A robot eyeball simulated rotation angle measurement system and method

Abstract

The present disclosure relates to the field of robot design and its application technology, and specifically discloses a system and method for measuring the simulated rotation angle of a robot eyeball, including the following contents: a sensitive module, an eyeball body, a power supply module, an angle data collection module and a control module; the sensitive module is used to complete the angle detection of the robot eyeball; the sensitive module includes a cover body, a cavity, a coil and a connecting shaft, the coil is placed in the cavity, and the cover body is connected to the cavity through the connecting shaft. The angle data collection module is connected to the coil to collect the inductance value of the coil, and the angle data collection module is also connected to the control module. The control module is also connected to a power supply module, a sensitive module and an external module. The present disclosure realizes the direct measurement of the rotation angle of the robot eyeball, and the measurement range can cover the actual rotation range of the eyeball, with high measurement accuracy. The overall system structure is simple and compact, and can be integrated into the inner cavity of the robot eyeball. The angle measurement circuit is simple, and the circuit interface is easy to connect with the control module, which is easy to integrate.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robot design and its application, and specifically discloses a system and method for measuring the simulated rotation angle of a robot eyeball. Background Art

[0002] With the advancement of technology and the comprehensive development of society, service robots have been widely used in all aspects of social life, especially humanoid robots, that is, robots that imitate humans in appearance, which are increasingly integrated into people's social work and life service fields. Existing humanoid robots (referred to as humanoid robots) already have functions such as human-computer dialogue understanding, facial micro-expressions, lip shape and body movement matching, and autonomous positioning and navigation in a large range of dynamic environments. This makes people expect to have a better interactive experience in the process of communicating with humanoid robots, such as eye contact and body interaction. However, the eyes of current humanoid robots are mostly designed in a fixed form and lack the ability to rotate flexibly. Secondly, humanoid robots are limited by the size constraints of their body shape, and their heads are small in size, which makes it difficult to accommodate too complex structures, resulting in the humanoid robot's eye design structure failing to meet the expected simulation requirements.

[0003] The existing published patent number is: CN104645619A, and the name is: an electromagnetically driven robot eyeball device, which has a permanent magnet installed under the robot eyeball, the eyeball pivot is pivoted in the axial hole of the eyeball bracket, and an electromagnet is provided on one side of the eyeball. The pole shoe of the electromagnet faces the permanent magnet. When the electromagnet is energized and excited, the eyeball can be driven to rotate 180 degrees. However, its structure is complex and requires a larger design space, which cannot meet the design needs of various humanoid robots. In addition, the permanent magnet driving angle is too large, resulting in the robot eyeball simulation rotation being too rigid and sluggish, and failing to achieve good interaction requirements. Summary of the invention

[0004] To this end, the present disclosure proposes a robot eyeball simulated rotation angle measurement system and method to solve the above problems.

[0005] According to one aspect of the present disclosure, there is provided a robot eyeball simulated rotation angle measurement system, comprising the following: a sensitive module, an angle data collection module, an eyeball body, a power supply module and a control module;

[0006] A sensitive module, the sensitive module is used to complete the angle detection of the robot eyeball; the sensitive module includes a cover, a cavity, a coil and a connecting shaft, the coil is placed in the cavity, and the cover is connected to the cavity through the connecting shaft;

[0007] An angle data collection module, the angle data collection module is connected to the coil, collects the inductance value of the coil, and the angle data collection module is also connected to the control module;

[0008] A power supply module, the power supply module is used to supply power to the control module and the sensitive module, and the power supply module is connected to the coil;

[0009] A control module, the control module is used to receive external control signals and send control instructions to other parts of the eyeball simulation rotation system of the simulation robot; the control module is connected to the power supply module and the sensitive module, and the control module is also connected to the external module;

[0010] The eyeball body is a containing structure, the eyeball body is a hollow structure, and the sensitive module, the angle data collection module, the power supply module and the control module are placed in the eyeball body.

[0011] Preferably, a through hole is provided on the surface of the eyeball body, and the eyeball body is connected to the robot eye frame through a fixing column, and the fixing column passes through the through hole.

