An intelligent robot dog

Abstract

The utility model discloses an intelligent machine dog, including main control unit, motion execution unit, information display unit, power management unit, man -machine interaction unit and mechanical structure unit. Main control unit adopts the microcontroller of integrated wi -Fi, and motion unit contains four PWM -controlled steering wheel, and display unit is connected main control through communication interface, and power unit is through two independent voltage respectively and is motion unit and control display unit power supply, and interaction unit includes local component and the web server network module realized by main control, and in structure unit, the antenna part of main control extends and constitutes bionical tail part. The utility model has solved the problem that the single function of existing desktop robot, the closed interaction, the structure design and the performance are difficult to give attention to, has realized the open extensible web page general control and the integrated design of bionical form.

Description

Technical Field

[0001] This utility model belongs to the field of intelligent interactive device technology, and in particular relates to an intelligent robot dog. Background Technology

[0002] In the current field of consumer electronics and intelligent robots, desktop-level small robots or mechanical pets have attracted attention due to their entertainment value and functional worth. Currently, small desktop robots or mechanical pets on the market mainly suffer from the following technical limitations: limited functionality; most products only possess simple translational or fixed movements, lacking biomimetic gait and complex posture transformation capabilities, resulting in a rigid interactive experience; outdated interaction modes; control methods are mostly based on infrared or Bluetooth remote control, requiring dedicated remote controls or mobile apps, lacking universal and convenient cross-platform control methods based on standard web pages; complex structure and high cost; to achieve limited functionality, highly integrated dedicated modules are often used, leading to difficulties in disassembly and maintenance, and higher overall costs; and they generally lack real-time, accurate battery monitoring and management functions, making it difficult for users to know the remaining battery power, affecting the user experience.

[0003] Therefore, this utility model provides an intelligent robot dog with an open structure, controllable cost, rich functions, and entertainment value. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an intelligent robot dog to solve the technical problems mentioned in the background art.

[0005] This utility model provides the following technical solution: An intelligent robot dog, comprising: The main control unit adopts a microcontroller module with integrated Wi-Fi functionality; The motion execution unit includes four servos, each of which is connected to the main control unit via a PWM control interface; An information display unit includes a display screen, which is connected to the main control unit via a communication interface; The power management unit includes a battery pack and at least two voltage conversion circuits respectively connected to the battery pack, wherein the first voltage conversion circuit outputs a first voltage to power the motion execution unit, and the second voltage conversion circuit outputs a second voltage to power the main control unit and the information display unit. The human-computer interaction unit includes a local operation component and a network interaction module. The local operation component is connected to the input port of the main control unit, and the network interaction module is implemented by the main control unit to build a wireless access node and provide a web page control interface. The mechanical structure unit includes a circuit board that carries the main control unit and the power management unit, and a housing structure that mounts the motion execution unit and the information display unit. The antenna portion of the microcontroller module extends beyond the circuit board and forms the bionic tail structure of the robot dog.

[0006] Preferably, the main control unit adopts the ESP8266 series chip module, with its GPIO4 and GPIO5 pins configured as hardware IIC interfaces to connect to the information display unit, and its GPIO12, GPIO13, GPIO14, and GPIO16 pins configured as PWM outputs to connect to the four servos respectively.

[0007] Preferably, each servo in the motion execution unit is a 360-degree continuously rotating servo; the main control unit stores steering compensation parameters corresponding to each servo, which are used to calibrate the angular synchronization of the servo movement.

[0008] Preferably, the display screen is an OLED display screen, and the communication interface is an IIC bus; the display screen is used to display preset emoticons generated by the main control unit, time and weather information obtained through the network, and system status information.

[0009] Preferably, the power management unit further includes a power detection circuit, which includes a voltage divider resistor network connected between the battery pack output terminal and the ADC sampling pin of the main control unit, for sampling the battery voltage after scaling down proportionally, so that the main control unit can calculate the battery power.

[0010] Preferably, the local operation component in the human-computer interaction unit is a physical button; the web page control interface implemented by the network interaction module includes at least a motion control page, an expression switching page, and a system configuration page, wherein the motion control page provides virtual controls for triggering forward, backward, turning, sitting, and lying down actions.

[0011] Preferably, the circuit board in the mechanical structure unit is a PCB, the size of which is adapted to the internal structure of the housing, and the antenna portion extends outward from the edge of the PCB.

