CN-121973871-A - Bionic intelligent pet robot with multi-modal emotion interaction capability

CN121973871ACN 121973871 ACN121973871 ACN 121973871ACN-121973871-A

Abstract

A bionic intelligent pet robot with multi-modal emotion interaction capability. The three-layer bionic structure of the carbon fiber composite skeleton-medical silica gel skin-bionic hair is adopted, and an intelligent partner with real touch sense, flexible gesture and deep emotion interaction capability is realized by matching a 16-degree-of-freedom bionic motion system and an end cloud collaborative emotion calculation architecture. The system mainly comprises a carbon fiber composite skeleton, a medical silica gel constant temperature skin, a modified acrylic bionic hair, a multi-mode sensing system, an emotion calculation engine and a cat nest type automatic charging seat, wherein the carbon fiber composite skeleton is provided with 16 degrees of freedom and a three-section type flexible spine, the medical silica gel constant temperature skin is connected through split magnetic attraction to achieve 36-38 ℃ constant temperature, the modified acrylic bionic hair is implanted by gradient density, the multi-mode sensing system is used for achieving full coverage of vision, hearing and touch, the emotion calculation engine is used for achieving emotion interaction with personalized memory based on a state machine. The invention solves the technical defects of cold touch, stiff movement and shallow interaction of the existing pet robot and is applied to family emotion accompaniment, old health care and children education auxiliary scenes.

Inventors

DU LEFEI
TAO JUNBING
YU HENG
LIU YONGJUN
JIN XIUJIE
ZHANG YUHAN
HU QIAOYU
TAO SONGLEI

Assignees

宁波市鄞州职业高级中学

Dates

Publication Date: 20260505
Application Date: 20260311

Claims (7)

1. A biomimetic intelligent pet robot, comprising: A. The carbon fiber composite skeleton consists of a carbon fiber tube, a 3D printing nylon connecting piece and a titanium alloy joint shaft, has 16 degrees of freedom and comprises a head 2DOF, a neck 1DOF, a spine 2DOF, four limbs 12DOF and a tail 3DOF, wherein the spine is in three-section flexible connection, and a silica gel breathing air bag is arranged in a chest; B. The medical silica gel skin is coated outside the framework, a platinum vulcanized silica gel material with the thickness of 2-5mm is adopted, a nylon mesh reinforcing layer is embedded, split design is adopted, the split type nylon mesh reinforcing layer is connected through a magnetic attraction buckle, and a PTC heating film is arranged in the split type nylon mesh reinforcing layer to realize 36-38 ℃ constant temperature; C. The bionic hair system is characterized in that a modified acrylic fiber material is fixed on the silica gel skin by a cluster implantation process, the hair length is distributed in a gradient way with the density of between 60,000 and 120,000 roots/cm < 2 >, and the surface is provided with a nano hydrophobic coating and silver ion antibacterial treatment; D. A multi-modal perception system comprising an RGB-D depth camera located at the head, a microphone array located at the top of the head, distributed haptic sensors distributed at the back/abdomen/head/ear/beard/sole; E. The emotion calculation engine runs based on a heterogeneous calculation architecture, fuses visual, auditory and tactile multi-mode data, and realizes personalized emotion interaction through a lightweight large language model and a reinforcement learning algorithm; F. The cat nest charging seat adopts a bionic modeling design, is internally provided with a magnetic attraction positioning mechanism, an infrared guiding system and a Qi standard wireless charging module, and supports automatic recharging of a robot.
2. The bionic intelligent pet robot according to claim 1, wherein the 16-degree-of-freedom motion system adopts a layered control strategy, a core joint adopts a large-torque servo motor, torque is more than or equal to 4Nm, precision is less than or equal to 0.1 degrees, full-state feedback is achieved, a secondary joint adopts a medium-torque servo motor, torque is more than or equal to 1.5Nm, a micro joint adopts a 9 g-level metal tooth steering engine, motion control is based on ZMP dynamic balance algorithm and Bezier curve track planning, and frequency is controlled to be 1000Hz.
3. The bionic intelligent pet robot according to claim 1, wherein the medical silica gel skin comprises four split parts, namely a head sleeve, a tail sleeve, a body sleeve and four limbs sleeves, a Z-shaped lap joint structure is adopted at joints, the magnetic attraction buckle comprises a neodymium iron boron magnet (phi 10 mm) embedded in a framework and a galvanized steel sheet embedded in the inner side of the skin, single-point suction force is 5N, total retention force 180N is distributed on the back, the abdomen and the inner side of an auricle, closed-loop temperature control is realized by matching with an NTC thermistor, and the magnetic attraction buckle has double-path hardware overheat protection.
4. The bionic intelligent pet robot according to claim 1, wherein the emotion calculation engine comprises a multi-mode input fusion layer, an emotion state judgment layer, a vector database-supported personalized memory layer and a behavior output layer, wherein the multi-mode input fusion layer fuses visual, auditory, tactile and environmental four-dimensional data by using a transducer network, the four core states of happiness, drowsiness, curiosity and loving are defined based on the emotion state judgment layer of a finite state machine, the personalized memory layer is supported by the vector database and stores faces, voiceprints, preferences and interaction histories of users, and the behavior output layer generates motion instructions, voice output, expression display and body temperature adjustment signals.
5. The bionic intelligent pet robot according to claim 1, wherein the cat nest charging seat comprises a bionic cat nest appearance structure, a size of 350 multiplied by 300 multiplied by 150mm, a bottom counterweight of 2kg, a qi standard wireless charging transmitting module, a power of 15W and a coil diameter of 50mm, a magnetic attraction positioning mechanism, an infrared guiding system and an intelligent control circuit, wherein the magnetic attraction positioning mechanism comprises 4 magnets which are arranged in an alternating polarity mode at the bottom of the robot, corresponding magnetic conductive steel sheets and a center positioning cone in the charging seat, the infrared guiding system comprises 940nm infrared transmitting tubes and infrared receiving tubes at the head of the robot, the effective guiding distance is 2 meters, and the intelligent control circuit supports FOD foreign matter detection, charging state indication and full automatic disconnection functions.
6. The bionic intelligent pet robot according to any one of claims 1 to 5, wherein the robot has an education auxiliary function, a built-in K12 synchronous course content library covers Chinese, mathematics and English subjects, an integrated oral English dialogue training system supports pronunciation correction and progress tracking, a visual programming interface is provided, a user can control the action of the robot through a dragging instruction block, a learning duration management and concentration guidance mechanism is provided, and motivational teaching is realized by combining an emotion calculation engine.
7. The bionic intelligent pet robot according to any one of claims 1 to 5, wherein the robot has a senior care function, an integrated voice emotion analysis module, a fall detection algorithm, an emergency call function and a medication reminding and health data recording support, wherein the voice emotion analysis module is used for identifying depression or anxiety emotion based on acoustic features such as speech speed, intonation and the like, the fall detection algorithm is used for fusing plantar pressure mutation signals and visual gesture estimation to judge, the emergency call function is used for automatically contacting preset emergency contacts after abnormality is detected, and the medication reminding and health data recording support is used for long-term health trend analysis.

