Robot expression control method and device and robot

Abstract

The embodiment of the invention provides a robot expression control method and device and a robot. The simulation degree of the robot expression is improved. The method for controlling the expressions of the robot comprises the following steps: step 1, acquiring a first expression identifier of the robot; step 2, acquiring at least one first expression point parameter corresponding to the first expression identifier; the first expression point parameter comprises a first expression point identifier and a first expression point feature parameter; step 3, acquiring a first motor parameter corresponding to the first expression point parameter, wherein the first motor parameter comprises a first motor identifier and a first motor control parameter; and step 4, according to the first motor control parameter, controlling a motor corresponding to at least one first motor identifier of the robot to work, and deforming the at least one first expression point so as to display an expression corresponding to the first expression identifier.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a method and device for controlling the expression of a robot, and a robot. Background Art

[0002] As an important part of modern science and technology, robotics has a very broad development prospect. Among the many application fields of robots, micro-expression bionic robots have attracted much attention due to their potential applications in human-computer interaction, emotion recognition and social assistance. However, the current development of micro-expression bionic robots is relatively slow, and there are mainly the following challenges and limitations:

[0003] Simulation of facial expressions: Although traditional facial expression simulation devices can imitate simple crying and laughing expressions, they are often limited to the behavior of the mouth and eyes and ignore the activities of other parts. Human expressions involve not only individual organs but also the activities of the entire facial muscles, so the simulation of traditional facial expression simulation devices is low. Summary of the invention

[0004] The embodiments of the present invention provide a method and device for controlling the expression of a robot, and a robot, which improve the simulation degree of the robot's expression.

[0005] On the one hand, a method for controlling the expression of a robot is provided, comprising:

[0006] Step 1, obtaining the first expression identifier of the robot;

[0007] Step 2, obtaining at least one first expression point parameter corresponding to the first expression identifier; the first expression point parameter includes: a first expression point identifier and a first expression point feature parameter; the first expression point feature parameter represents a deformation form of a current expression at a facial position where the first expression point is located relative to a standard expression at a facial position where the first expression point is located;

[0008] Step 3, obtaining first motor parameters corresponding to the first expression point parameters, wherein the first motor parameters include: a first motor identifier and a first motor control parameter;

[0009] Step 4: According to the first motor control parameter, control the motor corresponding to at least one first motor identifier of the robot to work, and deform the at least one first expression point to show the expression corresponding to the first expression identifier.

[0010] Optionally, before step 1, the method further includes:

[0011] According to human facial feature information, expression points on the robot's face are defined, and the expression points correspond to key activity areas of human facial muscles; at least one expression point on the robot's face is connected to at least one motor.

[0012] Optionally, before step 1, the method further includes:

[0013] Establishing the corresponding relationship between the expression identifier and the parameters of each expression point;

[0014] Establish the corresponding relationship between the expression point parameters and the motor parameters of the motor.

[0015] The steps of establishing the corresponding relationship between the expression mark and each expression point parameter; and establishing the corresponding relationship between the expression point parameter and the motor parameter of the motor include:

[0016] Providing a user interface for the user to set the corresponding relationship between the expression mark and each expression point parameter on the user interface; setting the corresponding relationship between the expression point parameter and the motor parameter of the motor;

[0017] Display the image of the motor control parameters set by the user in real time for the user to confirm;

[0018] The corresponding relationship between the set expression mark and the expression point parameter is recorded; and the corresponding relationship between the expression mark and the motor parameter of each motor is recorded.

[0019] The steps of establishing the corresponding relationship between the expression mark and each expression point parameter; and establishing the corresponding relationship between the expression point parameter and the motor parameter of the motor include:

[0020] According to the model algorithm, a corresponding relationship between the expression mark and the parameters of each expression point is established; and a corresponding relationship between the expression point parameters and the motor parameters of the motor is established.

[0021] The step of establishing a corresponding relationship between the expression mark and each expression point parameter according to the model algorithm; and establishing a corresponding relationship between the expression point parameter and the motor parameter of the motor includes:

[0022] Obtaining a second expression to be simulated;

[0023] Obtaining an expression identifier of the second expression; and obtaining characteristic parameters of the second expression;

[0024] Convert the characteristic parameters of the second expression into characteristic parameters of the motor;

[0025] A corresponding relationship between the expression mark and the parameters of each expression point is established; and a corresponding relationship between the expression point parameters and the motor parameters of the motor is established.

