WO2022252452A1 - 一种头部可随动的人形闻讯服务机器人 - Google Patents

一种头部可随动的人形闻讯服务机器人 Download PDF

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Publication number
WO2022252452A1
WO2022252452A1 PCT/CN2021/120876 CN2021120876W WO2022252452A1 WO 2022252452 A1 WO2022252452 A1 WO 2022252452A1 CN 2021120876 W CN2021120876 W CN 2021120876W WO 2022252452 A1 WO2022252452 A1 WO 2022252452A1
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module
orientation
inclination adjustment
electrically connected
head
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PCT/CN2021/120876
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English (en)
French (fr)
Inventor
段学超
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南京西新人工智能研究院有限公司
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Publication of WO2022252452A1 publication Critical patent/WO2022252452A1/zh

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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
    • 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
    • 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
    • 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
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices

Definitions

  • the invention relates to the field of service robots, in particular to a humanoid hearing service robot with a movable head.
  • a robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Its mission is to assist or replace human work in jobs such as manufacturing, construction, or hazardous jobs.
  • Robots are the product of advanced integration of cybernetics, mechatronics, computers, materials and bionics. At present, it has important applications in the fields of industry, medicine, agriculture and even military affairs.
  • the human-computer interaction interface is the most basic way of interaction between humans and service robots, and it plays the role of a guide in the field of research and control of service robots.
  • Frequently interacting service robots will set up a head for reasons such as visual harmony and convenience for installing cameras, and the head of the service robot will be equipped with a human-computer interaction interface to communicate with people through a combination of cameras, microphones and displays to control the functions of the service robot
  • Components such as robotic arms provide services for users.
  • service robots are usually small in size and have a low head position.
  • the height of the user population varies greatly.
  • the head of the service robot cannot face the user's face directly, and the interaction can only be performed by the user actively cooperating with the head. Long-term use will easily cause user fatigue and reduce the user's service experience.
  • the purpose of the present invention is to provide a humanoid hearing service robot with a movable head, which can realize the human-computer interaction interface of the head to follow the movement of the user's face, and facilitate the user to perform human-computer interaction facing the head of the robot, so that the user does not need to actively adapt
  • the position of the head of the robot can effectively improve the comfort level of the user when using the service robot.
  • the present invention adopts the following technical solutions:
  • a humanoid hearing service robot with a movable head comprising a base, the bottom of the base is provided with a mobile chassis, and the upper end of the base is rotatably provided with a follow-up mechanism, and the follow-up mechanism is rotatably provided with a head.
  • the follow-up mechanism includes an orientation adjustment mechanism and an inclination adjustment mechanism.
  • the orientation adjustment mechanism includes an orientation adjustment turntable and an orientation adjustment motor.
  • the inclination adjustment mechanism includes an inclination adjustment column and an inclination adjustment motor.
  • the two inclination adjustment columns are symmetrically arranged on the left and right sides of the upper end of the adjustment turntable, the head is rotatably connected to the upper ends of the two inclination adjustment columns, and a directional microphone is fixedly installed on the outer side of the two inclination adjustment columns near the upper end.
  • the upper end of the orientation adjustment turntable is symmetrically provided with two radio microphones front and back, the front center of the head is provided with a man-machine interface, and the upper and lower sides of the man-machine interface are respectively provided with a facial recognition camera and a speaker, and the base is fixedly installed
  • the front center of the orientation adjustment turntable is provided with a fixed distance module, the intelligent controller is connected with the orientation adjustment motor, the inclination adjustment motor, the directional microphone, the radio microphone, the man-machine interface, the facial recognition camera, the speaker and The distance modules are electrically connected.
  • the lower end of the facing adjustment dial is fixedly connected with a turning shaft
  • the turning shaft is rotatably connected to the top center of the base
  • the lower end of the outer wall facing the turning shaft is fixedly connected with a turning shaft protrusion.
  • Teeth, the inner cavity of the base is fixedly installed with a facing adjustment motor near the upper end, and the output end of the facing adjustment motor is meshed with the protruding teeth of the rotating shaft through the driving gear.
  • an inclination adjustment motor and an angle sensor are fixedly installed on the left and right sides of the inner cavity of the head, and the output shaft of the inclination adjustment motor and the input shaft of the angle sensor run through both sides of the head respectively.
