Bionic interaction humanoid equipment capable of automatically sensing and simulating multi-dimensional physiological feedback

Abstract

The invention discloses bionic interaction humanoid equipment capable of automatically sensing and simulating multi-dimensional physiological feedback, and belongs to the technical field of bionic interaction humanoid equipment, the bionic interaction humanoid equipment comprises a main body shell, the main body shell is internally provided with a sensing module, a control module, a lubricating liquid storage and release module, a temperature control module and a vibration module, the control module is used for receiving the interaction signal transmitted by the sensing module, generating a corresponding control instruction based on a preset algorithm, and transmitting the control instruction to the corresponding lubricating liquid storage and release module, the temperature control module and / or the vibration module for execution; the lubricating liquid storage and release module comprises a liquid storage container and a liquid control module, and the lubricating liquid storage and release module is used for opening a control valve according to a control instruction of the control module and releasing lubricating liquid with the preset capacity to a target area. Multi-dimensional induction and real-time adjustment can be achieved, release, temperature and vibration of the lubricating liquid are dynamically regulated and controlled, and the interactive experience feeling with a user is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of bionic interactive humanoid devices, and in particular relates to a bionic interactive humanoid device capable of automatically sensing and simulating multi-dimensional physiological feedback. Background Art

[0002] Bionic interactive humanoid devices use bionic technology to simulate human physiological structure and movement characteristics. At the same time, they combine the principles of human-computer interaction and realize interaction with users through hardware devices such as sensors. They can provide an interactive experience similar to that of real people. Existing bionic interactive humanoid devices have made certain developments in appearance and basic functions. For example, some products can imitate the basic form of the human body, some low-end models have simple heating and vibration functions, and high-end models place simple touch sensing devices in local areas.

[0003] However, the existing technology has the following deficiencies: 1) Limited perception dimensions: Most products are equipped with only a single or a few types of sensors, such as simple pressure switches, which cannot accurately collect the touch force, frequency or interaction rhythm of different parts, making it difficult to conduct real-time and multi-dimensional perception analysis; 2) Single feedback mechanism: Most of the existing bionic interactive humanoid devices remain at the level of preset mode or manual adjustment, only providing constant temperature or constant vibration mode, and lack closed-loop feedback that is adjusted in real time according to user actions; 3) Lack of intelligent simulation of bionic reactions: Although the existing bionic interactive humanoid devices can be manually injected with lubricating fluid, they cannot be combined with sensor signals for automatic control or quantitative release, resulting in a weak interactive experience; 4) Insufficient degree of interactive intelligence: It is impossible to link functions such as temperature, vibration and lubricating fluid release according to actual touch or action signals, and it is difficult to provide multi-dimensional and dynamic physiological feedback. Based on the above deficiencies, how to provide a bionic interactive humanoid device that can sense at multiple points, process in real time, and dynamically control lubricating fluid, temperature and vibration to improve the interactive experience with users has become an urgent problem to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide a bionic interactive humanoid device that can automatically sense and simulate multi-dimensional physiological feedback, so as to solve the above-mentioned problems existing in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a bionic interactive humanoid device capable of automatically sensing and simulating multi-dimensional physiological feedback, comprising a main body shell, wherein a sensing module, a control module, a lubricating liquid storage and release module, a temperature control module and a vibration module are arranged in the main body shell, wherein the sensing module, the temperature control module and the vibration module are all electrically connected to the control module;

[0007] The sensor module is used to collect user interaction signals and upload the collected interaction signals to the control module;

[0008] The temperature control module is used to control the temperature inside the main housing;

[0009] The control module is used to generate corresponding control instructions based on a preset algorithm after receiving the interactive signal, and transmit the control instructions to the corresponding lubricating liquid storage and release module, temperature control module and / or vibration module for execution, wherein the control instructions include valve opening instructions, temperature adjustment instructions and vibration intensity adjustment instructions;

[0010] The lubricating liquid storage and release module includes a liquid storage container and a liquid control module. The liquid storage container is used to store the lubricating liquid. The liquid control module is installed on the liquid storage container and is used to release the lubricating liquid in the liquid storage container. The liquid control module is electrically connected to the control module. The liquid control module is also used to receive the valve opening instruction generated by the control module, and respond to the valve opening instruction to release a preset capacity of lubricating liquid to the target area in the main shell.

