A smart learning companion robot with rich degrees of freedom of movement

Abstract

This utility model belongs to the field of intelligent support and discloses an intelligent learning companion robot with rich degrees of freedom of movement. It includes a microphone stand, a vertical rod with a horizontal bar on it, a base on the vertical rod, and a rotating module inside the base. The rotating module can drive the base to rotate horizontally around the vertical rod. A push rod is hinged to the base, and the other end of the push rod extends out of the base and is hinged to a sleeve. The horizontal bar passes through the sleeve. A swing motor is connected to the hinge axis between the push rod and the base, and the swing motor can drive the push rod to swing up and down around the hinge axis. A sliding module is inside the sleeve, which can push the horizontal bar to slide along the sleeve axis. Two vision sensors are fixed to the outer end of the base, and a controller is inside the base. The controller can control the movement of the rotating module, the swing motor, and the sliding module based on the signals received from the two vision sensors. This invention solves the problem that existing microphone follow-up devices cannot be adapted to commonly used microphone stands when learning to give speeches.

Description

Technical Field

[0001] This utility model belongs to the field of intelligent support, and in particular relates to an intelligent learning companion robot with rich degrees of freedom of movement. Background Technology

[0002] When learning public speaking skills, speakers often need to use body language to enhance their expressiveness and guide their emotions. This changes the relative position between the speaker's head and the microphone, causing fluctuations in the microphone's sound pickup. As a result, many microphones or microphone stands have been developed that can follow the speaker's head to ensure that the relative position between the microphone and the speaker's head remains unchanged, thus improving sound pickup. However, existing microphone-following devices are all one-piece pan-tilt-zoom (PTZ) structures. When the usage scenario changes, the entire structure needs to be moved, which is cumbersome. Furthermore, the PTC structure differs greatly from the common microphone stand structure on the market, making it incompatible with commonly used microphone stands and resulting in low versatility. A stand similar to that of an intelligent robot or robotic arm is needed for a better user experience. Summary of the Invention

[0003] The purpose of this invention is to solve the problem that existing microphone follow-up devices cannot be adapted to commonly used microphone stands when learning to give speeches, and to propose an intelligent learning companion robot with rich degrees of freedom of movement.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A smart learning companion robot with rich degrees of freedom of movement includes a microphone stand. The microphone stand includes a vertical rod with a horizontal bar above it. The horizontal bar can slide and swing at multiple angles relative to the vertical rod. A base is mounted on the vertical rod, and a rotating module is located inside the base. The rotating module can drive the base to rotate horizontally around the vertical rod. A push rod is hinged to the base, and the other end of the push rod extends out of the base and is hinged to a sleeve. The horizontal bar passes through the sleeve. A swing motor is connected to the hinge axis between the push rod and the base. The swing motor can drive the push rod to swing up and down around the hinge axis. A sliding module is located inside the sleeve, which can push the horizontal bar to slide along the axis of the sleeve. Two vision sensors are fixed to the outer end of the base, and a controller is located inside the base. The controller can control the movement of the rotating module, the swing motor, and the sliding module based on the signals received from the two vision sensors.

[0006] As a further description of the above technical solution:

[0007] The lower end of the vertical pole is fixed with a tripod to improve its stability. The upper end of the vertical pole is provided with a ball joint, and the other end of the ball joint is fixed with a round tube. The horizontal bar passes through the round tube, so that the horizontal bar can slide relative to the vertical pole and swing at multiple angles. The end of the horizontal bar away from the sleeve is fixed with a microphone clip.

[0008] As a further description of the above technical solution:

[0009] The base is a square shell with a clearance opening on one side wall that extends through the upper surface of the shell. The push rod extends into the base from the clearance opening and is hinged to the base. A U-shaped clearance groove is opened on the side wall of the shell opposite the clearance opening, and the vertical rod is located in the clearance groove.