[0012] Preferably, the cover body and the cavity are made of high magnetic permeability materials, and the cover body is connected to the cavity through the connecting shaft; a column is provided in the center of the cavity and the cover body, the coil is sleeved on the column in the cavity, and the coil is electrically connected to the power supply module; the top of the cover body is fixedly connected to the inner surface of the eyeball.

[0013] Preferably, the angle data collection module includes a data collection module and a data output module; the data collection module collects the inductance value in real time, and the data output module outputs the voltage value. The processing of the output voltage value is described as follows:

[0014]

[0015] Among them, Z L is the AC impedance, ω is the angular frequency of the sinusoidal AC excitation source, L 0 is the coil inductance, R 0 is the coil resistance;

[0016] Angular frequency ω=2πf, f is the frequency of the sine wave, R 1 is the AC impedance of the conversion resistor included in the circuit, then the output voltage is:

[0017]

[0018] Among them, U output is the output voltage, V 0 Effective value of constant voltage excitation source.

[0019] Preferably, the data output module includes an output signal circuit, and the output signal circuit includes an AC constant voltage circuit, a sensitive unit circuit, an AC-DC rectification circuit, a DC signal filter and amplification circuit, a linearization processing and signal output circuit.

[0020] Preferably, the control module controls the power supply module to supply power to the sensitive module.

[0021] According to one aspect of the present disclosure, a method for measuring a simulated rotation angle of a robot eyeball is provided, which is used in the above-mentioned simulated rotation angle measurement system of a robot eyeball, and comprises the following steps:

[0022] S110, determining the direction and angle of the robot's eyeball rotation, the control module (5) receiving the robot's eyeball rotation direction and angle instructions sent by the external module, and dividing the instructions into direction instructions and angle instructions;

[0023] S120, sending relevant motion instructions to the robot eyeball simulated rotation angle measurement system, and the robot eyeball simulated rotation angle measurement system receives the direction instruction and the angle instruction respectively;

[0024] S130, the robot eyeball simulated rotation angle measurement system completes the eyeball rotation operation according to the control instruction, and the eyeball (2) changes its rotation angle based on the relative position change between the cover body (11) and the cavity (12) in the sensitive module (1);

[0025] S140, collecting and outputting the robot's eye rotation angle data, collecting in real time the inductance value data changes as the positions of the cavity (12) and the cover (11) change, and converting the inductance value data into electrical signals for output, the real-time changing inductance data corresponding to the real-time rotation angle data of the robot's eye.

[0026] Preferably, in step S110, the external module includes a robot control device and a mobile terminal device, and the external module coordinates the operation of the entire robot and executes various commands.

[0027] Preferably, in the step S140, the cover body is fixedly connected to the eyeball body, and the cover body is driven by the eyeball body to form a rotational eyeball angle change with the cavity.

[0028] The beneficial effect of a robot eyeball simulated rotation angle measurement system and method disclosed in the embodiments of the present disclosure compared with the prior art is that the present disclosure can realize the direct measurement of the robot eyeball rotation angle, and the measurement range can cover the actual rotation range of the eyeball, with high measurement accuracy. The overall system structure is simple and compact, and can be integrated into the robot eyeball cavity, and the space occupied in the robot brain is relatively small. The angle measurement circuit is simple, and the circuit interface is easy to connect with the control module, which is easy to integrate.

[0029] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

[0030] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used to illustrate the technical solutions of the present disclosure together with the specification.

[0032] Figure 1 A schematic diagram showing the structure of a system for measuring the simulated rotation angle of a robot eyeball according to the present disclosure is shown;

[0033] Figure 2 The schematic diagram of the equivalent working circuit of the eyeball rotation angle measurement of the eyeball simulation rotation system of the simulated robot according to the present disclosure is shown;

[0034] Figure 3 A schematic diagram of simulation waveforms of an equivalent working circuit of a robot eyeball simulation rotation angle measurement system according to the present disclosure is shown;

[0035] Figure 4 A schematic diagram of the output module structure of the robot eyeball simulation rotation angle measurement system according to the present disclosure is shown;

[0036] Figure 5 A flow chart of a system for measuring the simulated rotation angle of a robot eyeball according to the present disclosure is shown.