[0011] In a possible design, the control module is further used to perform a preprocessing operation on the interaction signal and / or the temperature signal before generating the corresponding control instruction based on the preset algorithm, and the preprocessing operation includes filtering, amplification, normalization and digitization processing;

[0012] Before generating corresponding control instructions based on a preset algorithm, the control module is further used to analyze the type, intensity and frequency of the interaction signal and / or the temperature signal according to the learning model so as to generate control instructions of a preset mode.

[0013] In one possible design, the control module includes a microcontroller, which is used to automatically adjust and optimize the temperature, vibration intensity, and lubricant release amount based on the interaction signals of multiple time periods transmitted by the sensor module, the temperature signals of multiple time periods transmitted by the temperature control module, and user historical data, wherein the user historical data is the temperature, vibration intensity, and lubricant release amount that the user has historically used.

[0014] In one possible design, the microcontroller includes a machine learning module, which is used to obtain multiple interaction data training samples, input the multiple training samples into a machine learning model for training, obtain a trained machine learning model, and use the trained machine learning model to adjust the control instructions.

[0015] In a possible design, the sensor module is disposed at a designated interaction location within the main housing, and the sensor module includes an electrostatic induction sensor, a pressure sensor, a proximity sensor, and a vibration sensor;

[0016] The electrostatic induction sensor is used to monitor the state of the electrostatic field and prevent electrostatic interference; the pressure sensor is used to collect the user's touch force; the proximity sensor is used to collect the user's proximity degree; and the vibration sensor is used to monitor the state of vibration.

[0017] In one possible design, the temperature control module includes a heating component and a temperature sensor, wherein the temperature sensor is used to monitor the temperature and convert the temperature into a signal for transmission to the control module, and the heating component includes a heating wire, a heating film or a thermoelectric module, and the heating component is used to receive the temperature adjustment instruction of the control module and perform heating according to the temperature adjustment instruction.

[0018] In one possible design, the vibration module includes a vibration component, which includes a vibration motor, a vibration sheet or an ultrasonic vibration module. The vibration module is used to receive a vibration adjustment instruction from a control module and generate vibrations of different intensities and frequencies according to the vibration adjustment instruction.

[0019] In a possible design, an energy management system is also included, which includes a battery and an interface. The energy management system is used to store electrical energy and execute a preemptive task scheduling mechanism with time slice rotation through a microcontroller. When the Idle task is running, the microcontroller enters a low power consumption mode and is awakened by an interrupt or an external event.

[0020] In a possible design, the liquid control module includes a control valve, which is a solenoid valve or a micro valve.

[0021] In one possible design, the liquid control module includes a micro-control fluid system or a pump system.

[0022] In a possible design, the main body shell is made of an elastic material, and a skeleton structure for providing support for the main body shell is also provided inside the main body shell.

[0023] In a possible design, the microcontroller adopts a Cortex-M4 model or a Cortex-M7 model MCU.

[0024] Beneficial effects of the present invention:

[0025] The present invention discloses a bionic interactive humanoid device capable of automatically sensing and simulating multi-dimensional physiological feedback, comprising a main body shell, wherein a sensing module, a control module, a lubricating liquid storage and release module, a temperature control module and a vibration module are arranged in the main body shell, wherein the sensing module, the temperature control module and the vibration module are all electrically connected to the control module; the sensing module is used to collect user interaction signals and upload the collected interaction signals to the control module; the temperature control module is used to control the temperature in the main body shell; the control module is used to generate corresponding control instructions based on a preset algorithm after receiving the interaction signals, and transmit the control instructions to the control module; The lubricating liquid storage and release module, temperature control module and / or vibration module are executed accordingly, wherein the control instruction includes a valve opening instruction, a temperature adjustment instruction and a vibration intensity adjustment instruction; the lubricating liquid storage and release module includes a liquid storage container and a liquid control module, the liquid storage container is used to store the lubricating liquid, the liquid control module is installed on the liquid storage container, and is used to release the lubricating liquid in the liquid storage container, the liquid control module is electrically connected to the control module, and the liquid control module is also used to receive the valve opening instruction generated by the control module, and respond to the valve opening instruction to release the preset capacity of lubricating liquid to the target area in the main body shell. The present invention is equipped with multiple types of sensors, which can perform multi-dimensional perception analysis, and when the sensor detects a change, it immediately converts the change into an electrical signal and transmits it to the control module, obtains real-time feedback and performs corresponding operations, and repeats to form a closed-loop feedback of real-time adjustment. At the same time, the control module controls the lubricating liquid storage and release module to release the liquid, thereby enhancing the user's interactive experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a module block diagram of a bionic interactive humanoid device that can automatically sense and simulate multi-dimensional physiological feedback provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0028] Embodiment 1:

