CN106730886A - A kind of face imitates robot - Google Patents
A kind of face imitates robot Download PDFInfo
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- CN106730886A CN106730886A CN201611210667.XA CN201611210667A CN106730886A CN 106730886 A CN106730886 A CN 106730886A CN 201611210667 A CN201611210667 A CN 201611210667A CN 106730886 A CN106730886 A CN 106730886A
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- China
- Prior art keywords
- auricularis
- direction unit
- module
- auris dextra
- left ear
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
- A63H13/005—Toy figures with self-moving parts, with or without movement of the toy as a whole with self-moving head or facial features
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention provides a kind of face dummy robot, it has facial contours；Facial contours set mouth shape structure；Mouth shape position sets simulation mouth shape control module, upper lip and lower lips；Simulation mouth shape control module connects upper lip and lower lips respectively, for controlling traction upper lip and/or lower lips, so that upper lip and/or lower lips are deformed upon.The design that upper lip and lower lips are passed through using such scheme, the present invention so that the facial contours of robot are with more the characteristic that personalizes so that the sound of robot not only spreads out of from stiff gap；Also, upper lip and/or lower lips are deformed upon by simulating mouth shape control module, the true property of plan of robot mouth can be realized, make it closer in real human.
Description
Technical field
The present invention relates to Robot Design field, more particularly to, a kind of face imitates robot.
Background technology
Existing robot details is perfect all the more, can realize hand grab, language communication, the function such as walking, but, for mouth
The control of shape, is often showed using simple lines or gap, therefore, prior art needs to improve.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of new face and imitate robot.
Technical scheme is as follows：A kind of face imitates robot, and it has facial contours；The facial contours set
Put mouth shape structure；The mouth shape position sets simulation mouth shape control module, upper lip and lower lips；The simulation mouth shape control mould
Block connects the upper lip and the lower lips respectively, for controlling the traction upper lip and/or the lower lips, so that institute
State upper lip and/or the lower lips are deformed 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 connects the left ear and the auris dextra portion respectively, for controlling to draw
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 sets 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 connected with the auricularis module, for controlling the ear
Flesh module is drawing the left ear and/or the auris dextra portion.
Preferably, the auricularis module sets auricularis vertical direction unit and auricularis horizontal direction unit；The auricularis hangs down
Nogata connects the left ear to unit with the auris dextra portion respectively；The auricularis horizontal direction unit connects the left ear respectively
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 for controlling the auricularis vertical direction unit in vertical direction
It is dynamic, and control the auricularis horizontal direction unit to be moved in the horizontal direction to draw the left ear and/or the auris dextra portion.
Preferably, the auricularis vertical direction unit sets the vertical step device of auricularis, for draw the left ear and/
Or the auris dextra portion is in vertical direction stepping.
Preferably, the auricularis horizontal direction unit sets the horizontal step device of auricularis, 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
The left ear is met with the auris dextra portion；The auricularis controller is also connected 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 in the range of preset first angle.
Preferably, the auricularis rotation direction unit sets auricularis and 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, and it connects the auricularis vertical direction respectively
Unit, the auricularis horizontal direction unit, for the lead for finely tuning the auricularis vertical direction unit, the auricularis level
The lead of direction unit.
Preferably, the auricularis module also sets up auricularis displacement fine-adjusting unit, and it connects the auricularis vertical direction respectively
Unit, the auricularis horizontal direction unit, for the traction displacement for finely tuning the auricularis vertical direction unit, the auricularis level
The traction displacement of direction unit.
The design that upper lip and lower lips are passed through using such scheme, the present invention so that the facial contours of robot have more
Personalize characteristic so that the sound of robot not only spreads out of from stiff gap；Also, control mould by simulating mouth shape
Block deforms upon the upper lip and/or the lower lips, can realize the true property of plan of robot mouth, make its closer in
Real human.
Brief 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 embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is described in detail, and the following examples can be combined 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, there is provided
The purpose of these embodiments is that the disclosure is more thoroughly comprehensively readily appreciated.Need further exist for explanation
It is when a certain structure is fixed on another structure, including the structure to be directly or indirectly fixed on another 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,
Including the structure is directly or indirectly connected into another structure, or by the structure by one or more of the other middle knot
Structure is connected to another structure.Also, described "and/or" include " and " with two kinds of possible embodiments of "or".
