A companion robot with a dynamic stretchable structure

Abstract

The application relates to the technical field of robots, in particular to a companion robot with a dynamic telescopic structure, which comprises a main body, a dynamic telescopic mechanism is arranged on the main body, and the dynamic telescopic mechanism is used for driving an external structure to change in size, wherein the dynamic telescopic mechanism comprises a center rotating disc. When a push rod moves outward, the shell also expands outward, the robot realizes growth, when the push rod retracts, the shell also shrinks, the size of the robot is reduced, the robot can realize size change through a mechanical structure, a growing type of companion experience is provided, the robot has more emotional interaction, the robot and a user establish a long-term interactive relationship through external interaction such as user feeding and task completion to trigger a shape change, a connecting rod type sliding groove mechanism is adopted, a complex sensor and an electric control system are not needed, and only mechanical structure can realize accurate shape change.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a companion robot with a dynamic telescopic structure. BACKGROUND

[0002] With the progress of artificial intelligence (AI), Internet of Things (IoT) and robotics, companion robots (Pet Companion Robots) are gradually becoming a popular direction in the technology field. Currently, the companion robots on the market mainly include pet companion robots, elderly companion robots and children education robots. Most of the existing products focus on the diversity of functions, such as voice interaction and information query, but are relatively fixed in form design, lacking the ability to grow or change over time.

[0003] For example, the Chinese utility model patent with publication number CN218504563U discloses a companion robot with a protection mechanism, which comprises a companion robot body, a plurality of protection frames are arranged outside the companion robot body, a plurality of fixed plates are fixed to the bottom of the side wall of the companion robot body near the protection frames, a plurality of horizontal plates are fixed to the lower end of the outer wall of the companion robot body, a plurality of positioning holes are uniformly arranged in the horizontal plates, a locking assembly for fixing the fixed plates is arranged on the horizontal plates, and a buffer spring is fixed to the upper and lower ends of the side wall of the protection frame away from the companion robot body.

[0004] For another example, the Chinese utility model patent with publication number CN218698892U discloses a companion robot with good crashworthiness, which comprises a companion robot body, an elastic protective sleeve is fixedly connected to the surface of the companion robot body, a polyurethane protective sheet is fixedly connected to the top of the left side of the companion robot body, and a protective shell is fixedly connected to the top of the left side of the companion robot body outside the polyurethane protective sheet.

[0005] For another example, the Chinese invention patent application with publication number CN115533940A discloses a children companion robot, which comprises a sound module, a display module, an interaction module, an analysis module, a control module, a collection module and a transceiver module. The sound module responds to the needs of children by emitting sound and communicates with children. The display module can display the information needed by children. The interaction module controls the companion robot to make actions according to the needs of children. The control module is divided into four modes: A mode corresponds to the enlightenment period, B mode corresponds to the early childhood period, C mode corresponds to the childhood period, and D mode corresponds to the school age period. When the mode is changed due to the increase of age, a gradual transition method can be used. Since it is always a companion robot, it can reach an understanding with children and children will not feel strange.

[0006] However, these companion robots all adopt static design, making the companion relationship lack dynamic interaction, difficult to establish long-term stable emotional connection, and unable to fully meet the user's demand for persistent companionship and deep interaction.

[0007] In view of this, we propose a new companion robot. SUMMARY

[0008] The purpose of the present application is to provide a companion robot with a dynamic telescopic structure, which partially solves or alleviates the problem of lack of dynamic growth design in existing companion robots.

[0009] In order to solve the above-mentioned technical problems, the present application specifically adopts the following technical solutions:

[0010] The first aspect of the present application is to provide a companion robot with a dynamic telescopic structure, comprising a main body, a dynamic telescopic mechanism is provided on the main body, the dynamic telescopic mechanism is used to drive the size change of the external structure, wherein the dynamic telescopic mechanism comprises:

[0011] A center turntable is rotationally connected to the main body, a plurality of sliding grooves are provided on the center turntable, a push rod is slidingly connected to the main body, an outer shell is fixedly connected to the side of the push rod away from the main body, a limiting piece is provided on the push rod, and the limiting piece can slide in the sliding groove.

[0012] In some embodiments, a protection mechanism is provided on the main body, the protection mechanism is used to provide driving for the dynamic telescopic mechanism, and can be rotated when impacted; the protection mechanism comprises a stepping motor, the stepping motor is fixedly connected in the main body; the output shaft of the stepping motor is connected with the center turntable.

[0013] In some embodiments, the sliding groove is provided with four, and the four sliding grooves are arranged in a circumferential array on the center turntable.