[0037] Description of the drawings: 1-sensitive module; 11-cover; 12-cavity; 13-coil; 14-connecting shaft; 2-eyeball; 3-power supply module; 4-angle data collection module; 5-control module. DETAILED DESCRIPTION

[0038] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0039] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0040] The term "and / or" herein is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set consisting of A, B, and C.

[0041] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0042] It can be understood that the above-mentioned various method embodiments mentioned in the present disclosure can be combined with each other to form a combined embodiment without violating the principle logic. Due to space limitations, the present disclosure will not go into details.

[0043] Humanoid robots, relying on their human-like morphological advantages and movement characteristics, can realize valuable applications in scenarios such as home services, commercial services, national defense and security, and dangerous operations. They have natural language understanding, emotion recognition, and human-computer interaction technologies. In the future, they will play an important role in human-machine integration, medical rehabilitation, industrial production, and special applications. However, due to structural limitations, the eyes of humanoid robots cannot interact and communicate well with people, and appear rigid and sluggish. In addition, it is impossible to quickly and accurately obtain the rotation angle of the robot's eyes, and it is impossible to measure the angle more directly. The angle measurement structure is usually large in size and not convenient to install in the robot body. In order to solve the above problems, the present application discloses a robot eyeball simulation rotation angle measurement system and method, which can directly obtain the robot eyeball rotation angle when the robot eyeball rotates more realistically and interactively, without the need for additional equipment for measurement, and is small in size and can be completely placed inside the robot eyeball. Specifically, Figure 1As shown, a robot eyeball simulated rotation angle measurement system includes a sensitive module 1, an eyeball body 2, a power supply module 3, an angle data collection module 4 and a control module 5. Specifically, the sensitive module 1 is used to complete the angle detection of the robot eyeball. The sensitive module 1 includes a cover 11, a cavity 12, a coil 13 and a connecting shaft 14. The coil 13 is placed in the cavity 12, and the cover 11 is connected to the cavity 12 through the connecting shaft 14. The angle data collection module 4 is connected to the above-mentioned coil 13 to collect the inductance value of the coil 13. The angle data collection module 3 is also connected to the control module 4. The power supply module 3 is used to power the control module 4 and the sensitive module 1, and cooperate with the sensitive module 1 to complete the angle detection of the robot. The power supply module 3 is connected to the coil 13. The control module 5 is used to receive external control signals and send control instructions to other parts of the simulated robot eyeball simulated rotation angle measurement system. The control module 5 is connected to the power supply module 3 and the sensitive module 1, and the control module 5 is also connected to the external module. The eyeball body 2 is a hollow housing structure, and the sensitive module 1, the power supply module 3, the angle data collection module 4 and the control module 5 are all placed in the eyeball body 2. Because the rotation of the eyeball is not entirely a large-angle rotation, the traditional large-angle rotation of the eyeball will make the robot's eyes look very stiff, and the eyeball rotation angle during human interaction is generally less than 30°. Therefore, by detecting the eyeball rotation angle through the above system, human-computer interaction can be effectively performed.

[0044] In order to facilitate the eyeball to achieve an angle rotation and stably combine with the robot eye socket, a through hole is set on the surface of the eyeball body 2, and the eyeball body 2 is connected to the robot eye frame through a fixing column, and the fixing column passes through the through hole. The through hole is set on the back side of the eyeball body 2, which can be directly connected to the robot eye socket and will not affect the robot eyeball to achieve an angle rotation.

[0045] In the embodiments of the present disclosure, Figure 1As shown, the specific implementation process of the robot eyeball rotation angle detection is as follows: the cover 11 is connected to the cavity 12 through the connecting shaft 14, and the cavity 12 and the cover 11 are both provided with a column in the center, which can increase the change of the coil inductance. The coil 13 is sleeved on the column in the cavity 12, and the coil 13 is electrically connected to the power supply module 3. The top of the cover 11 is fixedly connected to the inner surface of the eyeball 2. After the coil 13 is sleeved on the column, it can be energized. After the coil 13 is energized, a magnetic field is generated. Since the cover 11 and the cavity 12 are made of high magnetic permeability materials, the entire sensitive module has the characteristic of low magnetic resistance and is easy for magnetic lines of force to pass through. The inductance of the coil 13 in the cavity 12 and the cover 11 is larger than the value of the inductance exposed in the air. This is because the cavity 12 and the cover 11 in this embodiment are both made of high magnetic permeability materials, resulting in a magnetic resistance that is much smaller than the magnetic resistance in the air. The top of the cover 11 is designed to be fixedly connected to the inner surface of the eyeball 2. When the eyeball 2 rotates, the cover 11 is driven to rotate around the fixed axis 14. At this time, the wedge-shaped air gap between the cover 11 and the cavity 12 also changes. At this time, the change in the inductance value of the coil 13 directly reflects the rotation angle of the robot's eyeball. Therefore, the change in the wedge angle of the air gap will cause the change in the inductance value, and the wedge angle of the air gap is the rotation angle of the robot's eyeball. When recording the above inductance value change, it is the recording of the robot's eye rotation angle.

