CN111469143A - Lantern host robot - Google Patents

Abstract

The invention relates to a lantern host robot, which comprises an intelligent analysis system, a control system and a control system, wherein the intelligent analysis system is used for acquiring emotion and semanteme to be expressed and generating a control instruction of facial expression; the motion control system is used for generating a bottom layer control level signal according to the control instruction; the structure execution system comprises an execution mechanism with a plurality of freedom degrees of motion, and is used for executing corresponding expression actions according to the bottom layer control level signal; the invention increases the facial expression of the robot, the eyes can blink and rotate, various facial expressions (worry, anger and joy) can be realized by matching with the action of the eyelids, and a plurality of actions (pitching, swinging and rotating) are designed for the small lantern, so that the vividness of the small lantern on the stage is ensured, and the interactivity is enhanced; in order to embody the national style theme, the scientific and technological elements are highlighted, the lantern image is skillfully adopted, and the aesthetic feeling of the small lantern on the modeling art is embodied.

Description

Lantern host robot

Technical Field

The invention belongs to the technical field of artificial intelligence, and particularly relates to a lantern hosting robot.

Background

Robots capable of replacing humans to perform repetitive physical labor, or those that are dangerous and exceed human limits, have been commonly used in industrial manufacturing, medical care, national defense, emergency rescue, home service. In recent years, along with the cross fusion of science and technology and art and the growth of people on cultural consumption, performance robots are emerging, and robots in forms such as dancing robots, unmanned aerial vehicle formation performance, robot bands and the like are appearing.

In the related art, no lantern-hosting robot exists in the robot, no robot can host the performance of a stage play, and no host type robot is designed according to Chinese artistic elements. The existing robots with the hosting function are all service robots, have single expression, can only blink or even can not move the mouth, do some simple limb actions, have basically humanoid appearance and basically similar appearance, do not have great breakthrough, and are not suitable for hosting the performance of stage play; there is no appearance theme, all the subjects are basically the modern science and technology sense, and even there is no host robot which can embody the Chinese wind.

Disclosure of Invention

In view of this, the present invention aims to overcome the defects of the prior art, and provides a lantern master robot to solve the problems in the prior art that the boiler operation real-time data record is discontinuous, incomplete and inaccurate, and the current boiler operation situation cannot be known in time.

In order to achieve the purpose, the invention adopts the following technical scheme: a lantern-hosting robot, comprising: the intelligent analysis system is used for acquiring emotion and semanteme to be expressed and generating a control instruction of facial expression;

the motion control system is used for generating a bottom layer control level signal according to the control instruction;

and the structure execution system comprises an execution mechanism with a plurality of freedom degrees of motion and is used for executing corresponding expression actions according to the bottom layer control level signal.

Further, the method also comprises the following steps:

and the voice system is used for outputting voice in coordination with the mouth action.

Further, the motion control system includes:

the singlechip is used for generating level signals required by each actuating mechanism according to the control instructions generated by the intelligent analysis system so as to drive each actuating mechanism to execute corresponding expression actions;

the serial port module is used for data communication between the single chip microcomputer and the intelligent analysis system;

the steering engine control board is used for controlling the steering engine of the actuating mechanism to move;

l ED driver for providing drive signals to the L ED light strip of the actuator to control the dimming of the L ED light strip;

the serial port module, the steering engine control panel and the L ED driver are respectively connected with the single chip microcomputer.

Further, the motion control system further includes:

the 24V power module is used for providing electric energy for the L ED lamp strip;

and the 7V power supply module is used for providing electric energy for the single chip microcomputer and the steering engine control panel.

Further, the structure execution system includes:

the face executing mechanism is used for executing mechanical actions with three degrees of freedom, namely blinking, eyeball rotation and eyeball eyelid axial rotation, under the control of the motion control system;

the top actuating mechanism is used for executing mechanical actions with three degrees of freedom of top rotation, pitching and swinging under the control of the motion control system;

and the connection actuating mechanism is used for connecting the lantern shell with the structure actuating system.