[0014] In some embodiments, the sliding groove is an arc-shaped sliding groove or a linear sliding groove.

[0015] In some embodiments, the linear sliding groove extends along the radial direction of the center turntable; or the linear sliding groove is parallel to the tangent of the center turntable.

[0016] In some embodiments, the output shaft of the stepping motor is fixedly connected with a driving rod, the driving rod is rotationally connected with a bottom connecting disc, the top of the bottom connecting disc is fixedly connected with a top connecting disc, and the center turntable is arranged between the top connecting disc and the bottom connecting disc.

[0017] In some embodiments, the outer wall of the driving rod is provided with a volute spring, one end of the volute spring is fixedly connected to the outer wall of the driving rod, and the other end of the volute spring is fixedly connected to the inner wall of the bottom connecting disc.

[0018] In some embodiments, the companion robot further comprises:

[0019] a pet type configuration module configured to provide a plurality of types of pets for a user, and match a corresponding growth cycle and a growth control strategy and / or a weight loss control strategy for the user when the user specifies any one of the pet types; wherein the growth cycle comprises at least one of an explosive growth phase, a rapid growth phase, a stable growth phase, and a stop growth phase;

[0020] an interaction module configured to perform human-computer interaction with the user and obtain human-computer interaction data; the interaction comprises daily feeding, performing a specific task, and an interactive level;

[0021] a control module configured to control the linkage type dynamic telescopic structure to expand or contract according to the human-computer interaction data, so that the form of the companion robot changes;

[0022] The control module specifically comprises:

[0023] a growth control unit configured to identify a type of the current interactive task completed by the user when the user completes the corresponding interactive task, and generate and send a first control signal to the driving device according to the growth cycle of the current pet and a growth control strategy; the growth control strategy comprises a preset expansion amount;

[0024] a weight loss control unit configured to determine that the user does not complete the interactive task as scheduled, and generate and send a second control signal to the driving device according to the growth cycle of the current pet and a weight loss control strategy; the weight loss control strategy comprises a preset contraction amount.

[0025] In some embodiments, the growth control strategy comprises: if it is daily feeding, identifying a current growth phase P j and a feeding cycle t i，j , and when the user completes the daily feeding a preset number of times within the feeding cycle t i，j , obtaining a first preset expansion amount corresponding to the current growth phase P j and the feeding cycle t i，j ; if it is a specific task, and when the user completes the specific task within a preset time, obtaining a second preset expansion amount corresponding to the specific task in the current growth phase P j ; if it is an interactive level, and when the user completes the interactive level, obtaining a third preset expansion amount corresponding to the interactive level in the current growth phase P jA corresponding third preset extension amount.

[0026] In some embodiments, the weight loss control strategy comprises: if daily feeding, identifying the current growth stage P j and the feeding cycle t i，j , and when the number of consecutive daily feeding times not completed by the user reaches a preset number threshold within the feeding cycle t i，j , obtaining a first preset contraction amount corresponding to the current growth stage P j and the current feeding cycle t i，j .

[0027] In some embodiments, the growth control unit is further configured to prompt the user whether to adopt a new pet when it is identified that the duration of the pet entering the old age stage exceeds a preset duration.

[0028] Advantages:

[0029] 1、The dynamic telescopic mechanism is arranged, when the push rod moves outward, the shell also expands outward, realizing the growth of the robot, and vice versa, when the push rod retracts, the shell also shrinks, so that the size of the robot is reduced, the robot can realize size change through mechanical structure, provides a growing type accompanying experience, makes it more emotional interaction, through external interaction such as user feeding, task completion triggers the shape change, makes the robot and the user establish a long-term interactive relationship, adopts a link type sliding chute mechanism, without complex sensors and electric control systems, only relying on mechanical structure can realize accurate shape change. Compared with existing accompanying robots, the structure is simpler.

[0030] 2、The protection mechanism is arranged, which plays a buffering role, when the robot is impacted, the buffering mechanism not only protects the equipment itself, but also provides a more stable and safe experience in the user's interaction. For example, when the robot has physical contact with the user, the buffering mechanism can reduce the perception of sudden collision, making the interaction more gentle and improving emotional connection. The buffering mechanism slows down and absorbs external force, making the robot's reaction more stable and gentle. Such design can eliminate the user's anxiety during interaction, making the interaction more smooth and natural.

