Intelligent robot for capturing facial expressions

Abstract

The invention belongs to the technical field of facial expression capturing intelligent robots, and particularly relates to a facial expression capturing intelligent robot which comprises an electric chassis, the top of the electric chassis is rotationally connected with a driving gear, the top of the driving gear is rotationally connected with a bottom rod, and the top of the bottom rod is rotationally connected with a top rod. The bottom of the top rod is rotatably connected with an expression capturing intelligent robot, and the left side of the expression capturing intelligent robot is fixedly provided with a third motor. By starting the electric push rod, the electric push rod can unlock the top rod, the bottom rod and the expression capturing intelligent robot on the electric chassis; the rod, the bottom rod and the intelligent facial expression capturing robot are unlocked on the electric chassis and freely rotate on the top of the electric chassis, the intelligent facial expression capturing robot starts a first motor, a second motor and a third motor, the position of the intelligent facial expression capturing robot can be adjusted, and the face of a patient is captured.

Description

Technical Field

[0001] The invention relates to the technical field of expression capturing intelligent robots, and in particular to a facial expression capturing intelligent robot. Background Art

[0002] Human posture recognition technology provides strong support for rehabilitation training, exercise therapy and health monitoring by accurately capturing the patient's body movements and postures. Facial expression recognition technology helps doctors better understand the patient's emotions, pain level and other indirect clinical symptoms by analyzing the patient's facial expressions.

[0003] This is particularly important in psychiatric diagnosis and treatment, pain management, and child care; facial expression recognition technology can capture the patient's emotional changes in real time, assisting doctors in conducting more comprehensive psychological assessments. In medical treatment, surgical records, human-computer interaction and other scenarios, traditional medical assistance mainly relies on nurses to assist doctors. This model has some limitations. For example, nurses may make errors when recording and conveying doctors' instructions, and in complex operations or emergency situations, the timeliness and accuracy of information transmission are difficult to guarantee. Therefore, developing an intelligent robot that can capture the surgeon's posture and expression in real time and recognize the doctor's instructions through facial expression recognition technology has become one of the hot spots in the current technology field.

[0004] Facial expression recognition technology can capture the dynamics of facial expression in a sequence of facial expressions through static images or dynamic videos, thereby assisting doctors in disease diagnosis and emotional assessment. For example, in the diagnosis of mental illness, facial expression recognition can help doctors identify patients' emotions such as depression, anxiety, and anger, and provide a basis for formulating personalized treatment plans. In order to improve the efficiency and quality of interaction between robots and humans, multimodal fusion technology has become a research hotspot. By combining multiple perception technologies such as vision, sound, and touch, robots can understand human emotions and needs more comprehensively. For example, the robot facial expression control system based on internal projection technology collects the facial expression images of the interlocutor through a camera pre-installed in the robot's eyes, and extracts and classifies features through a facial expression classification model to generate conversation content that matches the facial expression features. The digital animation is projected onto the robot's facial screen using internal projection technology, and the facial expressions that match the interlocutor are displayed synchronously.

[0005] In medical treatment, surgical records, human-computer interaction and other scenarios, traditional medical assistance mainly relies on nurses to assist doctors. This model has some limitations. For example, there may be errors when nurses record and convey doctors' instructions, and in complex operations or emergency situations, the timeliness and accuracy of information transmission are difficult to guarantee. Therefore, developing an intelligent robot that can capture surgeons' postures and expressions in real time and recognize doctors' instructions through facial expression recognition technology has become one of the hot topics in the current technical field. Therefore, the present invention proposes a facial expression capture intelligent robot to solve the above problems. Summary of the invention

[0006] Based on the technical problem that a facial expression capturing intelligent robot is inconvenient to track a patient's face when in use, the present invention proposes a facial expression capturing intelligent robot.

