KR20080078324A - Self-regulating feeling representation system of robot - Google Patents

Abstract

A robot system of expressing feeling under self-control is provided to employ a LCD(Liquid Crystal Display) for the eyes and plural LED(Light Emitting Diodes) for the cheek and combining the LCD and the LEDS so that the robot is able to express feeling. A robot system representing feeling includes an input unit(10), a control board(20), an eye LED processing unit(30), a mouth LED processing unit(40), and a cheek LED processing unit(50), a synchronization processing unit(60), and an output unit(70). The control board controls the operation of a robot according to feeling data input through the input unit. The eye, mouth, and cheek LED processing units process the operations of eyes, mouths, and cheeks according to the control of the control board. The synchronization processing unit synchronizes the operations of each unit with the input feeling data. The output unit outputs the synchronized operation of each unit.

Description

Self-regulating feeling Representation System of Robot}

1 is a face configuration of the robot according to the present invention

2 is a block diagram of a robot system according to the present invention

3 is a block diagram of a robot face board according to the present invention

4 is a view showing the emotional expression type of the robot eye LCD according to the present invention.

5 is a block diagram of the emotional expression mechanism of the robot according to the present invention

6 is a flow chart showing a software process for the emotion expression processing mechanism of the robot according to the present invention.

<Explanation of symbols for the main parts of the drawings>

Robot LCD eye (1), robot LED mouth (2), robot LED ball (3), input unit 10, control board 20, eye LCD processing unit 30, mouth LED processing unit 40, ball LED processing unit 50, synchronization processing unit 60, output unit 70, microcontroller 100, motherboard coat roller 200, input / output port (I / O port) (300)

The present invention relates to an autonomous emotion expression robot capable of providing a live emotional expression and a pseudo expression by constructing a robot's eyes with an LCD, a robot's mouth and a ball with a plurality of LEDs, and combining the LCD and the LED appropriately.

Most psychological states or emotions are expressed through facial expressions. Accordingly, most of the researches on emotional expression of robots developed to date have attempted to express the psychological state or emotional expression of robots with mechanical faces that are modeled after human faces. Typical examples include Kismet from MIT, USA, which mechanically depicts the muscles of the face, and Roterta and Saya from the University of Tokyo, Japan, using silicone to resemble human skin.

Looking at the prior patent on the emotion expression of the robot, means for inputting the emotion to be expressed by the robot in the domestic patent registration No. 0639068; An emotion expression behavior management unit that selects one emotion expression behavior according to a probabilistic model in consideration of a user's reaction among emotion expression behaviors corresponding to emotions to be expressed by the robot; A three-dimensional face model including two eyes, a mouth, and a virtual facial muscle is generated, and a face corresponding to an emotional expression behavior selected by the emotional expression behavior manager is controlled using the movement of the virtual facial muscle under the control of the emotional expression behavior manager. A facial expression generator for generating facial expression graphics; The emotion expression apparatus of the robot is known, comprising an LCD driving unit for displaying the facial expression graphic on the LCD screen mounted on the robot,

Patent No. 0458079 discloses a visual sensor unit for determining the degree of brightness around the robot, a tactile sensor unit for determining the amount of impact from an external force, an object detector for determining the presence or absence of surrounding objects, and a predetermined distance from the floor. A sensor input unit including a floor detection unit for determining whether a signal is detected, a voice recognition unit for determining an input and a position of an audio signal, and a battery detection unit for detecting a residual amount of a battery; An expression driver for displaying facial expression information; Retains table information for generating the facial expression information based on the predetermined information, holds the robot transfer form information corresponding to the facial expression information, and sets the table information set according to the input information of the sensor input unit. Emotional expression robot that is provided with a, and a central processing unit for outputting the control signal based on the robot transfer form information is known,

In Korean Patent Application No. 10-2005-0031624, in response to various sensors such as voice, image, ultrasonic, infrared, etc. in the embedded OS environment, the emotional state is determined and then the kinematic head structure composed of servo motor is controlled or external LED is applied. And emotional expression on LCD screen, entertainment functions such as music video, MP3, digital camera, wireless Ethernet communication, video recording function, TV function, etc., cleaning function added and obstacle avoidance through autonomous movement using ultrasonic sensor. It is possible to promote needle density and user convenience between users, and it is known to express humanoid robots based on embedded systems that can control robots with wireless devices and provide various services for home use.

However, the emotion expression method of the robot developed so far is an experimental stage in the laboratory to be applied to a home personal robot, and the price is too expensive, or the front face of the face is made into an LCD, or expressed in LEDs, resulting in heterogeneity in the face structure or LED. Due to its limitations, it is somewhat insufficient to convey robot emotions.

An object of the present invention devised to solve the above problems of the prior art, in the expression of emotions of the home robot, based on the fact that more than 50% of the facial expression is formed around the eyes, the robot's eyes are composed of LCD In addition, the mouth and the ball of the robot are composed of a plurality of LEDs, and the LCD and the LEDs are appropriately combined to provide an autonomous emotion expression robot capable of lively and emotional expression at a relatively low cost.

