CN117506950A - Diversified flexible bionic expression robot, control method and control system - Google Patents
Diversified flexible bionic expression robot, control method and control system Download PDFInfo
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- CN117506950A CN117506950A CN202311590044.XA CN202311590044A CN117506950A CN 117506950 A CN117506950 A CN 117506950A CN 202311590044 A CN202311590044 A CN 202311590044A CN 117506950 A CN117506950 A CN 117506950A
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- 230000014509 gene expression Effects 0.000 title claims abstract description 129
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims abstract description 23
- 210000005252 bulbus oculi Anatomy 0.000 claims description 38
- 230000008859 change Effects 0.000 claims description 36
- 239000010410 layer Substances 0.000 claims description 24
- 230000003993 interaction Effects 0.000 claims description 21
- 210000001508 eye Anatomy 0.000 claims description 16
- 210000002615 epidermis Anatomy 0.000 claims description 14
- 210000003128 head Anatomy 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 8
- 210000004709 eyebrow Anatomy 0.000 claims description 7
- 210000000744 eyelid Anatomy 0.000 claims description 7
- 230000008921 facial expression Effects 0.000 claims description 7
- 239000002344 surface layer Substances 0.000 claims description 6
- 230000008451 emotion Effects 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims description 4
- 210000000887 face Anatomy 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 2
- 210000003491 skin Anatomy 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 206010002942 Apathy Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Classifications
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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
- B25J11/001—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means with emotions simulating means
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a flexible bionic expression robot, a control method and a control system, which comprise a model head, a framework, a driving module and a skin layer; one side of the framework is attached to one side of the model head; the driving module comprises a cheek driving module; the cheek driving module comprises a first driving source, a first crank and a first rocker, wherein the first driving source drives the first crank, and the first rocker comprises a first rod body and a first contact part; the first driving source drives the first crank to rotate a plurality of angles, so that the first contact part drives the first area to generate flexible deformation degree to generate deep and shallow variation expression. According to the flexible bionic expression robot, the first area is formed towards the framework by the skin layer, the first contact part is concavely embedded or wrapped in the first area, and when the first driving source drives the first crank to rotate for a plurality of angles, the first contact part drives the first area to flexibly deform, so that expressions with different depths of the skin layer are generated.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a control method of a flexible bionic expression robot.
Background
With the development of technology, humanoid robot technology is accelerated to evolve, and has become a new place of technology competition. The domestic humanoid robots are endless in technical results, the application scene is continuously expanded, the localization process of core parts is continuously accelerated, and the robot gradually advances to a more advanced and intelligent direction. However, the current apathy or mechanized expression of the humanoid robot brings bad experience to users, so modern technology is more and more focused on the study of bionic expression of the robot. The control mechanism of the bionic expression of the robot in the prior art is complex, the expression of the robot is controlled to be unnatural, in particular, the bionic expression of the robot cannot be controlled to be regulated in a grading manner, so that the depth of the bionic expression of the robot cannot be controlled to be regulated, and the problem of depth change of the bionic expression controlled by the grading regulation of the bionic expression robot is necessarily solved.
Disclosure of Invention
The invention provides a flexible bionic expression robot, which aims to solve the problem of the hierarchical adjustment of the depth change of a bionic expression of the bionic expression robot.
In order to solve the technical problems, the flexible bionic expression robot comprises a model head, a framework, a driving module and a skin layer; one side of the framework is attached to one side of the model head, and a first chute is formed on the framework; the driving module is positioned on the model head and comprises a mounting frame and a cheek driving module; the cheek driving module comprises a first driving source, a first crank, an adapter, a first rocker and a first rocker arm, wherein the adapter comprises a protruding part and an adapter groove, the adapter groove faces one side of the mounting frame, the adapter is slid on the mounting frame, the first rocker arm comprises a first connecting part and a first clamping groove, the first rocker arm is hinged to the mounting frame, the first driving source is connected with the mounting frame and is used for driving the first crank, the first crank is abutted to the adapter groove to drive the adapter to slide relative to the mounting frame, the protruding part is abutted to the first connecting part to enable the first rocker arm to swing relative to the mounting frame, the first rocker arm is clamped to the first clamping groove to enable the first rocker arm to slide on the first sliding groove, the first rocker arm comprises a first rod body and a first contact part connected with the first rod body, the first contact part is slid on the first sliding groove, and the first contact part is located on one side of the first rod body far away from the first sliding groove; the surface layer comprises the other side, which is attached to the framework, of the model head, a first area is formed towards the framework, the first rod body penetrates through the first sliding groove, so that the first contact part is concavely embedded or wrapped in the first area, the first driving source drives the first crank to rotate for a plurality of angles, and the first contact part drives the first area to generate a flexible deformation degree to generate a deep-shallow change expression.
Further, the cheek driving module further comprises a second rocker and a second rocker, wherein the first rocker is abutted to one side of the protruding portion, the second rocker is abutted to the other side of the protruding portion, the second rocker comprises a second connecting portion and a second clamping groove formed in the second rocker, the second rocker is hinged to the mounting frame, the second rocker is clamped to the second clamping groove so that the second rocker slides in the first sliding groove, the second rocker comprises a second rod body and a second contact portion, the second rod body penetrates through the first sliding groove, the first contact portion and the second contact portion are abutted to the first area, and the first crank asynchronously drives the first rocker and the second rocker so that the first area is deformed flexibly to generate a shallow change expression.
