Bird-type robot device

Abstract

To provide a bird-shaped robot device that can swim autonomously.SOLUTION: A bird-shaped robot device includes: a bird-shaped housing 1 which has the outer shape that imitates the head and body of a bird; two leg structures 2 which are arranged on the bottom of the bird-shaped housing 1; and a driving module configured to drive the two leg structures 2. Each of the two leg structures 2 includes a first segment 21 mounted to the bird-shaped housing 1 in a rotatable manner, and a second segment 22 pivotally supported by the first segment 21. Each of the two leg structures is driven by the driving module to be movable between a retracted state, where the first segment 21 extends forwardly and the second segment 22 extends rearwardly in the front-rear direction D3 from the first segment 21, and a propelling state, where the first segment 21 extends rearwardly and the second segment 22 extends further rearwardly in the front-rear direction D3 from the first segment 21.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an animal-imitating device, and more particularly to a bird-type robotic device. [Background technology]

[0002] When taking a bath or playing in a pool, we often see floating duck toys, but this kind of duck toy has the disadvantage that it can only float with the flow of water and cannot swim or do other actions autonomously on the water surface. Therefore, how to make the duck toy swim autonomously and how to improve the interaction between the duck toy and the user are worth exploring. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] China Patent Application Publication No. 115465383 Summary of the Invention [Problem to be solved by the invention]

[0004] SUMMARY OF THE PRESENT EMBODIMENTS Accordingly, an object of the present invention is to provide a bird-type robotic device that overcomes at least one of the shortcomings of the prior art. [Means for solving the problem]

[0005] In order to achieve the above object, the present invention provides a bird-shaped housing having an external shape imitating the head and body of a bird, and in which a left-right direction, a top-bottom direction, and a front-back direction are defined by the positional relationship between the head and the body; two leg structures arranged at a lower portion of the bird-shaped housing in the up-down direction so as to be parallel to each other along the left-right direction; A bird-type robot device including: a drive module that is disposed in the bird-shaped housing and drives a relative movement of the two leg structures with respect to the bird-shaped housing; Each of the leg structures has a first portion attached to the bird-shaped housing so as to be rotatable about a first rotation axis parallel to the left-right direction, and a second portion pivotally supported on the first portion so as to be rotatable about a second rotation axis parallel to the left-right direction, and thereby, by being driven by the drive module, a bent posture in which the first portion extends from the bird-shaped housing toward a front side in the front-rear direction and the second portion extends from the first portion toward a rear side in the front-rear direction; The bird-shaped robot device is characterized in that it is configured to be able to switch between an extended posture in which the first portion extends rearward in the fore-and-aft direction from the bird-shaped casing and the second portion extends further rearward in the fore-and-aft direction from the first portion. Effect of the Invention

[0006] The bird-type robot device of the present invention has two leg structures that can switch between bent and extended positions relative to a bird-shaped casing, and a drive module that drives these two leg structures, allowing it to swim autonomously on the water surface. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective view of an embodiment of a bird-type robot device of the present invention. [Diagram 2] FIG. 11 is a perspective view of the same embodiment from another angle. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. 4 is a cross-sectional view of the leg structure in the embodiment in a bent position. [Figure 6] FIG. 4 is a cross-sectional view of the leg structure in the embodiment in an extended position. [Figure 7] 2 is a block diagram showing the connection relationship with other components of the microcomputer in the embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0009] Figures 1 to 4 show a bird-type robot device 100 according to an embodiment of the present invention. As shown in the figures, the bird-type robot device 100, which is suitable for floating on the water surface (not shown), comprises a bird-shaped housing 1, two leg structures 2, a drive module 3, a plurality of speakers 4, an imaging module 5, a plurality of distance sensors 6, a plurality of audio receiving means 7, a water sensor 8, and a microcomputer 9.

[0010] The bird-shaped housing 1 can be made of, for example, a plastic material, and is configured to have a body section 11 having an external shape imitating a bird's body, and a head section 12 formed in an external shape imitating a bird's head and rotatably attached to the body section 11. Furthermore, a left-right direction D1, a top-bottom direction D2, and a front-back direction D3 are defined by the positional relationship between the head section 12 and the body section 11. That is, the head section 12 is attached to the upper part of the body section 11 in the top-bottom direction D2, and to the front of the body section 11 in the front-back direction D3.

[0011] The two leg structures 2 may be made of, for example, a plastic material. As shown in Figures 1, 2, and 4, the two leg structures 2 are arranged at the bottom of the bird-shaped housing 1 in the up-down direction D2 so as to be parallel to each other along the left-right direction D1. Each leg structure 2 has a first portion 21 attached to the body 11 of the bird-shaped housing 1 so as to rotate about a first rotation axis A1 parallel to the left-right direction D1, and a second portion 22 pivotally supported by the first portion 21 so as to rotate about a second rotation axis A2 parallel to the left-right direction D1, the first portion 21 being formed in a substantially rod-like shape, and the second portion 22 being formed in a substantially plate-like shape.

