Interactive robot

Abstract

The application relates to an interactive robot, which comprises a 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 body respectively, and the ends, where the first arm, the second arm and the body are connected, are all provided with rotatable palms; 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 on the top of the body, one side of the head is provided with a camera device, the head is also provided with a voice collector, and a main control unit is suitable for controlling a sound device to issue an instruction query according to portrait information and voice information; the body is provided with a touch screen, which 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 thereof to rotate to display the two-dimensional code scanner to a user or controlling the second arm and the palm thereof to rotate to display the card reader antenna to the user according to the instruction information.

Description

Technical Field

[0001] This application relates to the field of intelligent robot technology, and more particularly to an interactive robot. Background Technology

[0002] Intelligent service robots, capable of automatic mapping, autonomous path planning, obstacle avoidance, and automatic movement, are widely used in public spaces such as lobbies, hotels, and exhibition centers to provide people with guidance, explanation, and consultation services.

[0003] The application of intelligent service machines that can automatically sell tickets is still in its early stages. The most commonly used electronic payment interaction devices, such as card reader antennas and QR code scanners, are set up separately from the intelligent service machines without special integration and optimization. This results in low overall interaction efficiency and insufficient user experience for the intelligent service machines. 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, this application proposes an interactive robot.

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

[0006] The first and second arms are rotatably mounted on both sides of the body. Each of the first and second arms has a rotatable hand at the end connected to the body. The hand of the first arm is equipped with a QR code scanner, and the hand of the second arm is equipped with a card reader antenna.

[0007] The head is rotatable and located on the top of the device. A camera is located on one side of the head, which is used to capture facial information and transmit it to the main control unit. The head also has a voice collector to capture voice information and transmit it to the main control unit. The main control unit is used to control the sound device to issue commands based on the facial and voice information. The device body has a touch screen, which is used to send commands to the main control unit. The main control unit is used to control the first arm and its palm to rotate to display the QR code scanner to the user, or to control the second arm and its palm to rotate to display the card reader antenna to the user.

[0008] In one possible implementation, a first connecting shaft is fixedly provided on the side of the first arm and the second arm that are connected to the fuselage; the first connecting shaft penetrates through 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 driving motors are arranged inside the cavity of the body; the output shafts of the two arm driving motors are fixedly connected with two first connecting shafts respectively, and the two arm driving motors are suitable for driving the first arm and the second arm to rotate.

[0010] In a possible implementation, a palm driving motor and a second connecting shaft are arranged inside the cavity of each of the first arm and the second arm.

[0011] The output shaft of the palm driving motor is connected with 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 with the palm.

[0012] In a possible implementation, two photoelectric sensors are arranged inside the cavity of each of the first arm and the second arm; when the second connecting shaft triggers one of the photoelectric sensors, the palm faces the side where the body is located; when the second connecting shaft triggers the other photoelectric sensor, the palm rotates to a maximum preset angle with the connecting part of the arm and the palm as the axis.

[0013] In a possible implementation, a neck shaft is further included.

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

[0015] Beneficial effects: the application integrates the most commonly used two-dimensional code scanner and card reader antenna in the palm on both sides of the interactive robot in the human-computer interaction process; the passenger can click the touch screen or issue a voice instruction such as recharging, ticket purchasing, and payment to the interactive robot through intelligent voice technology; the master control unit judges the payment mode selected by the user according to the user instruction and controls one of the first arm and the second arm to automatically turn out to a preset angle according to different payment modes; when the user selects to pay by scanning a two-dimensional code and the first arm alone turns out to a preset angle, the first palm also turns to a preset angle, the two-dimensional code scanner is separately displayed outward, and the passenger can perform a scanning operation; when the user selects to pay by swiping a card and the second arm alone automatically turns out to a preset angle, the second palm also turns to a preset angle, the card reader antenna is separately displayed outward, and the passenger can perform a card swiping operation; after the passenger finishes purchasing a ticket, the palm turns back to the original position, the arm turns back to the original position, and finally the scanning end of the two-dimensional code scanner and the card reading end of the card reader antenna face the body and are blocked by the body, so as to avoid being directly exposed outward; the application integrates the electronic payment interaction device and the robot into one and has high integration optimization, meets the requirements of human engineering, allows the passenger to interact with the robot in a very comfortable way, improves the interaction efficiency, enhances the interactivity and entertainment of the human and the device, and reflects the characteristics of the intelligent device.

