CN105945961B - A kind of intelligent panda robot - Google Patents
A kind of intelligent panda robot Download PDFInfo
- Publication number
- CN105945961B CN105945961B CN201610326634.5A CN201610326634A CN105945961B CN 105945961 B CN105945961 B CN 105945961B CN 201610326634 A CN201610326634 A CN 201610326634A CN 105945961 B CN105945961 B CN 105945961B
- Authority
- CN
- China
- Prior art keywords
- panda
- robot
- master control
- module
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 208000025174 PANDAS Diseases 0.000 title claims abstract description 63
- 208000021155 Paediatric autoimmune neuropsychiatric disorders associated with streptococcal infection Diseases 0.000 title claims abstract description 63
- 235000016496 Panda oleosa Nutrition 0.000 title claims abstract description 63
- 240000000220 Panda oleosa Species 0.000 title 1
- 240000004718 Panda Species 0.000 claims abstract description 62
- 210000002414 leg Anatomy 0.000 claims abstract description 16
- 210000001217 buttock Anatomy 0.000 claims abstract description 9
- 210000001015 abdomen Anatomy 0.000 claims abstract description 8
- 238000005516 engineering process Methods 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 7
- 230000000875 corresponding effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 125000004122 cyclic group Chemical group 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 238000004590 computer program Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 3
- 238000011161 development Methods 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 241000282326 Felis catus Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention relates to robot technology, specifically discloses a kind of intelligent panda robot, and it includes the type machine of panda robot two, panda shell, panda overcoat；Wherein：The type machine of panda robot two includes motion parts, drives body and master control system；Motion parts are four legs；Drive body and include upper master control borad and lower master control borad, upper master control borad mainly installs master control system and power-supply system, and lower master control borad mainly installs panda robot shoulder and buttocks driving steering wheel；Panda shell includes head shell, back skin, belly shell, buttocks shell.The intelligent panda robot of the present invention is simple to operate, easy to use, and can complete to walk under voice recognition control, squat, playing, shouting, climbing tree, roll etc. acts, and is to possess the game toy of amusement and recreation, intelligence development.
Description
Technical field
The present invention relates to pet toy technical field, and in particular to a kind of intelligent panda robot.
Background technology
At present in the pet toy that can be seen on the market, panda toy is popular, but existing for these pet toys
Greatest problem is that it is an immotile cotton-wool, can neither be acted, again without " the dead thing " of any sensation, to child's
Intelligence culture and all like limitation in recreational development.In addition, Ministry of Foreign Affairs of China gives panda to more than 30 individual countries, but
Its cost is very high, so can the Chinese Central Television (CCTV) propose replace real panda with robot, and in further lifting
Entreat the content of TV station's " panda channel ".
The content of the invention
For problems of the prior art, it is an object of the invention to provide a kind of intelligent panda robot, make
Robot can complete to walk, squat, play, shouting, climbing tree, rolling etc. dynamic under the instruction (natural-sounding for including people) of people
Make.
To achieve the above object, the present invention, which adopts the following technical scheme that, is solved：
A kind of intelligent panda robot, include the type machine of panda robot two, panda shell, panda overcoat；Wherein：It is described
The type machine of panda robot two includes motion parts, drives body and master control system；The motion parts are four legs；The drive body includes
Upper master control borad and lower master control borad, the upper master control borad mainly install master control system and power-supply system, and the lower master control borad is mainly pacified
Fill panda robot shoulder and buttocks driving steering wheel；The panda shell include head shell, back skin, belly shell,
Buttocks shell.
Further, four legs are walking mechanisms, and every leg is provided with 3 servo drivings, the action of four legs
Controlled by the one-chip computer of the upper master control borad installation, and the control signal that one-chip computer is sent passes through the lower master control
Four steering wheels being installed on plate drive.
Further, it is whole to include servos control plate, STM32 single-chip microcomputers, sound identification module, mobile phone for robot master control system
End, bluetooth communication module, music playing module, Software for Design of the invention uses hierarchical structure design method, i.e., top
For robotic command receiving module, intermediate layer is robot motion planning module, and lowermost layer is each joint motor drive module.