[0029] like Figure 1As shown, this embodiment provides a bionic interactive humanoid device that can automatically sense and simulate multi-dimensional physiological feedback, including a main body shell, wherein a sensing module, a control module, a lubricating liquid storage and release module, a temperature control module and a vibration module are arranged in the main body shell, wherein the sensing module, the temperature control module and the vibration module are all electrically connected to the control module; the sensing module is used to collect the user's interactive signal and upload the collected interactive signal to the control module; the temperature control module is used to control the temperature in the main body shell; the control module is used to generate a corresponding control instruction based on a preset algorithm after receiving the interactive signal, and transmit the control instruction to the control module; The control instructions are transmitted to the corresponding lubricating liquid storage and release module, temperature control module and / or vibration module for execution, wherein the control instructions include valve opening instructions, temperature adjustment instructions and vibration intensity adjustment instructions; the lubricating liquid storage and release module includes a liquid storage container and a liquid control module, the liquid storage container is used to store the lubricating liquid, the liquid control module is installed on the liquid storage container, and is used to release the lubricating liquid in the liquid storage container, the liquid control module is electrically connected to the control module, and the liquid control module is also used to receive the valve opening instruction generated by the control module, and respond to the valve opening instruction to release a preset capacity of lubricating liquid to the target area in the main shell.

[0030] After the control module transmits the control instruction to the corresponding lubricating fluid storage and release module, temperature control module and / or vibration module for execution, it receives the signal returned by the sensor module and adjusts the control instruction according to different preset modes to form a closed-loop feedback of real-time adjustment.

[0031] In one possible design, before generating corresponding control instructions based on a preset algorithm, the control module is also used to perform preprocessing operations on the interaction signal and / or temperature signal, and the preprocessing operations include filtering, amplification, normalization and digital processing to reduce noise interference and improve signal quality; before generating corresponding control instructions based on a preset algorithm, the control module is also used to analyze the type, intensity and frequency of the interaction signal and / or temperature signal according to a learning model to generate control instructions of a preset mode.

[0032] Specifically, preprocessing operations are performed on the interaction signal and / or temperature signal to separate noise and useful information and remove noise interference, thereby improving the quality of the interaction signal and / or temperature signal, wherein the interaction signal and / or temperature signal are filtered and smoothed to remove high-frequency jitter or low-frequency drift; amplifying the interaction signal and / or temperature signal can extend the signal strength and extend the signal transmission distance; normalizing the interaction signal and / or temperature signal to convert interaction signals and / or temperature signals of different scales into the same range can increase the training speed of the model, reduce the risk of overfitting, and improve the generalization ability of the model; digitizing the interaction signal and / or temperature signal to convert the analog signal into a digital signal, thereby further optimizing the transmission and processing of the signal.

[0033] The control module analyzes the type, strength and frequency of the signal according to the learning model, including: extracting the frequency characteristics of the signal based on Fourier transform or time-frequency analysis, using a classification algorithm to determine the type of signal, and using an FFT (fast Fourier transform) algorithm to analyze the amplitude distribution of the signal to evaluate the strength of the signal.

[0034] In one possible design, the control module includes a microcontroller, which is used to automatically adjust and optimize the temperature, vibration intensity and lubricant release amount according to the interaction signals of multiple time periods transmitted by the sensor module, the temperature signals of multiple time periods transmitted by the temperature control module and the user's historical data, wherein the user's historical data is the temperature, vibration intensity and lubricant release amount that the user has historically used, and can be optimized using a gradient descent algorithm and an adaptive learning rate optimization algorithm.

[0035] In one possible design, the microcontroller also includes a machine learning module, which is used to obtain multiple interaction data training samples, input the multiple training samples into the machine learning model for training, obtain a trained machine learning model, and use the trained machine learning model to generate control instructions.