[0012] Compared with the prior art, the present invention has the following beneficial effects: This utility model discloses an intelligent robot dog that uses a microcontroller with integrated Wi-Fi functionality as its single core. This core not only handles motion control and drives the display screen, but also natively integrates a complete Web server function, simultaneously addressing the three major needs of control, networking, and human-computer interaction. Furthermore, the bionic tail design deeply integrates electronic functional components with mechanical form design, achieving structural and functional integration, optimizing cost and appearance while ensuring performance. It also features battery power monitoring and management functions, improving the user experience. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0014] Figure 1 This is a structural block diagram of the present invention.

[0015] Figure 2 This is the circuit diagram of the main control unit of this utility model.

[0016] Figure 3 This is the starting circuit diagram of this utility model.

[0017] Figure 4 This is the circuit diagram of the programming interface of this utility model.

[0018] Figure 5 This is the circuit diagram of the servo motor interface of this utility model.

[0019] Figure 6 This is a circuit diagram of the OLED display screen of this utility model.

[0020] Figure 7 This is the circuit diagram of the power switch of this utility model.

[0021] Figure 8 This is the 5V voltage regulator circuit diagram of this utility model.

[0022] Figure 9 This is the 3.3V voltage regulator circuit diagram of this utility model.

[0023] Figure 10 This is the circuit diagram for the power detection of this utility model.

[0024] Figure 11 This is the circuit diagram of the physical button of this utility model. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0026] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention. Example 1

[0027] This utility model provides an intelligent robot dog, see reference. Figure 1-11 As shown, it includes a main control unit, a motion execution unit, an information display unit, a power management unit, a human-machine interaction unit, and a mechanical structure unit.

[0028] refer to Figure 2 As shown, the main control unit employs a microcontroller module with integrated Wi-Fi functionality. The main control unit uses an ESP8266 series chip module (such as ESP-12F), with its GPIO4 and GPIO5 pins configured as hardware IIC interfaces to connect to the information display unit, and its GPIO12, GPIO13, GPIO14, and GPIO16 pins configured as PWM outputs to connect to four servos respectively. An embedded microcontroller module with Wi-Fi functionality is used as the core processing unit, responsible for system control, data processing, network communication, and signal generation.

[0029] The core of the main control unit uses the ESP-12F module. Its key peripheral circuits include: Power supply filtering: Place 10uF (C6) and 100nF (C5) capacitors near the VCC (3.3V) input pin for decoupling.

[0030] Ensure proper startup: See reference Figure 3 As shown, GPIO0 is pulled up to 3.3V through a 10kΩ resistor (R1); GPIO15 is pulled down to GND through a 10kΩ resistor (R4); and the EN (CH_PD) and RST pins are pulled up to 3.3V through 10kΩ resistors (R2, R3) respectively.

[0031] Communication interface: TX, RX, GND, and 3.3V pins are brought out to the programming interface (H5), see reference. Figure 4 As shown, this is used to connect a USB to TTL adapter. GPIO4 and GPIO5 are hardware IIC pins, connected to SDA and SCL of the display interface, respectively.

[0032] Mode switching: By shorting the GPIO0 pin to GND with a jumper cap and then powering on, the module can be forced into serial port download mode, which makes it easy to burn new firmware via the TX / RX pins.

[0033] The motion execution unit includes four servos, each connected to the main control unit via a PWM control interface. Each servo is a 360-degree continuously rotating servo. The main control unit pre-stores or can dynamically set the steering compensation parameters for each servo via a network interface to calibrate the angular synchronization of the servo motion, thus calibrating motion asynchrony issues caused by mechanical differences at the software level. Each servo is connected to the main control unit via a PWM (Pulse Width Modulation) signal line, receiving control commands to drive the mechanical structure to perform corresponding actions.

[0034] refer to Figure 5 As shown, the signal lines of the four 360-degree servos in the motion execution unit are connected to GPIO12, GPIO16, GPIO14, and GPIO13 of the main controller, respectively. The positive power supply and ground of the servos are connected to the 5V power bus and GND, respectively. To reduce signal interference, a 220Ω resistor can be connected in series near the servo end on each PWM signal line, and a 0.1uF capacitor can be added for ground filtering.