An example of the invention is that a kind of face imitates robot, and it has facial contours；The facial contours are set
Mouth shape structure；The mouth shape position sets simulation mouth shape control module, upper lip and lower lips；The simulation mouth shape control module
The upper lip and the lower lips are connected respectively, for controlling the traction upper lip and/or the lower lips, so that described
Upper lip and/or the lower lips are deformed upon.
For example, a kind of face imitates robot, it has facial contours.For example, a kind of face mould with facial contours
Imitative robot.Depending on the facial contours can be according to different designs, for example, the facial contours are oval face, round face or ellipse
Face etc..
For example, the facial contours set mouth shape structure；The mouth shape position sets simulation mouth shape control module, upper lip
With lower lips；The simulation mouth shape control module is arranged inside the facial contours, for example, in the facial contours are provided with
Chamber, the simulation mouth shape control module is arranged at the inner chamber；And for example, the inner chamber has been also housed within power module, its connection institute
State simulation mouth shape control module.For example, the inner chamber is equipped with battery pack, its connection simulation mouth shape control module.
For example, the face imitates robot also has the wireless communication module being arranged inside the facial contours, its
The connection simulation mouth shape control module, for receiving wireless signal, is transferred to the simulation mouth shape control module, for example, institute
Simulation mouth shape control module is stated according to the wireless signal control traction upper lip and/or the lower lips, so that described
Upper lip and/or the lower lips are deformed upon.For example, the wireless communication module is placed in the inner chamber.
For example, the face imitates robot also has the sound output module being arranged inside the facial contours, its
The connection simulation mouth shape control module, for exporting sound, and when sound is exported, mould is controlled by the simulation mouth shape
Block control the traction upper lip and/or the lower lips, so that the upper lip and/or the lower lips are deformed upon.Example
Such as, the sound output module is placed in the inner chamber；Preferably, the sound output module is also connected with the wireless telecommunications mould
Block, for the wireless signal received according to the wireless communication module, exports sound.For example, the wireless communication module connects
Voice wireless signal or song wireless signal are received, the sound output module is transferred to, it is defeated by the sound output module
Go out corresponding voice or song.
For example, the face imitates robot also has the lighting module being arranged inside the facial contours, the face
Portion's shape is provided with photic zone, and towards the photic zone, the lighting module is used for controlled the light emission direction of the lighting module
It is luminous, and transmitted by the photic zone；For example, the lighting module sets some LED illuminators, and for example, the photic zone
It is eyes, the lighting module is arranged inside ofeye.For example, the lighting module is placed in the inner chamber；Preferably,
The lighting module is also connected with the wireless communication module, and the wireless signal for being received according to the wireless communication module enters
Row light emitting control；For example, the wireless communication module receives Lighting control wireless signal, the lighting module is transferred to, by
The lighting module is lighted, such as permanent light or flicker etc.；Or, lighting-off is carried out by the lighting module.So, have
Help realize the expression shape change of skin, such as it is shy blush, the blue or green face of indignation etc..
For example, the face imitates robot also has overhead shape, it sets installation site and is removably mounted to
The hair portion of the installation site.For example, the overhead shape is arranged at the top of the facial contours；And for example, the peace
Holding position is screw, and the hair portion is bolted in the installation site；And for example, the installation site sets VELCRO, the head
Hair portion detachably adheres on the installation site.The hair portion of the installation site is removably mounted to by setting, can be with spirit
It is living to use long hair or bob, can also adjust the hair style that the face imitates robot so that one set of die is applied to various images,
It is particularly conducive to manufacture.
For example, the simulation mouth shape control module connects the upper lip and the lower lips respectively, for controlling to draw
The upper lip and/or the lower lips, so that the upper lip and/or the lower lips are deformed upon, for example, the simulation
Mouth shape control module control the traction upper lip and/or the lower lips so that the upper lip and the lower lips folding
And with various folding degree, so that more true for the control of mouth shape, the degree that personalizes is higher.
