CN105835071A - Projection type humanoid robot - Google Patents
Projection type humanoid robot Download PDFInfo
- Publication number
- CN105835071A CN105835071A CN201610407063.8A CN201610407063A CN105835071A CN 105835071 A CN105835071 A CN 105835071A CN 201610407063 A CN201610407063 A CN 201610407063A CN 105835071 A CN105835071 A CN 105835071A
- Authority
- CN
- China
- Prior art keywords
- robot
- projection
- anthropomorphic robot
- scialyscope
- face
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
Abstract
The invention discloses a projection type humanoid robot. A projector is arranged on a face shell of the robot for projecting face expression images of the robot onto the face shell. When users interact with the robot, a camera and a microphone of the robot acquire behavior expressions and voice commands of the users; by calculation and analysis of a main controller, the expression images are projected and returned on a face in real time through the projector; and voice information is played through a horn to finish human-computer interaction. The robot can display any complex expression in real time through the mode, and is simple and reliable in realization method, natural and smooth in human-computer interaction, low in cost and widely suitable for the robot industry.
Description
Technical field
The present invention relates to robot building field, especially relate to a kind of projection people realizing humanoid expression
Anthropomorphic robot.
Background technology
Along with development in science and technology, anthropomorphic robot increasingly frequently occurs in daily life and work
In, the research of robot, design, produce and have become as a critically important industry.In man-machine interaction
In, it is desirable to the anthropomorphic degree of robot close to the mankind, therefore the true reappearance of facial expression is shadow
Ring one of key factor of robot humanoid.If robot can have the face as the mankind
Expression, then its acceptable degree is the highest, and market value is the biggest.Current anthropomorphic robot
General employing human emulation, constructs various face organ fully according to mankind's truth, passes through
Complicated Electromechanical Control and material structure show countenance.The advantage of this method is emulator
Height, shortcoming is that technology requires height, complex structural designs, it is desirable to the difficulty of complete simulation human facial expressions
Degree is very big, and additionally production cost is the highest.Another kind of method is to use display to show robot
Face, the advantage of this method can be by the method for software programming and demonstrates abundant facial table
Feelings, cost also ratio is less expensive, shortcoming be display be plane, it is difficult to make the mankind real face wheel
Wide.In matured product, second method uses more, but the humanoid degree of this method is relatively low,
Can not anthropomorphic robot the most truly.
Summary of the invention
It is an object of the invention to provide a kind of projection anthropomorphic robot, the application present invention can be by throwing
Shadow mode demonstrates robot countenance simple and reliablely, carries out man-machine interaction, and cost glibly
Cheap, it is widely portable to robot industry.
The technical scheme is that a kind of projection anthropomorphic robot, including humanoid face shell, throwing
Shadow machine and master controller.Described humanoid face shell, as projection screen, is made up of diffuse-reflective material.
Described scialyscope is used for robot countenance image projection at humanoid face shell.Described master control
Device processed is used for receiving external signal, calculates according to these signals, by defeated for humanoid facial image information
Go out on described scialyscope.
Described scialyscope by robot countenance image projection on described face shell, the position of scialyscope
Put and can be located at described robot interior depending on concrete condition, it is possible to be positioned at outside described robot.
Described scialyscope by robot countenance image projection on described face shell, depending on concrete condition
Other optical element can be increased, to reduce scialyscope projector distance, it would however also be possible to employ ultrashort focus projector
Projection.
Described master controller is used for gathering external signal, calculates according to these signals, by humanoid face
Image information exports on described scialyscope.Outside described master controller is gathered by photographic head and mike
Portion's signal, photographic head is used for gathering user behavior facial expression image signal, and mike is used for gathering user's language
Sound command signal, master controller carries out calculating process according to these signals, and by corresponding human face expression
Picture signal exports described scialyscope, will feed back voice accordingly and be play by loudspeaker.
