A companion robot

Abstract

The application provides a companion robot, which comprises a first shell, a second shell, an interaction module and a main control module; the first shell comprises a cover body part provided with a cover plate, and the cover body part and the cover plate form a first containing cavity; the second shell comprises a first foot, a second foot and a third foot, the end of the first foot is provided with a first wheel, the end of the second foot is provided with a second wheel, and the end of the third foot is provided with a third wheel; the first shell and the second shell are oppositely arranged along a first direction, and the first shell is rotationally connected with the second shell; the interaction module is arranged on the first side of the cover plate along a second direction; and the main control module is arranged in the first containing cavity. The first shell and the second shell are designed in a layered manner and are rotationally connected, and the structure is flexible; the first shell is provided with light-weight modules, and the second shell is provided with three feet and wheels, so that the center of gravity of the companion robot is lowered, the motion is more stable, and the companion robot is not prone to falling.

Description

Technical Field

[0001] This application relates primarily to the field of robotics, and more particularly to a companion robot. Background Technology

[0002] With the trend towards smaller family structures and a continued rise in the proportion of dual-income families in my country, the demand for home-based companionship and safety monitoring for children and pets is becoming increasingly prominent. Traditional human care models face multiple challenges in terms of time, energy, and professionalism, especially when parents cannot be present in real time. Ensuring the safety of children and pets has become a focus of widespread social concern.

[0003] Existing legless or bipedal companion robots have the disadvantages of being bulky and having an unstable center of gravity, making them prone to tipping over due to collisions or other reasons during companionship.

[0004] Therefore, there is an urgent need for a small, flexible, stable, and non-tipping companion robot that can provide real-time companionship for family members or pets. Summary of the Invention

[0005] This application addresses the technical problem of companion robots being bulky and prone to tipping over by providing a companion robot. The companion robot includes: a first shell, which includes a cover portion with a cover plate, the cover portion and the cover plate forming a first receiving cavity; a second shell, which includes a first foot, a second foot, and a third foot, the end of the first foot being equipped with a first wheel, the end of the second foot being equipped with a second wheel, and the end of the third foot being equipped with a third wheel; the first shell and the second shell are disposed opposite each other along a first direction and are rotatably connected; an interaction module, which is disposed on a first side of the cover plate along a second direction, and is configured to output interaction information to an interaction object and / or receive first input information from the interaction object; and a main control module, which is disposed within the first receiving cavity, electrically connected to the interaction module, and is configured to output first control information to the interaction module and / or receive first input information from the interaction module.

[0006] In one embodiment of this application, the first foot includes a first motor connected to a first wheel, and the first motor is configured to drive the first wheel to rotate; the second foot includes a second motor connected to a second wheel, and the second motor is configured to drive the second wheel to rotate; the third wheel is a driven wheel.

[0007] In one embodiment of this application, the first foot and the second foot are disposed in front of the second housing along the second direction, and the first foot and the second foot are symmetrically disposed; the third foot is disposed behind the second housing.

[0008] In one embodiment of this application, the diameter of the third wheel is smaller than the diameter of the first wheel and the second wheel; the first wheel includes a first rotating axis, the second wheel includes a second rotating axis, and the third wheel includes a third rotating axis; the first rotating axis has a first height along a first direction, the second rotating axis has a second height along the first direction, and the third rotating axis has a third height along the first direction; the first height, the second height, and the third height are equal.

[0009] In one embodiment of this application, the third foot further includes a wheel cover that at least partially covers the third wheel. The wheel cover is spherical in shape and has the same diameter as the first and second wheels.

[0010] In one embodiment of this application, the first foot includes a first extension segment and a second extension segment, the first extension segment being connected to the second extension segment, the first extension segment extending along a first preset direction, and the second extension segment extending along a third direction, the first extension direction having a directional component along at least one of the first direction, the second direction, and the third direction; the second foot includes a third extension segment and a fourth extension segment, the third extension segment being connected to the fourth extension segment, the third extension segment extending along a second preset direction, and the fourth extension segment extending along a third direction, the second preset direction having a directional component along at least one of the first direction, the second direction, and the third direction.

[0011] In one embodiment of this application, a first infrared transceiver module is provided below the cover plate along a first direction, a second infrared transceiver module is also provided on the first foot, and a third infrared transceiver module is also provided on the second foot. The first, second, and third infrared transceiver modules are configured as a positioning charging base.

[0012] In one embodiment of this application, the cover body is ellipsoidal and the cover plate is elliptical.

[0013] In one embodiment of this application, the cover portion is further provided with an irregularly shaped mounting notch along the second direction. The edge contour of the irregularly shaped mounting notch includes an arc segment, and the arc segment is smoothly connected to the ellipsoidal surface of the cover portion. The cover plate is further provided with an irregularly shaped extension portion, which includes a protrusion protruding along the first direction. The irregularly shaped extension portion is engaged with the irregularly shaped mounting notch.

[0014] In one embodiment of this application, the cover body is provided with ear structures on both the first and second sides along a third direction; the ear structure includes an inner lining, which is provided with multiple spaced ribs; the ear structure also includes an ear-shaped member, which is rotatably connected to the cover body through a rotating connection structure, and the ear-shaped member is also provided with an indicator light.

[0015] In one embodiment of this application, a sound source positioning hole is provided at the top of the cover part along the first direction, and the sound source positioning hole is used to install a sound source positioning module.

[0016] In one embodiment of this application, the cover portion is provided with an ear structure on a first side and a second side along a third direction; the ear structure includes a plurality of grooves, and a plurality of indicator lights are respectively installed in the plurality of grooves.

