Accompanying robot

Abstract

The accompanying robot comprises a head shell, a trunk shell part (33), a mechanical part, a main control part, a machine vision part and a language recognition part, and the mechanical part comprises a walking system and a grabbing system; the main control part, the machine vision part and the language recognition part are all mounted on the head shell; the walking system is based on a simulated human body walking structure and comprises a multi-degree-of-freedom movable joint with a plurality of DS3115 steering engines as drivers and a human body double-foot connecting piece. The grabbing system is of a human-arm-imitating structure and comprises multi-degree-of-freedom human-arm-imitating connecting pieces with a plurality of DS3115 steering engines as drivers. The accompanying robot provided by the utility model is reasonable in structural design, and can provide efficient and safe accompanying services in various environments.

Description

Technical Field

[0001] The utility model relates to the technical field of household intelligent home care, and particularly provides a care robot. Background Art

[0002] With the pursuit of people for the quality of life, intelligent care robots, as a new type of service robots, are gradually becoming an essential part of people's lives. Therefore, it is very meaningful to provide a robot integrating multiple technologies to provide 24-hour uninterrupted companionship and services to help people solve problems in life including but not limited to language care and item transfer. Summary of the Invention

[0003] In view of this, the purpose of the utility model is to provide a care robot to achieve a more intelligent, convenient and comfortable lifestyle.

[0004] The technical solution provided by the utility model is: a care robot, including a head shell, a torso shell part, a mechanical part, a main control part, a machine vision part and a language recognition part, wherein the mechanical part includes a walking system and a grasping system;

[0005] The main control part, the machine vision part and the language recognition part are all installed on the head shell;

[0006] The walking system is based on a humanoid walking structure, including a multi-degree-of-freedom movable joint driven by a plurality of DS3115 servos and a human body double-foot connecting piece;

[0007] The grasping system is a humanoid double-arm structure, including a multi-degree-of-freedom humanoid arm connecting piece driven by a plurality of DS3115 servos;

[0008] The head shell, the torso shell part, the walking system and the grasping system are correspondingly connected to form a robot body with a humanoid external shape;

[0009] The main control part takes a single-chip microcomputer main control board as the core; the machine vision part includes a vision recognition unit and a navigation unit with a Raspberry Pi as the main controller; the language recognition part includes a language interaction unit with a Raspberry Pi as the main controller;

[0010] The machine vision part and the language recognition part are respectively signal-connected to the main control part, and the main control part is signal-connected to the mechanical part for sending command signals to the corresponding DS3115 servos.

[0011] Preferably, the head housing, the torso housing part, the walking system, and the grasping system are correspondingly connected to form a robot body with a humanoid shape. Specifically: A servo A, a servo B, and a servo C are respectively embedded above, to the left, and to the right of the torso housing part. The rotating shaft of the servo A is connected to the bottom end of the head housing part. The rotating shafts of the servo B and the servo C are respectively connected to the first ends of the grasping system. An installation hole is provided below the torso housing part. A first servo is provided at the first end of the walking system. The non-rotating shaft part of the first servo is embedded and connected in the installation hole.

[0012] Preferably, the visual recognition unit uses a binocular AHD1080p 3.5mm 120-degree distortion-free camera with lights; the navigation unit uses a SLAM navigation system.

[0013] Preferably, the walking system is based on a humanoid walking structure and includes a first servo, a servo connecting piece, a second double-axis servo, a first upper arm connecting piece, a third double-axis servo, a knee joint servo connecting piece, an ankle joint servo connecting piece, a foot-like part, a fourth double-axis servo, and a fifth servo. The rotating shaft of the first servo is connected to the upper end of the first servo connecting piece. The two rotating shafts of the second double-axis servo are respectively connected to the mortise holes symmetrically arranged at the lower end of the first servo connecting piece. The upper end of the first upper arm connecting piece is connected to the non-rotating shaft part at the lower end of the second double-axis servo. The lower end of the first upper arm connecting piece is connected to the non-rotating shaft part at the upper end of the third double-axis servo. The two rotating shafts of the double-axis servo are respectively connected to the two sides of the upper end of the knee joint servo connecting piece. The two sides of the lower end of the knee joint servo connecting piece are respectively connected to the two rotating shafts of the fourth double-axis servo. The upper end of the ankle joint servo connecting piece is connected to the non-rotating shaft part of the fourth double-axis servo. The ankle joint servo connecting piece is internally fitted with a fifth servo, and the rotating shaft of the fifth servo is connected to the foot-like part.

