CN105881557B - A kind of personification shape of face intelligent apparatus - Google Patents
A kind of personification shape of face intelligent apparatus Download PDFInfo
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- CN105881557B CN105881557B CN201610449080.8A CN201610449080A CN105881557B CN 105881557 B CN105881557 B CN 105881557B CN 201610449080 A CN201610449080 A CN 201610449080A CN 105881557 B CN105881557 B CN 105881557B
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- nasalis
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- nose
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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 anthropomorphic shape of face intelligent apparatus, with facial contours；Mouth shape structure is arranged in facial contours；Mouth shape position setting simulation 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 deformation occurs for upper lip and/or lower lips；Anthropomorphic shape of face intelligent apparatus also has a lighting module being set to inside facial contours, and facial contours are provided with photic zone, and the light emission direction of lighting module is towards photic zone.Using the above scheme, the present invention passes through the design of upper lip and lower lips, so that the facial contours of robot have more the characteristic that personalizes, so that the sound of robot is not only spread out of from stiff gap；Also, making upper lip and/or lower lips by simulation mouth shape control module, deformation occurs, can be realized the quasi- true property of robot mouth, makes it closer in real human.
Description
Technical field
The present invention relates to Robot Design fields, more particularly to, a kind of personification shape of face intelligent apparatus.
Background technique
Existing robot with mankind's shape of face or be intelligent apparatus, details is more perfect, can be realized hand grab, language
The functions such as speech links up, walking, still, the control of robot or intelligent apparatus for mouth shape, often using simple lines or
Gap performance, therefore, the prior art needs to improve.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of new anthropomorphic shape of face intelligent apparatus.
Technical scheme is as follows：A kind of personification shape of face intelligent apparatus, with facial contours；The facial contours
Mouth shape structure is set；Mouth shape position 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, draws the upper lip and/or the lower lips for controlling, so that
Deformation occurs for the upper lip and/or the lower lips；The personification shape of face intelligent apparatus, which also has, is set to face's shape
Lighting module inside shape, the facial contours are provided with photic zone, and the light emission direction of the lighting module is towards the light transmission
Layer.
Preferably, the facial contours also set up nose-shaped structure；The nose-shaped structure setting simulate nose-shaped control module with
Nose；The nose-shaped control module of simulation connects the nose, draws the nose for controlling, so that shape occurs for the nose
Become.
Preferably, the nose-shaped control module setting nasalis module of the simulation 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.
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 in water
Square to stepping deformation.
Preferably, the nasalis module also sets up nasalis directional trim unit, connects the nasalis vertical direction unit,
For finely tuning the lead of the nasalis vertical direction unit.
Preferably, the nasalis directional trim unit is also connected with the nasalis horizontal direction unit, for finely tuning the nose
The lead of flesh horizontal direction unit.
Preferably, the nasalis module also sets up nasalis displacement fine-adjusting unit, connects the nasalis vertical direction unit,
Traction for finely tuning the nasalis vertical direction unit is displaced.
Preferably, the nasalis displacement fine-adjusting unit is also connected with the nasalis horizontal direction unit, for finely tuning the nose
The traction of flesh horizontal direction unit is displaced.
Using the above scheme, the present invention passes through the design of 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, mould is controlled by simulation mouth shape
Block makes the upper lip and/or the lower lips, and deformation occurs, can be realized the quasi- true property of robot mouth, make its closer in
Real human.
Detailed description of the invention
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 embodiment
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 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,
It intermediate is tied including the structure is directly or indirectly connected to another structure, or by the structure by one or more of the other
Structure is connected to another structure.Also, the "and/or" includes "and" and two kinds of possible embodiments of "or".
An example of the invention is a kind of personification shape of face intelligent apparatus, with facial contours；The facial contours are set
Set mouth shape structure；Mouth shape position setting simulation mouth shape control module, upper lip and lower lips；The simulation mouth shape controls mould
Block is separately connected the upper lip and the lower lips, the upper lip and/or the lower lips is drawn for controlling, so that institute
Stating upper lip and/or the lower lips, deformation occurs；The personification shape of face intelligent apparatus, which also has, is set to the facial contours
Internal lighting module, the facial contours are provided with photic zone, and the light emission direction of the lighting module is towards the photic zone.
For example, a kind of personification shape of face intelligent apparatus, with facial contours.For example, a kind of personification with facial contours
Shape of face intelligent apparatus.The facial contours can depending on different designs, for example, the facial contours be oval face, round face or
Oval face etc..