[0036] In a possible design, the sensing module is arranged at a designated interaction position inside the main shell, and the sensing module includes an electrostatic induction sensor, a pressure sensor, a proximity sensor and a vibration sensor. The electrostatic induction sensor is used to monitor the state of the electrostatic field and prevent electrostatic interference; the pressure sensor is used to collect the user's touch force; the proximity sensor is used to collect the user's proximity degree; and the vibration sensor is used to monitor the vibration state.

[0037] In one possible design, the control instruction further includes: a temperature adjustment instruction;

[0038] The temperature control module includes a heating component and a temperature sensor. The temperature sensor is used to monitor the temperature and convert the temperature into a signal for transmission to the control module. The heating component includes a heating wire, a heating film or a thermoelectric module. The heating component is used to receive the temperature adjustment instruction of the control module and perform heating according to the temperature adjustment instruction.

[0039] In one possible design, the control instruction further includes: a vibration adjustment instruction;

[0040] The vibration module includes a vibration component, and the vibration component includes a vibration motor, a vibration sheet or an ultrasonic vibration module. The vibration module is used to receive a vibration adjustment instruction from the control module and generate vibrations of different intensities and frequencies according to the vibration adjustment instruction.

[0041] In a possible design, an energy management system is also included, which includes a battery and an interface. The energy management system is used to store electrical energy and execute a preemptive task scheduling mechanism with a time slice rotation through a microcontroller. When an idle task is running, the microcontroller enters a low power consumption mode and wakes up the MCU (Microcontroller Unit) through an interrupt or an external event. Both wired power supply and wireless charging are supported. When the sensor detects that the device is not running, it enters a sleep mode to reduce power consumption.

[0042] In a possible design, the liquid control module includes a control valve, a micro-control fluid system or a pump system, and the control valve is a solenoid valve or a micro valve.

[0043] The microfluidic system is a system for processing and controlling fluids. It uses microfluidic chips to achieve precise control and processing of trace fluids. The pump system has the advantages of simple structure, precise control and easy maintenance.

[0044] In a possible design, the main body shell is made of elastic material, and a skeleton structure for providing support is also provided inside the main body shell. The elastic material can be selected from silicone or polymer materials to ensure that the main body shell has a certain degree of flexibility, ensure safety and comfort in use, and avoid overheating or excessive vibration to cause harm to the user.

[0045] In a possible design, the microcontroller adopts a Cortex-M4 or Cortex-M7 MCU.

[0046] Optionally, the following disclosure discloses execution modes corresponding to different signals transmitted by various sensors, which may be but are not limited to those shown in Table 1 below.

[0047] Table 1 shows the execution modes corresponding to different signals transmitted by various sensors.

[0048] Table 1

[0049]

[0050] Specifically, the benchmark values ​​in Table 1 above can be adjusted according to material properties, sensor sensitivity, equipment scale and user experience testing. The values ​​in Table 1 are only partial illustrations and are not comprehensive. The values ​​of time and temperature can be adjusted according to actual conditions and will not be repeated here.

[0051] The working process of this embodiment is as follows: when a user interacts with the bionic interactive humanoid device, the sensing module detects the user's touch, pressure or vibration signal, and transmits the signal to the control module. The control module performs preprocessing operations on the received signal and analyzes the type, strength and frequency of the signal based on a preset algorithm. If the type, strength and frequency of the signal reach a threshold, a control instruction of the corresponding mode is generated according to the analysis result, as shown in Table 1. When the user interaction ends, the control module sends a stop instruction, and enters the shutdown or standby mode.

[0052] The present embodiment discloses a bionic interactive humanoid device that can automatically sense and simulate multi-dimensional physiological feedback, including a main body shell, in which a sensor module, a control module, a lubricating fluid storage and release module, a temperature control module and a vibration module are arranged, and the sensor module, the temperature control module and the vibration module are electrically connected to the control module respectively; the sensor module is used to collect the user's interactive signal and upload the collected interactive signal to the control module; the temperature control module is used to control the temperature in the main body shell; the control module is used to generate a corresponding control instruction based on a preset algorithm after receiving the interactive signal, and transmit the control instruction to the control module. The corresponding lubricating liquid storage and release module, temperature control module and / or vibration module are executed, wherein the control instruction includes a valve opening instruction, a temperature adjustment instruction and a vibration intensity adjustment instruction; the lubricating liquid storage and release module includes a liquid storage container and a liquid control module, the liquid storage container is used to store lubricating liquid, the liquid control module is installed on the liquid storage container, and is used to release the lubricating liquid in the liquid storage container, the liquid control module is electrically connected to the control module, and the liquid control module is also used to receive the valve opening instruction generated by the control module, and respond to the valve opening instruction to release the preset capacity of lubricating liquid to the target area in the main body shell. This embodiment integrates multiple types of sensors to fully capture the user's interactive signals, realize multi-dimensional perception and feedback, and significantly improve the user's interactive experience and the response accuracy of the device. The control module generates different control instructions through different interactive scenarios, responds to user needs in real time, improves the simulation of the device, and increases the user's comfort and immersion.

