CN2551416Y - Robot for simulating man to meet guest - Google Patents

Abstract

The utility model relates to a guest greeting robot which can simulate the action and smell expression of the real human being. A servo motor driver is respectively arranged at the head neck part and the hand joint of the human model, and the corresponding sensor is arranged at the head part which is connected whit the driver, in addition, an elastic simulating surface film is nested on the head surface, the surface film is mechanically connected with the smell driver, and the smell driver receive the double-signal control the head action and the hand action. Automatically following to the customer by the face, and raising of the hand to say goodbye to the customer are respectively realized, in order to smell to the customer and to greet and to see out the customer automatically.

Description

The objective robot of a kind of emulation Renying

The utility model relates to simulates real people art robot field.

Associated machine people's imagination and be produced on the history in existing more than 1,000 year of China, initial people make the dummy with branch of setting and straw and are commonly called as " thatch people ", are used for driveing wild fowl and wild beast, protect crops to exert oneself to a certain extent and are encroached on.This conception is afterwards adopted by the Zhu Ailiang of the period of Three Kingdoms.Made a considerable number of " thatch people " and be used for war, played the fascination effect.The method of mending this initiation of phase up to twentieth century just spreads to western countries, and people have run into poisonous, the dangerous work big with labour intensity, utilize Automatic Control Theory to make the simplest industrial robot at that time, to replace people's manual labor.

Between recent two decades, along with popularizing of computer technology, people have set about developing intelligent robot miscellaneous, to replace people's mental labour.

When the mankind have just stepped into 21st century, although the world has the correlated condition of developing various intelligent robots, because historical and traditional reason and thinking inertia problem, people are the robot standard category of pure robot all the time.

Under the pressure of imagination the surmounting of design interface, under the pressure of people for the pursuit of environment, under the pressure of the pursuit of people to culture, therefore the utility model robot in the past breaks through with a kind of interface, make robot have true man's appearance and appearance, affective activity with the most basic simulation true man, make " she " relate to people's cultural life and hold more just and be human service near the mankind.

The purpose of this utility model is: before existing intelligent robot framework under the topic, to function with structure is done a kind of large-scale improvement and change subtracts; Make the robot production cost drop to below 10% of the cost of original production, simultaneously, increase emulation human face or emulation people appearance, increase and laugh at function actuator, be improved to pyroelectric infrared original photoelectric sensing probe and photoelectric tube alternation probe, significantly to reduce awaiting electric energy consumption, adopt comparatively simple composite intelligent sensor to replace comparatively complicated optoelectronic scanning and computer recognition system, make the composite intelligent sensor, laugh at function actuator and emulation human face and interact and finish the smile and usher in and out the guest.Realization of the present utility model: the mannequin who at first utilizes existing market to sell, one, the right hand of dismantling changes the manipulator that the emulation people moves into; Its two, amputate head and change the emulation head part into as shown in Figure 1.Then composite intelligent sensor, language player are placed in the model abdominal cavity from the neck section part, and boring rearward, fix with several tapping screws, to be installed in down in the lump in the neck chamber of neck section towards tracking driver and servomotor again, make motor shaft protruding upward, be convenient to that neck is connected and fixed on the head capsule body perpendicular to section; Installing in the abdominal cavity communication cable socket stretches out from neck section down, to laugh at function actuator at last places in the ready-made honey shape porous plastics head capsule body, fix three probes, paste emulation human face material, make that the communication cable plug stretches out from last neck section in the head capsule body, with plug insertion socket, with the fixing screw of neck and servo motor shaft of screwdriver, start 12 volts of DC power supply switch in the body, after waiting for for 30 seconds, machine enters normal operating phase, and first one installs.

Follow at the right shoulder section of model along loading onto the driver of raising one's hand in the chamber, and fix with tapping screw, emulating plastics people manipulator is installed then, and the locking flow routes of the meridians, install to second step of the emulation people colour of skin gloves that grow to neat shoulder special on the manipulator band again.

Service test is placed on gateway or a certain occasion with emulation Renying visitor robot, in 5 meters, when you during from the walking of her face forward, robot follows the tracks of towards your direction of travel rotation at once, if you enter, she could send " client you good, welcome "! " she could send, and thanks, and goodbye welcomes to come again if you go out! " wait and see language off.Automatically the goodbye of raising one's hand subsequently! When you when she raises one's hand goodbye, " she can raise one's hand to return a compliment to show once more.If " be provided with the place of shaking the control automatically-controlled door, when you were just finding out door and are entering, " she " used additional remote controller automatically-controlled door is opened.When she found you, she with a smile simultaneously.Life-like, the movement meeting of " she " makes many beholders think that unexpectedly " she " is true man.But " she " is bit emulator Renying visitor robot just.

Emulation Renying visitor robot compares with robot of the prior art, and overall structure is very simple, implements to produce easily single low production cost." she " has saved the optoelectronic scanning system, has saved very complicated computer and has stored and recognition system, and therefore long-term operational failure rate is extremely low." she " the power consumption of standby monitored state less than 30 milliamperes, less than 0.3 watt, can decrease power on switch substantially.Its single cost of elementary intelligency activity " guest-meeting robot " that adopts prior art to produce reaches 15～500,000 yuan unexpectedly at present, and " robot greets a guest " its single production cost of the elementary intelligency activity that the utility model is realized only is 0.15～1.2 ten thousand yuan, if under the situation of reduced volume, its very big potentiality in addition that reduce cost.Realize the manipulator aspect of robot in the prior art, need three stepper motors, and the action drives device of raising one's hand in the utility model has only a common electric machine.The property of the preparation method of the manipulator in the utility model and principle, intelligence sensor can be extended to other robot field, and reaches the purpose that reduces production robot cost." guest-meeting robot " realized in the prior art only considered intelligency activity and ignored of most critical among the welcome: emulation human nature and artistic effect.Because emulation Renying passenger plane device people has reduced production cost and elementary intelligency activity of tool and affective activity significantly, originally science and art appearance are made in one, the universal public cultural life that will improve our PE greatly and enrich us of " she ".

