CN104091370B - Human head imitation portrait robot capable of changing facial form and face organs as well as mathematical modeling method and control method thereof - Google Patents

Abstract

The invention provides a human head imitation portrait robot capable of changing the facial form and face organs as well as a mathematical modeling method and a control method thereof, solving the problem that an existing human head imitation portrait robot has a fixed facial form and face organs and cannot show different face shapes. The human head imitation portrait robot comprises a facial form changing mechanism, a face organ changing mechanism and elastic face skin. The mathematical modeling method of the human head imitation portrait robot capable of changing the facial form and face organs comprises the following steps: 1, a mathematical modeling method of a human head imitation portrait robot capable of changing the facial form; and 2, a face organ position mathematical modeling method. By selecting facial form and face organ feature points, different facial forms and face organ positions are represented according to different model parameters; the facial form changing mechanism and the face organ changing mechanism drive elastic face skin driving points to generate displacement so as to change the outline shape of the face skin and the positions of the face organs. The invention belongs to the application field of robots.

Description

A kind of shape of face and the variable humanoid-head robot of face organ and its mathematical modeling side Method and control method

Technical field

The present invention relates to a kind of humanoid-head robot is and in particular to a kind of shape of face and the variable humanoid-head of face organ Robot and its Mathematical Modeling Methods and control method, belong to robot application field.

Background technology

With scientific and technological progress, the research for robot just develops towards personalized, intelligent, emotional culture direction, Robot participates in the life of the mankind, study, and with harmonious the coexisting of the mankind, humanoid-head robot has the face similar to the mankind Portion's form and function, can promote exchanging of robot and human emotion and information.But the fixing humanoid-head machine of image People cannot show various mankind's faces.

Find that Chinese invention patent notification number is CN 101618280A by literature search, entitled have man-machine interaction work( Can humanoid-head robot device and Behavior- Based control method, this patent solve existing anthropomorphic robot can not fully achieve right The reproduction of human facial expressions, perceptional function are limited, problem that is not having Artificial emotion model and human-computer interaction function.Through document Retrieval, finds that Chinese patent does not have the robot enabling shape of face and face organ's change in location and its Mathematical Modeling Methods.

Content of the invention

The present invention is to solve existing humanoid-head robot shape of face and face organ fix thus different faces cannot be realized The problem of portion's pattern, there is provided a kind of shape of face and the variable humanoid-head robot of face organ and its Mathematical Modeling Methods and control Method processed.

Humanoid-head robot includes shape of face changeable mechanism, face organ's changeable mechanism and elastic skin of face；

Wherein, described elasticity skin of face parcel shape of face changeable mechanism and face organ's changeable mechanism, shape of face changeable mechanism Prime mover and transmission mechanism is utilized to realize motion with face organ's changeable mechanism；

Described shape of face and the variable humanoid-head robot of face organ choose shape of face and face by Mathematical Modeling Methods Organ drives point, can achieve the conversion of difference shape of face and the adjustment of face organ position according to different model parameters, by driving Elastic skin of face drives point to produce displacement, and changing skin of face outer contour shape is shape of face and face organ position, thus real Existing robot shape of face and the change of face organ position.

Shape of face and the variable humanoid-head robot Mathematical Modeling Methods of face organ are as follows：

First, the variable humanoid-head robot Mathematical Modeling Methods of shape of face are as follows：

(1) head vertex v, right cranium side point e are selected_u, left cranium side point e_u', right gonion g_o, jawbone right circular arc starting point g₁、 Jawbone left arc starting point g₁', jawbone right circular arc terminal g₂With jawbone left arc terminal g₂' as facial contour segmentation Characteristic point, and set up number of people face contour Mathematical Modeling coordinate system；

(2) set up number of people face contour general mathematical model, according to the characteristic point chosen, number of people face contour is entered first Row segmentation, and to each section of curve using the model curve being suitable for：v-e_uSection, hyperelliptic curve；e_u-g₁Section, elliptic curve；g₂-g_n Section, parabola；g₁-g₂Section：Circular curve, circular arc is e_u-g₁Section elliptic curve and g₂-g_nThe parabolical tangent arc of section；

If each feature point coordinates is：V point (0, b), e_uPoint (a, 0), g₁Point (m, n), g₂Point (g, h), g_nPoint (0, B), then right The Mathematical Modeling of half part number of people face contour is：

Wherein, y, z represent horizontal, axis of ordinates respectively, to v-e_uSection, as a >=b, a represents hyperelliptic major semiaxis, works as a<b When, a represents hyperelliptic semi-minor axis；S is hyperelliptic index；To e_u-g₁Section, c, a are respectively oval major semiaxis, semi-minor axis；y_c、z_c It is respectively elliptic curve and the parabolical tangent arc center of circle (y_c、z_c) horizontal, ordinate；M, g are shown in formula (2)；R represents g₁-g₂Section Curve and the center of circle (y_c、z_c) distance；

From formula (1), by a, seven independent parameters of b, s, c, m, g, R can be with Controlling model curve shape, by m, g It is expressed as the coordinate form in elliptic parametric equation and Circle Parameters equation, such as shown in formula (2)：

Wherein, β is g₁-g₂Section curvilinear coordinate point (x, y) and the center of circle (y_c、z_c) line and g₁Point (m, n) and the center of circle (y_c、z_c) The angle of line；

Then final mask parameter is a, b, s, c, θ, β, R, this 7 independent parameters is optimized and obtains arbitrary specific number of people The Mathematical Modeling of face contour, Derivative on the left or on the right at tie point for this Mathematical Modeling is equal it was demonstrated that this model curve is smooth；

(3) set up particular person Head And Face profile Mathematical Modeling, define true head cross-sectional data point and theoretical contour Relative distance between upper corresponding data point is model error, carries out parameter optimization according to model error, defines each pair of data point , respectively as model mean error, model worst error, the selection mode of data point is for relative distance mean value and maximum：Will Actual profile data point and theoretical profile data point are placed in model coordinate systems, centered on initial point O, for Z >=0 region Curve, every γ₁Peek strong point, for Z<The curve in 0 region, every γ₂Peek strong point, obtains actual profile data point A_iWith Theoretical profile data point B_iEach n, if A_iCoordinate is (y_i, z_i), B_iCoordinate is (y_oi, z_oi) then model mean error can be by public affairs Formula (3) is tried to achieve, and model worst error can be tried to achieve by formula (4)；

The object function being designed as Model Parameter Optimization using the weighted sum of model mean error and model worst error, by The mathematical model of optimizing design that this obtains is as follows, and design variable is：

X=[a, b, s, c, θ, β, R]^T=[x₁, x₂, x₃, x₄, x₅, x₆, x₇]^T(5)

Object function is：

Minf (X)=λ₁f₁(X)+λ₂f₂(X) (6)

s.t.g₁(X)=x₁-a_max≤0 g₈(X)=c_min-x₄≤0

g₂(X)=a_min-x₁≤0 g₉(X)=x₅-θ_max≤0

g₃(X)=x₂-b_max≤0 g₁₀(X)=θ_min-x₅≤0

g₄(X)=b_min-x₂≤0 g₁₁(X)=x₆-β_max≤0

g₅(X)=x₃-s_max≤0 g₁₂(X)=β_min-x₆≤0

g₆(X)=s_min-x₃≤0 g₁₃(X)=x₇-R_max≤0

g₇(X)=x₄-c_max≤0 g₁₄(X)=R_min-x₇≤0

In formula：f₁(X)=e_ave(X),f₂(X)=e_max(X), λ₁, λ₂For weight coefficient, λ₁+λ₂=1, take λ₁, λ₂It is respectively 0.6、04；

Set up number of people face contour general mathematical model model parameter scope：a：70～90mm, b：70～90mm, s：0.7 ～1.6, c：150～250mm, θ：- 2～0rad, β：- 1～0rad, R：1～30mm；

Using genetic algorithm, model parameter optimal solution is solved, that is, complete the variable humanoid-head robot of shape of face Mathematical modeling；

2nd, face organ position mathematical model establishing method is as follows：

(1) set up face organ's characteristic point, the facial organ site regularity of distribution is carried out point using the method for statistical analysis Analysis, chooses face organ's location point, and wherein, P is two eyespot spacing；M was between the straight line of two eyespots and the intersection point of face contour Width, is defined as interplanar distance；L be between eyespot and nasion from；G be between eyespot and place between the eyebrows point from；J is between eyespot to the end summit From；Q is schistostoma point and crown dot spacing；H is head overall height；Obtain spacing P and interplanar distance M proportional law stable 0.42, And using 0.42 as eyes face Two dimensional Distribution one of rule；

It is similarly obtained the ratio rule of other positions point related data：Vertex distance J and head overall height H ratio are eyespot to the end 0.50, vertex distance Q and head overall height H ratio are 0.82 to schistostoma point to the end, and place between the eyebrows point to clear eye distance G with head overall height H ratio is 0.09, L value is 0～1mm, therefore supposes nasion and two eyespots on same straight line；

(2) set up face organ's Mathematical Modeling

Identical with head profile mathematics model coordinate systems to the coordinate system used by facial organ site founding mathematical models, if Face organ position point coordinates is respectively：y₁(r₁, r₂), y₂(-r₁, r₂), m₁(r₁, t₁),m₂(-r₁, t₁), f (0, t₁), k (0, k₁), the ratio rule according to each face organ's location point related data obtaining in the above simultaneously combines g_nPoint coordinates (0, B), Obtain below equation relation：

And then set up head profile mathematical model parameter and with the functional relation of face organ position point coordinates be：

In formula

The control method of a kind of shape of face and the variable humanoid-head robot of face organ is realized according to the following steps：

For shape of face changeable mechanism, become head dummy and jawbone width mechanism motor (1-5-1), change head leader by 3 motors Structure motor (2-4-2) is become head dummy and is grasped with jawbone width mechanism with face type mechanism motor (3-4-1) and 3 operating mechanisms with becoming the head breadth Vertical mechanism (1-3), change head length measuring mechanism operating mechanism (2-2) and the change head breadth and Mian Xing mechanism operating mechanism (3-3) realize 10 drives Dynamic point q, q', o₁、o₁'、e_u、e_u'、p、p'、v、g_nThe motion amounting to 12 frees degree drives, and realizes power using operating mechanism and passes The switching passed, search before moving every time drives point initial position, and the driving point position corresponding to using minimized profile is as at the beginning of it Beginning position, and place travel switch in each initial position；

Switching operating mechanism first after electricity on motor makes gear n=1, and that is, first group of Motor drive drives point and from host computer Assign the instruction of search initial position, make motor with a certain low speed and reverse；

Point is now driven to move at least displacement, controller waits the edge interrupt of travel switch signal；

After driving point to reach initial position, controller receives interruption and records current motor positions at once and make decelerating through motor stop Only；After motor stops, controller makes motor movement again to the position being recorded, and location register is set to 0, both with current location As initial position；

After the completion of this sequence, controller sends gearshift request to host computer, makes n=n+1, judges whether n has been more than maximum Position n_maxIf n is not more than n_max, then start gear shift, and start the initial position search that next group drives point, if n is big In n_maxThen represent that the driving point initial position search that all gears control completes.