When user interacts with robot, robot expresses one's feelings according to phonetic order and the behavior of user,
It is computed analyzing, by projection pattern expression of display feedback in real time on humanoid face shell, and will be anti-
Feedback user speech information.The beneficial effects of the present invention is, can be shown in real time by this projection pattern
Arbitrarily complicated expression, therefore compares and generally uses complicated Electromechanical Control and material structure to show face
The robot of expression, this projection pattern is the most simple and reliable, and robot the most more personalizes, man-machine
The most natural and tripping.
Accompanying drawing explanation
Fig. 1 is robot interaction diagrams
Fig. 2 is the schematic diagram of a kind of display mode of robot
Fig. 3 is the schematic diagram of robot the second display mode
Fig. 4 is the schematic diagram of the third display mode of robot
Detailed description of the invention
Below in conjunction with embodiment and referring to the drawings the invention will be further described.
Fig. 1 is the interaction diagrams of present embodiment, when user interacts with robot, and robot
Phonetic order according to user and behavior facial expression image, be computed analyzing, by projection pattern at face
The expression of display feedback in real time, and feedback user voice messaging.In this embodiment, Yong Hutong
Crossing voice mode and pass on instruction to robot, wherein photographic head is for gathering the image information of user, wheat
Gram wind is for gathering the voice messaging of user, and image information and voice messaging will be conveyed to master controller and enter
Row calculating processes.Corresponding picture signal can be transferred to scialyscope after being disposed by master controller, by
Scialyscope is by robot countenance image projection on described humanoid face shell, and corresponding sound is believed
Number then it is transferred to loudspeaker play.The countenance image that user is fed back by observer's anthropomorphic robot, inclines
Feedback voice is listened to complete whole interaction flow.
Fig. 2 is a kind of display mode schematic diagram of present embodiment, as it can be seen, scialyscope is positioned at machine
Inside people.Owing to projector distance is limited, the projector distance of common scialyscope is longer, nothing in short distance
Projected picture is covered whole humanoid face shell by method.Therefore one piece of reflecting mirror, the face being projected out are increased
Portion's facial expression image is reflected mirror and reflexes on face of robot shell.
Fig. 3 is the second display mode schematic diagram of present embodiment, as it can be seen, scialyscope is positioned at machine
Inside device people, owing to using ultrashort focus projector, in short distance, therefore directly it is projected out large-size
Picture, whole humanoid face shell can be covered.
Fig. 4 is the third display mode schematic diagram of present embodiment, as it can be seen, scialyscope is humanoid
The outside of face's shell, owing to having bigger projector distance, therefore image can directly be thrown by scialyscope
Shadow is on humanoid face shell.Owing to scialyscope not will pass through wired connection main control outside robot
Device, therefore master controller output countenance image through transmission of wireless signals to scialyscope.
Claims (5)
1. a projection anthropomorphic robot, including (1) humanoid face shell, this shell is as projection screen；(2)
Scialyscope, this scialyscope by image projection on humanoid face shell；(3) master controller, this control
Device receives external information, and corresponding Facial Expression Image is exported on described scialyscope.
A kind of projection anthropomorphic robot the most according to claim 1, it is characterised in that described scialyscope
Position can be inside anthropomorphic robot, it is also possible to outside anthropomorphic robot.
A kind of projection anthropomorphic robot the most according to claim 1, it is characterised in that described projection seat in the plane
When anthropomorphic robot is internal, the method increasing optical element is used to reduce projector distance.
A kind of projection anthropomorphic robot the most according to claim 1, it is characterised in that described projection seat in the plane
When anthropomorphic robot is internal, use ultrashort focus projector.