For example, mouth shape structure is arranged in the facial contours；The setting of the mouth shape position 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 personification shape of face intelligent apparatus also has the wireless communication module being set to inside the facial contours,
It connects described simulation mouth shape control module, for receiving wireless signal, is transferred to the simulation mouth shape control module, for example,
The simulation mouth shape control module controls according to the wireless signal and draws the upper lip and/or the lower lips, so that institute
Stating upper lip and/or the lower lips, deformation occurs.For example, the wireless communication module is placed in the inner cavity.
For example, the personification shape of face intelligent apparatus also has the sound output module being set to inside the facial contours,
It connects the simulation mouth shape control module, for exporting sound, and when exporting sound, is controlled by the simulation mouth shape
The upper lip and/or the lower lips are drawn in module control, so that deformation occurs for the upper lip and/or the lower lips.
For example, the sound output module is placed in the inner cavity；Preferably, the sound output module is also connected with the wireless telecommunications
Module, for exporting sound according to the received wireless signal of the wireless communication module institute.For example, the wireless communication module
Voice wireless signal or song wireless signal are received, the sound output module is transferred to, by the sound output module
Export corresponding voice or song.
For example, the personification shape of face intelligent apparatus also has the lighting module being set to inside the facial contours, it is described
Facial contours are provided with photic zone, the light emission direction of the lighting module towards the photic zone, the lighting module be used for by
Control shines, and is transmitted by the photic zone；For example, several LED illuminators, for another example, the light transmission are arranged in the lighting module
Layer is eyes, and the lighting module is set to inside of eye.For example, the lighting module is placed in the inner cavity；It is preferred that
, the lighting module is also connected with the wireless communication module, for according to the received wireless communication of wireless communication module
Number carry out light emitting control；For example, the wireless communication module receives Lighting control wireless signal, it is transferred to the illumination mould
Block is carried out luminous, such as permanent light or flashing etc. by the lighting module；Alternatively, carrying out lighting-off by the lighting module.This
Sample, helps to realize the expression shape change of skin, for example, it is shy blush, the green face of indignation etc..
For example, the personification shape of face intelligent apparatus also has overhead shape, installation site and detachable installation are set
In the hair portion of the installation site.For example, the overhead shape is set to the top of the facial contours；For another example, described
Installation site is screw hole, and the hair portion is bolted in the installation site；For another example, velcro is arranged in the installation site, described
Hair portion detachably adheres on the installation site.It, can be with by the way that the hair portion of the installation site of being removably mounted to is arranged
Long hair or bob are flexibly used, can also adjust the hair style of the anthropomorphic shape of face intelligent apparatus, so that one set of die is suitable for various
Image is particularly conducive to manufacture.
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 deformation occurs for the upper lip and/or the lower lips, 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 and the lower lips open and close
And there are various opening and closing degrees, so that more true for the control of mouth shape, the degree that personalizes is higher.
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 are simultaneously by one, two, three or four direction tractive force, thus
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 keeps the degree that personalizes of the anthropomorphic shape of face intelligent apparatus higher.
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 be separately connected the upper lip left side upper lip position and the lower lips
Left side lower lip position, the right buccinator muscle module are separately connected the right side upper lip position of the upper lip and the right side lower lip of the lower lips
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 connection, 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 anthropomorphic shape of face intelligent apparatus also has voice output controller, is placed in the inner cavity, and with
Voice mouth shape storage unit is arranged in the simulation mouth shape control module connection, the voice output controller, if being used to store
The corresponding mouth deformation of dry voice, for example, it stores each mouth deformation corresponding to each simple or compound vowel of a Chinese syllable and each initial consonant；For example, institute's predicate
Sound mouth shape storage unit is for storing 6 single vowels a, o, e, i, u and ü, 13 compound vowels（Including 9 diphtongs and 4 three
Close vowel）, 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 is defeated
Controller is used for when exporting voice out, according to the mouth deformation that the voice mouth shape storage unit is stored, controls the mould
Quasi- mouth shape control module draws the upper lip and/or the lower lips, so that the upper lip and/or the lower lips occur
It is matched with the deformation of exported voice.For another example, the voice output controller connects the sound output module, for passing through
The sound output module exports sound.
The various embodiments described above design, the mouth shape expression muscle on face by simulating normal human, realizes having for mouth shape
Analog variation is imitated, the emulator of the mouth shape of the anthropomorphic shape of face intelligent apparatus is improved, so that anthropomorphic shape of face intelligent apparatus
Mouth shape is more like true man.
Preferably, the facial contours also set up ear shape structure；The ear shape structure setting simulates 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 deformation occurs for the left ear and/or the auris dextra portion.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
Deformation occurs in portion.
