CN105881556B - A kind of emulated robot - Google Patents
A kind of emulated robot Download PDFInfo
- Publication number
- CN105881556B CN105881556B CN201610448655.4A CN201610448655A CN105881556B CN 105881556 B CN105881556 B CN 105881556B CN 201610448655 A CN201610448655 A CN 201610448655A CN 105881556 B CN105881556 B CN 105881556B
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- auricularis
- module
- direction unit
- auris dextra
- horizontal direction
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- 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
Abstract
The present invention provides a kind of emulated robots, with facial contours；Mouth shape structure is arranged in facial contours；Mouth shape structure setting simulates mouth shape control module, upper lip and lower lips；Simulation mouth shape control module is separately connected upper lip and lower lips, for controlling traction upper lip and/or lower lips, so that upper lip and/or lower lips deform upon.Using the above scheme, the design that the present invention passes through upper lip and lower lips so that the facial contours of robot are with more the characteristic that personalizes so that the sound of robot is not only spread out of from stiff gap；Also, so that upper lip and/or lower lips is deformed upon by simulating mouth shape control module, can realize the quasi- true property of robot mouth, make it closer in real human.
Description
Technical field
The present invention relates to Robot Design fields, more particularly to, a kind of emulated robot.
Background technology
Existing robot details is more perfect, can realize hand grab, language communication, the functions such as walking, still, for mouth
The control of shape is often showed using simple lines or gap, and therefore, the prior art needs to improve.
Invention content
Technical problem to be solved by the invention is to provide a kind of new emulated robots.
Technical scheme is as follows：A kind of emulated robot, with facial contours；Mouth is arranged in the facial contours
Shape structure；The mouth shape structure setting simulation mouth shape control module, upper lip and lower lips；The simulation mouth shape control module point
The upper lip and the lower lips are not connected, the upper lip and/or the lower lips are drawn for controlling, so that on described
Lip and/or the lower lips deform upon.
Preferably, the facial contours also set up ear shape structure；The ear shape structure setting simulation ear shape control module, a left side
Ear and auris dextra portion；The simulation ear shape control module is separately connected the left ear and the auris dextra portion, for controlling traction
The left ear and/or the auris dextra portion, so that the left ear and/or the auris dextra portion deform upon.
Preferably, the simulation ear shape control module setting auricularis module and its auricularis controller；The auricularis module point
The left ear and the auris dextra portion are not connected, and the auricularis controller is connect with the auricularis module, for controlling the ear
Flesh module is to draw the left ear and/or the auris dextra portion.
Preferably, the auricularis module setting auricularis vertical direction unit and auricularis horizontal direction unit；The auricularis hangs down
Histogram is separately connected the left ear and the auris dextra portion to unit；The auricularis horizontal direction unit is separately connected the left ear
Portion and the auris dextra portion；The auricularis controller respectively with the auricularis vertical direction unit, the auricularis horizontal direction unit
Connection is moved with drawing the left ear and/or the auris dextra portion in vertical direction for controlling the auricularis vertical direction unit
It is dynamic, and control the auricularis horizontal direction unit and moved in the horizontal direction with drawing the left ear and/or the auris dextra portion.
Preferably, the vertical step device of auricularis vertical direction unit setting auricularis, for draw the left ear and/
Or the auris dextra portion is in vertical direction stepping.
Preferably, the horizontal step device of auricularis is arranged in the auricularis horizontal direction unit, for draw the left ear and/
Or the auris dextra portion stepping in the horizontal direction.
Preferably, the auricularis module also sets up auricularis rotation direction unit；The auricularis rotation direction unit connects respectively
Meet the left ear and the auris dextra portion；The auricularis controller is also connect with the auricularis rotation direction unit, for controlling
The auricularis rotation direction unit is rotated with drawing the left ear and/or the auris dextra portion within the scope of preset first angle.
Preferably, auricularis rotation direction unit setting auricularis rotates step device, for draw the left ear and/
Or the auris dextra portion rotates preset second angle every time.
Preferably, the auricularis module also sets up auricularis directional trim unit, is separately connected the auricularis vertical direction
Unit, the auricularis horizontal direction unit, lead, the auricularis for finely tuning the auricularis vertical direction unit are horizontal
The lead of direction unit.
Preferably, the auricularis module also sets up auricularis displacement fine-adjusting unit, is separately connected the auricularis vertical direction
Unit, the auricularis horizontal direction unit, traction displacement, the auricularis for finely tuning the auricularis vertical direction unit are horizontal
The traction displacement of direction unit.
Using the above scheme, the design that the present invention passes through upper lip and lower lips so that the facial contours of robot have more
Personalize characteristic so that the sound of robot is not only spread out of from stiff gap；Also, control mould by simulating mouth shape
Block makes the upper lip and/or the lower lips deform upon, and can realize the quasi- true property of robot mouth, make its closer in
Real human.
Description of the drawings
Fig. 1 is the schematic diagram of one embodiment of the invention.
Fig. 2 is the schematic diagram of further embodiment of this invention.
Fig. 3 is the schematic diagram of further embodiment of this invention.
Fig. 4 is the schematic diagram of further embodiment of this invention.