[0007] The present invention provides a facial expression capturing intelligent robot, comprising an electric chassis, wherein the top of the electric chassis is rotatably connected to a driving gear, the top of the driving gear is rotatably connected to a bottom rod, the top of the bottom rod is rotatably connected to a top rod, the bottom of the top rod is rotatably connected to the expression capturing intelligent robot, a third motor is fixedly installed on the left side of the expression capturing intelligent robot, the output shaft of the third motor is fixedly connected to the top rod, a second motor is fixedly installed on the left side of the top rod, the output shaft of the second motor is fixedly connected to the bottom rod, and mechanical claws are fixedly installed on the left and right sides of the top rod;

[0008] A power mechanism is provided on the top of the electric chassis, which cooperates with the driving gear. An unlocking mechanism and a connecting mechanism are respectively provided on the right side of the bottom rod, and a matching mechanism is provided on the right side of the top rod. The matching mechanism cooperates with the expression capturing intelligent robot, and the unlocking mechanism cooperates with the driving gear, the electric chassis and the connecting mechanism respectively.

[0009] By means of the above mechanism: by starting the electric push rod, the electric push rod can unlock the top rod, the bottom rod and the expression capture intelligent robot on the electric chassis, so that the rod, the bottom rod and the facial expression capture intelligent robot are unlocked on the electric chassis and can rotate freely on the top of the electric chassis. The expression capture intelligent robot then starts the first motor, the second motor and the third motor to adjust the position of the expression capture intelligent robot to capture the patient's face.

[0010] Preferably, the power mechanism comprises: a power gear and a first motor;

[0011] The power gear is meshed with the driving gear, and the power gear is fixedly mounted on the bottom end of the output shaft of the first motor.

[0012] Furthermore, after the first motor is started, the first motor can drive the power gear to rotate, and the power gear will drive the driving gear to rotate, so that the driving gear can drive the bottom rod, the top rod and the expression capturing intelligent robot to rotate horizontally to adjust the horizontal angle of the expression capturing intelligent robot.

[0013] Preferably, the unlocking mechanism comprises: a first positioning plate, a fixing frame, a pulling rod, a positioning frame, a fixing plate and an electric push rod;

[0014] The first positioning plate is fixedly installed on the right side of the bottom rod, the first positioning plate cooperates with the fixing frame, the fixing frame is slidably connected to the top of the driving gear, the pulling rod is rotatably connected to the fixing frame and the positioning frame respectively, the positioning frame is slidably connected to the fixing plate, the electric push rod is fixedly installed on the left side of the fixing plate, and the bottom end of the output shaft of the electric push rod is fixedly connected to the positioning frame.

[0015] Furthermore, after the electric push rod is started, the electric push rod can pull the positioning frame to slide upward, so that the positioning frame can be disengaged from the electric chassis to unlock the driving gear, and then pull the pulling rod, the pulling rod can pull the fixing frame to move to the right, so that the fixing frame can be disengaged from the first positioning plate, unlock the angle of the bottom rod on the electric chassis, and then disengage from the connecting frame.

[0016] Preferably, the connecting mechanism comprises: a connecting frame, a compression spring and a second positioning plate;

[0017] The connecting frame is slidably connected to the right side of the bottom rod, the compression spring is fixedly installed on the right side of the bottom rod, the right ends of the two compression springs are fixedly connected to the connecting frame, the right side of the second positioning plate top rod, and the top of the connecting frame cooperates with the second positioning plate.

[0018] Furthermore, the initial state of the compression spring is in a compressed state. After the fixing frame is disengaged from the connecting frame, the compression spring will rebound to push the connecting frame to the right, disengage from the second positioning disk, and push the fitting disk to the right. At this time, the connecting frame can unlock the second positioning disk and unlock the angle of the top rod on the bottom rod.

[0019] Preferably, the matching mechanism includes: a fitting plate, a sliding frame, a driving rod, a blocking frame, a third positioning plate, a return spring and a fixing block;

[0020] The left side of the bonding disk is in sliding contact with the right side of the connecting frame, the sliding disk is slidably connected to the bottom of the sliding frame, the sliding frame is fixedly installed on the right side of the top rod, the driving rod is rotatably connected to the bonding disk and the blocking frame respectively, the blocking frame is slidably connected to the right side of the top rod, the third positioning disk is fixedly connected to the expression capture intelligent robot, the blocking frame cooperates with the third positioning disk, the blocking frame is fixedly connected to the reset spring, the reset spring is fixedly connected to the fixed block, and the fixed block is fixedly installed on the right side of the top rod.