  • the output shaft of the inclination adjustment motor and the input shaft of the angle sensor are respectively fixedly connected to the upper end of the inclination adjustment column on the corresponding side, and both the inclination adjustment motor and the angle sensor are electrically connected to the intelligent controller.
  • a threading hole is provided at the center of the facing adjustment dial and the center of the rotating shaft, and the threading hole communicates with the inner cavity of the base.
  • a storage battery is fixedly installed at the bottom of the inner cavity of the base, and the storage battery is electrically connected to the intelligent controller for power supply.
  • the intelligent controller includes an orientation module, a distance-fixing module and a facial positioning module, the orientation module is electrically connected with two directional microphones and two sound-receiving microphones, and the distance-fixing module The module is electrically connected with the infrared ranging sensor, and the facial positioning module is electrically connected with the facial recognition camera.
  • the intelligent controller further includes a walking control module and a head follower module, the walk control module is electrically connected to the mobile chassis, and the head follower module is connected to the orientation adjustment motor , The inclination adjustment motor is electrically connected to the angle sensor.
  • the intelligent controller is provided with a speech recognition module and a wireless communication module, the input end of the speech recognition module is electrically connected to the output end of the orientation module, and the output of the speech recognition module
  • the terminal is electrically connected to the wireless communication module, and the wireless communication module is connected to the cloud server through the wireless communication network.
  • the intelligent controller is also provided with a voice output module and a display output module, the voice output module is electrically connected to the speaker, and the display output module is electrically connected to the man-machine interface connect.
  • a protective lens is fixedly connected to the outer side of the facial recognition camera, and the inner wall of the protective lens is coated with a waterproof coating.
  • the present invention has the advantages of:
  • the volume of the voice received by the two directional microphones and the two radio microphones can determine the user's orientation, and the head can be driven to face the direction of the user through the orientation adjustment mechanism.
  • the ranging sensor can determine the distance between the user and the robot, so that the robot can approach the user to provide services for the user.
  • the face recognition camera can determine the position of the user's face, so that the tilt adjustment mechanism can be driven to keep the front of the head facing the user.
  • the user can use the voice password to wake up the service robot directly.
  • the head of the robot can adjust the direction with the user's face, so that the user can easily face the human-computer interaction interface, so that the user does not need to actively adapt to the position of the robot's head, which is convenient for the user to interact with the robot. , which can effectively improve the user's comfort level when using the service robot, and improve the user's interactive experience.
  • the angle sensor can timely feed back the rotation angle of the head when the inclination adjustment motor rotates the head, so that the adjustment of the head is more accurate.
  • the large transmission ratio of the convex teeth and the driving gear makes the rotation accuracy of the adjustment turntable higher, thus effectively improving the follow-up sensitivity of the robot head.
  • Fig. 1 is a perspective view of the present invention
  • Fig. 2 is the right sectional view of the present invention
  • Fig. 3 is the perspective view of head and follow-up mechanism among the present invention.
  • Fig. 4 is the front sectional view of head and follow-up mechanism among the present invention.
  • Fig. 5 is the structural block diagram of intelligent controller among the present invention.
  • Fig. 6 is a working flowchart of the present invention.
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal connection between two components. connectivity.
  • a humanoid hearing service robot with a head that can follow including a base 1, a mobile chassis 2 is provided at the bottom of the base 1, and a follow-up mechanism 3 is installed on the upper end of the base 1, and The moving mechanism 3 is provided with a head 4 for rotation, and the follow-up mechanism 3 includes an adjustment mechanism and an inclination adjustment mechanism.
  • the adjustment mechanism includes an adjustment dial 5 and an adjustment motor 8.
  • the inclination adjustment mechanism includes an inclination adjustment column 10 and an inclination adjustment motor 11.
  • the adjustment dial 5 towards the lower end of the adjustment dial 5 is fixedly connected with a turning shaft 6, which is connected to the top center of the base 1 in rotation towards the turning shaft 6, and is fixedly connected with a turning shaft convex tooth 7 at the lower end of the outer wall facing the turning shaft 6, inside the base 1
  • the cavity is fixedly installed with toward the adjustment motor 8 near the upper end, and toward the output end of the adjustment motor 8 meshes with the rotating shaft protruding teeth 7 through the driving gear 9 .