[0016] Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings which illustrate, by way of example, the principles of the application. BRIEF DESCRIPTION OF DRAWINGS

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

[0018] Figure 1 A block diagram of an interactive robot according to an embodiment of the present application;

[0019] Figure 2 A block diagram of an interactive robot according to an embodiment of the present application;

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

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

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

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

[0024] Figure 7 A block diagram of a head of an interactive robot according to an embodiment of the present application;

[0025] Figure 8 A partial view of Figure 7 ;

[0026] Figure 9 A partial enlarged view of an interactive robot according to an embodiment of the present application;

[0027] Figure 10 A partial enlarged view of an interactive robot according to an embodiment of the present application;

[0028] Figure 11 A partial enlarged view of an interactive robot according to an embodiment of the present application;

[0029] Figure 12 A partial enlarged view of an interactive robot according to an embodiment of the present application;

[0030] Figure 13 A partial enlarged view of an interactive robot according to an embodiment of the present application;

[0031] Figure 14A partial enlarged view of the interactive robot of the embodiment of the application is shown.

[0032] Figure 15 A main structure view of the walking chassis of the interactive robot of the embodiment of the application is shown.

[0033] Figure 16 A partial structure view of the walking chassis of the interactive robot of the embodiment of the application is shown.

[0034] Figure 17 A partial structure view of the walking chassis of the interactive robot of the embodiment of the application is shown.

[0035] Figure 18 A partial enlarged view of the interactive robot of the embodiment of the application is shown.

[0036] Figure 19 A partial enlarged view of the interactive robot of the embodiment of the application is shown.

[0037] Figure 20 A partial structure view of the walking chassis of the interactive robot of the embodiment of the application is shown.

[0038] Figure 21 A main structure view of the trigger of the embodiment of the application is shown.

[0039] Figure 22 A partial enlarged view of the interactive robot of the embodiment of the application is shown.

[0040] Figure 23 A rear view of the interactive robot of the embodiment of the application is shown.

[0041] Figure 24 An internal module composition view of the interactive robot of the embodiment of the application is shown.

[0042] The fuselage 100, the first arm 300, the second arm 390, the head 200, the two-dimensional code scanner 500, the card reader antenna 600, the touch screen 110, the sound hole 120, the walking chassis 700, the palm driving motor 410, the second connecting shaft 420, the second bearing 450, the arm driving motor 320, the first connecting shaft 310, the photoelectric sensor 440, the trigger piece 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 driving 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 driving wheel 760, the universal wheel 770, the industrial computer 743, the driving board 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 numbers in different drawings represent the same or similar elements. Although various aspects of embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless specifically noted.

[0044] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate orientations or positional relationships based on the orientations or positional relationships as shown in the drawings, and are used only for the purpose of facilitating the description of the present application or simplifying the description, and therefore cannot be construed as indicating or implying that the device or element indicated thereby must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the present application.

[0045] In addition, the terms "first", "second", and the like, are used only for the purpose of description, and are not to be construed as indicating or implying relative importance or a specific number of the technical features indicated thereby. Thus, the features defined with "first", "second" can include one or more of the features explicitly or implicitly. In the description of the present application, the meaning of "plurality" is two or more, unless otherwise specifically limited.

[0046] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0047] In addition, in order to better illustrate the present application, numerous specific details are given in the following detailed description. Those skilled in the art will understand that the present application can be practiced without certain specific details, which are given for the purpose of highlighting the present application. In some instances, methods, means, elements and circuits well known to those skilled in the art are not described in detail in order to emphasize the present application.

[0048] As 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 is rotatably arranged on the two sides of the body 100 respectively, and the other end of the first arm 300 and the second arm 390 is provided with a rotatable palm; wherein the first palm 400 of the first arm 300 is suitable for placing a two-dimensional 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, the front side of the head 200 is provided with a camera suitable for collecting portrait information and transmitting the portrait information to a main control unit 800; the head 200 is also provided with a voice collector 230 to collect voice information through the voice collector 230 and transmit 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 an inquiry instruction according to the portrait information and the voice information; the body 100 is provided with a touch screen 110 suitable for issuing instruction 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 to display the two-dimensional code scanner 500 to the user or controlling the second arm 390 and the second palm 490 to rotate to display the card reader antenna 600 to the user according to the instruction information.