Further, the facial actuator includes: the eyelid and the eyelid are arranged above the eyeball and are arranged on the eye base, and the eyelid is rotatable relative to the eye base;

the eye base is also provided with a first steering engine for providing power for blinking; the first steering engine is connected with the first steering engine disc and used for adjusting the blinking angle of the eyelids; the eyelid is connected with the first steering engine disc through a first fisheye bearing connecting rod and used for transmitting power provided by the first steering engine to the eyelid to realize blinking;

the eye base is also provided with a second steering engine for providing power for the rotation of the eyeball; the second steering engine is connected with a second steering engine disc and used for adjusting the left-right rotation angle of the eyeball; the second steering engine is connected with the eyeball through a second fisheye bearing and used for transmitting power provided by the second steering engine to the eyeball to realize the left-right rotation of the eyeball;

the eye base is provided with a supporting rotating base through a bearing, and the supporting rotating base drives the eye base to rotate so that the eye base drives the eyeball eyelid to axially rotate; the eye base is connected with a third steering engine disc, and the third steering engine disc is connected with a third steering engine and used for providing power for axial rotation of eyeball eyelids.

Further, the top actuator includes: a torso;

the trunk is fixed on a gear disc, the gear disc is arranged on a large gear, the large gear is meshed with a small gear, the large gear and the small gear are arranged in a gear box, and the small gear is arranged on an output shaft of the first trunk steering engine through a first trunk steering engine base; the first trunk steering engine is used for providing rotary power for the trunk;

the trunk is also provided with a second trunk steering engine base used for mounting a second trunk steering engine, and the second trunk steering engine is used for providing pitching power for the trunk; a first worm is arranged on an output shaft of the second trunk steering engine, a first worm block is arranged on the first worm, and the first worm block is used for converting the rotation of the first worm into linear motion;

the trunk is also provided with a third trunk steering engine base for mounting a third trunk steering engine, and the third trunk steering engine is used for providing swinging power for the trunk; and a second worm is arranged on an output shaft of the third trunk steering engine, and is provided with two worm blocks which are used for converting the rotation of the second worm into linear motion.

Further, the connection actuator further includes:

and the top hoisting structure is rigidly connected with the supporting rotating base.

Further, the top hoisting structure comprises:

the connecting sheet is matched with the first adjustable column for use and is connected with the upper edge frame body of the lantern through screws so as to fix the outer shell of the lantern; the second adjustable column is sleeved on the outer surface of the first adjustable column, and the first adjustable column is matched with the second adjustable column to adjust the length and is fixed in the lantern shell.

Further, the connection executing machine further includes:

and the upper end of the connecting piece is connected with the top hoisting structure, and the lower end of the connecting piece is connected with the face executing mechanism.

By adopting the technical scheme, the invention can achieve the following beneficial effects:

the method comprises the steps that an intelligent analysis system is arranged and used for obtaining emotion and semanteme to be expressed and generating a control instruction of facial expressions; the motion control system is used for generating a bottom layer control level signal according to the control instruction; the structure execution system comprises an execution mechanism with a plurality of freedom degrees of movement, and is used for executing corresponding expression actions according to the underlying control level signal, the facial expressions of the robot are increased, eyes of the small lantern hosting robot can blink and rotate, and a plurality of facial expressions (worry, anger and happy) are realized by matching with the actions of eyelids; the movable mouth can be designed by matching with a voice system, and the movable mouth is more real and vivid by matching with voice; in order to increase the interest of the small lantern on the stage, the small lantern is designed with a plurality of actions (pitching, swinging and rotating), so that the vividness of the small lantern on the stage is ensured, and the interactivity is enhanced; in order to embody the national style theme, the scientific and technological elements are highlighted, the lantern image is skillfully adopted, and the aesthetic feeling of the small lantern on the modeling art is embodied.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative effort.

Fig. 1 is a system functional architecture diagram of a performance interaction lantern-hosting robot according to an embodiment of the present invention;

FIG. 2 is a schematic circuit diagram of a motion control system of a performance interaction lantern-hosting robot according to an embodiment of the present invention;

FIG. 3 is a front view of a performance interaction lantern-hosting robot provided in accordance with an embodiment of the present invention;

FIG. 4 is a left side view of a performance interaction lantern-hosting robot provided in accordance with an embodiment of the present invention;

FIG. 5 is a top view of a performance interaction lantern-hosting robot provided in accordance with an embodiment of the present invention;

FIG. 6 is a block diagram of a face actuator according to an embodiment of the present invention;

FIG. 7 is a mechanical block diagram of facial blink freedom provided by an embodiment of the present invention;

