio signal to the voice module control board, and the voice module control board transmits the audio signal to the main control unit 800 after noise reduction processing, and the main control unit 800 sends the voice data to the voice background for real-time processing, and then receives the text returned after the voice background processing, and then the main control unit 800 understands the text.

[0068] Furthermore, the voice collector 230 uses a voice pickup board (6-microphone circular array). The 360-degree circular 6-microphone array and the difference in sound intensity received by microphones at different positions facilitate the determination of the direction of the sound source.

[0069] In a possible implementation, an expression screen 210 is provided on the front side of the head 200, and the expression screen 210 is electrically connected to the main control unit 800 to display different expressions. Figure 8As shown, the head 200 is provided with an expression screen mounting hole, and the expression screen 210 is embedded in the expression screen mounting hole and fixedly connected to the head 200 by bolt connection. Figure 7 As shown, the head 200 is provided with a protective perspective screen 211; the protective perspective screen 211 is connected to the head 200 and covers the expression screen 210, and the expression screen 210 inside can be isolated and protected under the action of the protective perspective screen 211. The head 200 is also provided with a protective cover 240, which covers the face.

[0070] In one possible implementation, a camera device is provided on the front side of the head 200 for capturing facial videos of passengers; the output end of the camera device is electrically connected to a main control unit 800, and the main control unit 800 is used to receive real-time human videos captured by a camera terminal, and extract facial information and facial angle information of the detected person from the video of the detected person. The main control unit 800 determines the approximate position of near / middle / far by the size of the face in the lens.

[0071] Furthermore, the camera device uses a binocular camera 220.

[0072] In a possible implementation, the fuselage 100 is provided with a rectangular display screen placement hole; the touch screen 110 is embedded in the display screen placement hole, and the touch screen 110 is displayed outwardly through the display screen placement hole so that the passenger can directly operate the touch screen 110.

[0073] In one possible implementation, Figure 1 As shown, the body 100 is provided with a sound outlet 120; the sound outlet 120 is located below the touch screen 110. Fig.18 As shown, three sound devices 121 are fixed inside the cavity of the body 100, and the sound outlets of the three sound devices 121 are all facing the sound outlet 120. One of the sound devices 121 is electrically connected to the voice module control board for intelligent voice intercom; the other two sound devices 121 are connected to the sound output interface of the main control unit 800. Here, it should be noted that in order to improve the efficiency of the interaction between the interactive robot and the passengers, the interactive robot can directly interact and communicate with the passengers through the sound device 121, and the sound is emitted from the sound outlet 120.

[0074] Here, it should be noted that the fuselage 100 includes: more than two connecting shells and a base 880 ; the more than two connecting shells are spliced ​​to form a humanoid fuselage structure, and the base 880 is arranged at the bottom of the fuselage 100 .

[0075] In a possible implementation, a support device is provided inside the cavity of the body 100; the arm drive motor 320 is fixed on the support device, and a main control unit 800 is provided on the support device. Fig.12 and Fig.13As shown, the support device includes: two support plates 820 and a support frame 840; the two support plates 820 are relatively arranged on the top surface of the base 880 of the fuselage 100, and the support frame 840 is arranged between the two support plates 820. The outer walls of the two support plates 820 are fixedly connected to the inner wall of the fuselage 100. Under the action of the two support plates 820, the overall assembly firmness of the fuselage 100 can be ensured. A support frame 840 is arranged between the two support plates 820, and a main control unit 800 is installed on the support frame 840. The main control unit 800 is suitable for processing voice data, portrait data, etc. and outputting control signals. Fig.13 As shown, the two arm drive motors 320 are respectively arranged on the two support plates 820 through the third motor bracket 340. One end of the third motor bracket 340 is fixedly connected to the inner wall of the support plate 820, the arm drive motor 320 is fixedly connected to the third motor bracket 340, and the output shaft of the arm drive motor 320 passes through the third motor bracket 340 and is connected to the first connecting shaft 310.

[0076] In a possible implementation, the support frame 840 is provided with a placement plate 830, and the main control unit 800 and the card reader host 850 are both arranged on the placement plate 830. Fig.13 As shown, the main body of the support frame 840 is a rectangular frame structure, the placement plate 830 is arranged on the inner side of the support frame 840, and the upper and lower sides of the main control unit 800 are fixed to the placement plate 830 through two connecting parts 810, as shown in FIG. Fig.14 As shown, a heat dissipation tooth 870 is provided on the back of the main control unit 800, and a heat dissipation fan 860 is installed on the side of the heat dissipation tooth 870 facing away from the main control unit 800; a clearance hole is opened on the placement plate 830, which is suitable for making way for the heat dissipation tooth 870 and the heat dissipation fan 860 on the back of the main control unit 800.