For example, the simulation mouth shape control module sets some mouth shape control units, some mouth shape control unit bags
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 connects the upper lip and the lower lips respectively, for from corresponding direction controlling draw the upper lip and/
Or the lower lips so that the upper lip and/or the lower lips receive one, two, three or four direction tractive force simultaneously, so that
Make the upper lip and/or the lower lips that there is various folding degree and various profile variations so that for the control of mouth shape
System is more true, and makes the degree that personalizes of the face imitation robot higher.
For example, the simulation mouth shape control module sets 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 connects described respectively
Upper lip and the lower lips, the left buccinator muscle module connect the left side upper lip position of the upper lip and the lower lips respectively
Left side lower lip position, the right buccinator muscle module connects the right side upper lip position of the upper lip and the right side lower lip of the lower lips respectively
Position；The musculus orbicularis oris controller is connected 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 connected with the left buccinator muscle module, for controlling the left cheek
Flesh module is drawing left side upper lip position and/or left side lower lip position；The right buccinator muscle controller and the right buccinator muscle mould
Block is connected, for controlling the right buccinator muscle module to draw the 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 connected with the musculus quadratus labii inferioris module, for controlling
The musculus quadratus labii inferioris module is drawing 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 connected with the musculus quadratus labii superioris module, for controlling the upper lip
Quadratus module is drawing the upper lip.
Preferably, the face imitates robot also has voice output controller, and it is placed in the inner chamber, and with institute
The control module connection of simulation mouth shape is stated, the voice output controller sets voice mouth shape memory cell, and it is used to store some
The corresponding mouth deformation of voice, for example, its each simple or compound vowel of a Chinese syllable of storage and each mouth deformation corresponding to each initial consonant；For example, the voice
Mouth shape memory cell is used to store 6 single vowels a, o, e, i, u and ü, 13 compound vowels（Closed including 9 diphtongs and 4 three
Vowel）, 9 vowel followed by a nasal consonants, 1 special simple or compound vowel of a Chinese syllable and 23 initial consonants distinguish corresponding each mouth deformation etc.；The voice output
Controller is used for when voice is exported, and according to the mouth deformation that the voice mouth shape memory cell 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 lower lips generation
Deformation assigned in the voice for being exported.And for example, the voice output controller connects the sound output module, for by institute
State sound output module output sound.
The various embodiments described above are designed, and by the mouth shape expression muscle on the face for simulating normal human, realize having for mouth shape
Effect analog variation, improves the emulator that the face imitates the mouth shape of robot so that face imitates the mouth shape of robot
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 connects the left ear and the auris dextra portion respectively, for controlling to draw
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 chamber, and connects the wireless communication module, for according to the wireless communication module
The control traction of ear portion shape the wireless signal left ear and/or the auris dextra portion, so that the left ear and/or the auris dextra
Portion deforms upon.
Preferably, the face imitates robot also has sound receiver, and it is placed in the inner chamber, and with the mould
Intend the connection of ear shape control module, the sound receiver is used to receive external voice, and controls the simulation ear shape control module
The left ear and/or the auris dextra portion are drawn, so that the left ear and/or the auris dextra portion deform upon.Preferably, institute
State sound receiver and resolution module is set, for when the sound receiver receives external voice, differentiating coming for external voice
Source direction, sound receiver the control traction of simulation ear shape the control module left ear and/or the auris dextra portion, with
The left ear and/or the auris dextra portion is set to be matched with the deformation of the source direction.
Preferably, the simulation ear shape control module sets 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 connected with the auricularis module, for controlling the ear
Flesh module is drawing the left ear and/or the auris dextra portion.
Preferably, the auricularis module sets auricularis vertical direction unit and auricularis horizontal direction unit；The auricularis hangs down
Nogata connects the left ear to unit with the auris dextra portion respectively；The auricularis horizontal direction unit connects the left ear respectively
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 for controlling the auricularis vertical direction unit in vertical direction
It is dynamic, and control the auricularis horizontal direction unit to be moved in the horizontal direction to draw the left ear and/or the auris dextra portion.