Fig. 5 is the schematic diagram of further embodiment of this invention.
Specific implementation mode
In the following with reference to the drawings and specific embodiments, the present invention is described in detail, and the following examples, which can combine, to be made
With, also, the present invention can be realized using various forms, be not limited to each specific embodiment described by this specification, provided
The purpose of these embodiments is to be easy to understand more thorough and comprehensively to the disclosure.Need further exist for explanation
It is directly or indirectly to be fixed on another structure when a certain structure is fixed on another structure, including by the structure, or will
The structure is fixed on another structure by one or more of the other intermediate structure.When a structure connects another structure,
Pass through one or more of the other intermediate tie including the structure is directly or indirectly connected to another structure, or by the structure
Structure is connected to another structure.Also, the "and/or" include " and " with two kinds of possible embodiments of "or".
The example of the present invention is a kind of emulated robot, with facial contours；Mouth shape is arranged in the facial contours
Structure；The mouth shape structure setting simulation mouth shape control module, upper lip and lower lips；The simulation mouth shape control module difference
The upper lip and the lower lips are connected, the upper lip and/or the lower lips are drawn for controlling, so that the upper lip
Portion and/or the lower lips deform upon.
For example, a kind of emulated robot, with facial contours.For example, a kind of emulated robot with facial contours.
The facial contours can be depending on different designs, for example, the facial contours are oval face, round face or oval face etc..
For example, mouth shape structure is arranged in the facial contours；Mouth shape position setting simulation mouth shape control module, upper lip
With lower lips；The simulation mouth shape control module is set to inside the facial contours, for example, in the facial contours are provided with
Chamber, the simulation mouth shape control module are set to the inner cavity；For another example, the inner cavity has been also housed within power module, connects institute
State simulation mouth shape control module.For example, the inner cavity is equipped with battery pack, the simulation mouth shape control module is connected.
For example, the emulated robot also has the wireless communication module being set to inside the facial contours, connection
The simulation mouth shape control module is transferred to the simulation mouth shape control module, for example, the mould for receiving wireless signal
Quasi- mouth shape control module is controlled according to the wireless signal draws the upper lip and/or the lower lips, so that the upper lip
Portion and/or the lower lips deform upon.For example, the wireless communication module is placed in the inner cavity.
For example, the emulated robot also has the sound output module being set to inside the facial contours, connection
The simulation mouth shape control module passes through the simulation mouth shape control module control for exporting sound, and when exporting sound
System draws the upper lip and/or the lower lips, so that the upper lip and/or the lower lips deform upon.For example, institute
It states sound output module and is placed in the inner cavity；Preferably, the sound output module is also connected with the wireless communication module, uses
In the wireless signal received according to the wireless communication module, sound is exported.For example, the wireless communication module receives language
Sound wireless signal or song wireless signal, are transferred to the sound output module, are answered by the sound output module the output phase
Voice or song.
For example, the emulated robot also has the lighting module being set to inside the facial contours, face's shape
Shape is provided with photic zone, and towards the photic zone, the lighting module shines the light emission direction of the lighting module for controlled,
And it is transmitted by the photic zone；For example, several LED illuminators are arranged in the lighting module, for another example, the photic zone is eyes
Position, the lighting module are set to inside of eye.For example, the lighting module is placed in the inner cavity；Preferably, the photograph
Bright module is also connected with the wireless communication module, and the wireless signal for being received according to the wireless communication module shines
Control；For example, the wireless communication module receives Lighting control wireless signal, it is transferred to the lighting module, by the photograph
Bright module shines, such as permanent light or flicker etc.；Alternatively, carrying out lighting-off by the lighting module.In this way, contributing to reality
The expression shape change of existing skin, for example, it is shy blush, the green face etc. of indignation.
For example, the emulated robot also has overhead shape, installation site is set and is removably mounted to described
The hair portion of installation site.For example, the overhead shape is set to the top of the facial contours；For another example, the installation position
It is set to screw hole, the hair portion is bolted in the installation site；For another example, velcro, the hair portion is arranged in the installation site
Detachably adhere on the installation site.It is removably mounted to the hair portion of the installation site by setting, can flexibly adopt
With long hair or bob, the hair style of the emulated robot can also adjust so that one set of die is suitable for various images, particularly advantageous
In the manufacturing.
For example, the simulation mouth shape control module is separately connected the upper lip and the lower lips, for controlling traction
The upper lip and/or the lower lips, so that the upper lip and/or the lower lips deform upon, for example, the simulation
The upper lip and/or the lower lips are drawn in the control of mouth shape control module so that the upper lip is opened and closed with the lower lips
And there are various opening and closing degrees, so that, personalize degree higher more true for the control of mouth shape.
For example, several mouth shape control units, several mouth shape control unit packets are arranged in the simulation mouth shape control module
Include mouth shape control unit, lower mouth shape control unit, left mouth shape control unit and right mouth shape control unit, each mouth shape
Control unit is separately connected the upper lip and the lower lips, for from corresponding direction controlling draw the upper lip and/
Or the lower lips so that the upper lip and/or the lower lips simultaneously by one, two, three or four direction tractive force, to
Make the upper lip and/or the lower lips that there is various opening and closing degrees and various profile variations so that the control for mouth shape
System is more true, and makes the degree higher that personalizes of the emulated robot.