  • the driving gear 9 and the rotating shaft convex tooth 7 are meshed and transmitted, so that the orientation adjustment motor 8 can drive the orientation adjustment dial 5 to rotate, and the large transmission ratio between the rotating shaft convex tooth 7 and the driving gear 9 makes the orientation adjustment
  • the rotation precision of the turntable 5 is higher, thereby effectively improving the follow-up sensitivity of the robot head.
  • the inner cavity of the head 4 is fixedly installed with an inclination adjustment motor 11 and an angle sensor 12 respectively.
  • the output shaft of 11 and the input shaft of the angle sensor 12 are respectively fixedly connected with the upper end of the inclination adjustment column 10 on the corresponding side, and the inclination adjustment motor 11 and the angle sensor 12 are electrically connected with the intelligent controller 18.
  • the head 4 is driven to rotate on the upper end of the inclination adjustment column 10 through the cooperation of the inclination adjustment motor 11 and the angle sensor 12, thereby adjusting the inclination angle of the front of the head 4, so that the front of the head 4 faces the user's face, and the structure is compact. It is easy to use, and the angle sensor 12 can timely feed back the rotation angle of the head 4 when the inclination adjustment motor 11 rotates the head 4, so that the adjustment of the head 4 is more accurate.
  • a threading hole 20 is opened towards the center of the adjusting dial 5 and the rotating shaft 6 , and the threading hole 20 communicates with the inner chamber of the base 1 .
  • the signal transmission wires of the base 1 and the head 4 are set through the threading hole 20, which is convenient for wiring installation, and the influence of the installed signal transmission wire on the rotation of the head 4 is reduced, which is safer and more practical.
  • a battery 19 is fixedly installed at the bottom of the inner cavity of the base 1 , and the battery 19 is electrically connected to the intelligent controller 18 for power supply.
  • the battery 19 is used to power the robot, which is simple and practical, and the weight of the battery 19 lowers the center of the robot, making the robot move more stably.
  • the intelligent controller 18 includes an orientation module 23, a distance-fixing module 24 and a face positioning module 25, the orientation module 23 is electrically connected with two directional microphones 13 and two radio microphones 14, and the distance-fixing module 24 is connected with the infrared rangefinder.
  • the sensor 21 is electrically connected, and the facial positioning module 25 is electrically connected to the facial recognition camera 16 .
  • the orientation module 23 processes the sound signals received by the orientation microphone 13 and the radio microphone 14 to determine the user's position, and the distance module 24 receives the infrared distance sensor 21. Infrared ranging signal, thereby judging the distance between the user and the robot, the face positioning module 25 receives the picture transmitted by the face recognition camera 16, and performs face recognition and facial positioning, thereby assisting the intelligent controller 18 to locate the user's face, so that the intelligent controller 18 can drive the front of the head 4 to follow up with the user's face.
  • the intelligent controller 18 also includes a walking control module 26 and a head follower module 27, the walk control module 26 is electrically connected to the mobile chassis 2, the head follower module 27 is connected to the orientation adjustment motor 8, the inclination adjustment motor 11 and the head follower module 27.
  • the angle sensor 12 is electrically connected.
  • the walking control module 26 is set to control the movement of the robot
  • the head tracking module 27 is set to drive the head 4 to follow the user's face to ensure the normal operation of the device.
  • the intelligent controller 18 is provided with a speech recognition module 28 and a wireless communication module 29, the input end of the speech recognition module 28 is electrically connected with the output end of the orientation module 23, and the output end of the speech recognition module 28 is connected with the wireless communication module 29 is electrically connected, and the wireless communication module 29 is connected to the cloud server through the wireless communication network.
  • the voice recognition module 28 is set to receive the voice signal of the user, and the voice signal is transmitted to the cloud server through the wireless communication module 29 for processing, so as to realize the interactive function with the user.
  • the intelligent controller 18 is also provided with a voice output module 30 and a display output module 31 , the voice output module 30 is electrically connected to the speaker 17 , and the display output module 31 is electrically connected to the man-machine interface 15 .
  • the user can output voice and picture, provide feedback for the user's voice, and realize the interactive function.
  • a protective lens 22 is fixedly connected to the outer side of the facial recognition camera 16, and the inner wall of the protective lens 22 is coated with a waterproof coating.