[0077] Preferably, the model of the main control unit 800 is Avalue, ECM-TGUC-35-A1R.

[0078] In a possible implementation, the outer wall of the fuselage 100 and the outer wall of the walking chassis 700 are both provided with a lighting device 711, the lighting end of the lighting device 711 projects outward, the lighting device 711 is electrically connected to the DIO control board, the DIO control board is electrically connected to the main control unit 800, the main control unit 800 sends a control signal to the DIO control board, and the DIO control board controls the lighting device to turn on and off. It should be noted that the lighting device 711 is always on during normal service, the lighting device 711 is off when the service is suspended, and the lighting device 711 flashes when there is a fault, which can be set according to business needs.

[0079] Furthermore, the lighting device 711 adopts an LED light strip.

[0080] In a possible implementation, it further includes: a walking chassis 700; the walking chassis 700 is arranged at the bottom of the base 880 of the body 100. It should be noted that in order to improve the convenience of interaction, the walking chassis 700 is arranged at the bottom of the body 100 to improve the overall mobility of the interactive robot.

[0081] In one possible implementation, Fig.15 As shown, the walking chassis 700 includes: a shell 710, an isolation plate 720, two driving wheels 760, four universal wheels 770, two servo motors, an industrial computer 743, and a driving plate 741; a bearing plate 740 and a bottom plate 750 are stacked in sequence inside the cavity of the shell 710; the driving plate 741 and the industrial computer 743 are both arranged above the bearing plate 740, and the bearing plate 740 is arranged above the bottom plate 750 through four support rods 751, as shown in FIG. Fig.17 As shown, the two driving wheels 760 both penetrate the bottom plate 750; the output shafts of the two servo motors (not shown) are connected to the two driving wheels 760, and are suitable for driving the two driving wheels 760 to rotate. The four universal wheels 770 are arranged at the four corners of the bottom surface of the bottom plate 750. When the driving wheels 760 rotate, the four universal wheels 770 can be driven to rotate, thereby improving the moving stability of the walking chassis 700. Further, the model of the two servo motors is SHM-65-250A.

[0082] In one possible implementation, Fig.16 As shown, the walking chassis 700 also includes: a lithium battery 780; the power output end of the lithium battery 780 is electrically connected to the industrial computer 743 through the power management system, thereby providing working power for the industrial computer 743; in addition to providing power for the industrial computer 743, the power output end of the lithium battery 780 is also electrically connected to the main control unit 800, the DI0 control board, the card reader antenna 600, and the QR code scanner 500, thereby providing working power for the upper main control unit 800, the DI0 control board, the card reader antenna 600, etc. The power management system has an independent PCB (not shown in the figure), and the 24V voltage output by the lithium battery 780 is converted into a stable 12V DC power supply through the power management system; the housing 710 is provided with a charging interface 775, which is electrically connected to the charging end of the lithium battery 780 and is suitable for charging the lithium battery 780.

[0083] In a possible implementation, the walking chassis 700 is also provided with a laser radar 773; the laser radar 773 emits a laser beam while rotating, detects the reflected laser in real time, and calculates the azimuth and distance between the reflector and the laser radar 773. When used for the first time, the use scene is mapped in plane in combination with the attitude sensor and the odometer. Obstacles are also detected in real time during normal use. The detection distance can reach more than 10 meters. Here, it should be noted that the laser radar 773 is combined with the attitude sensor and the odometer to map the implementation scene in plane, which is an existing technology; the hot spots on the walking chassis 700 are connected with a pad and a PC, and the walking chassis 700 is controlled by the web to walk around the room to be mapped, and the mapping can be automatically completed. Only the laser radar 773 is needed for mapping. After mapping, the laser radar 773 is used for obstacle detection, and the positioning relies on the attitude sensor (including odometer, speed, acceleration, direction detection), and the position is calculated through time, speed, direction and other data. In addition, after creating the map, set up fences on the map to limit the walking range and place potentially dangerous areas outside the fences.

[0084] In a possible implementation, the walking chassis 700 is further provided with a posture sensor and an odometer: the posture sensor and the odometer are mounted on the driving board 741, and the output ends of the posture sensor and the odometer are electrically connected to the driving board 741. The posture sensor is used to detect the nine-axis state of the interactive robot in real time during walking, and calculate the real-time position of the robot in the map in combination with the odometer and the map, so as to return to the original walking route.