Preferably, the anthropomorphic shape of face intelligent apparatus also has sound receiver, is placed in the inner cavity, and with it is described
The connection of ear shape control module is simulated, the sound receiver controls the simulation ear shape control mould for receiving external voice
Block draws the left ear and/or the auris dextra portion, so that deformation occurs for the left ear and/or the auris dextra portion.Preferably,
Resolution module is arranged in the sound receiver, for differentiating external voice when the sound receiver receives external voice
Source direction, the sound receiver control the simulation ear shape control module and draw the left ear and/or the auris dextra portion,
So that the left ear 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 for controlling the auricularis vertical direction unit with drawing the left ear and/or the auris dextra portion in vertical direction
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 within the scope of preset first angle with drawing the left ear and/or the auris dextra portion.
For example, preset first angle range is 1 to 5 degree angle.For another example, preset first angle range is 4 degree of angles.Preferably, the auricularis
Rotation direction unit is arranged auricularis and rotates step device, rotates every time in advance for drawing the left ear and/or the auris dextra portion
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, 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 anthropomorphic shape of face intelligent apparatus, so that the ear shape of anthropomorphic shape of face intelligent apparatus
More like true man.
Preferably, the facial contours also set up cheekbone shape structure；The cheekbone shape structure setting simulates 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 deformation occurs for the left cheekbone portion and/or the right cheekbone portion.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 shape wireless signal control in cheekbone portion, so that the left cheekbone portion and/or the right cheekbone
Deformation occurs in portion.
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, the left cheekbone portion and/or the right cheekbone portion are drawn for controlling the musculus vertical direction unit 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, the cheekbone portion variation of the facial contours can be better achieved, so that the personification shape of face intelligent apparatus expression is changeable, cheekbone
Portion is 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,
For finely tuning the lead of the musculus vertical direction unit.Preferably, the musculus directional trim unit is also connected with described
Musculus horizontal direction unit, for finely tuning the lead of 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 for finely tuning the musculus vertical direction unit is displaced.Preferably, the musculus displacement
Fine-adjusting unit is also connected with the musculus horizontal direction unit, and the traction for finely tuning the musculus horizontal direction unit is displaced.Example
Such as, the traction displacement is finely tuned to change within the scope of 0.1 millimeter to 0.6 millimeter.
The various embodiments described above design, 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 anthropomorphic shape of face intelligent apparatus, so that the cheekbone shape of anthropomorphic shape of face intelligent apparatus
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, draws the chin portion 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 deformation occurs in the chin portion.
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 personification shape of face intelligence
Device expression is 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, for finely tuning the lead of 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 for finely tuning the mentalis vertical direction unit is displaced.Preferably, the mentalis displacement fine-adjusting unit is also connected with described
Mentalis horizontal direction unit, the traction for finely tuning the mentalis horizontal direction unit are displaced.For example, the fine tuning traction displacement
Change within the scope of 0.1 millimeter to 0.6 millimeter.
The various embodiments described above design, 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 anthropomorphic shape of face intelligent apparatus, so that the chin shape of anthropomorphic shape of face intelligent apparatus
More like true man.
Preferably, the facial contours also set up nose-shaped structure；The nose-shaped structure setting simulate nose-shaped control module with
Nose；The nose-shaped control module of simulation connects the nose, draws the nose for controlling, so that shape occurs for the nose
Become.For example, the nose-shaped control module of simulation 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 deformation occurs for the nose.
Preferably, the nose-shaped control module setting nasalis module of the simulation 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 personification shape of face intelligence
Device expression is 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, for finely tuning the lead of 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, finely tuning the lead is 0.5 degree of angle.
Preferably, the nasalis module also sets up nasalis displacement fine-adjusting unit, connects the nasalis vertical direction unit,
Traction for finely tuning the nasalis vertical direction unit is displaced.Preferably, the nasalis displacement fine-adjusting unit is also connected with described
Nasalis horizontal direction unit, the traction for finely tuning the nasalis horizontal direction unit are displaced.For example, the fine tuning traction displacement
Change within the scope of 0.1 millimeter to 0.6 millimeter.
The various embodiments described above design, the nose shape on face by simulating normal human, realizes nose-shaped effective mould
Quasi- variation improves the nose-shaped emulator of the anthropomorphic shape of face intelligent apparatus, so that anthropomorphic shape of face intelligent apparatus is nose-shaped
More like true man.
Preferably, the facial contours also set up eye-shaped structure；The eye-shaped structure setting simulates 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 connection, is vertically existed for controlling the eyes vertical direction unit with drawing the left eye and/or the right eye
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 personification shape of face intelligent apparatus expression is changeable, 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
The connection of flesh module, 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 connection, 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, the emulator of the eyes of the anthropomorphic shape of face intelligent apparatus is improved, so that anthropomorphic shape of face intelligently fills
The eyes set are more like true man.
