CN108161946A - A kind of method for making robot mask expression shape change - Google Patents
A kind of method for making robot mask expression shape change Download PDFInfo
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- CN108161946A CN108161946A CN201711500878.1A CN201711500878A CN108161946A CN 108161946 A CN108161946 A CN 108161946A CN 201711500878 A CN201711500878 A CN 201711500878A CN 108161946 A CN108161946 A CN 108161946A
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- display
- adagio
- phoretic
- face
- robot
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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
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
A kind of method for making robot mask expression shape change, it is made various emotion phonotape and videotape segments after recording true man's expression from various angles with more video recorders and is put into memory, control system is equipped in robot body, it makes certain reaction through code spoon intelligent selection device needed for robot is experienced immediately, selection one can make the code spoon that emotion phonotape and videotape segment digital switch is opened, the audio-video segment to match is caused to be played in the encapsulated electro-phoretic adagio display of three-dimensional mask, due to the passive display characteristic of encapsulated electro-phoretic adagio display and people face will not self luminous characteristic it is quite similar；Encapsulated electro-phoretic adagio display has wide-angle display property again, this not only makes the face of robot be sufficiently close to true man, and robot three-dimensional sense is made not generate variation due to the difference of the visual angle of people, and it is also equipped with a set of designing scheme that face can be made to generate vision innervation, therefore it is more cheap with this non-mechanical method making machine people dynamic mask, diversification and expansion application range easy to implement.
Description
Technical field
The invention belongs to emulated robot technical field, especially a kind of method for making robot mask expression shape change.
Background technology
The countenance variation of emulated robot at present, mainly by upper mechanical system (such as：SHFR-I), the next control system
System is (such as：AT89S52 microcontrollers are core controller), a set of electronic control and mechanical actuating mechanism are formed, makes the face of robot
Tool generates various expressions, and since upper mechanical system is sufficiently complex, R＆D costs are very high, especially upper mechanical system pair
In the expression shape change of face, often designed just for some face, the face that manufactures and its expression to diversification,
R＆D costs higher, the previous service of simulation robot price of mesh are up to more than 60,000, wherein having considerable part to be for countenance
The R＆D costs of mechanical system, and develop after machine face and expression be almost same type, use face expression
Identical emulated robot, if being arranged in same place, it appears it is too identical, it is seen that being all same face, make the world
Become dull and dull.If there is one kind does not need to upper mechanical system, and the face for making the expression of robot that can change tool is remained to,
And price will reduce, and this will expand robot use scope, the face tool that these expressions can change, in addition to that can be installed to
It is outer in the face of various emulated robots, toy or various stereo head portraits can also be formed.
Invention content
The purpose of the present invention is：The robot mask that a kind of countenance can change is released, being supplied to needs mating machine
Device people or Anthropomorphic toy and various stereo head portraits.
The object of the present invention is achieved like this：It includes a three-dimensional mask shell made according to each surface of face shape
Body has encapsulated electro-phoretic adagio display again on mask shell；Robot is stored in the connection of encapsulated electro-phoretic adagio display
Internal emulated robot control system is stored in the microcontroller of the control system in advance with more video recorders from multiple angles
It records and computer editing's device is broadcast by three-dimensional mask multi-angle and compile various emotion phonotape and videotape segments, and these segments are stored in
In various emotion phonotape and videotape fragment memories；And digital switch there are one each emotion fragment images, each digital switch have one
A code spoon for opening switch, each code spoon is stored in switch arrays number spoon memory, when recording apparatus is listened by sound immediately by robot
As after passing in microcontroller, the code spoon intelligent selection device in microcontroller, i.e., selection one is opposite from switch arrays digital memory
The code spoon answered is input in various emotion phonotape and videotape segment digital switch battle arrays, and the required emotion phonotape and videotape segment broadcast is existed
It is played in the screen of three-dimensional mask encapsulated electro-phoretic adagio display, while it is dubbed and is broadcasted in the loudspeaker also in dummy's body；
With the matched also a set of designing scheme that face is made to generate vision innervation of control system, which includes selecting substrate
The high encapsulated electro-phoretic adagio display composition multilayer of light transmission broadcasts device；The encapsulated electro-phoretic adagio of light tight substrate is shown
Show that device carries out broadcasting panel transformation and increases face dynamic image body；It is characterized in that：The simulation quality of the robot face is logical
Cross above-mentioned designing scheme and using encapsulated electro-phoretic adagio display passive display and people face will not self luminous similitude, with
And the big visual angle of encapsulated electro-phoretic adagio display is realized together.