[0085] In a possible implementation, the walking chassis 700 is also provided with an ultrasonic sensor 730: the output end of the ultrasonic sensor 730 is electrically connected to the driving board 741, and the ultrasonic sensor 730 is suitable for detecting obstacles within a short range, with a detection distance of about 1 meter. It can detect transparent materials that are difficult to detect by the laser radar 773, and obstacles with bright surfaces that do not scatter, and can determine the angle, distance, and size of the obstacle, so that the control unit 800 can adjust or stop the drive of the servo motor in time, so that the robot can change direction and walk around the obstacle or stop. Further, if Fig.15 As shown, there are more than two ultrasonic sensors 730, and the more than two ultrasonic sensors 730 are arranged on the side wall of the shell 710 of the walking chassis 700, so as to realize obstacle detection in different directions; and each ultrasonic sensor 730 is connected to the shell 710 through a sensor bracket 731; the sensor bracket 731 is fixedly set on the inner wall of the shell 710, the ultrasonic sensor 730 is set on one side of the sensor bracket 731, and the detection end of the ultrasonic sensor 730 passes through the shell 710 and protrudes outward.

[0086] In one possible implementation, Fig.16As shown, the walking chassis 700 is also provided with an infrared sensor 774: the infrared sensor 774 and the charging interface 775 are located on the same side of the shell 710, and the output end of the infrared sensor 774 is electrically connected to the driving board 741. The infrared sensor 774 is used to detect the relative angle between the interactive robot and the charging pile during automatic recharging, so as to facilitate the alignment of the charging interface 775 with the charging pile.

[0087] In a possible implementation, the walking chassis 700 is further provided with a first depth camera 772, which is placed on the walking chassis 700, and the output end of the first depth camera 772 is electrically connected to the industrial computer 743, which is suitable for upward detection. Fig.16 As shown, the first depth camera 772 and the laser radar 773 are arranged on the bottom plate 750 through the bracket 771, and the first depth camera 772 and the laser radar 773 are arranged adjacent to each other. Fig.19 As shown, the camera end of the first depth camera 772 projects outward through the opening 712 on the housing 710 .

[0088] In a possible implementation, the second depth camera 261 is also included. Figure 7 As shown, the second depth camera 261 is arranged on the collar 260 below the head 200. The signal output end of the second depth camera 261 is electrically connected to the industrial computer 743, which is suitable for downward detection. It can detect steep slopes and steps below, so that the interactive robot can automatically avoid obstacles in time, further ensuring public safety.

[0089] In a possible implementation, it also includes: 4G and WiFi network module 742: 4G and WiFi network module 742 is electrically connected to industrial computer 743 through network management system, suitable for connecting to the Internet or local area network or control equipment, and can realize wired, WiFi, 4G connection to external network. It is also equipped with WiFi hotspot, through which PC / pad can be connected to realize control of walking chassis 700.

[0090] In one possible implementation, Fig.16 As shown, the walking chassis 700 also includes: a swing rod 752 and a tension spring 753; the swing rod 752 penetrates the bottom plate 750; a hook is provided at one end of the swing rod 752 located above the bottom plate 750, and the hook is connected to one end of the tension spring 753; the other end of the tension spring 753 is fixedly connected to a hanging ring 754, and the hanging ring 754 is fixed to the bottom plate 750 through a support 755; Fig. 20As shown, one end of the swing rod 752 located below the bottom plate 750 is connected to the swing member 757, the fixed seat 756 is fixedly connected to the bottom surface of the bottom plate 750, the fixed seat 756 is provided with a fixed shaft, one end of the swing member 757 connected to the swing rod 752 is sleeved on the fixed shaft, and the other end of the swing member 757 is buckled on the shaft 761 of the driving wheel 760, and the limit plate 758 is fixedly connected to the swing member 757, thereby fixing the swing member 757 to prevent the swing member 757 from falling off the shaft 761 of the driving wheel 760; under the connection between the swing member 757 and the swing rod 752, the driving wheel 760 can move up and down around the fixed shaft to adapt to the uneven ground. The tension spring 753 can tighten the swing rod 752 to ensure that the driving wheel 760 always presses the ground with a pressure that does not change much, ensuring the smooth output of the driving force.

[0091] In a possible implementation, a counterweight 790 is provided at the bottom of the base plate 750, and the counterweight 790 is located between the two driving wheels 760. The setting of the counterweight 790 can increase the weight of the walking chassis 700 to prevent the center of gravity of the interactive robot from being unstable during movement. Further, the weight range of the counterweight 790 is 10-20KG.

[0092] In a possible implementation, an emergency stop button 130 is provided on the back of the body 100 , and the interactive robot can be shut down and stopped by pressing the emergency stop button 130 .