Further, the driving module further comprises an eye driving module, the epidermis layer is provided with a first opening area, the framework is provided with a first notch, the eye driving module comprises a second driving source, a second crank, a tilting rod, a frame and an eyeball model, the two second driving sources are respectively connected with the mounting frame and used for driving one second crank, each second crank is abutted to one end of the tilting rod, the two eyeball models are inserted into the frame at intervals and connected to two ends of the tilting rod, and the ball model penetrates through the first notch and is located in the first opening area;
The tilting rod comprises a tilting body, a first driving part and a second driving part, wherein the two ends of the tilting body are connected with the first driving part and the second driving part, one side of the first driving part or one side of the second driving part is abutted to the second crank, and the other side of the first driving part or the other side of the second driving part is rotationally connected with the eyeball model;
the length direction of the warping rod is defined as a first direction, the height direction of the warping rod is defined as a second direction, a first slot hole is formed in one side of the first driving part along the first direction, a second slot hole is formed in the second driving part on the same side of the first driving part along the second direction, and two second cranks are respectively abutted to the first slot hole and the second slot hole.
Further, the driving module further comprises an eyebrow driving module, an eyelid driving module and a lip driving module, and the epidermis layer further comprises a second area, a third area and a second opening area;
the eyebrow driving module comprises a third driving source, a third crank and a third rocker, wherein the third driving source is connected to the mounting frame and used for driving the third crank;
The third rocker comprises a third connecting part, a third body and a third contact part, two ends of the third body are connected with the third connecting part and the third contact part, the third crank is abutted to drive the third connecting part, and the third contact part is abutted to the second area;
the eyelid driving module comprises a fourth rocker, and the third crank asynchronously drives the third rocker and the fourth rocker;
the fourth rocker comprises a fourth connecting part, a fourth body and a fourth contact part, wherein the fourth connecting part and the fourth contact part are connected to two ends of the fourth body, the third crank is in butt joint with the fourth connecting part, the third crank is positioned between the third connecting part and the fourth connecting part, and the fourth contact part is in butt joint with the third area;
the lip driving module comprises a fifth driving source, a fifth crank and a fifth rocker, wherein the fifth driving source is connected with the mounting frame and used for driving the fifth crank, the fifth crank is abutted to the fifth rocker, the fifth rocker penetrates through the second notch, and the tail end of the fifth rocker is located in the second opening area.
The second aim of the invention is to provide a control method of the flexible bionic expression robot, which aims at realizing a method for controlling the depth change of the bionic expression in a grading way of the bionic expression robot.
In order to solve the technical problems, the control method of the flexible bionic expression robot is provided, and comprises the flexible bionic expression robot:
the first driving source provides a first rotation angle, a second rotation angle and a third rotation angle, and when the first driving source drives the first crank at the first rotation angle, the first contact part drives the first region flexible shallow variation expression;
when the first driving source drives the first crank at the second rotation angle, the first contact portion drives the first region to flexibly moderately change expression;
when the first driving source drives the first crank at the third rotation angle, the first contact portion drives the first region flexible depth change expression.
Further, the first driving source includes a preset first rotation speed, a preset second rotation speed and a preset third rotation speed, and the first rotation angle, the second rotation angle and the third rotation angle can be configured as the first rotation speed, the second rotation speed or the third rotation speed, so that the first area is controlled to generate flexible deformation to generate the speed degree of expression change.
Further, the driving module further comprises a first sensor, a second sensor and a controller, wherein the first sensor and the second sensor are both positioned on the mounting frame, the first sensor, the second sensor and the first driving source are all electrically connected with the controller, the first sensor is used for detecting the first crank rotation angle, and the second sensor is used for detecting the first crank rotation speed;
when the first sensor detects that the first crank rotation angle deviates from the first rotation angle, the second rotation angle or the third rotation angle, the first sensor negatively feeds back to the controller, and the controller adjusts the first driving source to enable the first crank to meet the preset angle;
when the second sensor detects that the second crank rotation angle deviates from the first rotation speed, the second rotation speed or the third rotation speed, the second sensor negatively feeds back to the controller, and the controller adjusts the first driving source to enable the first crank to meet the preset speed.
Further, the second driving source provides a driving force including a clockwise rotation angle and a counterclockwise rotation angle;
When only the second driving source of the first driving part rotates clockwise by an angle, the eyeball model moves towards the upper part of the first opening region;
when only the second driving source of the first driving part rotates counterclockwise by an angle, the eyeball model moves towards the lower part of the first opening region;
when only the second driving source of the second driving part rotates clockwise by an angle, the eyeball model moves towards the left side of the first opening region;
when only the second driving source of the second driving part rotates counterclockwise by an angle, the model eye moves toward the right of the first opening area;
when the second driving source of the first driving part rotates clockwise by an angle, the eyeball model moves towards the upper left side of the first opening region;
when the second driving source of the first driving part rotates clockwise by an angle, the eyeball model moves towards the upper right side of the first opening region when the second driving source of the second driving part rotates anticlockwise by an angle;
when the second driving source of the first driving part rotates anticlockwise and the second driving source of the second driving part rotates clockwise, the eyeball model moves towards the lower left side of the first opening area;
When the second driving source of the first driving part rotates counterclockwise by an angle, the eyeball model moves towards the lower right side of the first opening region.
The third object of the invention is to provide a control system of the flexible bionic expression robot, which aims to realize a control method of the bionic expression robot for controlling the variation of the bionic expression.