In the various embodiments described above, existing microprocessor is 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 emphasis of the invention, likewise, the 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 anthropomorphic shape of face intelligent apparatus is illustrated in conjunction with attached drawing.For example, as shown in Figure 1, one
The anthropomorphic shape of face intelligent apparatus of kind, 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 and lower lips 113；Simulation mouth shape control module is separately connected upper lip and lower lips.It is described quasi- in Fig. 1
Face type intelligent apparatus also has neck shaped 300, is set to 100 lower section of facial contours.Preferably, the anthropomorphic shape of face intelligence
Energy device is provided with head shape, and the facial contours are located at the head shape, and setting is fixed or rotated to the head shape
In the neck shaped.For another example, as shown in Fig. 2, the facial contours also have cheekbone shape structure 130；For example, the facial contours
With a mouth shape structure, two ear shape structures, two cheekbone shape structures, a chin shape structure, a nose-shaped structure, two eye-shapeds
Structure and two camber structures；Camber structure is located at eye-shaped superstructure.As shown in Fig. 2, the personification shape of face intelligent apparatus is also
With the wireless communication module 400 being set to inside facial contours, connection simulation mouth shape control module 111.For another example, such as Fig. 3
Shown, the personification shape of face intelligent apparatus also has the sound output module 500 being set to inside facial contours, connection simulation
Mouth shape control module 111.For another example, as shown in figure 4, the personification shape of face intelligent apparatus also has and is set in the facial contours
The lighting module 600 in portion, the facial contours are provided with photic zone 610, and the light emission direction of the lighting module is towards described
Photosphere.For example, as shown in figure 4, it is described personification shape of face intelligent apparatus have three groups of lighting modules and its corresponding three photic zones,
The photic zone is circle, and every group of lighting module is equipped with 7 LED illuminators.For another example, as shown in Fig. 2, Fig. 3 and Fig. 5, the face
Portion's shape also has overhead shape 200, and installation site is arranged and is removably mounted to the hair portion of the installation site
210。
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
Anthropomorphic shape of face intelligent apparatus, artificial intelligence 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）Design and improve in detail Deng part, greatly
It improves the facial controllability of robot, especially expression to control, so that the simulated effect of robot is improved, so that machine
The facial contours of people are with more the characteristic that personalizes, 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 (10)
1. a kind of personification shape of face intelligent apparatus, 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 facial contours are provided with inner cavity, institute
It states simulation mouth shape control module and is set to the inner cavity；
The simulation mouth shape control module is separately connected the upper lip and the lower lips, draws the upper lip for controlling
And/or the lower lips, so that deformation occurs for the upper lip and/or the lower lips；
Also there is the lighting module being set to inside the facial contours, the facial contours are provided with photic zone, the illumination
The light emission direction of module is towards the photic zone；
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, draws the left ear for controlling
And/or the auris dextra portion, so that deformation occurs for the left ear and/or the auris dextra portion；The simulation ear shape control module is held
It is placed in the inner cavity, and connects wireless communication module, for the ear portion shape wireless signal control according to the wireless communication module
System draws the left ear and/or the auris dextra portion, so that deformation occurs for the left ear and/or the auris dextra portion；
The personification shape of face intelligent apparatus also has sound receiver, is placed in the inner cavity, and with the simulation ear shape control
The connection of molding block, the sound receiver control described in the simulation ear shape control module traction for receiving external voice
Left ear and/or the auris dextra portion, so that deformation occurs for the left ear and/or the auris dextra portion；The sound receiver is set
Resolution module is set, for differentiating the source direction of external voice, the sound when the sound receiver receives external voice
Receiver controls the simulation ear shape control module and draws the left ear and/or the auris dextra portion so that the left ear with/
Or the auris dextra portion is matched with the deformation of the source direction；
The simulation ear shape control module setting auricularis module and its auricularis controller；The auricularis module is separately connected the left side
Ear and the auris dextra portion, the auricularis controller is connect with the auricularis module, 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 point
The left ear and the auris dextra portion are not connected；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
The auricularis vertical direction unit is mobile in vertical direction to draw the left ear and/or the auris dextra portion, and control institute
Auricularis horizontal direction unit is stated to draw the left ear and/or the auris dextra portion and move in the horizontal direction；
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；The horizontal step device of auricularis is arranged in the auricularis horizontal direction unit, for drawing the left ear
And/or the auris dextra portion stepping in the horizontal direction；
The auricularis module also sets up auricularis rotation direction unit；The auricularis rotation direction unit is separately connected the left ear
With 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 within the scope of preset first angle with drawing the left ear and/or the auris dextra portion.