[0053] Embodiment 2:

[0054] The present embodiment provides an adult bionic doll that can automatically sense and simulate multi-dimensional physiological feedback, including a main body shell, wherein a sensing module, a control module, a lubricating liquid storage and release module, a temperature control module and a vibration module are arranged in the main body shell, wherein the sensing module, the temperature control module and the vibration module are all electrically connected to the control module; the control module includes an embedded microcontroller, and generates corresponding control instructions based on a preset algorithm, and transmits the corresponding control instructions to the corresponding lubricating liquid storage and release module, the temperature control module and / or the vibration module for execution, wherein the control instructions include valve opening instructions, temperature adjustment instructions and vibration intensity adjustment instructions; the lubricating liquid storage and release module includes a liquid storage container and a liquid control module, wherein the liquid storage container is used to store lubricating liquid, the liquid control module is installed on the liquid storage container, and is used to release the lubricating liquid in the liquid storage container, the liquid control module is electrically connected to the control module, and the liquid control module is also used to receive the valve opening instruction generated by the control module, and respond to the valve opening instruction to release a preset volume of lubricating liquid to a target area in the main body shell.

[0055] Specifically, the liquid control module includes a control valve, which is a micro solenoid valve. The lubricating liquid in the lubricating liquid storage and release module uses food-grade lubricating liquid to ensure safety and biocompatibility. The control valve uses a micro solenoid valve to accurately control the release of the lubricating liquid.

[0056] In one possible design, the sensing module includes an electrostatic induction sensor, a pressure sensor, a proximity sensor and a vibration sensor. The electrostatic sensor and pressure sensor are arranged in the chest area to detect changes in pressure and changes in touch force; the proximity sensor and vibration sensor are arranged in the waist area to monitor rapid movements and the amplitude and frequency of vibration; the pressure sensor is arranged in the lower body area to capture the touch force of different parts.

[0057] In one possible design, the control instruction also includes: a temperature adjustment instruction; a temperature control module is used to monitor and control temperature changes, the temperature control module includes a heating film and a temperature sensor, the temperature control module is arranged in the lower body area, and the control module adjusts the heating power of the heating film according to the user's interaction intensity and frequency to simulate the temperature changes of the human body.

[0058] In one possible design, the control instruction also includes: a vibration adjustment instruction; and a vibration component, wherein the vibration component includes a vibration motor, and the vibration component is arranged in the waist area and the lower body area to generate vibrations of different frequencies and intensities. The control module adjusts the vibration mode according to the amplitude and frequency monitored by the vibration sensor to simulate different physiological responses.

[0059] In a possible design, the main shell is made of a silicone material, and a skeleton structure for providing support for the main shell is also provided inside the main shell.

[0060] The present embodiment discloses an adult bionic doll capable of automatically sensing and simulating multi-dimensional physiological feedback, comprising a main body shell, wherein a sensing module, a control module, a lubricating liquid storage and release module, a temperature control module and a vibration module are arranged in the main body shell, wherein the sensing module, the temperature control module and the vibration module are all electrically connected to the control module; the control module comprises an embedded microcontroller, and generates corresponding control instructions based on a preset algorithm, and transmits the corresponding control instructions to the corresponding lubricating liquid storage and release module, the temperature control module and / or the vibration module for execution, wherein the control instructions comprise valve opening instructions, temperature adjustment instructions and vibration intensity adjustment instructions; the lubricating liquid storage and release module comprises a liquid storage container and a liquid control module, wherein the liquid storage container is used to store lubricating liquid, the liquid control module is mounted on the liquid storage container and is used to release the lubricating liquid in the liquid storage container, the liquid control module comprises a control valve, which is a micro solenoid valve, and the liquid control module is electrically connected to the control module, and the liquid control module is also used to receive the valve opening instruction generated by the control module, and respond to the valve opening instruction to release a preset volume of lubricating liquid to a target area in the main body shell. The control module analyzes and processes the signals transmitted by the sensor, responds to the user's interaction needs in real time, and brings the user a natural and smooth interactive experience. The control valve is opened through control instructions to release a certain volume of lubricating fluid, which cooperates with the user's interaction mode to enhance the interactive experience.