In this way, due to encapsulated electro-phoretic adagio display, different from liquid crystal display, (the latter is a kind of illuminator, if
Made people's mask, just as people's head lamp has, it is clear that uncomfortable.) and encapsulated electro-phoretic adagio display, it is one kind by illumination
Just there is the new display of display, it and human body only can just be shown by illumination with general character, and encapsulated electro-phoretic adagio
Display can be made very flexible, therefore encapsulated electro-phoretic adagio display not only completely can be with each surface of face shape
It is mutually close to match, more valuable be it visual angle it is big, it might even be possible to accomplish full visual angle, therefore will not be generated due to three-dimensional mask angular transformation
With stereoscopic article is with different feelings broadcasts face；The color of encapsulated electro-phoretic adagio display has also had identical with human body now
Multiple color, though it is not bright-coloured, meet face color and luster；Though its reaction speed is not as good as liquid crystal, due to face's organ action of people
Distance is not grown, and if any the projection speed of 10 frame per second, also can just reach the rate request of face variation substantially.And science of today
Technology has become possibility, the microcapsules electricity of this all-transparent for making encapsulated electro-phoretic adagio display substrate with transparent material
Swimming adagio display, it is possible to as the designing scheme part that face is made to generate vision innervation, screen is broadcast in designing scheme
Face transformation is needed before transformation, will first be shot the various expression activities of true man face, and be carried out computer processing, make image mainly with eyeball
Rotate and open osculum, say it is light give expression to one's sentiment, and and will upper and lower red lip coating surface it is thinning, at red lip closure above and below there are compared with
Big lip shadow.And the position of broadcasting of mask organ is modified by 3D printing, such as：It is modified as the screen area of film playback face
One more bigger than true man's face range to broadcast circle (in this way when face parts a little, lower lip is still being broadcast in circle).For another example：Lower eye
The height of skin and eyeball cambered surface very close to, so by lower eyelid spherical shape and eyeball cambered surface be revised as being sufficiently close to, in this way blink
When eyelashes of the original on lower eyelid can naturally enough drop to the position that eyeball is covered together with lower eyelid, due to blink
It it is moment, lower eyelid and eyelashes can reset immediately, and old friends are subtle.Also it is stretched on two sides of modified face projection circle
, therefore a variety of emotions can be expressed, the corners of the mouth is stuck up slightly up when such as smiling, face closes when sulky, and the corners of the mouth all exists towards inferior
It is carried out in projection circle.The variation of many expressions can also be realized by increasing face dynamic image body, because of encapsulated electro-phoretic
Adagio display expresses countenance with video reproduction image, when contracting exciting such as the shy or feelings of performance maiden residing for cheek
Screen on can show blush, face can float in the air a few tuft black hairs during You Feng, and when happy excitement or pain can also be from face
It falls down some tear on cheek, hangs some sweat when work is arduous on face volume, also human face laughs at whirlpool, forehead, eyebrow variation, such as
Mask range is extended to neck by fruit, then people can also broadcast out the variation of musculi colli and tendon and vessel when talking or turning one's head.On
It is that traditional simulation robot is difficult to realize to state these.In conclusion face table is expressed using encapsulated electro-phoretic adagio display
Feelings are than more rich, and the true man's video recording handled by computer can have multiple true man, since 3D printing is very convenient and
Cheaply, their shape of face can be diversified, and encapsulated electro-phoretic adagio display is not only flexible, but also has ductility, so
It being easy to match with different masks, different people is when expressing some expression, though mask size is essentially identical, but face's flesh
Skin variation is often different, and the image broadcast on a display screen is also just relatively abundanter without dullness, so making one to feel machine
The diversification of people.Since nose is not make expression, nasal portion encapsulated electro-phoretic adagio display can be omitted, in this way
Cost of manufacture is lower, and only the face of people will be unified on nose color and screen, and coupling part can be covered up with powder, these are all not
Difficulty is accomplished.One, its nostril can as the sound outlet of acoustical generator, because face is close with a distance from it, people sound as
It is the sound sent out from face, another can be hidden into pin hole stylus, because the lower section in nostril mouthful can be towards outside, needle
Hole camera is again very small；It can be by two receivers be filled, in this way when the right sounding, the robot head rotation direction right side in two ear holes
Side, otherwise the rotation direction left side, the two side sounds are similar, and head is with regard in front of rotation direction.
Description of the drawings
Fig. 1 is the control system principle schematic of robot mask expression shape change.
Fig. 2 is to broadcast utilization of the panel modification scheme on eyes, face and shoot with video-corder to play device storage schematic diagram.
Fig. 3 is the AA section views for regarding intention 2, it illustrates the construction and vacation between encapsulated electro-phoretic adagio display and mask
Layout drawing in people's mask shell.
Fig. 4 is the schematic diagram that encapsulated electro-phoretic adagio display broadcasts device in eye as multilayer.