Inventive principle：

The robot body of the present invention includes shape of face change drive mechanism, face organ position drive mechanism and face elasticity Skin, mechanism kinematic control system includes Intelligent servo driver, DC servo motor and host computer, by driving skin of face Drive point to realize the change of shape of face, drive face organ's location point to realize the change of face organ position, respectively drive point and position The Mathematical Modeling of the number of people face contour Mathematical Modeling and face organ position that are displaced through foundation of point is tried to achieve.This apery head Machine people's advantage is that the driving of many mechanisms realized by a small amount of prime mover：Only there are 10 of 12 frees degree by 3 Motor drives Shape of face key point, thus it is variable to realize shape of face；And closed by 5 face organs that only two Motor drives have 9 frees degree Key point, thus it is variable to realize face organ；This mechanism can achieve self-locking；This shape of face, the advantage of face organ's Mathematical Modeling Methods It is by piecewise function founding mathematical models, there is universality and model curve to be ensured is smooth continuous, be easy to humanoid-head machine Device people difference shape of face between migration, ensure model validation on the premise of its parameter few, only by 7 parameters of identical Lai Control shape of face and the change of face organ.This humanoid-head robot shortcoming is cannot to carry out shape of face and face organ to own simultaneously Crucial driving is it is necessary to drive disparate modules key point by gear shift.

The invention has the beneficial effects as follows：

Face is divided into the shape of face of 5 kinds of basic configurations by the Mathematical Modeling Methods of the present invention, by entering to Face geometric eigenvector Row analysis, determines the characteristic point that shape of face is played a decisive role, and establishes people's Head And Face two dimension wheel with smooth curve segmentation Wide Mathematical Modeling, and analyze face organ's characteristic point, set up face face organ's Mathematical Modeling, this model has versatility, can Realize the mathematical description of different face shapes of face and face organ；This robot only has 12 frees degree by 3 Motor drives 10 shape of face key points, can achieve the shape of face of 5 kinds of shapes, and shape of face size is variable, and have 9 by only two Motor drives 5 face organ's key points of the individual free degree, thus realizing that face organ's relative position is variable, this robot head looks has Versatility and according to human head's size design, thus more increase its class human nature.

Brief description

The shape of face changeable mechanism figure of Fig. 1 present invention；

Fig. 2 is that the skin of face of the present invention drives point and direction of motion figure；

Fig. 3 is change head dummy and the wide mechanism of jawbone 1 figure of the present invention；

Fig. 4 is to become head length measuring mechanism 2 figure；

Fig. 5 is to become the head breadth and Mian Xing mechanism 3 figure；

Fig. 6 is number of people face contour Mathematical Modeling coordinate system figure；

Fig. 7 is the selection mode figure of data point in error calculation；

Fig. 8 is face organ's location point measurement index figure；

Fig. 9 is to drive point initial position search routine figure；

Figure 10 is shape of face changeable mechanism three-dimensional model diagram；

Figure 11 (a) is the virtual prototype front view that rigid body is mixed with flexible body；

Figure 11 (b) is the virtual prototype side view that rigid body is mixed with flexible body；

Figure 12 skin of face drives point and its direction of motion figure；

Figure 13 a) it is heart-shaped face simulation process figure in l-G simulation test；

Figure 13 b) it is square face simulation process figure in l-G simulation test；

Figure 13 c) it is circular face simulation process figure in l-G simulation test；

Figure 13 d) it is elongated face simulation process figure in l-G simulation test；

Figure 13 e) it is egg type face simulation process figure in l-G simulation test；

Figure 13 f) it is maximum shape of face simulation process figure in l-G simulation test.

Specific embodiment

Specific embodiment one：As shown in figs 1-9, humanoid-head robot includes shape of face changeable mechanism, face organ can Become mechanism and elastic skin of face；

Wherein, described elasticity skin of face parcel shape of face changeable mechanism and face organ's changeable mechanism, shape of face changeable mechanism Prime mover and transmission mechanism is utilized to realize motion with face organ's changeable mechanism；

Described shape of face and the variable humanoid-head robot of face organ choose shape of face and face by Mathematical Modeling Methods Organ drives point, can achieve the conversion of difference shape of face and the adjustment of face organ position according to different model parameters, by driving Elastic skin of face drives point to produce displacement, and changing skin of face outer contour shape is shape of face and face organ position, thus real Existing robot shape of face and the change of face organ position.

The shape of face changeable mechanism (as shown in figure 1, it drives point as shown in Figure 2) of present embodiment comprises three driving machines Structure, respectively becomes head dummy with the wide mechanism of jawbone 1 (as shown in figure 3, control driving point q, q', o₁、o₁'), become head length measuring mechanism 2 (as schemed Shown in 4, control and drive point v, g_n), become the head breadth and Mian Xing mechanism 3 (as shown in figure 5, controlling driving point eu, eu', p, p').

Specific embodiment two：Present embodiment from unlike specific embodiment one：Described shape of face changeable mechanism bag Containing three drive mechanisms, respectively become head dummy and the wide mechanism of jawbone 1, become head length measuring mechanism 2 and become the head breadth and Mian Xing mechanism 3, three Drive mechanism is each attached on pedestal 1-6；

Described face organ's changeable mechanism comprises two drive mechanisms, respectively eyebrow motion 4 and the motion of eye mouth nose Mechanism 5, two drive mechanisms are fixed on pedestal 1-6；

Described change head dummy and the wide mechanism of jawbone 1 include Equations of The Second Kind and drive point motion 1-1, the 3rd class to drive point fitness machine Structure 1-2, change head dummy and jawbone width mechanism operating mechanism 1-3, changement 1-4, change head dummy and jawbone width mechanism driving system 1-5 With pedestal 1-6, wherein, Equations of The Second Kind drives point motion 1-1, the 3rd class to drive point motion 1-2, become head dummy and jawbone width Mechanism operating mechanism 1-3, changement 1-4, change head dummy and jawbone width mechanism driving system 1-5 are each attached on pedestal 1-6, become Head dummy is connected with jawbone width mechanism operating mechanism 1-3 with becoming head dummy with jawbone width mechanism driving system 1-5, becomes head dummy and jawbone width Mechanism operating mechanism 1-3 passes through motion and realizes gearshift, point motion 1-1, the 3rd class can be driven respectively to drive point with Equations of The Second Kind Motion 1-2, changement 1-4 engage, and the 3rd class drives point motion 1-2 to be connected with changement 1-4；

Wherein said Equations of The Second Kind drives point motion 1-1 to include pedestal 1-6, left side tooth bar 1-1-1, left side commutation Gear 1-1-2, left side longitudinal rack 1-1-3, right side tilt tooth bar 1-1-4, right side tumbler gear 1-1-5, right side longitudinal rack 1-1-6 and Equations of The Second Kind drive point driven pulley 1-1-7, wherein, left side tooth bar 1-1-1, left side tumbler gear 1-1-2, right side Tilting tooth bar 1-1-4, right side tumbler gear 1-1-5 drives point driven pulley 1-1-7 to be all connected with pedestal 1-6 with Equations of The Second Kind, left side Tooth bar 1-1-1 is engaged with left side tumbler gear 1-1-2, left side tumbler gear 1-1-2 and left side longitudinal rack 1-1-3 nibble for inclination Close, right side is tilted tooth bar 1-1-4 and engaged with right side tumbler gear 1-1-5, right side tumbler gear 1-1-5 and right side longitudinal rack 1- 1-6 engages, and Equations of The Second Kind drives point driven pulley 1-1-7 to pass through feed screw nut and left side longitudinal rack 1-1-3, right side longitudinal rack 1- 1-6 is connected, and realizes the driving to left side longitudinal rack 1-1-3, right side longitudinal rack 1-1-6；

Described 3rd class drives a point motion 1-2 to include pedestal 1-6, the 3rd class drives the longitudinal driven pulley 1-2-1 of point, the Three classes drive point zigzag tread patterns bar 1-2-2, left side the 3rd class drive the laterally driven bar 1-2-3 of point, can vertically movable slide block 1-2- 4th, right side the 3rd class drives the laterally driven bar 1-2-5 of point and the 3rd class to drive point horizontal leading screw 1-2-6, and wherein, the 3rd class drives The longitudinal driven pulley 1-2-1 of point is fixed on pedestal 1-6, and the 3rd class drives the longitudinal driven pulley 1-2-1 of point and the 3rd class to drive point vertical To drive rod 1-2-2 pass through feed screw nut be connected, the 3rd class drive point zigzag tread patterns bar 1-2-2 pass through feed screw nut respectively with a left side Side the 3rd class drives the laterally driven bar 1-2-3 of point, right side the 3rd class to drive the laterally driven bar 1-2-5 of point to be connected, can be vertically movable Slide block 1-2-4 drives the laterally driven bar 1-2-3 of point to be connected with left side the 3rd class；

Described change head dummy and jawbone width mechanism operating mechanism 1-3 include pedestal 1-6, become head dummy and jawbone width mechanism operating hand Handle 1-3-1, change head dummy and the vertical drive rod 1-3-2 of jawbone width mechanism operating mechanism, change head dummy and jawbone width mechanism operating mechanism Guide post 1-3-3 and change head dummy and jawbone width mechanism operating mechanism driving wheel 1-3-4, wherein, are become head dummy and are grasped with jawbone width mechanism Vertical handle 1-3-1, change head dummy are connected with pedestal 1-6 with jawbone width mechanism operating mechanism guide post 1-3-3, become head dummy and jawbone width Mechanism operating handle 1-3-1, change head dummy drive rod 1-3-2 vertical with jawbone width mechanism operating mechanism are connected by feed screw nut, Become head dummy and the vertical drive rod 1-3-2 of jawbone width mechanism operating mechanism, change head dummy and jawbone width mechanism operating mechanism guide post 1- 3-3 is connected by bearing, becomes head dummy and jawbone width mechanism operating mechanism guide post 1-3-3, change head dummy and jawbone width mechanism operating Mechanism driving wheel 1-3-4 is connected, and can relatively slide；

Described changement 1-4 includes pedestal 1-6, the 3rd class drives the horizontal driven pulley 1-4-1 of point and commutation bevel gear 1- 4-2, wherein, the 3rd class drives the horizontal driven pulley 1-4-1 of point to be connected with pedestal 1-6, and the 3rd class drives the horizontal driven pulley 1-4- of point 1st, commutation bevel gear 1-4-2 is connected, and can relatively slide；

Described change head dummy and jawbone width mechanism driving system 1-5 include becoming head dummy and jawbone width mechanism motor 1-5-1, change head Type and jawbone width mechanism synchronization belt transmission system 1-5-2 and pedestal 1-6, wherein, jawbone width mechanism motor 1-5-1, become head dummy with Jawbone width mechanism synchronization belt transmission system 1-5-2 is all connected with pedestal 1-6, jawbone width mechanism motor 1-5-1, change head dummy and jawbone Wide mechanism synchronization belt transmission system 1-5-2 is connected.