[0049] Here, it needs to be explained that the application can be applied in multiple service occasions such as a ticketing hall of a station, the body 100 can increase the overall height while providing a mounting basis for the first arm 300, the second arm 390 and the head 200, facilitating the interactive operation of passengers and the interactive robot. Passengers can issue instructions by operating the touch screen 110 of the body 100, and passengers can also directly issue voice instructions to the interactive robot, the voice collector 230 at the top of the head 200 can collect human voice information, and the interactive robot executes instructions according to human voice information; the expression screen 210 of the head 200 can display expressions, which can improve the interactive fun of passengers and the interactive robot; the camera of the head 200 is suitable for face recognition. The application integrates the most commonly used two-dimensional code scanner 500 and card reader antenna 600 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 instruction such as payment to the interactive robot through intelligent voice technology, the main control unit 800 judges the payment method selected by the user according to the user instruction, and controls one of the first arm 300 and the second arm 390 to automatically turn out to a set angle according to different payment methods; when the user selects to pay by scanning the two-dimensional code, the first arm 300 alone turns out to a set angle, the first palm 400 turns flat, and the two-dimensional code scanner 500 is displayed outward, which is convenient for passengers to scan the code, thereby realizing ticket purchase; when the user selects to pay by swiping the card, the second arm 390 alone automatically turns out to a set angle, the second palm 490 turns flat at the same time, and the card reader antenna 600 is displayed outward, which is convenient for passengers to swipe the card. When the passenger finishes ticket purchase, the palms turn back to the original position, the arms turn back to the original position, and finally the scanning end of the two-dimensional code scanner 500 and the card reading end of the card reader antenna 600 face the body 100, which is blocked by the body 100 to some extent, avoiding direct exposure outward, avoiding mistaken touch of the card reader antenna 600 by others, and avoiding false scanning of the two-dimensional code scanner 500. At the same time, the height of the first palm 400 and the second palm 490 is about 100 cm, which is appropriate and can meet the needs of passengers of different heights, passengers can easily perform scanning, card reading and other operations, which has wide adaptability, large surrounding space and convenient operation. After the operation is finished, the first palm 400 and / or the second palm 490 is reset, the first arm 300 and / or the second arm 390 turns back to the starting position, and waits for the next passenger operation instruction. The application meets the requirements of human-computer engineering, allows passengers to interact with the robot in a very comfortable way, improves the interaction efficiency, enhances the interactivity and entertainment of people and equipment, and embodies the characteristics of intelligent equipment.

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

[0051] In a possible implementation, two arm driving motors 320 are arranged in the cavity of the fuselage 100; the output shafts of the two arm driving motors 320 are fixedly connected with the two first connecting shafts 310 respectively, and the arm driving motor 320 is suitable for driving the first connecting shaft 310 to rotate. It should be noted that one end of the first connecting shaft 310 connected with the arm driving motor 320 is provided with a connecting hole, the output shaft of the arm driving motor 320 penetrates into the connecting hole and is fixedly connected with the connecting hole, and when the arm driving motor 320 rotates, the first connecting shaft 310 can be driven to rotate, and since the first connecting shaft 310 is fixedly connected with the arm, the first arm 300 or the second arm 390 is driven to rotate. Further, the maximum rotation angle of the first arm 300 and the second arm 390 that can rotate forward is 180 degrees, and the maximum rotation angle of the first arm 300 and the second arm 390 that can rotate backward is 50 degrees.

[0052] The arm driving motor 320 is a direct-current gear reduction motor; RS775, 12V, 30rpm.

[0053] In a possible implementation, two first bearings 311 are further arranged, the two first bearings 311 are arranged adjacently, 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 with the fuselage 100. The first bearing 311 can not only ensure the position stability between the first connecting shaft 310 and the fuselage 100, but also improve the rotation smoothness of the first connecting shaft 310.

[0054] In a possible implementation, as shown in Figure 4 the two arm driving 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, and when the first arm 300 and the second arm 390 rotate to the maximum rotation angle, the arm driving motor 320 stops driving.

[0055] In a possible implementation, the cavities of the first arm 300 and the second arm 390 are each provided with a palm driving motor 410 and a second connecting shaft 420; an output shaft of the palm driving motor 410 is connected with one end of the second connecting shaft 420 and is adapted to drive the second connecting shaft 420 to rotate; the other end of the second connecting shaft 420 is fixedly connected with the first palm 400 or the second palm 490. It should be noted that the first arm 300 and the second arm 390 have the same structure and are shaped like human arms, and the cavities of the first arm 300 and the second arm 390 are hollow structures and are adapted to accommodate the palm driving motor 410 that drives the first palm 400 or the second palm 490 to rotate. As shown in Figure 3 As shown in Figure 4 the output shaft of the palm driving motor 410 is fixedly connected with one end of the second connecting shaft 420 through a shaft coupling 430, and when the palm driving motor 410 rotates, the second connecting shaft 420 can be driven to rotate, and the other end of the second connecting shaft 420 penetrates into a connecting cylinder 460 in the cavity of the first palm 400 or the second palm 490 and is fixedly connected with the connecting cylinder 460 by rivet connection. When the palm driving motor 410 works, the second connecting shaft 420 can be driven to rotate to drive the first palm 400 or the second palm 490 to rotate.

[0056] The palm driving motor 410 is a direct-current gear motor; 25-370, 12V, 60rpm.

[0057] In a possible implementation, the palm driving motor 410 is arranged in the cavity of the first arm 300 or the second arm 390 through a first motor support 411. As shown in Figure 3 the main body of the first motor support 411 is in the form of an “L”-shaped bracket structure, one side of which is fixedly connected with the inner wall of the first arm 300 or the second arm 390 by bolt connection, and the top surface of the other side accommodates the palm driving motor 410, and the output shaft of the palm driving motor 410 penetrates through the first motor support 411 and is in transmission connection with the second connecting shaft 420 below the first motor support 411.