[0026] The method further comprises:

[0027] When the expression point is identified as the first type, the control parameter corresponding to the expression point parameter is a coefficient within 1; the control parameter is used to adjust the motor in proportion to the coefficient;

[0028] When the expression point is identified as the second type, the expression point parameter is a parameter linked to the control parameters of other expression points;

[0029] When the expression point is identified as the third type, the control parameters include the direction and rotation angle of the motor.

[0030] The expression points include any combination of one or more of the following:

[0031] Forehead, upper eyelid, lower eyelid, center of eyebrows, eyeball, eyebrow corners, cheeks, upper lip, lower lip, corners of mouth, protruding upper lip, upper and lower chin, inside and outside chin, wings of nose, philtrum, neck rotation, front and back of neck, tilted neck, open mouth.

[0032] The present invention also provides a robot expression control device, comprising:

[0033] A first acquiring unit, acquiring a first expression identifier of the robot;

[0034] A second acquisition unit acquires at least one first expression point parameter corresponding to the first expression identifier; the first expression point parameter includes: a first expression point identifier and a first expression point feature parameter; the first expression point feature parameter represents a deformation form of a current expression at a facial position where the first expression point is located relative to a standard expression at a facial position where the first expression point is located;

[0035] A third acquisition unit is configured to acquire first motor parameters corresponding to the first expression point parameters, wherein the first motor parameters include: a first motor identifier and a first motor control parameter;

[0036] The control unit controls the motor corresponding to at least one first motor identifier of the robot to work according to the first motor control parameter, and deforms the at least one first expression point to show the expression corresponding to the first expression identifier.

[0037] The present invention also provides a robot, comprising the control device for the robot expression.

[0038] It can be seen from the technical solutions provided by the embodiments of the present invention that the present invention improves the accuracy of expression control, reduces the complexity and volume of the expression control mechanism, and improves the simulation of facial expressions for the expression bionic robot. Additional aspects and advantages of the present invention will be partially given in the following description, which will become apparent from the following description or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0040] Figure 1 A schematic diagram of a method for controlling the expression of a robot of the present invention;

[0041] Figure 2 is a schematic diagram of a standard expression of the robot of the present invention;

[0042] Figure 3 is a schematic diagram of the expressive movements of the robot of the present invention;

[0043] Figure 4 The figure is a connection diagram of the control device of the robot's expression of the present invention. DETAILED DESCRIPTION

[0044] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0045] To facilitate understanding of the embodiments of the present invention, several specific embodiments will be further explained below with reference to the accompanying drawings, and each embodiment does not constitute a limitation on the embodiments of the present invention.

[0046] like Figure 1 As shown, the present invention provides a method for controlling the expression of a robot, comprising:

[0047] Step 1, obtaining the first expression identifier of the robot;

[0048] Step 2, obtain at least one first expression point parameter corresponding to the first expression identifier; the first expression point parameter includes: a first expression point identifier and a first expression point feature parameter; the first expression point feature parameter represents the deformation form of the current expression of the facial position where the first expression point is located relative to the standard expression of the facial position where the first expression point is located; the expression point includes any combination of one or more of the following: forehead, upper eyelid, lower eyelid, center of eyebrows, eyeball, eyebrow corner, cheek, upper lip, lower lip, corner of mouth, upper mouth protrusion, chin up and down, chin inside and outside, nose wing, philtrum, neck rotation, neck front and back, neck tilt, open mouth. Figure 2 is a schematic diagram of a standard expression of the robot of the present invention; Figure 3is a schematic diagram of the expressive movements of the robot of the present invention;

[0049] In the above steps, expression points can be predefined, specifically: using facial recognition technology, based on facial feature information, define key facial expression points, which correspond to key activity areas of human facial muscles. These expression points include but are not limited to eyebrows, corners of eyes, corners of mouth and other key parts, which play a decisive role in expressing micro-expressions. For facial video recognition, the facial expression points can be identified by, for example, 66 expression point positions, and the specific parameters are:

[0050]

[0051]

[0052]

[0053]

[0054] Step 3, obtaining first motor parameters corresponding to the first expression point parameters, wherein the first motor parameters include: a first motor identifier and a first motor control parameter;

[0055] Step 4: According to the first motor control parameter, control the motor corresponding to at least one first motor identifier of the robot to work, and deform the at least one first expression point to show the expression corresponding to the first expression identifier. This step is specifically: performing expression simulation control, and controlling the robot's expression points to simulate corresponding micro-expressions according to the motor information obtained by the solution. Real-time or near-real-time expression simulation is achieved to ensure that the robot's expression changes are synchronized with human expressions to improve the naturalness and realism of the interaction.