For example, the simulation mouth shape control module setting musculus orbicularis oris module and its musculus orbicularis oris controller, left buccinator muscle mould
Block and its left buccinator muscle controller and right buccinator muscle module and its right buccinator muscle controller；The musculus orbicularis oris module is separately connected described
Upper lip and the lower lips, the left buccinator muscle module are separately connected the left side upper lip position of the upper lip and the lower lips
Left side lower lip position, the right buccinator muscle module are separately connected the right side lower lip of the right side upper lip position and the lower lips of the upper lip
Position；The musculus orbicularis oris controller is connect with the musculus orbicularis oris module, for controlling the musculus orbicularis oris module to draw
State upper lip and/or the lower lips；The left buccinator muscle controller is connect with the left buccinator muscle module, for controlling the left cheek
Flesh module is to draw left side upper lip position and/or left side lower lip position；The right buccinator muscle controller and the right buccinator muscle mould
Block connects, for controlling the right buccinator muscle module to draw right side upper lip position and/or right side lower lip position.
Preferably, the simulation mouth shape control module also sets up musculus quadratus labii inferioris module and its musculus quadratus labii inferioris controller, described
Musculus quadratus labii inferioris module connects the lower lips, and the musculus quadratus labii inferioris controller is connect with the musculus quadratus labii inferioris module, for controlling
The musculus quadratus labii inferioris module is to draw the lower lips.
The simulation mouth shape control module also sets up musculus quadratus labii superioris module and its musculus quadratus labii superioris controller, the musculus quadratus labii superioris
Module connects the upper lip, and the musculus quadratus labii superioris controller is connect with the musculus quadratus labii superioris module, for controlling the upper lip
Quadratus module is to draw the upper lip.
Preferably, the emulated robot also has voice output controller, is placed in the inner cavity, and with the mould
Quasi- mouth shape control module connection, the voice output controller are arranged voice mouth shape storage unit, are used to store several voices
Corresponding mouth deformation, for example, it stores each simple or compound vowel of a Chinese syllable and each mouth deformation corresponding to each initial consonant；For example, the voice mouth shape
Storage unit is for storing 6 single vowels a, o, e, i, u and ü, 13 compound vowels（Member is closed including 9 diphtongs and 4 three
Sound）, 9 vowel followed by a nasal consonants, corresponding each mouth deformation of 1 special simple or compound vowel of a Chinese syllable and 23 initial consonant institutes etc.；The voice output control
Device processed is used for when exporting voice, according to the mouth deformation that the voice mouth shape storage unit is stored, controls the simulation mouth
Shape control module draws the upper lip and/or the lower lips, so that the upper lip and/or the lower lips match
In the deformation of the voice exported.For another example, the voice output controller connects the sound output module, for by described
Sound output module exports sound.
The various embodiments described above design, and the mouth shape expression muscle on face by simulating normal human realizes having for mouth shape
Analog variation is imitated, improves the emulator of the mouth shape of the emulated robot so that the mouth shape of emulated robot is more like true man.
Preferably, the facial contours also set up ear shape structure；The ear shape structure setting simulation ear shape control module, a left side
Ear and auris dextra portion；The simulation ear shape control module is separately connected the left ear and the auris dextra portion, for controlling traction
The left ear and/or the auris dextra portion, so that the left ear and/or the auris dextra portion deform upon.For example, the simulation
Ear shape control module is placed in the inner cavity, and connects the wireless communication module, for according to the wireless communication module
The left ear and/or the auris dextra portion are drawn in the control of ear portion shape wireless signal, so that the left ear and/or the auris dextra
Portion deforms upon.
Preferably, the emulated robot also has sound receiver, is placed in the inner cavity, and with the simulation ear
Shape control module connects, and the sound receiver controls the simulation ear shape control module traction for receiving external voice
The left ear and/or the auris dextra portion, so that the left ear and/or the auris dextra portion deform upon.Preferably, the sound
Resolution module is arranged in sound receiver, for when the sound receiver receives external voice, differentiating the source side of external voice
To the sound receiver controls the simulation ear shape control module and draws the left ear and/or the auris dextra portion, so that institute
Shu Zuo ears and/or the auris dextra portion are matched with the deformation of the source direction.
Preferably, the simulation ear shape control module setting auricularis module and its auricularis controller；The auricularis module point
The left ear and the auris dextra portion are not connected, and the auricularis controller is connect with the auricularis module, for controlling the ear
Flesh module is to draw the left ear and/or the auris dextra portion.
Preferably, the auricularis module setting auricularis vertical direction unit and auricularis horizontal direction unit；The auricularis hangs down
Histogram is separately connected the left ear and the auris dextra portion to unit；The auricularis horizontal direction unit is separately connected the left ear
Portion and the auris dextra portion；The auricularis controller respectively with the auricularis vertical direction unit, the auricularis horizontal direction unit
Connection is moved with drawing the left ear and/or the auris dextra portion in vertical direction for controlling the auricularis vertical direction unit
It is dynamic, and control the auricularis horizontal direction unit and moved in the horizontal direction with drawing the left ear and/or the auris dextra portion.