[0058] In a possible implementation, the two second bearings 450 are fixedly connected with the inner wall of the arm through bearing seats, and the inner rings of the two second bearings 450 are sleeved on the middle part of the second connecting shaft 420; under the joint action of the second bearings 450, the position stability between the second connecting shaft 420 and the two arms can be ensured, and the rotation smoothness of the second connecting shaft 420 can be improved. Further, as shown in Figure 3 the bearing seat of the second bearing 450 is fixedly connected with 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 one possible implementation, the cavities of both the first arm 300 and the second arm 390 are equipped with two adjacent photoelectric sensors 440; for example... Figure 21 and Figure 22 As shown, a trigger plate 441 is fixedly mounted on the second connecting shaft 420. The main body of the trigger plate 441 is an L-shaped plate structure. One side of the trigger plate 441 has a connecting hole 443, which is suitable for connecting with the second connecting shaft 420. The adjacent side of the trigger plate 441 extends into two photoelectric sensors 440, and a through hole 442 is opened on the trigger plate 441. The trigger plate 441 rotates with the second connecting shaft 420. When the through hole 442 on the trigger plate 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. At this time, the photoelectric sensor 440 is turned on and triggered. Similarly, when the through hole 442 on the trigger plate 441 does not move to the position of any photoelectric sensor 440, the light beam emitted by the transmitting end of all photoelectric sensors 440 is blocked by the trigger plate 441 and cannot be emitted to the receiving end of the photoelectric sensor 440. At this time, the photoelectric sensor 440 is not turned on and triggered. This is applicable when the trigger plate 441 triggers one of the photoelectric sensors 440, the first palm 400 or the second palm 490 is in its original position (initial state), and applicable when the trigger plate 441 triggers the other photoelectric sensor 440, the first palm 400 or the second palm 490 rotates to a maximum preset angle. Further, such as... Figure 5 As shown, a sensor support is mounted on top of one of the second bearings 450, and two photoelectric sensors 440 are mounted on the sensor support. The trigger sides of both photoelectric sensors 440 face the second connecting shaft 420, and a trigger piece 441 extends into the trigger sides 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 both face the body 100. At this time, both the first palm 400 and the second palm 490 are in their original positions (initial state), triggering one of the photoelectric sensors 440. In the working state, the first palm 400 and the second palm 490 rotate upwards 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, triggering the other photoelectric sensor 440. At this point, the first palm 400 and the second palm 490 have rotated to their final positions and stop rotating. The palm drive motor 410 can control its working state according to the triggering status of the two photoelectric sensors 440 inside the arm. Furthermore, the maximum preset rotation angle of the first palm 400 and the second palm 490 is in the range of 85°-95°; preferably, the maximum preset rotation angle of the first palm 400 and the second palm 490 is 90°.

[0060] In a possible implementation, as shown in Figure 3 the palm side of the first palm 400 is provided with a code scanning hole, and the periphery of the two-dimensional code scanner 500 is fixed on the inner wall of the palm 400 by bolt connection, and the code scanning end of the two-dimensional code scanner 500 is projected outward through the code scanning hole.

[0061] In a possible implementation, the palm side of the second palm 490 is provided with an antenna fixing hole, and the antenna plate of the card reader antenna 600 is arranged in the antenna fixing hole on the palm 400, which is suitable for reading card information. The related parameters of the card reader antenna 600 are as follows: the outer size is 75mmx45mm: conforming to the ISO / IEC 14443 standard; communication rate: ≥106Kbit / s; working frequency: 13.56MHz (adjustable); anti-interference: meeting the GB / T17618-1998 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 through a coaxial cable. The card reader host 850 is connected with the master control unit 800 through RS232 communication. The function of the card reader host 850 is to read various non-contact cards, such as IC cards, single-journey tickets, mobile phone NFC cards, etc.

[0063] In a possible implementation, it further includes a neck shaft 250; as shown in Figure 9 the neck shaft 250 is arranged between the head 200 and the body 100, and the neck shaft 250 is fixedly connected with the head 200; the cavity of the body 100 is provided with a head driving motor 251, and the head driving motor 251 is connected with the neck shaft 250 and is suitable for driving the neck shaft 250 to rotate. It should be noted that the neck shaft 250 as a transitional connecting piece between the head 200 and the body 100 not only beautifies the appearance effect but also assists in realizing the rotation driving of the head 200. Further, as shown in Figure 10As shown, the main body of the neck shaft 250 is in a cylindrical structure, one end of the neck shaft 250 is fixedly connected with the head 200, the other end of the neck shaft 250 penetrates into the top surface of the body 100, the output shaft of the head driving motor 251 is fixedly connected with the central shaft of the connecting piece 253, the connecting piece 253 is fixedly connected with the first rotating disc 254, the second rotating disc 255 is arranged below the first rotating disc 254, and the first rotating disc 254 is fixedly connected with the second rotating disc 255, the neck shaft 250 is arranged outside the first rotating disc 254 and above the second rotating disc 255, and the neck shaft 250 is fixedly connected with the second rotating disc 255, when the head driving motor 251 works, the connecting piece 253 is driven to rotate, the first rotating disc 254 is driven to rotate by the connecting piece 253, the second rotating disc 255 is driven to rotate by the first rotating disc 254, and the neck shaft 250 is driven to rotate by the second rotating disc 255, and finally the head 200 is driven to rotate by the neck shaft 250.