[0031] 3. The invention patent application with publication number CN110125938A discloses a control method and robot for a robot, which controls the robot to generate by acquiring interaction data between the robot and a user and environment data thereof, including appearance change (e.g., height, weight, etc.) and / or skill upgrade, thereby mapping at least one of the environment in which the robot is located and the interaction between the robot and the user to the height change of the robot, so that the user can intuitively feel that the robot has grown under the user's care, thereby better enhancing the feelings between the user and the robot, so that the robot plays a better accompanying role. However, the above-mentioned robot is a personified robot, and both interaction data and environment data need to be mapped, and even the height change of different height users needs to be mapped, and skill upgrade is also needed, which undoubtedly makes the structure of the robot very complex and the cost very high, which is not conducive to mass popularization and promotion. In addition, it judges whether the growth condition is reached once a period (such as every day, every week or every month), and if it is reached, it controls the growth once. For example, it judges whether the interaction between the user and the robot meets the growth condition, or whether the environment data meets the growth condition, or whether the user's height information meets the growth condition, once a day, and if so, it controls the growth once. The robot provided in the present application is more used as a pet companion, so it does not emphasize its personification, but petification, and controls the growth and / or atrophy of the robot according to the growth law of different pets, so as to not only reflect the growth state of the pet, but also reflect the real state of human-computer interaction. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual proportion. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0033] Figure 1 The overall structure schematic diagram of the first embodiment of the accompanying robot of the present application;

[0034] Figure 2 The structure schematic diagram of an embodiment of the dynamic telescopic mechanism in the accompanying robot of the present application;

[0035] Figure 3 The structure schematic diagram of the main body inside in the accompanying robot of the present application;

[0036] Figure 4aFig. 4 is a schematic view showing the accompanying robot in the adult stage when the push rod is extended to the maximum stroke;

[0037] Figure 4b Fig. 5 is a schematic view showing the first sub-groove and the second sub-groove arranged on the center turntable;

[0038] Figure 4c Fig. 6 is a schematic view showing the accompanying robot in the maximum size when the push rod is extended to the communication position of the first sub-groove and the second sub-groove;

[0039] Figure 5 Fig. 7 is a schematic view showing the installation position of the driving device in the main body;

[0040] Figure 6 Fig. 8 is a schematic view showing the accompanying robot in the newborn stage when the push rod is retracted to the minimum stroke;

[0041] Figure 7 Fig. 9 is a structural schematic view of the cooperation between the slide groove on the center turntable, the slide rail on the main body and the push rod in the second embodiment of the accompanying robot of the present application;

[0042] Figure 8 Fig. 10 is a structural schematic view of the cooperation between the slide groove on the center turntable, the slide rail on the main body and the push rod in the third embodiment of the accompanying robot of the present application;

[0043] Figure 9 Fig. 11 is a distribution schematic view of the slide groove on the center turntable in the accompanying robot shown in Fig. 1; Figure 8

[0044] Fig. 12 is a distribution schematic view of the slide rail on the main body in the accompanying robot shown in Fig. 1; Figure 10 Figure 8 Fig. 13 is a structural schematic view of the push rod in the accompanying robot shown in Fig. 1;

[0045] Figure 11 Fig. 14 is a structural schematic view of the cooperation between the slide groove on the center turntable, the slide rail on the main body and the push rod in the fourth embodiment of the accompanying robot of the present application; Figure 8

[0046] Fig. 15 is a distribution schematic view of the slide groove on the center turntable in the accompanying robot shown in Fig. 14; Figure 12

[0047] Fig. 16 is a distribution schematic view of the slide rail on the main body in the accompanying robot shown in Fig. 14; Figure 13 Figure 12 Fig. 17 is a structural schematic view of the push rod in the accompanying robot shown in Fig. 14;

[0048] Figure 14 Figure 12 Fig. 18 is a structural schematic view of the cooperation between the slide groove on the center turntable, the slide rail on the main body and the push rod in the fifth embodiment of the accompanying robot of the present application;

[0049] Figure 15 Fig. 19 is a distribution schematic view of the slide groove on the center turntable in the accompanying robot shown in Fig. 18; Figure 12

[0050] ​​​Figure 16 Figure is the installation structure diagram of the upper limiting piece of the push rod in the accompanying robot of the present application;

[0051] Figure 17 Figure is the structure diagram of the protection mechanism in the present application;

[0052] Figure 18 Figure is the cross-sectional structure diagram of the bottom connecting disc in the present application;

[0053] Figure 19 Figure is the function module diagram of the control module of the accompanying robot of the present application.

[0054] In the figure: 1, main body; 2, dynamic telescopic mechanism; 21, center rotating disc; 22, sliding groove; 23, push rod; 230 sliding block; 24, shell; 25, limiting piece; 26, sliding rail; 3, protection mechanism; 4, stepping motor; 32, driving rod; 33, bottom connecting disc; 34, top connecting disc; 35, volute spring. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the present application.