Preferably, the vertical step device of auricularis vertical direction unit setting auricularis, for draw the left ear and/
Or the auris dextra portion is in vertical direction stepping.Preferably, the horizontal step device of auricularis is arranged in the auricularis horizontal direction unit, uses
In the traction left ear and/or the auris dextra portion stepping in the horizontal direction.For example, 0.5 millimeter to 1.5 millimeters of stepping every time.
For another example, 1 millimeter of each stepping.
Preferably, the auricularis module also sets up auricularis rotation direction unit；The auricularis rotation direction unit connects respectively
Meet the left ear and the auris dextra portion；The auricularis controller is also connect with the auricularis rotation direction unit, for controlling
The auricularis rotation direction unit is rotated with drawing the left ear and/or the auris dextra portion within the scope of preset first angle.
For example, preset first angle ranging from 1 to 5 spends angle.For another example, preset first angle ranging from 4 degree of angles.Preferably, the auricularis
Rotation direction unit is arranged auricularis and rotates step device, and for drawing the left ear and/or the auris dextra portion, rotation is pre- every time
If second angle.For example, preset second angle is 0.5 degree of angle or 1 degree of angle.
Preferably, the auricularis module also sets up auricularis directional trim unit, is separately connected the auricularis vertical direction
Unit, the auricularis horizontal direction unit, lead, the auricularis for finely tuning the auricularis vertical direction unit are horizontal
The lead of direction unit.Change in 0.5 degree of angle to 5 degree of angular regions for example, finely tuning the lead.Preferably, institute
It states auricularis module and also sets up auricularis displacement fine-adjusting unit, it is horizontal to be separately connected the auricularis vertical direction unit, the auricularis
Direction unit, for finely tuning the traction displacement of the auricularis vertical direction unit, the traction position of the auricularis horizontal direction unit
It moves.For example, the fine tuning traction displacement changes within the scope of 0.2 millimeter to 1.2 millimeters.
The various embodiments described above design, and the ear portion shape on face by simulating normal human realizes effective mould of ear shape
Quasi- variation, improves the emulator of the ear shape of the emulated robot so that the ear shape of emulated robot is more like true man.
Preferably, the facial contours also set up cheekbone shape structure；The cheekbone shape structure setting simulation cheekbone shape control module, a left side
Cheekbone portion and right cheekbone portion；The simulation cheekbone shape control module is separately connected the left cheekbone portion and the right cheekbone portion, for controlling traction
The left cheekbone portion and/or the right cheekbone portion, so that the left cheekbone portion and/or the right cheekbone portion deform upon.For example, the simulation
Cheekbone shape control module is placed in the inner cavity, and connects the wireless communication module, for according to the wireless communication module
The left cheekbone portion and/or the right cheekbone portion are drawn in the shape wireless signal control of cheekbone portion, so that the left cheekbone portion and/or the right cheekbone
Portion deforms upon.
Preferably, the simulation cheekbone shape control module setting musculus module and its musculus controller；The musculus module point
The left cheekbone portion and the right cheekbone portion are not connected, and the musculus controller is connect with the musculus module, for controlling the cheekbone
Flesh module is to draw the left cheekbone portion and/or the right cheekbone portion.
Preferably, the musculus module setting musculus vertical direction unit and musculus horizontal direction unit；The musculus hangs down
Histogram is separately connected the left cheekbone portion and the right cheekbone portion to unit；The musculus horizontal direction unit is separately connected the left cheekbone
Portion and the right cheekbone portion；The musculus controller respectively with the musculus vertical direction unit, the musculus horizontal direction unit
Connection, for controlling the musculus vertical direction unit to draw the left cheekbone portion and/or the right cheekbone portion in vertical direction shape
Become, and the control musculus horizontal direction unit is to draw the left cheekbone portion and/or the right cheekbone portion deformation in the horizontal direction.
In this way, can be better achieved the facial contours cheekbone portion variation so that the emulated robot expression is changeable, cheekbone portion more like
True man.
Preferably, the vertical step device of musculus vertical direction unit setting musculus, for draw the left cheekbone portion and/
Or the right cheekbone portion is in vertical direction stepping deformation.Preferably, the horizontal stepping dress of the musculus horizontal direction unit setting musculus
It sets, for drawing the left cheekbone portion and/or the right cheekbone portion stepping deformation in the horizontal direction.For example, each 0.2 millimeter of stepping is extremely
0.5 millimeter.For another example, 0.3 millimeter of each stepping.
Preferably, the musculus module also sets up musculus directional trim unit, connects the musculus vertical direction unit,
Lead for finely tuning the musculus vertical direction unit.Preferably, the musculus directional trim unit is also connected with described
Musculus horizontal direction unit, the lead for finely tuning the musculus horizontal direction unit.For example, finely tuning the lead
Change in 0.5 degree of angle to 5 degree of angular regions.Preferably, the musculus module also sets up musculus displacement fine-adjusting unit, connects institute
Musculus vertical direction unit is stated, the traction displacement for finely tuning the musculus vertical direction unit.Preferably, the musculus displacement
Fine-adjusting unit is also connected with the musculus horizontal direction unit, the traction displacement for finely tuning the musculus horizontal direction unit.Example
Such as, the traction displacement is finely tuned within the scope of 0.1 millimeter to 0.6 millimeter to change.
