Eye movement control structure of robot and control system thereof

A technology of motion control and control structure, which is applied in the field of simulation robots, can solve the problems of difficult control of the precision of the expansion and contraction of the motion airbag, and the difficulty of air tightness requirements, and achieve the effect of soft motion, avoiding inconsistent rotation, and high degree of anthropomorphism

Active Publication Date: 2020-12-08

DONGGUAN UNIV OF TECH

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AI-Extracted Technical Summary

Problems solved by technology

Using air pressure changes to control the expansion and contraction of the action airbag, the airtightness requirements are difficul...

Method used

As shown in Figure 2 and Figure 3, described action air bag 31 can be classified into eye wheel air bag 41, lifting air bag 42 and eyeball air bag according to the position of its arrangement; Described eye wheel control structure comprises at least one described control assembly , the action airbag of the eye wheel control structure is an eye wheel air bag 41, the two ends of the eye wheel air bag 41 are respectively connected to the skeleton at both ends of the upper eyelid and the side of the eye wheel air bag 41 is attached to the bottom of the simulated upper eyelid; The lift control structure includes at least one control assembly, the action airbag of the lift control structure is a lift airbag 42, one end of the lift airbag 42 is connected to the middle part of the eye wheel airbag 41, and the other end is connected to the brow bone On the skeleton; the orbital skeleton is provided with a fixed skeleton 48, the fixed skeleton 48 is located at the center of the orbital skeleton and the fixed skeleton 48 is rotatably connected with the eyeball 47 through a spherical pair; the eyeball control structure includes at least four Said control assembly, the action airbag of said eyeball control assembly is an eyeball airbag, one end of said eyeball airbag is connected to one side of the eyeball 47, and the other end is connected to the fixed frame 48. In order to further improve the anthropomorphic degree of the robot's eye expression, there are three lifting airbags 42 in the present embodiment, and the three lifting airbags 42 are connected with the eye wheel airbags 41 respectively, and the three lifting airbags 42 carry out different degrees of lifting respectively. Stretching, making the artificial eyelids arc in the process of opening and closing, making the robot more realistic.

As shown in Figure 5, in order to prevent that the action airbag 31 is invaginated at the crest of the co...

Abstract

The invention discloses an eye action control structure of a robot, which comprises a control assembly, the control assembly comprises an action air bag, a liquid bag and an electric hydraulic pump, aclosed air cavity is formed in the action air bag, the liquid bag is arranged in the action air bag, and the liquid bag is connected with a liquid storage cavity through a guide pipe to form a closedcavity; the motor driving part controls the cavity body of the liquid storage cavity to be enlarged or shrunk, the volume of the liquid storage cavity is increased or decreased to be shrunk or expanded corresponding to the liquid bag so that the action air bag can be shortened or extended, and the action air bag is embedded into the simulated skin and arranged in a framework of the robot. Througha gas-liquid mixing control mode, the control precision of the action air bag is improved, and the simulated skin is buffered and protected. In addition, the invention further provides a corresponding eye action control system of the robot.

Application Domain

Programme controlComputer control +1

Technology Topic

PhysicsElectric machinery +10

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Examples

Experimental program(1)

Example Embodiment

[0030] In order to make the purpose, principle and advantages of the present invention clearer, the present invention will be further explained in detail with reference to the drawings and examples. It should be understood that the specific embodiments described here are only for explaining the present invention, but not for limiting the present invention.

