CN106393127A - Robot capable of simulating human facial expressions - Google Patents
Robot capable of simulating human facial expressions Download PDFInfo
- Publication number
- CN106393127A CN106393127A CN201610742657.4A CN201610742657A CN106393127A CN 106393127 A CN106393127 A CN 106393127A CN 201610742657 A CN201610742657 A CN 201610742657A CN 106393127 A CN106393127 A CN 106393127A
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- pneumatic source
- eyebrow
- face
- robot
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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
-
- 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
-
- 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
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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)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot capable of simulating human facial expressions. The robot comprises an eyebrow component capable of moving up and down, a rotatable eye component, a mouth component which is capable of being opened or closed, an eyebrow pneumatic source, an eye pneumatic source, a mouth pneumatic source, a controller and a vision sensor, wherein the eyebrow pneumatic source is connected to the eyebrow component; the eye pneumatic source is connected to the eye component; the mouth pneumatic source is connected to the mouth component; the controller is connected with the eyebrow pneumatic source, the eye pneumatic source and the mouth pneumatic source; the vision sensor is connected to the controller. The robot capable of simulating human facial expressions, disclosed by the invention, is capable of identifying the facial expressions of a participant and is capable of realizing cooperative work of the eyebrows, the eyes and the mouth, so the robot can show expressions similar to the expressions of the participant.
Description
Technical field
A kind of robot, particularly a kind of robot with facial expression.
Background technology
Robot is the installations automatically executing work.It both can accept mankind commander, can run again and compile in advance
The program of row is it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, for example, produce industry, building industry, or the work of danger；Application with robot is more and more extensive, robot
Research more and more deep, the requirement to robot humanoid is more and more stricter, mechanical type expression robot pass through participant with
Robot carries out expression interaction, illustrates the imitativeness of robot；The effect of the robot expression of prior art is undesirable, existing
Technology does not also solve such problem.
Content of the invention
For solving the deficiencies in the prior art, it is an object of the invention to provide a kind of robot of humanoid facial expression, energy
The facial expression of identification participant, eyebrow, eyes, face can make robot show similar with participant with collaborative work
Expression.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that：
A kind of robot of humanoid facial expression, including：Up and down eyebrow assembly, rotatable eye element, can opening and closing
Face assembly, be connected to the eyebrow pneumatic source of eyebrow assembly, be connected to the eyes pneumatic source of eye element, be connected to face group
The face pneumatic source of part, is connected to eyebrow pneumatic source, eyes pneumatic source, the controller of face pneumatic source, is connected to controller
Vision sensor.
A kind of robot of aforesaid humanoid facial expression, eyebrow assembly composition has：Eyebrow, is connected to eyebrow and eyebrow gas
Between dynamic source eyebrow coupling assembly, be fixedly connected the eyebrow fixed plate of assembly and eyebrow pneumatic source.
A kind of robot of aforesaid humanoid facial expression, eyebrow coupling assembly composition has：It is connected to the power of pneumatic source
Connecting rod, is connected to the L-type motion connecting rod of eyebrow, and the axis being connected between power connector bar and L-type motion connecting rod connects
Extension bar.
A kind of robot of aforesaid humanoid facial expression, eye element composition has：Eyelid, eyeball, it is connected to eyelid, eye
Eyes coupling assembly between ball and eyes pneumatic source, the eyes fixed plate of fixing eyes pneumatic source.
A kind of robot of aforesaid humanoid facial expression, eyes coupling assembly composition has：It is connected to eyes pneumatic source
Power connector bar, is connected to the axis connecting rod of eyelid, eyeball.
A kind of robot of aforesaid humanoid facial expression, face assembly composition has：Face, is connected to face and face gas
The face coupling assembly in dynamic source, the face fixed plate of fixing face pneumatic source.
A kind of robot of aforesaid humanoid facial expression, face coupling assembly composition has：It is connected to face pneumatic source
Power connector bar, is connected to the axis connecting rod of face.
A kind of robot of aforesaid humanoid facial expression, vision sensor is sieve skill being installed on robot head central authorities
C920 vision sensor.