The various embodiments described above design, and the cheekbone portion shape on face by simulating normal human realizes effective mould of cheekbone shape
Quasi- variation, improves the emulator of the cheekbone shape of the emulated robot so that the cheekbone shape of emulated robot is more like true man.
Preferably, the facial contours also set up chin shape structure；Chin shape structure setting simulation chin shape control module with
Chin portion；The simulation chin shape control module connects the chin portion, and the chin portion is drawn for controlling, so that shape occurs for the chin portion
Become.For example, the simulation chin shape control module is placed in the inner cavity, and the wireless communication module is connected, for according to institute
The chin portion is drawn in the chin portion shape wireless signal control for stating wireless communication module, so that the chin portion deforms upon.
Preferably, the simulation chin shape control module setting mentalis module and its mentalis controller；The mentalis module connects
The chin portion is met, the mentalis controller is connect with the mentalis module, for controlling the mentalis module to draw the chin
Portion.
Preferably, the mentalis module setting mentalis vertical direction unit and mentalis horizontal direction unit；The mentalis hangs down
Histogram is separately connected the chin portion to unit；The mentalis horizontal direction unit is separately connected the chin portion；The mentalis control
Device is connect with the mentalis vertical direction unit, the mentalis horizontal direction unit respectively, for controlling the mentalis Vertical Square
To unit to draw the chin portion in vertical direction deformation, and the control mentalis horizontal direction unit is to draw the chin portion
Deformation in the horizontal direction.In this way, the chin portion variation of the facial contours can be better achieved so that the emulated robot table
Feelings are changeable, and chin portion is more like true man.
Preferably, the vertical step device of the mentalis vertical direction unit setting mentalis is hanging down for drawing the chin portion
Histogram is to stepping deformation.Preferably, the horizontal step device of mentalis is arranged in the mentalis horizontal direction unit, for drawing the chin
Portion's stepping deformation in the horizontal direction.For example, 0.2 millimeter to 0.5 millimeter of stepping every time.For another example, 0.3 millimeter of each stepping.It is preferred that
, the mentalis module also sets up mentalis directional trim unit, connects the mentalis vertical direction unit, described for finely tuning
The lead of mentalis vertical direction unit.Preferably, the mentalis directional trim unit is also connected with the mentalis horizontal direction
Unit, the lead for finely tuning the mentalis horizontal direction unit.For example, finely tuning the lead at 0.5 degree of angle to 5
Spend variation in angular region.
Preferably, the mentalis module also sets up mentalis displacement fine-adjusting unit, connects the mentalis vertical direction unit,
Traction displacement for finely tuning the mentalis vertical direction unit.Preferably, the mentalis displacement fine-adjusting unit is also connected with described
Mentalis horizontal direction unit, the traction displacement for finely tuning the mentalis horizontal direction unit.For example, finely tuning the traction displacement
Change within the scope of 0.1 millimeter to 0.6 millimeter.
The various embodiments described above design, and the chin portion shape on face by simulating normal human realizes effective mould of chin shape
Quasi- variation, improves the emulator of the chin shape of the emulated robot so that the chin shape of emulated robot is more like true man.
Preferably, the facial contours also set up nose-shaped structure；Nose-shaped structure setting simulation nose-shaped control module with
Nose；The simulation nose-shaped control module connects the nose, and the nose is drawn for controlling, so that shape occurs for the nose
Become.For example, the simulation nose-shaped control module is placed in the inner cavity, and the wireless communication module is connected, for according to institute
The nose is drawn in the nose shape wireless signal control for stating wireless communication module, so that the nose deforms upon.
Preferably, the simulation nose-shaped control module setting nasalis module and its nasalis controller；The nasalis module connects
The nose is connect, the nasalis controller is connect with the nasalis module, for controlling the nasalis module to draw the nose
Portion.
Preferably, the nasalis module setting nasalis vertical direction unit and nasalis horizontal direction unit；The nasalis hangs down
Histogram is separately connected the nose to unit；The nasalis horizontal direction unit is separately connected the nose；The nasalis control
Device is connect with the nasalis vertical direction unit, the nasalis horizontal direction unit respectively, for controlling the nasalis Vertical Square
To unit to draw the nose in vertical direction deformation, and the control nasalis horizontal direction unit is to draw the nose
Deformation in the horizontal direction.In this way, the nose variation of the facial contours can be better achieved so that the emulated robot table
Feelings are changeable, and nose is more like true man.