[0031] such as Figure 1 As shown, an eye control structure of a robot includes a control assembly, which includes an action airbag 31, a liquid airbag 35, and an electric hydraulic pump 32. The action airbag 31 is a telescopic airbag that moves in one direction, and a closed air cavity is formed inside the telescopic airbag. The liquid bag 35 is an elastic bag, and the liquid bag 35 is arranged in the action airbag 31, and one end of the liquid bag 35 is communicated with a catheter 33; The electric hydraulic pump 32 includes a liquid driving part 321 and a motor driving part 322. One side of the liquid driving part 321 close to the conduit 33 forms a liquid storage cavity 62, and the liquid storage cavity 62 communicates with the liquid bag 35 through the conduit 33. The internal space formed by the liquid storage cavity 62, the conduit 33 and the liquid bag 35 is filled with liquid. The motor driving part 322 drives the cavity of the liquid storage cavity 62 to shrink, and the liquid in the liquid storage cavity 62 is squeezed by the motor driving part 322 and enters the liquid bag 35 through the conduit 33, and the liquid bag 35 expands to make the action airbag 31 expand. The motor driving part 322 drives the cavity of the liquid storage cavity 62 to enlarge, and the liquid in the liquid bag 35 is squeezed by the gas in the action airbag 31 and enters the liquid storage cavity 62 through the conduit 33, and the liquid bag 35 shrinks to shorten the action airbag 31. Specifically, the catheter 33 is made of rubber material, and the catheter 33 itself can be bent, which is convenient for arranging the eye control components in the robot skeleton.

[0032] such as Figure 2 and Figure 3 As shown, the action airbag 31 can be classified into an eye wheel airbag 41, a lifting airbag 42 and an eyeball airbag according to its arrangement position. The eye wheel control structure comprises at least one control assembly, and the action airbag of the eye wheel control structure is an eye wheel airbag 41, the two ends of the eye wheel airbag 41 are respectively connected to the skeletons at the two ends of the upper eyelid, and the side surfaces of the eye wheel airbag 41 are attached to the bottom of the simulated upper eyelid; The lifting control structure comprises at least one control assembly, and the action airbag of the lifting control structure is a lifting airbag 42, one end of which is connected to the middle of the eye wheel airbag 41, and the other end of which is connected to the Yu Mei skeleton; A fixed skeleton 48 is arranged in the orbital skeleton, and the fixed skeleton 48 is located at the center of the orbital skeleton and rotatably connected with the eyeball 47 through a spherical pair. The eyeball control structure comprises at least four control assemblies, and the action air bags of the eyeball control assemblies are eyeball air bags, one end of which is connected to one side of the eyeball 47, and the other end is connected to the fixed skeleton 48. In order to further improve the anthropomorphic degree of the robot's eye expression, in this embodiment, there are three lifting airbags 42. The three lifting airbags 42 are respectively connected with the eye wheel airbags 41, and the three lifting airbags 42 respectively expand and contract in different degrees, so that the simulated eyelid is curved in the process of opening and closing, and the anthropomorphic degree of the robot is more realistic.

[0033]The above-mentioned control assembly controls by means of gas-liquid mixing, and controls the contraction and expansion of the liquid bag 35 by controlling the expansion and contraction of the liquid storage cavity 62. During the contraction of the liquid bag 35, the volume of the air cavity of the action air bag 31 increases compared with that of the previous moment, so that the air pressure in the air cavity is smaller than the external air pressure, and the action air bag 31 is shortened by the external air pressure. The expansion of the liquid bag 35 makes the air cavity volume of the action airbag 31 decrease compared with the air cavity volume at the previous moment, making the air pressure in the air cavity larger than the outside air pressure, thus making the action airbag 31 stretch under the action of the outside air pressure. On the one hand, compared with the pure air pressure control mode, the gas-liquid mixing control mode of the control assembly skillfully uses the incompressibility of liquid, reducing the change ratio of the action airbag 31 and the liquid storage cavity 35 caused by air compression in the action airbag 31, The control precision of the action airbag is improved, so that the control precision of the robot's eye expression is improved. On the other hand, compared with pure hydraulic control, the air cavity of the action airbag 31 is used as a buffer, so that the action of the action airbag 31 is softer, and the damage of the robot's simulated face caused by excessive pure hydraulic control intensity is avoided.