[0056] In this document, the suffixes such as "module", "part" or "unit" used for an element are merely intended for facilitating the description of the present application, and are not intended to have a specific meaning or function. Therefore, "module", "part" or "unit" can be mixedly used.

[0057] In this document, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0058] In this document, unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connected" and the like should be understood in a broad sense, for example, "connected" can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, can be directly connected, or indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0059] In this document, "and / or" includes any and all combinations of one or more listed associated items.

[0060] In this document, "multiple" means two or more, that is, it includes two, three, four, five, etc.

[0061] Please refer to Figure 1 - Figure 6 As shown in the drawings, the present application provides a companion robot with a dynamic telescopic structure, which comprises a main body 1, and a dynamic telescopic mechanism 2 is arranged on the main body 1, and the dynamic telescopic mechanism 2 is used for driving the external structure to change in size, so as to realize dynamic adjustment of the form of the companion robot, and enhance the interactive experience and emotional connection of the user.

[0062] In some embodiments, referring to Figures 2-5 , the dynamic telescopic mechanism 2 comprises a center rotating disc 21 driven by a motor, the center rotating disc 21 is rotationally connected to the main body 1, a sliding groove 22 is arranged on the center rotating disc 21, a push rod 23 is slidingly connected to the main body 1, an outer shell 24 is fixedly connected to the side of the push rod 23 away from the main body 1, a limiting piece 25 is arranged on the end of the push rod 23 extending into the main body 1, and the limiting piece 25 is slidingly arranged in the sliding groove 22. Specifically, referring to Figure 3 , a plurality of sliding rails 26 are arranged in the main body 1 along the radial direction of the center rotating disc 21, and the push rod 23 is slidingly arranged on the sliding rails 26.

[0063] When the center disc 21 is driven to rotate by the power source, the sliding groove 22 drives the limiting piece 25 and the push rod 23 to reciprocate. Since the sliding groove 22 is arranged on the center disc 21, the sliding groove 22 rotates synchronously with the center disc 21. Since the limiting piece 25 is arranged on the push rod 23 and is in sliding fit with the sliding groove 22, when the center disc 21 rotates, the sliding groove 22 drives the limiting piece 25 to slide therein. Since the sliding groove 22 is not a complete circle but has a certain curvature, when the sliding groove 22 rotates, the limiting piece 25 moves along the sliding groove path, thereby driving the push rod 23 to move linearly on the sliding rail 26. Correspondingly, since the end of the push rod 23 away from the main body 1 is fixedly connected with the shell 24, when the push rod 23 moves outward, the shell 24 also expands outward, realizing the “growth” of the robot. Conversely, when the push rod 23 retracts, the shell 24 also shrinks, reducing the size of the robot. Referring to Figure 6 The robot can change the size through the mechanical structure, provide a “growing” companion experience, and make it more emotionally interactive. Through external interaction such as user feeding and task completion to trigger the shape change, the robot can establish a long-term interactive relationship with the user. The connecting rod type sliding groove mechanism does not need complex sensors and electrical control systems, and can realize accurate shape change only by relying on the mechanical structure.

[0064] In some embodiments, referring to Figure 1 and Figure 5 The main body 1 is provided with a protection mechanism 3. The protection mechanism 3 is used to drive the dynamic telescopic mechanism 2 and can rotate when impacted, thereby effectively reducing the damage of impact to other parts of the equipment and playing a protective role. Specifically, the protection mechanism 3 includes a stepping motor 4 fixedly connected in the main body 1 for providing driving force. The output shaft of the stepping motor 4 is fixedly connected with a driving rod 32. The outer wall of the driving rod 32 is rotatably connected with a bottom connecting disc 33. The top of the bottom connecting disc 33 is fixedly connected with a top connecting disc 34 through bolts. The center disc 21 is arranged between the top connecting disc 34 and the bottom connecting disc 33. After the top connecting disc 34 and the bottom connecting disc 33 are fastened by the bolts, the center disc 21 is clamped and fixed. The outer wall of the driving rod 32 is provided with a volute spring 35. One end of the volute spring 35 is fixedly connected to the outer wall of the driving rod 32. The other end of the volute spring 35 is fixedly connected to the inner wall of the bottom connecting disc 33.

[0065] In specific implementation, the stepping motor 4 drives the driving rod 32 to rotate. The driving rod 32 drives the bottom connecting disc 33 and the top connecting disc 34 to rotate through the volute spring 35. The bottom connecting disc 33 and the top connecting disc 34 drive the center disc 21 to rotate.

