CN108942973B

CN108942973B - Science and technology center usher robot head neck portion device with function is reported to humiture

Info

Publication number: CN108942973B
Application number: CN201811144896.5A
Authority: CN
Inventors: 王鹏; 罗鹏; 刘然; 黎晓强; 宋春宵
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2018-09-29
Filing date: 2018-09-29
Publication date: 2021-07-13
Anticipated expiration: 2038-09-29
Also published as: CN108942973A

Abstract

The invention relates to a head and neck device of a guest greeting robot in a science and technology center with a temperature and humidity broadcasting function, which aims to solve the problems that the guest greeting robot in the current science and technology center has single function and does not have a temperature and humidity monitoring function, and the human imitation degree is low because a mouth does not act while broadcasting voice, the head and neck device comprises a head, a neck and a control system, wherein the head comprises a panel, an OLED screen, a supporting mechanism, a touch sensor, a sound playing module, a collision sensor, a mouth opening and closing mechanism, a temperature and humidity sensor and a controller, the neck comprises a double-shaft steering engine steering wheel, a neck double-shaft steering engine, a neck steering engine support, a single-shaft steering engine fluted disc, a single-shaft steering engine support, a main support plate and a connecting piece, the control system mainly takes a main chip STM32F407ZGT7 as a main chip, the, the mouth opening and closing action and the neck pitching and rotating action are completed.

Description

Science and technology center usher robot head neck portion device with function is reported to humiture

Technical Field

The invention relates to the field of service robots, in particular to a head and neck device of a welcome robot of a science and technology museum with a temperature and humidity broadcasting function.

Background

At present, people can walk and sing the welcome robot, and the welcome robot cannot feel fresh, and with the continuous development of science and technology, people have higher and higher requirements on functions except for moving the welcome while requiring high humanization of the welcome robot.

The invention discloses a head and neck device of a guest greeting robot with a temperature and humidity broadcasting function, which aims at the problem that the traditional guest greeting robot is single in function, can realize a temperature and humidity monitoring function, aims at the problem of low anthropomorphic degree, can realize voice broadcasting and simultaneously complete mouth opening and closing action and neck pitching and rotating action, can monitor indoor temperature and humidity information of a venue in real time and feed the information back to an OLED screen for visitors to know Infrared distance measuring sensor) to detect the peripheral visitor, adopt touch sensor, when the visitor touches touch sensor, main chip STM32F407ZGT7 controls the playback module to broadcast the current humiture information, and completes the mouth opening and closing action and the neck pitching rotation action while broadcasting the voice, thereby realizing the highly humanoid action of swinging the head and opening the mouth to speak of the robot, improving the whole image of the science and technology museum, bringing the visitor with not only fresh feeling but also full science and technology feeling.

Disclosure of Invention

The invention discloses a robot head and neck device, which solves the problems that the current welcome robot in a science and technology museum has single function and does not have a temperature and humidity monitoring function, and the human imitation degree is low due to the fact that a mouth does not act while voice broadcasting is carried out.

The technical scheme adopted by the invention to solve the problems is as follows: the robot comprises a head, a neck and a control system, wherein the head comprises a panel, an OLED screen, a supporting mechanism, a touch sensor, a sound reproduction module, a collision sensor, a mouth opening and closing mechanism, a temperature and humidity sensor and a controller, the supporting mechanism comprises an OLED screen support, a control supporting plate, a control supporting column and a touch sensor supporting column, the sound reproduction module comprises a loudspeaker, a sound reproduction controller and a loudspeaker support, and the mouth opening and closing mechanism comprises a double-shaft steering engine, a double-shaft steering engine support, a pull rope guide, a plastic-coated metal rope, a mouth component, a mouth support, a metal shaft, a supporting plate and a metal rope containing ring;