Description

Bionic intelligent pet robot with multi-modal emotion interaction capability Technical Field The invention belongs to the technical field of service robots, and particularly relates to a smart pet robot integrating a bionic mechanical structure, a multi-mode sensing system and an emotion calculation model. Background With the promotion of aging population, the growth of solitary population and the miniaturization of family structure, the demand of society for emotion accompaniment is increasingly prominent. The existing pet robot or accompanying equipment mainly has the following defects: 1. The touch simulation is insufficient, the shell is made of hard plastic or simple plush fabric, the temperature, softness and fine hair texture of a real organism are lacked, and deep emotion connection is difficult to establish. 2. The motion capability is limited, the joint degrees of freedom are generally less (usually less than or equal to 8), the motion trail is hard and mechanical, and the motion trail cannot simulate the movement posture and excellent balance characteristic of the feline. 3. The interaction dimension is single, most of the interaction dimension only supports simple preset voice instruction response, lacks fusion perception and understanding of multi-mode information such as vision, touch sense, hearing and the like, and does not have personalized memory and emotion evolution capability. 4. Functional scene splitting, namely, the product design often focuses on a single entertainment toy attribute or tool attribute, and emotion accompaniment and practical functions cannot be organically unified. 5. The maintenance burden exists that part of products need to be manually cleaned to simulate excrement or consumable materials are frequently replaced, so that the use complexity is increased, and the design original purpose of 'no-burden accompanying' is overcome. Therefore, there is a need in the market for a smart pet robot that can highly simulate living things in appearance, touch, motion intelligence, and depth of interaction, and integrate practical auxiliary functions, so as to be suitable for home emotion accompaniment, old health care, child education assistance, and other scenes. Disclosure of Invention The invention aims to overcome the defects of the prior art and provides a bionic intelligent pet robot. The intelligent partner with the real biological touch sense, the flexible movement gesture and the deep personalized emotion interaction capability is realized through a three-layer bionic structure of a framework, skin and hair, a high-degree-of-freedom bionic movement system and a multi-mode sensing and end cloud collaborative emotion calculation architecture. In order to achieve the purpose, the technical scheme of the invention is as follows, the bionic intelligent pet robot is characterized by comprising: A. the carbon fiber composite skeleton consists of a carbon fiber tube, a 3D printing nylon connecting piece and a titanium alloy joint shaft, has 16 degrees of freedom, and comprises a head 2 degree of freedom (DOF), a neck 1DOF, a spine 2DOF, four limbs 12DOF and a tail 3DOF, wherein the spine is in three-section flexible connection, and a silica gel breathing air bag is arranged in a chest; B. The medical silica gel skin is coated outside the framework, a platinum vulcanized silica gel material with the thickness of 2-5mm is adopted, a nylon mesh reinforcing layer is embedded, split design is adopted, the split type nylon mesh reinforcing layer is connected through a magnetic attraction buckle, and a PTC heating film is arranged in the split type nylon mesh reinforcing layer to realize 36-38 ℃ constant temperature; C. The bionic hair system is characterized in that a modified acrylic fiber material is fixed on the silica gel skin by a cluster implantation process, the hair length is distributed in a gradient way with the density of between 60,000 and 120,000 roots/cm < 2 >, and the surface is provided with a nano hydrophobic coating and silver ion antibacterial treatment; D. A multi-modal perception system comprising an RGB-D depth camera located at the head, a microphone array located at the top of the head, distributed haptic sensors distributed at the back/abdomen/head/ear/beard/sole; E. The emotion calculation engine runs based on a heterogeneous calculation architecture, fuses visual, auditory and tactile multi-mode data, and realizes personalized emotion interaction through a lightweight large language model and a reinforcement learning algorithm; F. The cat nest charging seat adopts a bionic modeling design, is internally provided with a magnetic attraction positioning mechanism, an infrared guiding system and a Qi standard wireless charging module, and supports automatic recharging of a robot. Further, the 16-degree-of-freedom motion system adopts a layered control strategy, wherein a core joint (hip/shoulder/knee) adopts a large-torque servo motor, torque is more than or e