Other steps and parameter are identical with specific embodiment one.

Specific embodiment three：Present embodiment from unlike specific embodiment one or two：Described change head length measuring mechanism 2 Drive point motion 2-1, become head length measuring mechanism operating mechanism 2-2, a lower jaw first kind driving point fitness machine including the crown first kind Structure 2-3, change head length measuring mechanism transmission system 2-4 and pedestal 1-6, wherein, the crown first kind drives a point motion 2-1, change long Mechanism operating mechanism 2-2, the lower jaw first kind drive point a motion 2-3, become head length measuring mechanism transmission system 2-4 all with pedestal 1-6 Be connected, become head length measuring mechanism operating mechanism 2-2 pass through motion realize gearshift, respectively with the crown first kind drive point a motion 2-1, The lower jaw first kind drives point motion 2-3 engagement, becomes head length measuring mechanism transmission system 2-4 and becomes head length measuring mechanism operating mechanism 2-2 It is connected；

Wherein, the described crown first kind drive a point motion 2-1 include the crown first kind drive a point drive rod 2-1-1, The crown first kind drives point driven pulley 2-1-2 and pedestal 1-6, and wherein, the crown first kind drives a point drive rod 2-1-1, the crown the One class drives point driven pulley 2-1-2 to be connected with pedestal 1-6 respectively, and a crown first kind driving point drive rod 2-1-1 can be along pedestal 1-6 Vertical direction slides, and the crown first kind drives point drive rod 2-1-1, the crown first kind to drive point driven pulley 2-1-2 to pass through leading screw Nut is connected；

Described change head length measuring mechanism operating mechanism 2-2 includes pedestal 1-6, becomes head length measuring mechanism control crank 2-2-1, becomes head leader Structure operating mechanism vertical drive rod 2-2-2, change head length measuring mechanism operating mechanism guide post 2-2-3 and change head length measuring mechanism operating mechanism master Driving wheel 2-2-4, wherein, becomes head length measuring mechanism control crank 2-2-1, becomes head length measuring mechanism operating mechanism guide post 2-2-3 and pedestal 1-6 It is connected, become head length measuring mechanism control crank 2-2-1, become the vertical drive rod 2-2-2 of head length measuring mechanism operating mechanism by feed screw nut phase Even, become the vertical drive rod 2-2-2 of head length measuring mechanism operating mechanism, become head length measuring mechanism operating mechanism guide post 2-2-3 by bearing even Connect, become head length measuring mechanism operating mechanism guide post 2-2-3 and be connected with becoming head length measuring mechanism operating mechanism driving wheel 2-2-4, and can relatively Slide；

The described lower jaw first kind drives a point motion 2-3 to include the lower jaw first kind and drives a point driven pulley 2-3-1, lower jaw the One class drives point drive rod 2-3-2 and pedestal 1-6, and wherein, the lower jaw first kind drives point drive rod 2-3-2, the lower jaw first kind to drive Dynamic point driven pulley 2-3-1 is connected with pedestal 1-6 respectively, and the lower jaw first kind drives point drive rod 2-3-2 vertically square along pedestal 1-6 To slip, the lower jaw first kind drives point drive rod 2-3-2, the lower jaw first kind to drive point driven pulley 2-3-1 to pass through feed screw nut phase Even；

Described change head length measuring mechanism transmission system 2-4 includes becoming head length measuring mechanism synchronization belt transmission system 2-4-1, becomes head length measuring mechanism Motor 2-4-2 and pedestal 1-6, wherein, become head length measuring mechanism motor 2-4-2, become head length measuring mechanism synchronization belt transmission system 2-4-1 all with Pedestal 1-6 is connected, and becomes head length measuring mechanism motor 2-4-2, change head length measuring mechanism synchronization belt transmission system 2-4-1 is connected.

Other steps and parameter are identical with specific embodiment one or two.

Specific embodiment four：Unlike one of present embodiment and specific embodiment one to three：The described change head breadth Including top the 4th class with Mian Xing mechanism 3 drives point motion 3-1, bottom the 4th class to drive point motion 3-2, become the head breadth With Mian Xing mechanism operating mechanism 3-3, become the head breadth and face type mechanism driving system 3-4 and pedestal 1-6, each mechanism all with pedestal 1-6 It is connected；

Described top the 4th class drive a point motion 3-1 include top the 4th class drive a point left side drive rod 3-1-1, on Portion the 4th class drives point driven pulley 3-1-2, top the 4th class to drive point right side drive rod 3-1-3 and pedestal 1-6, wherein, top 4th class drives point left side drive rod 3-1-1, top the 4th class to drive point driven pulley 3-1-2, top the 4th class to drive on the right side of point Drive rod 3-1-3 is connected with pedestal 1-6, and top the 4th class drives point left side drive rod 3-1-1, top the 4th class to drive on the right side of point Drive rod 3-1-3 passes through feed screw nut and drives point driven pulley 3-1-2 to be connected with top the 4th class；

Described bottom the 4th class drive a point motion 3-2 include bottom the 4th class drive a point left side drive rod 3-2-1, under Portion the 4th class drives point driven pulley 3-2-2, bottom the 4th class to drive point right side drive rod 3-2-3 and pedestal 1-6, wherein, bottom 4th class drives point left side drive rod 3-2-1, bottom the 4th class to drive point driven pulley 3-2-2, bottom the 4th class to drive on the right side of point Drive rod 3-2-3 is connected with pedestal 1-6, and bottom the 4th class drives point left side drive rod 3-2-1, bottom the 4th class to drive on the right side of point Drive rod 3-2-3 passes through feed screw nut and drives point driven pulley 3-2-2 to be connected with bottom the 4th class；

The described change head breadth and Mian Xing mechanism operating mechanism 3-3 include pedestal 1-6, become the head breadth and face type mechanism operating handle 3- 3-1, the change head breadth and Mian Xing mechanism laterally driven bar 3-3-2, the change head breadth and Mian Xing mechanism operating mechanism guide post 3-3-3 and change head Width and Mian Xing mechanism operating mechanism driving wheel 3-3-4, wherein, become the head breadth and face type mechanism operating handle 3-3-1, the change head breadth and face Type mechanism operating mechanism guide post 3-3-3 is connected with pedestal 1-6, become the head breadth and face type mechanism operating handle 3-3-1, become the head breadth with Mian Xing mechanism laterally driven bar 3-3-2 passes through feed screw nut and is connected, and becomes the head breadth and Mian Xing mechanism laterally driven bar 3-3-2, change head Width is connected by bearing with Mian Xing mechanism operating mechanism guide post 3-3-3, becomes the head breadth and Mian Xing mechanism operating mechanism guide post 3- 3-3 is connected with Mian Xing mechanism operating mechanism driving wheel 3-3-4 with becoming the head breadth, and can relatively slide；

Described the change head breadth and face type mechanism driving system 3-4 include becoming the head breadth and face type mechanism motor 3-4-1, become the head breadth with Mian Xing mechanism synchronization belt transmission system 3-4-2 and pedestal 1-6, wherein, become the head breadth and face type mechanism motor 3-4-1, become the head breadth with Mian Xing mechanism synchronization belt transmission system 3-4-2 is all connected with pedestal 1-6, become the head breadth and face type mechanism motor 3-4-1, become the head breadth with Mian Xing mechanism synchronization belt transmission system 3-4-2 is connected.

One of other steps and parameter and specific embodiment one to three are identical.

Specific embodiment five：Unlike one of present embodiment and specific embodiment one to four：Described eyebrow fortune Motivation structure 4 drives point to drive point for the 3rd class.

One of other steps and parameter and specific embodiment one to four are identical.

Specific embodiment six：Unlike one of present embodiment and specific embodiment one to five：Described eye mouth nose Motion 5 drives point motion 1-2 and the crown becoming head length measuring mechanism 2 using becoming the 3rd class that head dummy is with the wide mechanism of jawbone 1 The first kind drives point motion 2-1.

One of other steps and parameter and specific embodiment one to four are identical.

Specific embodiment seven：Unlike one of present embodiment and specific embodiment one to six：Described apery head Machine people realizes shape of face and the variable driving process of face organ is：

First, the driving of shape of face changeable mechanism becomes head dummy and the wide mechanism of jawbone 1 drives and is specially：Q, q' drive for Equations of The Second Kind Point, q, q' are right, left head dummy point respectively, and q point position is in characteristic point v, e_uThe v-e constituting_uCrown contour segment, q' point position is in spy Levy point e_u', v constitute e_u'-v crown contour segment, the combined mechanism using Sliding leadscrew nut and pinion and rack driven Dynamic, the lengthwise movement of left side longitudinal rack 1-1-3 is delivered to left side tooth bar 1- by the rotation of left side tumbler gear 1-1-2 The oblique linear motion of 1-1, and the self-locking performance of left side tooth bar 1-1-1 drives point driven pulley 1-1-7, left side to indulge by Equations of The Second Kind Realize to tooth bar 1-1-3 and right side longitudinal rack 1-1-6；o₁、o₁' drive point, o for the 3rd class₁For characteristic point g on contour curve₁ With point g₂Intermediate point, o₁' it is characteristic point g on contour curve₁' and point g₂' intermediate point, by the 3rd class drive point a driven pulley 1-2-1 and a 3rd class driving point zigzag tread patterns bar 1-2-2 realizes the 3rd class and drives point to move along the longitudinal direction, by left side the 3rd Class drives the laterally driven bar 1-2-3 of point, right side the 3rd class to drive the laterally driven bar 1-2-5 of point and the 3rd class to drive point horizontal leading screw 1-2-6 realizes the 3rd class and drives point to move in transverse direction；Become head dummy to be manually operated with jawbone width mechanism operating mechanism 1-3 Become head dummy and drive the horizontal driven pulley 1-4-1 of point, the 3rd class respectively with the 3rd class with jawbone wide mechanism operating mechanism driving wheel 1-3-4 Drive the longitudinal driven pulley 1-2-1 of point and Equations of The Second Kind to drive a point driven pulley 1-1-7 to realize the motion of different driving point, by become head dummy with Jawbone width mechanism motor 1-5-1, becoming head dummy provides power source with jawbone width mechanism synchronization belt transmission system 1-5-2 and slows down, real An existing Motor drive has 4 drivings point q, q', o of 6 frees degree altogether₁、o₁'；

Described change head length measuring mechanism (2) driving method is specially：Control and drive point to be v, g_n, v is crown point, is crown center Peak, g_nFor gonion, be jawbone the most outwards and point backward；

Point drive rod 2-1-1, the crown first kind is driven to drive point driven pulley 2-1-2, lower jaw first by the crown first kind Class drives point drive rod 2-3-2 and the lower jaw first kind to drive point driven pulley 2-3-1 to realize lengthwise movement, by a Motor drive There are two driving points of two frees degree；