[0056] Optionally, before step 1, the method further includes:

[0057] Step 21, defining expression points on the robot's face according to human facial feature information, wherein the expression points correspond to key activity areas of human facial muscles; at least one expression point on the robot's face is connected to at least one motor.

[0058] Optionally, before step 1, the method further includes:

[0059] Step 22, establishing a corresponding relationship between the expression identifier and each expression point parameter;

[0060] Step 23, establishing a corresponding relationship between the expression point parameters and the motor parameters of the motor.

[0061] The steps of establishing the corresponding relationship between the expression mark and each expression point parameter; and establishing the corresponding relationship between the expression point parameter and the motor parameter of the motor include:

[0062] Step 31, providing a user interface for the user to set the corresponding relationship between the expression mark and each expression point parameter on the user interface; setting the corresponding relationship between the expression point parameter and the motor parameter of the motor;

[0063] Step 32, displaying an image of the expression of the motor control parameters set by the user in real time for the user to confirm;

[0064] Step 33, recording the corresponding relationship between the set expression identifier and the expression point parameter; and recording the corresponding relationship between the expression identifier and the motor parameter of each motor.

[0065] In the embodiment of the present invention, a user interface and a configuration tool can be provided to allow a user or developer to customize the mapping relationship between expression points and motors and adjust the parameters of expression simulation. The configuration process is simplified through a graphical interface, so that non-professional users can also easily customize and adjust the robot's expression.

[0066] In addition, the present invention can also design a feedback mechanism to collect feedback information of the robot's expression execution through sensors and compare it with the target expression. According to the feedback information, the motor control instructions are adjusted to optimize the accuracy and fluency of the expression simulation.

[0067] Optionally, the steps of establishing a correspondence between the expression identifier and each expression point parameter; and establishing a correspondence between the expression point parameter and the motor parameter of the motor include:

[0068] According to the model algorithm, a corresponding relationship between the expression mark and the parameters of each expression point is established; and a corresponding relationship between the expression point parameters and the motor parameters of the motor is established.

[0069] Specifically:

[0070] Step 41, obtaining a second expression to be simulated;

[0071] Step 42, obtaining an expression identifier of the second expression; and obtaining characteristic parameters of the second expression;

[0072] Step 43, converting the characteristic parameters of the second expression into characteristic parameters of the motor;

[0073] Step 44, establishing a corresponding relationship between the expression identifier and each expression point parameter; establishing a corresponding relationship between the expression point parameter and the motor parameter of the motor.

[0074] The specific steps are: Mapping expression points and robot motor information:

[0075] -Map the defined expression points to the robot's motor control unit and save them as configuration files to facilitate subsequent debugging and modification, ensuring that each expression point can be accurately controlled by the motor.

[0076] The configuration file format is:

[0077]

[0078] Among them, Upper_Eyelid is the defined motor calling parameter, and all the specific parameters are:

[0079] Forehead, Upper_Eyelid, Lower_Eyelid, Eyes_Brow, Eye_Ball_Info, Eyebrow_Tip, Cheeks_Tip, Upper_Lip, Lower_Lip, Mouth _Corners, Mouth_u_Mid, Chin_Range, Chin_Inner_Range, Nose_Wing, Nose_Bridge, Neckpitch, Neckroll, Neckyaw, Mouthopen

[0080] Through a specific control algorithm, the movements of the expression points are converted into movement instructions for the motor, realizing a one-to-one correspondence between the expression points and the motor.

[0081] The expression data is resolved into motor information. Specifically:

[0082] Develop algorithms to recognize human micro-expressions, including but not limited to deep learning, image processing, and pattern recognition techniques to identify and interpret subtle changes in human faces.