[0017] In one embodiment of this application, a sound-emitting hole is provided on the rear side of the cover portion along the second direction, and the sound-emitting hole is used to transmit the sound waves generated by the sound-emitting module.

[0018] In one embodiment of this application, a first mounting base is further provided at the top of the cover portion along the first direction, and the mounting base is used to mount the interactive stick.

[0019] In one embodiment of this application, the second housing is cylindrical, and a connecting rod is provided on the second housing along a first direction. The diameter of the connecting rod is smaller than the diameter of the second housing. A servo motor is provided at the top of the connecting rod, and the first housing and the second housing are rotatably connected by the servo motor.

[0020] In one embodiment of this application, the second housing has a second receiving cavity for accommodating a battery; a second mounting base is disposed above the second housing along a first direction, the second mounting base is disposed around the second housing, and the second mounting base is provided with a plurality of mounting holes for fixing and mounting light-emitting electronic components.

[0021] In one embodiment of this application, the companion robot further includes: a camera module disposed above the cover plate along a first direction, the camera module being configured to collect image information; a main control module electrically connected to the camera module, the main control module being further configured to output second control information to the camera module and / or receive image information from the camera module.

[0022] Compared with the prior art, this application has the following advantages: the first shell and the second shell are designed in layers and can be rotatably connected, which makes the structure ingenious; the first shell is equipped with a lightweight interaction module and main control module, and the second shell is equipped with three legs and wheels, which makes the center of gravity of the companion robot lower, making it more stable during movement and less prone to tipping over. Attached Figure Description

[0023] The accompanying drawings are included to provide a further understanding of this application; they are incorporated into and constitute a part of this application. The drawings illustrate embodiments of this application and, together with this specification, serve to explain the principles of this application. In the drawings: Figure 1 This is a three-dimensional schematic diagram of a companion robot provided in one embodiment of this application; Figure 2 This is a cross-sectional view of the second housing provided in an embodiment of this application along the plane containing the first and second directions; Figure 3 This is an embodiment provided by this application. Figure 1 A sectional view along the plane containing the first direction and the third direction; Figure 4 This is a rear view of a cover plate provided in one embodiment of this application; Figure 5 This is a front view of a companion robot provided in one embodiment of this application; Figure 6 This is a rear view of a companion robot provided in one embodiment of this application; Figure 7 This is a top view of a companion robot provided in one embodiment of this application; Figure 8 This is a bottom view of a companion robot provided in one embodiment of this application; Figure 9 This is another bottom view of the companion robot provided in one embodiment of this application; Figure 10 This is another perspective view of the companion robot provided in one embodiment of this application; Figure 11 This is another perspective view of the companion robot provided in one embodiment of this application; Figure 12 This is a perspective view of another cover plate provided in one embodiment of this application; Figure 13 This is another perspective view of another cover plate provided in an embodiment of this application.

[0024] Figure label: Companion robot, 100; First shell, 110; Cover part, 111; Irregular mounting notch, 1111; Arc segment, 1112; Cover plate, 112; Irregular extension part, 1121; Ear structure, 114; Liner part, 1141; Ear-shaped component, 1142; Rib, 1144; Annular connector, 1143; Groove, 1145; Main body part, 1146; Front end part, 1147; Rear end part, 1148; Annular light transmission hole, 1149; Sound source positioning hole, 115; First sound source positioning hole, 11 51; Second sound source positioning hole, 1152; Third sound source positioning hole, 1153; Fourth sound source positioning hole, 1154; Sound wave collecting hole, 1155; Sound emitting hole, 116; Interactive rod, 117; First side of cover plate, 118; Second shell, 120; First foot, 121; First wheel, 1211; First extension section, 1214; Second extension section, 1215; Second foot, 122; Second wheel, 1221; Third extension section, 1224; Fourth extension section, 1225; Third foot, 123; Third wheel 1231; Fifth extension section, 1234; Wheel cover, 1235; Connecting rod, 124; Second mounting base, 126; Second charging interface, 127; First direction, x; Second direction, y; Third direction, z; Interaction module, 128; Infrared laser, 1281; Annular protrusion, 1123; Protrusion, 1125; Power switch, 101; WiFi signal button, 102; First charging interface, 103; First charging plate, 1031; Second charging plate, 1032; First infrared transceiver module, 11 26; Second infrared transceiver module, 104; Third infrared transceiver module, 105; First receiving cavity, 119; Second receiving cavity, 129; Servo motor, 106; Connecting hole, 107; Second mounting base, 108; Interaction module mounting hole, 1127; Camera module mounting hole, 1128; First infrared transceiver module mounting hole, 1126; Rotary shaft mounting component, 130; Second gear, 131; First gear, 1061; Screw, 132; Servo motor mounting component, 133; Rotary shaft, 134; Communication card mounting part, 135. Detailed Implementation