[0021] Furthermore, when the fitting frame moves to the right, it will pull the driving rod, and the driving rod will pull the blocking frame downward, so that the blocking frame is disengaged from the third positioning plate, unlocking the third positioning plate and compressing the reset spring, so that the angle of the expression capture intelligent robot can be unlocked on the top rod.

[0022] Preferably, a plurality of positioning grooves arranged at equal intervals are provided on the top of the electric chassis, a positioning rod is fixedly installed on the bottom of the positioning frame, the positioning rod passes through the driving gear, and the bottom end of the positioning rod is detachably connected to the inner wall of the positioning frame.

[0023] Furthermore, after the positioning rod is inserted into the inner side of the positioning groove, the positioning rod can block the driving gear from rotating, thereby achieving the positioning of the driving gear.

[0024] Preferably, the right side of the first positioning plate is provided with through holes arranged at equal intervals, and a fixing rod is fixedly installed on the left side of the fixing frame, and the left end of the fixing rod is detachably engaged with the inner wall of the through hole.

[0025] Furthermore, after the fixing rod is engaged with the first positioning plate, the fixing rod can block the first positioning plate from rotating, thereby achieving the positioning of the first positioning plate and the bottom rod.

[0026] Preferably, a plurality of connection grooves arranged at equal intervals are formed on the outer side of the second positioning plate, and the top end of the connection frame is detachably engaged with the inner wall of the connection groove.

[0027] Furthermore, after the top end of the connecting frame is engaged with the second positioning disk, the connecting frame can block the second positioning disk from rotating on the bottom plate, thereby achieving the positioning of the second positioning disk.

[0028] Preferably, a plurality of blocking grooves arranged at equal intervals are formed on the outer side of the third positioning plate, and the top end of the blocking frame is detachably engaged with the inner wall of the blocking groove.

[0029] Furthermore, after the blocking frame is engaged with the third positioning disk, the blocking frame can block the third positioning disk from rotating, thereby achieving the positioning of the third positioning disk, so that the third positioning disk can position the angle of the expression capturing intelligent robot.

[0030] The beneficial effects of the present invention are:

[0031] 1. After the first motor is started, the first motor can drive the power gear to rotate, and the power gear will drive the driving gear to rotate, so that the driving gear can drive the bottom rod, the top rod and the expression capture intelligent robot to rotate horizontally to adjust the horizontal angle of the expression capture intelligent robot;

[0032] 2. After the electric push rod is started, the electric push rod can pull the positioning frame to slide upward, so that the positioning frame can be separated from the electric chassis to unlock the driving gear, and then pull the pulling rod, the pulling rod can pull the fixing frame to move to the right, so that the fixing frame can be separated from the first positioning plate, unlock the angle of the bottom rod on the electric chassis, and then separate from the connecting frame;

[0033] 3. The initial state of the compression spring is in a compressed state. After the fixing frame is separated from the connecting frame, the compression spring will rebound to push the connecting frame to move to the right, separate from the second positioning plate, and push the fitting plate to move to the right. At this time, the connecting frame can unlock the second positioning plate and unlock the angle of the top rod on the bottom rod;

[0034] 4. When the laminating frame moves to the right, it will pull the driving rod, which in turn pulls the blocking frame downward, so that the blocking frame is separated from the third positioning plate, unlocking the third positioning plate and compressing the reset spring, so that the angle of the expression capture intelligent robot can be unlocked on the top rod;

[0035] The present invention: by starting the electric push rod, the electric push rod can unlock the top rod, the bottom rod and the facial expression capturing intelligent robot on the electric chassis, so that the rod, the bottom rod and the facial expression capturing intelligent robot are unlocked on the electric chassis and rotate freely on the top of the electric chassis. The facial expression capturing intelligent robot then starts the first motor, the second motor and the third motor to adjust the position of the facial expression capturing intelligent robot to capture the patient's face. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the main structure of a facial expression capture intelligent robot proposed by the present invention;