The described change head breadth is specially with Mian Xing mechanism 3 driving method：Control and drive point e_u、e_u', p, p', e_u、e_u' difference table Show left and right cranium side point, within being parietal region, point the most outwardly on cranium side, p, p' represent right, left side type point, p respectively Near the auris dextra on face contour of point position, near the left ear on face contour of p' point position, point is driven by top the 4th class Left side drive rod 3-1-1, top the 4th class drive point driven pulley 3-1-2 and top the 4th class to drive point right side drive rod 3-1-3 Realize the driving that two, top the 4th class drives point, point left side drive rod 3-2-1, bottom the 4th class are driven by bottom the 4th class Drive point driven pulley 3-2-2 and bottom the 4th class to drive point right side drive rod 3-2-3 to realize bottom two the 4th class and drive point Drive, thus realizing 4 driving points that a Motor drive has 4 frees degree；

2nd, face organ's changeable mechanism drives

It is m that the eyebrow motion 4 of face organ's changeable mechanism controls driving point₁、m₂, the control of eye mouth nose motion 5 Point is driven to be y₁、y₂、k；

Described eyebrow motion 4 drives point m₁、m₂Drive point, m for the 3rd class₁、m₂For place between the eyebrows point, represent eyebrow position, Its position margo supraorbitalis position directly over pupil center, driving method and the 3rd class driving becoming head dummy and jawbone width mechanism (1) Motion 1-2 is identical, using identical structure for point；

It is y that described eye mouth nose motion 5 drives point₁、y₂, k, wherein, y₁、y₂For eyespot, represent eyes, its position exists Pupil center, k is schistostoma point, represents face, and in face center, f is nasion, represents nose, its position is in nasal bone Concave point, f keeps and y₁、y₂Level is it is not necessary to drive, y₁、y₂Belonging to the 3rd class drives point, k to belong to first kind driving point, eye mouth Nose motion 5 drives point motion 1-2 to drive y using becoming the 3rd class that head dummy is with the wide mechanism of jawbone 1₁、y₂Point, using change The crown first kind of head length measuring mechanism 2 drives point motion 2-1 to drive k point；

Described face organ's changeable mechanism drive mechanism is used to become head dummy and jawbone width mechanism operating handle 1-3-1, change head Length measuring mechanism control crank 2-2-1 passes through prime mover driven with becoming the head breadth with face type mechanism operating handle 3-3-1, automatic with clutch Gearshift is realized or is realized using manual shift；

By driving skin of face to drive point motion to prop up or reducing elastic skin of face thus realizing the change of shape of face, lead to Face organ's location point of overdriving moves thus realizing the change of face organ position；

By 3 motors become head dummys and jawbone width mechanism motor 1-5-1, become head length measuring mechanism motor 2-4-2 with become the head breadth with Face type mechanism motor 3-4-1 drives 10 shapes of face with 12 frees degree to drive point q, q', o₁、o₁'、e_u、e_u'、p、p'、v、g_n Realize shape of face variable；And only pass through two motors change head dummys and jawbone width mechanism motor 1-5-1 and change head length measuring mechanism motor 2-4-2 5 face organs with 9 frees degree are driven to drive point m₁、m₂、y₁、y₂, k, realize face organ variable.Other steps and One of parameter and specific embodiment one to six are identical.

Specific embodiment eight：The shape of face of present embodiment and the variable humanoid-head robot mathematical modeling of face organ Method is as follows：

First, the variable humanoid-head robot Mathematical Modeling Methods of shape of face are as follows

(1) the head vertex v of people, right cranium side point e are selected_u, left cranium side point e_u', right gonion g_o, left gonion g_o' with Gnathion g_nAs the characteristic point of facial contour segmentation, and set up number of people face contour Mathematical Modeling coordinate system, as shown in Figure 6；

(2) set up number of people face contour general mathematical model, according to the characteristic point chosen, number of people face contour is entered first Row segmentation, and to each section of curve using the model curve being suitable for：v-e_uSection, hyperelliptic curve；e_u-g₁Section, elliptic curve；g₂-g_n Section, parabola；g₁-g₂Section：Circular curve, circular arc is e_u-g₁Section elliptic curve and g₂-g_nThe parabolical tangent arc of section；

If each feature point coordinates is：V point (0, b), e_uPoint (a, 0), g₁Point (m, n), g₂Point (g, h), g_nPoint (0, B), then right The Mathematical Modeling of half part number of people face contour is：

Wherein, y, z represent horizontal, axis of ordinates respectively, to v-e_uSection, a represents hyperelliptic major semiaxis (as a >=b) or super Oval semi-minor axis (works as a<During b)；S is hyperelliptic index；To e_u-g₁Section, c, a are respectively oval major semiaxis, semi-minor axis；y_c、z_cPoint Wei not elliptic curve and the parabolical tangent arc center of circle (y_c、z_c) horizontal, ordinate；M, g are shown in formula (2)；R represents g₁-g₂Duan Qu Line and the center of circle (y_c、z_c) distance；

From formula (1), by a, 7 independent parameters of b, s, c, m, g, R can be with Controlling model curve shape, by m, g It is expressed as the coordinate form in elliptic parametric equation and Circle Parameters equation, such as shown in formula (2)：

Wherein, β is g₁-g₂Section curvilinear coordinate point (x, y) and the center of circle (y_c、z_c) line and g₁Point (m, n) and the center of circle (y_c、z_c) The angle of line；

Then final mask parameter is a, b, s, c, θ, β, R, this 7 independent parameters is optimized and obtains arbitrary specific number of people The Mathematical Modeling of face contour, Derivative on the left or on the right at tie point for this Mathematical Modeling is equal it was demonstrated that this model curve is smooth；

(3) set up particular person Head And Face profile Mathematical Modeling, define true head cross-sectional data point and theoretical contour Relative distance between upper corresponding data point is model error, carries out parameter optimization according to model error, defines each pair of data point Relative distance mean value and maximum are respectively as model mean error, model worst error, as shown in fig. 7, the choosing of data point The mode is taken to be：Actual profile data point and theoretical profile data point are placed in model coordinate systems, centered on initial point O, right In the curve in Z >=0 region, every γ₁Peek strong point, for Z<The curve in 0 region, every γ₂Peek strong point, obtains true wheel Wide data point A_iWith theoretical profile data point B_iEach n, if A_iCoordinate is (y_i, z_i), B_iCoordinate is (y_oi, z_oi) then model average Error can be tried to achieve by formula (3), and model worst error can be tried to achieve by formula (4)；

The object function being designed as Model Parameter Optimization using the weighted sum of model mean error and model worst error, by The mathematical model of optimizing design that this obtains is as follows, and design variable is：

X=[a, b, s, c, θ, β, R]^T=[x₁, x₂, x₃, x₄, x₅, x₆, x₇]^T(5)

Object function is：

Minf (X)=λ₁f₁(X)+λ₂f₂(X) (6)

s.t.g₁(X)=x₁-a_max≤0 g₈(X)=c_min-x₄≤0

g₂(X)=a_min-x₁≤0 g₉(X)=x₅-θ_max≤0

g₃(X)=x₂-b_max≤0 g₁₀(X)=θ_min-x₅≤0

g₄(X)=b_min-x₂≤0 g₁₁(X)=x₆-β_max≤0

g₅(X)=x₃-s_max≤0 g₁₂(X)=β_min-x₆≤0

g₆(X)=s_min-x₃≤0 g₁₃(X)=x₇-R_max≤0

g₇(X)=x₄-c_max≤0 g₁₄(X)=R_min-x₇≤0

In formula：f₁(X)=e_ave(X),f₂(X)=e_max(X), λ₁, λ₂For weight coefficient, λ₁+λ₂=1, due to mean error Reflection is model composition error, and worst error reflects local error, therefore takes λ₁, λ₂It is respectively 0.6,0.4；

According to《Adult's Head Face Dimensions》And in anthropometry features described above point in the Distribution Principles of people's Head And Face Small sample adult head is carried out with the measurement of reality simultaneously, obtains the number of people face contour general mathematical model model parameter set up Scope is as shown in table 1：a：70～90mm, b：70～90mm, s：0.7～1.6, c：150～250mm, θ：- 2～0rad, β：- 1～ 0rad, R：1～30mm；

By being analyzed to this Optimized model, it belongs to Solving Multimodal Function, and being had based on heredity tool algorithm can be simultaneously to searching In rope space, multiple solutions carry out comprehensive assessment, using genetic algorithm, model parameter optimal solution are solved, that is, complete shape of face Variable humanoid-head robot mathematical modeling；

2nd, face organ position mathematical model establishing method is as follows：

(1) set up face organ's characteristic point, the facial organ site regularity of distribution is carried out point using the method for statistical analysis Analysis, face organ's location point (can represent the point of face organ position) of selection is shown in Table 2, then to 200 groups of human face photos On face organ's location point demarcated and the relevant data of location point measured, using statistical analysis method to survey Amount data carries out quantitative analysis, as shown in figure 8, wherein, P is two eyespot spacing to its measurement index；M was the straight line of two eyespots Width and between the intersection point of face contour, is defined as interplanar distance；L be between eyespot and nasion from；G be between eyespot and place between the eyebrows point from；J For between eyespot to the end summit from；Q is schistostoma point and crown dot spacing；H is head overall height.For obtaining the distribution in face for the face organ Rule, carries out statistical analysis to the related data ratio of facial organ site point, and table 3 is the ratio primary system of eye spacing P and interplanar distance M Meter result.Can be seen that spacing P by above statistical indicator to float downward round on mean value 0.42 with interplanar distance M ratio feature Dynamic, constant interval compares concentration, and median 0.42 and mode are also 0.42 simultaneously, therefore assert the ratio of eye spacing P and interplanar distance M Convention rule stable 0.42, and using this ratio as eyes face Two dimensional Distribution one of rule.

It is similarly obtained the ratio rule of other positions point related data：Vertex distance J and head overall height H ratio are eyespot to the end 0.50, vertex distance Q and head overall height H ratio are 0.82 to schistostoma point to the end, and place between the eyebrows point to clear eye distance G with head overall height H ratio is 0.09, statistics as shown in Table 4-6, in addition finds in nasion and eyespot spacing L are counted, and the numerical value of L is about etc. In 0, maximum is also less than 1mm, therefore supposes nasion and two eyespots on same straight line, so far, all of face organ Position distribution principle is determined.

(2) set up face organ's Mathematical Modeling

Identical with head profile mathematics model coordinate systems to the coordinate system used by facial organ site founding mathematical models, if Face organ position point coordinates is respectively：y₁(r₁, r₂), y₂(-r₁, r₂), m₁(r₁, t₁),m₂(-r₁, t₁), f (0, t₁), k (0, k₁), the ratio rule according to each face organ's location point related data obtaining in the above simultaneously combines g_nPoint coordinates (0, B), Obtain below equation relation：

And then set up head profile mathematical model parameter and with the functional relation of face organ position point coordinates be：

In formula

Thus, obtain relation between face organ position point coordinates and head profile mathematical model parameter a, b, c, θ, β, that is, Just can determine that the position of head contour shape and face organ by a, b, s, c, θ, β, R7 parameter.