  • the protective lens 22 can effectively protect the facial recognition camera 16 .
  • the device when the device is in use, it continuously receives voice signals through the radio microphone 14.
  • the wake-up password is recognized and the orientation module 23 in the intelligent controller 18 is started.
  • the orientation module 23 passes the orientation microphone 13 and the radio microphone. 14.
  • the head follower module 27 drives the direction adjustment motor 8 to rotate, and the direction adjustment motor 8 drives the direction adjustment turntable 5 to rotate, so that the front of the head 4 turns to the user.
  • the infrared distance measuring sensor 21 Start, measure the distance with the user through the infrared signal, judge whether the distance meets the preset interaction distance through the orientation module 23, when it does not meet, drive the mobile chassis 2 through the walking control module 26 to drive the robot to adjust the position, adjust the distance between the robot and the user, Then capture the user's face position by the face recognition camera 16, calculate the size of the inclination angle when the head 4 is facing the user's face by the size of the recognized face height and the preset interaction distance, and then adjust the motor 11 by driving the inclination angle to run, so that the head 4 The front of the front is inclined and faces the user's face, and the user's voice is received by the radio microphone 14.
  • the voice recognition module 28 recognizes the user's voice, it is transmitted to the cloud server through the wireless communication module 29.
  • the cloud server feedbacks the signal according to the user's voice, and the signal passes through the voice output module 30 and the display
  • the output module 31 is respectively transmitted to the speaker 17 and the human-computer interaction interface 15 for output to complete the interaction with the user and provide services for the user.

Abstract