A kind of robot of aforesaid humanoid facial expression, controller has the PLC control module controlling pneumatic source.
The invention has benefit that：The present invention provides a kind of robot of humanoid facial expression, can identify participant
Facial expression, pneumatic source drives an expression part motion, controls all of pneumatic source to operate by controller simultaneously, from
And achieve the eyebrow of cooperating robot, eyes, face collaborative work, by vision sensor perception human face's expression, by data
Pass to controller, control each pneumatic source to drive expression part motion by controller, realize the effect of simulation participant's expression.
Brief description
Fig. 1 is a kind of front view of embodiment of the present invention；
Fig. 2 is a kind of front view of embodiment of eyebrow assembly of the present invention；
Fig. 3 is a kind of front view of embodiment of eye element of the present invention；
Fig. 4 is a kind of front view of embodiment of face assembly of the present invention；
11 eyebrows, 12 eyebrow coupling assemblies, 121,231,321 power connector bars, 122,232,322 axis connecting rods, 123
L-type motion connecting rod, 13 eyebrow fixed plates, 14 eyebrow pneumatic source, 21 eyelids, 22 eyeballs, 23 eyes coupling assemblies, 24
Eyeball fixed plate, 25 eyes pneumatic source, 31 faces, 32 face coupling assemblies, 33 face fixed plates, 34 face pneumatic source, 4 regard
Feel sensor.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is made with specific introduction.
A kind of robot of humanoid facial expression, including：Up and down eyebrow assembly, rotatable eye element, can
The face assembly of opening and closing, is connected to the eyebrow pneumatic source 14 of eyebrow assembly, is connected to the eyes pneumatic source 25 of eye element, connects
In the face pneumatic source 34 of face assembly, it is connected to eyebrow pneumatic source 14, eyes pneumatic source 25, the control of face pneumatic source 34
Device, is connected to the vision sensor 4 of controller.In the present invention, each expression organ has an independent pneumatic source, such sets
Meter enables expression organ more flexibly lively.
Eyebrow assembly composition has：Eyebrow 11, be connected between eyebrow 11 and eyebrow pneumatic source 14 eyebrow coupling assembly
12, it is fixedly connected the eyebrow fixed plate 13 of assembly and eyebrow pneumatic source 14.Eyebrow coupling assembly 12 composition has：It is connected to pneumatic source
Power connector bar 121, be connected to the L-type motion connecting rod 123 of eyebrow, be connected to power connector bar and L-type motion connecting rod
Between axis connecting rod 122.Power is obtained from pneumatic source by power connector bar, drives the motion of L-type motion connecting rod, real
Existing eyebrow movement, axis connecting rod realizes the fine adjustment of eyebrow movement so that the motion of eyebrow is more anthropomorphic.Eyebrow fixed plate 13
It can be seen that section is " L " shape on Fig. 2, such design more can stably be fixedly connected bar assembly.
Eye element composition has：Eyelid 21, eyeball 22, it is connected between eyelid 21, eyeball 22 and eyes pneumatic source 25
Eyes coupling assembly 23, the eyes fixed plate 24 of fixing eyes pneumatic source 25.Eyes coupling assembly 23 composition has：It is connected to eyes
231 power connector bars of pneumatic source 25, are connected to 232 axis connecting rods of eyelid 21, eyeball 22.Obtained by power connector bar
Power simultaneously drives axis connecting rod to drive eyelid 21, eyeball 22 to move, it should be noted that eyelid 21 and eyeball 22 are respectively provided with
One pneumatic source drives, so that eyes are more flexible lively.
Face assembly composition has：Face 31, is connected to the face coupling assembly 32 of face 31 and face pneumatic source 34, fixing
The face fixed plate 33 of face pneumatic source 34.Face coupling assembly 32 composition has：It is connected to the power connector of face pneumatic source 34
Bar 321, is connected to the axis connecting rod 322 of face.Power is obtained by power connector bar and drives axis connecting rod band to open one's mouth
Ba Yundong.