In order to solve the technical problems, the control system of the flexible bionic expression robot is provided, and comprises the control method of the flexible bionic expression robot:
the flexible bionic expression robot is provided with a voice interaction module, the voice interaction module is in communication connection with the controller, and when a user sends out a voice command, the flexible bionic expression robot controls to generate expressions corresponding to the voice command requirement of the client.
Further, the flexible bionic expression robot is further provided with a touch module and a visual interaction module, wherein the touch module and the visual interaction module are both in communication connection with the controller, and when a user touches the epidermis layer, the flexible bionic expression robot controls to generate expression changes corresponding to the epidermis layer position; when the facial expression of the user changes, the visual interaction module detects that the facial expression of the user changes along with the change.
The implementation of the embodiment of the invention has the following beneficial effects:
1. in the flexible bionic expression robot with diversity in the first embodiment, as the surface layer is formed towards the framework to form the first area, the first contact part is concavely embedded or wrapped in the first area, and the first driving source drives the first crank to rotate for a plurality of angles, the first contact part drives the first area to flexibly deform, so that the surface layer generates expressions with different depth changes, and the problem that the bionic expression robot in the prior art cannot realize hierarchical adjustment, so that the depth of the bionic expression of the robot cannot be controlled and adjusted is solved;
2. in the flexible bionic expression robot with diversity in the first embodiment, as the first rocker is abutted to one side of the protruding part and the second rocker is abutted to the other side of the protruding part, the first crank asynchronously drives the first rocker and the second rocker, and further the first area is flexibly deformed to enrich the expression of depth change;
3. in the control method of the flexible bionic expression robot in the second embodiment, the first driving source provides the first rotation angle, the second rotation angle and the third rotation angle, so that when the first driving source drives the first crank in a non-angle manner, the first contact part drives the first area to flexibly generate a shallow, medium and deep expression change method;
4. In the third embodiment, the flexible bionic expression robot control system is provided with the voice interaction module, so that when a user sends a voice command, the flexible bionic expression robot control generates the expression corresponding to the client voice command, and the intelligent control of the expression of the flexible bionic expression robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a bionic expression robot according to an embodiment of the invention;
fig. 2 is an explosion schematic diagram of a bionic expression robot according to an embodiment of the invention;
FIG. 3 is an exploded view of a driving module according to an embodiment of the invention;
FIG. 4 is an exploded view of a cheek actuation module according to one embodiment of the present invention;
FIG. 5 is a right side view of an adapter according to an embodiment of the present invention;
FIG. 6 is a schematic view illustrating a structure of a first rocker arm according to an embodiment of the present invention;
FIG. 7 is a schematic view of a second rocker arm according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating a third rocker according to an embodiment of the present invention;
FIG. 9 is a schematic structural view of a fourth rocker according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a warpage bar according to an embodiment of the present invention;
fig. 11 is a schematic diagram of a control method of a bionic expression robot according to a second embodiment of the invention;
fig. 12 is a schematic diagram of a control system of a bionic expression robot according to a third embodiment of the invention.
Wherein: 100. a bionic expression robot; 110. a model head; 120. a skeleton; 121. a first chute; 122. a first notch; 123. a second notch; 124. a second chute; 130. a driving module; 131. a mounting frame; 132. a cheek drive module; 1321. a first driving source; 1322. a first crank; 1323. an adapter; 13231. a boss; 13232. an adaptation groove; 1324. a first rocker; 13241. a first rod body; 13242. a first contact portion; 1325. a second rocker; 13251. a second rod body; 13252. a second contact portion; 1326. a first rocker arm; 13261. a first connection portion; 13262. a first clamping groove; 1327. a second rocker arm; 13271. a second connecting portion; 13272. a second clamping groove; 133. an eye driving module; 1331. a second driving source; 1332. a second crank; 1333. a tilting rod; 13331. a tilted body; 13332. a first driving section; 13301. a first slot; 13333. a second driving section; 13302. a second slot; 1334. a frame; 1335. an eyeball model; 134. an eyebrow driving module; 1341. a third driving source; 1342. a third crank; 1343. a third rocker; 13431. a third connecting portion; 13432. a third body; 13433. a third contact portion; 135. an eyelid driving module; 1351. a fourth rocker; 13511. a fourth connecting portion; 13512. a fourth body; 13513. a fourth contact portion; 136. a lip driving module; 1361. a fifth driving source; 1362. a fifth crank; 1363. a fifth rocker; 140. a skin layer; 141. a first region; 142. a first opening region; 143. a second region; 144. a third region; 145. and a second opening region.