[0010] As a further description of the above technical solution:

[0011] The rotating module includes two rubber wheels with their axes parallel to the vertical rod. An arc-shaped plate is installed within the clearance groove, fixed to the upper and lower end faces and side walls of the housing. Two square holes are opened on the arc-shaped plate, and the side walls of the rubber wheels extend out of the housing through these holes. The two rubber wheels are symmetrical about the push rod, ensuring the push rod stably presses the two rubber wheels against the side walls of the vertical rod, preventing the rubber wheels from actively rotating around the vertical axis. A rotary motor is connected to the shaft of one of the rubber wheels. The controller is connected to the rotary motor via a control circuit wire, enabling the controller to control the rotation angle of the rotary motor based on signals from two vision sensors.

[0012] As a further description of the above technical solution:

[0013] The base has a vertical cylinder at the lower end, and a disc is fixed at the upper end of the vertical cylinder. A threaded hole is opened on the side wall of the vertical cylinder, and a bolt is installed in the threaded hole. The bolt can fix the vertical cylinder and the disc to the vertical rod, thereby preventing the base from sliding down the vertical rod.

[0014] As a further description of the above technical solution:

[0015] The sliding module includes a square compartment fixed below the sleeve. The push rod is hinged to the bottom of the square compartment. A sliding motor is fixed inside the square compartment. The controller is connected to the sliding motor through a control circuit wire. A roller is fixed on the output shaft of the sliding motor. A through hole is opened at the upper end of the square compartment and extends into the inner cavity of the sleeve. One side of the roller extends into the sleeve from the through hole and contacts the crossbar. After receiving signals from two vision sensors, the controller can drive the crossbar to slide inside the sleeve through the sliding motor and the roller.

[0016] As a further description of the above technical solution:

[0017] The push rod has a groove that runs through the upper and lower ends of the push rod. Multiple round rods are installed in the groove. A counterweight is installed on the front side of the push rod. Multiple connecting rods are fixed on the counterweight. The multiple connecting rods are fixed to the two ends of the round rods respectively. A winding wheel is fixed on the output shaft between the sliding motor and the roller. A rope is wound on the winding wheel. The free end of the rope extends from below the winding wheel, passes through the square compartment, and is fixed to the counterweight. When the sliding motor rotates, the counterweight moves in the opposite direction to the crossbar to prevent the microphone stand from tipping over.

[0018] As a further description of the above technical solution:

[0019] The swing motor and the two vision sensors are all connected to the controller via control loop wires. The controller uses an STC89C51 or STM32 microcontroller to receive and process the signals transmitted by the vision sensors, thereby controlling the start and stop of the swing motor, rotation module and sliding module.

[0020] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0021] (1) This utility model improves the structure of the existing floor microphone stand. By using three motors to drive the base, push rod and roller to move relative to the microphone clip, the microphone can be moved to any point in space. Combined with two visual sensors and a controller, the microphone can automatically follow the speaker's head. This not only achieves the basic effect of avoiding fluctuations in the sound reception, but also the detachable design of the base, push rod and sleeve can be adapted to the existing floor microphone stand, making it more versatile.

[0022] (2) The present invention arranges both the rotary motor and the swing motor in the base, and the base is located on the vertical rod of the microphone stand, which improves the gravity distribution on the vertical rod, making the device less prone to shaking when the microphone follows the action, and improving the stability, thereby further improving the sound reception effect.

[0023] (3) The present invention has a counterweight on the push rod. When the sliding motor drives the crossbar to slide along the axis, the counterweight also slides on the push rod. The direction of movement of the counterweight is opposite to the direction of movement of the microphone, thereby balancing the center of gravity shift when the microphone moves outward and preventing the microphone stand from tipping over. Attached Figure Description

[0024] Figure 1 This is a perspective view of the present utility model;

[0025] Figure 2 This is an assembly view of the base 3, push rod 4, and sleeve 5 of this utility model;

[0026] Figure 3 This is a schematic diagram of the internal structure of the base 3 of this utility model;

[0027] Figure 4 This is a schematic diagram of the internal structure of the sleeve 5 and the square container 19 of this utility model;

[0028] Figure 5 This is an assembly view of the push rod 4 and the counterweight 24 of this utility model;

[0029] Figure 6 This is an external view of the vertical cylinder 16 and the disc 17 of this utility model.