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0026] As indicated in this application, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0027] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0028] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0029] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0030] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0031] This application provides a companion robot 100, which can be used to accompany the elderly, teenagers, children, or pets. Figures 1-3 As shown, the companion robot 100 includes: a first housing 110, the first housing 110 including a cover portion 111, the cover portion 111 being provided with a cover plate 112, the cover portion 111 and the cover plate 112 forming a first receiving cavity 119; a second housing 120, the second housing 120 including a first foot 121, a second foot 122 and a third foot 123, the end of the first foot 121 being equipped with a first wheel 1211, the end of the second foot 122 being equipped with a second wheel 1221, and the end of the third foot 123 being equipped with a third wheel 1231; the first housing 110 and the second housing 120 are connected along the first... The first housing 110 and the second housing 120 are rotatably connected in a direction x, with the two housings 110 and 120 respectively. An interaction module 128 is disposed on the first side 118 of the cover plate 112 along the second direction z. The interaction module 128 is configured to output interactive information to the interactive object and / or receive first input information from the interactive object. A main control module (not shown) is disposed within the first receiving cavity 119 and is electrically connected to the interaction module 128. The main control module is configured to output first control information to the interaction module 128 and / or receive first input information from the interaction module. In this application, the first direction x, the second direction y, and the second direction z are perpendicular to each other and orthogonal to each other. From the user's perspective facing the interaction module 128, the first direction x refers to the vertical direction of the companion robot 100, the second direction y refers to the front-back direction of the companion robot 100, and the third direction z refers to the left-right direction of the companion robot 100.

[0032] The companion robot 100 has a simple and clear structural design, consisting of a first shell 110 and a second shell 120 arranged vertically along a first direction x. The first shell 110 and the second shell 120 are rotatably connected, allowing the first shell 110 to rotate relative to the second shell 120. With this design, the companion robot 100 can perform human-like nodding and silent movements using control algorithms. The first shell 110 includes a cover portion 111, which is provided with a cover plate 112. The cover portion 111 is hollow, forming a first receiving cavity 119 with the cover plate 112. The main control module is placed in this first receiving cavity 119, which can reduce external interference and make the operation of the main control module more stable.

[0033] Continue to refer to Figures 1-3 As shown, the second housing 120 includes a first leg 121, a second leg 122, and a third leg 123. A first wheel 1211 is mounted at the end of the first leg 121, a second wheel 1221 is mounted at the end of the second leg 122, and a third wheel 1231 is mounted at the end of the third leg 123. By mounting the drive structure of the companion robot 100 to the second housing 120, and mounting the lighter interaction module 128 and main control module to the first housing 110, the center of gravity of the companion robot 100 can be lowered, making it more stable during operation and less prone to tipping over.

[0034] Continue to refer to Figure 1 , Figure 4 and Figure 5 As shown, the interaction module 128 is disposed on the first side 118 of the cover plate 112 along the second direction y. The cover plate 112 is provided with an interaction module mounting hole 1127 for placing the interaction module 128. The interaction module 128 is configured to output interactive information to an interactive object and / or receive first input information from the interactive object. In some embodiments, the interactive object may be a person or a pet, and the interaction module 128 may be a display screen and a touch panel. The touch panel is disposed above the display screen along the second direction y. The output interactive information refers to the image content output by the display screen to the interactive object, and the first input information refers to the input information obtained by the person or pet by touching the touch panel. In some embodiments, the interaction module 128 may be a touch screen, and the first input information is the input information obtained directly by the interactive object touching the touch screen.

[0035] In another embodiment, reference Figure 11 and Figure 13As shown, the interaction module 128 is a combination of various light-emitting devices, such as multiple LEDs (not shown) and an infrared laser 1281. A glass cover (not shown) is positioned in front of the LEDs and the infrared laser 1281 along the second direction y. The output interaction information can be the operating status of the LEDs and the infrared laser 1281. The LEDs can be constantly on, off, or flashing according to a certain pattern, and the infrared laser 1281 can also be constantly on, off, or flashing according to a certain pattern. When the interaction object is a pet, the beam emitted by the infrared laser 1281 can attract the pet's attention, thus teasing it. In some embodiments, combined with... Figure 1 , Figure 4 and Figure 5 As shown, the circumferential edge of the cover plate 112 is provided with an annular protrusion 1123. It can be imagined that the annular protrusion 1123 and the cover plate 112 form a mounting groove. The touch panel and the cover glass can be set in the mounting groove. With this design, the touch panel and the cover glass will not have any raised parts relative to the cover plate 112 after installation, making the companion robot 100 more aesthetically pleasing.

[0036] In one embodiment of this application, such as Figure 1 and Figure 4 The companion robot also includes: a camera module (not shown), which is positioned above the cover plate 112 along the first direction x, and is configured to collect image information; a main control module is electrically connected to the camera module, and is also configured to output second control information to the camera module and / or receive image information from the camera module. The camera module is installed and positioned above the cover plate 112 along the first direction x, for example, above the interaction module. The cover plate 112 has a camera module mounting hole 1128 for mounting a camera. The camera module can be various types of cameras, or a combination of a camera, a fill light, and a photoresistor. The camera module is configured to collect image information, and with algorithm control, it can achieve functions such as video chat, image recognition, interactive object tracking, and automatic navigation.

[0037] In some embodiments, reference Figure 1 and Figure 11The main control module includes at least one of a microcontroller (MCU), a central processing unit (CPU), a graphics processing unit (GPU), a programmable logic device (FPGA), and an application-specific integrated circuit (ASIC). The main control module also includes related circuits for the aforementioned processors and integrated circuits. Furthermore, the main control module includes various interfaces and terminals for circuit connections. The main control module can output various control information to other circuit modules and receive input information from other modules to perform functions such as drive control, emotion expression, voice interaction, behavior monitoring, and logic control of the companion robot 100. The main control module outputting first control information to the interaction module 128 refers to controlling the working state of the interaction module 128, such as whether to output content to be displayed, or controlling the working mode of the LED lights and infrared laser 1281. The main control module outputting second control information to the camera module refers to controlling the camera module to turn on or off; after acquiring image information, the camera module inputs the acquired image information to the main control module.