Preferably, the auricularis vertical direction unit sets the vertical step device of auricularis, for draw the left ear and/
Or the auris dextra portion is in vertical direction stepping.Preferably, the auricularis horizontal direction unit sets the horizontal step device of auricularis, 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.
And for example, 1 millimeter of each stepping.
Preferably, the auricularis module also sets up auricularis rotation direction unit；The auricularis rotation direction unit connects respectively
The left ear is met with the auris dextra portion；The auricularis controller is also connected 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 in the range of preset first angle.
For example, preset first angle scope is 1 to 5 degree angle.And for example, preset first angle scope is 4 degree of angles.Preferably, the auricularis
Rotation direction unit sets auricularis and rotates step device, rotates pre- every time 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, and it connects the auricularis vertical direction respectively
Unit, the auricularis horizontal direction unit, for the lead for finely tuning the auricularis vertical direction unit, the auricularis level
The lead of direction unit.For example, finely tune the lead changing in 0.5 degree of angle to 5 degree of angular regions.Preferably, institute
State auricularis module and also set up auricularis displacement fine-adjusting unit, it connects the auricularis vertical direction unit, the auricularis level respectively
Direction unit, traction displacement, the traction of auricularis horizontal direction unit position for finely tuning the auricularis vertical direction unit
Move.For example, the fine setting traction displacement changes in the range of 0.2 millimeter to 1.2 millimeters.
The various embodiments described above are designed, and by the ear portion shape on the face for simulating normal human, realize effective mould of ear shape
Intend change, improve the emulator that the face imitates the ear shape of robot so that face imitate the ear shape of robot 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 connects the left cheekbone portion and the right cheekbone portion respectively, for controlling to draw
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 chamber, and connects the wireless communication module, for according to the wireless communication module
Cheekbone portion shape wireless signal control the traction left cheekbone portion and/or the right cheekbone portion, so that the left cheekbone portion and/or the right cheekbone
Portion deforms upon.
Preferably, the simulation cheekbone shape control module sets 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 connected with the musculus module, for controlling the cheekbone
Flesh module is drawing the left cheekbone portion and/or the right cheekbone portion.
Preferably, the musculus module sets musculus vertical direction unit and musculus horizontal direction unit；The musculus hangs down
Nogata connects the left cheekbone portion to unit with the right cheekbone portion respectively；The musculus horizontal direction unit connects the left cheekbone respectively
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 control the musculus horizontal direction unit to draw the left cheekbone portion and/or the right cheekbone portion deformation in the horizontal direction.
So, the cheekbone portion change of the facial contours can be better achieved so that the face imitates changeable, the cheekbone portion of expression of robot
More like true man.
Preferably, the musculus vertical direction unit sets the vertical step device of musculus, for draw the left cheekbone portion and/
Or the right cheekbone portion is in vertical direction stepping deformation.Preferably, the musculus horizontal direction unit sets the horizontal stepping dress of musculus
Put, 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.And for example, 0.3 millimeter of each stepping.
Preferably, the musculus module also sets up musculus directional trim unit, its described musculus vertical direction unit of connection,
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, its connection 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 to change in the range of 0.1 millimeter to 0.6 millimeter.
The various embodiments described above are designed, and by the cheekbone portion shape on the face for simulating normal human, realize effective mould of cheekbone shape
Intend change, improve the emulator that the face imitates the cheekbone shape of robot so that face imitate the cheekbone shape of robot 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, for controlling the traction chin portion, so that the chin portion occurs shape
Become.For example, the simulation chin shape control module is placed in the inner chamber, and the wireless communication module is connected, for according to institute
The shape wireless signal control traction chin portion of chin portion of wireless communication module is stated, so that the chin portion deforms upon.
Preferably, the simulation chin shape control module sets mentalis module and its mentalis controller；The mentalis module connects
The chin portion is met, the mentalis controller is connected with the mentalis module, for controlling the mentalis module to draw the chin
Portion.