[0083] Currently, the recognition is performed using existing technology applications, or a custom program can be used for recognition, as long as the expression point data and motor mapping relationship are redefined and configured.

[0084] The recognized micro-expression data is resolved into motor control information, that is, the characteristic parameters of the micro-expression are converted into action instructions for the robot motor.

[0085] The present invention can achieve precise control of the robot's micro-expressions, improve the robot's performance in social interactions, and reduce the complexity and time cost of program development.

[0086] The method further comprises:

[0087] When the expression point is identified as the first type, the control parameter corresponding to the expression point parameter is a coefficient within 1; the control parameter is used to adjust the motor in proportion to the coefficient;

[0088] When the expression point is identified as the second type, the expression point parameter is a parameter linked to the control parameters of other expression points;

[0089] When the expression point is identified as the third type, the control parameters include the direction and rotation angle of the motor.

[0090] The application scenarios of the present invention are described below.

[0091] The prior art has the following problems:

[0092] 1. Limitations of expression control technology: Currently, most robot expression control technologies focus on simulating or emulating overall expressions, but have limited ability to capture and reproduce micro-expressions. Micro-expressions refer to facial expressions that people unconsciously display in a very short period of time (usually less than half a second), which can reveal an individual's true emotions and psychological state.

[0093] 2. Complexity of technical implementation: Robots that realize micro-expressions need to accurately control multiple facial motion units, which usually requires complex structural design and control methods. For example, some robots realize expressions by controlling expression motion units one by one, which makes the entire expression control mechanism bulky, compresses other functions of the robot, and increases production costs.

[0094] 3. Challenges of facial expression control structure: In the design of the robot's facial expression control structure, how to achieve precise control of the robot's facial expression changes is a technical challenge. Some existing designs achieve expression changes by arranging multiple connectors on the inner side of the facial epidermis and controlling the movement of these connectors through a control unit, but these designs often face the problem of easy detachment of the facial epidermis and connectors and stiff facial expressions.

[0095] The present invention proposes a micro-expression robot control method based on expression points, which can achieve the following goals by configuring the facial information defined in advance:

[0096] 1. Improve the accuracy of facial expression simulation: By accurately controlling the key facial expression points of the robot, the robot can simulate subtle facial expressions of humans, including micro-expressions, more realistically and naturally, thereby enhancing the robot's interactive ability and social adaptability. The present invention realizes precise control and feedback of the robot's expression. The present invention can improve the robot's facial expression expression ability, so that it can communicate and interact with humans more naturally. It involves facial expression capture, expression recognition, and robot facial movement control based on this information. The present invention relates to the field of robotics technology and can be used for micro-expression control technology, which enables robots to simulate subtle changes in human facial expressions.

[0097] 2. Simplify the program development process: By defining and configuring facial information in advance, the frequent modification of the robot expression control code during the program development process can be reduced, thereby reducing the development difficulty and maintenance costs.

[0098] 3. Improve development efficiency: This method allows developers to control the robot's expression through configuration rather than programming, thereby saving time for program development and debugging and accelerating the time to market. In the field of program development, the present invention includes developing software algorithms for identifying and simulating micro-expressions, building and maintaining a database containing micro-expression samples, and designing a user-friendly interface so that non-professionals can easily configure and control the robot's expression. The present invention can realize the robot's advanced expression simulation capabilities in social interactions, thereby improving the user experience and the practicality of the robot.

[0099] 4. Enhance user experience: Through more accurate expression simulation, the naturalness and immersion of users interacting with robots can be improved, thus enhancing the user experience.

[0100] 5. Expand the scope of application: The application of this control method is not limited to social robots, but can also be extended to multiple fields such as education, medical care, and entertainment, providing robots in different scenarios with richer expression capabilities.

[0101] 6. Promote technology standardization: By defining a set of standardized facial information configuration methods, promote the development and standardization of micro-expression robot technology, and lay the foundation for future technological innovation and product development.

[0102] 7. Lower the technical threshold: Enable non-professional developers to control the robot's expression through simple configuration, lower the technical threshold, and promote the popularization and application of technology.