[0037] Figure 2 This is a schematic diagram of a top view and cross-section of the structure of a facial expression capturing intelligent robot proposed by the present invention;

[0038] Figure 3 The structure of the facial expression capture intelligent robot proposed by the present invention is attached Figure 1 Middle A is an enlarged schematic diagram;

[0039] Figure 4 The structure of the facial expression capture intelligent robot proposed by the present invention is attached Figure 1 Middle B is an enlarged schematic diagram;

[0040] Figure 5 A schematic side view of the engagement of a positioning plate and a blocking frame of a facial expression capturing intelligent robot proposed by the present invention;

[0041] Figure 6A three-dimensional side view schematic diagram of a structural connection frame of a facial expression capturing intelligent robot proposed by the present invention;

[0042] Figure 7 This is a system block diagram of a facial expression capture intelligent robot proposed by the present invention.

[0043] In the figure: 1. electric chassis; 2. driving gear; 3. power gear; 4. first motor; 5. bottom rod; 6. top rod; 7. expression capture intelligent robot; 8. first positioning plate; 9. fixing frame; 10. pulling rod; 11. positioning frame; 12. fixing plate; 13. electric push rod; 14. connecting frame; 15. compression spring; 16. second motor; 17. third motor; 18. second positioning plate; 19. fitting plate; 20. sliding frame; 21. driving rod; 22. blocking frame; 23. third positioning plate; 24. reset spring; 25. fixing block; 26. mechanical claw. DETAILED DESCRIPTION

[0044] The present invention will be further explained below in conjunction with specific embodiments.

[0045] refer to Figure 1-6 In this embodiment, a facial expression capturing intelligent robot is proposed, including an electric chassis 1, the top of the electric chassis 1 is rotatably connected to a driving gear 2, the top of the driving gear 2 is rotatably connected to a bottom rod 5, the top of the bottom rod 5 is rotatably connected to a top rod 6, the bottom of the top rod 6 is rotatably connected to an expression capturing intelligent robot 7, a third motor 17 is fixedly installed on the left side of the expression capturing intelligent robot 7, the output shaft of the third motor 17 is fixedly connected to the top rod 6, a second motor 16 is fixedly installed on the left side of the top rod 6, the output shaft of the second motor 16 is fixedly connected to the bottom rod 5, and mechanical claws 26 are fixedly installed on the left and right sides of the top rod 6;

[0046] A power mechanism is provided on the top of the electric chassis 1, which cooperates with the driving gear 2. An unlocking mechanism and a connecting mechanism are respectively provided on the right side of the bottom rod 5. A matching mechanism is provided on the right side of the top rod 6, which cooperates with the expression capturing intelligent robot 7. The unlocking mechanism cooperates with the driving gear 2, the electric chassis 1 and the connecting mechanism respectively.

[0047] By means of the above mechanism: by starting the electric push rod 13, the electric push rod 13 can unlock the top rod 6, the bottom rod 5 and the expression capturing intelligent robot 7 on the electric chassis 1, so that the rod, the bottom rod 5 and the facial expression capturing intelligent robot 7 are unlocked on the electric chassis 1 and can rotate freely on the top of the electric chassis 1. The expression capturing intelligent robot 7 then starts the first motor 4, the second motor 16 and the third motor 17 to adjust the position of the expression capturing intelligent robot 7 to capture the patient's face.

[0048] In this embodiment, the power mechanism includes: a power gear 3 and a first motor 4;

[0049] The power gear 3 is meshed with the driving gear 2, and the power gear 3 is fixedly mounted at the bottom end of the output shaft of the first motor 4. After the first motor 4 is started, the first motor 4 can drive the power gear 3 to rotate, and the power gear 3 will drive the driving gear 2 to rotate, so that the driving gear 2 can drive the bottom rod 5, the top rod 6 and the expression capturing intelligent robot 7 to rotate horizontally to adjust the horizontal angle of the expression capturing intelligent robot 7.