[0035] The information display unit includes a display screen, which is connected to the main control unit via a serial communication interface. The display screen is a 0.96-inch OLED display. The communication interface is an IIC bus. The display screen is used to display preset emoticons generated by the main control unit, time and weather information obtained via the network, and system status information. Its display content is programmed and controlled by the main control unit and may include preset emoticons, network time obtained via the NTP protocol, temperature / humidity / weather conditions obtained via the weather API, and status information such as system IP address and battery level. The information display unit uses a 0.96-inch OLED module (U5), see reference. Figure 6 As shown, its pins 1 (GND), 2 (VCC), 3 (SCL), and 4 (SDA) are respectively connected to the system's GND, 3.3V, main control GPIO5 (SCL), and main control GPIO4 (SDA).

[0036] The power management unit includes a battery pack consisting of two 14500 lithium-ion batteries connected in series, and at least two voltage conversion circuits connected to the battery pack. The first voltage conversion circuit outputs a first voltage (e.g., 5V) to power the motion execution unit, and the second voltage conversion circuit outputs a second voltage (e.g., 3.3V) to power the main control unit and the information display unit. The power management unit also includes a power detection circuit, which includes a voltage divider resistor network connected between the battery pack output and the ADC sampling pin of the main control unit. This network is used to proportionally reduce the battery voltage before sampling, allowing the main control unit to calculate the battery power. The power detection circuit samples the battery voltage and feeds it back to the main control unit. (Reference) Figure 7 , Figure 8 and Figure 9 As shown, the voltage conversion circuit uses two low-dropout linear regulators to generate 5V and 3.3V outputs respectively. The power detection circuit uses a voltage divider network composed of precision resistors (e.g., 740kΩ for the upper arm and 100kΩ for the lower arm) to divide the battery voltage (maximum 8.4V) to the input range (0-1.0V) of the ESP8266's built-in ADC for sampling.

[0037] The battery pack (two 14500 cells in series) outputs 5V (VCC5) via a power switch (SW4) and an AMS1117-5.0 voltage regulator (U4) to power all servos. Simultaneously, the positive terminal also outputs 3.3V (VCC33) via another AMS1117-3.3 voltage regulator (U3) to power the ESP8266, OLED display, and other components. Each LDO has a 10uF filter capacitor at both its input and output terminals.

[0038] refer to Figure 10 As shown, the power detection circuit consists of a voltage divider formed by resistors R9 (75kΩ) and R6 (10kΩ) connected in series, which is connected between BAT+ and GND. The midpoint of the voltage divider (i.e., the voltage across R6) is connected to the ADC pin of the ESP8266.

[0039] The human-machine interface unit includes a local operation component and a network interaction module. The local operation component is connected to the input port of the main control unit. The network interaction module is implemented by the main control unit and is used to build a wireless access node and provide a web-based control interface. The local operation component in the human-machine interface unit consists of physical buttons. The web-based control interface implemented by the network interaction module includes at least a motion control page, an expression switching page, and a system configuration page. The motion control page provides virtual controls for triggering forward, backward, turning, sitting, and lying-down actions. The network interaction module can establish a wireless access point and run a web server, providing a graphical control interface accessible through a general-purpose browser. The physical buttons are connected to the GPIO pins of the main control unit (such as GPIO2 and GPIO15). The web-based control interface provided by the network interaction module includes at least: a remote control page for controlling the robot dog's forward, backward, turning, sitting, and lying-down actions; an expression control area for selecting different screen expressions; a settings page for configuring parameters such as Wi-Fi network and weather API; and a motor calibration page for finely adjusting the compensation values ​​of each servo motor. (Reference) Figure 11 As shown, one end of the two tactile switches in the physical button is connected to GPIO2 and GPIO15 respectively, and the other end is connected to GND or 3.3V depending on whether it is an internal pull-up or an external pull-up.