[0012] As shown in FIG. 5, each leg structure 2 has a first portion 21 and a second portion 22, and can switch between a bent position in which the first portion 21 extends forward in the front-to-rear direction D3 from the bird-shaped housing 1 and the second portion 22 extends rearward in the front-to-rear direction D3 from the first portion 21, and an extended position in which the first portion 21 extends rearward in the front-to-rear direction D3 from the bird-shaped housing 1 and the second portion 22 extends further rearward in the front-to-rear direction D3 from the first portion 21, as shown in FIG. 6.

[0013] In this embodiment, the second part 22 of each leg structure 2 is provided with a first position limiting means 221 and a second position limiting means 222 for limiting the relative rotation angle of the second part 22 pivotally supported on the first part 21 with respect to the first part 21. As shown in Fig. 5, the first position limiting means 221 determines the lower limit (about 45 degrees in this embodiment) of the relative rotation angle of the second part 22 with respect to the first part 21, and as shown in Fig. 6, the second position limiting means 222 determines the upper limit (about 180 degrees in this embodiment) of the relative rotation angle of the second part 22 with respect to the first part 21. Incidentally, the first position limiting means 221 and the second position limiting means 222 may be formed on the first part 21, or a configuration in which they are formed on the first part 21 and the second part 22, respectively, is also conceivable. However, for the sake of simplicity, only a configuration in which they are formed on the second part 22 only will be described.

[0014] When the first part 21 of the leg structure 2 having this structure moves about the first rotation axis A1 from the position shown in FIG. 5 to the position shown in FIG. 6 relative to the body part 11, the first part 21 swings from the front to the rear in the front-to-rear direction D3, and the second part 22 which is swingably attached to the tip of the first part 21 by the second rotation axis A2 moves away from the first part 21 due to the resistance of the surrounding air and water, i.e., this corresponds to a movement in which the relative rotation angle of the second part 22 with respect to the first part 21 about the second rotation axis A2 increases. At this time, the second position limiting means 222 is interposed, so that an upper limit of the relative rotation angle of the second part 22 with respect to the first part 21 about the second rotation axis A2 is determined. Therefore, the second part 22 is pushed backward in the front-to-rear direction D3 while maintaining the determined upper limit of the relative rotation angle with respect to the first part 21, and receives the resistance of the surrounding air and water, thereby generating a force that moves the bird-shaped housing 1 forward in the front-to-rear direction D3.

[0015] In addition, when the leg structure 2 having this structure moves such that the first portion 21 moves from the position shown in FIG. 6 to the position shown in FIG. 5, the first portion 21 swings from front to front in the front-rear direction D3, and the second portion 22 attached to the tip of the first portion 21 so as to be swingable about the second rotation axis A2 approaches the first portion 21 due to the resistance force of the surrounding air and water. In other words, this corresponds to a movement in which the relative rotation angle of the second portion 22 with respect to the first portion 21 about the second rotation axis A2 becomes smaller. At this time, the first position limiting means 221 is interposed to limit the first position of the second portion 22. A lower limit of the relative rotation angle about the second rotation axis A2 with respect to the first part 21 is determined, and therefore the second part 22 swings forward in the front-to-back direction D3 at this determined lower limit relative rotation angle with respect to the first part 21, thereby deflecting the resistance forces of the surrounding air and water and remaining in a position that does not impede the forward movement of the bird-shaped housing 1 in the front-to-back direction D3, and when the first part 21 of the leg structure 2 moves again from the position shown in Figure 5 to the position shown in Figure 6, it can again receive the resistance forces of the surrounding air and water and smoothly reach the position shown in Figure 6.

[0016] The drive module 3 is disposed within the bird-shaped housing 1 and has two first drive means 31 which respectively drive the relative movement of the two leg structures 2 with respect to the bird-shaped housing 1, and a second drive means 32 which drives the rotation of the head 12 with respect to the torso 11. In this embodiment, the two first drive means 31 and the second drive means 32 are both servo motors.

[0017] Furthermore, since the two first driving means 31 each independently drive the movement of the two leg structures 2 (the swinging of the first part 21 relative to the body part 11), it becomes possible to individually control the frequency and speed at which each of the two leg structures 2 is moved, thereby making it possible to control the speed and direction changes at which the bird-type robot device 100 of this embodiment of the present invention moves on the water surface.