[0066] Referring to Figure 4aIn some embodiments, four arc-shaped sliding grooves 22 are arranged on the central rotating disc 21 in a circumferential array. Preferably, the limiting piece 25 is fixedly connected with the push rod 23 by bolts, facilitating the disassembly of the limiting piece 25 and the push rod 23, ensuring stable connection during normal operation, while providing flexible disassembly options. This design facilitates quick replacement of push rods 23 of different lengths or materials, suitable for different application requirements, such as adjusting the amplitude of robot size changes. Compared with an integrated structure, the bolted connection design is more flexible, avoiding overall scrapping and improving part reuse rate.

[0067] In some embodiments, when the shell 24 is impacted by external force, the shell 24 drives the push rod 23 and the limiting piece 25 to move towards the direction of the stepping motor 31, the limiting piece 25 drives the central rotating disc 21 to rotate, the central rotating disc 21 drives the bottom connecting disc 33 and the top connecting disc 34 to rotate, and the bottom connecting disc 33 drives the volute spring 35 to store force, playing a buffering role. When the robot is impacted, the buffering mechanism not only protects the device itself, but also provides a more stable and safe experience for users during interaction. For example, when the robot physically interacts with the user, this buffering mechanism can reduce the perception of sudden impact, making the interaction more gentle and enhancing emotional connection. When the robot interacts with the user, especially during the approach or contact process, sudden hard impact or violent movement of the robot may cause discomfort or surprise to the user. The buffering mechanism slows down and absorbs external force, making the robot's response more stable and gentle. Such design can eliminate the user's sense of unease during interaction, making the interaction more smooth and natural. Users will feel that the robot is more like a real and friendly existence, rather than a rigid and mechanical tool. Humans are naturally inclined to establish emotional connections with things that are gentle, caring, and kind. The robot's buffering mechanism shows "care" for the user by responding gently to external force impact. For example, when the user accidentally bumps into the robot, the robot responds like "caring" about the user's feelings through the buffering mechanism, avoiding discomfort for the user. This delicate response makes the robot more like a reliable companion. With long-term interaction between the robot and the user, the stabilizing effect of the buffering mechanism in each contact gradually accumulates, and the user's affection and dependence on the robot will continue to increase. This smooth and delicate way of interaction makes the robot gradually become a kind and reliable partner in the user's daily life.

[0068] Correspondingly, when the external force generated by the collision disappears, the stepping motor 4 is driven again to rotate, so that the push rod 23 is reset to the original position.

[0069] Embodiment 2: The present application also provides another companion robot, which comprises the components in Embodiment 1 above, except that the slide groove 22 in this embodiment is a linear slide groove, and the movement stroke of the push rod 23 is smaller compared with the arc-shaped slide groove, i.e. the maximum size of the deformation of the companion robot is smaller, and this kind of companion robot is more suitable for the living environment with limited surrounding environment.

[0070] Specifically, referring to Figure 7 , the center rotating disc 21 is provided with a plurality of linear slide grooves 22 along the radial direction.

[0071] Referring to Figure 8 and Figure 9 , in some other embodiments, the linear slide grooves 22 are uniformly spaced along the circumferential direction of the center rotating disc 21, and the extension direction of the slide groove 22 is parallel to the tangent line at the corresponding position of the center rotating disc 21; correspondingly, referring to Figure 10 , the main body 1 is provided with a plurality of slide rails 26 along the radial direction of the center rotating disc 21, so that when the center rotating disc 21 rotates, the slide groove 22 drives the positioning member 25, thereby driving the push rod 23 to slide on the slide rail 26, realizing extension or contraction.

[0072] Further, since the slide groove 22 is not arranged along the radial direction of the center rotating disc 21, in order to ensure the stable sliding of the push rod 23 without deviation, the slide rail 26 is arranged as a groove, and correspondingly, the bottom of the push rod 23 is provided with a sliding block 230 which can slide in the groove, so that the push rod 23 can stably slide on the slide rail during the movement of the slide groove 22 pushing the positioning member 25.

[0073] Referring to Figure 12 , in some other embodiments, a plurality of linear slide grooves 22 extend along the radial direction of the center rotating disc 21, and correspondingly, a slide rail 26 perpendicular to the extension direction of the slide groove 22 is arranged on the main body 1 corresponding to the position of each slide groove 22.