[0030] Legend: 1. Vertical rod; 2. Horizontal rod; 3. Base; 4. Push rod; 5. Sleeve; 6. Swing motor; 7. Tripod; 8. Spherical universal joint; 9. Microphone clip; 10. Clearance opening; 11. Clearance groove; 12. Rubber wheel; 13. Curved plate; 14. Square hole; 15. Rotary motor; 16. Vertical cylinder; 17. Disc; 18. Bolt; 19. Square compartment; 20. Sliding motor; 21. Roller; 22. Slide groove; 23. Round rod; 24. Counterweight; 25. Connecting rod; 26. Winding reel; 27. Rope. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0032] Please see Figure 1-6 This utility model provides a technical solution for an intelligent learning companion robot with rich degrees of freedom of movement:

[0033] A smart learning companion robot with rich degrees of freedom of movement includes a microphone stand, which includes a vertical rod 1. A tripod 7 is fixed to the lower end of the vertical rod 1 to improve the stability of the vertical rod 1. A spherical universal joint 8 is provided at the upper end of the vertical rod 1. A round tube is fixed to the other end of the spherical universal joint 8. A horizontal rod 2 is provided above the vertical rod 1. The horizontal rod 2 passes through the round tube and can slide relative to the vertical rod 1 and swing at multiple angles. A microphone clip 9 is fixed to the end of the horizontal rod 2 away from the sleeve 5.

[0034] A base 3 is provided on the vertical rod 1. A vertical cylinder 16 is provided at the lower end of the base 3. A disc 17 is fixed at the upper end of the vertical cylinder 16. A threaded hole is opened on the side wall of the vertical cylinder 16. A bolt 18 is provided in the threaded hole. The bolt 18 can fix the vertical cylinder 16 and the disc 17 on the vertical rod 1, thereby preventing the base 3 from sliding down along the vertical rod 1.

[0035] The base 3 is equipped with a rotating module, which can drive the base 3 to rotate horizontally around the vertical rod 1. A push rod 4 is hinged on the base 3. The base 3 is a square shell. A clearance opening 10 is provided on one side wall of the shell, and the clearance opening 10 penetrates the upper end face of the shell. The push rod 4 extends into the base 3 from the clearance opening 10 and is hinged to the base 3. A U-shaped clearance groove 11 is opened on the side wall of the shell opposite to the clearance opening 10. The vertical rod 1 is located in the clearance groove 11.

[0036] The rotating module includes two rubber wheels 12. The axis of the rubber wheels 12 is parallel to the vertical rod 1. An arc-shaped plate 13 is provided in the clearance groove 11. The arc-shaped plate 13 is fixed to the upper and lower end faces and side walls of the housing. Two square holes 14 are opened on the arc-shaped plate 13. The side walls of the rubber wheels 12 extend out of the housing from the square holes 14. The two rubber wheels 12 are symmetrical about the push rod 4, so that the push rod 4 can stably press the two rubber wheels 12 against the side walls of the vertical rod 1, preventing the rubber wheels 12 from rotating around the vertical axis. A rotary motor 15 is connected to the rotating shaft of one of the rubber wheels 12. The controller is connected to the rotary motor 15 through a control circuit wire, so that the controller can control the rotation angle of the rotary motor 15 according to the input signals from the two vision sensors.

[0037] The other end of the push rod 4 extends out of the base 3 and is hinged to the sleeve 5. The crossbar 2 passes through the sleeve 5. The hinge shaft between the push rod 4 and the base 3 is connected to a swing motor 6. The swing motor 6 can drive the push rod 4 to swing up and down around the hinge shaft. The sleeve 5 is provided with a sliding module, which includes a square compartment 19. The square compartment 19 is fixed below the sleeve 5. The push rod 4 is hinged to the bottom of the square compartment 19. The square compartment 19 is fixed with a sliding motor 20. The controller is connected to the sliding motor 20 through the control circuit wire. The output shaft of the sliding motor 20 is fixed with a roller 21. The upper end of the square compartment 19 has a through hole that extends into the inner cavity of the sleeve 5. One side of the roller 21 extends into the sleeve 5 from the through hole and contacts the crossbar 2. After receiving the signals from the two vision sensors, the controller can drive the crossbar 2 to slide inside the sleeve 5 through the sliding motor 20 and the roller 21.