The table 1 of present embodiment is universal model parameter area, and table 2 is the face organ's location point chosen, 3 spacing of table P is counted with the ratio result of interplanar distance M, and table 4 is that vertex distance J and head overall height H result count eyespot to the end, and table 5 is schistostoma point Vertex distance Q and head overall height H ratio result count to the end, and table 6 is that place between the eyebrows point is united to clear eye distance G with head overall height H ratio result Meter, table 7 is the relative distance value between the model parameter that each sample is tried to achieve and each pair of data point, and table 8 is the cognitive knot of all kinds of shapes of face Really.

Table 1 universal model parameter area

Face organ's location point that table 2 is chosen

3 spacing P of table are counted with the ratio result of interplanar distance M

Vertex distance J and head overall height H result count table 4 eyespot to the end

Vertex distance Q and head overall height H ratio result count table 5 schistostoma point to the end

Table 6 place between the eyebrows point is counted to clear eye distance G with head overall height H ratio result

Relative distance value between model parameter that table 7 is tried to achieve to each sample and each pair of data point

All kinds of shape of face of table 8 cognition result

Specific embodiment nine：A kind of shape of face of present embodiment and the control of the variable humanoid-head robot of face organ Method processed is realized according to the following steps：

For shape of face changeable mechanism, become head dummy and jawbone width mechanism motor (1-5-1), change head leader by 3 motors Structure motor (2-4-2) is become head dummy and is grasped with jawbone width mechanism with face type mechanism motor (3-4-1) and 3 operating mechanisms with becoming the head breadth Vertical mechanism (1-3), change head length measuring mechanism operating mechanism (2-2) and the change head breadth and Mian Xing mechanism operating mechanism (3-3) realize 10 drives Dynamic point q, q', o₁、o₁'、e_u、e_u'、p、p'、v、g_nThe motion amounting to 12 frees degree drives, and realizes power using operating mechanism and passes The switching passed, search before moving every time drives point initial position, and the driving point position corresponding to using minimized profile is as at the beginning of it Beginning position, and place travel switch in each initial position；

Switching operating mechanism first after electricity on motor makes gear n=1, and that is, first group of Motor drive drives point and from host computer Assign the instruction of search initial position, make motor with a certain low speed and reverse；

Point is now driven to move at least displacement, controller waits the edge interrupt of travel switch signal；

After driving point to reach initial position, controller receives interruption and records current motor positions at once and make decelerating through motor stop Only；After motor stops, controller makes motor movement again to the position being recorded, and location register is set to 0, both with current location As initial position；

After the completion of this sequence, controller sends gearshift request to host computer, makes n=n+1, judges whether n has been more than maximum Position n_maxIf n is not more than n_max, then start gear shift, and start the initial position search that next group drives point, if n is big In n_maxThen represent that the driving point initial position search that all gears control completes；

Choose shape of face, face organ's characteristic point by Mathematical Modeling Methods, characteristic point is elastic skin of face and drives point, Represent different shapes of face and face organ position according to different model parameters, shape of face, face organ's changeable mechanism drive elasticity face Skin drives point to produce displacement, changes skin of face outer contour shape and face organ position, realizes robot shape of face and face The change of organ site.

The embodiment one of present invention application：

The preparation method of the foundation to number of people face contour general mathematical model and particular person Head And Face profile exponential model enters Row checking.

Using the true head profile of 100 groups of Han nationality adults as sample, this sample standard deviation is by Harbin Institute of Technology 2012 Level Machine Design system Master degree candidates enter the measurement of wardrobe overall height and the extraction to mug shot head outline line obtains, wherein men and women's ratio Example is 1:1, comprise five kinds of shape of face classifications such as round face, for making number of data points sufficient and being evenly distributed, take γ₁=6 °, γ₁= 3 °, i.e. n=90.Only provide the result that arbitrary sample in each shape of face is carried out with head profile modeling as space is limited, table 7 provides to each Specific relative distance value between model parameter that sample is tried to achieve and each pair of data point, in table, the position of data point is as shown in Figure 7, With OY axle as original position, OA_i、OB_iRepresent with the angle of OY axle, unit rad, be just counterclockwise.

By calculating the model error of 100 groups of samples, it is concluded that：For arbitrary true head profile sample, by right The model parameter of head profile general mathematical model is optimized, and obtains its specific Mathematical Modeling, and ensure that model Below 1.2%, worst error, below 2.6%, demonstrates validity and the universality of this general mathematical model to mean error. In addition, as can be seen from the table, it is distributed in the actual profile data point of (i.e. the above profile of euryon) in the range of [0～π] Relative distance and between theoretical wheel data point is substantially all 0.5% about, has absolutely proved and for hyperelliptic curve to be used for head Correctness in contour curve modeling in the crown in contouring.

The embodiment two of present invention application：

Carry out the virtual prototype simulation of shape of face change, set up elastomer model and the shape of face changeable mechanism of skin of face respectively Rigid body Model, emulated afterwards.Set up shape of face changeable mechanism rigid model first with Solidworks software, such as scheme Shown in 10, point is driven to amount to the motion o of 12 frees degree including 10 skin of face₂, skin of face o₃, the variable machine of shape of face Structure is to ensure that in shape of face change procedure, drive mechanism can relative be slided with facial cutis elastica contact position, in drive mechanism and drive The junction of dynamic point is provided with roller o₁.

Shape of face for carrying out virtual prototype changes emulation, needs to set up an initial facial changing to other type shapes of face Elastomer model, shape of face shift theory is to drive the change of point position thus realizing facial elastomer by the skin of face of definition The change of overall profile shape, that is, realize the transformation of shape of face.Using head profile mathematics model coordinate system as face elasticity Body coordinate system is it is stipulated that drive point to be the positive direction driving point motion away from the direction of this coordinate origin, near the motion of initial point Direction is negative direction, during initial mask is to other shape of face class transitionss, if the direction of motion of a certain driving point is Negative direction, then facial elastomer buckling phenomena can occur at this driving point position, the simulated effect of impact face pattern, because This, the initial facial model of foundation should ensure that its frontal outline is minimal head facial contour.Facial elastomer model adopts Solidworks and ANSYS software completes jointly, and the face setting up minimal head facial contour first in Solidworks software is bent Face geometrical model, then passes through Solidworks and ANSYS software interface, model is imported in ANSYS software, model is entered Row stress and strain model simultaneously arranges material properties thus obtaining curve flexibility body, and material SEPTON elastic modelling quantity, Poisson's ratio and density are divided Cloth is 0.00350GPa, 0.47 and 930Kg/m³, the outside segments of flexible body are set up in the position driving point finally according to skin of face Point and rigid region, are finally completed the foundation of facial elastomer model.

The shape of face changeable mechanism rigid model of foundation and facial elastomer model are imported to carry out in ADAMS/VIEW whole The assembling of body, in addition, in order to strengthen profiling effect, face organ's rigid element is also introduced in ADAMS/VIEW, by fixed Adopted sliding pair, makes each face organ position reach corresponding position according to the general regularity of distribution with face contour change, foundation Virtual prototype is as shown in figure 11.

Have chosen including v, q, e_u、p、o₁、g_nDrive point Deng 10 skin of face, as shown in figure 12, drive point fortune according to each Dynamic form sets up robot simulation model it is considered to robot head space problem, using 3 motors and 3 operating mechanisms to this 10 drive the motion that point amounts to 12 frees degree to be driven, and therefore, all driving points are not to simultaneously participate in motion, Each motion sequence driving point is decided by the order of transmission of motor power, and designed shape of face changeable mechanism is in actual manipulation In, each motor can be controlled respectively to work it is also possible to allow three motors work together simultaneously, in the emulation of virtual prototype, Set the offer that three motors enter action edge jointly herein, according to right between driving point drive each in Fig. 3-Fig. 5 and motor Should be related to, set the motion sequential of each drive mechanism.The cycle that shape of face is changed is set to 7 stages：In 1st stage, keep initial Shape of face state；In 2nd stage, drive point q, q', e_u、e_u' motion driving mechanism action, each drive point to move to target location；The In 3 stages, drive point o₁、o₁' moving and drive the motion driving mechanism action of point p, p' along Y direction, each drive point to mesh Cursor position is moved；In 4th stage, drive point o₁、o₁' moving and drive point g along Z-direction_nMotion driving mechanism action, Each driving point moves to target location；In 5th stage, the driving point of the 4th course movement resets；6th stage, the 3rd course movement Point is driven to reset；In 7th stage, return to initial shape of face state and keep.The time used by each stage that sets is 2s, then by initial face Type to other single shapes of face changed when simulation time be 14s.

Drive the motion sequence selected according to above-mentioned each skin of face to heart-shaped face, square face, circular face, elongated face and egg Five kinds of shapes of face of shape face carry out simulation analysis, and all kinds of shapes of face take 10 groups, 50 groups altogether, only provide lineup's face in every kind of shape of face classification Largest contours, simultaneously it is ensured that obtaining each drive mechanism maximum driving force, are emulated by the shape of face simulation process figure of sample, choosing The five kinds of shape of face samples taking and corresponding sample head profile mathematics model parameter value are as shown in table 7, by asking for skin of face Drive coordinate in target shape of face head profile Mathematical Modeling for the point, you can try to achieve the driving optimal displacement of point, by driving machine Structure is driven, and realizes initial shape of face to the transformation of target shape of face, as shown in figure 13 to the simulation process figure of each shape of face.

For further illustrating this virtual prototype when emulating to shape of face, not only copying error school little moreover it is possible to ensure face The similitude of type type, 50 that virtual prototype is obtained group image carries out the cognitive experiment of shape of face, and class shape of face is 10 groups, cognitive As shown in table 8, in table, all kinds of shape of face cognition degrees are by obtaining to the cognition degree averaged of each sample in such shape of face to result Arrive.

The cognition degree of all kinds of shapes of face, all more than 82%, is missed to profiling in conjunction with the above as can be seen from the table Difference analysis, can it is concluded that：The present invention set up virtual prototype shape of face can be emulated, and similarity 82% with On, copying error, below 4%, demonstrates the feasibility of shape of face changeable mechanism design of the present invention, face drives skin to drive Dynamic point and the correctness of skin of face material selection, thus the development for the variable humanoid-head robot of shape of face and robot basis The profiling experimental study of body is provided fundamental basis.