Further, the robot master control system realizes function：
Music playing module：Downloaded with computer with music player to robot of the invention, alterability is strong, can
To coordinate multi-motion modes to play music；
STM32 single-chip microcomputers：Communicated using bluetooth serial ports and sound identification module, handle, mobile phone terminal, cyclic query
Serial ports is ordered with continuous receive, and rear sent to servos control plate of identification instructs so that servos control plate performs respective action；
Servos control plate：Using 32 high-speed CPUs, processing speed is fast, and control is more accurate, stable, Lothrus apterus, instruction essence
Letter, small volume is in light weight, there is perfect offline operation function, when being connected with STM32 single-chip microcomputers, receives the instruction of its transmission,
Run action group, performs action；
Mobile phone terminal：With reference to designed mobile phone picture, instruction, interface friend are assigned to robot using Android operation system
It is good, at the same can integrating speech sound identification, realize the more control modes of mobile phone, including key-press input or phonetic entry；
Bluetooth communication module：To be realized using HC-05 and communicated between mobile phone and one-chip computer, stability is good, and penetrance is strong,
The communication of certain distance can be carried out, when being connected with sound identification module, speech recognition can be carried out a long way off；
Sound identification module：Using LD3320 sound identification modules, its recognizer uses in general universal method；
Further, the motion planning module is the program module finished with one-chip computer software, comprising walking,
Retreat, squat, program module of rolling, as long as pressing the corresponding button on designed mobile phone picture, robot just completes
Corresponding action.
Further, the power-supply system includes battery, voltage sensor, switch.
Further, the panda robot shells are prepared by 3D printing technique, and it is naked to be rolled in the type machine of panda robot two
Among machine and panda overcoat.
Beneficial effects of the present invention are：
(1) structure simplifies, and reduces cost, and whole parts used in the present invention all use domestic part, as panda is big
Steering wheel on leg joint, the one-chip computer in panda motion control, substantially reduces cost, is less than a cost price
2000 yuan, common customer can receive；
(2) there are 4 legs in robot, and every leg has 3 joints, can under the conditions of minimizing the free degree complete walking, after
Move back, squat, stretching out two legs, the action such as front foot is clapped hands, is rolled, is climbed tree；
(3) it is simple to operate, easy to use, action control not only is carried out with dedicated remote control, but also can utilize and be based on
The mobile phone of blue-tooth technology and sound recognition module control machine human action, thus this project have in terms of man-machine interaction it is new
Break through；
(4) panda robot shells are designed with 3D printing technique, and the overcoat of beautiful robot is enclosed on this shell
On, solve the problems, such as that overcoat is not easy to put on, allow the robot to be operating normally.
Brief description of the drawings
Below in conjunction with accompanying drawing, the present invention is described in further detail with embodiment.
Fig. 1 is the type machine mechanical structure general assembly drawing of panda of embodiment of the present invention robot two；
Fig. 2 is panda robot shells general assembly drawing of the embodiment of the present invention；
Fig. 3 is panda robot shells exploded view of the embodiment of the present invention；
Fig. 4 is panda of embodiment of the present invention robot master control system connection diagram；
Fig. 5 is panda of embodiment of the present invention robot operational flowchart.
Wherein, 1, upper mainboard；2nd, lower mainboard；3rd, master control system；4th, power-supply system；5th, preceding left shoulder X-axis driving steering wheel 1
Number；6th, preceding left shoulder X-axis driving steering wheel 2；7th, preceding left shoulder X-axis driving steering wheel 3；8th, front left foot bottom；9th, back skin；
10th, belly shell；11st, head shell；12nd, buttocks shell；13rd, back skin connects；14th, belly cage connection.
Embodiment
The present invention is described in further detail with reference to specific embodiment, but the invention is not restricted to the embodiment.
Embodiment
Reference picture 1, Fig. 2, Fig. 3, the panda robot of the present embodiment include the type machine of panda robot two, panda shell, bear
Cat overcoat；Wherein：The type machine of panda robot two includes motion parts, drives body and master control system；Motion parts are four legs；With bear
It is front left foot bottom 8 below front left-leg exemplified by cat robot front left-leg；Drive body and include upper master control borad 1 and lower master control borad 2, upper master
Control plate 1 mainly installs master control system 3 and power-supply system 4, and lower master control borad 2 is mainly installed panda robot shoulder and used with buttocks driving
Steering wheel, by taking panda robot front left-leg as an example, provided with 3 driving steering wheels, it is respectively：It is preceding left shoulder X-axis driving steering wheel No. 15, preceding
Left shoulder X-axis driving steering wheel No. 26, preceding left shoulder X-axis driving steering wheel No. 37；Panda shell includes head shell 11, back skin
9th, belly shell 10, buttocks shell 12, back skin connection 13 is with belly cage connection 14 by together with above-mentioned cage connection.
Reference picture 4, the master control system of the panda robot of the present embodiment, wherein：STM32f103x single-chip microcomputers are gone here and there by TTL
Mouth connection USC-20 servos control plates, N9200MP3 modules are connected with USC-20 servos controls plate by TTL serial ports, and PS2 is wireless
Remote-control handle is connected with USC-20 servos control plates, and DS2780 power indicators are connected with USC-20 servos control plates, and battery is adopted
With grignard ACE 1800mAh7.4V lithium polymer batteries, computer is connected with STM32f103x single-chip microcomputers by USB, HC-06 bluetooths
Module one end is connected with STM32f103x single-chip microcomputers by TTL, and the other end is connected with Ld3320 sound identification modules or mobile phone, hand
Machine can use Android system, any a smart mobile phone of apple system.