Preferably, the vertical step device of the nasalis vertical direction unit setting nasalis is hanging down for drawing the nose
Histogram is to stepping deformation.Preferably, the horizontal step device of nasalis is arranged in the nasalis horizontal direction unit, for drawing the nose
Portion's stepping deformation in the horizontal direction.For example, 0.1 millimeter to 0.4 millimeter of stepping every time.For another example, 0.2 millimeter of each stepping.It is preferred that
, the nasalis module also sets up nasalis directional trim unit, connects the nasalis vertical direction unit, described for finely tuning
The lead of nasalis vertical direction unit.Preferably, the nasalis directional trim unit is also connected with the nasalis horizontal direction
Unit, the lead for finely tuning the nasalis horizontal direction unit.For example, finely tuning the lead at 0.2 degree of angle to 2
Spend variation in angular region.For example, it is 0.5 degree of angle to finely tune the lead.
Preferably, the nasalis module also sets up nasalis displacement fine-adjusting unit, connects the nasalis vertical direction unit,
Traction displacement for finely tuning the nasalis vertical direction unit.Preferably, the nasalis displacement fine-adjusting unit is also connected with described
Nasalis horizontal direction unit, the traction displacement for finely tuning the nasalis horizontal direction unit.For example, finely tuning the traction displacement
Change within the scope of 0.1 millimeter to 0.6 millimeter.
The various embodiments described above design, and the nose shape on face by simulating normal human realizes effective mould of nose-shaped
Quasi- variation, improves the emulator of the nose-shaped of the emulated robot so that the nose-shaped of emulated robot is more like true man.
Preferably, the facial contours also set up eye-shaped structure；The eye-shaped structure setting simulation eye-shaped control module, a left side
Eye and right eye portion；The simulation eye-shaped control module is separately connected the left eye portion and the right eye portion, for controlling traction
The left eye portion and/or the right eye portion, so that the left eye portion and/or the right eye portion change.For example, the simulation
Eye-shaped control module is placed in the inner cavity, and connects the wireless communication module, for according to the wireless communication module
The left eye portion and/or the right eye portion are drawn in the control of eye shape wireless signal, so that the left eye portion and/or the right eye
Portion changes.
Preferably, the simulation eye-shaped control module setting eye rotation module and its eye rotation controller；The eye
Eyeball rotating module is separately connected the right eye in the left eye in the left eye portion and the right eye portion, the eye rotation controller with
The eye rotation module connection, for controlling the eye rotation module to drive the left eye and/or the right eye to occur
Rotation.
Preferably, the eye rotation module setting eyes vertical direction unit and eye level direction unit；The eye
Eyeball vertical direction unit is rotatablely connected the left eye and the right eye respectively；Eye level direction unit is rotatablely connected respectively
The left eye and the right eye；The eyes controller respectively with the eyes vertical direction unit, the eye level direction
Unit connects, and is vertically existed with drawing the left eye and/or the right eye for controlling the eyes vertical direction unit
Rotation in preset vertical rotational angle range, and control eye level direction unit is to draw the left eye and/or institute
Right eye is stated to rotate in preset level rotational angle range in the horizontal direction.In this way, the facial contours can be better achieved
Eye change so that the emulated robot expression is changeable, and eyes are more like true man.
Preferably, the eyes vertical direction unit setting vertical direction rotates step device, for drawing the left eye
And/or the right eye vertically rotates preset vertical angle every time.For example, preset vertical angle is 0.1 to 80 degree；For another example, it presets
Vertical angle is 5 to 10 degree；For another example, preset vertical angle is 1 to 2 degree；In this manner it is achieved that eyes rotate upwardly and downwardly.
Preferably, eye level direction unit setting horizontal direction rotates step device, for drawing the left eye
And/or the right eye horizontally rotates preset level angle every time.For example, preset level angle is 0.1 to 80 degree；For another example, it presets
Level angle is 5 to 10 degree；For another example, preset level angle is 1 to 2 degree；In this manner it is achieved that the left-right rotation of eyes.
Preferably, the simulation eye-shaped control module setting eye muscle module and its eye muscle controller；The eye muscle module point
The left eye portion and the right eye portion are not connected, and the eye muscle controller is connect with the eye muscle module, for controlling the eye
Flesh module is changed with drawing the left eye portion and/or the right eye portion.
Preferably, the eye muscle module includes orbicular muscle of eye module, and the eye muscle controller includes orbicular muscle of eye controller；
The orbicular muscle of eye module is separately connected the left eye portion and the right eye portion, the orbicular muscle of eye controller and the eye wheel circle
Flesh module connects, and is changed for controlling the eye muscle module with drawing the left eye portion and/or the right eye portion.And/or
The eye muscle module further includes superciliary corrugator muscle module, and the eye muscle controller further includes superciliary corrugator muscle controller；The superciliary corrugator muscle module
Be separately connected the right side left eye position in the left eye portion and the left side right eye position in the right eye portion, the superciliary corrugator muscle controller with it is described
Superciliary corrugator muscle module connects, for controlling the superciliary corrugator muscle module to draw right side left eye position and/or left side right eye position
It changes.And/or the eye muscle module further includes frontalis module, the eye muscle controller further includes frontalis controller；It is described
Frontalis module is separately connected the top left eye position in the left eye portion and the top right eye position in the right eye portion, the frontalis controller
It is connect with the frontalis module, for controlling the frontalis module to draw top left eye position and/or the top right eye
Position changes.