[0050] In this embodiment, the unlocking mechanism includes: a first positioning plate 8, a fixing frame 9, a pulling rod 10, a positioning frame 11, a fixing plate 12 and an electric push rod 13;

[0051] The first positioning plate 8 is fixedly installed on the right side of the bottom rod 5, the first positioning plate 8 cooperates with the fixing frame 9, the fixing frame 9 is slidably connected to the top of the driving gear 2, the pulling rod 10 is respectively fixed to the fixing frame 9 and the positioning frame 11, the positioning frame 11 is slidably connected to the fixing plate 12, the electric push rod 13 is fixedly installed on the left side of the fixing plate 12, and the bottom end of the output shaft of the electric push rod 13 is fixedly connected to the positioning frame 11. After the electric push rod 13 is started, the electric push rod 13 can pull the positioning frame 11 to slide upward, so that the positioning frame 11 can be disengaged from the electric chassis 1 to unlock the driving gear 2, and then pull the pulling rod 10, the pulling rod 10 can pull the fixing frame 9 to move to the right, so that the fixing frame 9 can be disengaged from the first positioning plate 8, unlock the angle of the bottom rod 5 on the electric chassis 1, and then disengage from the connecting frame 14.

[0052] In this embodiment, the connection mechanism includes: a connection frame 14, a compression spring 15 and a second positioning plate 18;

[0053] The connecting frame 14 is slidably connected to the right side of the bottom rod 5, and the compression spring 15 is fixedly installed on the right side of the bottom rod 5. The right ends of the two compression springs 15 are fixedly connected to the connecting frame 14, and the second positioning disk 18 is on the right side of the top rod 6. The top of the connecting frame 14 cooperates with the second positioning disk 18. The initial state of the compression spring 15 is in a compressed state. After the fixing frame 9 is disengaged from the connecting frame 14, the compression spring 15 will rebound to push the connecting frame 14 to move to the right, disengage from the second positioning disk 18, and push the fitting disk 19 to move to the right. At this time, the connecting frame 14 can unlock the second positioning disk 18 and unlock the angle of the top rod 6 on the bottom rod 5.

[0054] In this embodiment, the matching mechanism includes: a bonding plate 19, a sliding frame 20, a driving rod 21, a blocking frame 22, a third positioning plate 23, a return spring 24 and a fixing block 25;

[0055] The left side of the bonding disk 19 is in sliding contact with the right side of the connecting frame 14, and the sliding disk is slidably connected to the bottom of the sliding frame 20. The sliding frame 20 is fixedly installed on the right side of the top rod 6, and the driving rod 21 is rotatably connected to the bonding disk 19 and the blocking frame 22 respectively. The blocking frame 22 is slidably connected to the right side of the top rod 6. The third positioning disk 23 is fixedly connected to the expression capturing intelligent robot 7, and the blocking frame 22 cooperates with the third positioning disk 23. The blocking frame 22 is fixedly connected to the return spring 24, and the return spring 24 is fixedly connected to the fixed block 25. The fixed block 25 is fixedly installed on the right side of the top rod 6. When the bonding frame moves to the right, it will pull the driving rod 21, and the driving rod 21 will pull the blocking frame 22 to move downward, so that the blocking frame 22 is disengaged from the third positioning disk 23, unlocking the third positioning disk 23, and compressing the return spring 24, so that the angle of the expression capturing intelligent robot 7 can be unlocked on the top rod 6.

[0056] In this embodiment, a plurality of positioning grooves arranged at equal intervals are provided on the top of the electric chassis 1, and a positioning rod is fixedly installed on the bottom of the positioning frame 11. The positioning rod passes through the driving gear 2, and the bottom end of the positioning rod is detachably connected to the inner wall of the positioning housing. After the positioning rod is inserted into the inner side of the positioning groove, the positioning rod can prevent the driving gear 2 from rotating, thereby realizing the positioning of the driving gear 2.