[0064] The head driving motor adopts a direct current gear reduction motor: RS775, 12V, 30rpm.

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

[0066] In a possible implementation, the second motor support 256 is further included, the head driving motor 251 is arranged inside the cavity of the body 100 through the second motor support 256, the main body of the second motor support 256 is in a plate structure, the top surface of the second motor support 256 is fixedly connected with the connecting part 251 of the top of the body 100, and the output shaft of the head driving motor 251 penetrates through the second motor support 256 and is connected with the connecting piece 253.

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

[0068] Further, the voice collector 230 adopts a voice pickup board (6-microphone annular array). The 360-degree annular 6-microphone array facilitates the judgment of the sound source direction according to the sound intensity difference received by the microphones at different positions.

[0069] In a possible implementation, an expression screen 210 is arranged on the front side of the head 200, the expression screen 210 is electrically connected with the main control unit 800 to display different expressions. As shown in the figure, 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 with the head 200 by means of bolt connection. Figure 7 As shown, the head 200 is provided with a protective perspective screen 211; the protective perspective screen 211 is connected with the head 200 and covers the expression screen 210, and the expression screen 210 in the interior 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, and the protective cover 240 covers the face.

[0070] In a possible implementation, the front side of the head 200 is provided with a camera device for collecting the face video of the passenger; the output end of the camera device is electrically connected with the main control unit 800, and the main control unit 800 is used for receiving the video collected by the camera terminal in real time, and extracting the face information and the face angle information of the detected person from the video of the detected person, and the main control unit 800 judges the approximate position of near / middle / remote through the size of the face in the lens.

[0071] Further, the camera device adopts a binocular camera 220.

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

[0073] In a possible implementation, as shown in the figure, Figure 1 As shown, the fuselage 100 is provided with a sound hole 120; the sound hole 120 is located below the touch screen 110. As shown, Figure 18 The cavity inside the fuselage 100 is fixed with three sound devices 121, and the sound emitting ends of the three sound devices 121 all face the sound hole 120. One of the sound devices 121 is electrically connected with the voice module control board, which is used 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 needs to be explained that in order to improve the interaction efficiency of the interactive robot and the passenger, the interactive robot can directly interact with the passenger through the sound device 121, and the sound is emitted outward from the sound hole 120.

[0074] Here, it needs to be explained that the fuselage 100 includes: two or more connecting shells, a base 880; the two or more connecting shells are spliced to form a fuselage structure in the shape of a humanoid robot, and the base 880 is arranged at the bottom of the fuselage 100.

[0075] In a possible implementation, the cavity inside the fuselage 100 is provided with a support device; the arm driving motor 320 is fixed on the support device, and the main control unit 800 is arranged on the support device. As Figure 12 and Figure 13As shown, the support device comprises two support plates 820 and a support frame 840; the two support plates 820 are oppositely arranged on the top surface of the base 880 of the machine body 100, and the support frame 840 is arranged between the two support plates 820; the outer side walls of the two support plates 820 are fixedly connected with the inner walls of the machine body 100, and the assembly firmness of the whole machine body 100 can be ensured under the action of the two support plates 820. The support frame 840 is arranged between the two support plates 820, and the main control unit 800 is mounted on the support frame 840. The main control unit 800 is suitable for processing voice data, portrait data and the like and outputting control signals. As shown in Figure 13 As shown, the two arm driving motors 320 are arranged on the two support plates 820 through the third motor support 340. One end of the third motor support 340 is fixedly connected with the inner wall of the support plate 820, and the arm driving motor 320 is fixedly connected with the third motor support 340, and the output shaft of the arm driving motor 320 penetrates through the third motor support 340 and is connected with 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 arranged on the placement plate 830. As shown in Figure 13 As shown, the main body of the support frame 840 is in 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 fixedly connected with the placement plate 830 through the two connecting parts 810. Figure 14 As shown, the back of the main control unit 800 is provided with the heat dissipation teeth 870, and the heat dissipation fan 860 is mounted on the side of the heat dissipation teeth 870 away from the main control unit 800; the placement plate 830 is provided with a gap hole suitable for providing a gap for the heat dissipation teeth 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 Anquin ECM-TGUC-35-A1R.