[0046] In the embodiment of the present disclosure, the angle data collection module 4 can accurately and quickly collect the rotation angle of the robot's eyeball. Specifically, the angle data collection module 4 includes a data collection module and a data output module. The angle collection module receives the inductance value of the coil 13 in real time, and can intuitively understand the change in the angle rotation of the robot's eyeball through different inductance values. The data output module converts the collected inductance data and outputs it, so as to directly obtain the rotation angle of the robot's eyeball and facilitate subsequent operation processing. Figure 2 The schematic diagram of the equivalent working circuit of the eyeball rotation angle is shown, and the sensitive module is equivalent to the coil inductance L 0 and coil resistance R 0 In series, a signal conversion resistor R is also connected in series 1 ; The whole circuit adopts sinusoidal AC constant voltage excitation source V 0 To excite. Then the output voltage value processing is as follows:

[0047]

[0048] Among them, Z L is the coil AC impedance, ω is the angular frequency of the sinusoidal AC excitation source, L 0 is the coil inductance, R 0 is the coil resistance;

[0049] V 0Voltage across L 0 , R 0 , R 1 The series circuit divides the voltage, forming a corresponding terminal voltage value at both ends of each component. 1 The voltage divided value at the end is the voltage value output by the eyeball rotation angle sensor. When the eyeball rotates, the wedge angle air gap between the cover 11 and the cavity 12 changes, and L 0 The inductance of the inductor will change accordingly; the change in inductance means that the inductor impedance has changed; when the excitation source V 0 When the amplitude is constant, the resistor R connected in series with the sensitive element (i.e. coil) 1 The voltage amplitude at both ends changes accordingly, that is, R 1 It actually plays the role of signal conversion, converting the change of inductance, that is, the change of eye rotation angle, into the change of voltage amplitude at both ends of itself, so this signal conversion resistor is set.

[0050] Angular frequency ω=2πf, f is the frequency of the sine wave, R 1 is the AC impedance of the conversion resistor, then the output voltage is:

[0051]

[0052] Where U output is the output voltage, V 0 In this embodiment, the sinusoidal AC constant voltage excitation source V 0 , the frequency is 1kHz, the maximum amplitude is constant at 1.0V, and the peak value is 2.0V. It can be seen from the formula: R 1 Reasonable selection of parameters can ensure a larger U output The output value of the variable L 0 It is a nonlinear function, so the output voltage value U output With L 0 That is, there is a nonlinear relationship between the changes in angles. If necessary, the sensor output signal needs to be linearized, which can be achieved with the help of microcontroller software. The choice of the angular frequency of the excitation source affects the amplitude change of the output signal and needs to be selected reasonably.

[0053] refer to Figure 3 , keep the excitation source angular frequency and amplitude unchanged, such as peak value 2.0V, frequency 1kHz constant, at R 1 By changing l 0 The inductance value is selected to vary from 20mH to 1000mH with a variation increment of 100mH. A cluster of output U output The voltage waveform of the signal. The signal waveform with the largest amplitude is the excitation source V0 The waveform of Figure 3 It can be clearly seen that the output voltage V 0 The amplitude has changed significantly. The larger the change, the higher the sensitivity of the sensor. Due to the existence of circuit inductance, there is a phase difference between the output voltage and the excitation voltage. Among them, the measurement of eyeball rotation angle focuses on the amplitude of the output voltage, not the relationship between the phase difference between the input excitation and the output voltage.