[0057] In this embodiment, the right side of the first positioning plate 8 is provided with through holes arranged at equal intervals, and a fixing rod is fixedly installed on the left side of the fixing frame 9, and the left end of the fixing rod is detachably engaged with the inner wall of the through hole. After the fixing rod is engaged with the first positioning plate 8, the fixing rod can prevent the first positioning plate 8 from rotating, thereby realizing the positioning of the first positioning plate 8 and the bottom rod 5.

[0058] In this embodiment, a plurality of connecting grooves arranged at equal intervals are provided on the outer side of the second positioning disk 18, and the top end of the connecting frame 14 can be detachably engaged with the inner wall of the connecting groove. After the top end of the connecting frame 14 is engaged with the second positioning disk 18, the connecting frame 14 can block the rotation of the second positioning disk 18 on the bottom plate, thereby realizing the positioning of the second positioning disk 18.

[0059] In this embodiment, a plurality of blocking grooves arranged at equal intervals are provided on the outer side of the third positioning disk 23, and the top of the blocking frame 22 can be detachably engaged with the inner wall of the blocking groove. After the blocking frame 22 is engaged with the third positioning disk 23, the blocking frame 22 can block the rotation of the third positioning disk 23, thereby positioning the third positioning disk 23, so that the third positioning disk 23 can position the angle of the expression capturing intelligent robot 7.

[0060] Working principle: In the operating room, the expression capture intelligent robot 7 can assist in surgery. It can capture the surgeon's posture and expression in real time to predict his intention and actions. By combining with the doctor's actions and expressions, the robot can accurately perform auxiliary tasks, such as using the expression capture intelligent robot 7 to activate the mechanical claw to grab surgical instruments and adjust the position of the operating table. In addition, on industrial production lines, the robot control system can monitor the workers' posture and expression to ensure that they perform operations safely. If the worker is detected to be tired or uncomfortable, the robot can automatically adjust the working environment or provide rest suggestions to prevent accidents. The electric chassis 1 can drive the patient expression capture intelligent robot 7 to move, with a maximum moving speed of 12km / h and a maximum following speed of 10 km / h, can work continuously for 4 hours, the system has no crash or serious error, showing high stability, the system energy consumption has a leading advantage in similar products, and it also has a braking function, the braking distance is no more than 20cm, and the safety is high. Then the expression capture intelligent robot 7 can capture the patient's expression, and medical personnel can more accurately evaluate the progress of rehabilitation, formulate personalized rehabilitation plans, and improve the treatment effect. If the face of the person being tested shakes and cannot be captured, the expression capture intelligent robot 7 can first start the electric push rod 13. After the electric push rod 13 is started, the electric push rod 13 can pull the positioning frame 11 to slide upward, so that the positioning frame 11 can be disengaged from the electric chassis 1 to unlock the driving gear 2, and then pull the pulling rod 10, and the pulling rod 10 can pull The movable fixing frame 9 moves to the right side, so that the fixing frame 9 can be disengaged from the first positioning disk 8, the angle of the bottom rod 5 on the electric chassis 1 is unlocked, and then it is disengaged from the connecting frame 14. The initial state of the compression spring is in a compressed state. After the fixing frame 9 is disengaged from the connecting frame 14, the compression spring 15 will rebound to push the connecting frame 14 to move to the right side, disengaging from the second positioning disk 18, and pushing the fitting disk 19 to move to the right side. At this time, the connecting frame 14 can unlock the second positioning disk 18, and unlock the angle of the top rod 6 on the bottom rod 5. When the fitting frame moves to the right side, it will pull the driving rod 21, and the driving rod 21 will pull the blocking frame 22 to move downward, so that the blocking frame 22 is disengaged from the third positioning disk 23, unlocking the third positioning disk 23, and compressing the recovery frame 14. By positioning the spring 24, the angle of the expression capturing intelligent robot 7 can be unlocked on the top rod 6. After the first motor 4 is started, the first motor 4 can drive the power gear 3 to rotate, and the power gear 3 will drive the driving gear 2 to rotate, so that the driving gear 2 can drive the bottom rod 5, the top rod 6 and the expression capturing intelligent robot 7 to rotate horizontally to adjust the horizontal angle of the expression capturing intelligent robot 7. Starting the second motor 16 can drive the top rod 6 to rotate on the bottom rod 5. Starting the third motor 17 can drive the expression capturing intelligent robot 7 to rotate on the top rod 6, which is convenient for adjusting the angle of the expression capturing intelligent robot 7, convenient for aligning with the patient's face, and convenient for capturing the user's expression. After adjustment, the first electric push rod 13 can be started again.The first electric push rod 13 can extend downward to drive the positioning frame 11 and the fixing frame 9 to reset, so that the positioning frame 11 can be engaged with the electric chassis 1, and the fixing frame 9 can be engaged with the first positioning plate 8. The fixing frame 9 can push the connecting frame 14 to engage with the second positioning plate 18, and release the blocking frame 22, so that the blocking frame 22 can engage with the third positioning plate 23. After the positioning rod is inserted into the inner side of the positioning groove, the positioning rod can block the rotation of the driving gear 2, so as to realize the positioning of the driving gear 2. After the fixing rod is engaged with the first positioning plate 8, , the fixing rod can block the first positioning disk 8 from rotating, and realize the positioning of the first positioning disk 8 and the bottom rod 5. After the top of the connecting frame 14 is engaged with the second positioning disk 18, the connecting frame 14 can block the second positioning disk 18 from rotating on the bottom plate, and realize the positioning of the second positioning disk 18. After the blocking frame 22 is engaged with the third positioning disk 23, the blocking frame 22 can block the third positioning disk 23 from rotating, and realize the positioning of the third positioning disk 23, so that the third positioning disk 23 can position the angle of the expression capture intelligent robot 7. ,