[0038] In some embodiments, reference Figures 1-4 and Figure 13 As shown, a first infrared transceiver module (not shown) is disposed below the cover plate 112 along the first direction x. A second infrared transceiver module 104 is also disposed on the first foot 121, and a third infrared transceiver module 105 is also disposed on the second foot. The first, second, and third infrared transceiver modules 104 and 105 are configured as a positioning and charging base. The first infrared transceiver module is disposed below the cover plate 112 along the first direction x. The cover plate is provided with a first infrared transceiver module mounting hole 1126 for placing the first infrared transceiver module. The first, second, and third infrared transceiver modules 104 and 105 can be used to detect the movement direction of the companion robot 100 or obstacles in the surrounding environment. The charging dock also features a fourth infrared transceiver module. With the cooperation of the first, second, third, and fourth infrared transceiver modules (104, 105, and 105) and the control of software algorithms, the companion robot can automatically locate the charging dock and connect to it for charging. The main control module is electrically connected to the first, second, and third infrared transceiver modules (104, 105) and controls their activation, deactivation, and reception and processing of transmitted information.

[0039] In one embodiment of this application, such as Figure 1As shown, the first leg 121 includes a first motor (not shown), which is connected to the first wheel and configured to drive the first wheel to rotate. The second leg 122 includes a second motor (not shown), which is connected to the second wheel and configured to drive the second wheel to rotate. The third wheel is a driven wheel. The first motor is located at the end of the first leg 121 and connected to the first wheel 1211, and can drive the first wheel 1211 to rotate. The second motor is located at the end of the second leg 122 and connected to the second wheel 1221, and can drive the second wheel 1221 to rotate. The main control module is electrically connected to the first and second motors and is also configured to control the rotation of the first and second motors. A third motor can be located at the end of the third leg 123, which is connected to the third wheel 1231 and drives the third wheel to rotate. At this time, the main control module is also electrically connected to the third motor and controls the rotation of the third motor. The companion robot 100 can be driven by three motors.

[0040] In some embodiments of this application, the end of the third leg 123 may not have a third motor, but only a third wheel 1231, which is a driven wheel. When the third wheel 1231 is a driven wheel, the first motor drives the first wheel 1211 to rotate, and the second motor drives the second wheel 1221 to rotate, thereby driving the movement of the companion robot. The third wheel 1231 rotates following the movement of the companion robot 100. The companion robot 100 uses the differential motion of the first wheel 1211 and the second wheel 1221 to achieve the movement and turning of the companion robot 100. Compared with the gait movement scheme of quadruped robots that uses multi-joint leg mechanisms, the companion robot 100 of this application can reduce the number of drive mechanisms and transmission mechanisms, and reduce the complexity of mechanical structure and control. At the same time, the differential control of the first wheel 1211 and the second wheel 1221 can achieve turning movements with a smaller turning radius, improving the robot's mobility in indoor and narrow passage scenarios. In addition, the three-point support structure helps to reduce the problem of uneven force distribution among multiple support points, thereby improving the support stability of the companion robot 100 during ground movement.

[0041] In some embodiments, such as Figures 1-7As shown, the first wheel 1211 and the second wheel 1221 are positioned at the front of the second housing 120, symmetrically arranged; the third wheel 1231 is positioned at the rear of the second housing 120. Specifically, the first wheel 1211 and the second wheel 1221 are positioned at the lower front of the second housing 120, and the third wheel 1231 is positioned at the lower rear of the second housing 120. It can be imagined that the first wheel 1211, the second wheel 1221, and the third wheel 1231 respectively contact the ground to form a first support point, a second support point, and a third support point. These three support points connect to form a support triangle, and the projection of the companion robot 100's center of gravity onto the ground lies within this support triangle. Since three points define a plane, all three wheels can simultaneously contact the ground during the companion robot 100's movement, ensuring the stability of the companion robot 100. The companion robot 100 uses a first wheel 1211 and a second wheel 1221 for drive, which is a differential control system. This allows the companion robot 100 to rotate on the spot around its own axis and turn around in confined spaces, improving its flexibility. Moreover, the three-wheel setup is simpler in mechanical structure than a four-wheel setup, reducing the cost and weight of the companion robot 100.

[0042] In some embodiments, such as Figure 8As shown, the diameter of the third wheel 1231 is smaller than the diameters of the first wheel 1211 and the second wheel 1221; the first wheel 1211 includes a first rotation axis, the second wheel 1221 includes a second rotation axis, and the third wheel 1231 includes a third rotation axis; the first rotation axis has a first height along a first direction x, the second rotation axis has a second height along the first direction x, and the third rotation axis has a third height along the first direction x; the first height, the second height, and the third height are equal. The first height, the second height, and the third height are all the heights of the first wheel 1211, the second wheel 1221, and the third wheel 1231 relative to the horizontal plane. The third leg 123 also includes a fifth extension segment 1234. When the first extension segment 1214, the third extension segment 1224, and the fifth extension segment 1234 all extend along the second direction y, and the second extension segment 1215 and the fourth extension segment 1225 extend along the third direction, since the diameter of the third wheel 1231 is smaller than the diameters of the first wheel 1211 and the second wheel 1221, and the third height is the same as the first and second heights, the second shell 120 of the AI ​​companion robot 100 is tilted relative to the ground, and the front part is slightly raised. The second shell 120 forms a small tilt angle with the horizontal plane. When the companion robot 100 encounters obstacles such as thresholds or carpet edges, the first wheel 1211 and the second wheel 1221 are more likely to "climb" up rather than be "blocked," thereby improving the obstacle-crossing ability of the companion robot 100. The diameter of the third wheel 1231 is smaller than that of the first wheel 1211 and the second wheel 1221, which can reduce steering resistance. The smaller diameter of the third wheel 1231 has a smaller contact area with the ground, resulting in lower friction torque. When the first wheel 1211 and the second wheel 1221 rotate differentially, the drag resistance of the rear wheels decreases, making steering more flexible and effortless, while also reducing the load on the first and second wheels 1211 and 1221. The smaller third wheel 1231 also means lower weight, which can reduce rotational inertia.