FIG. 8 is a mechanical block diagram of the facial yaw freedom provided by an embodiment of the present invention;

FIG. 9 is a mechanical schematic of the head pitch freedom provided by an embodiment of the present invention;

FIG. 10 is an overall block diagram of a top actuator according to one embodiment of the present invention;

FIG. 11 is an enlarged view of the mechanical structure at A with the top actuator in rotational freedom according to one embodiment of the present invention;

FIG. 12 is an enlarged view of the mechanical structure at B with the top actuator in the pitch degree of freedom according to one embodiment of the present invention;

FIG. 13 is an enlarged view of the mechanical structure at C with the top actuator in a rocking degree of freedom according to an embodiment of the present invention;

FIG. 14 is a block diagram of a connection actuator according to an embodiment of the present invention;

fig. 15 is a flowchart illustrating an operation of an intelligent learning system of a performance interaction lantern-hosting robot according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the protection scope of the present invention.

A specific lantern-hosting robot provided in the embodiments of the present application is described below with reference to the accompanying drawings.

As shown in fig. 1, a lantern-hosting robot provided in an embodiment of the present application includes:

the intelligent analysis system 1 is used for acquiring emotion and semanteme to be expressed and generating a control instruction of facial expression;

the motion control system 2 is used for generating a bottom layer control level signal according to the control instruction;

and the structure execution system 3 comprises an execution mechanism with a plurality of freedom degrees of motion and is used for executing corresponding expression actions according to the bottom layer control level signal.

The lantern-hosting robot has the working principle that: the performance interaction lantern host robot comprises 3 parts including an intelligent analysis system 1, a motion control system 2 and a structure execution system 3, wherein the three parts are respectively the brain, cerebellum and skeletal muscle of the robot, the intelligent analysis system 1 makes a decision to generate a control instruction, the motion control system 2 generates a bottom layer control level signal, and the specific action of the structure execution system 3 finally realizes the performance of the small lantern host robot. Specifically, the intelligent analysis system 1 acquires emotion and semantic meaning to be expressed, and generates a control instruction of facial expression; the motion control system 2 generates a bottom layer control level signal according to the control instruction; the structure executing system 3 has executing mechanisms with a plurality of degrees of freedom of movement, and is used for executing corresponding expression actions according to the bottom layer control level signals.

In some embodiments, further comprising:

and the voice system is used for outputting voice in coordination with the mouth action.

Speech system in this application can export pronunciation according to actual need, and speech system cooperates the mouth action of lantern host robot, and is more true lively.

In some embodiments, as shown in fig. 2, the motion control system 2 includes:

the single chip microcomputer 21 is used for generating level signals required by each executing mechanism according to the control instructions generated by the intelligent analysis system 1 so as to drive each executing mechanism to execute corresponding expression actions;

the serial port module 22 is used for data communication between the single chip microcomputer 21 and the intelligent analysis system 1;

the steering engine control board 23 is used for controlling the steering engine of the actuating mechanism to move;

l ED driver 24 for providing drive signals to the L ED light strip of the actuator to control the dimming of the L ED light strip;

the serial port module 22, the steering engine control board 23 and the L ED driver 24 are respectively connected with the single chip microcomputer 21.

Specifically, the work flow of the motion control system 2 in the present application is as follows:

allocating a control address: in the singlechip 21, distributing input and output register addresses for each output control signal by a software programming method;

analyzing the control command: the software of the singlechip 21 analyzes the control instruction input by the intelligent analysis system 1 to obtain the logic and numerical time sequence of each input/output register address;

generating a control electrical signal: the single chip 21 generates a 5V switching level, a PWM wave and an analog signal at a corresponding pin according to a signal time sequence of each input/output address, and then amplifies the signals to control electrical signals required for driving the actuator.

It should be noted that the single chip 21 provided in the present application may also adopt a programmable logic controller (P L C), a DSP, an FPGA, a PC, and the like, and the lantern-hosting robot in the present application adopts a 3D printing material, and may adopt most polymer materials such as resin, nylon, P L a, and the like, and the present application is not limited herein.

Preferably, the motion control system 2 further includes:

a 24V power module 25, configured to provide power to the L ED light strip;

and the 7V power module 26 is used for providing electric energy for the singlechip 21 and the steering engine control panel 23.