[0103] 8. The present invention simulates human micro-expressions by precisely controlling the robot's expression points, thereby overcoming the limitations of micro-expression simulation in the prior art, while improving development efficiency and user experience, and promoting the development and application of micro-expression robot technology.

[0104] The present invention comprises the following steps:

[0105] The first step is to map the correspondence between the expression point and the motor parameter (the motor parameter is the maximum value of the expression point);

[0106] Step 2: Receive the overall facial data (combined from 66 expression point data);

[0107] Step 3: Get the parameters of each expression point (including expression point name and expression point coefficient);

[0108] Step 4: Read the motor parameters of the configured expression points;

[0109] Step 5: Calculate the motor parameters and expression point coefficients to obtain the actual motor parameter values;

[0110] Step 6: Combine all motor parameter values, send them to the motor program, and execute the action. Specifically: After obtaining the motor data, perform the corresponding execution operation.

[0111] The present invention has the following beneficial effects:

[0112] 1. Better configuration of robot micro-expression data:

[0113] -The present invention makes the configuration of the robot's micro-expression data simpler and more intuitive by defining facial information and expression points in advance. Developers and users can quickly set the robot's expression through configuration files or graphical interfaces without having to deeply understand complex control algorithms. This configuration method improves the flexibility and scalability of expression settings, allowing for rapid adaptation to different application scenarios and needs.

[0114] 2. More convenient use for different robots: The control method of the present invention has good versatility and can be easily adapted to various types of robot platforms. This means that the same set of expression control logic can be implemented on robots of different brands and models without having to develop a separate control program for each robot. This cross-platform compatibility greatly simplifies the development of robot expression control and reduces development and maintenance costs.

[0115] 3. The program is simple and easy to use:

[0116] The user interface and configuration tool provided by the present invention are intuitively designed and easy to operate, so that even non-professionals can easily get started and customize and adjust the robot's expression.

[0117] The simplified operation process reduces the time for learning and training, improves development efficiency, and also makes the robot's expression control more friendly and popular.

[0118] 4. Improve the accuracy and naturalness of facial expression simulation:

[0119] By precisely controlling key expression points, the present invention can more realistically simulate human micro-expressions and enhance the robot's interactive capabilities and social adaptability.

[0120] This high-precision facial expression simulation helps improve the user experience, especially in application scenarios that require highly natural interaction, such as customer service, education, and medical assistance.

[0121] 5. Lower technical thresholds and promote technological innovation:

[0122] -The present invention lowers the technical threshold by simplifying the configuration and operation process, allowing more developers and innovators to participate in the development of micro-expression robots.

[0123] - This will help promote the rapid development and widespread application of micro-expression robot technology and inspire more technological innovation and product development.

[0124] 6. Improve development efficiency and maintenance convenience:

[0125] -The method of the present invention reduces the workload of program development and maintenance, allowing developers to focus on the development of other functions of the robot and improve overall development efficiency.

[0126] -At the same time, the simplified expression control logic also makes subsequent maintenance and upgrades more convenient.

[0127] To sum up, the present invention has obvious advantages in improving the accuracy and naturalness of robot expression simulation, simplifying the development process, and lowering the technical threshold. For micro-expression bionic robots, the present invention improves the accuracy of expression control, reduces the complexity and volume of the expression control mechanism, and improves the simulation of facial expressions.

[0128] The present invention has the following key technical points:

[0129] -Definition and mapping of expression points: Define the key expression points on the face and accurately map them to the robot's motor control unit, which is the basis for precise control of micro-expressions. Expression point and motor mapping technology: Includes the technical solution of how to map the expression points on the human face to the robot's motors, including mapping methods, mapping rules and mapping algorithms.

[0130] -Micro-expression data interpretation algorithm: The developed algorithm can recognize human micro-expressions and interpret the expression data into motor control information, which is the key to achieve expression simulation.

[0131] - Expression simulation control mechanism: According to the motor information obtained by the solution, the robot's expression points are controlled to simulate the corresponding micro-expressions to ensure the real-time and accuracy of the expressions.

[0132] -User Interface and Configuration Tools: Provides an intuitive user interface and configuration tools, allowing users or developers to customize the mapping relationship between expression points and motors, and adjust the parameters of expression simulation.