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 1 to 10, a first embodiment of the present invention provides a flexible bionic expression robot 100, which includes a model head 110, a skeleton 120, a driving module 130 and a skin layer 140; one side of the framework 120 is attached to one side of the model head 110, and the framework 120 is provided with a first chute 121; the driving module 130 is located on the model head 110, and the driving module 130 comprises a mounting frame 131 and a cheek driving module 132; the cheek driving module 132 includes a first driving source 1321, a first crank 1322, an adapter 1323, a first rocker 1324 and a first rocker 1326, the adapter 1323 includes a boss 13231 and an adapting slot 13232, the adapting slot 13232 faces one side of the mounting frame 131, the adapter 1323 slides on the mounting frame 131, the first rocker 1326 includes a first connecting portion 13261 and a first clamping slot 13262 formed therein, the first rocker 1326 is hinged to the mounting frame 131, the first driving source 1321 is connected to the mounting frame 131 and is used for driving the first crank 1322, the first crank 1322 abuts against the adapting slot 13232 to drive the adapter 1323 to slide relative to the mounting frame 131, the boss 13231 abuts against the first connecting portion 13261 to swing the first rocker 1326 relative to the mounting frame 131, the first rocker 1324 is clamped to the first clamping slot 13262 to slide the first rocker 1324 on the first sliding slot 121, the first rocker 1324 includes a first rod 13241 and a first contact portion 13242 connected to the first rod body 13241, and the first rod body 13241 is located on one side of the first sliding slot 121 away from the first sliding slot 121; the skin layer 140 includes a first region 141 attached to the opposite side of the skeleton 120 opposite to the model head 110, the skin layer 140 is formed towards the skeleton 120, and the first rod 13241 passes through the first chute 121 to enable the first contact portion 13242 to be concavely embedded or wrapped in the first region 141, wherein the first driving source 1321 drives the first crank 1322 to rotate a plurality of angles, so that the first contact portion 13242 drives the first region 141 to generate a flexible deformation degree to generate a deep-shallow variation expression. In particular applications, since the skin layer 140 is formed with the first area 141 toward the skeleton 120, and the first contact portion 13242 is concavely embedded or wrapped in the first area 141, when the first driving source 1321 drives the first crank 1322 to rotate a plurality of angles, for example, when the first crank 1322 rotates a small angle, the first crank 1322 drives the adapter 1323 to slide relative to the mounting bracket 131, and when the adapter 1323 slides upward relative to the mounting bracket 131, the protruding portion 13231 on the adapter 1323 abuts against the first connecting portion 13261, so that the first rocker 1326 is clamped to the first rocker 1324 to swing relative to the mounting bracket 131, and part of the first rod 13241 of the first rocker 1324 is clamped to the first clamping groove 13262, and the first contact portion 13242 of the first rocker 1324 is embedded or wrapped on the inner surface of the first area 141, the first crank 1322 drives the adaptor 1323 to enable the first rocker 1324 connected to the adaptor 1323 to slide on the first chute 121, so that the first contact portion 13242 drives the first area 141 to generate flexible slight deformation (corresponding to the small rotation angle of the first crank 1322), and further the epidermis layer 140 generates shallow expression change, and it can be understood that when the first crank 1322 rotates by a large angle, the corresponding first contact portion 13242 drives the first area 141 to generate flexible deep deformation, and further the epidermis layer 140 generates deep expression change, and therefore, the bionic expression robot 100 can display a certain expression in a grading manner according to different degrees, and it can be understood that the first crank 1322 can generate N expression changes of different degrees in the continuous rotation process, so that the expression change of the bionic expression robot 100 can be gradually deepened from shallow.
In one possible embodiment, the cheek driving module 132 further includes a second rocker 1325 and a second rocker 1327, wherein the first rocker 1324 abuts against one side of the boss 13231, the second rocker 1325 abuts against the other side of the boss 13231, the second rocker 1327 includes a second connecting portion 13271 and a second clamping groove 13272 formed therein, the second rocker 1327 is hinged to the mounting frame 131, the second rocker 1325 is clamped in the second clamping groove 13272, so that the second rocker 1325 slides in the first sliding groove 121, the second rocker 1325 includes a second rod 13251 and a second contact portion 13252, the second rod 13251 passes through the first sliding groove 121, the first contact portion 13242 and the second contact portion 13252 both abut against the first region 141, and the first crank 1322 asynchronously drives the first rocker 1324 and the second rocker 1325 to flexibly deform the first region 141 to change the depth. In a specific application, because the first rocker 1324 abuts against one side of the adapter 1323, the second rocker 1325 abuts against the other side of the adapter 1323, so that the first crank 1322 asynchronously drives the first rocker 1324 and the second rocker 1325, because the first contact portion 13242 and the second contact portion 13252 abut against the first region 141, it is worth explaining, one end of the first rocker 1324 abuts against the upper side of the adapter 1323, one end of the second rocker 1325 abuts against the lower side of the adapter 1323, that is, when the first crank 1322 drives the adapter 1323 to move upwards, the adapter 1323 drives the first rocker 1324 to swing upwards, so that the first contact portion 13242 pulls the first region 141 to deform upwards, when the first crank 1322 drives the adapter 1323 to move downwards, the second rocker 1325 pulls the first region 141 to deform downwards, and thus when the first crank 1322 drives the first rocker 1324, the first rocker 1325 acts on the first region 1322 to act on the first region 141, so that the first region 141 can be more flexible than the first region 141, and the first region 141 can be more flexible than the first region 141 can be driven by a human, and the first robot can make the first region of a different from a deep-like, and the first region of a human being more flexible, and the first region of the first robot can be more flexible.