Claims (8)

1. a kind of shape of face and the variable humanoid-head robot of face organ are it is characterised in that humanoid-head robot includes shape of face Changeable mechanism, face organ's changeable mechanism and elastic skin of face；

Wherein, described elasticity skin of face parcel shape of face changeable mechanism and face organ's changeable mechanism, shape of face changeable mechanism and face Portion's organ changeable mechanism utilizes prime mover and transmission mechanism to realize motion；

Described shape of face and the variable humanoid-head robot of face organ choose shape of face and face organ by Mathematical Modeling Methods Drive point, can achieve the conversion of difference shape of face and the adjustment of face organ position according to different model parameters, by driving elasticity Skin of face drives point to produce displacement, and changing skin of face outer contour shape is shape of face and face organ position, thus realizing machine Device people's shape of face and the change of face organ position；

Shape of face changeable mechanism comprises three drive mechanisms, respectively become head dummy and jawbone width mechanism (1), become head length measuring mechanism (2) with Become the head breadth and Mian Xing mechanism (3), three drive mechanisms are each attached on pedestal (1-6)；

Described face organ's changeable mechanism comprises two drive mechanisms, respectively eyebrow motion (4) and eye mouth nose fitness machine Structure (5), two drive mechanisms are fixed on pedestal (1-6)；

Described change head dummy and jawbone width mechanism (1) include Equations of The Second Kind and drive point motion (1-1), the 3rd class to drive point fitness machine Structure (1-2), change head dummy and jawbone width mechanism operating mechanism (1-3), changement (1-4), change head dummy and jawbone width mechanism driving System (1-5) and pedestal (1-6), wherein, Equations of The Second Kind drives point motion (1-1), the 3rd class to drive point motion (1- 2), become head dummy and jawbone width mechanism operating mechanism (1-3), changement (1-4), become head dummy and jawbone width mechanism driving system (1-5) it is each attached on pedestal (1-6), become head dummy and jawbone width mechanism driving system (1-5) and change head dummy and jawbone width mechanism Operating mechanism (1-3) is connected, and becomes head dummy and realizes gearshift with jawbone width mechanism operating mechanism (1-3) by motion, respectively with second Class drives point motion (1-1), the 3rd class to drive point motion (1-2), changement (1-4) engagement, and the 3rd class drives Point motion (1-2) is connected with changement (1-4)；

Wherein said Equations of The Second Kind drives point motion (1-1) inclusion pedestal (1-6), left side tooth bar (1-1-1), left side to change Tilt tooth bar (1-1-4), right side tumbler gear (1-1-5), the right side to gear (1-1-2), left side longitudinal rack (1-1-3), right side Side longitudinal rack (1-1-6) and Equations of The Second Kind drive point driven pulley (1-1-7), and wherein, left side tooth bar (1-1-1), left side are changed Tilt tooth bar (1-1-4), right side tumbler gear (1-1-5) and Equations of The Second Kind and drive point driven pulley (1- to gear (1-1-2), right side 1-7) all it is connected with pedestal (1-6), left side tooth bar (1-1-1) is engaged with left side tumbler gear (1-1-2), left side commutating tooth Wheel (1-1-2) is engaged with left side longitudinal rack (1-1-3), and right side is tilted tooth bar (1-1-4) and nibbled with right side tumbler gear (1-1-5) Close, right side tumbler gear (1-1-5) is engaged with right side longitudinal rack (1-1-6), Equations of The Second Kind drives point driven pulley (1-1-7) to pass through Feed screw nut is connected with left side longitudinal rack (1-1-3), right side longitudinal rack (1-1-6), and realizes to left side longitudinal rack (1- 1-3) the driving with right side longitudinal rack (1-1-6)；

Described 3rd class drives point motion (1-2) to include pedestal (1-6), the 3rd class drives the longitudinal driven pulley (1-2-1) of point, A 3rd class driving point zigzag tread patterns bar (1-2-2), left side the 3rd class drive the laterally driven bar of point (1-2-3), can vertically movable slide Block (1-2-4), right side the 3rd class drive the laterally driven bar of point (1-2-5) and the 3rd class to drive point horizontal leading screw (1-2-6), its In, the 3rd class drives the longitudinal driven pulley (1-2-1) of point to be fixed on pedestal (1-6), and the 3rd class drives the longitudinal driven pulley (1-2- of point 1) point zigzag tread patterns bar (1-2-2) is driven to be connected by feed screw nut with the 3rd class, the 3rd class drives point zigzag tread patterns bar (1-2- 2) pass through feed screw nut drives the laterally driven bar of point (1-2-3), right side the 3rd class to drive point laterally to drive respectively with left side the 3rd class Lever (1-2-5) is connected, and vertically movable slide block (1-2-4) the laterally driven bar of point (1-2-3) can be driven to be connected with left side the 3rd class；

Described change head dummy and jawbone width mechanism operating mechanism (1-3) include pedestal (1-6), become head dummy and jawbone width mechanism operating hand Handle (1-3-1), change head dummy and the vertical drive rod of jawbone width mechanism operating mechanism (1-3-2), change head dummy and jawbone width mechanism operating Mechanism's guide post (1-3-3) and change head dummy and jawbone width mechanism operating mechanism's driving wheel (1-3-4), wherein, become head dummy and jawbone Wide mechanism operating handle (1-3-1), change head dummy are connected with pedestal (1-6) with jawbone width mechanism operating mechanism's guide post (1-3-3), Become head dummy and jawbone width mechanism operating handle (1-3-1), change head dummy and the vertical drive rod of jawbone width mechanism operating mechanism (1-3-2) It is connected by feed screw nut, become head dummy and the vertical drive rod (1-3-2) of jawbone width mechanism operating mechanism and change head dummy and jawbone width Mechanism operating mechanism guide post (1-3-3) is connected by bearing, becomes head dummy and jawbone width mechanism operating mechanism's guide post (1-3-3) It is connected with jawbone width mechanism operating mechanism's driving wheel (1-3-4) with becoming head dummy, and can relatively slide；

Described changement (1-4) includes pedestal (1-6), the 3rd class drives the horizontal driven pulley of point (1-4-1) and commutation bevel gear (1-4-2), wherein, the 3rd class drive point a horizontal driven pulley (1-4-1) be connected with pedestal (1-6), the 3rd class driving put laterally from Driving wheel (1-4-1) is connected with commutation bevel gear (1-4-2), and can relatively slide；

Described change head dummy and jawbone width mechanism driving system (1-5) include becoming head dummy and jawbone width mechanism motor (1-5-1), become head Type and jawbone width mechanism synchronization belt transmission system (1-5-2) and pedestal (1-6), wherein, jawbone width mechanism motor (1-5-1), change Head dummy is all connected with pedestal (1-6) with jawbone width mechanism synchronization belt transmission system (1-5-2), jawbone width mechanism motor (1-5-1) It is connected with jawbone width mechanism synchronization belt transmission system (1-5-2) with becoming head dummy.

2. a kind of shape of face according to claim 1 and the variable humanoid-head robot of face organ are it is characterised in that institute State change head length measuring mechanism (2) to include a crown first kind driving point motion (2-1), become head length measuring mechanism operating mechanism (2-2), lower jaw The first kind drives point motion (2-3), becomes head length measuring mechanism transmission system (2-4) and pedestal (1-6), wherein, the crown first kind Drive point motion (2-1), become head length measuring mechanism operating mechanism (2-2), a lower jaw first kind driving point motion (2-3), become Head length measuring mechanism transmission system (2-4) is all connected with pedestal (1-6), becomes head length measuring mechanism operating mechanism (2-2) and is changed by motion realization Gear, is driven with the crown first kind point motion (2-1), the lower jaw first kind to drive point motion (2-3) to engage respectively, becomes head Length measuring mechanism transmission system (2-4) is connected with becoming head length measuring mechanism operating mechanism (2-2)；

Wherein, the described crown first kind drive a point motion (2-1) include a crown first kind drive a point drive rod (2-1-1), The crown first kind drives point driven pulley (2-1-2) and pedestal (1-6), wherein, a crown first kind driving point drive rod (2-1-1), The crown first kind drives point driven pulley (2-1-2) to be connected with pedestal (1-6) respectively, and the crown first kind drives point drive rod (2-1- 1) can slide along pedestal (1-6) vertical direction, the crown first kind drive point drive rod (2-1-1) and the crown first kind drive point from Driving wheel (2-1-2) passes through feed screw nut and is connected；

Described change head length measuring mechanism operating mechanism (2-2) inclusion pedestal (1-6), change head length measuring mechanism control crank (2-2-1), change are long The vertical drive rod of mechanism operating mechanism (2-2-2), change head length measuring mechanism operating mechanism guide post (2-2-3) manipulate with becoming head length measuring mechanism Mechanism's driving wheel (2-2-4), wherein, becomes head length measuring mechanism control crank (2-2-1), becomes head length measuring mechanism operating mechanism guide post (2- 2-3) it is connected with pedestal (1-6), become head length measuring mechanism control crank (2-2-1), become the vertical drive rod (2- of head length measuring mechanism operating mechanism 2-2) pass through feed screw nut to be connected, become the vertical drive rod of head length measuring mechanism operating mechanism (2-2-2) and become head length measuring mechanism operating mechanism Guide post (2-2-3) is connected by bearing, becomes head length measuring mechanism operating mechanism guide post (2-2-3) and becomes head length measuring mechanism operating mechanism Driving wheel (2-2-4) is connected, and can relatively slide；

The described lower jaw first kind drives a point motion (2-3) to include a lower jaw first kind and drives a point driven pulley (2-3-1), lower jaw the One class drives point drive rod (2-3-2) and a pedestal (1-6), and wherein, the lower jaw first kind drives a point drive rod (2-3-2), lower jaw the One class drives point driven pulley (2-3-1) to be connected with pedestal (1-6) respectively, and a lower jaw first kind driving point drive rod (2-3-2) can edge Pedestal (1-6) vertical direction slides, and the lower jaw first kind drives point drive rod (2-3-2) and the lower jaw first kind to drive point driven pulley (2-3-1) pass through feed screw nut to be connected；

Described change head length measuring mechanism transmission system (2-4) includes becoming head length measuring mechanism synchronization belt transmission system (2-4-1), becomes head length measuring mechanism Motor (2-4-2) and pedestal (1-6), wherein, become head length measuring mechanism motor (2-4-2), become head length measuring mechanism synchronization belt transmission system (2- 4-1) all it is connected with pedestal (1-6), become head length measuring mechanism motor (2-4-2) and become head length measuring mechanism synchronization belt transmission system (2-4-1) It is connected.