Reference picture 5, panda robot operating procedure：The first step, by remote control or mobile phone or sound controller, by start button
Computer is entered init state, quadruped static state is in four legs of this state machine people, i.e., front and rear four legs
All in case of bending；Second step, the determining program of one-chip computer and its right is started by remote control or mobile phone or sound controller
The action execution program answered, there are two judgement systems in one-chip computer：First main input for judging panda robot
The mode of signal, including handle, mobile phone or sound controller, according to different input modes, one-chip computer selects different execution
System；The program that second main to judge to perform is any action, including walking, squats, plays, rolling, calling, climbing tree, single
Piece computer is connected to some in these actions and is carried out corresponding operation program.The panda robot of the present invention is except base
Outside this performance, moreover it is possible to preschool child's learning machine function is realized, the present invention covers overcoat in panda robot shells,
And the various actions completed under voice recognition control, it is to possess the game toy of amusement and recreation, intelligence development.
It is described above, only it is the preferable case of the present invention, any restrictions is not made to the present invention, it is every for the present invention
The Any simple modification, alteration or imitation that technology contents are done to above case study on implementation belong to the protection of technical solution of the present invention
Scope.
Claims (6)
1. a kind of intelligent panda robot, it is characterised in that including the type machine of panda robot two, panda shell, panda overcoat；
Wherein：The type machine of panda robot two includes motion parts, drives body and master control system；The motion parts are four legs；Institute
State drive body and include upper master control borad and lower master control borad, the upper master control borad mainly installs master control system and power-supply system, the lower master
Control plate mainly installs panda robot shoulder and buttocks driving steering wheel；The panda shell include head shell, back skin,
Belly shell, buttocks shell, back skin connection is with belly cage connection by together with the panda cage connection；The panda
The type machine master control system of robot two includes servos control plate, STM32 single-chip microcomputers, sound identification module, mobile phone terminal, bluetooth communication
Module and music playing module；The master control system uses hierarchical structure, i.e., top is robotic command receiving module, in
Interbed is robot motion planning module, and lowermost layer is each joint motor drive module；The STM32 single-chip microcomputers are gone here and there by TTL
Mouthful connection servos control plate, music playing module is connected with servos control plate by TTL serial ports, bluetooth communication module one end and
STM32 single-chip microcomputers are connected by TTL, and the other end is connected with sound identification module or mobile phone terminal.
2. intelligent panda robot according to claim 1, it is characterised in that four legs are walking mechanisms, often
Bar leg is provided with 3 servo drivings, the actions of four legs by the program in the one-chip computer of the upper master control borad installation Lai
Control, and the control signal that one-chip computer is sent is driven by four steering wheels installed on the lower master control borad.
3. intelligent panda robot according to claim 1, it is characterised in that the music playing module is Panda Computer
Computer program and MP3 are downloaded to robot by device people, coordinate multi-motion modes to play music；The STM32 single-chip microcomputers use
Bluetooth serial ports is communicated with sound identification module, handle, mobile phone terminal, and cyclic query serial ports constantly receives order, identifies it
Send and instruct to servos control plate afterwards so that servos control plate performs respective action；The servos control plate uses 32 high speeds
CPU processing, when being connected with STM32 single-chip microcomputers, the instruction of its transmission is received, run action group, performs action；The mobile phone is whole
End assigns instruction to robot using the APP that writes, friendly interface, at the same can integrating speech sound identification, realize mobile phone control more
Mode, including button, voice mode；The bluetooth communication module uses HC-05, and mobile phone and monolithic are connected with wireless communication method
Computer；The sound identification module uses LD3320 sound identification modules, and partial sound is identified, makes the dynamic of robot
Work is controlled by the phonetic order of people.
4. intelligent panda robot according to claim 3, it is characterised in that the motion planning module is to use monolithic
The program module that computer software has been finished, comprising walking, retreating, squatting, program module of rolling, as long as designed
The corresponding button is pressed on mobile phone picture, robot can completes corresponding action.
5. intelligent panda robot according to claim 1, it is characterised in that the power-supply system includes battery, electricity
Pressure sensor, switch.