[0061] Embodiment 3:

[0062] The present embodiment provides an interactive care robot that can automatically sense and simulate multi-dimensional physiological feedback, including a main body shell, in which a sensor module, a control module, a temperature control module and a vibration module are arranged, and the sensor module, the temperature control module and the vibration module are all electrically connected to the control module; the control module includes a microcontroller, and the microcontroller is used to receive signals transmitted by the sensor module and the temperature control module, and generate corresponding control instructions based on a preset algorithm, and transmit the control instructions to the corresponding lubricating fluid storage and release module, temperature control module and / or vibration module for execution, and the control instructions include valve opening instructions, temperature adjustment instructions and vibration intensity adjustment instructions, wherein the control module adopts a high-performance microcontroller, which can handle multiple tasks and processes, and respond and feedback in real time.

[0063] In a possible design, the main body shell is made of a highly elastic material, and a skeleton structure for providing support for the main body shell is provided inside the main body shell.

[0064] In one possible design, the sensing module includes an electrostatic induction sensor, a temperature sensor, an acceleration sensor, a proximity sensor, a pressure sensor and a vibration sensor. The electrostatic induction sensor and the temperature sensor are arranged in the hand area to monitor the user's grip strength and the contact temperature; the acceleration sensor and the pressure sensor are arranged in the shoulder area to monitor the user's interactive actions and touch strength; the proximity sensor and the vibration sensor are arranged in the abdomen area to monitor whether the user is close and the frequency of vibration.

[0065] In a possible design, the control instruction also includes: a temperature adjustment instruction; and a temperature control component, wherein the temperature control component includes a heating component and a temperature sensor, wherein the heating component is arranged in the hand area and the abdomen area for heating the hand area and the abdomen area, and the temperature sensor is used to monitor real-time temperature changes, and the control module dynamically adjusts the heating power according to the user's interactive actions to simulate the human body temperature.

[0066] In one possible design, the control instruction also includes: a vibration adjustment instruction; the vibration module includes a vibration unit, and the vibration unit can generate a variety of vibration modes. The vibration unit is arranged in the hand area and the shoulder area. The control module automatically adjusts the vibration mode according to the user's interaction frequency and intensity to provide a realistic feedback experience.

[0067] The present embodiment discloses an interactive accompanying robot capable of automatically sensing and simulating multi-dimensional physiological feedback, comprising a main body shell, wherein a sensing module, a control module, a temperature control module and a vibration module are arranged in the main body shell, wherein the sensing module, the lubricating liquid storage and release module, the temperature control module and the vibration module are all electrically connected to the control module; wherein the control module comprises a microcontroller, wherein the microcontroller is used to receive signals transmitted by the sensing module and the temperature control module, and to generate corresponding control instructions based on a preset algorithm, and to transmit the control instructions to the corresponding lubricating liquid storage and release module, the temperature control module and / or the vibration module for execution, wherein the control instructions comprise valve opening instructions, temperature adjustment instructions and vibration intensity adjustment instructions, wherein the control module adopts a high-performance microcontroller, which can handle multiple tasks and processes, respond and feedback in real time, transmit signals to the control module through the sensing module, the control module analyzes the signals and generates corresponding control instructions according to the preset algorithm, the corresponding module receives the control instructions and executes them, and the control module adjusts the control instructions according to the signals transmitted again by the sensing module, so as to form a closed-loop feedback system, and to adjust the execution modes such as temperature and vibration in real time according to the process of user interaction.