Specifically, the working principle of each device is as follows:

the single chip microcomputer 21: the core component of the motion control system 2 generates a required 5V control level signal at a corresponding output pin according to a control instruction; program downloading and debugging of the singlechip 21 by an external computer can be accepted;

the serial port module 22: the motion control system 2 is in serial port communication with an external system through the module;

steering engine control panel 23: generating PWM square waves according to the control instruction, and controlling the motion of a robot steering engine; it should be noted that the steering engine described herein includes all the steering engines in the following embodiments.

24V power module 25: providing 24V direct current power supply for the lamp strip;

7V power module 26: and 7V direct-current power supplies are provided for the singlechip 21, the steering engine control panel 23 and the steering engine.

L ED driver 24 outputs 24V PWM wave to control light brightness change.

The operation flow of the motion control system 2 is shown in fig. 5, and includes:

allocating a control address: in the singlechip 21, distributing an input/output register address for each output control signal by a software programming method;

analyzing the control command: the software of the singlechip 21 analyzes the control instruction input by the intelligent analysis system 1 to obtain the logic and numerical time sequence of each input/output register address;

generating a control electrical signal: the single chip 21 generates 5V switching level, PWM wave and analog signal at the corresponding pin according to the signal time sequence of each input/output address, and then amplifies the signals to control electric signals required for driving the actuator.

Preferably, as shown in fig. 3, 4 and 5, the structure implementing system 3 includes:

a face actuator 31 for executing mechanical actions of three degrees of freedom, namely blinking, eyeball 311 rotation, and eyeball 311 eyelid 312 axial rotation, under the control of the motion control system 2;

a top actuator 32 for performing mechanical motions of three degrees of freedom top rotation, pitch and yaw under the control of the motion control system 2;

a connection actuator 33 for connecting the lantern housing 34 with the structural actuator system 3.

Specifically, the face actuator 31 performs mechanical motions of three degrees of freedom, namely blinking, eyeball 311 rotation, and eyeball 311 eyelid 312 axial rotation, under the control of the motion control system 2, the top actuator 32 performs mechanical motions of three degrees of freedom, namely top rotation, pitch, and roll, under the control of the motion control system 2, and the connection actuator 33 connects the lantern housing 34 with the structural actuator 3, thereby implementing the lantern robot capable of performing blinking, eyeball 311 rotation, eyeball 311 eyelid 312 axial rotation, and capable of rotating, pitch, and roll hosting in the present application.

In some embodiments, as shown in fig. 6 and 7, the facial actuator 31 includes: the eyeball 311, the eyelid 312, and the face actuator 31 are provided with a top 313 and a mouth 314 in the upper sea, which can give a sense of beauty. The eyelid 312 is positioned above the eyeball 311, the eyelid 312 and the eyeball 311 are both arranged on the eye base 315, and the eyelid 312 is rotatable relative to the eye base 315.

As shown in fig. 7, a first steering engine 316 is further disposed on the eye base 315 for providing power for blinking; the first steering engine 316 is connected with a first steering engine disc 317 and is used for adjusting the blinking angle of the eyelid 312; the eyelid 312 is connected with the first steering engine disc 317 through a first fisheye bearing connecting rod 318, and is used for transmitting power provided by the first steering engine 316 to the eyelid 312 to realize blinking; wherein the first rudder disk 317 and the first fisheye bearing link 318 can rotate relatively;

as shown in fig. 8, a second steering engine 319 is further disposed on the eye base 315, and is used for providing power for the rotation of the eyeball 311; the second steering engine 319 is connected with a second steering engine disk 320 and is used for adjusting the left-right rotation angle of the eyeball 311; the second steering engine 319 is connected with the eyeball 311 through a second fisheye bearing and is used for transmitting power provided by the second steering engine 319 to the eyeball 311 to realize the left-right rotation of the eyeball 311; the second rudder plate 320 and the second fisheye bearing connecting rod 321 can rotate relatively;

as shown in fig. 9, the eye base 315 is mounted and supported by a rotating base 322 through a bearing, and the supporting rotating base 322 drives the eye base 315 to rotate, so that the eye base 315 drives the eyeball 311 to axially rotate the eyelid 312; the eye base 315 is connected with a third steering engine plate 323, and the third steering engine plate 323 is connected with a third steering engine 324 and used for providing power for the axial rotation of the eyelid 312 of the eyeball 311.