The present invention corresponds to a technique applied at a relatively low cost, based on the fact that 50% or more of the facial expression is formed around the eyes.

The present invention for achieving the above object relates to an autonomous emotion expression robot system, and more particularly, the operation of the robot in accordance with the input unit 10 and the emotion data input through the input unit 10, the emotion data is input; Control board 20 for controlling the control, the eye LCD processing unit 30 for processing the operation of the LCD robot eye by the control board 20, and the mouth LED for processing the operation of the robot ball and mouth composed of a plurality of LEDs An output for outputting an operation of each part synchronized through the processing unit 40 and the ball LED processing unit 50, a synchronization processing unit 60 for synchronizing each partial operation to the input emotion data, and the synchronization processing unit 60 An autonomous emotion-expressing robot system, characterized in that consisting of a section 70.

The existing method of expressing emotions is to map nine emotion models in three-dimensional space, and the degree of face change according to the emotions. The problem is that commercial robots have no way of introducing such sophisticated facial systems. To mimic your face at a relatively low price

1. How to express your entire face face on the entire LCD (monitor)

2. How to express facial features (eyes, cheeks, mouth) with LED

3. How to express face only by mechanical division

4. How to express your face with a combination of items 2 and 3

And the like.

The most efficient method for the price is the eye which is presented in the present invention, the size of the liquid crystal size in the cell phone and the mouth and cheeks are represented by the LED. Eyes are important in expressing emotions, and they react to invisible psychological changes.

For example, it's the same thing, but when you see something you like, your pupils enlarge and you don't like it. When the pupil feels fear at the moment, when he feels anxious, when he sees something unpleasant, his pupils contract, but when they laugh, they have the opposite reaction.

Therefore, in the present invention, this point is applied to the facial expression part of the robot, and the eye part is expressed by the liquid crystal LCD used in the mobile phone.

Mouth is also the most immediate and widespread response to psychological reactions. Interesting expressions of the mouth form a U-shape when laughing, the shape of the mouth spreading to the side, the appearance of U-turning upside down when crying, and the appearance of power entering and retracting when feeling anger.

In order to express this point, in the present invention, the mouth is expressed using a plurality of (preferably 21) LEDs. The LED is placed in the element that best expresses such diversity.

The ball is also associated with facial expressions and color information of the face. When you blush or become pale by fear or disease, the color information of your face changes. The best part of this is the ball on the face. The ball can best express the red face, which is effective for emphasizing the characteristic expression such as shame.

Hereinafter, the present invention will be described in more detail with reference to the drawings.

1 is a face configuration diagram of a robot according to the present invention, FIG. 2 is a configuration diagram of a robot system according to the present invention, FIG. 3 is a configuration diagram of a robot face board according to the present invention, and FIG. 5 is a block diagram showing the emotion expression mechanism of the robot according to the present invention, and FIG. 6 is a flowchart showing a software processing process for the emotion expression processing mechanism of the robot according to the present invention. LCD eye (1), robot LED mouth (2), robot LED ball (3), input unit 10, control board 20, eye LCD processing unit 30, mouth LED processing unit 40, ball LED processing unit ( 50, the synchronization processor 60, the output unit 70, the micro-controller 100, the motherboard coat roller 200, and the I / O port (300).

In general, the robot can input a drive program for driving the robot and a storage unit that stores data related to the drive, an initial signal for driving the robot according to a user's operation, and a selection signal for selecting each function. The operation unit is configured, and the driving unit is configured to drive the robot according to the user's operation.

In the present invention, as shown in Fig. 1, the robot's eye 1 is used to enable abundant expression such as gaze direction and emotion expression (five emotions of happiness, surprise, normal, disappointment, and shame). LCD

The mouth (2) and the ball (3) of the robot are composed of a plurality of LEDs so as to display a talking shape and a facial expression. That is, the shape of the mouth 2 and the expression of the face are displayed through the LED, and the emotion is expressed through the LED on the cheek.

Figure 2 shows a robot system according to the present invention configured to enable the emotion expression operation of the robot, as shown, the input unit 10, the emotion data is input, and the emotion data input through the input unit 10 In accordance with the control board 20 for controlling the operation of the robot, the eye LCD processing unit 30 for processing the operation of the LCD robot eye by the control board 20, the operation of the robot ball and mouth composed of a plurality of LEDs The LED processing unit 40 and the ball LED processing unit 50 for processing the synchronization, the synchronization processing unit 60 for synchronizing each part operation to the input emotion data, and the synchronization of the respective parts synchronized through the synchronization processing unit 60 And an output unit 70 for outputting an operation.