[0034] such as Figure 3 As shown, there is a fixed skeleton 48 in the orbital skeleton, which is located at the center of the orbital skeleton. The fixed skeleton 48 is rotatably connected with the eyeball 47 through a spherical pair, and the eyeball 47 is connected with the fixed skeleton 48 through the spherical pair to realize the position fixation and can rotate freely. Specifically, the free end of the fixed skeleton 48 is fixedly connected with a ball head 481, and a spherical sub-housing 471 is provided at the center of the eyeball 47, and the ball head 481 is movably installed in the spherical sub-housing 471. The spherical surface is located at the center of the eyeball 47, so that the eyeball 47 can move around the center of the eyeball 47 when rotating; One end of the eyeball airbag is connected to one side of the eyeball 47, and the other end is connected to the fixed skeleton 48. The attachment of the eye wheel airbag 41 to the upper eyelid is that the eye wheel airbag 41 is attached to the bottom of the upper eyelid through the bending points of a plurality of corrugated sheets on the side wall of the eye wheel airbag 41, so that when the eye wheel airbag 41 moves, it drives the simulated action of the upper eyelid to realize the actions of opening eyes, closing eyes or squinting eyes.

[0035] such as Figure 4 and Figure 5 As shown, the action airbag 31 includes an airbag body 311 and a connecting hole 312 formed in the airbag body 311, the liquid bag 35 includes a liquid bag body and a liquid flow hole formed in the liquid bag body, and the conduit 33 passes through the connecting hole 312 and is connected with the liquid flow hole. The airbag body 311 includes airbag side walls 3111 and airbag end walls 3112 located at both ends of the airbag side walls 3111 and sealing the airbag side walls 3111. The airbag side walls 3111 are formed by sequentially connecting a plurality of foldable corrugated sheets along the folding and expansion direction, and the number of corrugated sheets is selected according to the actual required length. The action airbag 31 is provided with a plurality of supports 34 along its axial direction, and the supports 34 are located in the wave crest of the corrugated sheet, and the supports 34 support the wave crest of the corrugated sheet along the circumferential direction of the action airbag 31 to prevent the wave crest from sinking in. In this embodiment, in order to facilitate the eye wheel airbag 41 to bend during eye movement, a long column shape is adopted as the shape of the inflatable airbag 31.

[0036] such as Figure 5 As shown, in order to prevent the action airbag 31 from collapsing at the peak of the corrugated sheet during contraction, the action airbag 31 is provided with a plurality of supports 34 along its axial direction, and the supports 34 support the peak of the corrugated sheet along the circumferential direction of the action airbag 31 to prevent the peak from collapsing. In this embodiment, the supporting member 34 is an arc-shaped bent member embedded in the side wall 3111 of the airbag, so as to prevent the wave crest from collapsing or expanding outward.

[0037] such as Figure 1 As shown, the liquid driving part 321 further includes a guide cylinder 61, a piston 63 slidably installed in the guide cylinder 61, and a piston rod 64 connected with the piston 63. The liquid storage cavity 62 is a space formed by the piston 63 and the guide cylinder 61 near the conduit 33. The motor driving part 322 is connected with the piston rod 64 to control the movement of the piston rod 64, which drives the piston 63 to slide along the cylinder wall of the guide cylinder 61. The sliding of the piston 63 drives the liquid in the liquid storage chamber 62 to flow, so that the action air bag 31 retracts and retracts. A plurality of exhaust holes 611 are formed in the cylinder wall of one end of the guide cylinder 61 near the motor driving part 322, and the motor driving part 322 includes a driving circuit and a driving motor. The specific liquid bladder 35 is a malleable cavity made of latex, and the driving motor is controlled to move by the driving circuit, so that the piston 63 is controlled to move to make the liquid storage cavity 62 drain or feed liquid, so that the liquid bladder 35 expands or contracts, and the action bladder 31 expands and contracts accordingly. Compared with the pure air pressure control, the change ratio of the action bladder 31 and the liquid storage cavity 62 is reduced by the gas-liquid mixing control method, so the control accuracy is increased, and the gas as a buffer can effectively prevent the hydraulic pressure change from directly acting on the simulated skin of the robot.