Specifically, the lantern host robot eyelid 312 is connected with a first steering wheel disc 317 through a first fisheye bearing connecting rod 318, and blinking actions are completed under the driving of a first steering wheel 316; a second steering engine 319 is mounted on the eye mount 315, the second steering engine 319 being connected to the eyeball 311 by a second fisheye bearing. The second steering engine 319 rotates to provide power, and the second fisheye bearing moves to transmit, so that the eyeball 311 rotates; the eye base 315 integrally supports the rotating base 322 through a bearing, the eye base 315 can drive the eyelid 312 and the eyeball 311 to integrally rotate, and when the eye base 315 axially rotates, the eyelid 312 and the eyeball 311 can simultaneously rotate.

It is understood that the eye base 315 is integrally mounted on the upper side of the supporting and rotating base 322, and can be integrally rotated on the upper side to rotate the eyelid 312 and the eyeball 311. The third steering engine disk is connected to the eye mount 315 and can rotate as the steering engine rotates.

Preferably, as shown in fig. 10, the top actuator 32 includes: the device comprises a trunk, a rotating mechanism, a pitching mechanism and a swinging mechanism, wherein the rotating mechanism is arranged at the position A, the pitching mechanism is arranged at the position B, and the swinging mechanism is arranged at the position C;

as shown in fig. 11, the trunk is fixed on a gear disc 3201, the gear disc 3201 is arranged on a large gear 3202, the large gear 3202 is meshed with a small gear 3203, the large gear 3202 and the small gear 3203 are arranged in a gear box 3204, and the small gear 3203 is arranged on an output shaft of a first trunk steering gear 3205 through a first trunk steering gear seat 3206; the first torso steering gear 3205 is used for providing rotation power for the torso;

specifically, the trunk part of the lantern hosting robot is connected to a large gear 3202, a first trunk steering engine 3205 is used for rotationally driving a small gear 3203, and the small gear 3203 drives the large gear 3202 and the trunk fixedly connected with the large gear 3202 to move through meshing transmission, so that rotation is realized. The gear disc 3201 is used for fixedly connecting a part of the lantern shell 34 including the whole lantern shell with the gear 3202, and the gear 3202 is used as a transmission piece for inputting the rotating force to the lantern shell; the gear case 3204 is used to carry a large gear 3202 and a small gear 3203; the first trunk rudder mount 3206 is used for connecting the steering engine and the gear box 3204; a first torso steering gear 3205 provides top rotational power; the pinion 3203 is connected to the first torso steering gear 3205, and transmits the rotational torque of the first torso steering gear 3205 to the large gear 3202 through meshing transmission.

As shown in fig. 12, a second trunk steering engine base 3207 is further disposed on the trunk and used for mounting a second trunk steering engine 3206, and the second trunk steering engine 3206 is used for providing a pitching power for the trunk; a first worm 3208 is arranged on an output shaft of the second trunk steering engine 3206, a first worm 3209 is arranged on the first worm 3208, and the first worm 3209 is used for converting the rotation of the first worm 3208 into linear motion;

specifically, a second trunk steering engine 3206 provides a pitching power for the trunk, is connected with a first worm 3208, and drives the first worm 3208 to rotate; the first worm 3208 is used as a transmission piece and is connected with the second body steering engine 3206 steering engine and the first worm 3209, and the rotary driving force generated by the second body steering engine 3206 is converted into the linear motion of the first worm 3209; the first worm 3209 is connected to the first worm 3208 as a transmission member, and is movable in the direction of the first worm 3208.

As shown in fig. 13, a third trunk steering engine base 3210 is further disposed on the trunk, and is used for mounting a third trunk steering engine 3211, and the third trunk steering engine 3211 is used for providing a rolling power for the trunk; a second worm 3212 is arranged on an output shaft of the third trunk steering engine 3211, two worm blocks are arranged on the second worm 3212, and the second worm block 3213 is configured to convert rotation of the second worm 3212 into linear motion.

Specifically, the third trunk rudder provides top swing power to connect with the second worm 3212, and drives the second worm 3212 to rotate; the second worm 3212 is used as a transmission member, and is connected to the third torso actuator 3211 and the second worm 3213, so as to convert the rotational driving force generated by the third torso actuator 3211 into a linear motion of the second worm 3213; the second worm block 3213 is connected to the second worm 3212 as a transmission member, and can move along the direction of the second worm 3212.