[0018] Each speaker 4 is disposed on the upper part of the body 11 of the bird-shaped housing 1. The imaging module 5 is disposed on the head 12 of the bird-shaped housing 1 to capture an external image and generate corresponding image data. Depending on the degree of rotation of the head 12 with respect to the body 11, it can capture an image forward in the front-rear direction D3 or backward in the front-rear direction D3. Each distance sensor 6 is disposed on the front side and both left and right sides of the body 11 of the bird-shaped housing 1. Each sound receiving means 7 is disposed on the front side and both left and right sides of the body 11 of the bird-shaped housing 1, and generates sound data corresponding to the received sound and outputs it to the microcomputer 9. The water sensor 8 has two rod-shaped sensing parts 81 disposed on the lower part of the body 11 of the bird-shaped housing 1, and is configured to detect whether the body 11 of the bird-shaped robot device 100 has left the water surface by detecting whether the two rod-shaped sensing parts 81 are electrically connected via the surrounding water.

[0019] As shown in Figures 1 and 7, the microcomputer 9 is disposed within the body 11 of the bird-shaped housing 1, and is electrically connected to the driving module 3, each speaker 4, the imaging module 5, each distance sensor 6, each audio receiving means 7, and the water sensor 8.

[0020] As shown in Fig. 1 to Fig. 4, the microcomputer 9 stores human face identification data in advance, and the human face identification data records the facial appearance of the user of the bird-type robot device 100. When a human voice is heard around the bird-type robot device 100, the microcomputer 9 receives a plurality of voice data from each voice receiving means 7, and determines the location where the human voice is generated based on the timing and time difference at which the voice data receive the voice, and then outputs a drive command to the driving module 3, drives the two leg structures 2 and the head 12 to direct the imaging module 5 to the location where the human voice is generated, so that the imaging module 5 takes a picture and generates corresponding image data, compares the image data received from the imaging module 5 with the human face identification data, and outputs a control command to the driving module 3 based on the result of the comparison, and controls the speaker 4 to play pre-recorded audio data, thus having a face recognition function.

[0021] For example, when the image data received from the photographing module 5 matches the human face identification data (i.e., the source of the human voice is the user), the microcomputer 9 outputs a human face response command to the driving module 3 to move the two leg structures 2 and move the bird-type robot device 100 toward the user, and also plays a sound effect, for example, "Hello, master" to the speaker 4. On the other hand, when the image data received from the photographing module 5 does not match the human face identification data (i.e., the source of the human voice is not the user), the microcomputer 9 does not output a human face response command, and plays another sound effect, for example, "Are you making money?" to the speaker 4. Alternatively, it is also possible not to start the speaker 4.

[0022] In addition, when the bird-type robot device 100 leaves the water surface, the water sensor 8 outputs a water-leaving signal to the microcomputer 9. When the microcomputer 9 receives the water-leaving signal, the microcomputer 9 compares the image data captured at that time from the photographing module 5 with the above-mentioned human face identification data, and can output an abnormal reaction command to the driving module 3 or an abnormal voice command to the speaker 4 based on the result of the comparison.

[0023] For example, if the image data from the photographing module 5 does not match the face identification data of the human (i.e., the human beside the bird-type robot device 100 at the time of taking off from the water is not the user), the bird-type robot device 100 may have been picked up from the water by someone other than the user, and theft may have occurred. Therefore, the abnormal reaction command outputted by the microcomputer 9 to the driving module 3 causes the driving means 3 to rapidly move the two leg structures 2 and rapidly turn the head 12 of the bird-shaped casing 1 to perform a performance of calling for help in a panic, and the abnormal voice command outputted by the microcomputer 9 to the speaker 4 executes an anti-theft process by playing an alert in the speaker 4, for example, shouting "Thief! Help! Help!".

[0024] In addition, the microcomputer 9 receives multiple distance sensing data from each distance sensor 6, and outputs a corresponding avoidance command to the driving module 3 based on each distance sensing data. When the driving module 3 receives the avoidance command, it moves the two leg structures 2 at a frequency determined by the microcomputer 9, thereby preventing the bird-type robot device 100 from colliding with surrounding obstacles.

[0025] To sum up, the bird-type robot device 100 of the present invention has two leg structures 2 that can switch between a bent posture and an extended posture relative to the bird-shaped casing 1, and also has a drive module 3 that drives the two leg structures 2, and thus can swim autonomously on the water surface. In addition, the bird-type robot device 100 has a microcomputer 9, a wide variety of input means, such as a photographing module 5, a distance sensor 6, an audio receiving means 7, and a water sensor 8, which are electrically connected to the microcomputer 9, and a wide variety of output means, such as the drive module 3 and a speaker 4, and therefore has better interaction performance with the user, and in particular can exhibit an anti-theft function.