the OLED screen is arranged at the position of the panel simulating human eyes by an OLED screen support, the touch sensor is fixedly connected with the supporting plate through a touch sensor support and is arranged at the position of the panel simulating human nose, the sound reproduction module is arranged at the position of the panel simulating human mouth, the sound reproduction controller is arranged on a horn support, and the horn is fixedly connected with the panel through the horn support; the collision sensor is arranged at the position of a human-simulated upper jaw of a panel, the touch end of the collision sensor faces downwards, the mouth opening and closing mechanism is fixedly connected with the panel through a supporting plate, the double-shaft steering engine is fixedly connected with the supporting plate through a double-shaft steering engine bracket, output shafts at two ends of the double-shaft steering engine are respectively fixed in shaft holes of two metal rope containing rings, one end of each plastic-coated metal rope is fixedly connected with the metal rope containing ring, the other end of each plastic-coated metal rope is fixedly connected with a mouth bracket through the guide of a pull rope, the mouth bracket is fixedly connected with a mouth component, the mouth bracket can rotate around the metal shaft, and the temperature and humidity sensor and the controller are arranged on the supporting;

the neck comprises double-shaft steering engine steering wheels, neck double-shaft steering engines, a neck steering engine support, a single-shaft steering engine fluted disc, a single-shaft steering engine support, a main support plate and a connecting piece, wherein shaft holes of the two double-shaft steering engine steering wheels are connected with output shafts of the neck double-shaft steering engines;

the control system takes a main chip STM32F407ZGT7 as a main part, the main chip STM32F407ZGT7 is connected with an OLED screen, a touch sensor, a temperature and humidity sensor, a sound playing module, a collision sensor, a mouth opening and closing mechanism and a neck control, a driving chip of the OLED screen is SSD1306, RST, D/C, SCL and SDA pins of the OLED screen are respectively connected with PA0, PA1, PA2 and PA3 pins of a main chip STM32F407ZGT7, a SIG1 pin of the touch sensor is connected with PD0 pins of the main chip STM32F407ZGT7 for feeding back and responding to touch signals, the temperature and humidity sensor mainly takes an STC89C52RC chip and a DHT11 chip, TXDD and RXDD pins of the STC 52C 52 chip are connected with PA10 and PA 27 pins of the main chip STP 32F ZGT 5966 for communication, an OUT pin of the STC 11 chip is connected with a VCC 2 and a resistance 2 and a DIBR 46R 7371 pin connected in series with a sound playing chip and a DIGND 46R chip and a power supply module for communication, the pins P2.2, P2.3, P2.4 and P2.5 of the STC89C52RC chip are respectively connected with pins SPI _ SI, SPI _ SO, SPI _ SCK and SPI _ SSEL of an XFS5152CE chip and used for converting read temperature and humidity text information into audio information, a SIG2 pin of the collision sensor is connected with a PD5 pin of a main chip STM32F407ZGT7 and used for limiting the action of a mouth opening and closing mechanism, pins S1 of the double-shaft steering engine 1-7A in the mouth opening and closing mechanism are connected with pins PA7 of a main chip STM32F407ZGT7 and used for controlling and driving the action of the mouth opening and closing mechanism, and pins S2 and S3 of the neck double-shaft steering engine and the single shaft in the neck are respectively connected with pins PA11 and PA15 of the main chip STM32F407ZGT7 and used for controlling the neck to complete pitching and turning actions.

The invention has the following beneficial effects: 1. the robot head and neck device is applied to the field of welcoming of science and technology museums, and in order to increase the interactivity of the robot head and neck device, the touch sensor is adopted to trigger head and neck actions, instead of a traditional mode of detecting visitors in a non-contact manner by a welcoming robot, so that the characteristic of the interactivity of the robot head and neck device is increased; 2. compared with the stiff facial expression of the traditional greeting robot, the invention discloses a highly humanoid robot head and neck device which can complete opening and closing mouth actions and neck pitching and turning actions while realizing voice broadcast; 3. compared with the problem that the traditional welcome robot has single function and does not have a temperature and humidity monitoring function, the invention discloses a robot head and neck device which can complete opening and closing actions of a robot and pitching and rotating actions of a neck while realizing voice broadcast.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a rear view of the overall structural schematic of the present invention;

FIG. 3 is a schematic view of the open and close mouth mechanism and neck of the present invention;

FIG. 4 is a schematic flow chart of the present invention;

FIG. 5 is a schematic circuit diagram of a main chip STM32F407ZGT7, an OLED screen, a double-shaft steering engine, a neck double-shaft steering engine, a single-shaft steering engine, a touch sensor and a collision sensor of the control system of the present invention;

FIG. 6 is a schematic circuit diagram of the temperature and humidity sensor and the playback module of the control system of the present invention.