[0038] Two vision sensors are fixed to the outer end of the base 3. A controller is installed inside the base 3. The controller can control the movement of the rotation module, the swing motor 6 and the sliding module according to the input signals from the two vision sensors.

[0039] The push rod 4 has a groove 22 that runs through the upper and lower end faces of the push rod 4. Multiple round rods 23 are provided in the groove 22. A counterweight 24 is provided on the front side of the push rod 4. Multiple connecting rods 25 are fixed on the counterweight 24. The multiple connecting rods 25 are respectively fixed to the two ends of the round rods 23. A winding wheel 26 is fixed on the output shaft between the sliding motor 20 and the roller 21. A rope 27 is wound on the winding wheel 26. The free end of the rope 27 extends from below the winding wheel 26, passes through the square compartment 19, and is fixed to the counterweight 24. When the sliding motor 20 rotates, the counterweight 24 moves in the opposite direction to the crossbar 2 to prevent the microphone stand from tipping over.

[0040] The swing motor and the two vision sensors are all connected to the controller via control loop wires. The controller uses an STC89C51 or STM32 microcontroller to receive and process the signals transmitted by the vision sensors, thereby controlling the start and stop of the swing motor, rotation module and sliding module.

[0041] Working principle:

[0042] Before use, the swing motor 6, rotary motor 15, sliding motor 20 and controller are powered on. Then, the two visual sensors lock the microphone clip 9 and the speaker's head respectively. When the speaker makes a gesture, the head moves accordingly. The visual sensors transmit the head movement signal to the controller. The controller then sends motion commands to the swing motor 6, rotary motor 15 and sliding motor 20 respectively. The rotary motor 15 drives the base 3 to rotate around the vertical rod 1, and then drives the horizontal rod 2 and microphone to rotate in the horizontal direction through the push rod 4. The swing motor 6 drives the push rod 4 to swing up and down, and then drives the horizontal rod 2 to swing up and down, causing the microphone to move up and down. The sliding motor 20 drives the horizontal rod 2 to slide along the axis, pushing the microphone away from or closer to the spherical universal joint 8, so that the microphone can follow any point in space. At the same time, the visual sensor that locks the microphone clip 9 can also feed back the position of the microphone to the controller in real time, and determine whether the microphone has reached the specified position through the feedback signal.

[0043] When the sliding motor 20 drives the crossbar 2 to slide along the axis, the winding wheel 26 also pulls the counterweight 24 to slide on the push rod 4. Since the crossbar 2 is located above the roller 21, and the free end of the rope 27 extends from below the winding wheel 26, the direction of movement of the crossbar 2 when the sliding motor 20 rotates is opposite to the direction of movement of the free end of the rope 27. That is, when the microphone moves away from the spherical universal joint 8, the slider moves towards the sleeve 5, and when the microphone moves towards the spherical universal joint 8, the slider slides away from the sleeve 5 under its own weight, thereby balancing the torque of the microphone moving outward and preventing the center of gravity on the microphone stand from shifting too much and causing it to tip over.

[0044] When the usage scenario changes, first pull the horizontal bar 2 out of the sleeve 5, then loosen the bolt 18 to pull the vertical cylinder 16 out of the vertical bar 1. Then the base 3, push rod 4 and square container 19 can be removed from the microphone stand for easy carrying. When used again, they can be directly installed on other microphone stands to upgrade another microphone stand into an intelligent robot that can achieve microphone following.

[0045] Furthermore, both the vision sensor and the controller using the STC89C51 or STM32 microcontroller are mature existing technologies with various options and implementation methods that can meet the functional requirements of this device. However, the scope of protection of this utility model is not limited to the described implementation method. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be covered within the scope of protection of this utility model.