[0078] In a possible implementation, the outer side walls of the machine body 100 and the outer side walls of the walking chassis 700 are provided with the lighting device 711, the lighting end of the lighting device 711 is outwardly emitted, the lighting device 711 is electrically connected with the DIO control board, the DIO control board is electrically connected with 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 be bright or dark. It should be noted that the lighting device 711 is always on during normal service, the lighting device 711 is not on during suspension of service, and the lighting device 711 flashes when there is a fault. This can be set according to the business needs.

[0079] Further, the lighting device 711 adopts an LED lamp strip.

[0080] In a possible implementation, the interactive robot further comprises a walking chassis 700; the walking chassis 700 is arranged at the bottom of the base 880 of the fuselage 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 fuselage 100 to improve the overall moving convenience of the interactive robot.

[0081] In a possible implementation, as shown in Figure 15 the walking chassis 700 comprises a shell 710, an isolation plate 720, two drive wheels 760, four universal wheels 770, two servo motors, an industrial computer 743, and a drive board 741; the cavity of the shell 710 is sequentially stacked with a bearing plate 740 and a bottom plate 750; the drive board 741 and the industrial computer 743 are 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 Figure 17 the two drive wheels 760 penetrate the bottom plate 750; the output shafts of the two servo motors (not shown in the figure) are in transmission connection with the two drive wheels 760, and are suitable for driving the two drive wheels 760 to rotate; the four universal wheels 770 are arranged at the four corners of the bottom surface of the bottom plate 750, and can be driven to rotate when the drive wheels 760 rotate, thereby improving the moving stability of the walking chassis 700. Further, the two servo motors are of the SHM-65-250A model.

[0082] In a possible implementation, as shown in Figure 16 the walking chassis 700 further comprises a lithium battery 780; the power output end of the lithium battery 780 is electrically connected to the industrial computer 743 through a 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 two-dimensional code scanner 500, thereby providing working power for the main control unit 800, the DI0 control board, the card reader antenna 600, and the like at the upper part. The power management system has a separate PCB (not shown in the figure), and the 24V voltage output by the lithium battery 780 is converted into stable 12V direct current power through the power management system; the shell 710 is provided with a charging interface 775, the charging interface 775 is electrically connected to the charging end of the lithium battery 780, and is suitable for charging the lithium battery 780.

[0083] In one possible implementation, the chassis 700 also includes a LiDAR 773. The LiDAR 773 rotates while emitting a laser beam, detecting reflected laser light in real time and calculating the azimuth and distance between the reflector and the LiDAR 773. Upon initial use, it combines with attitude sensors and an odometer to create a planar map of the usage scenario. It also performs real-time obstacle detection during normal use. The detection distance can reach over 10 meters. It should be noted that using the LiDAR 773 combined with attitude sensors and an odometer to create a planar map of the usage scenario is existing technology. Alternatively, by connecting a tablet or PC to a hotspot on the chassis 700 and controlling the chassis 700 via web interface to circle the room to be mapped, the mapping can be automatically completed. Only the LiDAR 773 is needed for mapping; after mapping, the LiDAR 773 is used for obstacle detection. Positioning relies on attitude sensors (including odometer, speed, acceleration, and direction detection), calculating the location using data such as time, speed, and azimuth. 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 one possible implementation, the walking chassis 700 also includes an attitude sensor and an odometer: the attitude sensor and odometer are mounted on a drive board 741, and their outputs are electrically connected to the drive board 741. The attitude sensor is used to detect the nine-axis status of the interactive robot in real time during walking, and combined with the odometer and map, calculates the robot's real-time position on the map, so as to return to the original walking route.

[0085] In one possible implementation, the walking chassis 700 also includes an ultrasonic sensor 730: the output of the ultrasonic sensor 730 is electrically connected to the drive board 741. The ultrasonic sensor 730 is suitable for detecting obstacles within a short range, with a detection distance of approximately 1 meter. It can detect transparent materials and obstacles whose bright surfaces do not scatter light, which are difficult for the lidar 773 to detect. It 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 a timely manner, causing the robot to change direction to walk around the obstacle or stop. Furthermore, such as Figure 15 As shown, there are two or more ultrasonic sensors 730, which are arranged around the side wall of the housing 710 of the chassis 700 to detect obstacles in different directions. Each ultrasonic sensor 730 is connected to the housing 710 through a sensor bracket 731. The sensor bracket 731 is fixedly installed on the inner side wall of the housing 710, and the ultrasonic sensor 730 is installed on one side of the sensor bracket 731. The detection end of the ultrasonic sensor 730 extends outward through the housing 710.

[0086] In one possible implementation, such as Figure 16As shown, the walking chassis 700 is also equipped with an infrared sensor 774: the infrared sensor 774 and the charging interface 775 are located on the same side of the housing 710. The output end of the infrared sensor 774 is electrically connected to the drive 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 that the charging interface 775 can be aligned with the charging pile.