一种头部可随动的人形闻讯服务机器人，包括底座（1），该底座（1）的底部设置有移动底盘（2），且底座（1）的上端转动设置有随动机构（3），且随动机构（3）转动设置有头部（4），该随动机构（3）包括朝向调整机构和倾角调整机构，该朝向调整机构包括朝向调整转盘（5）和朝向调节电机（8），该倾角调整机构包括倾角调整立柱（10）和倾角调整电机（11），倾角调整立柱（10）共有两个。用户能够使用语音口令直接唤醒服务机器人，唤醒后的机器人头部能够随着用户面部调整方向，便于用户与机器人互动。

Description

一种头部可随动的人形闻讯服务机器人
本申请要求：2021年06月02日提交中国专利局、申请号为202110613077.6、发明名称为“一种头部可随动的人形闻讯服务机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及服务机器人领域，更具体地说，涉及一种头部可随动的人形闻讯服务机器人。
背景技术
机器人(Robot)是自动执行工作的机器装置。它既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以人工智能技术制定的原则纲领行动。它的任务是协助或取代人类工作的工作，例如生产业、建筑业，或是危险的工作。机器人是高级整合控制论、机械电子、计算机、材料和仿生学的产物。目前在工业、医学、农业甚至军事等领域中均等有重要用途。
随着机器人技术的发展，服务机器人如雨后春笋般走进人们的视野，解放了传统的人工服务，得到了广泛的运用。服务机器人如何分析出周围哪一些用户对自己感兴趣，如何结合用户的状态、当前环境为用户提供个性化交互服务来体现出机器人主动性和智能性是一个亟待解决的问题。
现有技术中，人机交互界面作为人与服务型机器人最基本的交互方式，在服务型机器人的研究与控制领域当中扮演着引导者的角色，所以作为机器人大脑数据发送终端，一般与人有频繁交互的服务机器人为了视觉和谐和便于装摄像头等原因会设置头部，并且服务机器人头部会安装人机交互界面，通过摄像头、麦克风和显示屏的组合与人沟通，从而控制服务机器人的功能部件如机械臂等为用户提供服务，但是由于出于成本考虑通常服务机器人体型较小，且头部位置较低，再加上用户人群的身高差异较大，在用户与机器人进行交互的时候，服务机器人的头部无法正对用户面部，只能通过用户主动配合头部才能进行交互，长期使用容易导致用户疲劳，降低了用户的服务体验。
发明内容
本发明的目的在于提供一种头部可随动的人形闻讯服务机器人，可以实现头部人机交互界面追随用户面部移动，便于用户面向机器人头部进行人机交互，从而使用户无需主动适应机器人头部位置，能够有效提高用户使用服务机器人时的舒适程度。
为解决上述问题，本发明采用如下的技术方案：
一种头部可随动的人形闻讯服务机器人，包括底座，所述底座的底部设置有移动底盘，且底座的上端转动设置有随动机构，且随动机构转动设置有头部，所述随动机构包括朝向调整机构和倾角调整机构，所述朝向调整机构包括朝向调整转盘和朝向调节电机，所述倾角调整机构包括倾角调整立柱和倾角调整电机，所述倾角调整立柱共有两个，且两个倾角调整立柱对称设置在朝向调整转盘的上端左右两侧，所述头部转动连接在两个倾角调整立柱上端，两个所述倾角调整立柱的外侧靠近上端处固定安装有定向麦克风，所述朝向调整转盘的上端前后对称设置有两个收音麦克风，所述头部的正面中心设置有人机交互界面，且人机交互界面的上下分别设置有面部识别摄像头和扬声器，所述底座内固定安装有智能控制器，所述朝向调整转盘的正面中心设置有定距模块，所述智能控制器与朝向调节电机、倾角调整电机、定向麦克风、收音麦克风、人机交互界面、面部识别摄像头,扬声器和定距模块均电性连接。
作为本发明的一种可选方案，所述朝向调整转盘的下端固定连接有朝向转动轴，所述朝向转动轴转动连接在底座的顶部中心，且朝向转动轴的外壁下端固定连接有转动轴凸齿，所述底座内腔靠近上端处固定安装有朝向调节电机，且朝向调节电机的输出端通过主动齿轮与转动轴凸齿啮合。
作为本发明的一种可选方案，所述头部的内腔左右分别固定安装有倾角调整电机和角度传感器，所述倾角调整电机的输出轴和角度传感器的输入轴分别贯穿头部的两侧，且倾角调整电机的输出轴和角度传感器的输入轴分别与对应一侧的倾角调整立柱上端固定连接，所述倾角调整电机和角度传感器均与智能控制器电性连接。
作为本发明的一种可选方案，所述朝向调整转盘和朝向转动轴的中心均开设有穿线孔，且穿线孔与底座的内腔连通。
作为本发明的一种可选方案，所述底座的内腔底部固定安装有蓄电池，所述蓄电池与智能控制器电性连接供电。
作为本发明的一种可选方案，所述智能控制器包括定向模块、定距模块和面部定位模块，所述定向模块与两个定向麦克风和两个收音麦克风均电性连接，所述定距模块与红外测距传感器电性连接，所述面部定位模块与面部识别摄像头电性连接。