3. a kind of shape of face according to claim 2 and the variable humanoid-head robot of face organ are it is characterised in that institute Stating the change head breadth drives a point motion (3-1), bottom the 4th class to drive point fitness machine with Mian Xing mechanism (3) inclusion top the 4th class Structure (3-2), the change head breadth and Mian Xing mechanism operating mechanism (3-3), the change head breadth and face type mechanism driving system (3-4) and pedestal (1- 6), each mechanism is all connected with pedestal (1-6)；

Described top the 4th class drive a point motion (3-1) include top the 4th class drive point left side drive rod (3-1-1), on Portion the 4th class drives point driven pulley (3-1-2), top the 4th class to drive point right side drive rod (3-1-3) and pedestal (1-6), its In, top the 4th class drives point left side drive rod (3-1-1), top the 4th class to drive point driven pulley (3-1-2), top the 4th class Point right side drive rod (3-1-3) is driven to be connected with pedestal (1-6), top the 4th class drives point left side drive rod (3-1-1), top 4th class drives point right side drive rod (3-1-3) to drive point driven pulley (3-1-2) to be connected by feed screw nut and top the 4th class；

Described bottom the 4th class drive a point motion (3-2) include bottom the 4th class drive point left side drive rod (3-2-1), under Portion the 4th class drives point driven pulley (3-2-2), bottom the 4th class to drive point right side drive rod (3-2-3) and pedestal (1-6), its In, bottom the 4th class drives point left side drive rod (3-2-1), bottom the 4th class to drive point driven pulley (3-2-2), bottom the 4th class Point right side drive rod (3-2-3) is driven to be connected with pedestal (1-6), bottom the 4th class drives point left side drive rod (3-2-1), bottom 4th class drives point right side drive rod (3-2-3) to drive point driven pulley (3-2-2) to be connected by feed screw nut and bottom the 4th class；

The described change head breadth and Mian Xing mechanism operating mechanism (3-3) include pedestal (1-6), become the head breadth and face type mechanism operating handle (3-3-1), become the head breadth and the laterally driven bar of Mian Xing mechanism (3-3-2), become the head breadth and Mian Xing mechanism operating mechanism guide post (3-3- 3) and become the head breadth and Mian Xing mechanism operating mechanism driving wheel (3-3-4), wherein, the head breadth and face type mechanism operating handle (3-3- are become 1), become the head breadth to be connected with pedestal (1-6) with Mian Xing mechanism operating mechanism guide post (3-3-3), become the head breadth and face type mechanism operating Handle (3-3-1) is connected by feed screw nut with becoming head breadth bar laterally driven with Mian Xing mechanism (3-3-2), becomes the head breadth and face type machine The laterally driven bar of structure (3-3-2) is connected by bearing with Mian Xing mechanism operating mechanism guide post (3-3-3) with becoming the head breadth, becomes the head breadth It is connected with Mian Xing mechanism operating mechanism driving wheel (3-3-4) with becoming the head breadth with Mian Xing mechanism operating mechanism guide post (3-3-3), and Can relatively slide；

Described the change head breadth and face type mechanism driving system (3-4) include becoming the head breadth and face type mechanism motor (3-4-1), become the head breadth with Mian Xing mechanism synchronization belt transmission system (3-4-2) and pedestal (1-6), wherein, become the head breadth and face type mechanism motor (3-4-1), change The head breadth is all connected with pedestal (1-6) with Mian Xing mechanism synchronization belt transmission system (3-4-2), becomes the head breadth and face type mechanism motor (3- 4-1) it is connected with Mian Xing mechanism synchronization belt transmission system (3-4-2) with the change head breadth.

4. a kind of shape of face according to claim 3 and the variable humanoid-head robot of face organ are it is characterised in that institute Stating eyebrow motion (4) drives point to drive point for the 3rd class.

5. a kind of shape of face according to claim 4 and the variable humanoid-head robot of face organ are it is characterised in that institute State mouth nose motion (5) and drive point motion (1-2) and become head using becoming the 3rd class that head dummy is with jawbone width mechanism (1) The crown first kind of length measuring mechanism (2) drives point motion (2-1).

6. a kind of shape of face according to claim 5 and the variable humanoid-head robot of face organ are it is characterised in that institute State humanoid-head robot and choose shape of face and face organ and drive that point realizes shape of face and the variable driving process of face organ is：

First, the driving of shape of face changeable mechanism becomes head dummy and jawbone width mechanism (1) driving method is specially：

Q, q' drive point for Equations of The Second Kind, and q, q' are right, left head dummy point respectively, and q point position is in characteristic point v, e_uThe v-e constituting_uThe crown Contour segment, q' point position is in characteristic point e_u', v constitute e_u'-v crown contour segment, using Sliding leadscrew nut and rack-and-pinion machine The combined mechanism of structure is driven, and turning of left side tumbler gear (1-1-2) is passed through in the lengthwise movement of left side longitudinal rack (1-1-3) Dynamic be delivered to the oblique linear motion of left side tooth bar (1-1-1), and the self-locking performance of left side tooth bar (1-1-1) is by second Class drives point driven pulley (1-1-7), left side longitudinal rack (1-1-3) and right side longitudinal rack (1-1-6) to realize；

o₁、o₁' drive point, o for the 3rd class₁For characteristic point g on contour curve₁With point g₂Intermediate point, o₁' it is special on contour curve Levy point g₁' and point g₂' intermediate point, by the 3rd class drive point driven pulley (1-2-1) with the 3rd class drive point a zigzag tread patterns bar (1-2-2) realize the 3rd class drive point move along the longitudinal direction, by left side the 3rd class drive point a laterally driven bar (1-2-3), Right side the 3rd class drives the laterally driven bar of point (1-2-5) and the 3rd class to drive point horizontal leading screw (1-2-6) to realize the 3rd class and drives Point moves in transverse direction；Become head dummy and be manually operated change head dummy and jawbone width machine with jawbone width mechanism operating mechanism (1-3) Structure operating mechanism driving wheel (1-3-4) drive with the 3rd class respectively the horizontal driven pulley of point (1-4-1), the 3rd class drive point longitudinally from Driving wheel (1-2-1) and Equations of The Second Kind drive point driven pulley (1-1-7) to realize the motion of different driving point, by becoming head dummy and jawbone width machine Structure motor (1-5-1) and change head dummy provide power source with jawbone width mechanism synchronization belt transmission system (1-5-2) and slow down, and realize one Individual Motor drive has 4 drivings point q, q', o of 6 frees degree altogether₁、o₁'；

Described change head length measuring mechanism (2) driving method is specially：

Control and drive point to be v, g_n, v is crown point, is crown center peak, g_nFor gonion, be jawbone the most outwards and to Point afterwards；

Point drive rod (2-1-1), the crown first kind is driven to drive point driven pulley (2-1-2), lower jaw first by the crown first kind Class drives point drive rod (2-3-2) and the lower jaw first kind to drive point driven pulley (2-3-1) to realize lengthwise movement, by a motor Become head length measuring mechanism motor (2-4-2) and drive two driving points with two frees degree；

The described change head breadth is specially with Mian Xing mechanism (3) driving method：

Control and drive point e_u、e_u', p, p', e_u、e_u' represent left and right cranium side point respectively, within being parietal region, on cranium side to The point projecting outward, p, p' represent right, left side type point respectively, and near the auris dextra on face contour of p point position, p' point position is in face Near left ear on profile, point left side drive rod (3-1-1), top the 4th class is driven to drive point driven pulley by top the 4th class (3-1-2) drive with top the 4th class point right side drive rod (3-1-3) to realize the driving that two, top the 4th class drives point, pass through Bottom the 4th class drives point left side drive rod (3-2-1), bottom the 4th class to drive point driven pulley (3-2-2) and bottom the 4th class to drive On the right side of dynamic point, drive rod (3-2-3) realizes the driving that bottom two the 4th class drives point, thus realize a motor become the head breadth with Face type mechanism motor (3-4-1) drives 4 driving points with 4 frees degree；

2nd, face organ's changeable mechanism drives

It is m that the eyebrow motion (4) of face organ's changeable mechanism controls driving point₁、m₂, the control of eye mouth nose motion (5) Point is driven to be y₁、y₂、k；

Described eyebrow motion (4) drives point m₁、m₂Drive point, m for the 3rd class₁、m₂For place between the eyebrows point, represent eyebrow position, its Position margo supraorbitalis position directly over pupil center, driving method and the 3rd class driving point becoming head dummy and jawbone width mechanism (1) Motion (1-2) is identical, using identical structure；

It is y that described eye mouth nose motion (5) drives point₁、y₂, k, wherein, y₁、y₂For eyespot, represent eyes, its position is in pupil Center, k is schistostoma point, represents face, and in face center, f is nasion, represents nose, its position in nasal bone concave point, F keeps and y₁、y₂Level is it is not necessary to drive, y₁、y₂Belonging to the 3rd class drives point, k to belong to first kind driving point, and eye mouth nose moves Mechanism (5) drives point motion (1-2) to drive y using becoming the 3rd class that head dummy is with jawbone width mechanism (1)₁、y₂Point, using change The crown first kind of head length measuring mechanism (2) drives point motion (2-1) to drive k point；

Described face organ's changeable mechanism drive mechanism head dummy that becomes used is long with jawbone width mechanism operating handle (1-3-1), change Mechanism operating handle (2-2-1) passes through prime mover driven with becoming the head breadth with face type mechanism operating handle (3-3-1), with clutch certainly Move gear to realize or realize using manual shift；

By driving skin of face to drive point motion to prop up or reducing elastic skin of face thus realizing the change of shape of face, by driving Dynamic face organ's location point moves thus realizing the change of face organ position；

By 3 motors become head dummys and jawbone width mechanism motor (1-5-1), become head length measuring mechanism motor (2-4-2) with become the head breadth with Face type mechanism motor (3-4-1) drives 10 shapes of face with 12 frees degree to drive point q, q', o₁、o₁'、e_u、e_u'、p、p'、 v、g_nRealize shape of face variable；And only pass through two motors change head dummys and jawbone width mechanism motor (1-5-1) and change head length measuring mechanism electricity Machine (2-4-2) drives 5 face organs with 9 frees degree to drive point m₁、m₂、y₁、y₂, k, realize face organ variable.

7. a kind of shape of face and the variable humanoid-head robot Mathematical Modeling Methods of face organ are it is characterised in that shape of face and face The variable humanoid-head robot Mathematical Modeling Methods of organ are as follows：

First, the variable humanoid-head robot Mathematical Modeling Methods of shape of face are as follows：

(1) head vertex v, right cranium side point e are selected_u, left cranium side point e_u', right gonion g_o, jawbone right circular arc starting point g₁, jawbone Left arc starting point g₁', jawbone right circular arc terminal g₂With jawbone left arc terminal g₂' as facial contour segmentation feature Point, and set up number of people face contour Mathematical Modeling coordinate system；

(2) set up number of people face contour general mathematical model, according to the characteristic point chosen, number of people face contour is carried out point first Section, and to each section of curve using the model curve being suitable for：v-e_uSection, hyperelliptic curve；e_u-g₁Section, elliptic curve；g₂-g_nSection, throws Thing line；g₁-g₂Section：Circular curve, circular arc is e_u-g₁Section elliptic curve and g₂-g_nThe parabolical tangent arc of section；

If each feature point coordinates is：V point (0, b), e_uPoint (a, 0), g₁Point (m, n), g₂Point (g, h), g_nPoint (0, B), then right-hand part The Mathematical Modeling of point number of people face contour is：

$\left\{\begin{array}{cc}v-e_u:{\left(\frac{y^2}{a^2}\right)}^s+{\left(\frac{z^2}{b^2}\right)}^s=1& (0\&le;y\&le;a,z\&GreaterEqual;0)\\ e_u-g_1:\frac{y^2}{a^2}+\frac{z^2}{c^2}=1& (m\&le;y\&le;a,z\&le;0)\\ g_1-g_2:{(y-y_c)}^2+{(z-z_c)}^2=R^2& (g\&le;y\&le;m,z\&le;z_c)\\ g_2-g_n:z={\mathrm{Ay}}^2-B& (0\&le;y\&le;g)\end{array}\right.---\left(1\right)$