In one possible embodiment, the driving module 130 further includes an eye driving module 133, the epidermis layer 140 is formed with a first opening area 142, the skeleton 120 is formed with a first notch 122, the eye driving module 133 includes a second driving source 1331, a second crank 1332, a tilt rod 1333, a frame 1334 and an eyeball model 1335, the two second driving sources 1331 are respectively connected to the mounting frame 131 and are respectively used for driving one second crank 1332, each second crank 1332 is abutted to one end of the tilt rod 1333, the two eyeball models 1335 are inserted at two ends of the frame 1334 connected to the tilt rod 1333 at intervals, and the eyeball model 1335 is located in the first opening area 142 through the first notch 122;
the warping rod 1333 comprises a warping body 13331, a first driving part 13332 and a second driving part 13333, wherein the first driving part 13332 and the second driving part 13333 are connected to two ends of the warping body 13331, one side of the first driving part 13332 or the second driving part 13333 is abutted against the second crank 1332, and the other side of the first driving part 13332 or the second driving part 13333 is rotatably connected with the eyeball model 1335;
the length direction of the warping bar 1333 is defined as a first direction, the height direction of the warping bar 1333 is defined as a second direction, a first slot 13301 is formed in one side of the first driving portion 13332 along the first direction, a second slot 13302 is formed in the second direction in the second driving portion 13333 on the same side as the first driving portion 13332, and two second cranks 1332 are respectively abutted to the first slot 13301 and the second slot 13302. In a specific application, in order to control the eyeball model 1335 to generate 8 types of diversity by using a simple structure, the warpage rod 1333 needs to be controlled to deflect or transversely move, wherein a first slot 13301 is formed on one side of the first driving portion 13332 along a first direction, a second slot 13302 is formed on the second driving portion 13333 on the same side of the first driving portion 13332 along a second direction, two second cranks 1332 are respectively abutted against the first slot 13301 and the second slot 13302, and thus, when the two second driving sources 1331 respectively control angles, the second cranks 1332 are abutted against the first slot 13301 or the second slot 13302, so that the warpage rod 1333 deflects or transversely moves to realize 8 types of diversity of the eyeball model 1335.
In one possible embodiment, the driving module 130 further includes an eyebrow driving module 134, an eyelid driving module 135, and a lip driving module 136, the epidermis layer 140 further includes a second area 143, a third area 144, and a second opening area 145, and the skeleton 120 further includes a second notch 123 and a second chute 124;
the eyebrow driving module 134 includes a third driving source 1341, a third crank 1342 and a third rocker 1343, the third driving source 1341 is connected to the mounting frame 131 for driving the third crank 1342, the third crank 1342 drives the third rocker 1343, and the third rocker 1343 slides on the second chute 124;
the third rocker 1343 includes a third connecting portion 13431, a third body 13432 and a third contact portion 13433, two ends of the third body 13432 are connected to the third connecting portion 13431 and the third contact portion 13433, the third crank 1342 abuts against and drives the third connecting portion 13431, and the third contact portion 13433 abuts against the second region 143;
the eyelid driving module 135 comprises a fourth rocker 1351, a third crank 1342 asynchronously drives a third rocker 1343 and the fourth rocker 1351, the fourth rocker 1351 sliding in the second chute 124;
the fourth rocker 1351 comprises a fourth connecting portion 13511, a fourth body 13512 and a fourth contact portion 13513, wherein both ends of the fourth body 13512 are connected with the fourth connecting portion 13511 and the fourth contact portion 13513, the third crank 1342 abuts against and drives the fourth connecting portion 13511, the third crank 1342 is located between the third connecting portion 13431 and the fourth connecting portion 13511, and the fourth contact portion 13513 abuts against the third region 144;
The lip driving module 136 includes a fifth driving source 1361, a fifth crank 1362, and a fifth rocker 1363, the fifth driving source 1361 is connected to the mounting frame 131 for driving the fifth crank 1362, the fifth crank 1362 abuts against the fifth rocker 1363, the fifth rocker 1363 passes through the second slot 123, and the end of the fifth rocker 1363 is located in the second opening area 145. In a specific application, when the third driving source 1341 drives the third crank 1342 to rotate for a plurality of angles, the third rocker 1343 and the fourth rocker 1351 drive the second region 143 and the third region 144 to generate flexible deep-shallow deformation respectively, so that the third region 144 and the fourth region of the skin layer 140 generate graded control deformation to generate an expression matching the variation of the first region 141; when the fifth driving source 1361 drives the fifth crank 1362 to rotate a plurality of angles, the fifth rocker 1363 drives the second opening area 145 to open and close the lips, thereby causing the staged opening and closing deformation of the second opening area 145 of the skin layer 140 to generate an expression that varies in coordination with the first area 141.
Example two
This embodiment differs from the subject matter claimed in embodiment one in the following, in particular:
referring to fig. 11, a second embodiment of the present invention provides a method for controlling a diversity flexible bionic expression robot 100, which includes the foregoing diversity flexible bionic expression robot 100:
The first driving source 1321 provides a first rotational angle, a second rotational angle, and a third rotational angle, and when the first driving source 1321 drives the first crank 1322 at the first rotational angle, the first contact portion 13242 drives the first region 141 to flexibly change the expression shallowly;
when the first driving source 1321 drives the first crank 1322 at the second rotation angle, the first contact portion 13242 drives the first region 141 to flexibly moderately change expression;
when the first driving source 1321 drives the first crank 1322 at the third rotation angle, the first contact portion 13242 drives the first region 141 to flexibly change the expression of depth. In a specific application, the first rotation angle is smaller than the second rotation angle, the second rotation angle is smaller than the third rotation angle, and when the first driving source 1321 drives the first crank 1322 at the first rotation angle, the first contact portion 13242 drives the first region 141 to change the expression in a shallow degree of flexibility; when the first driving source 1321 drives the first crank 1322 at the second rotation angle, the first contact portion 13242 drives the first region 141 to flexibly moderately change expression; when the first driving source 1321 drives the first crank 1322 at the third rotation angle, the first contact portion 13242 drives the first region 141 to change the expression in the flexible depth, and thus, the multi-stage adjustment control of the facial expression of the bionic robot is realized by controlling the rotation angle of the first driving source 1321, so that the first region 141 generates the corresponding flexible deformation.