[0061] The intelligent robot is equipped with high-precision sensors, such as visual sensors (including cameras and depth cameras), to capture real-time image and video data of the surgeon. This data contains not only the surgeon’s posture information, but also subtle changes in facial expressions1.

[0062] In addition to visual sensors, the robot may also integrate other types of sensors, such as accelerometers and gyroscopes, to detect the doctor’s movements and posture changes, ensuring that the captured data is comprehensive and accurate1.

[0063] The captured data will be converted and analyzed by efficient data processing modules. For example, through image enhancement, noise reduction and other processing techniques, the key features of the doctor’s facial expression can be extracted1.

[0064] The robot uses advanced machine learning algorithms, such as supervised learning, unsupervised learning, and reinforcement learning, to analyze and recognize patterns in the processed data. This enables the robot to accurately understand the surgeon’s intentions and emotional state, providing a basis for subsequent auxiliary decision-making1.

[0065] During surgery, this intelligent robot can serve as a doctor's right-hand man, monitoring the doctor's posture and expression in real time to ensure the accuracy and safety of the surgical operation. For example, when the doctor shows fatigue or tension, the robot can promptly remind or provide necessary assistance. Intelligent robots have the advantages of reducing errors, being safer, being able to simulate surgery, achieving comprehensive care, and reducing human resources.

[0066] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A facial expression capturing intelligent robot, comprising an electric chassis (1), characterized in that: The top of the electric chassis (1) is rotatably connected to a driving gear (2), the top of the driving gear (2) is rotatably connected to a bottom rod (5), the top of the bottom rod (5) is rotatably connected to a top rod (6), the bottom of the top rod (6) is rotatably connected to an expression-capturing intelligent robot (7), a third motor (17) is fixedly installed on the left side of the expression-capturing intelligent robot (7), the output shaft of the third motor (17) is fixedly connected to the top rod (6), a second motor (16) is fixedly installed on the left side of the top rod (6), the output shaft of the second motor (16) is fixedly connected to the bottom rod (5), and mechanical claws (26) are fixedly installed on both the left and right sides of the top rod (6); A power mechanism is provided on the top of the electric chassis (1), and the power mechanism cooperates with the driving gear (2). An unlocking mechanism and a connecting mechanism are provided on the right side of the bottom rod (5). A matching mechanism is provided on the right side of the top rod (6), and the matching mechanism cooperates with the expression capturing intelligent robot (7). The unlocking mechanism cooperates with the driving gear (2), the electric chassis (1) and the connecting mechanism.