[0093] Summarize the working process of this application:

[0094] In the first case: when a passenger approaches the interactive robot, he enters the detection range of the interactive robot's camera device, the interactive robot detects the portrait information, and uploads the portrait information to the main control unit 800, the main control unit 800 determines the distance between the portrait and the body 100; the main control unit 800 sends a control signal to the industrial computer 743 of the walking chassis 700, the industrial computer 743 of the walking chassis 700 sends the control signal to the drive board 741, the drive board 741 drives the servo motor to work, and the servo motor drives the two drive wheels 760 to move in the direction close to the passenger; or the main control unit 800 sends a control signal to the DIO control board, the DIO control board drives the head drive motor 251 to work, and the head drive motor 251 drives the head 200 to rotate toward the passenger.

[0095] In the second case: when the passenger says the robot wake-up word or issues a voice command to the robot, the voice collector 230 of the interactive robot obtains the voice information, and sends the voice information to the main control unit 800 after noise reduction, and the main control unit 800 performs semantic analysis and voice position identification on the voice information; the main control unit 800 sends a control signal to the industrial computer 743 of the walking chassis 700, and the industrial computer 743 of the walking chassis 700 sends the control signal to the drive board 741, and the drive board 741 drives the servo motor to work, and the servo motor drives the two drive wheels 760 to move in the direction close to the passenger; or the main control unit 800 sends a control signal to the DIO control board, and the DIO control board drives the head drive motor 251 to work, and the head drive motor 251 drives the head 200 to rotate toward the passenger.

[0096] Here, it should be noted that the main control unit 800 performs semantic analysis and voice position identification on the voice information in order to obtain the passenger's intention, such as buying tickets / recharging / inquiring / supplementing tickets / fare consultation / seeking help, etc.

[0097] When the driving board 741 drives the servo motor to move and drives the two driving wheels 760 to move, the ultrasonic sensor 730 detects obstacles within a short distance and uploads the obstacle information within the acquired distance range to the driving board 741. When an obstacle is detected, the driving wheel 760 stops driving the servo motor to move.

[0098] When the driving board 741 drives the servo motor to move the two driving wheels 760, the attitude sensor detects the nine-axis state of the robot in real time, and calculates the real-time position of the robot in the map by combining the odometer and the map.

[0099] When the interactive robot moves to the designated position, the driving board 741 stops driving the servo motor to move, and the interactive robot stops moving and asks the passenger what kind of help is needed.

[0100] Passengers can issue purchase / recharge / query / supplement ticket instructions by voice or by touching the touch screen, and the main control unit 800 performs relevant business processes according to the instruction information issued by the passenger;

[0101] Furthermore, when the passenger chooses to issue a ticket purchase instruction and after the ticket purchase is completed, he / she can choose different payment methods:

[0102] In the first case: the passenger issues a voice command to scan the QR code for payment; the voice collector 230 of the interactive robot obtains the voice information, and sends the voice information to the main control unit 800 after noise reduction. The main control unit 800 sends a control signal to the DIO control board according to the voice command issued by the passenger. The DIO control board drives the first arm 300 to rotate, and controls the first palm 400 to rotate at the same time, and displays the QR code scanner 500 to the passenger.

[0103] In the second case: the passenger issues a voice command for card payment; the voice collector 230 of the interactive robot obtains the voice information, and sends the voice information to the main control unit 800 after noise reduction. The main control unit 800 sends a control signal to the DIO control board according to the voice command issued by the passenger. The DIO control board drives the second arm 390 to rotate, and at the same time causes the second palm 490 to rotate, so as to display the card reader antenna 600 to the passenger.

[0104] In the third case: the passenger clicks the purchase button on the touch screen 110 and selects a payment method. When the payment method is selected to scan the payment QR code, the main control unit 800 collects the command information of the touch screen 110 and then sends a control signal to the DIO control board. The DIO control board drives the first arm 300 to rotate and at the same time causes the first palm 400 to rotate, thereby displaying the QR code scanner 500 to the passenger.

[0105] In the fourth case: the passenger clicks the purchase button on the touch screen 110 and selects a payment method. When the payment method is selected as swiping a card, the main control unit 800 collects the command information of the touch screen 110, and then sends a control signal to the DIO control board. The DIO control board drives the second arm 390 to rotate, and at the same time causes the second palm 490 to rotate, thereby displaying the card reader antenna 600 to the passenger.