Specific embodiment
Fig. 1 is the control system principle schematic of robot mask expression shape change.1 is that three-dimensional mask microcapsules electricity is molten in figure
Adagio display and player, 2 be various emotion phonotape and videotape segment digital switch battle arrays, and 3 be switch arrays number spoon memory, and 4 be code
Spoon intelligent selection device, 5 be that recording apparatus is listened immediately by robot, and 6 be multi-angle true man's video recorder, and 7 three-dimensional mask multi-angles broadcast electricity
Brain editing machine, 8 be various emotion phonotape and videotape fragment memories.The function of 2,3,4,8 each devices in figure, all by control system
Microcontroller undertakes, which is placed in Fig. 3 control systems.Since staff has been shot with video-corder previously by multi-angle true man
Device 6 shoots with video-corder true man with more video cameras, and by three-dimensional 7 editing of mask multiple angle computer editing machine after, make various angles
The television data compilation of degree production simultaneously is various into the various emotion video segments that can be broadcast in three-dimensional mask, usually these
Emotion video segment is deposited all stores up in various emotion phonotape and videotape fragment memories 8, and each emotion phonotape and videotape segment is broadcast in memory 8
All controlled by various emotion fragment image digital switch battle arrays 2；5 tins of records of recording apparatus are listened immediately to machine when being placed in robot body
After the signal of device people scene, this signal is input in code spoon intelligent selection device 4, code spoon intelligent selection device 4 is that a kind of computer compares
And automatic screening intelligence software, the opening needed for robot at this time of choice one after recorded content and relevant information is compared in it
Battle array number spoon is closed, and this yard of spoon is made to open digital switch corresponding in various emotion phonotape and videotape segment digital switch battle arrays 2, causes this
Section emotion phonotape and videotape segment is broadcasted immediately in three-dimensional mask encapsulated electro-phoretic adagio display and player 1.
Fig. 2 is to broadcast utilization of the panel modification scheme on eyes, face and shoot with video-corder to play device storage schematic diagram.
9 be dummy's human body in figure, and 10 be the broadcast circle more bigger than true man face, and 11 be Electrophoretic display device outer layer, and 12 be nostril,
13 be receiver, and 14 be nose, and 15 be eyeball, and 16 dotted line represents upper eyelid down position, and 17 be upper eyelashes, and 18 be upper eyelid,
19 lower eyelids, 20 be eyebrow, and 21 be hair, and 22 be upper red lip, and 23 be the shade between upper and lower red lip, 24 be under red lip.In Fig. 2
People is represented in usually face position, the color that at this moment face broadcasts circle 10 is enabled to hank as face ambient color, then people will
Red lip as face, and when people parts face speech a little, under red lip move down to the lower edge for broadcasting circle 10, and upper red lip
Upwards, the shade 23 among bilabiate expands, and at this moment the shade has changed and broadcasts as snow-white tooth, left and right two mouths of red lip
Also it is broadcast in face in elongating and upwarping in circle, at this moment it will be seen that the face of a smile at angle.If it is broadcast in circle in face
Red lockjaw is closed, and the corners of the mouth is downward, then in anger shape.Broadcasting panel modification scheme also makes upper eyelashes 17 in Fig. 2, usually broadcasts in lower eye
On skin 19, and when people blinks in order to show the dynamic of upper eyelashes 17, thus when blinking in a flash upper eyelashes 17 from lower eye
Skin 19 is moved on the position of cambered surface dotted line 16 of eyeball 15, and a part of eyeball is covered when eyelashes 17 being enable to blink.But lower eye
Skin 19 and eyeball 15 are actually not on same ball arc, the high low head of screen are reduced during in order to make to broadcast, therefore will be upper
The high low head of eyelid 18 and lower eyelid 19 is transformed more significantly, otherwise becomes the high low head between lower eyelid 19 and eyeball 15
Must be a little bit smaller, eyelashes on the one hand can be made to seem shorter in the case where usually simulation is hidden in upper eyelid in this way, on the other hand make one to feel
It makes one to feel lower eyelid 19 moment of the upper eyelashes 17 with stretching, extension when getting along relatively near to upper eyelashes 17 and eyeball 15, therefore blinking
The position of eyeball cambered surface dotted line 16 is reached, upper half of eyeball is covered, and it is more natural to return to blink process in situ immediately.Nose
Son 14 is independently of encapsulated electro-phoretic adagio display outer layer 11, it is assembled on mask shell 30 in figure 3, the hole 12 of nose 14
It is two holes for leading to mask inner cavity 31 in Fig. 3.Ear and encapsulated electro-phoretic adagio display are not one, and receiver 13 is in ear
Piece two sides, a receiver part are in the mask inner cavity 31 of Fig. 3.Eyebrow 20 shows by encapsulated electro-phoretic adagio display,
The previous section of hair 21 covers the top of encapsulated electro-phoretic adagio display outer layer 11.