[0026] Although the embodiment of the present invention has been described above, the present invention is not limited to this, and various modifications are possible without departing from the gist of the present invention. [Explanation of symbols]

[0027] 100 Bird-type robot device 1. Bird-shaped case 11. Torso 12 Head 2 leg structure 21 First Part 22 Second Part 221 First position limiting means 222 Second position limiting means 3 Drive Module 31 First driving means 32 Second driving means 4 speakers 5. Shooting module 6. Distance Sensor 7. Audio Receiving Means 8 Water Sensor 81 Rod-shaped sensing part 9. Microcomputers D1 Left / right direction D2 Vertical direction D3 Front-rear direction A1 First rotation axis A2 Second rotation axis

Claims

1. a bird-shaped housing having an external shape resembling a head and a body of a bird, and a left-right direction, a top-bottom direction, and a front-back direction are defined by a positional relationship between the head and the body; two leg structures arranged at a lower portion of the bird-shaped housing in the up-down direction so as to be parallel to each other along the left-right direction; a drive module that is disposed in the bird-shaped housing and drives a relative movement of the two leg structures with respect to the bird-shaped housing, Each of the leg structures has a first portion attached to the bird-shaped housing so as to be rotatable about a first rotation axis extending parallel to the left-right direction, and a second portion pivotally supported on the first portion so as to be rotatable about a second rotation axis extending parallel to the left-right direction, thereby allowing the drive from the drive module to: a bent posture in which the first portion extends from the bird-shaped housing toward a front side in the front-rear direction and the second portion extends from the first portion toward a rear side in the front-rear direction; a stretched posture in which the first portion extends rearward in the front-to-rear direction from the bird-shaped casing and the second portion extends further rearward in the front-to-rear direction from the first portion, and an extended posture in which the first portion extends rearward in the front-to-rear direction from the bird-shaped casing.

2. In the bent posture, the first portion extends obliquely from the bird-shaped housing toward a front side in the front-rear direction and toward a downward side in the up-down direction, and the second portion extends from the first portion toward a rear side in the front-rear direction, 2. The bird-type robot device according to claim 1, wherein, in the extended posture, the first portion extends obliquely from the bird-shaped casing toward the rear side in the front-rear direction and toward the lower side in the up-down direction.

3. a first position limiting means and a second position limiting means are disposed in the first portion or the second portion of each of the leg structures, the first position limiting means limiting a relative rotation angle of the second portion pivotally supported on the first portion with respect to the first portion, 3. The bird-type robot device according to claim 2, wherein the first position limiting means determines a lower limit of a relative rotation angle of the second part with respect to the first part, and the second position limiting means determines an upper limit of a relative rotation angle of the second part with respect to the first part.

4. 2. The bird-type robot device according to claim 1, wherein the drive module has two first drive means for driving the rotation of the first parts of the two leg structures, respectively, about the first rotation axis relative to the bird-type housing.

5. the bird-shaped housing is configured to have a body portion having an external shape imitating a body of a bird, and a head portion formed in an external shape imitating a head of a bird and rotatably attached to the body portion, 2. The bird-type robot device according to claim 1, wherein the drive module has a second drive means for driving the rotation of the head relative to the body.

6. a photographing module disposed in the bird-shaped housing to photograph an external image and generate corresponding image data; a microcomputer electrically connected to the imaging module and the driving module; 2. The bird-type robot device according to claim 1, wherein the microcomputer has a face recognition function and is configured to process image data captured by the photographing module using the face recognition function and output a corresponding control command to the drive module.

7. The bird-shaped housing further includes a plurality of distance sensors disposed thereon to detect distances between adjacent objects and generate corresponding distance sensing data; and a microcomputer electrically connected to each of the distance sensors and the driving module; 2. The bird-type robot device according to claim 1, wherein the microcomputer is configured to output a corresponding avoidance command to the drive module based on the distance sensing data from each of the distance sensors.

8. a plurality of voice receiving means arranged in the bird-shaped housing and electrically connected to the microcomputer, for generating voice data corresponding to received voices and outputting the voice data to the microcomputer; a speaker disposed on the bird-shaped housing and electrically connected to the microcomputer; 7. The bird-type robot device according to claim 6, wherein the microcomputer is configured to output a corresponding control command to the driving module based on each of the voice data, and to control the speaker to play pre-recorded audio data.

9. A water sensor is disposed under the bird-shaped housing and electrically connected to the microcomputer, and outputs a water-removal signal to the microcomputer when the water sensor detects that the water surface has been removed. The bird-type robot device according to claim 8, characterized in that when the microcomputer receives the water-leaving signal from the water sensor, it is configured to cause the drive module to move the leg structure or cause the speaker to play an alert based on the results of processing image data captured by the photographing module using the face recognition function.

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