[0087] In one possible implementation, the chassis 700 also includes a first depth camera 772, which is mounted on the chassis 700. The output of the first depth camera 772 is electrically connected to an industrial control computer 743, and is suitable for upward detection. Figure 16 As shown, the first depth camera 772 and the lidar 773 are mounted on the base plate 750 via a bracket 771, and the first depth camera 772 and the lidar 773 are arranged adjacent to each other. Figure 19 As shown, the camera end of the first depth camera 772 emits light outward through the opening 712 on the housing 710.

[0088] In one possible implementation, a second depth camera 261 is also included, such as... Figure 7 As shown, the second depth camera 261 is installed on the collar 260 below the head 200. The signal output terminal of the second depth camera 261 is electrically connected to the industrial control computer 743. It is suitable for downward detection and can detect steep slopes and steps below, enabling the interactive robot to automatically avoid obstacles in a timely manner and further ensure public safety.

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

[0090] In one possible implementation, such as Figure 16 As shown, the chassis 700 also includes: a swing arm 752 and a tension spring 753; the swing arm 752 passes through the base plate 750; one end of the swing arm 752 above the base plate 750 is provided with a hook, which connects to one end of the tension spring 753; the other end of the tension spring 753 is fixedly connected to a hanging ring 754, which is fixed to the base plate 750 by a support 755; as shown Figure 20As shown, the swing rod 752 is connected with the swing piece 757 at one end below the bottom plate 750, the fixing seat 756 is fixedly connected with the bottom surface of the bottom plate 750, the fixing seat 756 is provided with a fixing shaft, the swing piece 757 is sleeved on the fixing shaft at one end of the swing rod 752, the other end of the swing piece 757 is buckled on the shaft 761 of the driving wheel 760, and the limiting plate 758 is fixedly connected with the swing piece 757, so that the swing piece 757 is fixed, and the swing piece 757 is prevented from falling off the shaft 761 of the driving wheel 760; under the connecting action of the swing piece 757 and the swing rod 752, the driving wheel 760 can move up and down around the fixing shaft to adapt to uneven ground. The tension spring 753 can tension the swing rod 752, so that the driving wheel 760 is always pressed against the ground with a pressure that changes little, and the driving force is stably output.

[0091] In a possible implementation, the bottom of the bottom plate 750 is provided with a counterweight 790, and the counterweight 790 is located between the two driving wheels 760. The counterweight 790 can increase the weight of the walking chassis 700, so that the center of gravity of the interactive robot is stable during movement. Further, the weight of the counterweight 790 ranges from 10 kg to 20 kg.

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

[0093] The working process of the present application is summarized as follows:

[0094] In the first case, when the passenger approaches the interactive robot, the camera of the interactive robot detects the passenger, and the interactive robot detects the passenger information and uploads the passenger information to the main control unit 800. The main control unit 800 judges the distance between the passenger and the machine body 100. 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 a control signal to the driving board 741. The driving board 741 drives the servo motor to work, and the servo motor drives the two driving wheels 760 to move towards the passenger. Alternatively, the main control unit 800 sends a control signal to the DIO control board, and the DIO control board drives the head driving motor 251 to work. The head driving motor 251 drives the head 200 to rotate towards the passenger.

[0095] In the second case, when the passenger utters the robot wake-up word or issues a voice instruction to the robot, the voice collector 230 of the interactive robot acquires voice information and sends the voice information to the main control unit 800 after noise reduction. 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. The drive board 741 drives the servo motor to work, and the servo motor drives the two drive wheels 760 to move towards the passenger. Alternatively, 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. The head drive motor 251 drives the head 200 to rotate towards 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 to obtain the passenger's intention, such as ticket purchase, value-added, query, ticket supplement, ticket price consultation, and seeking help.

[0097] In the process of driving the servo motor to move by the drive board 741, the ultrasonic sensor 730 detects obstacles in the near distance range and uploads the acquired obstacle information in the distance range to the drive board 741. When an obstacle is detected, the drive wheel 760 stops driving the servo motor to move.

[0098] In the process of driving the servo motor to move by the drive board 741, 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 in combination with the odometer and the map.

[0099] When the interactive robot moves to the specified position, the drive board 741 stops driving the servo motor to move, and the interactive robot stops moving and asks the passenger which help needs to be provided.

[0100] The passenger can issue a ticket purchase, value-added, query, ticket supplement, etc. instruction by voice or through a touch screen. The main control unit 800 performs related business processes according to the instruction information issued by the passenger.

[0101] Further, when the passenger selects to issue a ticket purchase instruction and selects different payment methods after completing the ticket purchase:

[0102] The first case: the passenger issues a voice instruction of scanning payment of a two-dimensional code; the voice collector 230 of the interactive robot acquires 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 instruction issued by the passenger, the DIO control board drives the first arm 300 to rotate, and simultaneously controls the first palm 400 to generate rotation, and the two-dimensional code scanner 500 is displayed to the passenger.