[0074] Preferably, the slide rail 26 comprises two first protrusions 261 and second protrusions 262 arranged in parallel and protruding upward from the upper surface of the main body 1, and the push rod 23 can slide in the channel formed between the first protrusions 261 and the second protrusions 262.

[0075] Embodiment 3: The present application also provides another companion robot, which comprises the components in Embodiment 1 or 2 above, except that referring to Figure 4b , the slide groove 22 on the center rotating disc 21 of the companion robot in this embodiment comprises a first sub-groove 22-1 and a second sub-groove 22-2, so as to adapt to the size change of pets with different body types or different growth periods.

[0076] For example, when the pet currently adopted by the user is large in size and has a long growth cycle, in the initial state, the positioning member 25 is located at one end of the first sub-slot 22-1 close to the center of the center disc 21. When the center disc 21 rotates (for example, the motor rotates in the forward direction to drive the center disc 21 to rotate), the positioning member 25 moves to the joint between the first sub-slot 22-1 and the second sub-slot 22-2, as shown in FIG. 2B. Figure 4c At this time, the maximum size is reached.

[0077] When the pet currently adopted by the user is small in size and has a short growth cycle, in the initial state, the positioning member 25 is located at one end of the second sub-slot 22-2 close to the center of the center disc 21. When the center disc 21 rotates (for example, the motor rotates in the reverse direction to drive the center disc 21 to rotate), the positioning member 25 moves to the joint between the first sub-slot 22-1 and the second sub-slot 22-2, as shown in FIG. 2C. Figure 4c At this time, the maximum size is reached.

[0078] In some embodiments, the control module specifically includes:

[0079] In some embodiments, the control module specifically includes: Figure 19

[0080] The pet type configuration module is configured to provide a plurality of types of pets for the user, and when the user specifies any pet type, match the corresponding growth cycle and its growth control strategy and / or weight loss control strategy; wherein the growth cycle includes at least one of the following: explosive growth stage, rapid growth stage, stable growth stage, and stop growth stage.

[0081] The growth control unit is configured to identify the type of the current completed interactive task when the user completes the corresponding interactive task, and generate and send a first control signal to the driving device according to the growth cycle of the current pet and its growth control strategy; the growth control strategy includes a preset expansion amount.

[0082] The weight loss control unit is configured to judge that the user does not complete the interactive task as scheduled, and generate and send a second control signal to the driving device according to the growth cycle of the current pet and its weight loss control strategy; the weight loss control strategy includes a preset contraction amount. ​

[0083] In some embodiments, the above growth control strategy comprises:

[0084] If it is daily feeding, the current growth stage P j and feeding period t i，j are identified i，j , and when the user completes the daily feeding number of times reaches a preset feeding number of times within the feeding period t j , the first preset extension amount corresponding to the current growth stage P i，j and feeding period t j is obtained.

[0085] If it is a specific task, and when the user completes the specific task within a preset time, the second preset extension amount corresponding to the specific task in the current growth stage P j is obtained.

[0086] If it is an interactive level, and when the user completes the interactive level, the third preset extension amount corresponding to the interactive level in the current growth stage P j is obtained.

[0087] Under the premise of normal feeding, any pet has its own growth cycle, and different growth stages in its growth cycle, and different growth rates in each growth stage, and does not always grow at a predetermined speed. For example, the growth cycle of mammals (common pets such as cats and dogs) includes: the puppy period (i.e. the explosive growth stage), the juvenile period (the rapid growth stage, but the growth speed is slower than that of the puppy period), the adult period (the stop growth stage), and the old age period. By setting the corresponding growth rate for each growth stage according to the growth cycle of the pet, not only is it more close to the growth form of the pet, but also the user can start feeding from the newborn period, and when they gradually see the growth form change from the newborn period, their sense of achievement can be increased, and it is also more convenient for the establishment of emotional connection. Moreover, by providing the user with the selection of different pet types, the user can experience the growth process of different pets through one robot.

[0088] In some embodiments, the above weight loss control strategy comprises: if it is daily feeding, the current growth stage P j and feeding period t i，j are identified i，j , and when the user does not complete the daily feeding number of times reaches a preset number of times threshold within the feeding period t j , the first preset contraction amount corresponding to the current growth stage P j and the current feeding period ti, j is obtained.

[0089] Generally, under normal feeding conditions, the growth state of a pet, such as a dog or a cat, is normal, but if the user forgets to feed, especially for a long time, the pet will become emaciated, or a serious illness in a certain period of time can also cause the pet to change in size, such as becoming emaciated, therefore, in order to more truly reflect the user's care for the pet, once it is found that the user has not fed normally, the "emaciation" morphological change is realized by retracting the push rod.