Description of drawings: Fig. 1 is the whole operating mode key diagram of emulation Renying visitor robot, and Fig. 2 connects theory diagram for emulation Renying visitor robot circuit.

[1] among Fig. 1 is that servomotor, [2] are cellular head capsule body, [3] be the photoelectric tube probe, [4] and [5] be pyroelectric infrared probe, [6] be manipulator, [8] be little arm, [10] be big arm, [7], [9], [11] are the manipulator interface that looses, [13] are robot movement pulling force flow routes of the meridians, [14] are the composite elastic plastics, [15] be towards tracking driver, [16] be intelligence sensor, [17] are language player, and [18], [19] are respectively the dextrad tracking and left-hand is followed the tracks of, trigger switch again, [20] are emulation people facial mask.

Fig. 2 connects theory diagram for circuit, and it is a kind of closed loop Automatic Control Theory.Probe perception guest's angle direction is relatively exported execution command through intelligence sensor, with command signal send into respectively raise one's hand driver and towards follow the tracks of to drive, the driver of raising one's hand passes on instruction to make smile's function actuator and language player work again, moment towards tracking driver work has changed the angle direction of popping one's head in simultaneously, probe feeds back to intelligence sensor with new angle again, therefore works again and again.

Below in conjunction with the accompanying drawing detail structural principle of the present utility model and working condition are described:

Fig. 1, [20] are that the facial mask and the sponge of a kind of high resiliency, high flexibility, the ageing-resistant emulation people colour of skin is composited, thickness is 5～7 millimeters, with the built-in n of a facial mask flow routes of the meridians, eye muscle district, facial muscle district and lip muscle district are respectively with flow routes of the meridians and be connected into branch's flow routes of the meridians more than 6 respectively at different parts, penetrate cellular many also head capsule bodies [2], tapping connects with smile's function actuator.

Smile's sensor is when receiving action command, and the emulation human face produces the smile at once.

The thermal radiation signal and the photosignal of guest's walking absorbed in [3] among Fig. 1, [4] and [5], digital amplifier through intelligence sensor 2～30,000 times amplifies, relatively and corresponding gate circuit, divide two-way output, give towards tracking driver [15] and the driver of raising one's hand [12], when tracking driver [15] obtains to drive signal, amplify through driver to drive the rotation of servomotor [1] generation power, excuse housing [2], be fixed on the motor shaft, so whole head is followed synchronous rotation.When language player [17] obtains triggering signal, send through inner power amplifier and to greet a guest or see a visitor out language.When the driver of raising one's hand [12] obtains to drive signal, driver [12] tightens up flow routes of the meridians [13] through the motor internal deceleration component, because the corresponding one side of manipulator is regular length and is made of movable interface [7], [9] and [11], dash area because of the arm opposite side is that steel is moulded composite elastic material [14] again, under the pulling force effect of flow routes of the meridians, elastomeric material is compressed and makes arm produce the motion of raising one's hand.

Claims (6)

1, a kind of emulation Renying visitor robot is characterized in that: be equipped with from make a return journey guest's servomotor [1] of motion tracking at the movable place of a, head and neck, and sensing probe is equipped with in head, ear; B, facial by emulation people composite elastic material constitute and with the head capsule body in the corresponding driving device connect in the flow routes of the meridians mode, finish the smile and usher in and out the guest; C, right finesse to shoulder are adorned three turning joint sections and are respectively [6], [8], [10], flexibly connect point and are respectively [7], [9], [11], composite [14], flow routes of the meridians [13]; D, head and neck left and right turns to the district to be equipped with respectively and ushers in and out guest's language playback switch [18], [19].

2, according to claims 1, the described emulation Renying visitor of a robot, it is characterized in that: head and face are equipped with miniature pyroelectric infrared probe [4] and [5] respectively, photoelectric tube probe [3] is equipped with the composite intelligent sensor [16] of discerning the human motion direction in its body, finished surface is to following the tracks of the guest.

3, according to claims 1, the described emulation Renying visitor of b robot, it is characterized in that: head, housing [2] face are cellular porous plastic casing, and smile's driver of n flow routes of the meridians is housed in the head capsule body.

4, according to claims 1, b and 3 described emulation Renying guest robots, it is characterized in that: head capsule dignity portion is that emulation colour of skin plastics facial masks [20] constitute, and has n flow routes of the meridians to produce eye, face and lip muscle in the facial mask under the effect of laughing at function actuator and is out of shape and finishes the smile and usher in and out the guest.

5, according to claims 1, the described emulation Renying visitor of c robot, it is characterized in that: the motion mode of robot mechanical arm is by a total flow routes of the meridians pulling and connect shoulder driver [12], finishes the goodbye of raising one's hand.

6, according to the described emulation Renying visitor of claims 1, d robot, it is characterized in that: when the pedestrian enters gateway or a certain direction, robot sends the language that greets a guest; When the pedestrian walks out gateway or other direction, robot sends the language of seing a visitor out.

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