Preferably, the mentalis module sets mentalis vertical direction unit and mentalis horizontal direction unit；The mentalis hangs down
Nogata connects the chin portion to unit respectively；The mentalis horizontal direction unit connects the chin portion respectively；The mentalis control
Device is connected with the mentalis vertical direction unit, the mentalis horizontal direction unit respectively, for controlling the mentalis Vertical Square
To unit drawing the chin portion in vertical direction deformation, and the mentalis horizontal direction unit is controlled to draw the chin portion
Deformation in the horizontal direction.So, the chin portion change of the facial contours can be better achieved so that the face imitates machine
People's expression is changeable, and chin portion is more like true man.
Preferably, the mentalis vertical direction unit sets the vertical step device of mentalis, is being hung down for drawing the chin portion
Nogata is to stepping deformation.Preferably, the mentalis horizontal direction unit sets the horizontal step device of mentalis, 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.And for example, 0.3 millimeter of each stepping.It is preferred that
, the mentalis module also sets up mentalis directional trim unit, its described mentalis vertical direction unit of connection, 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
Change in degree angular region.
Preferably, the mentalis module also sets up mentalis displacement fine-adjusting unit, its described mentalis vertical direction unit of connection,
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 in the range of 0.1 millimeter to 0.6 millimeter.
The various embodiments described above are designed, and by the chin portion shape on the face for simulating normal human, realize effective mould of chin shape
Intend change, improve the emulator that the face imitates the chin shape of robot so that face imitate the chin shape of robot 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, for controlling the traction nose, so that the nose occurs shape
Become.For example, the simulation nose-shaped control module is placed in the inner chamber, and the wireless communication module is connected, for according to institute
The nose shape wireless signal control traction nose of wireless communication module is stated, so that the nose is deformed upon.
Preferably, the simulation nose-shaped control module sets nasalis module and its nasalis controller；The nasalis module connects
The nose is connect, the nasalis controller is connected with the nasalis module, for controlling the nasalis module to draw the nose
Portion.
Preferably, the nasalis module sets nasalis vertical direction unit and nasalis horizontal direction unit；The nasalis hangs down
Nogata connects the nose to unit respectively；The nasalis horizontal direction unit connects the nose respectively；The nasalis control
Device is connected with the nasalis vertical direction unit, the nasalis horizontal direction unit respectively, for controlling the nasalis Vertical Square
To unit drawing the nose in vertical direction deformation, and the nasalis horizontal direction unit is controlled to draw the nose
Deformation in the horizontal direction.So, the nose change of the facial contours can be better achieved so that the face imitates machine
People's expression is changeable, and nose is more like true man.
Preferably, the nasalis vertical direction unit sets the vertical step device of nasalis, is being hung down for drawing the nose
Nogata is to stepping deformation.Preferably, the nasalis horizontal direction unit sets the horizontal step device of nasalis, 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.And for example, 0.2 millimeter of each stepping.It is preferred that
, the nasalis module also sets up nasalis directional trim unit, its described nasalis vertical direction unit of connection, 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
Change in degree angular region.For example, finely tuning the lead for 0.5 degree of angle.
Preferably, the nasalis module also sets up nasalis displacement fine-adjusting unit, its described nasalis vertical direction unit of connection,
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 in the range of 0.1 millimeter to 0.6 millimeter.
The various embodiments described above are designed, and by the nose shape on the face for simulating normal human, realize effective mould of nose-shaped
Intend change, improve the emulator that the face imitates the nose-shaped of robot so that face imitate the nose-shaped of robot 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 connects the left eye portion and the right eye portion respectively, for controlling to draw
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 chamber, and connects the wireless communication module, for according to the wireless communication module
The control traction of eye shape wireless signal the left eye portion and/or the right eye portion, so that the left eye portion and/or the right eye
Portion changes.
Preferably, the simulation eye-shaped control module sets eye rotation module and its eye rotation controller；The eye
Eyeball rotating module connects the right eye in left eye in the left eye portion and the right eye portion respectively, 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
Rotate.