Claims

1. An intelligent learning companion robot with rich degrees of freedom of motion, characterized by The microphone stand includes a vertical rod (1) and a horizontal rod (2) above the vertical rod (1). The horizontal rod (2) can slide and swing at multiple angles relative to the vertical rod (1). A base (3) is provided on the vertical rod (1). A rotating module is provided inside the base (3). The rotating module can drive the base (3) to rotate horizontally around the vertical rod (1). A push rod (4) is hinged on the base (3). The other end of the push rod (4) extends out of the base (3) and is hinged to a sleeve (5). The horizontal rod (2) passes through the sleeve (5). A swing motor (6) is connected to the hinge axis between the push rod (4) and the base (3). The swing motor (6) can drive the push rod (4) to swing up and down around the hinge axis. A sliding module is provided inside the sleeve (5). The sliding module can push the horizontal rod (2) to slide along the axis of the sleeve (5). Two vision sensors are fixed at the outer end of the base (3). A controller is provided inside the base (3). The controller can control the operation of the rotating module, the swing motor (6) and the sliding module according to the input signals from the two vision sensors.

2. The robot of claim 1, wherein, The lower end of the vertical rod (1) is fixed with a tripod (7), the upper end of the vertical rod (1) is provided with a ball joint (8), the other end of the ball joint (8) is fixed with a round tube, the horizontal rod (2) passes through the round tube, and the end of the horizontal rod (2) away from the sleeve (5) is fixed with a microphone clip (9).

3. The robot of claim 1, wherein, The base (3) is a square shell with a clearance opening (10) on one side wall of the shell, and the clearance opening (10) penetrates the upper end face of the shell. The push rod (4) extends into the base (3) from the clearance opening (10) and is hinged to the base (3). A U-shaped clearance groove (11) is opened on the side wall of the shell opposite to the clearance opening (10).

4. The robot of claim 3, wherein, The rotating module includes two rubber wheels (12), the axis of which is parallel to the vertical rod (1). An arc plate (13) is provided in the clearance groove (11). The arc plate (13) is fixed to the upper and lower end faces and side walls of the housing. Two square holes (14) are opened on the arc plate (13). The side walls of the rubber wheels (12) extend out of the housing from the square holes (14). The two rubber wheels (12) are symmetrical about the push rod (4). A rotary motor (15) is connected to the shaft of one of the rubber wheels (12). The controller is connected to the rotary motor (15) through the control circuit wire.

5. The robot of claim 1, wherein, The base (3) has a vertical cylinder (16) at the lower end and a disc (17) fixed at the upper end of the vertical cylinder (16). The vertical cylinder (16) has a threaded hole on its side wall and a bolt (18) is provided in the threaded hole. The vertical cylinder (16) and the disc (17) can be fixed on the vertical rod (1) by the bolt (18).

6. The robot of claim 1, wherein, The sliding module includes a square compartment (19), which is fixed below the sleeve (5). The push rod (4) is hinged to the bottom of the square compartment (19). A sliding motor (20) is fixed inside the square compartment (19). The controller is connected to the sliding motor (20) through the control circuit wire. A roller (21) is fixed on the output shaft of the sliding motor (20). A through hole is opened at the upper end of the square compartment (19), and the through hole extends into the inner cavity of the sleeve (5). One side of the roller (21) extends into the sleeve (5) from the through hole and contacts the crossbar (2). After receiving the signals from the two vision sensors, the controller can drive the crossbar (2) to slide inside the sleeve (5) through the sliding motor (20) and the roller (21).

7. The robot according to claim 6, characterized in that, The push rod (4) has a groove (22) that passes through the upper and lower end faces of the push rod (4). Multiple round rods (23) are provided in the groove (22). A counterweight (24) is provided on the front side of the push rod (4). Multiple connecting rods (25) are fixed on the counterweight (24). The multiple connecting rods (25) are fixed to the two ends of the round rods (23) respectively. A winding wheel (26) is fixed on the output shaft between the sliding motor (20) and the roller (21). A rope (27) is wound on the winding wheel (26). The free end of the rope (27) extends from below the winding wheel (26) and passes through the square container (19) and is fixed to the counterweight (24).

8. The robot according to claim 1, characterized in that, The swing motor (6) and the two vision sensors are connected to the controller through control loop wires. The controller uses an STC89C51 or STM32 microcontroller to receive and process the signals transmitted by the vision sensors, thereby controlling the start and stop of the swing motor (6), the rotation module and the sliding module.

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