作为本发明的一种可选方案，所述智能控制器还包括行走控制模块和头部随动模块，所述行走控制模块与移动底盘电性连接，所述头部随动模块与朝向调节电机、倾角调整电机和角度传感器电性连接。
作为本发明的一种可选方案，所述智能控制器上设置有语音识别模块和无线通讯模块，所述语音识别模块的输入端与定向模块的输出端电性连接，且语音识别模块的输出端与无线通讯模块电性连接，所述无线通讯模块通过无线通信网络连接云端服务器。
作为本发明的一种可选方案，所述智能控制器上还设置有语音输出模块和显示输出模块，所述语音输出模块与扬声器电性连接，所述显示输出模块与人机交互界面电性连接。
作为本发明的一种可选方案，所述面部识别摄像头的外侧固定连接有防护透镜，所述防护透镜内壁涂覆有防水涂层。
有益效果
相比于现有技术，本发明的优点在于：
(1)本方案通过设置定向麦克风和收音麦克风，通过两个定向麦克风和两个收音麦克风接收语音的音量大小能够判断出用户方位，通过朝向调整机构能够驱动头部正面朝向用户方向，通过设置红外测距传感器能够判断用户与机器人之间的距离，从而便于机器人靠近用户为用户提供服务，通过设置的面部识别摄像头能够判断用户面部位置，从而驱动倾角调整机构能够使头部的正面一直朝向用户，用户能够使用语音口令直接唤醒服务机器人，唤醒后的机器人头部能够随着用户面部调整方向，使得用户能够轻松的直面人机交互界面，使用户无需主动适应机器人头部位置，便于用户与机器人互动，能够有效提高用户使用服务机器人时的舒适程度，提高了用户的互动体验。
本方案通过设置倾角调整电机和角度传感器，角度传感器能够在倾角调整电机转动头部时及时反馈头部的转动角度，使得头部的调整更加精确，通过设置转动轴凸齿和主动齿轮，转动轴凸齿和主动齿轮的大传动比传动使得朝向调整转盘的转动精度更高，从而有效提高了机器人头部的随动灵敏程度。
附图说明
图1为本发明的立体图；
图2为本发明的右侧剖视图；
图3为本发明中头部及随动机构的立体图；
图4为本发明中头部及随动机构的正剖视图；
图5为本发明中智能控制器的结构框图；
图6为本发明的工作流程图。
图中标号说明：
1、底座；2、移动底盘；3、随动机构；4、头部；5、朝向调整转盘；6、朝向转动轴；7、转动轴凸齿；8、朝向调节电机；9、主动齿轮；10、倾角调整立柱；11、倾角调整电机；12、角度传感器；13、定向麦克风；14、收音麦克风；15、人机交互界面；16、面部识别摄像头；17、扬声器；18、智能控制器；19、蓄电池；20、穿线孔；21、红外测距传感器；22、防护透镜；23、定向模块；24、定距模块；25、面部定位模块；26、行走控制模块；27、头部随动模块；28、语音识别模块；29、无线通讯模块；30、语音输出模块；31、显示输出模块。
具体实施方式
下面将结合本发明实施例中的附图对本发明实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例，基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“上”、“下”、“内”、“外”、 “顶/底端”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“设置有”、“套设/接”、“连接”等，应做广义理解，例如“连接”，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
实施例：
请参阅图1-6，一种头部可随动的人形闻讯服务机器人，包括底座1，底座1的底部设置有移动底盘2，且底座1的上端转动设置有随动机构3，且随动机构3转动设置有头部4，随动机构3包括朝向调整机构和倾角调整机构，朝向调整机构包括朝向调整转盘5和朝向调节电机8，倾角调整机构包括倾角调整立柱10和倾角调整电机11，倾角调整立柱10共有两个，且两个倾角调整立柱10对称设置在朝向调整转盘5的上端左右两侧，头部4转动连接在两个倾角调整立柱10上端，两个倾角调整立柱10的外侧靠近上端处固定安装有定向麦克风13，朝向调整转盘5的上端前后对称设置有两个收音麦克风14，头部4的正面中心设置有人机交互界面15，且人机交互界面15的上下分别设置有面部识别摄像头16和扬声器17，底座1内固定安装有智能控制器18，朝向调整转盘5的正面中心设置有定距模块24，智能控制器18与朝向调节电机8、倾角调整电机11、定向麦克风13、收音麦克风14、人机交互界面15、面部识别摄像头16,扬声器17和定距模块24均电性连接。