Detailed Description

The first embodiment is as follows: the embodiment is described with reference to fig. 1, fig. 2 and fig. 3, and the head and neck device of the science and technology center welcome robot with the temperature and humidity broadcasting function in the embodiment comprises a head 1, a neck 2 and a control system 3, wherein the head 1 comprises a panel 1-1, an OLED screen 1-2, a support mechanism 1-3, a touch sensor 1-4, a sound reproduction module 1-5, a collision sensor 1-6, a mouth opening and closing mechanism 1-7, a temperature and humidity sensor 1-8 and a controller 1-9, and the support mechanism 1-3 comprises an OLED screen bracket 1-3A, a control support plate 1-3B, a control support 1-3C and a touch sensor support 1-3D; the playback module 1-5 comprises a loudspeaker 1-5A, a playback controller 1-5B and a loudspeaker bracket 1-5C; the mouth opening and closing mechanism 1-7 comprises a double-shaft steering engine 1-7A, a double-shaft steering engine support 1-7B, a pull rope guide 1-7C, a plastic-coated metal rope 1-7D, a mouth component 1-7E, a mouth support 1-7F, a metal shaft 1-7G, a support plate 1-7H and a metal rope containing ring 1-7I;

the OLED screen 1-2 is arranged at the position of the panel 1-1 imitating human eyes through an OLED screen support 1-3A, and the touch sensor 1-4 is fixedly connected with the supporting plate 1-7H through a touch sensor support 1-3D and is arranged at the position of the panel 1-1 imitating human nose; the playback module 1-5 is arranged at the position of the face plate 1-1 imitating the human mouth; the playback controller 1-5B is arranged on the horn bracket 1-5C, and the horn 1-5A is fixedly connected with the panel 1-1 through the horn bracket 1-5C; the collision sensor 1-6 is arranged at the position of the face plate 1-1 imitating the upper jaw of a person, and the touch end of the collision sensor faces downwards; the mouth opening and closing mechanism 1-7 is fixedly connected with the panel 1-1 through a supporting plate 1-7H, the double-shaft steering engine 1-7A is fixedly connected with the supporting plate 1-7H through a double-shaft steering engine support 1-7B, output shafts at two ends of the double-shaft steering engine 1-7A are respectively fixed in shaft holes of two metal rope containing rings 1-7I, one end of a plastic-coated metal rope 1-7D is fixedly connected with the metal rope containing rings 1-7I, the other end of the plastic-coated metal rope is fixedly connected with a mouth support 1-7F through a pull rope guide 1-7C, the mouth support 1-7F is fixedly connected with a mouth component 1-7E, and the mouth support 1-7F can rotate around a metal shaft 1-7G; the temperature and humidity sensors 1-8 and the controllers 1-9 are arranged on the supporting plates 1-7H.

In the embodiment, the OLED screen 1-2 is in the prior art, and the manufacturer is Shenzhen display electronics Limited company with the model number of 12864 OLED.

In the present embodiment, the TOUCH sensors 1 to 4 are the prior art, and the manufacturer is Nanjing winged alliance electronics Inc., model number TOUCH.

In the embodiment, the sound emitting modules 1 to 5 are in the prior art, and the manufacturer is Shenzhen Qiongxiong company, and the model is MPERLD.

In this embodiment, the dual-axis steering engine 1-7A is available in the prior art, and the manufacturer is intelligent Rui trade company of RDS 3115.

The moderate temperature and humidity sensors 1-8 in the embodiment are in the prior art, and the manufacturer is Jiangyin Jingyin brightness instrument limited company with the model of DHT 11.

In the embodiment, the controllers 1 to 9 are in the prior art, and the manufacturer is Shanghai wildfire information technology Co., Ltd, and the model is Openduino.