Above-mentioned each eyes related embodiment design, the eye shape on face by simulating normal human realize eyes
Effective analog variation, improve the emulator of the eyes of the emulated robot so that the eyes of emulated robot more like
True man.
In the various embodiments described above, existing microprocessor can be selected in specific control module or integrated circuit is realized, specifically
Control mode can also correspond to microprocessor or integrated circuit and realized using software program or solidification software, the tool of these hardware
The particular content of body structure or software is not the emphasis of the present invention, likewise, muscle module in the various embodiments described above also can be
Existing manikin further makes improved shape.Various compact hardwares are controlled its connected applications by various embodiments of the present invention
The facial contours of robot are embodied in, is capable of the facial controllability of effective hoisting machine people, is answered for the daily life of robot
With providing unlimited possibility.
It continues with and the emulated robot is illustrated in conjunction with attached drawing.For example, as shown in Figure 1, a kind of emulation
Robot, with facial contours 100；Facial contours setting mouth shape structure 110, ear shape structure 120, chin shape structure 140,
Nose-shaped structure 150, eye-shaped structure 160, camber structure 170；Mouth shape position setting simulation mouth shape control module 111, upper lip 112
With lower lips 113；Simulation mouth shape control module is separately connected upper lip and lower lips.In Fig. 1, the emulated robot also has
Neck shaped 300 is set to 100 lower section of facial contours.Preferably, the emulated robot is provided with head shape, described
Facial contours are located at the head shape, and the neck shaped is fixed or be rotatably dispose in the head shape.For another example, such as Fig. 2
Shown, the facial contours also have cheekbone shape structure 130；For example, there are one mouth shape structure, two ear shapes for the facial contours tool
Structure, two cheekbone shape structures, a chin shape structure, a nose-shaped structure, two eye-shaped structures and two camber structures；Camber knot
Structure is located at eye-shaped superstructure.As shown in Fig. 2, the emulated robot also has the wireless telecommunications being set to inside facial contours
Module 400, connection simulation mouth shape control module 111.For another example, as shown in figure 3, the emulated robot, which also has, is set to face
The sound output module 500 of portion's shaped interior, connection simulation mouth shape control module 111.For another example, as shown in figure 4, the emulation
Also there is the lighting module 600 being set to inside the facial contours, the facial contours to be provided with photic zone 610 for robot,
The light emission direction of the lighting module is towards the photic zone.For example, as shown in figure 4, the emulated robot has three groups of photographs
Bright module and its corresponding three photic zones, the photic zone are circle, and every group of lighting module is equipped with 7 LED illuminators.Again
Such as, as shown in Fig. 2, Fig. 3 and Fig. 5, the facial contours also have overhead shape 200, and installation site and detachable is arranged
It is installed on the hair portion 210 of the installation site.
Further, the embodiment of the present invention further includes that each technical characteristic of the various embodiments described above is combined with each other formation
Emulated robot, the robot with facial contours or the robot with mouth shape structure.Various embodiments of the present invention lip-syncing,
Eye, nose, ear, cheekbone, chin（That is chin）Deng part design and improve in detail, the face of significant increase robot is controllable
Property processed, especially expression control, to improve the simulated effect of robot so that the facial contours of robot are with more personification
Change characteristic, closer in real human.
It should be noted that above-mentioned each technical characteristic continues to be combined with each other, the various embodiments not being enumerated above are formed,
It is accordingly to be regarded as the range of description of the invention record；Also, for those of ordinary skills, it can add according to the above description
To improve or convert, and all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (6)
1. a kind of emulated robot, which is characterized in that have facial contours；
Mouth shape structure is arranged in the facial contours；
The mouth shape structure setting simulation mouth shape control module, upper lip and lower lips；
The simulation mouth shape control module is separately connected the upper lip and the lower lips, and the upper lip is drawn for controlling
And/or the lower lips, so that the upper lip and/or the lower lips deform upon；
The facial contours are provided with inner cavity, and the simulation mouth shape control module is set to the inner cavity；The inner cavity is also housed within
There is power module, connects the simulation mouth shape control module；
The emulated robot also has the wireless communication module being set to inside the facial contours, connects the simulation mouth
Shape control module is transferred to the simulation mouth shape control module for receiving wireless signal；
The emulated robot also has the sound output module being set to inside the facial contours, connects the simulation mouth
Shape control module, for exporting sound；The sound output module is placed in the inner cavity；The sound output module is also connected with
The wireless communication module, the wireless signal for being received according to the wireless communication module export sound；
Also there is the emulated robot lighting module being set to inside the facial contours, the facial contours to be provided with
Photosphere, the light emission direction of the lighting module is towards the photic zone, and the lighting module shines for controlled, and by described
Photic zone transmits；Several LED illuminators are arranged in the lighting module, and the photic zone is eyes, and the lighting module is set
It is placed in inside of eye；
The facial contours also set up ear shape structure；
The ear shape structure setting simulation ear shape control module, left ear and auris dextra portion；
The simulation ear shape control module is separately connected the left ear and the auris dextra portion, and the left ear is drawn for controlling
And/or the auris dextra portion, so that the left ear and/or the auris dextra portion deform upon；
The simulation ear shape control module setting auricularis module and its auricularis controller；
The auricularis module is separately connected the left ear and the auris dextra portion, and the auricularis controller connects with the auricularis module
It connects, for controlling the auricularis module to draw the left ear and/or the auris dextra portion；
The auricularis module setting auricularis vertical direction unit and auricularis horizontal direction unit；
The auricularis vertical direction unit is separately connected the left ear and the auris dextra portion；
The auricularis horizontal direction unit is separately connected the left ear and the auris dextra portion；
The auricularis controller is connect with the auricularis vertical direction unit, the auricularis horizontal direction unit respectively, for controlling
It makes the auricularis vertical direction unit and is moved in vertical direction with drawing the left ear and/or the auris dextra portion, and control
The auricularis horizontal direction unit is moved in the horizontal direction with drawing the left ear and/or the auris dextra portion；
The vertical step device of auricularis is arranged in the auricularis vertical direction unit, for drawing the left ear and/or the auris dextra
Portion is in vertical direction stepping.