A kind of projection anthropomorphic robot the most according to claim 1, it is characterised in that described projection people
Anthropomorphic robot also includes and the equipment of user's man-machine interaction, can carry out the mutual of voice and image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610407063.8A CN105835071A (en) | 2016-06-07 | 2016-06-07 | Projection type humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610407063.8A CN105835071A (en) | 2016-06-07 | 2016-06-07 | Projection type humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105835071A true CN105835071A (en) | 2016-08-10 |
Family
ID=56575764
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610407063.8A Pending CN105835071A (en) | 2016-06-07 | 2016-06-07 | Projection type humanoid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105835071A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217393A (en) * | 2016-08-29 | 2016-12-14 | 华南理工大学 | Portable far-end is come personally interaction platform |
| CN106239531A (en) * | 2016-09-20 | 2016-12-21 | 华南理工大学 | A kind of telepresence mutual robot of movable type |
| CN108582115A (en) * | 2018-07-05 | 2018-09-28 | 深圳市证通电子股份有限公司 | A kind of robot of display 3D animations |
| CN110024000A (en) * | 2016-11-24 | 2019-07-16 | Groove X 株式会社 | The autonomous humanoid robot of behavior for changing pupil portion |
| CN112847376A (en) * | 2021-02-02 | 2021-05-28 | 广东技术师范大学 | Safe medicine purchasing robot and control method thereof |
| CN113313978A (en) * | 2020-02-27 | 2021-08-27 | 中强光电股份有限公司 | Projection device |
| CN113495406A (en) * | 2020-04-01 | 2021-10-12 | 中强光电股份有限公司 | Interactive projection system and interactive display method of projection system |
| CN113518211A (en) * | 2020-04-10 | 2021-10-19 | 中强光电股份有限公司 | Projection system and projection operation method |
| EP4117280A1 (en) * | 2021-07-08 | 2023-01-11 | DG Inception GmbH | Devices, systems and methods for telepresence communication |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105373784A (en) * | 2015-11-30 | 2016-03-02 | 北京光年无限科技有限公司 | Intelligent robot data processing method, intelligent robot data processing device and intelligent robot system |
-
2016
- 2016-06-07 CN CN201610407063.8A patent/CN105835071A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105373784A (en) * | 2015-11-30 | 2016-03-02 | 北京光年无限科技有限公司 | Intelligent robot data processing method, intelligent robot data processing device and intelligent robot system |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217393B (en) * | 2016-08-29 | 2018-09-14 | 华南理工大学 | Mobile interaction platform of distally coming personally |
| CN106217393A (en) * | 2016-08-29 | 2016-12-14 | 华南理工大学 | Portable far-end is come personally interaction platform |
| CN106239531A (en) * | 2016-09-20 | 2016-12-21 | 华南理工大学 | A kind of telepresence mutual robot of movable type |
| US11623347B2 (en) | 2016-11-24 | 2023-04-11 | Groove X, Inc. | Autonomously acting robot that changes pupil image of the autonomously acting robot |
| CN110024000A (en) * | 2016-11-24 | 2019-07-16 | Groove X 株式会社 | The autonomous humanoid robot of behavior for changing pupil portion |
| CN110024000B (en) * | 2016-11-24 | 2023-12-26 | Groove X 株式会社 | Behavior autonomous robot for changing pupil |
| CN108582115A (en) * | 2018-07-05 | 2018-09-28 | 深圳市证通电子股份有限公司 | A kind of robot of display 3D animations |
| CN113313978A (en) * | 2020-02-27 | 2021-08-27 | 中强光电股份有限公司 | Projection device |
| CN113313978B (en) * | 2020-02-27 | 2024-03-22 | 中强光电股份有限公司 | Projection device |
| US11538373B2 (en) | 2020-04-01 | 2022-12-27 | Coretronic Corporation | Interactive projection system and interactive display method of projection system |
| CN113495406A (en) * | 2020-04-01 | 2021-10-12 | 中强光电股份有限公司 | Interactive projection system and interactive display method of projection system |
| CN113518211A (en) * | 2020-04-10 | 2021-10-19 | 中强光电股份有限公司 | Projection system and projection operation method |
| CN112847376A (en) * | 2021-02-02 | 2021-05-28 | 广东技术师范大学 | Safe medicine purchasing robot and control method thereof |
| EP4117280A1 (en) * | 2021-07-08 | 2023-01-11 | DG Inception GmbH | Devices, systems and methods for telepresence communication |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160810 |
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