[0040] The mechanical structure unit includes a circuit board supporting the main control unit and power management unit, and a housing structure housing the motion execution unit and the information display unit. The antenna portion of the microcontroller module extends beyond the circuit board and forms the bionic tail structure of the robot dog. The circuit board in the mechanical structure unit is a PCB, the size of which is adapted to the internal structure of the housing. The antenna portion extends outward from the edge of the PCB. The housing structure includes a shell with a bionic body. The circuit board is located at the lower end inside the shell. Four servos are respectively located at the four corners inside the shell, and the output shaft of each servo extends perpendicularly to the side of the shell to the outside and is connected to a bionic leg. The display screen is located at the front end of the shell, and the bionic tail is located on the upper rear end of the shell. The radio frequency antenna portion of the microcontroller module is laid out and extends beyond the PCB board. This extended portion is mechanically designed to act as the tail shape of the robot dog, achieving a unity of electrical function and bionic form. All electronic components are laid out on an irregularly shaped PCB, approximately 48mm x 87mm in size. The PCB has been optimized for routing, with the ceramic antenna area of ​​the ESP8266 module placed on the edge of the board and extending outwards without obstruction. This part is located at the tail of the robot dog after assembly. The servo motor is fixed to the bottom or side of the PCB by pin headers and connected to the 3D-printed bionic legs by connecting rods. The entire electronic core and mechanical transmission parts are wrapped in a single 3D-printed shell, forming the complete appearance of the robot dog. Example 2

[0041] Based on Embodiment 1, the peripheral circuit of the main control unit includes a mode switching circuit. This circuit comprises a resistor network that pulls up the GPIO0 pin of the microcontroller module to power and pulls down the GPIO15 pin to ground, and also provides a serial communication pin. A jumper can be used to select whether the system enters program download mode or normal operation mode. By configuring the pull-up / pull-down resistor states of pins such as GPIO0 and GPIO15, and shorting the corresponding pins with jumper caps, the system can switch between program download mode and normal operation mode, facilitating firmware updates and debugging.

[0042] The program running in the main control unit supports servo calibration function; the web control interface includes a dedicated servo calibration page, which provides interactive controls for dynamically adjusting and displaying the steering compensation parameters of each servo. The adjusted parameters can take effect in real time to control the movement of the servo.

[0043] The microcontroller module is connected to on-chip or off-chip non-volatile memory to build a file system. This file system stores files related to the web-based control interface and the user's Wi-Fi configuration information, enabling the saving and restoration of configuration parameters after power failure. The main control unit supports a file system (such as SPIFFS). The HTML, CSS, and JavaScript files of the web-based control interface, as well as user configuration information, are all stored in the file system, enabling power-off memory and allowing remote interface updates via a webpage. Example 3

[0044] Building upon Example 2, the development environment uses the VSCode editor in conjunction with the PlatformIO plugin. The chosen framework is Arduino for ESP8266.

[0045] Program architecture: The main program contains the setup() initialization function and the loop() main loop function.

[0046] In the setup() function, the serial port, servo object, OLED display, and SPIFFS file system are initialized sequentially. It attempts to read the stored Wi-Fi configuration and connect. If it fails, it starts AP mode. Finally, it initializes and starts the web server.

[0047] The loop() function iterates through network requests, executes the action queue, updates the display content, detects key presses, and performs ADC power sampling.

[0048] Key libraries: U8g2lib.h: Drives the OLED display.

[0049] ESPAsyncWebServer.h: Provides asynchronous web server functionality.

[0050] NTPClient.h: Gets the time from the network time server.

[0051] ArduinoJson.h: Parses the JSON data returned by the weather API.

[0052] Servo.h: Controls the PWM signal of the servo motor.

[0053] Web page interface: The web page files (index.html, control.html, setting.html, engine.html) are uploaded to the SPIFFS file system of the ESP8266 using the PlatformIO tool.

[0054] Homepage (index.html): Provides navigation to all subpages.

[0055] Remote control (control.html): Includes directional control buttons, action (sit / lie down / raise hand) buttons, expression selection buttons, time / weather display trigger button, and an area for real-time voltage and power display.

[0056] Settings page (setting.html): Provides a form for users to enter the local Wi-Fi SSID and password, weather API key, city name, etc., and saves it to SPIFFS after submission.

[0057] Calibration page (engine.html): Dynamically displays the left and right turn compensation values ​​of the four servos and provides "increase / decrease" buttons for adjustment. The adjustment effect is reflected in the servo movement in real time.

[0058] Workflow: Power-on startup: The system powers on, completes hardware initialization, reads the ssid.json configuration file from SPIFFS, and if the file exists and is valid, attempts to connect to the specified Wi-Fi router (STA mode); otherwise, it starts AP mode and creates an EDA-Robot hotspot.