[0043] In some embodiments, reference Figure 5 and Figure 7 As shown, the third leg 123 also includes a wheel cover 1235, which at least partially covers the third wheel 1231. The wheel cover 1235 is spherical in shape, and its diameter is the same as that of the first wheel 1211 and the second wheel 1221. Because the diameter of the third wheel 1231 is smaller than that of the first and second wheels 1211, there would be a visually unpleasant perception of one large and one small wheel. With the wheel cover 1235, since it partially covers the third wheel 1231 and its diameter is the same as that of the first and second wheels 1221, the visual effect of one large and one small wheel is eliminated. When users observe the companion robot 100, they easily perceive the wheel cover 1235 and the third wheel 1231 as a single unit, with the overall diameter being the same as that of the first and second wheels 1211 and 1221, thus improving the aesthetic design of the companion robot 100.

[0044] In some embodiments, reference Figure 1 and Figures 5-9 As shown, the first foot 121 includes a first extension segment 1214 and a second extension segment 1215, which are connected. The first extension segment 1214 extends along a first preset direction, and the second extension segment 1215 extends along a third direction z. The first extension direction has a directional component along at least one of the first direction x, the second direction y, and the third direction z. The second foot 122 includes a third extension segment 1224 and a fourth extension segment 1225, which are connected. The third extension segment 1224 extends along a second preset direction, and the fourth extension segment 1225 extends along a third direction z. The second preset direction has a directional component along at least one of the first direction x, the second direction y, and the third direction z. Correspondingly, the third foot 123 includes a fifth extension segment 1234, which can extend along a third preset direction. The third preset direction has a directional component along at least one of the first direction x, the second direction y, and the third direction z. It should be noted that any of the first, second, and third preset directions having a directional component along at least one of the first direction x, the second direction y, and the third direction z means that the preset direction has a projection in at least one of the first direction x, the second direction y, and the third direction z. That is, the preset direction can be parallel to either the second direction y or the third direction z, or it can be a direction inclined relative to at least two of the first direction x, the second direction y, and the third direction z. Accordingly, when the first extension segment 1214, the third extension segment 1224, or the fifth extension segment 1234 extends along the corresponding preset direction, the two ends of the extension segment have a positional offset in at least one of the first direction x, the second direction y, and the third direction z.

[0045] This structural design allows for the alteration of the height of the second housing 120 relative to the ground, thereby adjusting the overall height and center of gravity of the companion robot 100. For example, the first extension segment 1214, the third extension segment 1224, and the fifth extension segment 1234 extend from the second housing 120 in a direction away from and downwards, causing the first wheel 1211, the second wheel 1221, and the third wheel 1231 to be offset outwards and downwards relative to the second housing 120, thus increasing the ground clearance of the companion robot 100 and adjusting its center of gravity. The angle and length of the fifth extension segment 1234 extending along a third preset direction can differ from the angle and length of the first extension segment 1214 extending along a first preset direction, and also differ from the angle and length of the third extension segment 1224 extending along a second preset direction. Because the diameter of the third wheel 1231 is smaller than that of the first drive wheel and the second wheel 1221, when the first extension segment 1214 and the third extension segment 1224 extend forward along the second direction y, the fifth extension segment 1234 extends backward along the second direction y, the second extension segment extends left along the third direction z, and the fourth extension segment extends right along the third direction z, the second housing 120 will have an angle relative to the ground. In this case, by adjusting the length of the fifth extension segment 1234 and / or the tilt angle of the third preset direction, the size difference between the third wheel 1231 and the first wheel 1211 and the second wheel 1221 is compensated, so that the second housing 120 remains horizontal, making the appearance and posture of the companion robot 100 more coordinated and improving the design aesthetics of the companion robot 100. The second extension segment 1215 extends left along the third direction z, and the fourth extension segment 1225 extends right along the third direction z, ensuring that the first rotation axis and the second rotation axis are set parallel to the third direction z, respectively, ensuring the output power of the first wheel 1211 and the second wheel 1221.

[0046] In some embodiments, such as Figures 1-5 As shown, the cover portion 111 is ellipsoidal, and the cover plate 112 is elliptical. The cover portion 111 is formed by cutting half of an ellipsoid along a plane formed by the first direction x and the third direction z. The area of ​​the cover plate 112 is the same as the area of ​​the cut portion of the cover portion 111. The cover plate 112 can be installed on the cut surface of the cover portion 111 to form a first receiving cavity 119.