Preferably, the eye rotation module sets eyes vertical direction unit and eye level direction unit；The eye
Eyeball vertical direction unit rotates the connection left eye and the right eye respectively；Eye level direction unit rotates connection respectively
The left eye and the right eye；The eyes controller respectively with the eyes vertical direction unit, the eye level direction
Unit is connected, for controlling the eyes vertical direction unit vertically to exist to draw the left eye and/or the right eye
Rotated in preset vertical rotational angle range, and control eye level direction unit to draw the left eye and/or institute
Right eye is stated to be rotated in preset level rotational angle range in the horizontal direction.So, the facial contours can be better achieved
Eye change so that the face imitates that robot expression is changeable, and eyes are more like true man.
Preferably, the eyes vertical direction unit sets vertical direction and 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；And for example, preset
Vertical angle is 5 to 10 degree；And for example, preset vertical angle is 1 to 2 degree；In this manner it is achieved that eyes are rotated upwardly and downwardly.
Preferably, eye level direction unit sets horizontal direction and 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；And for example, preset
Level angle is 5 to 10 degree；And for 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 sets 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 connected 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 connects the left eye portion and the right eye portion, the orbicular muscle of eye controller and the eye wheel circle respectively
Flesh module is connected, and is changed with drawing the left eye portion and/or the right eye portion for controlling the eye muscle module.And/or,
The eye muscle module also includes superciliary corrugator muscle module, and the eye muscle controller also includes superciliary corrugator muscle controller；The superciliary corrugator muscle module
Connect the right side left eye position in the left eye portion and the left side right eye position in the right eye portion respectively, the superciliary corrugator muscle controller with it is described
Superciliary corrugator muscle module is connected, for controlling the superciliary corrugator muscle module to draw the right side left eye position and/or left side right eye position
Change.And/or, the eye muscle module also includes frontalis module, and the eye muscle controller also includes frontalis controller；It is described
Frontalis module connects the top left eye position in the left eye portion and the top right eye position in the right eye portion, the frontalis controller respectively
It is connected with the frontalis module, for controlling the frontalis module to draw the top left eye position and/or the top right eye
Position changes.
Above-mentioned each eyes related embodiment design, by the eye shape on the face for simulating normal human, realizes eyes
Effective analog variation, improve the emulator that the face imitates the eyes of robot so that face imitates robot
Eyes are more like true man.
In the various embodiments described above, specific control module can select existing microprocessor 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, muscle module in the various embodiments described above also can be
Existing manikin further makes improved shape.Various embodiments of the present invention control various compact hardwares to its connected applications
The facial contours of robot are embodied in, are capable of the facial controllability of effective hoisting machine people, be that the daily life of robot should
With there is provided unlimited possibility.
Continue with face imitation robot is illustrated with reference to accompanying drawing.For example, as shown in figure 1, a kind of
Face imitates robot, and it has facial contours 100；The facial contours set 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 connects upper lip and lower lips respectively.In Fig. 1, the face mould
Imitative robot also has neck shaped 300, and it is arranged at the lower section of facial contours 100.Preferably, the face imitates robot and sets
Head shape is equipped with, the facial contours are located at the head shape, and the head shape is fixed or rotated and is arranged at the neck
Portion's shape.And for example, as shown in Fig. 2 the facial contours also have cheekbone shape structure 130；For example, the facial contours have one
Mouth shape structure, two ear shape structures, two cheekbone shape structures, chin shape structure, nose-shaped structure, two eye-shaped structures and two
Individual camber structure；Camber structure is located at eye-shaped superstructure.As shown in Fig. 2 the face imitation robot also has being arranged at
Wireless communication module 400 inside facial contours, its connection simulation mouth shape control module 111.And for example, as shown in figure 3, the people
Face imitates robot also has the sound output module 500 being arranged inside facial contours, its connection simulation mouth shape control module
111.And for example, as shown in figure 4, the face imitates robot also has the lighting module being arranged inside the facial contours
600, the facial contours are provided with photic zone 610, and the light emission direction of the lighting module is towards the photic zone.For example, such as
Shown in Fig. 4, the face imitates robot has three groups of lighting modules and its corresponding three photic zones, and the photic zone is circle
Shape, every group of lighting module is provided with 7 LED illuminators.And for example, as shown in Fig. 2, Fig. 3 and Fig. 5, the facial contours also have head
Top shape 200, it sets installation site and is removably mounted to the hair portion 210 of the installation site.