[0054] In the embodiments of the present disclosure, Figure 4 As shown, the data output module includes an output signal circuit, and the output signal circuit includes an AC constant voltage circuit, a sensitive unit circuit, an AC-DC rectifier circuit, a DC signal filter and an amplifier circuit, a linearization process and a signal output circuit. In order to process the collected inductance data and facilitate subsequent output operations, five parts are arranged in the data output module in accordance with the direction of signal conversion and processing flow. Specifically, the AC constant voltage circuit is a sinusoidal AC voltage source generating circuit with a fixed frequency and a fixed voltage amplitude, and the sensitive unit circuit is the equivalent circuit described above, which completes the measurement of the eyeball rotation angle and the conversion output of the voltage signal. The AC-DC rectifier circuit rectifies the AC voltage signal output by the equivalent circuit and converts the output into a DC voltage signal. The DC signal filter and the amplifier circuit perform necessary signal filtering and amplification processing on the DC voltage signal output by the AC-DC rectifier circuit. The size of this DC voltage signal corresponds to the size of the eyeball rotation angle, and there is a direct functional relationship between the two. The linearization processing and signal output circuit converts the DC voltage signal output by the DC signal filtering and amplification circuit into a digital quantity; then the microcontroller software program can be used to perform linearization processing on the numerical relationship between the DC output voltage and the eyeball rotation angle, and then output an effective eyeball rotation angle digital quantity signal to the humanoid robot central controller, ultimately realizing the actual application needs of the humanoid robot. In addition, the angle measurement circuit is simple, and the circuit interface is easy to connect to the robot central control unit and is easy to integrate.

[0055] The control module 5 controls the power supply module 3 to supply power to the sensitive module 1. Since the control module 5 is connected to the external module, it is convenient for the user to control the active intervention operation of the robot when interacting with the humanoid robot or performing other control operations.

[0056] Another aspect of the present disclosure is Figure 5 As shown, a method for measuring the simulated rotation angle of a robot eyeball is provided, which is applied to the above-mentioned robot eyeball simulated rotation angle measurement system, and includes the following steps:

[0057] S110, determining the direction and angle of the robot's eyeball rotation, the control module (5) receiving the robot's eyeball rotation direction and angle instructions sent by the external module, and dividing the instructions into direction instructions and angle instructions;

[0058] S120, sending relevant movement instructions to the eyeball rotation angle measurement system of the simulation robot;

[0059] S130, the robot eyeball simulated rotation angle measurement system completes the rotation operation of the eyeball body 2 according to the control, and the eyeball body (2) changes its rotation angle based on the relative position change between the cover body (11) and the cavity (12) in the sensitive module (1);

[0060] S140, collecting and outputting eyeball rotation angle data, collecting in real time the inductance value data changes as the positions of the cavity (12) and the cover (11) change, and converting the inductance value data into electrical signals for output. The real-time changing inductance data corresponds to the real-time rotation angle data of the robot's eyeball.

[0061] The robot eyeball simulated rotation angle measurement method of this embodiment can realize the direct measurement of the eyeball rotation angle, the measurement range can cover the actual rotation range of the eyeball, and has a high measurement accuracy. Specifically, in step S110, the external module includes a robot control device and a mobile terminal device. The external module coordinates the operation of the entire robot and executes various commands, which can facilitate control. In this embodiment, the robot also includes various pre-set control instructions, which are not specifically limited here. In step S140, the cover body 11 is fixedly connected to the eyeball body 2, and the cover body 11 completes the operation of simulating the rotation of the eyeball under the drive of the eyeball body 2.