[0047] In some embodiments, combined with Figures 10-13As shown, the cover portion 111 is provided with an irregularly shaped mounting notch 1111. The edge contour of the irregularly shaped mounting notch 1111 includes an arc-shaped segment 1112, which smoothly transitions to the ellipsoidal surface of the cover portion 111. The cover plate 112 is also provided with an irregularly shaped extension portion 1121, which includes a protrusion 1123 protruding along a first direction x. The irregularly shaped extension portion 1121 mates with the irregularly shaped mounting notch 1111. Specifically, the irregularly shaped mounting notch 1111 is a notch formed on the cover portion 111 with an irregular edge contour, the edge of which includes an arc-shaped segment 1112 that smoothly transitions to the outer surface of the cover portion 111. The irregularly shaped extension portion is an extension structure formed by the cover plate 112 extending outward from the edge of the main body, having an irregular edge contour that matches the irregularly shaped mounting notch 1111. After the irregularly shaped extension portion 1121 is connected to the irregularly shaped mounting notch 1111, the cover plate 112 and the housing portion 111 together form a quasi-ellipsoidal shell, and the outer surfaces of the two are smoothly transitioned. A protrusion 1123 is provided on the irregularly shaped extension portion 1121, and the protrusion 1123 has a receiving space for mounting the camera module. The camera module includes a wide-angle camera, a photoresistor, and a supplementary light. The housing portion 111 of the companion robot 100 is ellipsoidal or quasi-ellipsoidal, the cover plate 112 is elliptical or quasi-elliptical, the first wheel 1211, the second wheel 1221, and the third wheel 1231 are spherical, the edge contour of the irregularly shaped mounting notch 1111 includes an arc segment 1112, and the edge contour of the mounting interface 1122 is also arc-shaped. The design incorporates arc or circular elements, making the product more aesthetically pleasing.

[0048] In some embodiments, combined with Figure 1 and Figures 3-7 As shown, the cover portion 111 has ear structures 114 on both the first and second sides along the third direction z, and the ear structures 114 are symmetrically arranged. Each ear structure 114 includes an inner lining portion 1141 with multiple spaced ribs 1144. The ear structure 114 also includes ear-shaped members 1142, which are rotatably connected to the cover portion 111 via a rotating connection structure. The rotation axis of the ear-shaped members 1142 is parallel to the third direction z, and the ear-shaped members 1142 can rotate around their rotation axis. The ear-shaped members 1142 also have indicator lights (not shown). The first wheel 1211, the second wheel 1221, and the third wheel 1231 all have stripes to increase the wheel's grip. To improve the product's visual appeal, the ribs 1144 of the inner lining portion 1141 are arranged circumferentially along the inner lining portion 1141 and are striped. Figure 1 and Figure 5As shown, the ear-shaped member 1142 has a main body 1146, which has a front end 1147 and a rear end 1148 disposed opposite to each other. The width of the front end 1147 along the second direction y is greater than the width of the rear end 1148 along the second direction y, and the outer edge of the main body 1146 tapers in an arc shape from the front end 1147 to the rear end 1148. The ear-shaped member 1142 also includes an annular connector 1143 extending along the third direction z, which is rotatably connected to the cover portion 111 via a pivot. An indicator light is disposed within the annular connector 1143. The ear-shaped member 1142 also has an annular light-transmitting hole 1149, and a light-diffusing component is disposed along the annular light-transmitting hole 1149. The light from the indicator light can be diffused through the annular light-transmitting hole and the light-diffusing component. The light-diffusing component can be plexiglass, light-diffusing PC, or frosted PC. In some embodiments, the indicator light is an RGB straw hat LED.

[0049] In some embodiments, such as Figures 10-13 As shown, another ear structure is provided. Ear structures 114 are provided on both the first and second sides of the cover portion 111 along the third direction z. The two ear structures 114 are symmetrically arranged. Each ear structure 114 includes multiple grooves 1145, which are spaced apart along the second direction y. The length of each groove 1145 along the first direction x gradually decreases towards the rear of the second direction y. The grooves 1145 can resemble the gills of a shark. An indicator light is located inside the cover portion 111, close to the ear structures 114. The light from the indicator light can be emitted through the grooves. A dustproof net is also provided on the cover portion 111, close to the grooves 1145.

[0050] In some embodiments, such as Figure 7As shown, a sound source positioning hole 115 is provided at the top of the cover portion 111 along the first direction x, and the sound source positioning hole 115 is used to install a sound source positioning module. The sound source positioning hole 115 includes a first sound source positioning hole 1151, a second sound source positioning hole 1152, a third sound source positioning hole 1153, and a fourth sound source positioning hole 1154. The first sound source positioning hole 1151 and the second sound source positioning hole 1152 are arranged opposite each other along the second direction y; the third sound source positioning hole 1153 and the fourth sound source positioning hole 1154 are arranged opposite each other along the third direction z. The sound source positioning module is placed horizontally in the first cavity, and the four microphones of the sound source positioning holes correspond to the first sound source positioning hole 1151, the second sound source positioning hole 1152, the third sound source positioning hole 1153, and the fourth sound source positioning hole 1154, respectively. Because the cover is ellipsoidal, the distances between the first sound source positioning hole 1151 and the second sound source positioning hole 1152, as well as the distances between the third sound source positioning hole 1153 and the fourth sound source positioning hole 1154, can be different. The positioning module can accurately locate the user's position based on the sound emitted by the user, and the main control module controls the companion robot 100 to turn towards the user based on the position determined by the sound source positioning module.

[0051] In some embodiments, such as Figure 7 As shown, the top of the cover 111 along the first direction x is also provided with a sound wave collecting hole 1155, which is used to install a microphone for collecting the user's voice. Collecting the user's voice can realize the wake-up function, voice interaction function, and voice call function of the companion robot 100.

[0052] In some embodiments, such as Figure 6 and Figure 10 As shown, a sound-emitting hole 116 is provided on the rear side of the cover portion 111 along the second direction y. The sound-emitting hole 116 is used to transmit sound waves generated by the sound-emitting module. The sound-emitting module is used to output the sound of the companion robot 100, enabling the companion robot 100 to emit sounds and interact with the user via voice. There are multiple sound-emitting holes 116, which can be arranged along the third direction z, or along the first direction x, or in a circular arrangement.