[0090] Of course, further, the specific retraction amount and / or the reason for retraction can also be sent to the user's mobile terminal through the interaction module or the control module, thereby reminding the user to feed in time.

[0091] As mentioned above, a pet has a growth cycle and a life cycle, therefore, the pet cannot always accompany the user, and thus, in this embodiment, when it is identified that the length of time that the current pet enters the old age stage exceeds a preset length of time (specifically, the preset length of time is based on the average life span of the pet in the old age stage), the user is prompted as to whether to adopt a new pet.

[0092] Of course, further, when it is identified that the length of time that the current pet enters the old age stage exceeds a preset length of time, the drive is automatically controlled to reset the push rod 23, and the user is prompted to adopt a pet whose life has ended.

[0093] Further, once the user chooses to adopt a new pet, it is determined whether the newly adopted pet is the same as the previously adopted pet (not only the same type, but also the same breed, for example, both are dogs, and both are teddy bears), and if so (not only the same type, but also the same breed, for example, both are dogs, and both are teddy bears), the growth control method can refer to the above embodiments, which will not be described here.

[0094] If not (including the same type, but different breeds, for example, both are dogs, but the newly adopted pet is a husky; or different types, for example, the newly adopted pet is a cat), the corresponding growth cycle and growth control strategy and / or emaciation control strategy are automatically matched for it in the database.

[0095] Further, since different pets have different growth cycles, although the growth rate can be controlled to reflect the difference in the growth cycle, in order to reflect the change in the size of different pets, the total length of the movable path of the push rod can be used for division. For example, taking the pet first adopted by the user as a reference, the growth cycle of the pet corresponds to the total length of the movable path of the push rod, that is, the two ends of the chute 2 correspond to the starting point and the end point of the entire growth process of the pet, and the growth cycle of the pet corresponds to the total length of the movable path of the push rod. If the size of the newly adopted pet is smaller, one end of the chute 2 corresponds to the starting point of the entire growth process of the pet, and a specified position of the chute 2, for example, the middle part of the chute, corresponds to the end point of the entire growth process of the pet (that is, after reaching the position, the size of the pet will no longer increase, but can decrease).

[0096] In other embodiments, referring to Figure 4b and Figure 4c , the center turntable 21 is provided with two first sub-slots 22-1 and second sub-slots 22-2 extending from the center of the center turntable 21 to the edge of the center turntable 21 and communicating. When the pet first adopted by the user is large in size and has a long growth cycle, in the initial state, the positioning member 25 is located at one end of the first sub-slot 22-1 close to the center of the center turntable 21; when the growth process is controlled according to the growth control strategy and the weight loss control strategy described above, the center turntable 21 rotates (for example, the motor rotates in the forward direction to drive the center turntable 21 to rotate), so that the positioning member 25 moves to the joint of the first sub-slot 22-1 and the second sub-slot 22-2, and reaches the maximum size, referring to Figure 4c . Of course, further, in order to prevent the positioning member 25 from continuing to slide into the second sub-slot 22-2 after reaching the maximum size without weight loss, a camera can be provided to obtain images, and the control module can analyze the current position of the positioning member 25 according to the images taken, and whether the current position enters the second sub-slot 22-2 (a demarcation mark can be previously set between the first sub-slot and the second sub-slot to assist in judging whether the positioning member is out of bounds), if so, the motor is controlled to reverse so that the positioning member returns to the joint of the two sub-slots.

[0097] When the pet adopted by the user again is small in size and has a short production cycle, in the initial state, the positioning member 25 is located at one end of the second sub-slot 22-2 close to the center of the center turntable 21; when the growth process is controlled according to the growth control strategy and the weight loss control strategy described above, the center turntable 21 rotates (for example, the motor rotates in the reverse direction to drive the center turntable 21 to rotate), so that the positioning member 25 moves to the joint of the first sub-slot 22-1 and the second sub-slot 22-2, and reaches the maximum size, referring to Figure 4c . Similarly, in order to prevent the positioning member 25 from continuing to slide into the first sub-slot 22-2 after reaching the maximum size without weight loss, a camera can be provided to obtain images, and the control module can analyze the current position of the positioning member 25 according to the images taken, and whether the current position enters the second sub-slot 22-2 (a demarcation mark can be previously set between the first sub-slot and the second sub-slot to assist in judging whether the positioning member is out of bounds), if so, the motor is controlled to reverse so that the positioning member returns to the joint of the two sub-slots.

[0098] It should be noted that, in this document, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0099] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, also can be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of software product, and the computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a plurality of instructions to make a computer terminal (may be mobile phone, computer, server, or network equipment, etc.) execute the method described in various embodiments of the present application.