[0038] such as Figure 3 As shown, the eyeball balloons are classified into left eyeball balloon 43, right eyeball balloon 44, top eyeball balloon 45 and bottom eyeball balloon 47 according to their distribution on the eyeball, and the eyeball control structure includes left eyeball control structure, right eyeball control structure, top eyeball control structure and bottom eyeball control structure. The action airbag of the left eyeball control structure is a left eyeball airbag 43, and one end of the left eyeball airbag 43 is connected to the left side of the eyeball 47, and the other end is connected to the left side of the fixed skeleton 48. The action airbag of the right eyeball control structure is a right eyeball airbag 44, one end of which is connected to the right side of eyeball 47, and the other end is connected to the right side of fixed skeleton 48. The action airbag of the top eyeball control structure is a top eyeball airbag 45, one end of which is connected to the top of eyeball 47, and the other end is connected to the top of fixed skeleton 48. The action airbag of the bottom eyeball control structure is a bottom eyeball airbag 46, one end of which is connected to the bottom of eyeball 47, and the other end is connected to the bottom of fixed skeleton 48. The expansion and contraction of the left eyeball airbag 43, the right eyeball airbag 44, the top eyeball airbag 45 and the bottom eyeball airbag 46 drive the eyeball to rotate.

[0039] Further, in order to ensure the synchronous action of the two eyeballs of the robot, the inside of the orbital skeleton is also provided with a laser sensor, which includes a receiving part and a transmitting part. The four directions of the outer side of the eyeball 47 are respectively provided with a transmitting part of a laser sensor, and the four directions of the inner side of the orbital skeleton are respectively provided with a plurality of receiving parts of laser sensors which are arranged at equal intervals, so that the rotation angle of the eyeballs can be monitored in real time by the laser sensors, thus ensuring the synchronous rotation of the two eyeballs and avoiding

[0040] As the movements of eyes include the opening and closing of eyelids and the rotation of eyeballs, which are specifically controlled by orbicularis oculi muscle, levator palpebrae superioris muscle and each straight muscle, the movements of eyes are divided into six, which are controlled by corresponding airbags:

[0041] Eyelid closure: the eye wheel airbag 41 contracts and the lifting airbag 42 expands;

[0042] Eyelid opening: the eye wheel airbag 41 expands and the lifting airbag 42 contracts;

[0043] Turn the eyeball to the left: the left eyeball balloon 43 contracts and the right eyeball balloon 44 expands;

[0044] Turn the eyeball to the right: the left eyeball airbag 43 expands and the right eyeball airbag 44 contracts;

[0045] Upward eyeball rotation: the top eyeball airbag 45 contracts and the bottom eyeball airbag 46 extends;

[0046] Downward eyeball rotation: the top eyeball airbag 45 expands and the bottom eyeball airbag 46 contracts.

[0047]To realize the above-mentioned movements in the robot's eyes, six relatively independent movement mechanisms are needed, and the movements in the eyes are more subtle than those in other parts, so the accuracy requirement is higher, and it is difficult to achieve it simply by using the traditional rigid-body movement mechanism or pure air pressure control. On the one hand, the control method of gas-liquid mixing is adopted, which makes use of the incompressibility of liquid to improve the control accuracy; on the other hand, the gas is used as a buffer to prevent the damage of the robot's simulated face.

[0048] such as Figure 6 As shown, a robot's eye motion control system includes the robot's eye motion control structure, a motion control module for controlling the action of the electric hydraulic pump 32, and a detection unit. The motion control module includes an offset conversion unit and a drive signal conversion unit, and the offset conversion unit receives the eye position timing signal SV, According to the preset correspondence between the eye position value and the offset, the eye position time sequence signal SV is converted into the corresponding offset time sequence signal CD, wherein the eye position time sequence signal SV consists of several eye position time sequence information CV and eye position information FV, and the offset time sequence signal CD includes the corresponding action time sequence information DV and piston offset information DT; The driving signal conversion unit calculates a corresponding hydraulic bladder control signal according to the offset timing signal CD, and the motor driving part 322 controls the piston 63 to move to a preset position according to the hydraulic bladder control signal.