Wherein, y, z represent horizontal, axis of ordinates respectively, to v-e_uSection curve, as a >=b, a represents hyperelliptic major semiaxis, works as a<b When, a represents hyperelliptic semi-minor axis；S is hyperelliptic index；To e_u-g₁Section curve, c, a are respectively oval major semiaxis, semi-minor axis； y_c、z_cIt is respectively elliptic curve and the parabolical tangent arc center of circle (y_c、z_c) horizontal, ordinate；M, g are shown in formula (2)；R represents g₁- g₂Section curve and the center of circle (y_c、z_c) distance；

$y_c=m-\frac{{\mathrm{Rmc}}^2}{\sqrt{a^4{n}^2+c^4{m}^2}},z_c=n-\frac{{\mathrm{Rna}}^2}{\sqrt{a^4{n}^2+c^4{m}^2}},A=-\frac{g-y_c}{2g(h-z_c)},B={\mathrm{Ag}}^2-h;$

From formula (1), by a, seven independent parameters of b, s, c, m, g, R can be with Controlling model curve shape, and by m, g is respectively It is expressed as the coordinate form in elliptic parametric equation and Circle Parameters equation, such as shown in formula (2)：

$\left\{\begin{array}{c}m=acos\mathrm{\&theta;}\\ n=csin\mathrm{\&theta;}\\ g=acos\mathrm{\&theta;}-\frac{Rcsin\mathrm{\&theta;}}{{(c^2{\cos }^2\mathrm{\&theta;}+a^2{\sin }^2\mathrm{\&theta;})}^{\frac{1}{2}}}+Rcos\&lsqb;-\arccos \left(\frac{acos\mathrm{\&theta;}}{R}\right)+\mathrm{\&beta;}\&rsqb;\\ h=z_c-{(R^2-(g-z_c\left)\right)}^{\frac{1}{2}}\end{array}\right.---\left(2\right)$

Wherein, β is g₁-g₂Section curvilinear coordinate point (x, y) and the center of circle (y_c、z_c) line and g₁Point (m, n) and the center of circle (y_c、z_c) line Angle；

Then final mask parameter is a, b, s, c, θ, β, R, this 7 independent parameters is optimized and obtains arbitrary particular person Head And Face The Mathematical Modeling of profile, Derivative on the left or on the right at tie point for this Mathematical Modeling is equal it was demonstrated that this model curve is smooth；

(3) set up particular person Head And Face profile Mathematical Modeling, it is right on true head cross-sectional data point and theoretical contour to define Answer the relative distance between data point to be model error, parameter optimization is carried out according to model error, defines the relative of each pair of data point , respectively as model mean error, model worst error, the selection mode of data point is for distance average and maximum：Will be true Number of contours strong point and theoretical profile data point are placed in model coordinate systems, centered on initial point O, for the song in Z >=0 region Line, every γ₁Peek strong point, for Z<The curve in 0 region, every γ₂Peek strong point, obtains actual profile data point A_iAnd reason By number of contours strong point B_iEach n, if A_iCoordinate is (y_i, z_i), B_iCoordinate is (y_oi, z_oi) then model mean error pass through formula (3) Try to achieve, model worst error is tried to achieve by formula (4)；

$e_{ave}=\frac{\underset{i}{\overset{n}{\&Sigma;}}\frac{|{\mathrm{OB}}_i-{\mathrm{OA}}_i|}{\left|{\mathrm{OA}}_i\right|}}{n}\&times;100\%=\frac{\underset{i}{\overset{n}{\&Sigma;}}\frac{\sqrt{{(z_{0i}-z_i)}^2+{(y_{0i}-y_i)}^2}}{\sqrt{{z_i}^2+{y_i}^2}}}{n}\&times;100\%---\left(3\right)$

$e_{\max }=\max (\frac{|{\mathrm{OB}}_i-{\mathrm{OA}}_i|}{\left|{\mathrm{OA}}_i\right|}\&times;100\%)=\max (\frac{\sqrt{{(z_{0i}-z_i)}^2+{(y_{0i}-y_i)}^2}}{\sqrt{{z_i}^2+{y_i}^2}}\&times;100\%)---\left(4\right)$

The object function being designed as Model Parameter Optimization using the weighted sum of model mean error and model worst error, thus The mathematical model of optimizing design arriving is as follows, and design variable is：

X=[a, b, s, c, θ, β, R]^T=[x₁, x₂, x₃, x₄, x₅, x₆, x₇]^T(5)

Object function is：

Minf (X)=λ₁f₁(X)+λ₂f₂(X) (6)

s.t.g₁(X)=x₁-a_max≤0g₈(X)=c_min-x₄≤0

g₂(X)=a_min-x₁≤0g₉(X)=x₅-θ_max≤0

g₃(X)=x₂-b_max≤0g₁₀(X)=θ_min-x₅≤0

g₄(X)=b_min-x₂≤0g₁₁(X)=x₆-β_max≤0

g₅(X)=x₃-s_max≤0g₁₂(X)=β_min-x₆≤0

g₆(X)=s_min-x₃≤0g₁₃(X)=x₇-R_max≤0

g₇(X)=x₄-c_max≤0g₁₄(X)=R_min-x₇≤0

In formula：f₁(X)=e_ave(X),f₂(X)=e_max(X), λ₁, λ₂For weight coefficient, λ₁+λ₂=1, take λ₁, λ₂Respectively 0.6, 0.4；

Set up number of people face contour general mathematical model model parameter scope：a：70～90mm, b：70～90mm, s：0.7～ 1.6, c：150～250mm, θ：- 2～0rad, β：- 1～0rad, R：1～30mm；

Using genetic algorithm, model parameter optimal solution is solved, that is, complete the variable humanoid-head robot mathematics of shape of face Modeling；

2nd, face organ position mathematical model establishing method is as follows：

(1) set up face organ's characteristic point, the method using statistical analysis is analyzed to the facial organ site regularity of distribution, choosing Take face organ's location point, wherein, P is two eyespot spacing；M was width between the straight line of two eyespots and the intersection point of face contour, It is defined as interplanar distance；L be between eyespot and nasion from；G be between eyespot and place between the eyebrows point from；J be eyespot to the end between summit from；Q is Schistostoma point and crown dot spacing；H is head overall height；Obtain spacing P and interplanar distance M proportional law stable 0.42, and will 0.42 as eyes face Two dimensional Distribution one of rule；

It is similarly obtained the ratio rule of other positions point related data：Vertex distance J and head overall height H ratio are eyespot to the end 0.50, vertex distance Q and head overall height H ratio are 0.82 to schistostoma point to the end, and place between the eyebrows point to clear eye distance G with head overall height H ratio is 0.09, L value is 0～1mm, therefore supposes nasion and two eyespots on same straight line；

(2) set up face organ's Mathematical Modeling

Identical with head profile mathematics model coordinate systems to the coordinate system used by facial organ site founding mathematical models, if facial Organ site point coordinates is respectively：y₁(r₁, r₂), y₂(-r₁, r₂), m₁(r₁, t₁),m₂(-r₁, t₁), f (0, t₁), k (0, k₁), root According to the ratio rule of each face organ's location point related data obtaining in the above and combine g_nPoint coordinates (0, B), obtains Below equation relation：

$\left\{\begin{array}{c}b-r_2=0.50H=0.5(b+B)\\ 2r_1=0.42M=0.84a\sqrt{1-\frac{{(0.5b-0.5B)}^2}{c^2}}\\ t_1-r_2=0.09H=0.09(b+B)\\ b-k_1=0.82H\end{array}\right.---\left(7\right)$

And then set up head profile mathematical model parameter and with the functional relation of face organ position point coordinates be：

$\left\{\begin{array}{c}{r}_1=0.42a\sqrt{1-\frac{{(0.5b-0.5B)}^2}{c^2}}\\ r_2=0.5b-0.5B\\ t_1=0.59b-0.41B\\ k_1=0.18b-0.82B\end{array}\right.---\left(8\right)$

In formula

$\begin{array}{c}B=-\frac{1}{2}\cot (-\arccos \frac{a\cos \mathrm{\&theta;}}{R}+\mathrm{\&beta;})(a\cos \mathrm{\&theta;}-\frac{Rc\cos \mathrm{\&theta;}}{\sqrt{c^2{\cos }^2\mathrm{\&theta;}+a^2{\sin }^2\mathrm{\&theta;}}})-c\sin \mathrm{\&theta;}+\\ \frac{Ra\sin \mathrm{\&theta;}}{\sqrt{c^2{\cos }^2\mathrm{\&theta;}+a^2{\sin }^2\mathrm{\&theta;}}}-R\sin (-\arccos \frac{a\cos \mathrm{\&theta;}}{R}+\mathrm{\&beta;})\end{array}$

Thus, obtain relation between face organ position point coordinates and head profile mathematical model parameter { a, b, c, θ, β }, that is, lead to Cross the position that { a, b, s, c, θ, β, R } 7 parameters just can determine that head contour shape and face organ.

8. the control method of a kind of shape of face and the variable humanoid-head robot of face organ is it is characterised in that a kind of shape of face and face The control method of the variable humanoid-head robot of portion's organ is realized according to the following steps：

For shape of face changeable mechanism, become head dummy and jawbone width mechanism motor (1-5-1), change head length measuring mechanism electricity by 3 motors Machine (2-4-2) becomes head dummy and jawbone width mechanism operating machine with face type mechanism motor (3-4-1) with 3 operating mechanisms with becoming the head breadth Structure (1-3), change head length measuring mechanism operating mechanism (2-2) and the change head breadth and Mian Xing mechanism operating mechanism (3-3) realize 10 driving points q、q'、o₁、o₁'、e_u、e_u'、p、p'、v、g_nThe motion amounting to 12 frees degree drives, and realizes power transmission using operating mechanism Switching, search before moving every time drives point initial position, and the driving point position corresponding to using minimized profile is as its initial bit Put, and place travel switch in each initial position；

Switching operating mechanism first after electricity on motor makes gear n=1, and that is, first group of Motor drive drives point and assigns from host computer The instruction of search initial position, makes motor with a certain low speed and reverse；

Point is now driven to move at least displacement, controller waits the edge interrupt of travel switch signal；

After driving point to reach initial position, controller receives interruption and records current motor positions at once and make decelerating through motor stop； After motor stops, controller makes motor movement again to the position being recorded, and location register is set to 0, that is, using current location as Initial position；

After the completion of this sequence, controller sends gearshift request to host computer, makes n=n+1, judges whether n has been more than maximum gear n_maxIf n is not more than n_max, then start gear shift, and start the initial position search that next group drives point, if n has been above n_maxThen represent that the driving point initial position search that all gears control completes.