[0133] The facial expressions of human beings are divided into different points according to different parts, as shown below for the classification of the left eye:

[0134] According to the location of the motors in various parts of the Micro Expression Robot, they are named as follows:

[0135] "Forehead": forehead

[0136] "Upper_Eyelid": Upper eyelid

[0137] "Lower_Eyelid": Lower eyelid

[0138] "Eyes_Brow":Brow

[0139] "Eye_Ball_Info": Eyeball

[0140] "Eyebrow_Tip": Eyebrow tip

[0141] "Cheeks_Tip": Cheeks

[0142] "Upper_Lip": Upper lip

[0143] "Lower_Lip":Lower lip

[0144] "Mouth_Corners": Mouth corners

[0145] "Mouth_u_Mid": upper lip protrusion

[0146] "Chin_Range": Chin up and down

[0147] "Chin_Inner_Range": Chin inside and outside

[0148] "Nose_Wing": Nose wing

[0149] "Nose_Bridge": philtrum

[0150] "Neckpitch": Neck rotation

[0151] "Neckroll": front and back of the neck

[0152] "Neckyaw": Neck is biased

[0153] "Mouthopen": open mouth

[0154] According to the above expression diagram, the motor position information is used for adjustment, and the corresponding standard position parameters are generated for each expression point and saved as a configuration file in json format.

[0155] At the same time, due to the differences between each expression, the corresponding coefficients can be added or subtracted for the parameters of each motor, and then the standard large model parameters can be used to obtain the expression point data, and the actual position parameters of the motor can be calculated based on the coefficients of the expression point data.

[0156] The specific algorithm is as follows:

[0157] Algorithm Description

[0158] The goal of the algorithm is to calculate the corresponding adjustment amount based on the input expression point information (data), and generate new motor position information, which is stored in a shared dictionary (send_dict["ActionValues"]). In this way, the state of the motor can be dynamically adjusted to match the changes in the input expression.

[0159] enter

[0160] Expression point information (data): A nested dictionary containing multiple key points and their values. Each point may correspond to a separate value or sub-dictionary.

[0161] Adjustment coefficient (x): used to adjust the impact of the difference in the final update process.

[0162] Procedure

[0163] Traverse key points: traverse each key of data and check whether it has a corresponding control point in send_dict["ActionValues"].

[0164] Determine the data type:

[0165] If the value of a key point is a sub-dictionary, its sub-keys are further traversed to calculate and update the difference of the sub-key values.

[0166] If the value of a key point is a numeric value, enter the specific processing logic.

[0167] Update logic:

[0168] Large adjustment: If the absolute value of the value is greater than 1, directly update it to the corresponding motor control value according to the proportion x.

[0169] Small adjustment: If the absolute value of the value is less than or equal to 1, calculate the difference between the expression point and the current motor position, adjust the difference by proportion x, and add it to the motor control value.

[0170] Special treatment:

[0171] For certain key points (such as "Mouth_u_Mid" and "Chin_Range"), the motor control value is directly set to the coefficient x instead of the difference calculation logic.

[0172] Result output:

[0173] Update the motor position information in send_dict["ActionValues"] and return the dictionary for further use.

[0174] Output

[0175] Returns an updated send_dict containing the calculated motor control position information.

[0176] like Figure 4 As shown, the present invention also provides a robot expression control device, comprising:

[0177] A first acquiring unit 41 acquires a first expression identifier of the robot;

[0178] The second acquisition unit 42 acquires at least one first expression point parameter corresponding to the first expression identifier; the first expression point parameter includes: the first expression point identifier and the first expression point feature parameter; the first expression point feature parameter represents the deformation form of the current expression at the facial position where the first expression point is located relative to the standard expression at the facial position where the first expression point is located;

[0179] A third acquisition unit 43 acquires first motor parameters corresponding to the first expression point parameters, wherein the first motor parameters include: a first motor identifier and a first motor control parameter;

[0180] The control unit 44 controls the motor corresponding to at least one first motor identifier of the robot to work according to the first motor control parameter, and deforms the at least one first expression point to show the expression corresponding to the first expression identifier.

[0181] The present invention also provides a robot, comprising the control device for the robot expression.