[0049] refer to Figure 8 and Figure 9 In the present invention, the eye position is formed by the expansion and deformation of six motion airbags 31, so the eye position information FV consists of six eye position values corresponding to the liquid storage chamber 62, as follows:

[0050] 1) the eye wheel airbag 41 controls the extension or shortening of the distance D41 from the feature point e to the feature point E', and the lifting airbag 42 controls the feature point f to shift in the direction D42, where D41 and D42 represent the offset of the eyelid opening and closing corresponding to the eye wheel airbag 41 and the lifting airbag 42, respectively;

[0051] 2) The left eyeball airbag 43 controls the extension or shortening of the distance D43 from the feature point A to the feature point A', and the right eyeball airbag 44 controls the extension or shortening of the distance D44 from the feature point B to the feature point B'. D43 and D44 represent the left and right rotations of the eyeball corresponding to the offsets of the left eyeball airbag 43 and the right eyeball airbag 44 respectively;

[0052] 3) The top eyeball airbag 45 controls the extension or contraction of the distance D45 from the feature point C to the feature point C', and the bottom eyeball airbag 46 controls the extension or contraction of the distance D46 from the feature point D to the feature point D'. D45 and D46 represent the up and down rotation of the eyeball corresponding to the offset of the top eyeball airbag 45 and the bottom eyeball airbag 46, respectively;

[0053] When a certain eye visual position is determined, the eye visual position information FV can be represented by the deformation and offset combination of the above six kinds of motion airbags 31, namely:

[0054] FV＝(D41； D42； D43； D44； D45； D46)

[0055] In this mouth position, the mouth position information FV can be represented by the corresponding offset information:

[0056] FV＝(D41(j)； D42(j)； D43(j)； D44(j)； D45(j)； D46(j))

[0057] When the eyes are in a natural state, that is, when the eyelids are open and the eyeballs are not deflected, the offset of each feature point is 0, that is:

[0058] FV＝(0； 0； 0； 0； 0； 0)。

[0059] Further, the detection unit comprises a position detection unit; The position detection unit detects the position of the piston 63 to generate a position feedback signal, and the driving signal conversion unit adjusts the hydraulic bag control signal according to the position feedback signal. Among them, the method of correcting the control signal of the hydraulic bladder is as follows: the driving signal conversion unit judges the expansion and contraction degree and speed of the action airbag 31 according to the position feedback signal generated by the position detection unit, and corrects the control signal of the hydraulic bladder when the expansion and contraction degree and speed of the action airbag 31 exceed a preset value; For example, the position detection unit determines whether the motion airbag 31 reaches the corresponding offset. When the piston 63 reaches the predetermined position, the position detection unit generates a position feedback signal containing the arrival information, and the driving signal conversion unit issues a stop command according to the position feedback signal to control the motor driving unit 322 to stop the motion.

[0060] Furthermore, the detection unit further includes a temperature detection unit, which includes a temperature sensor and a temperature status register. The temperature detection unit is used to detect the current ambient temperature of the action airbag 31 and convert it into a corresponding temperature signal. The temperature status register records the temperature signal in real time, and compensates and calculates the deformation of the action airbag 31 according to the real-time temperature data, so as to correct the action amount of the motor driving part 322. Since the gas itself is easily affected by the effect of thermal expansion and contraction, the control accuracy of the actuating airbag 31 can be further improved by detecting the ambient temperature in real time and correcting the actuating amount of the motor driving part 322.