具体的，朝向调整转盘5的下端固定连接有朝向转动轴6，朝向转动轴6转动连接在底座1的顶部中心，且朝向转动轴6的外壁下端固定连接有转动轴凸齿7，底座1内腔靠近上端处固定安装有朝向调节电机8，且朝向调节电机8的输出端通过主动齿轮9与转动轴凸齿7啮合。
本实施例中，通过主动齿轮9和转动轴凸齿7啮合传动，使得朝向调节电机8能够带动朝向调整转盘5转动，转动轴凸齿7与主动齿轮9之间的大传动比，使得朝向调整转盘5的转动精度更高，从而有效提高了机器人头部的随动灵敏程度。
具体的，头部4的内腔左右分别固定安装有倾角调整电机11和角度传感器12，倾角调整电机11的输出轴和角度传感器12的输入轴分别贯穿头部4的两侧，且倾角调整电机11的输出轴和角度传感器12的输入轴分别与对应一侧的倾角调整立柱10上端固定连接，倾角调整电机11和角度传感器12均与智能控制器18电性连接。
本实施例中，通过倾角调整电机11和角度传感器12的配合驱动头部4在倾角调整立柱10的上端转动，从而调整头部4正面的倾角，使得头部4正面朝向用户面部，结构紧凑，使用方便，并且角度传感器12能够在倾角调整电机11转动头部4时及时反馈头部4的转动角度，使得头部4的调整更加精确。
具体的，朝向调整转盘5和朝向转动轴6的中心均开设有穿线孔20，且穿线孔20与底座1的内腔连通。
本实施例中，底座1与头部4的信号传输导线均通过穿线孔20设置，便于布线安装，并且安装后的信号传输线对头部4转动的影响降低，更加安全实用。
具体的，底座1的内腔底部固定安装有蓄电池19，蓄电池19与智能控制器18电性连接供电。
本实施例中，通过蓄电池19为机器人供电，简单实用，并且蓄电池19的重量降低机器人的中心，使得机器人移动更加稳定。
具体的，智能控制器18包括定向模块23、定距模块24和面部定位模块25，定向模块23与两个定向麦克风13和两个收音麦克风14均电性连接，定距模块24与红外测距传感器21电性连接，面部定位模块25与面部识别摄像头16电性连接。
本实施例中，通过定向模块23、定距模块24和面部定位模块25，定向模块23处理定向麦克风13和收音麦克风14接收的声音信号从而判断用户位置，定距模块24接收红外测距传感器21的红外测距信号，从而判断 用户与机器人距离，面部定位模块25接收面部识别摄像头16传输的画面，进行人脸识别和面部定位，从而辅助智能控制器18对用户面部进行定位，使得智能控制器18能够驱动头部4正面与用户面部随动。
具体的，智能控制器18还包括行走控制模块26和头部随动模块27，行走控制模块26与移动底盘2电性连接，头部随动模块27与朝向调节电机8、倾角调整电机11和角度传感器12电性连接。
本实施例中，通过设置行走控制模块26，控制机器人移动，通过设置头部随动模块27驱动头部4与用户面部随动，保证设备正常运转。
具体的，智能控制器18上设置有语音识别模块28和无线通讯模块29，语音识别模块28的输入端与定向模块23的输出端电性连接，且语音识别模块28的输出端与无线通讯模块29电性连接，无线通讯模块29通过无线通信网络连接云端服务器。
本实施例中，通过设置语音识别模块28接收用户语音信号，并且将语音信号通过无线通讯模块29传输给云端服务器处理，实现与用户的交互功能。
具体的，智能控制器18上还设置有语音输出模块30和显示输出模块31，语音输出模块30与扬声器17电性连接，显示输出模块31与人机交互界面15电性连接。
本实施例中，通过设置语音输出模块30和显示输出模块31，用户输出语音和画面，为用户的语音提供反馈，实现交互功能。
具体的，面部识别摄像头16的外侧固定连接有防护透镜22，防护透镜22内壁涂覆有防水涂层。
本实施例中，防护透镜22能够有效保护面部识别摄像头16。
工作原理：该设备使用时，通过收音麦克风14持续接收语音信号，当用户发出唤醒口令时，识别到唤醒口令，启动智能控制器18内的定向模块23，定向模块23通过定向麦克风13和收音麦克风14接收声音的大小判断用户方向，头部随动模块27驱动朝向调节电机8运转，通过朝向调节电机8带动朝向调整转盘5转动，使得头部4的正面转向用户，此时红外测距传感器21启动，通过红外信号测量与用户距离，通过定向模块23判断距离是否符合预设交互距离，当不符合时，通过行走控制模块26驱动移动底 盘2带动机器人调整位置，调节机器人与用户之间距离，然后通过面部识别摄像头16捕捉用户面部位置，通过识别出的面部高度和预设交互距离的大小计算出头部4正面用户面部时倾角的大小，然后通过驱动倾角调整电机11运转，使得头部4的正面倾斜且朝向用户面部，通过收音麦克风14接收用户语音，语音识别模块28识别用户语音后通过无线通讯模块29传输给云端服务器，云端服务器根据用户语音反馈信号，信号通过语音输出模块30和显示输出模块31分别传输到扬声器17和人机交互界面15输出，完成与用户的交互，为用户提供服务。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其改进构思加以等同替换或改变，都应涵盖在本发明的保护范围内。