[0100] The embodiments of the present application are described above in conjunction with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims.

Claims

1. A companion robot having a dynamic stretch structure, comprising a main body (1), characterized in that: The main body (1) is provided with a dynamic telescopic mechanism (2), which is used to drive the size change of the external structure, wherein the dynamic telescopic mechanism (2) comprises: A center rotating disc (21) is rotationally connected to the main body (1), and a plurality of sliding grooves (22) are arranged on the center rotating disc (21); a push rod (23) is slidingly connected to the main body (1), and an outer shell (24) is fixedly connected to the side of the push rod (23) away from the main body (1); a limiting piece (25) is arranged on the push rod (23) and can slide in the sliding groove (22); The main body (1) is provided with a protection mechanism (3), which is used to drive the dynamic telescopic mechanism (2) and can rotate when impacted; the protection mechanism (3) comprises a stepping motor (4) fixedly connected in the main body (1); the output shaft of the stepping motor (4) is connected with the center rotating disc (21); The companion robot further comprises: A pet type configuration module is configured to provide a plurality of types of pets for a user, and when the user specifies any pet type, match the corresponding growth cycle and its growth control strategy and / or weight loss control strategy; wherein the growth cycle comprises at least one of the following: explosive growth stage, rapid growth stage, stable growth stage, and stop growth stage; An interaction module is configured to perform human-computer interaction with the user and obtain human-computer interaction data; the interaction includes daily feeding, executing specific tasks, and interactive levels; A control module is configured to control the dynamic telescopic structure to expand or contract according to the human-computer interaction data, so that the form of the companion robot changes; The control module specifically comprises: A growth control unit is configured to identify the type of the current completed interaction task when the user completes the corresponding interaction task, and generate and send a first control signal to the driving device according to the growth cycle of the current pet and its growth control strategy; the growth control strategy includes a preset expansion amount; A weight loss control unit is configured to determine that the user does not complete the interaction task as scheduled, and generate and send a second control signal to the driving device according to the growth cycle of the current pet and its weight loss control strategy; the weight loss control strategy includes a preset contraction amount. The growth control strategy includes: if daily feeding, identifying a current growth stage P j and a feeding cycle t i，j , and when the user completes daily feeding a preset number of times within the feeding cycle t i，j , obtaining a first preset stretch amount corresponding to the current growth stage P j and the feeding cycle t i，j ; if a specific task, and when the user completes the specific task within a preset time, obtaining a second preset stretch amount corresponding to the specific task in the current growth stage P j ; if an interactive level, and when the user completes the interactive level, obtaining a third preset stretch amount corresponding to the interactive level in the current growth stage P j . The weight loss control strategy comprises: if daily feeding, identifying a current growth stage P j and a feeding cycle t i，j , and if a continuous number of feeding times not completed by the user reaches a preset number threshold within the feeding cycle t i，j , obtaining a first preset shrinkage corresponding to the current growth stage P j and the current feeding cycle t i，j .

2. The companion robot having a dynamic stretch structure according to claim 1, characterized by: The sliding grooves (22) are arranged in a circumferential array on the center rotating disc (21). 3.The companion robot having a dynamic stretch structure according to claim 1, characterized in that: The sliding grooves (22) are arc-shaped sliding grooves or linear sliding grooves.

4. The companion robot having a dynamic stretch structure according to claim 3, characterized by: The linear sliding grooves extend along the radial direction of the center rotating disc (21); or the linear sliding grooves are parallel to the tangent line of the center rotating disc (21).

5. The companion robot having a dynamic stretch structure according to claim 1, characterized by: The output shaft of the stepping motor (31) is fixedly connected with a driving rod (32), the driving rod (32) is rotationally connected with a bottom connecting disc (33), the top of the bottom connecting disc (33) is fixedly connected with a top connecting disc (34), and the center rotating disc (21) is arranged between the top connecting disc (34) and the bottom connecting disc (33).

6. The companion robot having a dynamic stretch structure according to claim 5, characterized by: The outer wall of the driving rod (32) is provided with a volute spring (35), one end of the volute spring (35) is fixedly connected to the outer wall of the driving rod (32), and the other end of the volute spring (35) is fixedly connected to the inner wall of the bottom connecting disc (33).

7. The companion robot having a dynamic stretch structure according to claim 1, characterized by, The growth control unit is further configured to prompt the user whether to re-adopt a new pet when it is identified that the time length of the current pet entering the old age stage exceeds a preset time length.

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