[0103] The second case: the passenger issues a voice instruction of card payment; the voice collector 230 of the interactive robot acquires 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 instruction issued by the passenger, the DIO control board drives the second arm 390 to rotate, and simultaneously causes the second palm 490 to generate rotation, and the card reader antenna 600 is displayed to the passenger.

[0104] 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 as scanning payment of a two-dimensional code, the main control unit 800 collects instruction 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 simultaneously causes the first palm 400 to generate rotation, and the two-dimensional code scanner 500 is displayed to the passenger.

[0105] 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 card payment, the main control unit 800 collects instruction 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 simultaneously causes the second palm 490 to generate rotation, and the card reader antenna 600 is displayed to the passenger.

[0106] Meanwhile, the application has a ticket supplement function (more than the mileage covered by the ticket price, money needs to be supplemented, and then the ticket card information is updated to be able to exit), and the ticket supplement process is as follows:

[0107] The first case: when the passenger needs to select and click the ticket supplement button on the touch screen 110; the main control unit 800 collects instruction information of the touch screen 110, and then sends a control signal to the DIO control board, the DIO control board controls the first arm 300 and the second arm 390 to rotate at the same time, and simultaneously causes the first palm 400 and the second palm 490 to generate rotation, and the two-dimensional code scanner 500 and the card reader antenna 600 are displayed to the passenger together;

[0108] Second case: when the passenger issues a voice command to top up; 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 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 the two-dimensional code scanner 500 and the card reader antenna 600 are displayed to the passenger together;

[0109] Then the passenger places the card on the palm with the card reader antenna 600, and the card reader antenna 600 reads the card information; then the two-dimensional code scanner 500 is used to pay the difference and finally realize the difference, and update the card information.

[0110] After the service is over, 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 the original position.

[0111] At the same time, the application has a ticket card recharge function, and the ticket card recharge process is the same as the ticket top-up process.

[0112] The above has described various embodiments of the application, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical application, or improvement of technology in the market, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. An interactive robot, characterized in that, The application relates to a robot, which comprises a 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 body, and the ends of the first arm and the second arm connected with the body are provided with rotatable palms; the palm of the first arm is provided with a two-dimensional code scanner; and the palm of the second arm is provided with a card reader antenna. The head is rotatably arranged on the top of the body, one side of the head is provided with a camera device, the camera device is used for collecting portrait information and transmitting the portrait information to a main control unit; the head is also provided with a voice collector, the voice collector is used for collecting voice information and transmitting the voice information to the main control unit, and the main control unit is used for controlling a sound device to issue an instruction query according to the portrait information and the voice information. The body is provided with a touch screen, which is used for transmitting instruction information to the main control unit, and the main control unit is used for controlling the first arm and the palm thereof to rotate to display the two-dimensional code scanner to a user or controlling the second arm and the palm thereof to rotate to display the card reader antenna to a user according to the instruction information. The side of the first arm, the second arm and the body connected with the body is fixedly provided with a first connecting shaft; the first connecting shaft penetrates through the side wall of the body and extends into the cavity of the body, and the first connecting shaft is rotatably connected with the body. The cavity of the body is provided with two arm driving motors; the output shafts of the two arm driving motors are fixedly connected with the two first connecting shafts, and the two arm driving motors are used for driving the first arm and the second arm to rotate. The cavity of the first arm and the second arm is provided with a palm driving motor and a second connecting shaft. The output shaft of the palm driving motor is connected with one end of the second connecting shaft and used for driving the second connecting shaft to rotate; the other end of the second connecting shaft is fixedly connected with the palm. The cavity of the first arm and the second arm is provided with two adjacent photoelectric sensors; when the second connecting shaft triggers one of the photoelectric sensors, the palm faces the side where the body is located; when the second connecting shaft triggers the other photoelectric sensor, the palm rotates to the maximum preset angle with the connecting part of the first arm, the second arm and the palm as the axis. The application further comprises a neck shaft.

2. The interactive robot of claim 1, wherein, The neck shaft is arranged between the head and the body, and the neck shaft is fixedly connected with the head; the cavity of the body is provided with a head driving motor, and the head driving motor is connected with the neck shaft and used for driving the neck shaft to rotate. The body is provided with a display screen placing hole; and the touch screen is arranged in the display screen placing hole. The body is provided with a sound outlet hole.

3. The interactive robot of claim 1, wherein, The sound outlet hole is located below the touch screen.

4. The interactive robot of claim 3, wherein, The cavity of the body is provided with a supporting device. The two arm driving motors are fixedly arranged on the supporting device.

5. The interactive robot of claim 1, wherein, The application further comprises a walking chassis. The walking chassis is arranged at the bottom of the body.

6. The interactive robot of claim 1, wherein, ​ ​ ​

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