FIG. 3 shows the configuration of a face board composed of the robot's mouth / ball LEDs (2,3) and an eye LCD (1), and shows a microcontroller (100) and a robot for controlling the LCD and LEDs on the face. The main board controller 200 is connected to the UART, and the microcontroller 100 controls the LCD panel 1 of both eyes by using a parallel port, and inputs and outputs. Port (I / O Port) 300 to control the mouth and ball LED (2, 3).

FIG. 4 illustrates the types of emotion expressions related to the eye LCD. Each of the expression types is mixed to express the current state.

The LCD corresponding to the eye of the robot includes a video signal and an audio signal for the facial expression of the user through input means such as a camera and a microphone provided in the robot, or a detection signal generated by an action such as touching the robot from the outside. By the image expression for the happiness, surprise, normal, disappointment, embarrassment and the eyes gaze direction is determined and output,

A plurality of LEDs are configured to express an emotional state in the mouth and cheek of the robot. Also, like the eye LCD of the robot, a plurality of LEDs are selectively turned on / off by signals for a user's expression and voice and a sensing signal of the robot. OFF, the robot's emotional state is expressed.

In the simple processing mechanism, when the emotion data is input, the integrity of the emotion data is checked, and then the eye and mouth data are generated according to the emotion, branched to each motion related processing routine, and the eye / mouth sink tuning mechanism is applied. According to the desired sync, eyes / mouths are expressed, and the emotions are output using the eye LCD and the mouth LED.

The processing mechanism will be described in more detail with reference to FIG. 5 below.

1. Emotional data integrity check

Check that the desired input data is within the range of presentation data.

2. Eye / mouth data generation according to emotion

Eye / mouth / ball data is extracted according to the desired emotion (joy).

3. Branch to the relevant processing routine

Transfer the extracted data to each processing function parameter.

4. Eye / mouth Sink Tuning Mechanism

To express the requested facial expression, the expressions of eyes / mouths / balls are synchronized with Sleep ().

5. Eye / mouth expression according to the desired sink

Once the unit sync of the eye / mouth / ball is set, give the appropriate facial expression to the overall sleep and repeat the desired emotional expression at a moderate pace.

6 shows a software process for the processing mechanism. Each LCD / LED is controlled in an infinite loop corresponding to each input.

In addition, the robot may be configured to operate the head, arm, etc. by a predetermined behavior processor according to the emotional state expressed,

In addition, the robot may be programmed to perform an action such as positive / negative expression and may be configured to move autonomously by facial expression and voice of the user.

As described above, the detailed technology required to express the emotions of the robot in the face and the body for the interaction between the robot and the person may include, for example, means for inputting emotions to be expressed by the robot, and emotions to be expressed by the robot. Emotion expression behavior management means for selecting an expression behavior, Expression generation means for generating a graphic of the expression corresponding to the emotion to be expressed by the robot under the control of the emotion expression behavior management unit, LCD for mounting the expression graphics on the robot LCD driving means for displaying on the screen, motion generating means for generating a motion corresponding to the emotion to be expressed by the robot under the control of the emotion expression behavior management unit, a robot that applies the motion to the body and / or arm of the robot The driving means and the like are conventional techniques well known in the art, so that specific contents thereof will be omitted.

As described above, the present invention configures the robot's eyes with the LCD, and the robot's mouth and cheeks with a plurality of LEDs. There is an effect that a more friendly personal robot can be implemented.

Claims (5)

An autonomous emotion expression robot system, comprising: an input unit for inputting emotion data, a control board for controlling the operation of the robot according to the emotion data input through the input unit, and an eye for processing the operation of the LCD robot eye by the control board LCD processing unit, mouth LED processing unit and ball LED processing unit for processing the robot ball and mouth movement composed of a plurality of LEDs, a synchronization processing unit for synchronizing each partial operation to the input emotion data, and synchronized through the synchronization processing unit Autonomous emotion expression robot system comprising an output unit for outputting the motion of each part The autonomous emotion expression robot system of claim 1, wherein the robot eye is configured with an LCD to enable rich expression such as gaze direction and emotion expression. The autonomous emotion-expressing robot system according to claim 1, wherein the robot mouth and ball are composed of a plurality of LEDs to display a speaking shape and a facial expression. According to claim 1, wherein the face control board consisting of the eye / ball LED and the eye LCD of the robot is a microcontroller (Micro Controller) for controlling the LCD and the LED of the face and the main board controller (Main Board Controller) of the robot as a UART The microcontroller is configured to control an LCD panel of both eyes using a parallel port and to control mouth and ball LEDs using an I / O port. Autonomous emotion expression robot system. The method of claim 1, wherein when emotion data is input through the input unit, the integrity of the emotion data is checked, and then data of eyes and mouth according to the emotion are generated, and branched to each motion related processing routine, the eye / mouth An autonomous emotion expression robot system, characterized in that the eye / mouth is expressed according to the desired sync tuning mechanism and configured to output emotion using the eye LCD and the mouth LED.

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