[0014] Preferably, the grasping system includes a grasping connecting piece, a sixth double-axis servo, a second upper arm connecting piece, a seventh servo, a second servo connecting piece, an eighth double-axis servo, a ninth double-axis servo, a lower arm connecting piece, and a grasping claw. The grasping connecting piece is connected to the two rotating shafts of the sixth double-axis servo. The non-rotating shaft part of the sixth double-axis servo is connected to the second upper arm connecting piece. The seventh servo is embedded at the lower end of the second upper arm connecting piece. The rotating shaft of the seventh servo is connected to the upper end of the second servo connecting piece. The two sides of the lower end of the second servo connecting piece are respectively connected to the two rotating shafts of the eighth double-axis servo. The two rotating shafts of the ninth double-axis servo are respectively connected to the upper part of the grasping claw. The non-rotating shaft parts of the eighth double-axis servo and the ninth double-axis servo are commonly connected to the lower arm connecting piece.

[0015] In the present utility model, machine vision uses a vision recognition module (a binocular AHD1080p 3.5mm 120-degree distortion-free camera with lights) to recognize objects in the environment where the robot is located, and plans the route through a SLAM navigation system. Finally, the action instructions are transmitted to the main control system. The voice recognition part is a language interaction system with a Raspberry Pi as the control core, which realizes human-machine dialogue by recognizing language, or the robot executes corresponding actions according to human instructions. By controlling the vision recognition module and the language interaction system, the various motion mechanisms of the intelligent escort robot are coordinated and controlled to achieve the vision recognition, human-machine interaction, and completion of corresponding motion instructions of the robot. This robot has good language interaction ability and motion execution ability and can be used for home escort.

[0016] A kind of escort robot provided by the present utility model has a reasonable structural design and can provide efficient and safe escort services in various environments. It can not only assist the life of the elderly, the disabled and children, but also play a role in the fields of medical treatment, education, entertainment, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following further describes the present utility model in detail in conjunction with the drawings and embodiments:

[0018] Figure 1 It is a three-dimensional front view structural schematic diagram of the whole escort robot provided by the present utility model;

[0019] Figure 2 It is a three-dimensional structural schematic diagram of the position of the controller of the present utility model;

[0020] Figure 3 It is a three-dimensional structural schematic diagram of the humanoid walking system of the present utility model;

[0021] Figure 4 It is a three-dimensional structural schematic diagram of the arm grasping system of the present utility model;

[0022] Figure 5 It is a schematic diagram of the overall module structure of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following will further explain the present utility model in conjunction with specific implementation schemes, but the present utility model is not limited thereto.

[0024] Such as Figure 1As shown in the figure, this implementation provides a robot for companionship, which includes a head shell, a torso shell part 33, a mechanical part, a main control part, a machine vision part, and a language recognition part. The mechanical part includes a walking system and a grasping system. The main control part, the machine vision part, and the language recognition part are all installed on the head shell. The walking system is based on a humanoid walking structure and consists of multi-degree-of-freedom movable joints driven by multiple DS3115 servos and humanoid feet connectors. The grasping system is a humanoid double-arm structure and consists of multi-degree-of-freedom humanoid arm connectors driven by multiple DS3115 servos. The head shell, the torso shell part 33, the walking system, and the grasping system are correspondingly connected to form a robot body with a humanoid shape. The main control part takes a single-chip microcomputer main control board 34 as the core. The machine vision part includes a visual recognition unit and a navigation unit with a Raspberry Pi as the main controller 35. The language recognition part includes a language interaction unit 32 with a Raspberry Pi as the main controller 35.

[0025] The machine vision part and the language recognition part are respectively signal-connected to the main control part, and the main control part is signal-connected to the mechanical part for sending command signals to the corresponding DS3115 servos.

[0026] The head shell, the torso shell part 33, the walking system, and the grasping system are correspondingly connected to form a robot body with a humanoid shape. Specifically, a servo A36, a servo B38, and a servo C39 are respectively embedded above, to the left, and to the right of the torso shell part 33. The rotating shaft of the servo A36 is connected to the bottom end of the head shell part. The rotating shafts of the servo B38 and the servo C39 are respectively connected to the first ends of the grasping system. An installation hole is provided below the torso shell part 33. A first servo 11 is provided at the first end of the walking system, and the non-rotating shaft part of the first servo is embedded and connected in the installation hole.

[0027] The visual recognition unit uses a binocular AHD1080p 3.5mm 120-degree distortion-free camera with lights 31. The navigation unit uses a SLAM navigation system. The language interaction unit 32 uses M8B+.

[0028] The intelligent interaction module adopted in this implementation is equipped with a language interaction unit 32 for recognizing and understanding the voice commands of users and natural language communication. The language interaction unit 32 transmits the processed information to the single-chip microcomputer for corresponding action instruction allocation. At the same time, the language interaction unit 32 is used to interact with the user in natural language to provide a friendly user experience. The visual recognition unit uses a binocular AHD1080 camera to perform real-time perception and recognition of the surrounding environment.