[0062] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A robot eyeball simulated rotation angle measurement system, characterized in that: Includes the following: Sensitive module (1), eyeball (2), power supply module (3), angle data collection module (4) and control module (5); A sensitive module (1), the sensitive module (1) being used to detect the rotation angle of a robot eyeball; the sensitive module (1) comprising a cover (11), a cavity (12), a coil (13) and a connecting shaft (14); the coil (13) being placed in the cavity (12); the cover (11) being connected to the cavity (12) in an opening and closing manner via the connecting shaft (14); the top of the cover (11) being fixedly connected to the inner surface of the eyeball (2); the cover (11) and the cavity (12) being both made of a high magnetic permeability material; An angle data collection module (4), the angle data collection module (4) is connected to the coil (13), the angle data collection module (4) collects the inductance value of the coil (13), and the angle data collection module (4) is also connected to the control module (5); A power supply module (3), the power supply module (3) being used to supply power to the control module (5) and the sensitive module (1), and to cooperate with the sensitive module (1) to complete the detection of the rotation angle of the robot eyeball, the power supply module (3) being connected to the coil (13); A control module (5), the control module (5) being used to receive an external control signal and send control instructions to other parts of the robot eyeball simulated rotation angle measurement system; the control module (5) being connected to the power supply module (3) and the sensitive module (1), and the control module (5) being further connected to an external module; An eyeball (2), wherein the eyeball (2) is a hollow containing structure, and the angle data collection module (4), the sensitive module (1), the power supply module (3) and the control module (5) are placed in the eyeball (2).

2. The robot eyeball simulated rotation angle measurement system according to claim 1, characterized in that: A through hole is provided on the surface of the eyeball (2); the eyeball (2) is connected to the robot eye frame via a fixing column, and the fixing column passes through the through hole.

3. The robot eyeball simulated rotation angle measurement system according to claim 2, characterized in that: A column is provided at the center of the cavity (12) and the cover (11); the coil (13) is sleeved on the column in the cavity (12); and the coil (13) is electrically connected to the power supply module (3).

4. The robot eyeball simulated rotation angle measurement system according to claim 3, characterized in that: The angle data collection module (4) comprises a data collection module and a data output module; the data collection module collects the inductance value in real time, and the data output module outputs a voltage value, and the output voltage value is as follows: Among them, Z L is the coil AC impedance, ω is the angular frequency of the sinusoidal AC excitation source, L0 is the coil inductance, and R0 is the coil resistance; Where ω = 2πf, f is the frequency of the sine wave, R1 is the AC impedance of the conversion resistor included in the circuit, and the output voltage is: Among them, U output is the output voltage, V0 is the effective value of the constant voltage excitation source.

5. The robot eyeball simulated rotation angle measurement system according to claim 4, characterized in that: The data output module comprises an output signal circuit, which comprises an AC constant voltage circuit, a sensitive unit circuit, an AC-DC rectification circuit, a DC signal filter and amplification circuit, and a linearization processing and signal voltage output circuit.

6. The robot eyeball simulated rotation angle measurement system according to claim 1, characterized in that: The control module (5) controls the power supply module (3) to supply power to the sensitive module (1).

7. A method for measuring the simulated rotation angle of a robot eyeball, used in a system for measuring the simulated rotation angle of a robot eyeball as claimed in any one of claims 1 to 6, characterized in that: The following steps are involved: S110, determining the direction and angle of the robot's eyeball rotation, the control module (5) receiving the robot's eyeball rotation direction and angle instructions sent by the external module, and dividing the instructions into direction instructions and angle instructions; S120, sending relevant instructions to the robot eyeball simulated rotation angle measurement system, and the robot eyeball simulated rotation angle measurement system receives the direction instruction and the angle instruction respectively; S130, the robot eyeball simulated rotation angle measurement system completes the eyeball rotation operation according to relevant instructions, and the eyeball (2) changes its rotation angle based on the relative position change between the cover body (11) and the cavity (12) in the sensitive module (1); S140, collecting and outputting the robot's eye rotation angle data, collecting in real time the inductance value data changes as the positions of the cavity (12) and the cover (11) change, and converting the inductance value data into electrical signals for output, the real-time changing inductance data corresponding to the real-time rotation angle data of the robot's eye.

8. The method for measuring the simulated rotation angle of the robot eyeball according to claim 7, characterized in that: In step S110, the external module includes a robot control device and a mobile terminal device, and the external module coordinates the operation of the entire robot and executes various commands.

9. The method for measuring the simulated rotation angle of the robot eyeball according to claim 8, characterized in that: In the step S140, the cover body (11) is fixedly connected to the eyeball body (2), and the cover body (11) is driven by the eyeball body (2) to form a rotational eyeball angle change with the cavity (12).

Images