6. intelligent panda robot according to claim 1, it is characterised in that the panda robot shells are beaten by 3D
Prepared by print technology, and be rolled among the type machine bare machine of panda robot two and panda overcoat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610326634.5A CN105945961B (en) | 2016-05-17 | 2016-05-17 | A kind of intelligent panda robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610326634.5A CN105945961B (en) | 2016-05-17 | 2016-05-17 | A kind of intelligent panda robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105945961A CN105945961A (en) | 2016-09-21 |
| CN105945961B true CN105945961B (en) | 2018-02-13 |
Family
ID=56912674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610326634.5A Active CN105945961B (en) | 2016-05-17 | 2016-05-17 | A kind of intelligent panda robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105945961B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858176A (en) * | 2018-08-21 | 2018-11-23 | 西北工业大学 | A kind of Intelligent machine dog |
| CN110065552A (en) * | 2019-05-22 | 2019-07-30 | 贵州大学 | A voice-controlled quadruped robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774408A (en) * | 2009-01-14 | 2010-07-14 | 林砺宗 | Four-leg bionic walking mechanism |
| CN202657138U (en) * | 2012-07-16 | 2013-01-09 | 山东大学 | Small-sized bionic quadruped robot |
| CN204264314U (en) * | 2014-12-18 | 2015-04-15 | 哈尔滨工大天才智能科技有限公司 | A kind of bionic machine dog |
| CN205034207U (en) * | 2015-05-26 | 2016-02-17 | 上海大学 | Small -size bionical four -footed robot of electric drive |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5854695B2 (en) * | 2010-09-22 | 2016-02-09 | キヤノン株式会社 | Robot apparatus control method and robot apparatus |
-
2016
- 2016-05-17 CN CN201610326634.5A patent/CN105945961B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774408A (en) * | 2009-01-14 | 2010-07-14 | 林砺宗 | Four-leg bionic walking mechanism |
| CN202657138U (en) * | 2012-07-16 | 2013-01-09 | 山东大学 | Small-sized bionic quadruped robot |
| CN204264314U (en) * | 2014-12-18 | 2015-04-15 | 哈尔滨工大天才智能科技有限公司 | A kind of bionic machine dog |
| CN205034207U (en) * | 2015-05-26 | 2016-02-17 | 上海大学 | Small -size bionical four -footed robot of electric drive |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105945961A (en) | 2016-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201073550Y (en) | Intelligent service robot with rich movement freedom degree | |
| CN106345129B (en) | A kind of control system of intelligent toy robot | |
| CN103764236A (en) | Connected multi functional system and method of use | |
| CN102728074A (en) | Intelligent interactive puppet show playing system and control method thereof | |
| CN206138753U (en) | Voice interface intelligent toys device | |
| CN105881550A (en) | Advanced humanoid dancing robot | |
| CN102033607A (en) | Human-machine interaction information system and method for realizing human-machine interaction | |
| CN105945961B (en) | A kind of intelligent panda robot | |
| CN201566512U (en) | Intelligent car based on attitude detection and control | |
| CN202605745U (en) | Intelligent interactive puppet performance system | |
| CN208697451U (en) | A kind of children's early education robot | |
| CN207087877U (en) | A kind of programmable education robot system | |
| CN109830141A (en) | A kind of entity command programmed method and entity command programing system | |
| CN206045398U (en) | Interactive intelligent toy animals | |
| CN202715193U (en) | 3D (three dimensional) simulation body building bicycle | |
| CN115738260A (en) | Robot interactive game method, system and computer readable medium | |
| CN205460476U (en) | Device of human -computer interaction function with recreation and massage | |
| CN202916918U (en) | Motion sensing game input device | |
| CN103143142A (en) | Integrated entertainment, exercise and fitness treadmill and manual manipulator thereof | |
| CN207101903U (en) | Body-sensing building block vehicle | |
| EP2874721B1 (en) | Interactive embodied robot videogame through the use of sensors and physical objects | |
| CN202010416U (en) | A novel game controller | |
| CN203139494U (en) | Recreational sports and body-building integrated treadmill and manual operator thereof | |
| CN214634010U (en) | Programmable card and card-reading type programmable educational toy set | |
| CN105536144B (en) | A kind of device with the human-computer interaction function of game and massage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 150006, room 818, complex building, Harbin Institute of computer, No. 92 West straight street, Nangang District, Heilongjiang, Harbin Applicant after: Hong Bingrong Address before: 150001, Harbin building, building 92, West 818 straight street, Nangang District, Heilongjiang, Harbin Applicant before: Hong Bingrong |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200323 Address after: 301-3, floor 3, building D, intersection of Hanan 11th Road and 12th Avenue (33, Hanan 12th Road), Pingfang District, Harbin City, Heilongjiang Province 150000 Patentee after: HARBIN LEJU INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 150006 room 818 of the computer college, No. 92, Kazakhstan University, Nangang District, Nangang District, Harbin Patentee before: Hong Bingrong |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221123 Address after: 518110 Hudipai 85, Nandafu Community, Guanlan Street, Longhua New District, Shenzhen City, Guangdong Province Patentee after: LEJU (SHENZHEN) ROBOTICS CO.,LTD. Address before: 301-3, 3rd floor, building D, intersection of Hanan 11th Road and 12th Avenue, Pingfang District, Harbin City, Heilongjiang Province Patentee before: HARBIN LEJU INTELLIGENT TECHNOLOGY Co.,Ltd. |