The second embodiment is as follows: the embodiment is described with reference to fig. 2 and 3, and the neck part 2 of the embodiment comprises a double-shaft steering engine steering wheel 2-1, a double-shaft neck steering engine 2-2, a neck steering engine support 2-3, a single-shaft steering engine fluted disc 2-4, a single-shaft steering engine 2-5, a single-shaft steering engine support 2-6, a main support plate 2-7 and a connecting piece 2-8;

the shaft holes of the two double-shaft steering engine steering wheels 2-1 are connected with output shafts of the neck double-shaft steering engines 2-2, the double-shaft steering engine steering wheels 2-1 are fixedly connected with neck steering engine supports 2-3, the neck steering engine supports 2-3 are fixedly connected with connecting pieces 2-8, supporting plates 1-7H are fixedly installed on the upper end faces of the connecting pieces 2-8, the lower end face of each single-shaft steering engine support 2-6 is fixedly connected with a single-shaft steering engine 2-5, the upper end face of each single-shaft steering engine support is fixedly connected with the neck double-shaft steering engine 2-2, and the rear end face of each single-shaft steering engine 2-5.

In the embodiment, the neck double-shaft steering engine 2-2 is in the prior art, and the manufacturer is creative microelectronics Limited and has the model of RDS 3120.

In the embodiment, the single-shaft steering engine 2-5 is the prior art, and the manufacturer is creative microelectronics Limited and is of the type DG-2020.

The third concrete implementation mode: the present embodiment is described with reference to fig. 4, 5, and 6, in the present embodiment, the control system 3 mainly includes a main chip STM32F407ZGT7, the main chip STM32F407ZGT7 is in control connection with the OLED panel 1-2, the touch sensor 1-4, the temperature and humidity sensor 1-8, the sound playing module 1-5, the impact sensor 1-6, the mouth opening and closing mechanism 1-7, and the neck 2, the driving chip of the OLED panel 1-2 is an SSD1306, RST, D/C, SCL, SDA pins of the OLED panel 1-2 are respectively connected with PA0, PA1, PA2, and PA3 pins of the main chip STM32F407ZGT7, the SIG1 pin of the touch sensor 1-4 is connected with a PD0 pin of the main chip STM32F407ZGT7 for feeding back and responding to a touch signal, the temperature and humidity sensor 1-8 includes a chip STM32F407ZGT 10, a STC 11, and a STC RC C7D chip txf 32D 84 of the main chip PA9 pin connection for dual-machine communication, the OUT pin of the DHT11 chip is connected with a pull-up resistor R2 and then connected with a P1.0 pin of an STC89C52RC chip, a power indicator lamp and a resistor R3 are connected in series between VCC and GND, the sound reproduction module 1-5 mainly uses an XFS5152CE chip and a TPA2005DIDRBR chip, the P2.2, P2.3, P2.4 and P2.5 pins of the STC89C52RC chip are respectively connected with SPI _ SI, SPI _ SO, SPI _ SCK and SPI _ SSEL pins of the XFS5152CE chip and are used for converting read temperature and humidity text information into audio information, the SIG2 pin of the collision sensor 1-6 is connected with a PD5 pin of an STM32F407ZGT7 of a main chip and is used for limiting the action of a mouth opening and closing mechanism 1-7, the action of a double-shaft S1 pin of a double shaft 631-7A in the opening and closing mechanism 1-7 is used for controlling the action of the neck of the STM 2 and driving mechanism, and the neck of the steering engine is used for controlling the neck part 2 neck part of the steering engine to control mechanism, The S2 and S3 pins of the single-shaft steering engine 2-5 are respectively connected with the PA11 and PA15 pins of the main chip STM32F407ZGT7 and are used for controlling the neck to complete pitching and rotating actions.

Principle of operation

The temperature and humidity sensor 1-8 monitors temperature and humidity information in a science and technology museum in real time and displays the temperature and humidity information on the OLED screen 1-2, when a visitor touches the touch sensor 1-4, the sound reproduction module 1-5 broadcasts the current temperature and humidity information, opening and closing mouth movement and neck pitching and turning movement are completed at the same time, and therefore high humanoid movement of swinging the head and opening the mouth to speak is achieved.