As a kind of preferred, the vision sensor 4 sieve skill C920 vision sensor 4 central for being installed on robot head,
Thus realizing identifying the facial expression of participant, communicate information to controller, controller has the PLC control controlling pneumatic source
Molding block；Air-powered electromagnetic threshold switch is controlled by SIEMENS PLC controller, drives pneumatic source movement, thus realizing each expression
Organ collaborative work, more flexible, more anthropomorphic.
The present invention provides a kind of robot of humanoid facial expression, can identify the facial expression of participant, a pneumatic source
Drive an expression part motion, control all of pneumatic source to operate by controller simultaneously, it is achieved thereby that cooperating robot
Eyebrow, eyes, face collaborative work, perceive human face's expression by vision sensor 4, pass data to controller, by controlling
Device controls each pneumatic source to drive expression part motion, realizes the effect of simulation participant's expression.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the invention is not limited in any way for above-described embodiment, all obtained by the way of equivalent or equivalent transformation
Technical scheme, all falls within protection scope of the present invention.
Claims (9)
1. a kind of robot of humanoid facial expression is it is characterised in that include：Up and down eyebrow assembly, rotatable eye
Eyeball assembly, can opening and closing face assembly, be connected to the eyebrow pneumatic source of above-mentioned eyebrow assembly, be connected to the eye of above-mentioned eye element
Eyeball pneumatic source, is connected to the face pneumatic source of above-mentioned face assembly, is connected to above-mentioned eyebrow pneumatic source, eyes pneumatic source, face
The controller of pneumatic source, is connected to the vision sensor of controller noted above.
2. a kind of robot of humanoid facial expression according to claim 1 is it is characterised in that above-mentioned eyebrow assembly forms
Have：Eyebrow, be connected between above-mentioned eyebrow and eyebrow pneumatic source eyebrow coupling assembly, fixing above-mentioned coupling assembly and eyebrow
The eyebrow fixed plate of pneumatic source.
3. a kind of robot of humanoid facial expression according to claim 2 is it is characterised in that above-mentioned eyebrow coupling assembly
Composition has：It is connected to the power connector bar of above-mentioned pneumatic source, be connected to the L-type motion connecting rod of above-mentioned eyebrow, be connected to above-mentioned
Axis connecting rod between power connector bar and L-type motion connecting rod.
4. a kind of robot of humanoid facial expression according to claim 1 is it is characterised in that above-mentioned eye element forms
Have：Eyelid, eyeball, it is connected to the eyes coupling assembly between above-mentioned eyelid, eyeball and eyes pneumatic source, fixing above-mentioned eyes gas
The eyes fixed plate in dynamic source.
5. a kind of robot of humanoid facial expression according to claim 4 is it is characterised in that above-mentioned eyes coupling assembly
Composition has：It is connected to the power connector bar of above-mentioned eyes pneumatic source, be connected to the axis connecting rod of above-mentioned eyelid, eyeball.
6. a kind of robot of humanoid facial expression according to claim 1 is it is characterised in that above-mentioned face assembly forms
Have：Face, is connected to the face coupling assembly of above-mentioned face and face pneumatic source, and the face of fixing above-mentioned face pneumatic source is fixed
Plate.
7. a kind of robot of humanoid facial expression according to claim 6 is it is characterised in that above-mentioned face coupling assembly
Composition has：It is connected to the power connector bar of face pneumatic source, be connected to the axis connecting rod of face.
8. a kind of robot of humanoid facial expression according to claim 1 is it is characterised in that above-mentioned vision sensor is
It is installed on sieve skill C920 vision sensor in robot head central authorities.