Fig. 3 be regard be intended to 2 AA section views, 25 are inserted into the pinhole cameras in nostril in figure, and 14 be nose, and 11 be micro-
Encapsulated electrophoretic adagio display outer layer (i.e. transparent protective layer inside has transparent electrode), 26 be encapsulated electro-phoretic adagio display
Display layer (being encapsulated electrophoretic liquid), 27 be the substrate (i.e. drive circuit board) of encapsulated electro-phoretic adagio display, and 28 be each device
Signal line connection between part, 29 be the microcontroller of the control system of charged, and 13 be receiver, and 30 be mask shell, and 31 be mask
Inner cavity, 32 be player.11,26,27 composition encapsulated electro-phoretic adagio displays in figure, the face that it is compounded in housing 30 remove
Position other than nose is equipped with the pinhole cameras 25 towards outside mask in nostril, player 32 is also close on the side of nostril, and
From nostril playback, since it is close from mouth, source of sound is serious.The microcontroller 29 of control system is also equipped in mask inner cavity 31 and is stretched
Enter the receiver 13 of intracavitary, have conducting wire 28 between these components, make message unicom.
Fig. 4 is the schematic diagram that encapsulated electro-phoretic adagio display broadcasts device in eye as multilayer.33 be lower eyelashes in figure, 15
It is eyeball, 34 be the transparent microcapsules adagio display of substrate, and 17 be upper eyelashes, and 35 be eyelid, and 36 be a frame.Substrate is transparent
Microcapsules adagio display 34 is embedded in a frame 36, becomes an independent transparent display, sizableness is in stealthy eye
The eyeglass of mirror, it is with a distance from about 2 millimeters from eyeball 15, and eyelid 35 is the microcapsules adagio display for connecting whole face tool, upper eyelashes
17 broadcast when flat on the microcapsules adagio display 35 of eyelid, the eyelashes wink when people blinks on microcapsules adagio display 35
Between be transferred on the transparent microcapsules adagio display 34 of liner plate and broadcast, visual sense downwards extends to eyelid 35 with upper eyelashes 17
The position of lower eyelashes 33.Blink can not only be expressed in this way, but also can express closed-eye state.
Claims (1)
1. a kind of method for making robot mask expression shape change, it includes a three-dimensional surface made according to each surface of face shape
Have housing, there is encapsulated electro-phoretic adagio display again on mask shell；Machine is stored in the connection of encapsulated electro-phoretic adagio display
Emulated robot control system in device human body is stored in the microcontroller of the control system in advance with more video recorders from a variety of
Angle, which is recorded and broadcasts computer editing's device by three-dimensional mask multi-angle, compiles various emotion phonotape and videotape segments, and by these segments
It is stored in various emotion phonotape and videotape fragment memories；And there are one digital switch for each emotion fragment image, each digital switch is all
There are one the code spoons for opening switch, and each code spoon is stored in switch arrays number spoon memory, when recording apparatus is listened immediately by robot
After phonotape and videotape is passed in microcontroller, the code spoon intelligent selection device in microcontroller selects one that is, from switch arrays digital memory
Corresponding code spoon is input in various emotion phonotape and videotape segment digital switch battle arrays, by the required emotion phonotape and videotape piece broadcast
Section plays, while it is dubbed and is broadcast in the loudspeaker also in dummy's body in the screen of three-dimensional mask encapsulated electro-phoretic adagio display
Go out；With the matched also a set of designing scheme that face is made to generate vision innervation of control system, which includes selecting
The high encapsulated electro-phoretic adagio display composition multilayer of substrate light transmission broadcasts device；It is soft to the encapsulated electro-phoretic of light tight substrate
Plate display carries out broadcasting panel transformation and increases face dynamic image body；It is characterized in that：The simulation quality of the robot face
Being will not be self luminous similar to people face by the passive display of above-mentioned designing scheme and utilization encapsulated electro-phoretic adagio display
The big visual angle of property and encapsulated electro-phoretic adagio display is realized together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711500878.1A CN108161946A (en) | 2017-12-18 | 2017-12-18 | A kind of method for making robot mask expression shape change |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711500878.1A CN108161946A (en) | 2017-12-18 | 2017-12-18 | A kind of method for making robot mask expression shape change |
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| Publication Number | Publication Date |
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| CN108161946A true CN108161946A (en) | 2018-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711500878.1A Pending CN108161946A (en) | 2017-12-18 | 2017-12-18 | A kind of method for making robot mask expression shape change |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108481347A (en) * | 2018-07-03 | 2018-09-04 | 江苏二十六度节能科技有限公司 | A kind of robot of alterable face |
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| CN102411890A (en) * | 2011-09-16 | 2012-04-11 | 李晓 | Toy with digitalized dynamic expressions |
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Application publication date: 20180615 |