The temperature and humidity monitoring control process comprises the following steps:

the temperature and humidity sensors 1-8 mainly use an STC89C52RC chip and a DHT11 chip, the power supply voltage of the DHT11 is 3-5.5V, a single bus data format is adopted for communication and synchronization between an OUT pin and the STC89C52RC chip, one-time communication is about 4ms, one-time complete data transmission is 40 bits, high bit first-OUT is carried OUT, 8-bit humidity integer data, 8-bit humidity decimal data, 8-bit temperature integer data, 8-bit temperature decimal data and 8-bit temperature decimal data are verified, after the STC89C52RC chip sends a start signal, the DHT11 is switched from the low power consumption mode to the high speed mode, after the start signal is finished, the DHT11 sends a corresponding signal and sends out 40 bits of data, triggering the acquisition of a temperature and humidity signal, reading temperature and humidity data in a register by an STC89C52RC chip after the acquisition and conversion are finished, the temperature and humidity data are transmitted to the main chip STM32F407ZGT7 through double-computer communication through the cross serial port line, and the temperature and humidity data are transmitted to the OLED screen for display by the main chip STM32F407ZGT 7.

The control process of the display of the OLED screen 1-2 is as follows:

the main chip STM32F407ZGT7 and the driving chip SSD1306 of the OLED screen adopt an I2C communication protocol, the main chip STM32F407ZGT7 initializes data communication by a start condition, the start condition is established by pulling SDA from HIGH and SCL to HIGH, a slave address is used as a mark following the start condition, for the SSD1306 slave address b0111100, the write mode is established by changing a D/C bit to LOW or HIGH, a response signal is generated after receiving data of one byte, the response signal is defined by pulling an SDA line down in a HIGH period of a clock pulse related to a response, after the slave address is transmitted, a control byte or a digital byte starts to be transmitted through the SDA, the response bit is generated after receiving each control byte or data byte, the main chip STM32F407ZGT7 writes humiture data into a GDDRAM for storing display data, and meanwhile, a corresponding display command is sent to the SSD1306 chip, and the drive chip scans and displays the monitored temperature and humidity data frame by frame according to the command requirement.

The control process of the playback modules 1 to 5 is as follows:

the playback controller 1-5B in the playback module 1-5 mainly comprises an XFS5152CE chip and a TPA2005DIDRBR chip, the XFS5152CE chip and the STC89C52RC chip form an SPI communication protocol, the STC89C52RC chip converts temperature and humidity information collected on the DHT11 chip into an audio file, the audio file is output to a power amplifier chip TPA2005DIDRBR through an AO _ N, AO _ P pin, the power amplifier chip TPA2005DIDRBR amplifies and outputs an audio signal to the loudspeaker 1-5A, and the loudspeaker 1-5A is connected with a resistor R1 and a capacitor C1 which are connected in series in parallel and used for reducing signal interference, transmitting the filtered audio signal to the loudspeaker 1-5A and broadcasting the temperature and humidity information.

The control process of the mouth opening and closing action and the neck pitching and rotating action and the working principle are as follows:

pins PA7, PA11 and PA15 of the main chip STM32F407ZGT7 are respectively in control connection with the double-shaft steering engine 1-7A, the neck double-shaft steering engine 2-2 and the single-shaft steering engine 2-5, when a visitor touches the touch sensor 1-4, the main chip STM32F407ZGT7 detects the level jump of a PD0 pin connected with the touch sensor 1-4, controls the output shaft of the double-shaft steering engine 1-7A to rotate and drives the metal rope containing ring 1-7I to rotate, the metal rope containing ring 1-7I is fixedly connected with one end of a plastic-coated metal rope 1-7D, the metal rope containing ring 1-7I rotates to enable the plastic-coated metal rope 1-7D to pull a mouth component 1-7E fixedly connected with the mouth support 1-7F to swing around a metal shaft 1-7G, so as to realize mouth opening and closing actions, wherein the collision sensor 1-6 is fixed at the lowest end of the panel 1-1 for limiting, when the collision sensor 1-6 triggers feedback information to the main chip STM32F407ZGT7, mouth opening action is realized, hardware timing of a basic timer TIM6 of the main chip STM32F407ZGT7 is triggered at the same time, mouth opening action is stopped at 0.5S, the double-shaft steering engine 1-7A rotates reversely to complete mouth closing action, the rotating speed of an output shaft of the double-shaft steering engine is controlled by a PID algorithm, the rotating speed of the output shaft is stable, and when a playback module finishes broadcasting, the mouth opening and closing mechanism 1-7 is reset to a position where a mouth is closed and the collision sensor is just triggered;