[0106] At the same time, this application has the function of ticket supplement (if the mileage exceeds the fare, you need to pay more and then update the ticket information before you can leave the station). The ticket supplement process is as follows:

[0107] In the first case: when the passenger needs to click the ticket supplement button on the touch screen 110, the main control unit 800 collects the instruction information of the touch screen 110, and then sends a control signal to the DIO control board, and the DIO control board controls the first arm 300 and the second arm 390 to rotate at the same time, and at the same time makes the first palm 400 and the second palm 490 rotate, and displays the QR code scanner 500 and the card reader antenna 600 to the passenger;

[0108] In the second case, when the passenger issues a voice command for supplementing the ticket, the main control unit 800 sends a control signal to the DIO control board according to the voice command issued by the passenger, and the DIO control board controls the first arm 300 and the second arm 390 to rotate simultaneously, and at the same time, the first palm 400 and the second palm 490 are rotated, and the QR code scanner 500 and the card reader antenna 600 are displayed to the passenger together;

[0109] The passenger then places the card on the palm with the card reader antenna 600, and the card reader antenna 600 reads the ticket information; the difference is then paid through the QR code scanner 500 to finally make up the difference and update the ticket information.

[0110] After the business is completed, the main control unit 800 sends a control signal to the DIO control board, and the DIO control board controls the first arm 300, the second arm 390, the first palm 400, and the second palm 490 to return to their original positions.

[0111] At the same time, this application has the function of ticket card recharge, and the ticket card recharge process is the same as the ticket replacement process.

[0112] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An interactive robot, characterized in that: include: The fuselage, the first arm, the second arm and the head; The first arm and the second arm are rotatably arranged on both sides of the fuselage, and one end of the first arm and the second arm connected to the fuselage is provided with a rotatable palm; wherein the palm of the first arm is provided with a QR code scanner; and the palm of the second arm is provided with a card reader antenna; The head can be rotatably arranged on the top of the fuselage, and a camera device is provided on one side of the head, and the camera device is suitable for collecting portrait information and transmitting the portrait information to the main control unit; the head is also provided with a voice collector, so as to collect voice information through the voice collector and transmit the voice information to the main control unit, and the main control unit is suitable for controlling the sound device to issue a command inquiry according to the portrait information and the voice information; The body is provided with a touch screen, which is suitable for sending command information to the main control unit through the touch screen. The main control unit is suitable for controlling the first arm and the palm to rotate according to the command information to display the QR code scanner to the user or controlling the second arm and the palm to rotate according to the command information to display the card reader antenna to the user.

2. The interactive robot according to claim 1, characterized in that: A first connecting shaft is fixedly provided on one side where the first arm and the second arm are connected to the fuselage; the first connecting shaft penetrates the side wall of the fuselage and penetrates into the cavity of the fuselage, and the first connecting shaft is rotatably connected to the fuselage.

3. The interactive robot according to claim 2, characterized in that: Two arm drive motors are arranged inside the cavity of the fuselage; the output shafts of the two arm drive motors are respectively fixedly connected to the two first connecting shafts, and the two arm drive motors are suitable for driving the first arm and the second arm to rotate.

4. The interactive robot according to claim 1, characterized in that: A palm drive motor and a second connecting shaft are disposed inside the cavities of the first arm and the second arm; The output shaft of the palm drive motor is connected to one end of the second connecting shaft and is suitable for driving the second connecting shaft to rotate; the other end of the second connecting shaft is fixedly connected to the palm.

5. The interactive robot according to claim 4, characterized in that: Two adjacent photoelectric sensors are provided inside the cavities of the first arm and the second arm; It is suitable for the palm to face the side where the fuselage is located when the second connecting axis triggers one of the photoelectric sensors, and it is suitable for the palm to rotate to a maximum preset angle with the connection part between the first arm, the second arm and the palm as the axis when the second connecting axis triggers another photoelectric sensor.

6. The interactive robot according to claim 1, characterized in that: Also includes: Neck axis; The neck shaft is arranged between the head and the body, and the neck shaft is fixedly connected to the head; a head driving motor is arranged inside the cavity of the body, and the head driving motor is connected to the neck shaft and is suitable for driving the neck shaft to rotate.

7. The interactive robot according to claim 1, characterized in that: The fuselage is provided with a display screen placement hole; the touch screen is installed in the display screen placement hole.

8. The interactive robot according to claim 7, characterized in that: The fuselage is provided with a sound outlet hole; The sound outlet is located below the touch screen.

9. The interactive robot according to claim 3, characterized in that: A supporting device is provided inside the cavity of the fuselage; The two arm drive motors are both fixed on the supporting device.

10. The interactive robot according to claim 1, characterized in that: Also includes: Walking chassis; The walking chassis is arranged at the bottom of the fuselage.

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