2. emulated robot according to claim 1, which is characterized in that the auricularis horizontal direction unit setting auricularis is horizontal
Step device, for drawing the left ear and/or the auris dextra portion stepping in the horizontal direction.
3. emulated robot according to claim 1, which is characterized in that the auricularis module also sets up auricularis rotation direction list
Member；
The auricularis rotation direction unit is separately connected the left ear and the auris dextra portion；
The auricularis controller is also connect with the auricularis rotation direction unit, for control the auricularis rotation direction unit with
It draws the left ear and/or the auris dextra portion rotates within the scope of preset first angle.
4. emulated robot according to claim 3, which is characterized in that the auricularis rotation direction unit setting auricularis rotates
Step device rotates preset second angle every time for drawing the left ear and/or the auris dextra portion.
5. emulated robot according to claim 1, which is characterized in that the auricularis module also sets up auricularis directional trim list
Member is separately connected the auricularis vertical direction unit, the auricularis horizontal direction unit, for finely tuning the auricularis Vertical Square
Lead, the lead of the auricularis horizontal direction unit to unit.
6. emulated robot according to claim 5, which is characterized in that it is single that the auricularis module also sets up auricularis displacement fine tuning
Member is separately connected the auricularis vertical direction unit, the auricularis horizontal direction unit, for finely tuning the auricularis Vertical Square
Traction displacement, the traction displacement of the auricularis horizontal direction unit to unit.
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| CN106584434A (en) * | 2016-12-24 | 2017-04-26 | 宁夏软件工程院有限公司 | Mouth shape controlling intelligent robot |
| CN106730886A (en) * | 2017-01-24 | 2017-05-31 | 宁夏软件工程院有限公司 | A kind of face imitates robot |
| CN107685331B (en) * | 2017-08-15 | 2020-02-18 | 嘉兴学院 | Human mouth simulating device based on pneumatic muscles and control system thereof |
| CN108568807B (en) * | 2018-06-14 | 2024-02-13 | 深圳埃米电子科技有限公司 | Device for controlling facial expression of robot |
| CN109648574A (en) * | 2018-12-25 | 2019-04-19 | 它酷科技(大连)有限公司 | A kind of face control active methods of emulated robot |
| CN110181524B (en) * | 2019-04-30 | 2024-01-30 | 广东工业大学 | Humanoid robot mouth mechanism |
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| CN204723761U (en) * | 2015-01-04 | 2015-10-28 | 玉林师范学院 | Based on libraries of the universities' guest-meeting robot of RFID |
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| JP2003230770A (en) * | 2002-02-12 | 2003-08-19 | Chubu Kagaku Gijutsu Center | Robot showing expression |
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| CN200998593Y (en) * | 2007-02-14 | 2008-01-02 | 杨建良 | Face act device of the robot |
| CN101850554B (en) * | 2010-04-30 | 2012-04-11 | 东南大学 | Low-noise humanoid robot head system |
| GB2500711A (en) * | 2012-03-30 | 2013-10-02 | Philip Michael Peter Beglan | Structure of changeable shape |
| KR20150070588A (en) * | 2013-12-17 | 2015-06-25 | 주식회사 아이모션 | Change in expression is possible robot |
| CN205766181U (en) * | 2016-06-21 | 2016-12-07 | 宁夏先锋软件有限公司 | A kind of emulated robot |
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| CN204723761U (en) * | 2015-01-04 | 2015-10-28 | 玉林师范学院 | Based on libraries of the universities' guest-meeting robot of RFID |
| CN105415379A (en) * | 2015-12-03 | 2016-03-23 | 昆山穿山甲机器人有限公司 | Simulation guest greeting robot |
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Address after: Room 1615, Room 1615, Block A, Lushan Building, 66 Chunfeng Road, Nanhu Street, Luohu District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN AIYIRUI TECHNOLOGY Co.,Ltd. Address before: 518000 Guangdong city of Shenzhen province Nanshan District Guangdong streets in a high road No. 2 Changyuan new material in Hong Kong 8 Building 5 floor 505 Patentee before: SHENZHEN AIYIRUI TECHNOLOGY Co.,Ltd. |
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