[0182] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for controlling the expression of a robot, characterized in that: include: Step 1, obtaining the first expression identifier of the robot; Step 2, obtaining at least one first expression point parameter corresponding to the first expression identifier; The first expression point parameter includes: a first expression point identifier and a first expression point characteristic parameter; the first expression point characteristic parameter indicates a deformation form of the current expression at the facial position where the first expression point is located relative to the standard expression at the facial position where the first expression point is located; Step 3, obtaining first motor parameters corresponding to the first expression point parameters, wherein the first motor parameters include: a first motor identifier and a first motor control parameter; Step 4: According to the first motor control parameter, control the motor corresponding to at least one first motor identifier of the robot to work, and deform the at least one first expression point to show the expression corresponding to the first expression identifier.

2. The method according to claim 1, characterized in that Before step 1, the method further comprises: According to human facial feature information, expression points on the robot's face are defined, and the expression points correspond to key activity areas of human facial muscles; at least one expression point on the robot's face is connected to at least one motor.

3. The method according to claim 2, characterized in that Before step 1, the method further comprises: Establishing the corresponding relationship between the expression identifier and the parameters of each expression point; Establish the corresponding relationship between the expression point parameters and the motor parameters of the motor.

4. The method according to claim 3, characterized in that The corresponding relationship between the expression mark and the expression point parameters is established; The steps of establishing the corresponding relationship between the expression point parameters and the motor parameters of the motor include: Providing a user interface for the user to set the corresponding relationship between the expression mark and each expression point parameter on the user interface; setting the corresponding relationship between the expression point parameter and the motor parameter of the motor; Display the image of the motor control parameters set by the user in real time for the user to confirm; The corresponding relationship between the set expression mark and the expression point parameter is recorded; and the corresponding relationship between the expression mark and the motor parameter of each motor is recorded.

5. The method according to claim 1, characterized in that: The corresponding relationship between the expression mark and the expression point parameters is established; The steps of establishing the corresponding relationship between the expression point parameters and the motor parameters of the motor include: According to the model algorithm, the corresponding relationship between the expression mark and the parameters of each expression point is established; Establish the corresponding relationship between the expression point parameters and the motor parameters of the motor.

6. The method according to claim 5, characterized in that The corresponding relationship between the expression mark and the parameters of each expression point is established according to the model algorithm; Establishing the corresponding relationship between the expression point parameters and the motor parameters of the motor includes: Obtaining a second expression to be simulated; Obtaining an expression identifier of the second expression; and obtaining characteristic parameters of the second expression; Convert the characteristic parameters of the second expression into characteristic parameters of the motor; A corresponding relationship between the expression mark and the parameters of each expression point is established; and a corresponding relationship between the expression point parameters and the motor parameters of the motor is established.

7. The method according to claim 1, characterized in that Also includes: When the expression point is identified as the first type, the control parameter corresponding to the expression point parameter is a coefficient within 1; The control parameter is used to adjust the motor in proportion to the coefficient; When the expression point is identified as the second type, the expression point parameter is a parameter linked to the control parameters of other expression points; When the expression point is identified as the third type, the control parameters include the direction and rotation angle of the motor.

8. The method according to claim 1, characterized in that The expression points include any combination of one or more of the following: Forehead, upper eyelid, lower eyelid, center of eyebrows, eyeball, eyebrow corners, cheeks, upper lip, lower lip, corners of mouth, protruding upper lip, upper and lower chin, inside and outside chin, wings of nose, philtrum, neck rotation, front and back of neck, tilted neck, open mouth.

9. A robot expression control device, characterized in that: include: A first acquiring unit, acquiring a first expression identifier of the robot; A second acquisition unit, acquiring at least one first expression point parameter corresponding to the first expression identifier; The first expression point parameter includes: a first expression point identifier and a first expression point characteristic parameter; the first expression point characteristic parameter indicates a deformation form of the current expression at the facial position where the first expression point is located relative to the standard expression at the facial position where the first expression point is located; A third acquisition unit is configured to acquire first motor parameters corresponding to the first expression point parameters, wherein the first motor parameters include: a first motor identifier and a first motor control parameter; The control unit controls the motor corresponding to at least one first motor identifier of the robot to work according to the first motor control parameter, and deforms the at least one first expression point to show the expression corresponding to the first expression identifier.

10. A robot comprising the robot expression control device according to claim 9.

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