In one possible embodiment, the first driving source 1321 includes a preset first rotation speed, a preset second rotation speed, and a preset third rotation speed, where the first rotation angle, the second rotation angle, and the third rotation angle may be set to be the first rotation speed, the second rotation speed, or the third rotation speed, so as to control the speed of the first region 141 in which the flexible deformation generates the expression change. In a specific application, in order to control the expression change speed, the first driving source 1321 is preset with a first rotation speed, a second rotation speed and a third rotation speed, and the first rotation angle, the second rotation angle and the third rotation angle can be set to be the first rotation speed, the second rotation speed or the third rotation speed so as to control the speed of the expression change generated by the flexible deformation of the first area 141, thus, the expression-like control method can be more naturally implemented, and it can be understood that the expression change of a person is not instantaneous or slow, so that the expression change control method of a person is very necessary and important to control the expression change speed of a face.
In one possible embodiment, the driving module 130 further includes a first sensor, a second sensor and a controller, where the first sensor and the second sensor are located on the mounting frame 131, and the first sensor, the second sensor and the first driving source 1321 are electrically connected to the controller, the first sensor is used to detect a rotation angle of the first crank 1322, and the second sensor is used to detect a rotation speed of the first crank 1322;
When the first sensor detects that the rotation angle of the first crank 1322 deviates from the first rotation angle, the second rotation angle or the third rotation angle, the first sensor negatively feeds back to the controller, and the controller adjusts the first driving source 1321 to enable the first crank 1322 to meet the preset angle;
when the second sensor detects that the rotation speed of the second crank 1332 deviates from the first rotation speed, the second rotation speed, or the third rotation speed, the second sensor negatively feeds back to the controller, and the controller adjusts the first driving source 1321 so that the first crank 1322 meets the preset speed. In a specific application, in order to improve accuracy and naturalness of the bionic expression robot 100 when manufacturing an expression, when the first sensor detects that the rotation angle of the first crank 1322 deviates from the first rotation angle, or the second rotation angle, or the third rotation angle, the first sensor negatively feeds back to the controller, and the controller adjusts the first driving source 1321 to enable the first crank 1322 to meet a preset angle; when the second sensor detects that the rotation speed of the second crank 1332 deviates from the first rotation speed, or the second rotation speed, or the third rotation speed, the second sensor negatively feeds back to the controller, and the controller adjusts the first driving source 1321 to enable the first crank 1322 to meet the preset speed, so that the rotation angle and the rotation speed of the first driving source 1321 are controlled through the first sensor and the second sensor negatively feeding back, thereby improving the accuracy and the naturalness when the bionic expression robot 100 makes the expression, and it can be understood that the second driving source 1331, the third driving source 1341 and the fifth driving source 1361 can all realize the negatively feeding back to control the rotation angle and the rotation speed.
In one possible embodiment, the second driving source 1331 provides a driving signal including a clockwise rotation angle and a counterclockwise rotation angle;
when only the second driving source 1331 of the first driving part 13332 rotates clockwise by an angle, the eye model 1335 moves toward the upper side of the first opening region 142;
when only the second driving source 1331 of the first driving part 13332 rotates counterclockwise by an angle, the eyeball model 1335 moves toward the lower side of the first opening region 142;
when only the second driving source 1331 of the second driving part 13333 rotates clockwise by an angle, the eye model 1335 moves toward the left of the first opening region 142;
when only the second driving source 1331 of the second driving portion 13333 is rotated counterclockwise by an angle, the eye model 1335 moves toward the right of the first opening region 142;
when the second driving source 1331 of the first driving portion 13332 rotates clockwise by an angle, the eyeball model 1335 moves toward the upper left side of the first opening region 142 when the second driving source 1331 of the second driving portion 13333 rotates clockwise by an angle;
when the second driving source 1331 of the first driving portion 13332 rotates clockwise by an angle, and the second driving source 1331 of the second driving portion 13333 rotates counterclockwise by an angle, the eyeball model 1335 moves toward the upper right side of the first opening region 142;
When the second driving source 1331 of the first driving portion 13332 rotates counterclockwise by an angle, the second driving source 1331 of the second driving portion 13333 rotates clockwise by an angle, the eyeball model 1335 moves toward the lower left side of the first opening region 142;
when the second driving source 1331 of the first driving portion 13332 rotates counterclockwise by an angle, the second driving source 1331 of the second driving portion 13333 rotates counterclockwise by an angle, the eyeball model 1335 moves toward the lower right side of the first opening region 142. In a specific application, the two second driving sources 1331 drive the two second cranks 1332 so that the eyeball model 1335 can at least realize 8 types of changes, namely, when only the second driving source 1331 of the first driving portion 13332 rotates clockwise by an angle, the eyeball model 1335 moves towards the upper side of the first opening region 142; when only the second driving source 1331 of the first driving part 13332 rotates counterclockwise by an angle, the eyeball model 1335 moves toward the lower side of the first opening region 142; when only the second driving source 1331 of the second driving part 13333 rotates clockwise by an angle, the eye model 1335 moves toward the left of the first opening region 142; when only the second driving source 1331 of the second driving portion 13333 is rotated counterclockwise by an angle, the eye model 1335 moves toward the right of the first opening region 142; when the second driving source 1331 of the first driving portion 13332 rotates clockwise by an angle, the eyeball model 1335 moves toward the upper left side of the first opening region 142 when the second driving source 1331 of the second driving portion 13333 rotates clockwise by an angle; when the second driving source 1331 of the first driving portion 13332 rotates clockwise by an angle, and the second driving source 1331 of the second driving portion 13333 rotates counterclockwise by an angle, the eyeball model 1335 moves toward the upper right side of the first opening region 142; when the second driving source 1331 of the first driving portion 13332 rotates counterclockwise by an angle, the second driving source 1331 of the second driving portion 13333 rotates clockwise by an angle, the eyeball model 1335 moves toward the lower left side of the first opening region 142; when the second driving source 1331 of the first driving part 13332 rotates counterclockwise by an angle, and the second driving source 1331 of the second driving part 13333 rotates counterclockwise by an angle, the eye model 1335 moves toward the lower right side of the first opening region 142, and the variety of the bionic expression robot 100 is greatly enriched by the combination of the movement mode of the eye model 1335 and the first region 141, the second region 143 or the third region 144.