Claims (10)

  1. 一种头部可随动的人形闻讯服务机器人，包括底座(1)，其特征在于：所述底座(1)的底部设置有移动底盘(2)，且底座(1)的上端转动设置有随动机构(3)，且随动机构(3)转动设置有头部(4)，所述随动机构(3)包括朝向调整机构和倾角调整机构，所述朝向调整机构包括朝向调整转盘(5)和朝向调节电机(8)，所述倾角调整机构包括倾角调整立柱(10)和倾角调整电机(11)，所述倾角调整立柱(10)共有两个，且两个倾角调整立柱(10)对称设置在朝向调整转盘(5)的上端左右两侧，所述头部(4)转动连接在两个倾角调整立柱(10)上端，两个所述倾角调整立柱(10)的外侧靠近上端处固定安装有定向麦克风(13)，所述朝向调整转盘(5)的上端前后对称设置有两个收音麦克风(14)，所述头部(4)的正面中心设置有人机交互界面(15)，且人机交互界面(15)的上下分别设置有面部识别摄像头(16)和扬声器(17)，所述底座(1)内固定安装有智能控制器(18)，所述朝向调整转盘(5)的正面中心设置有定距模块(24)，所述智能控制器(18)与朝向调节电机(8)、倾角调整电机(11)、定向麦克风(13)、收音麦克风(14)、人机交互界面(15)、面部识别摄像头(16),扬声器(17)和定距模块(24)均电性连接。
  2. 根据权利要求1所述的一种头部可随动的人形闻讯服务机器人，其特征在于：所述朝向调整转盘(5)的下端固定连接有朝向转动轴(6)，所述朝向转动轴(6)转动连接在底座(1)的顶部中心，且朝向转动轴(6)的外壁下端固定连接有转动轴凸齿(7)，所述底座(1)内腔靠近上端处固定安装有朝向调节电机(8)，且朝向调节电机(8)的输出端通过主动齿轮(9)与转动轴凸齿(7)啮合。
  3. 根据权利要求1所述的一种头部可随动的人形闻讯服务机器人，其特征在于：所述头部(4)的内腔左右分别固定安装有倾角调整电机(11)和角度传感器(12)，所述倾角调整电机(11)的输出轴和角度传感器(12)的输入轴分别贯穿头部(4)的两侧，且倾角调整电机(11)的输出轴和角度传感器(12)的输入轴分别与对应一侧的倾角调整立柱(10)上端固定连接，所述倾角调整电机(11)和角度传感器(12)均与智能控制器(18)电性连接。
  4. 根据权利要求1所述的一种头部可随动的人形闻讯服务机器人，其特征在于：所述朝向调整转盘(5)和朝向转动轴(6)的中心均开设有穿线孔(20)，且穿线孔(20)与底座(1)的内腔连通。
  5. 根据权利要求1所述的一种头部可随动的人形闻讯服务机器人，其特征在于：所述底座(1)的内腔底部固定安装有蓄电池(19)，所述蓄电池(19)与智能控制器(18)电性连接供电。
  6. 根据权利要求1所述的一种头部可随动的人形闻讯服务机器人，其特征在于：所述智能控制器(18)包括定向模块(23)、定距模块(24)和面部定位模块(25)，所述定向模块(23)与两个定向麦克风(13)和两个收音麦克风(14)均电性连接，所述定距模块(24)与红外测距传感器(21)电性连接，所述面部定位模块(25)与面部识别摄像头(16)电性连接。
  7. 根据权利要求1所述的一种头部可随动的人形闻讯服务机器人，其特征在于：所述智能控制器(18)还包括行走控制模块(26)和头部随动模块(27)，所述行走控制模块(26)与移动底盘(2)电性连接，所述头部随动模块(27)与朝向调节电机(8)、倾角调整电机(11)和角度传感器(12)电性连接。
  8. 根据权利要求1所述的一种头部可随动的人形闻讯服务机器人，其特征在于：所述智能控制器(18)上设置有语音识别模块(28)和无线通讯模块(29)，所述语音识别模块(28)的输入端与定向模块(23)的输出端电性连接，且语音识别模块(28)的输出端与无线通讯模块(29)电性连接，所述无线通讯模块(29)通过无线通信网络连接云端服务器。
  9. 根据权利要求1所述的一种头部可随动的人形闻讯服务机器人，其特征在于：所述智能控制器(18)上还设置有语音输出模块(30)和显示输出模块(31)，所述语音输出模块(30)与扬声器(17)电性连接，所述显示输出模块(31)与人机交互界面(15)电性连接。
  10. 根据权利要求1所述的一种头部可随动的人形闻讯服务机器人，其特征在于：所述面部识别摄像头(16)的外侧固定连接有防护透镜(22)，所述防护透镜(22)内壁涂覆有防水涂层。
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