Preferably, as shown in fig. 14, the connection actuator 33 further includes:

and a top hoisting structure 331 rigidly connected to the supporting rotating base 322.

As shown in fig. 14, the top lifting structure 331 includes:

a connecting piece 3311, which is used in cooperation with the first adjustable post 3312, for connecting with the upper rim frame of the lantern by a screw to fix the lantern housing 34; the second adjustable post 3313 is fitted around the outer surface of the first adjustable post 3312, and the first adjustable post 3312 and the second adjustable post 3313 are fitted to adjust the length and fixed in the lantern housing 34.

Preferably, as shown in fig. 14, the connection actuator further includes:

and the upper end of the connecting piece is connected with the top hoisting structure 331, and the lower end of the connecting piece is connected with the face execution mechanism 31.

Specifically, the first adjustable post 3312 is thinner than the second adjustable post 3313, and the connecting piece 3311 is used in cooperation with the first adjustable post 3312 (thinner), and is connected to the upper rim frame of the lantern by screws; when the first adjustable post 3312 (thin) is connected to the connecting piece 3311, the upper rim 341 of the lantern is clamped in the middle; second tunable column 3313 (coarse): which is thicker than the first adjustable post 3312 (thinner) so that the first adjustable post 3312 (thinner) can be adjusted within it; the upper edge of the connecting piece is connected with the top hoisting structure 331, and the lower edge is connected with the face executing mechanism 31; the upper rim frame of the lantern is a fixed surface of the lantern housing 34.

Finally, in the present application, as shown in fig. 15, the intelligent parsing system mainly synthesizes and learns facial expressions presented for expressing emotion and semantic meaning during human-hosted communication, and generates control codes of intelligent interactive small lantern expressions and actions, and the work flow thereof is as follows:

(1) emotion action design instantiation

And (3) performing expression action arrangement on the virtual small lantern model by an expert (an animator or a designer) according to experience and artistic design to generate a series of expression action templates of the virtual small lantern model.

(2) Look-up table

The system learns the expression action template with expert experience, and searches mathematical parameters of the action mapping table, such as definition, limitation, mapping coefficient and the like of the respective degrees of freedom, as shown in table 1.

Table 1 action mapping table

(3) Mapping

And generating the five sense organs and the suspended action control codes of the small lantern according to the freedom degree movement data of the virtual small lantern model by combining the searched action mapping table content and according to a certain mapping algorithm and rule. There are many kinds of mapping algorithms, one common one is

Linear clipping mapping. If the freedom degree motion data of the virtual small lantern model is theta, and the entity control data of the small lantern is x, then a mapping rule x is f (a theta + B). Wherein A and B are linear transformation matrixes, and f is a limiting function of joint rotation.

In conclusion, the lantern hosting robot provided by the invention increases the facial expression of the robot, eyes of the small lantern hosting robot can blink and rotate, and the small lantern hosting robot is matched with the action of eyelids to realize various facial expressions (worry, anger and happy); the movable mouth can be designed by matching with a voice system, so that the voice is more real and vivid by matching; in order to increase the interest of the small lantern on the stage, the small lantern is designed with a plurality of actions (pitching, swinging and rotating), so that the vividness of the small lantern on the stage is ensured, and the interactivity is enhanced; in order to embody the national style theme and break through the theme of science and technology, the lantern image is skillfully adopted, and the small lantern has aesthetic feeling even if no limbs are arranged on the stage on the basis of ensuring the appearance art.

It is to be understood that the system embodiments provided above correspond to the method embodiments described above, and corresponding specific contents may be referred to each other, which are not described herein again.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (10)

1. A performance interaction lantern-hosting robot, comprising:

the intelligent analysis system is used for acquiring emotion and semanteme to be expressed and generating a control instruction of facial expression;

the motion control system is used for generating a bottom layer control level signal according to the control instruction;

and the structure execution system comprises an execution mechanism with a plurality of freedom degrees of motion and is used for executing corresponding expression actions according to the bottom layer control level signal.

2. A performance interaction lantern hosting robot as described in claim 1 further comprising:

and the voice system is used for outputting voice in coordination with the mouth action.