[0059] Service ready: Start the asynchronous web server, listen on port 80, and configure all routes on the server (such as / front, / left, / weather, / connect, etc.) to respond to AJAX requests or form submissions from the web page.

[0060] User control: Users connect their mobile phones to the device's hotspot (or are on the same local area network as the device). Access the device's IP address through your browser to enter the web control interface; When the forward button is clicked, the browser sends a GET request to the / front path. The server receives the request, sets the action state flag actionstate = 1, and immediately replies with a response. In the main loop(), if the actionstate is not 0, the corresponding switch-case branch is entered, and a series of servo micro-motion sequences defined in the front() function are executed (controlling legs 2 / 3 and legs 1 / 4 to step alternately). After completing one forward cycle, the actionstate is cleared to zero.

[0061] The information shows that when a user clicks the weather button on a webpage, a / weather request is triggered. The server sets emojiState to 7. In the main loop, the screen display logic detects the change in emojiState and calls the fetchWeather() function. This function sends an HTTP GET request to the Xinzhi Weather API via Wi-Fi, parses the returned JSON data, extracts the temperature, humidity, and weather conditions, and then draws the corresponding weather icon and text data on the OLED screen.

[0062] Battery monitoring: The getAverageAdcVoltage() function is called periodically (e.g., every 10 seconds) in the main loop to perform multiple ADC samplings on the A0 pin and take the average. The actual battery voltage (batteryVoltage) is then converted based on the voltage division ratio. Based on the preset full-charge voltage (e.g., 8.4V) and under-charge voltage (e.g., 6.4V), the battery percentage (batteryPercentage) is calculated linearly and can be updated and displayed in real time on the webpage.

[0063] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An intelligent robot dog, characterized in that, include: The main control unit adopts a microcontroller module with integrated Wi-Fi functionality; The motion execution unit includes four servos, each of which is connected to the main control unit via a PWM control interface; An information display unit includes a display screen, which is connected to the main control unit via a communication interface; The power management unit includes a battery pack and at least two voltage conversion circuits respectively connected to the battery pack, wherein the first voltage conversion circuit outputs a first voltage to power the motion execution unit, and the second voltage conversion circuit outputs a second voltage to power the main control unit and the information display unit. The human-computer interaction unit includes a local operation component and a network interaction module. The local operation component is connected to the input port of the main control unit, and the network interaction module is implemented by the main control unit to build a wireless access node and provide a web page control interface. The mechanical structure unit includes a circuit board that carries the main control unit and the power management unit, and a housing structure that mounts the motion execution unit and the information display unit. The antenna portion of the microcontroller module extends beyond the circuit board and forms the bionic tail structure of the robot dog.

2. The intelligent robot dog according to claim 1, characterized in that, The main control unit uses the ESP8266 series chip module. Its GPIO4 and GPIO5 pins are configured as hardware IIC interfaces to connect to the information display unit, and its GPIO12, GPIO13, GPIO14, and GPIO16 pins are configured as PWM outputs to connect to the four servos respectively.

3. The intelligent robot dog according to claim 2, characterized in that, Each servo in the motion execution unit is a 360-degree continuously rotating servo; the main control unit stores steering compensation parameters corresponding to each servo, which are used to calibrate the angular synchronization of the servo movement.

4. The intelligent robot dog according to claim 2, characterized in that, The display screen is an OLED display screen, and the communication interface is an IIC bus; the display screen is used to display preset emoticons generated by the main control unit, time and weather information obtained through the network, and system status information.

5. The intelligent robot dog according to claim 1, characterized in that, The power management unit further includes a power detection circuit, which includes a voltage divider resistor network connected between the battery pack output terminal and the ADC sampling pin of the main control unit. This network is used to sample the battery voltage in a proportionally reduced manner so that the main control unit can calculate the battery power.

6. The intelligent robot dog according to claim 1, characterized in that, The local operation component in the human-computer interaction unit is a physical button; the web page control interface implemented by the network interaction module includes at least a motion control page, an expression switching page, and a system configuration page. The motion control page provides virtual controls for triggering forward, backward, turning, sitting, and lying down actions.

7. The intelligent robot dog according to claim 1, characterized in that, The circuit board in the mechanical structure unit is a PCB, the size of which is adapted to the internal structure of the housing, and the antenna part extends outward from the edge of the PCB.

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