the lower end surface of a single-shaft steering engine 2-5 in the neck part 2 is fixedly connected with a main support plate 2-7, the single-shaft steering engine 2-5 rotates to drive a single-shaft steering engine bracket 2-6 fixedly connected with the single-shaft steering engine to rotate, the single-shaft steering engine bracket 2-6 is fixedly connected with a neck double-shaft steering engine 2-2, the neck double-shaft steering engine 2-2 drives the neck steering engine bracket 2-3 to rotate and drives a connecting piece 2-8 fixedly connected with the head part 1, thereby completing the pitching and rotating actions of the neck of the robot, realizing the neck actions when the collision sensors 1-6 trigger feedback information to the main chip STM32F407ZGT7, and simultaneously performing the pitching actions and the rotating actions, wherein the pitching actions are performed in the sequence of firstly rotating downwards by 30 degrees and then rotating upwards by 30 degrees, the rotating actions are performed in the sequence of firstly rotating left by 45 degrees and then rotating right by 45 degrees, when the playback module finishes broadcasting, the neck 2 resets and returns to the position where the head 1 looks ahead.

Claims

1. First neck of science and technology center usher robot device with function is reported to humiture, its characterized in that: the head and neck device of the welcome robot of the science and technology museum with the temperature and humidity broadcasting function comprises a head (1), a neck (2) and a control system (3), wherein the head (1) comprises a panel (1-1), an OLED screen (1-2), a supporting mechanism (1-3), a touch sensor (1-4), a sound reproduction module (1-5), a collision sensor (1-6), a mouth opening and closing mechanism (1-7), a temperature and humidity sensor (1-8) and a controller (1-9), and the supporting mechanism (1-3) comprises an OLED screen bracket (1-3A), a control supporting plate (1-3B), a control supporting column (1-3C) and a touch sensor supporting column (1-3D); the playback module (1-5) comprises a loudspeaker (1-5A), a playback controller (1-5B) and a loudspeaker bracket (1-5C); the mouth opening and closing mechanism 1-7 comprises a double-shaft steering engine (1-7A), a double-shaft steering engine support (1-7B), a pull rope guide (1-7C), a plastic-coated metal rope (1-7D), a mouth component (1-7E), a mouth support (1-7F), a metal shaft (1-7G), a supporting plate (1-7H) and a metal rope containing ring (1-7I);

the OLED screen (1-2) is arranged at the position of the panel (1-1) imitating human eyes through an OLED screen support (1-3A), and the touch sensor (1-4) is fixedly connected with the supporting plate (1-7H) through a touch sensor support (1-3D) and is arranged at the position of the panel (1-1) imitating human nose; the playback module (1-5) is arranged at the position of the face plate (1-1) imitating the human mouth; the playback controller (1-5B) is arranged on the loudspeaker bracket (1-5C), and the loudspeaker (1-5A) is fixedly connected with the panel (1-1) through the loudspeaker bracket (1-5C); the collision sensor (1-6) is arranged at the position of the panel (1-1) imitating the upper jaw of a person, and the touch end of the collision sensor faces downwards; the opening and closing nozzle mechanisms (1-7) are fixedly connected with the panel (1-1) through supporting plates (1-7H), the double-shaft steering engine (1-7A) is fixedly connected with the supporting plate (1-7H) through a double-shaft steering engine bracket (1-7B), output shafts at two ends of the double-shaft steering engine (1-7A) are respectively fixed in shaft holes of the two metal rope containing rings (1-7I), one end of the plastic-coated metal rope (1-7D) is fixedly connected with the metal rope containing ring (1-7I), the other end is fixedly connected with the mouth support (1-7F) through the pull rope guide (1-7C), the mouth support (1-7F) is fixedly connected with the mouth component (1-7E), and the mouth support (1-7F) can rotate around a metal shaft (1-7G); the temperature and humidity sensors (1-8) and the controllers (1-9) are arranged on the supporting plates (1-7H);