3. A performance interaction lantern hosting robot as described in claim 1 wherein said motion control system comprises:

the singlechip is used for generating level signals required by each actuating mechanism according to the control instructions generated by the intelligent analysis system so as to drive each actuating mechanism to execute corresponding expression actions;

the serial port module is used for data communication between the single chip microcomputer and the intelligent analysis system;

the steering engine control board is used for controlling the steering engine of the actuating mechanism to move;

l ED driver for providing drive signals to the L ED light strip of the actuator to control the dimming of the L ED light strip;

the serial port module, the steering engine control panel and the L ED driver are respectively connected with the single chip microcomputer.

4. A performance interaction lantern hosting robot as described in claim 3 wherein said motion control system further comprises:

the 24V power module is used for providing electric energy for the L ED lamp strip;

and the 7V power supply module is used for providing electric energy for the single chip microcomputer and the steering engine control panel.

5. A performance interaction lantern hosting robot as described in claim 1 wherein said structure execution system comprises:

the face executing mechanism is used for executing mechanical actions with three degrees of freedom, namely blinking, eyeball rotation and eyeball eyelid axial rotation, under the control of the motion control system;

the top actuating mechanism is used for executing mechanical actions with three degrees of freedom of top rotation, pitching and swinging under the control of the motion control system;

and the connection actuating mechanism is used for connecting the lantern shell with the structure actuating system.

6. A performance interaction lantern hosting robot as described in claim 5 wherein said facial actuator comprises: the eyelid is positioned above the eyeball, and both the eyelid and the eyeball are arranged on the eye base, and the eyelid can rotate relative to the eye base;

the eye base is also provided with a first steering engine for providing power for blinking; the first steering engine is connected with the first steering engine disc and used for adjusting the blinking angle of eyelids; the eyelid is connected with the first steering engine disc through a first fisheye bearing connecting rod and used for transmitting power provided by the first steering engine to the eyelid to realize blinking; the first steering engine disc and the first fisheye bearing connecting rod can rotate relatively;

the eye base is also provided with a second steering engine for providing power for the rotation of the eyeball; the second steering engine is connected with a second steering engine disc and used for adjusting the left-right rotation angle of the eyeball; the second steering engine is connected with the eyeball through a second fisheye bearing and used for transmitting power provided by the second steering engine to the eyeball to realize the left-right rotation of the eyeball; the second steering engine disc and the second fisheye bearing connecting rod can rotate relatively;

the eye base is provided with a supporting rotating base through a bearing, and the supporting rotating base drives the eye base to rotate so that the eye base drives the eyeball eyelid to axially rotate; the eye base is connected with a third steering engine disc, and the third steering engine disc is connected with a third steering engine and used for providing power for axial rotation of eyeball eyelids.

7. A performance interaction lantern hosting robot as described in claim 5, wherein said top actuator comprises: a torso;

the trunk is fixed on a gear disc, the gear disc is arranged on a large gear, the large gear is meshed with a small gear, the large gear and the small gear are arranged in a gear box, and the small gear is arranged on an output shaft of the first trunk steering engine through a first trunk steering engine base; the first trunk steering engine is used for providing rotary power for the trunk;

the trunk is also provided with a second trunk steering engine base used for mounting a second trunk steering engine, and the second trunk steering engine is used for providing pitching power for the trunk; a first worm is arranged on an output shaft of the second trunk steering engine, a first worm block is arranged on the first worm, and the first worm block is used for converting the rotation of the first worm into linear motion;

the trunk is also provided with a third trunk steering engine base for mounting a third trunk steering engine, and the third trunk steering engine is used for providing swinging power for the trunk; and a second worm is arranged on an output shaft of the third trunk steering engine, and is provided with two worm blocks which are used for converting the rotation of the second worm into linear motion.

8. A performance interaction lantern hosting robot as described in claim 6 wherein said connection actuator further comprises:

and the top hoisting structure is rigidly connected with the supporting rotating base.

9. A performance interaction lantern hosting robot as described in claim 8 wherein said top hoisting structure comprises:

the connecting piece is matched with the first adjustable column for use and is connected with the upper edge frame body of the lantern through screws so as to fix the lantern shell; the second adjustable column is sleeved on the outer surface of the first adjustable column, and the first adjustable column is matched with the second adjustable column to adjust the length and is fixed in the lantern shell.

10. A performance interaction lantern hosting robot as described in claim 9 wherein said connection actuator further comprises:

and the upper end of the connecting piece is connected with the top hoisting structure, and the lower end of the connecting piece is connected with the face executing mechanism.

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