[0061] Further, the eye time sequence information CV includes the start time TC and the formation time TH of the eye position. In this embodiment, CV = (TC, TH). The position detection unit detects the position of the piston 63 in real time to generate a position feedback signal. The method of calculating the hydraulic bag control signal by the driving signal conversion unit includes: acquiring an offset time sequence signal CD(k) in time sequence, and taking the action time sequence information DV(k) of CD(k)

[0062] CD(k)＝(Cv(k)，DT(k))，Cv(k)＝(TC(k)，TH(k))

[0063] Setting DT(k) as the target offset information X(t) at the start time TC(k) of CD(k), that is, x (t) = dt (k), acquiring the position feedback signal in real time and obtaining the actual offset information Y(t) at the current time t according to the position feedback signal;

[0064] Y(t)＝(L41； L42； L43； L44； L45； L46)

[0065] Comparing the target offset information with the actual offset information in real time to calculate the offset L(t) of the piston 63;

[0066] L(t)＝X(t)-Y(t)

[0067] According to the time sequence information Cv(t), the formation time TH(k) of the eye position is obtained, the time difference T(t) between the current time t and the formation time TH(k) is calculated, and the hydraulic bladder control signal SN is calculated in real time according to the action amount L(t) and the time difference T(t), wherein the hydraulic bladder control signal comprises driving voltage information UN and driving direction information DN. In this embodiment, the positive value of the action amount L(t) represents the driving direction information, the negative value represents the forward movement, and the calculation result represents the driving voltage information. The driving direction of the motor driving part 322 is controlled according to the driving direction information DN, and the speed of the motor driving part 322 is controlled according to the driving voltage signal UN. Of course, it is also possible to calculate the formation time of eye vision by the formation time TH(k) and the start time TC(t), and calculate the hydraulic bladder control signal SN according to the formation time and the movement amount L(t). At this time, it is not necessary to calculate the hydraulic bladder control signal SN in real time, but only need to calculate and process at the start time TC(t) of eye vision.

[0068] such as Figure 7As shown, the driving signal conversion unit includes a signal acquisition unit, a motion target register, a piston state register, a comparison calculation unit and a parameter calculation unit. The signal acquisition unit receives the offset timing signal CD and sends the offset information DT(k) of any eye vision CD(k) into the motion target register when it reaches the start time TC(k). The movement target register stores THe offset information DT(k) to generate storage target offset information X(t), the piston state register stores the position feedback signal to generate actual offset information Y(t), the comparison calculation unit compares the target offset information with the actual offset information in real time to obtain the movement amount L(t) of the liquid storage chamber 62, and the parameter calculation unit calculates the difference T(k) between the formation time th of the movement timing information and the current time in real time:

[0069] T(k)＝TH(k)-t

[0070] To obtain the time difference T(t) of the eye position, and calculate the hydraulic bladder control signal SN in real time according to the time difference T(t) and the action amount L(t) of the liquid storage chamber 62.

[0071] Preferably, the eye time sequence information CV includes the start time TC, the formation time TH and the end time TF of the eye position. In this embodiment, CV = (TC, TH, TF). The robot's eye motion control system also includes a pre-processing module, which is used to pre-process the eye position time sequence signal and send the processed eye position time sequence signal to the motion control module or the subsequent eye position synthesis module. The processing process is as follows

[0072] (TC(i+1)-TF(i))≥n is true, where n is the preset value, TC(i+1) is the start time of the posterior eye vision, and TF(i) is the end time of the previous eye vision;

[0073] If yes, a preset eye position is added between adjacent eye positions; if no, the ending time of the previous eye position is adjusted to the ending time of the next eye position TF (I) = TC(i+1), that is, CV (I) = (TC (I), TH(i), TC (I+1)). Among them, if the robot's eyes don't move, the preset eye position is that the robot's eyelids are open and the eyeballs don't deflect. Specifically, since the eye position sequence processed by the pre-processing module is continuous, the eye position sequence signal CV includes the processed start time TC and the formation time TH, and the end time TF can be omitted.

[0074] What has been disclosed above is only the preferred embodiment of the present invention, which of course should not be used to limit the scope of the rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still covered by the present invention.

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Classification and recommendation of technical efficacy words

soft action
High control precision

Eye movement control structure of robot and control system thereof

AI-Extracted Technical Summary

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Example Embodiment

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