the neck (2) comprises a double-shaft steering engine steering wheel disc (2-1), a double-shaft neck steering engine (2-2), a neck steering engine support (2-3), a single-shaft steering engine fluted disc (2-4), a single-shaft steering engine (2-5), a single-shaft steering engine support (2-6), a main support plate (2-7) and a connecting piece (2-8);

the shaft holes of the two double-shaft steering engine steering wheels (2-1) are connected with output shafts of neck double-shaft steering engines (2-2), the double-shaft steering engine steering wheels (2-1) are fixedly connected with neck steering engine supports (2-3), the neck steering engine supports (2-3) are fixedly connected with connecting pieces (2-8), supporting plates (1-7H) are fixedly arranged on the upper end faces of the connecting pieces (2-8), the lower end faces of the single-shaft steering engine supports (2-6) are fixedly connected with single-shaft steering engines (2-5), the upper end faces of the single-shaft steering engine supports are fixedly connected with the neck double-shaft steering engines (2-2), and the rear end faces of the single-shaft steering engines (2-5) are fixedly connected with main support plates (2-;

the control system (3) mainly comprises a main chip STM32F407ZGT7, the main chip STM32F407ZGT7 is in control connection with an OLED screen (1-2), a touch sensor (1-4), a temperature and humidity sensor (1-8), a sound playing module (1-5), a collision sensor (1-6), a mouth opening and closing mechanism (1-7) and a neck (2), a driving chip of the OLED screen (1-2) is SSD1306, RST, D/C, SCL and SDA pins of the OLED screen (1-2) are respectively connected with PA0, PA1, PA2 and PA3 pins of a main chip STM32F407ZGT7, a SIG1 pin of the touch sensor (1-4) is connected with a PD0 pin of the main chip STM32F ZGT7 for feeding back and responding to a touch signal, the temperature and humidity sensor (1-8) mainly comprises an STC89C RC chip and a DHT11 chip, the STC 73789C RC and the STC 32F 4642 pin of the STC 3, the STC 32F 4642 pin of the main chip and the TXF 407ZGT 84, PA9 pin connection for dual-machine communication, the OUT pin of the DHT11 chip is connected with a pull-up resistor R2 and then connected with a P1.0 pin of an STC89C52RC chip, a power indicator lamp and a resistor R3 are connected in series between VCC and GND, the sound reproduction module (1-5) mainly comprises an XFS5152CE chip and a TPA2005DIDRBR chip, the pins P2.2, P2.3, P2.4 and P2.5 of the STC89C RC chip are respectively connected with the pins SPI _ SI, SPI _ SO, SPI _ SCK and SPI _ SSEL of the XFS5152CE chip and are used for converting read temperature and humidity text information into audio information, the SIG2 pin of the collision sensor (1-6) is connected with the PD5 pin of a ZGT7 of a main chip STM32F407, the PD5 pin is used for limiting the opening and closing mechanism (1-7) action, and the dual-shaft (1-7A) pin of the opening and closing mechanism (1-7) is used for controlling the actuating mechanism (1-7) for opening and closing the STM 2 chip (6857) actuating mechanism (STM) and actuating the actuating mechanism (1-7) and the actuating mechanism (685, pins S2 and S3 of a neck double-shaft steering engine (2-2) and a single-shaft steering engine (2-5) in the neck (2) are respectively connected with pins PA11 and PA15 of a main chip STM32F407ZGT7 and are used for controlling the neck (2) to complete pitching and rotating actions; the pitching action sequence is that the neck part rotates downwards for 30 degrees firstly and then rotates upwards for 30 degrees, the turning action sequence is that the neck part rotates leftwards for 45 degrees firstly and then rotates rightwards for 45 degrees, and when the playback module (1-5) finishes broadcasting, the neck part (2) resets to the front position of the head part (1) in front of the front view.