Example III
The present embodiment is different from the subject matter protected in the second embodiment, and specifically different from the first embodiment:
referring to fig. 12, a third embodiment of the present invention provides a control system for a flexible bionic expression robot 100, which includes the above control method for the flexible bionic expression robot 100:
the flexible bionic expression robot 100 is provided with a voice interaction module, the voice interaction module is in communication connection with the controller, and when a user sends out a voice command, the flexible bionic expression robot 100 controls to generate expressions corresponding to the voice command requirements of the user. In a specific application, the voice interaction module is in communication connection with the controller, so that when a user sends a voice command, the various bionic expression robot 100 controls to generate an expression corresponding to the voice command requirement of the user, in addition, the bionic expression robot 100 can further inquire whether the user executes expression generation or not through the voice interaction module, or when the user and the bionic expression robot 100 are in dialogue through the voice interaction module, the controller can control the bionic expression robot 100 to generate the expression.
In one possible implementation manner, the diversity flexible bionic expression robot 100 is further provided with a touch module and a visual interaction module, wherein the touch module and the visual interaction module are both in communication connection with the controller, and when a user touches the skin layer 140, the diversity bionic expression robot 100 controls to generate expression changes corresponding to the position of the skin layer 140; when the facial expression of the user changes, the visual interaction module detects that the facial expression of the user changes along with the change. In a specific application, in order to improve intelligent expression change of the bionic expression robot 100, the flexible bionic expression robot 100 is further provided with a touch module and a visual interaction module, the touch module and the visual interaction module are both in communication connection with a controller, a user can manually make an expression of the epidermis layer 140 when touching, pressing and pinching the epidermis layer 140 through the touch module, and the controller controls the corresponding module to maintain the expression; through the visual interaction module, the bionic expression robot 100 can make expression adjustment according to the state or environmental change of the client, the expression adjustment includes adjustment of forward guiding the emotion of the user, and the adjustment can be interesting expression smiling user, so that the user obtains the reduced emotion value.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. A flexible bionic expression robot of diversity, characterized in that includes:
a model head;
one side of the framework is attached to one side of the model head, and a first chute is formed on the framework;
the driving module is positioned on the model head and comprises a mounting frame and a cheek driving module; the cheek driving module comprises a first driving source, a first crank, an adapter, a first rocker and a first rocker arm, wherein the adapter comprises a protruding part and an adapter groove, the adapter groove faces one side of the mounting frame, the adapter is slid on the mounting frame, the first rocker arm comprises a first connecting part and a first clamping groove, the first rocker arm is hinged to the mounting frame, the first driving source is connected with the mounting frame and is used for driving the first crank, the first crank is abutted to the adapter groove to drive the adapter to slide relative to the mounting frame, the protruding part is abutted to the first connecting part to enable the first rocker arm to swing relative to the mounting frame, the first rocker arm is clamped to the first clamping groove to enable the first rocker arm to slide on the first sliding groove, the first rocker arm comprises a first rod body and a first contact part connected with the first rod body, the first contact part is slid on the first sliding groove, and the first contact part is located on one side of the first rod body far away from the first sliding groove;
The surface layer comprises a surface layer which is attached to the other side of the framework opposite to the model head, a first area is formed on the surface layer towards the framework, the first rod body penetrates through the first sliding groove to enable the first contact portion to be embedded or wrapped in the first area, the first driving source drives the first crank to rotate for a plurality of angles, and the first contact portion drives the first area to generate a flexible deformation degree to generate a deep-shallow change expression.
2. The flexible bionic expression robot of claim 1, wherein the cheek driving module further comprises a second rocker and a second rocker, wherein the first rocker abuts against one side of the protruding portion, the second rocker abuts against the other side of the protruding portion, the second rocker comprises a second connecting portion and a second clamping groove formed in the second rocker, the second rocker is hinged to the mounting frame, the second rocker is clamped in the second clamping groove so that the second rocker slides in the first sliding groove, the second rocker comprises a second rod body and a second contact portion, the second rod body penetrates through the first sliding groove, the first contact portion and the second contact portion abut against the first area, and the first crank asynchronously drives the first rocker and the second rocker so that the first area is deformed flexibly to generate shallow variation.
3. The flexible bionic expression robot according to claim 2, wherein the driving module further comprises an eye driving module, the epidermis layer is formed with a first opening area, the skeleton is formed with a first notch, the eye driving module comprises a second driving source, a second crank, a tilting rod, a frame and an eyeball model, the two second driving sources are respectively connected with the mounting frame and used for driving one second crank, each second crank is abutted to one end of the tilting rod, the two eyeball models are inserted into the two ends of the frame at intervals and connected with the tilting rod, and the ball model is located in the first opening area through the first notch;
the tilting rod comprises a tilting body, a first driving part and a second driving part, wherein the two ends of the tilting body are connected with the first driving part and the second driving part, one side of the first driving part or one side of the second driving part is abutted to the second crank, and the other side of the first driving part or the other side of the second driving part is rotationally connected with the eyeball model;
the length direction of the warping rod is defined as a first direction, the height direction of the warping rod is defined as a second direction, a first slot hole is formed in one side of the first driving part along the first direction, a second slot hole is formed in the second driving part on the same side of the first driving part along the second direction, and two second cranks are respectively abutted to the first slot hole and the second slot hole.