[0029] The humanoid walking system provided by this implementation scheme: It is a walking system designed based on bionics principles, simulating the walking mechanism of humans to achieve smoother and more flexible movement. The system includes multiple joints and servo components, which can adapt to different terrains and ground conditions to ensure the passability of the robot in complex environments. Servo drive ensures the environmental protection and low-noise characteristics of the walking system.

[0030] Specifically, the walking system is based on a humanoid walking structure, including a first servo 11, a first servo connecting piece 12, a second double-axis servo 14, a first upper arm connecting piece 15, a third double-axis servo 16, a bionic knee servo connecting piece 17, an ankle servo connecting piece 18, a bionic foot part 19, a fourth double-axis servo 110, and a fifth servo 111; The first servo 11 and the first servo connecting piece 12 are connected with appropriate screws with the assistance of a gasket 13. The rotating shaft of the second double-axis servo is connected with the lower mortise hole of the first servo connecting piece 12 with appropriate screws. The first upper arm connecting piece 15 is respectively connected with the non-rotating shaft parts of the second double-axis servo 14 and the third double-axis servo 16 with screws. The bionic knee servo connecting piece 17 is connected to the rotating shaft part of the third double-axis servo 16 and fixed with screws, and the rotating shaft part of the fourth double-axis servo 110 is fixed at the other end in the same way. The ankle servo connecting piece 18 respectively fixes the non-rotating shaft part of the fourth double-axis servo 110 and the fifth servo 111 with screws. The fifth servo 111 is embedded in the ankle servo connecting piece 18. The bionic foot part 19 is connected to the ankle servo connecting piece 18. Another bionic leg is assembled in the same way, and the two legs are combined together to form a humanoid walking mechanism.

[0031] As Figure 3 shown, the arm grasping system: The arm of the robot in this implementation scheme is designed flexibly and can perform various grasping and operating tasks. The main control system controls the joint movement of the arm according to the recognition feedback of the vision system or voice commands to achieve precise grasping, transporting, and placing of objects.

[0032] The grasping system includes a grasping connecting piece 21, a sixth double-axis servo 22, a second upper arm connecting piece 23, a seventh servo 24, a second servo connecting piece 25, an eighth double-axis servo 26, a ninth double-axis servo 27, a lower arm connecting piece 28, and a grasping claw 29. The grasping connecting piece 21 is connected to the rotating shaft part of the sixth double-axis servo 22 and fixed with screws. The upper end of the second upper arm connecting piece 23 is connected to the non-rotating shaft part of the sixth double-axis servo 22 with screws. The lower end of the second upper arm connecting piece 23 is embedded with the seventh servo 24. The second servo connecting piece 25 and the grasping claw 29 are respectively fixed to the rotating shaft parts of the eighth double-axis servo 26 and the ninth double-axis servo 27 with screws; The lower arm connecting piece 28 is fixed to the non-rotating shaft parts of the eighth double-axis servo 26 and the ninth double-axis servo 27. Another arm is constructed in the same steps, and the two arms together form the grasping system.

[0033] When the intelligent escort robot is working, the language interaction unit 32 receives the language instruction "Get an apple", transmits the motion signal to the main control board 34 and emits the voice "Received!" through the language interaction unit 32.

[0034] Subsequently, the main control board 34 issues an instruction to the corresponding servo to execute the corresponding mechanical motion. At the same time, the visual recognition unit and the navigation unit are started. After reaching the specified position, after the visual recognition unit recognizes and locks the "apple", it sends a signal to the main control board 34 to mobilize the bionic arm to grab the apple. Then, the visual recognition unit generates a feedback signal that acts on the main control board 34 to mobilize each joint servo to coordinate the operation of the entire robot back to the initial position.

[0035] An intelligent escort robot provided by the present invention can realize the movement of the robot through the positioning of the navigation unit and the humanoid walking mechanical part, and can recognize the environment through the visual recognition system controlled by the Raspberry Pi module, and realize the basic motion function in combination with the single-chip microcomputer main control system. For the grasping system, the robot recognizes the environment through the visual recognition system of the Raspberry Pi module system, and feeds back the recognition result to the single-chip microcomputer main control system, which controls the driving servo to control the arm to perform grasping. The intelligent interaction system includes a visual recognition module, a language interaction module, and a navigation module, and conducts voice interaction through the language recognition system, and then controls each part of the robot to perform coordinated motion, so that the robot executes tasks according to human instructions.

[0036] The above-mentioned signal transmission and processing involved are all prior arts.

[0037] The specific embodiments of the present invention are written in a progressive manner, emphasizing the differences between each embodiment, and the similar parts can be referred to each other.

[0038] The above has described in detail the embodiments of the present invention in conjunction with the drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the gist of the present invention within the scope of knowledge possessed by those of ordinary skill in the art.