[0053] In some embodiments, such as Figure 11 As shown, the top of the cover portion 111 along the first direction x is also provided with a first mounting seat, which is used to install the interactive stick 117. The end of the interactive stick 117 may be provided with an attractant (not shown), which may be a pom-pom, catnip, or a simulated bone. The attractant can attract the pet's attention and is used to tease the pet.

[0054] In some embodiments, such as Figures 1-4As shown, the second housing 120 is cylindrical or arc-shaped cylindrical. A connecting rod 124 is provided along the first direction x of the second housing 120. The connecting rod 124 can also be cylindrical or arc-shaped cylindrical, and its diameter is smaller than that of the second housing 120. A connecting hole 107 is provided at the bottom of the first housing 110, through which the connecting rod 124 can pass. The connecting rod 124 is also provided with a rotating groove (not shown). A rotating shaft 134 passes through the rotating groove. The first end of the rotating shaft 134 is connected to the first housing 110 through a rotating shaft mounting part 130, and the second end of the rotating shaft 134 is connected to the first housing 110 through another rotating shaft mounting part 130. The first housing 1110 can rotate relative to the second housing 120 through the rotating shaft 134. A servo motor 106 is mounted on the top of the connecting rod 124, and a servo motor mounting hole (not shown) is provided at the bottom of the connecting rod 124. The servo motor 106 is fixedly connected to the connecting rod 124 by a servo motor mounting piece 133 and screws 132. The servo motor mounting piece 133 is provided with a mounting hole that matches the servo motor mounting hole. After the servo motor mounting piece 133 locks the servo motor 106 from top to bottom, the screws 132 are passed through the mounting hole and the mounting hole and tightened, and the servo motor 106 is mounted on the connecting rod 124. The servo motor 106 also includes a first gear 1061, and a second gear 131 is provided on the shaft mounting piece 130 located below the first gear 1061. After the servo motor 106 is installed on the connecting rod 124, the first gear 1061 and the second gear 131 mesh and engage. The first gear 1061 can drive the second gear 131 to rotate. The rotation of the second gear 131 drives the first housing 110 to rotate through the rotating shaft mounting part 130, thereby realizing the rotation control of the first housing 110.

[0055] Combination Figure 11 As shown, when the interactive components are LED lights and infrared laser 1281, during the interaction between the companion robot 100 and the pet, the height of the light spot and the distance between the light spot and the companion robot 100 can be adjusted by rotating the head. Since other parts of the companion robot 100 have circular elements, the second shell 120 is set as a cylindrical or arc-shaped cylinder; the connecting rod 124 is set as a cylindrical or arc-shaped cylinder for the overall aesthetic design. Using the same or similar circular or arc-shaped elements can improve the aesthetic appeal of the design.

[0056] In some embodiments, such as Figure 2 and Figure 3As shown, the second housing 120 has a second receiving cavity 129 for accommodating the battery. A second mounting base 108 is disposed above the second housing 120 along the first direction x, surrounding the second housing 120. The second mounting base 108 has multiple mounting holes for fixing and mounting light-emitting electronic components. By placing the battery in the second housing 120 instead of the first housing 110, the center of gravity of the companion robot 100 can be lowered, improving its stability. A light-diffusing component is also provided on the second mounting base 108 to allow light emitted by the light-emitting electronic components to pass through. The light-emitting electronic components can be multiple LEDs, each mounted in one of the mounting holes. Under the control of the main control module, the light-emitting electronic components, the indicator lights of the ear structure 114, and the interaction component 128 can realize the emotion expression function.

[0057] In some embodiments, such as Figure 9 As shown, the bottom of the companion robot 100 is equipped with a power switch 101, a Wi-Fi signal button 102, and a first charging port 103. The power switch 101 is used to turn the companion robot 100's power on and off, and the Wi-Fi signal button 102 is used to bind the device and configure the network. For example, pressing the Wi-Fi signal button 102 will cause the interaction component 128 of the companion robot 100 to display a binding QR code. Through the APP software used in conjunction with the companion robot 100, the user can bind to the companion robot 100. Pressing the Wi-Fi signal button 102 again will allow the companion robot 100 to configure the network through the APP software. The first charging port 103 includes a first charging pad 1031 and a second charging pad 1032. The first charging pad 1031 can be the positive terminal, and correspondingly, the second charging pad 1032 is the negative terminal. The first charging pad 1031 and the second charging pad 1032 are spaced apart along a third direction (z). The companion robot also includes a charging base for charging the companion robot 100. The first charging piece 1031 is electrically connected to the third charging piece of the charging base, and the second charging piece 1032 is electrically connected to the fourth charging piece of the charging base. After the electrical connection is established, the charging base can charge the companion robot 100.

[0058] In some embodiments, such as Figure 6 and Figure 10 As shown, the companion robot 100 also includes a second charging interface 127, which is located behind the second housing 120 and can be positioned higher than the third leg 123.

[0059] In some embodiments, such as Figure 1 and Figure 4As shown, the cover plate 110 is provided with a communication card mounting part 135, which is used to install a communication card, including a SIM card, a USIM card, or other identification cards used to access mobile communication networks.