9. a kind of robot of humanoid facial expression according to claim 1 is it is characterised in that controller noted above has control
The PLC control module of pneumatic source processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610742657.4A CN106393127A (en) | 2016-08-29 | 2016-08-29 | Robot capable of simulating human facial expressions |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610742657.4A CN106393127A (en) | 2016-08-29 | 2016-08-29 | Robot capable of simulating human facial expressions |
Publications (1)
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| CN106393127A true CN106393127A (en) | 2017-02-15 |
Family
ID=58003422
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| CN201610742657.4A Pending CN106393127A (en) | 2016-08-29 | 2016-08-29 | Robot capable of simulating human facial expressions |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695843A (en) * | 2017-03-22 | 2017-05-24 | 海南职业技术学院 | Interactive robot capable of imitating human facial expressions |
| CN107932527A (en) * | 2017-12-25 | 2018-04-20 | 深圳艾比仿生机器人科技有限公司 | Bionical eye |
| CN108010504A (en) * | 2017-12-26 | 2018-05-08 | 昆山塔米机器人有限公司 | A kind of piano performance system and method controlled by robot |
| CN108858227A (en) * | 2018-07-20 | 2018-11-23 | 上海楷沃机器人科技有限公司 | A kind of humanoid robot head movement mechanism |
| WO2019001036A1 (en) * | 2017-06-30 | 2019-01-03 | 深圳光启合众科技有限公司 | Head structure of biomimetic robot, and biomimetic robot |
| CN110039558A (en) * | 2019-05-22 | 2019-07-23 | 上海复旦上科多媒体股份有限公司 | The expression robot system of display and demonstration |
| WO2019237997A1 (en) * | 2018-06-14 | 2019-12-19 | 丁英卓 | Device for controlling facial expression of robot |
| CN110930477A (en) * | 2018-09-20 | 2020-03-27 | 深圳市优必选科技有限公司 | Robot animation expression implementation method and device and storage medium |
| CN112265007A (en) * | 2020-10-27 | 2021-01-26 | 广东富利盛仿生机器人股份有限公司 | Head of robot with human-face-expression imitation |
| CN113319869A (en) * | 2021-06-25 | 2021-08-31 | 重庆理工大学 | Welcome robot system with emotion interaction function |
| CN117506950A (en) * | 2023-11-24 | 2024-02-06 | 深圳市小全科技文化有限公司 | Diversified flexible bionic expression robot, control method and control system |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695843A (en) * | 2017-03-22 | 2017-05-24 | 海南职业技术学院 | Interactive robot capable of imitating human facial expressions |
| WO2019001036A1 (en) * | 2017-06-30 | 2019-01-03 | 深圳光启合众科技有限公司 | Head structure of biomimetic robot, and biomimetic robot |
| CN109202915A (en) * | 2017-06-30 | 2019-01-15 | 深圳光启合众科技有限公司 | The head construction and bio-robot of bio-robot |
| CN107932527A (en) * | 2017-12-25 | 2018-04-20 | 深圳艾比仿生机器人科技有限公司 | Bionical eye |
| CN107932527B (en) * | 2017-12-25 | 2024-05-21 | 深圳艾比仿生机器人科技有限公司 | Bionic eye |
| CN108010504A (en) * | 2017-12-26 | 2018-05-08 | 昆山塔米机器人有限公司 | A kind of piano performance system and method controlled by robot |
| WO2019237997A1 (en) * | 2018-06-14 | 2019-12-19 | 丁英卓 | Device for controlling facial expression of robot |
| CN108858227A (en) * | 2018-07-20 | 2018-11-23 | 上海楷沃机器人科技有限公司 | A kind of humanoid robot head movement mechanism |
| CN110930477B (en) * | 2018-09-20 | 2024-04-12 | 深圳市优必选科技有限公司 | Robot animation expression implementation method, device and storage medium |
| CN110930477A (en) * | 2018-09-20 | 2020-03-27 | 深圳市优必选科技有限公司 | Robot animation expression implementation method and device and storage medium |
| CN110039558A (en) * | 2019-05-22 | 2019-07-23 | 上海复旦上科多媒体股份有限公司 | The expression robot system of display and demonstration |
| CN112265007A (en) * | 2020-10-27 | 2021-01-26 | 广东富利盛仿生机器人股份有限公司 | Head of robot with human-face-expression imitation |
| CN113319869A (en) * | 2021-06-25 | 2021-08-31 | 重庆理工大学 | Welcome robot system with emotion interaction function |
| CN117506950A (en) * | 2023-11-24 | 2024-02-06 | 深圳市小全科技文化有限公司 | Diversified flexible bionic expression robot, control method and control system |
| CN117506950B (en) * | 2023-11-24 | 2024-06-21 | 深圳市小全科技文化有限公司 | Diversified flexible bionic expression robot, control method and control system |
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Application publication date: 20170215 |
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