Claims

1. A robot for companionship, characterized in that, It includes a head shell, a torso shell part (33), a mechanical part, a main control part, a machine vision part and a language recognition part. The mechanical part includes a walking system (1) and a grasping system (2); the main control part, the machine vision part and the language recognition part are all installed on the head shell; the walking system is based on a humanoid walking structure and consists of multi-degree-of-freedom movable joints driven by multiple DS3115 servos and human body double-foot connectors; the grasping system is a humanoid double-arm structure and consists of multi-degree-of-freedom humanoid arm connectors driven by multiple DS3115 servos; the head shell, the torso shell part (33), the walking system and the grasping system are correspondingly connected to form a robot body with a humanoid outer shape; the main control part takes a single-chip microcomputer main control board (34) as the core; the machine vision part includes a visual recognition unit and a navigation unit with a Raspberry Pi as the main controller (35); the language recognition part includes a language interaction unit (32) with a Raspberry Pi as the main controller (35); the machine vision part and the language recognition part are respectively signal-connected to the main control part, and the main control part is signal-connected to the mechanical part for sending command signals to the corresponding DS3115 servos.

2. The companion robot according to claim 1, wherein, The head shell, the torso shell part (33), the walking system and the grasping system are correspondingly connected to form a robot body with a humanoid outer shape. Specifically: a servo A (36), a servo B (38) and a servo C (39) are respectively embedded above, to the left and to the right of the torso shell part (33). The rotating shaft of the servo A (36) is connected to the bottom end of the head shell part. The rotating shafts of the servo B (38) and the servo C (39) are respectively connected to the head ends of the grasping system. An installation hole is provided below the torso shell part (33). A first servo (11) is provided at the head end of the walking system. The non-rotating shaft part of the first servo is embedded and connected in the installation hole.

3. The companion robot according to claim 1, characterized in that, The visual recognition unit uses a binocular AHD1080p 3.5mm 120-degree distortion-free camera with light (31); the navigation unit uses a SLAM navigation system.

4. A robot for escort according to claim 1, characterized in that, The walking system is based on a humanoid walking structure and includes a first servo motor (11), a first servo motor connecting member (12), a second dual-axis servo motor (14), a first upper arm connecting member (15), a third dual-axis servo motor (16), a knee joint servo motor connecting member (17), an ankle joint servo motor connecting member (18), a foot-like part (19), a fourth dual-axis servo motor (110), and a fifth servo motor (111); the rotating shaft of the first servo motor (11) is connected to the upper end of the first servo motor connecting member (12), the two rotating shafts on both sides of the second dual-axis servo motor (14) are respectively connected to the mortise holes symmetrically arranged at the lower end of the first servo motor connecting member (12), the upper end of the first upper arm connecting member (15) is connected to the lower end of the second dual-axis servo motor (14) at a non-rotating shaft position, the lower end of the first upper arm connecting member (15) is connected to the upper end of the third dual-axis servo motor (16) at a non-rotating shaft position, the two rotating shafts on both sides of the dual-axis servo motor (16) are respectively connected to both sides of the upper end of the knee joint servo motor connecting member (17), and both sides of the lower end of the knee joint servo motor connecting member (17) are respectively connected to the two rotating shaft positions of the fourth dual-axis servo motor (110); the upper end of the ankle joint servo motor connecting member (18) is connected to the non-rotating shaft position of the fourth dual-axis servo motor (110), the ankle joint servo motor connecting member (18) is internally fitted with a fifth servo motor (111), and the rotating shaft of the fifth servo motor (111) is connected to the foot-like part (19).

5. The companion robot according to claim 1, characterized in that, The grasping system includes a grasping connecting member (21), a sixth dual-axis servo motor (22), a second upper arm connecting member (23), a seventh servo motor (24), a second servo motor connecting member (25), an eighth dual-axis servo motor (26), a ninth dual-axis servo motor (27), a lower arm connecting member (28), and a grasping claw (29). The grasping connecting member (21) is connected to the two rotating shafts of the sixth dual-axis servo motor (22), the non-rotating shaft position of the sixth dual-axis servo motor (22) is connected to the second upper arm connecting member (23), the seventh servo motor (24) is embedded in the lower end of the second upper arm connecting member (23), the rotating shaft of the seventh servo motor (24) is connected to the upper end of the second servo motor connecting member (25), the two sides of the lower end of the second servo motor connecting member (25) are respectively connected to the two rotating shafts of the eighth dual-axis servo motor (26), the two rotating shafts of the ninth dual-axis servo motor (27) are respectively connected to the upper part of the grasping claw (29), and the non-rotating shaft positions of the eighth dual-axis servo motor (26) and the ninth dual-axis servo motor (27) are commonly connected to the lower arm connecting member (28).

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