[0060] This application provides a companion robot 100, which has a first shell 110 and a second shell 120 with a layered design and rotatable connection, resulting in a clever structure. The first shell 110 is equipped with a lightweight interaction module 128, a detection module, a camera module and a main control module, while the second shell 120 is equipped with three legs and wheels, which lowers the center of gravity of the companion robot 100, making it more stable during movement and less prone to tipping over.

[0061] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0062] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used to describe embodiments are sometimes modified by the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in this application are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

Claims

1. A companion robot, characterized in that, The companion robot includes: a first housing, the first housing including a cover portion, the cover portion being provided with a cover plate, the cover portion and the cover plate forming a first receiving cavity; The second housing includes a first foot, a second foot, and a third foot. A first wheel is installed at the end of the first foot, a second wheel is installed at the end of the second foot, and a third wheel is installed at the end of the third foot. The first housing and the second housing are disposed opposite each other along a first direction, and the first housing and the second housing are rotatably connected. An interaction module is disposed on a first side of the cover plate, and the interaction module is configured to output interactive information to an interactive object and / or receive first input information from the interactive object. The main control module is disposed within the first accommodating cavity and is electrically connected to the interaction module, outputting first control information to the interaction module and / or receiving first input information from the interaction module.

2. The companion robot as described in claim 1, characterized in that, The first foot includes a first motor connected to the first wheel and configured to drive the first wheel to rotate; the second foot includes a second motor connected to the second wheel and configured to drive the second wheel to rotate; the third wheel is a driven wheel.

3. The companion robot as described in claim 2, characterized in that, The first foot and the second foot are located at the front of the second housing, and the first foot and the second foot are symmetrically arranged; the third foot is located at the rear of the second housing.

4. The companion robot as described in claim 3, characterized in that, The diameter of the third wheel is smaller than the diameters of the first wheel and the second wheel; the first wheel includes a first rotating shaft, the second wheel includes a second rotating shaft, and the third wheel includes a third rotating shaft; the first rotating shaft has a first height along the first direction, the second rotating shaft has a second height along the first direction, and the third rotating shaft has a third height along the first direction; the first height, the second height, and the third height are equal.

5. The companion robot as described in claim 4, characterized in that, The third foot also includes a wheel cover that at least partially covers the third wheel. The wheel cover is spherical in shape and has the same diameter as the first wheel and the second wheel.

6. The companion robot as described in claim 5, characterized in that, The first foot includes a first extension segment and a second extension segment, the first extension segment is connected to the second extension segment, the first extension segment extends along a first preset direction, the second extension segment extends along a third direction, and the first extension direction has a directional component along at least one of the first direction, the second direction and the third direction. The second foot includes a third extension segment and a fourth extension segment, the third extension segment being connected to the fourth extension segment, the third extension segment extending along a second preset direction, and the fourth extension segment extending along a third preset direction, the second preset direction having a directional component along at least one of the first direction, the second direction, and the third preset direction.

7. The companion robot as described in claim 6, characterized in that, The cover plate is provided with a first infrared transceiver module below along the first direction, the first foot is also provided with a second infrared transceiver module, and the second foot is also provided with a third infrared transceiver module. The first infrared transceiver module, the second infrared transceiver module, and the third infrared transceiver module are configured as a positioning charging base.

8. The companion robot as described in any one of claims 1-7, characterized in that, The cover body is ellipsoidal in shape, and the cover plate is elliptical in shape.

9. The companion robot as described in claim 8, characterized in that, The cover portion is provided with an irregularly shaped mounting notch, the edge contour of which includes an arc segment, and the arc segment smoothly transitions and connects with the ellipsoidal surface of the cover portion; The cover plate is also provided with an irregularly shaped extension portion, which includes a protrusion protruding along the first direction, and the irregularly shaped extension portion is connected to the irregularly shaped mounting notch.

10. The companion robot as described in claim 8, characterized in that, The cover portion is provided with ear structures on both the first and second sides along the third direction; The ear structure includes an inner lining, which is provided with multiple spaced ribs. The ear structure also includes an ear-shaped component, which is rotatably connected to the cover via a rotating connection structure, and the ear-shaped component is also provided with an indicator light.

11. The companion robot as described in claim 10, characterized in that, The cover portion has a sound source positioning hole at the top along the first direction, and the sound source positioning hole is used to install a sound source positioning module.

12. The companion robot as described in claim 9, characterized in that, The cover portion is provided with an ear structure on a first side and a second side along the third direction; the ear structure includes multiple grooves.

13. The companion robot as described in claim 8, characterized in that, The cover portion is provided with a sound-emitting hole on the rear side along the second direction, and the sound-emitting hole is used to transmit the sound waves generated by the sound-emitting module.

14. The companion robot as described in claim 12, characterized in that, The top of the cover portion along the first direction is also provided with a first mounting base, which is used to mount the interactive stick.

15. The companion robot as described in claim 8, characterized in that, The second housing is cylindrical, and a connecting rod is provided along the first direction, the diameter of which is smaller than the diameter of the second housing; A servo motor is provided at the top of the connecting rod, and the first housing and the second housing are rotatably connected by the servo motor.

16. The companion robot as described in claim 15, characterized in that, The second housing has a second receiving cavity for receiving the battery; The second housing is provided with a second mounting base above it along the first direction. The second mounting base is arranged around the second housing and is provided with a plurality of mounting holes for fixing and mounting light-emitting electronic components.

17. The companion robot as described in claim 16, characterized in that, The companion robot further includes: a camera module, which is disposed above the cover plate along the first direction, and the camera module is configured to collect image information; The main control module is electrically connected to the camera module, and the main control module is also configured to output second control information to the camera module and / or receive image information from the camera module.

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