Further, embodiments of the invention also include that each technical characteristic of the various embodiments described above is mutually combined what is formed
Face imitates 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 in detail and improve, the significant increase face of robot
Portion's controllability, especially expression control, so as to improve the simulated effect of robot so that the facial contours of robot have more
Personalize characteristic, closer in real human.
It should be noted that above-mentioned each technical characteristic continues to be mutually combined, the various embodiments that formation is not enumerated above,
It is accordingly to be regarded as the scope of description of the invention record；Also, for those of ordinary skills, 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 face imitates robot, it is characterised in that with facial contours；
The facial contours set mouth shape structure；
The mouth shape position sets simulation mouth shape control module, upper lip and lower lips；
The simulation mouth shape control module connects the upper lip and the lower lips respectively, for controlling the traction upper lip
And/or the lower lips, so that the upper lip and/or the lower lips are deformed upon.
2. face imitates robot according to claim 1, it is characterised in that 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 connects the left ear and the auris dextra portion respectively, for controlling the traction left ear
And/or the auris dextra portion, so that the left ear and/or the auris dextra portion deform upon.
3. face imitates robot according to claim 2, it is characterised in that the simulation ear shape control module sets auricularis
Module and its auricularis controller；
The auricularis module connects the left ear and the auris dextra portion respectively, and the auricularis controller connects with the auricularis module
Connect, for controlling the auricularis module to draw the left ear and/or the auris dextra portion.
4. face imitates robot according to claim 3, it is characterised in that the auricularis module sets auricularis vertical direction
Unit and auricularis horizontal direction unit；
The auricularis vertical direction unit connects the left ear with the auris dextra portion respectively；
The auricularis horizontal direction unit connects the left ear with the auris dextra portion respectively；
The auricularis controller is connected with the auricularis vertical direction unit, the auricularis horizontal direction unit respectively, for controlling
Make the auricularis vertical direction unit and 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.
5. face imitates robot according to claim 4, it is characterised in that the auricularis vertical direction unit sets auricularis
Vertical step device, for drawing the left ear and/or the auris dextra portion in vertical direction stepping.
6. face imitates robot according to claim 4, it is characterised in that the auricularis horizontal direction unit sets auricularis
Horizontal step device, for drawing the left ear and/or the auris dextra portion stepping in the horizontal direction.
7. face imitates robot according to claim 4, it is characterised in that the auricularis module also sets up auricularis rotation side
To unit；
The auricularis rotation direction unit connects the left ear with the auris dextra portion respectively；
The auricularis controller is also connected with the auricularis rotation direction unit, for control the auricularis rotation direction unit with
Draw the left ear and/or the auris dextra portion rotates in the range of preset first angle.
8. face imitates robot according to claim 7, it is characterised in that the auricularis rotation direction unit sets auricularis
Step device is rotated, preset second angle is rotated every time for drawing the left ear and/or the auris dextra portion.
9. face imitates robot according to claim 4, it is characterised in that it is micro- that the auricularis module also sets up auricularis direction
Unit is adjusted, it connects the auricularis vertical direction unit, the auricularis horizontal direction unit respectively, hung down for finely tuning the auricularis
Nogata is to the lead of unit, the lead of the auricularis horizontal direction unit.
10. face imitates robot according to claim 9, it is characterised in that the auricularis module also sets up auricularis displacement
Fine-adjusting unit, it connects the auricularis vertical direction unit, the auricularis horizontal direction unit respectively, for finely tuning the auricularis
The traction displacement of vertical direction unit, the traction displacement of the auricularis horizontal direction unit.
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| CN201611210667.XA CN106730886A (en) | 2017-01-24 | 2017-01-24 | A kind of face imitates robot |
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| CN201611210667.XA CN106730886A (en) | 2017-01-24 | 2017-01-24 | A kind of face imitates robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105881556A (en) * | 2016-06-21 | 2016-08-24 | 深圳爱易瑞科技有限公司 | Simulation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881556A (en) * | 2016-06-21 | 2016-08-24 | 深圳爱易瑞科技有限公司 | Simulation robot |
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Application publication date: 20170531 |