2. anthropomorphic shape of face intelligent apparatus according to claim 1, which is characterized in that the facial contours also set up nose-shaped knot
Structure；
The nose-shaped structure setting simulates nose-shaped control module and nose；
The nose-shaped control module of simulation connects the nose, draws the nose for controlling, so that shape occurs for the nose
Become.
3. anthropomorphic shape of face intelligent apparatus according to claim 2, which is characterized in that nose is arranged in the nose-shaped control module of simulation
Flesh module and its nasalis controller；
The nasalis module connects the nose, and the nasalis controller is connect with the nasalis module, for controlling the nose
Flesh module is to draw the nose.
4. anthropomorphic shape of face intelligent apparatus according to claim 3, which is characterized in that nasalis Vertical Square is arranged in the nasalis module
To unit and nasalis horizontal direction unit；
The nasalis vertical direction unit is separately connected the nose；
The nasalis horizontal direction unit is separately connected the nose；
The nasalis controller is connect with the nasalis vertical direction unit, the nasalis horizontal direction unit respectively, for controlling
The nasalis vertical direction unit is made to draw the nose in vertical direction deformation, and the control nasalis horizontal direction list
Member is to draw nose deformation in the horizontal direction.
5. anthropomorphic shape of face intelligent apparatus according to claim 4, which is characterized in that nose is arranged in the nasalis vertical direction unit
The vertical step device of flesh, for drawing the nose in vertical direction stepping deformation.
6. anthropomorphic shape of face intelligent apparatus according to claim 4, which is characterized in that nose is arranged in the nasalis horizontal direction unit
The horizontal step device of flesh, for drawing nose stepping deformation in the horizontal direction.
7. anthropomorphic shape of face intelligent apparatus according to claim 4, which is characterized in that the nasalis module also sets up nasalis direction
Fine-adjusting unit connects the nasalis vertical direction unit, for finely tuning the lead of the nasalis vertical direction unit.
8. anthropomorphic shape of face intelligent apparatus according to claim 7, which is characterized in that the nasalis directional trim unit is also connected with
The nasalis horizontal direction unit, for finely tuning the lead of the nasalis horizontal direction unit.
9. anthropomorphic shape of face intelligent apparatus according to claim 8, which is characterized in that the nasalis module also sets up nasalis displacement
Fine-adjusting unit connects the nasalis vertical direction unit, and the traction for finely tuning the nasalis vertical direction unit is displaced.
10. anthropomorphic shape of face intelligent apparatus according to claim 9, which is characterized in that the nasalis displacement fine-adjusting unit also connects
The nasalis horizontal direction unit is connect, the traction for finely tuning the nasalis horizontal direction unit is displaced.
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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 |
| JP2003265869A (en) * | 2002-03-12 | 2003-09-24 | Univ Waseda | Eye-eyebrow structure of robot |
| CN200998593Y (en) * | 2007-02-14 | 2008-01-02 | 杨建良 | Face act device of the robot |
| KR101002619B1 (en) * | 2007-08-31 | 2010-12-20 | 연세대학교 산학협력단 | Face robot for giving expression |
| CN101850554B (en) * | 2010-04-30 | 2012-04-11 | 东南大学 | Low-noise humanoid robot head system |
| CN205766182U (en) * | 2016-06-21 | 2016-12-07 | 宁夏先锋软件有限公司 | A kind of anthropomorphic shape of face intelligent apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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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Effective date of registration: 20181024 Address after: 518000 9E, West edge of Ai Di building, 5003 riverside street, Futian District, Shenzhen, Guangdong Applicant after: Shenzhen Jing Fang Ying Technology Co., Ltd. Applicant after: Zhu Qiulan Address before: 518000 Guangdong, Shenzhen, Nanshan District, Guangdong Province, Hainan Hainan street, one of the new high road 2, Changyuan new material port 8, 5 floor 505 Applicant before: SHENZHEN AIYIRUI TECHNOLOGY CO., LTD. |
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Effective date of registration: 20201126 Address after: Room 2018-2, building a, Tianjing Business Incubation Park, Nanling Economic Development Zone, Wuhu City, Anhui Province Patentee after: Nanling County Productivity Promotion Center Co.,Ltd. Address before: 518000 West Block 9E, Aidi Building, No. 5003 Binhe Street, Nanyuan Street, Futian District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN JING FANG YING TECHNOLOGY Co.,Ltd. Patentee before: Zhu Qiulan |