4. The flexible bionic expression robot according to any one of claims 1 to 3, wherein the driving module further comprises an eyebrow driving module, an eyelid driving module, and a lip driving module, the epidermis layer further comprises a second area, a third area, and a second opening area, and the skeleton further comprises a second notch and a second chute;
the eyebrow driving module comprises a third driving source, a third crank and a third rocker, wherein the third driving source is connected to the mounting frame and used for driving the third crank, the third crank drives the third rocker, and the third rocker slides in the second sliding groove;
the third rocker comprises a third connecting part, a third body and a third contact part, two ends of the third body are connected with the third connecting part and the third contact part, the third crank is abutted to drive the third connecting part, and the third contact part is abutted to the second area;
the eyelid driving module comprises a fourth rocker, the third crank asynchronously drives the third rocker and the fourth rocker, and the fourth rocker slides in the second chute;
The fourth rocker comprises a fourth connecting part, a fourth body and a fourth contact part, wherein the fourth connecting part and the fourth contact part are connected to two ends of the fourth body, the third crank is in butt joint with the fourth connecting part, the third crank is positioned between the third connecting part and the fourth connecting part, and the fourth contact part is in butt joint with the third area;
the lip driving module comprises a fifth driving source, a fifth crank and a fifth rocker, wherein the fifth driving source is connected with the mounting frame and used for driving the fifth crank, the fifth crank is abutted to the fifth rocker, the fifth rocker penetrates through the second notch, and the tail end of the fifth rocker is located in the second opening area.
5. A method for controlling a diversity flexible bionic expression robot, comprising the diversity flexible bionic expression robot according to any one of claims 1 to 4:
the first driving source provides a first rotation angle, a second rotation angle and a third rotation angle, and when the first driving source drives the first crank at the first rotation angle, the first contact part drives the first region flexible shallow variation expression;
When the first driving source drives the first crank at the second rotation angle, the first contact portion drives the first region to flexibly moderately change expression;
when the first driving source drives the first crank at the third rotation angle, the first contact portion drives the first region flexible depth change expression.
6. The method according to claim 5, wherein the first driving source includes a preset first rotation speed, a preset second rotation speed, and a preset third rotation speed, and the first rotation angle, the second rotation angle, and the preset third rotation angle can be set as the first rotation speed, the second rotation speed, or the third rotation speed, so as to control the speed of the first region in which the flexible deformation generates the expression change.
7. The method of claim 6, wherein the driving module further comprises a first sensor, a second sensor and a controller, wherein the first sensor and the second sensor are both positioned on the mounting frame, and the first sensor, the second sensor and the first driving source are all electrically connected with the controller, wherein the first sensor is used for detecting the first crank rotation angle, and the second sensor is used for detecting the first crank rotation speed;
When the first sensor detects that the first crank rotation angle deviates from the first rotation angle, the second rotation angle or the third rotation angle, the first sensor negatively feeds back to the controller, and the controller adjusts the first driving source to enable the first crank to meet the preset angle;
when the second sensor detects that the second crank rotation angle deviates from the first rotation speed, the second rotation speed or the third rotation speed, the second sensor negatively feeds back to the controller, and the controller adjusts the first driving source to enable the first crank to meet the preset speed.
8. The method of claim 7, wherein the second driving source provides a driving force including a clockwise rotation angle and a counterclockwise rotation angle;
when only the second driving source of the first driving part rotates clockwise by an angle, the eyeball model moves towards the upper part of the first opening region;
when only the second driving source of the first driving part rotates counterclockwise by an angle, the eyeball model moves towards the lower part of the first opening region;
When only the second driving source of the second driving part rotates clockwise by an angle, the eyeball model moves towards the left side of the first opening region;
when only the second driving source of the second driving part rotates counterclockwise by an angle, the model eye moves toward the right of the first opening area;
when the second driving source of the first driving part rotates clockwise by an angle, the eyeball model moves towards the upper left side of the first opening region;
when the second driving source of the first driving part rotates clockwise by an angle, the eyeball model moves towards the upper right side of the first opening region when the second driving source of the second driving part rotates anticlockwise by an angle;
when the second driving source of the first driving part rotates anticlockwise and the second driving source of the second driving part rotates clockwise, the eyeball model moves towards the lower left side of the first opening area;
when the second driving source of the first driving part rotates counterclockwise by an angle, the eyeball model moves towards the lower right side of the first opening region.
9. A diversity flexible bionic expression robot control system, characterized by comprising the diversity flexible bionic expression robot control method according to any one of claims 5-8:
the flexible bionic expression robot is provided with a voice interaction module, the voice interaction module is in communication connection with the controller, and when a user sends out a voice command, the flexible bionic expression robot controls to generate expressions corresponding to the voice command requirement of the client.
10. The diverse flexible biomimetic emotion robot control system of claim 9, further provided with a touch module and a visual interaction module, both in communication with the controller, wherein when a user touches the epidermis layer, the diverse biomimetic emotion robot controls to produce an emotion change corresponding to the epidermis layer; when the facial expression of the user changes, the visual interaction module detects that the facial expression of the user changes along with the change.
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