[0068] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A bionic interactive humanoid device that can automatically sense and simulate multi-dimensional physiological feedback, characterized in that: It comprises a main body shell, in which a sensor module, a control module, a lubricating liquid storage and release module, a temperature control module and a vibration module are arranged, and the sensor module, the temperature control module and the vibration module are all electrically connected to the control module; The sensor module is used to collect user interaction signals and upload the collected interaction signals to the control module; The temperature control module is used to control the temperature inside the main housing; The control module is used to generate corresponding control instructions based on a preset algorithm after receiving the interactive signal, and transmit the control instructions to the corresponding lubricating liquid storage and release module, temperature control module and / or vibration module for execution, wherein the control instructions include valve opening instructions, temperature adjustment instructions and vibration intensity adjustment instructions; The lubricating liquid storage and release module includes a liquid storage container and a liquid control module. The liquid storage container is used to store the lubricating liquid. The liquid control module is installed on the liquid storage container and is used to release the lubricating liquid in the liquid storage container. The liquid control module is electrically connected to the control module. The liquid control module is also used to receive the valve opening instruction generated by the control module, and respond to the valve opening instruction to release a preset capacity of lubricating liquid to the target area in the main shell.

2. The bionic interactive humanoid device capable of automatically sensing and simulating multi-dimensional physiological feedback according to claim 1, characterized in that: The control module is further used to perform preprocessing operations on the interaction signal and / or the temperature signal before generating the corresponding control instruction based on the preset algorithm, and the preprocessing operations include filtering, amplification, normalization and digital processing; Before generating corresponding control instructions based on a preset algorithm, the control module is further used to analyze the type, intensity and frequency of the interaction signal and / or the temperature signal according to the learning model so as to generate control instructions of a preset mode.

3. The bionic interactive humanoid device capable of automatically sensing and simulating multi-dimensional physiological feedback according to claim 1, characterized in that: The control module includes a microcontroller, which is used to automatically adjust and optimize the temperature, vibration intensity and lubricant release amount according to the interaction signals of multiple time periods transmitted by the sensor module, the temperature signals of multiple time periods transmitted by the temperature control module and the user's historical data, wherein the user's historical data is the temperature, vibration intensity and lubricant release amount that the user has used in history.

4. The bionic interactive humanoid device capable of automatically sensing and simulating multi-dimensional physiological feedback according to claim 3, characterized in that: It also includes an energy management system, which includes a battery and an interface. The energy management system is used to store electrical energy and execute a preemptive task scheduling mechanism with time slice rotation through a microcontroller. When an idle task is running, the microcontroller enters a low power consumption mode and is awakened by an interrupt or an external event.

5. The bionic interactive humanoid device capable of automatically sensing and simulating multi-dimensional physiological feedback according to claim 1, characterized in that: The sensor module is arranged at a designated interaction position in the main housing, and the sensor module includes an electrostatic induction sensor, a pressure sensor, a proximity sensor and a vibration sensor; The electrostatic induction sensor is used to monitor the state of the electrostatic field and prevent electrostatic interference; the pressure sensor is used to collect the user's touch force; the proximity sensor is used to collect the user's proximity degree; and the vibration sensor is used to monitor the state of vibration.

6. The bionic interactive humanoid device capable of automatically sensing and simulating multi-dimensional physiological feedback according to claim 1, characterized in that: The temperature control module includes a heating component and a temperature sensor. The temperature sensor is used to monitor the temperature and convert the temperature into a signal for transmission to the control module. The heating component includes a heating wire, a heating film or a thermoelectric module. The heating component is used to receive the temperature adjustment instruction of the control module and perform heating according to the temperature adjustment instruction.

7. The bionic interactive humanoid device capable of automatically sensing and simulating multi-dimensional physiological feedback according to claim 1, characterized in that: The vibration module includes a vibration component, and the vibration component includes a vibration motor, a vibration sheet or an ultrasonic vibration module. The vibration module is used to receive a vibration adjustment instruction from the control module and generate vibrations of different intensities and frequencies according to the vibration adjustment instruction.

8. The bionic interactive humanoid device capable of automatically sensing and simulating multi-dimensional physiological feedback according to claim 1, characterized in that: The liquid control module includes a control valve, and the control valve is a solenoid valve or a micro valve.

9. The bionic interactive humanoid device capable of automatically sensing and simulating multi-dimensional physiological feedback according to claim 1, characterized in that: The main body shell is made of elastic material.

10. The bionic interactive humanoid device capable of automatically sensing and simulating multi-dimensional physiological feedback according to claim 1, characterized in that: A skeleton structure for providing support for the main body shell is also provided inside the main body shell.

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