2. The facial expression capturing intelligent robot according to claim 1, characterized in that: The power mechanism comprises: a power gear (3) and a first motor (4); The power gear (3) is meshed with the driving gear (2), and the power gear (3) is fixedly mounted on the bottom end of the output shaft of the first motor (4).

3. The facial expression capturing intelligent robot according to claim 1, characterized in that: The unlocking mechanism comprises: a first positioning plate (8), a fixing frame (9), a pulling rod (10), a positioning frame (11), a fixing plate (12) and an electric push rod (13); The first positioning plate (8) is fixedly mounted on the right side of the bottom rod (5), the first positioning plate (8) cooperates with the fixing frame (9), the fixing frame (9) is slidably connected to the top of the driving gear (2), the pulling rod (10) is rotatably connected to the fixing frame (9) and the positioning frame (11), the positioning frame (11) is slidably connected to the fixing plate (12), the electric push rod (13) is fixedly mounted on the left side of the fixing plate (12), and the bottom end of the output shaft of the electric push rod (13) is fixedly connected to the positioning frame (11).

4. The facial expression capturing intelligent robot according to claim 1, characterized in that: The connecting mechanism comprises: a connecting frame (14), a compression spring (15) and a second positioning plate (18); The connecting frame (14) is slidably connected to the right side of the bottom rod (5), the compression spring (15) is fixedly installed on the right side of the bottom rod (5), the right ends of the two compression springs (15) are fixedly connected to the connecting frame (14), the second positioning plate (18) is on the right side of the top rod (6), and the top of the connecting frame (14) is matched with the second positioning plate (18).

5. The facial expression capturing intelligent robot according to claim 1, characterized in that: The matching mechanism comprises: a fitting plate (19), a sliding frame (20), a driving rod (21), a blocking frame (22), a third positioning plate (23), a return spring (24) and a fixing block (25); The left side of the laminating disk (19) is in sliding contact with the right side of the connecting frame (14), the sliding disk is slidably connected to the bottom of the sliding frame (20), the sliding frame (20) is fixedly installed on the right side of the top rod (6), the driving rod (21) is rotatably connected to the laminating disk (19) and the blocking frame (22) respectively, the blocking frame (22) is slidably connected to the right side of the top rod (6), the third positioning disk (23) is fixedly connected to the expression capturing intelligent robot (7), the blocking frame (22) cooperates with the third positioning disk (23), the blocking frame (22) is fixedly connected to the reset spring (24), the reset spring (24) is fixedly connected to the fixed block (25), and the fixed block (25) is fixedly installed on the right side of the top rod (6).

6. The facial expression capturing intelligent robot according to claim 3, characterized in that: The top of the electric chassis (1) is provided with a plurality of positioning grooves arranged at equal intervals, and a positioning rod is fixedly installed at the bottom of the positioning frame (11), the positioning rod penetrates the driving gear (2), and the bottom end of the positioning rod is detachably connected to the inner wall of the positioning frame.

7. The facial expression capturing intelligent robot according to claim 3, characterized in that: The right side of the first positioning plate (8) is provided with through holes arranged at equal intervals, and the left side of the fixing frame (9) is fixedly mounted with a fixing rod, the left end of the fixing rod being detachably connected to the inner wall of the through hole.

8. The facial expression capturing intelligent robot according to claim 4, characterized in that: The outer side of the second positioning plate (18) is provided with a plurality of connection grooves arranged at equal intervals, and the top end of the connection frame (14) is detachably connected to the inner wall of the connection groove.

9. The facial expression capturing intelligent robot according to claim 5, characterized in that: The outer side of the third positioning plate (23) is provided with a plurality of blocking grooves arranged at equal intervals, and the top end of the blocking frame (22) is detachably engaged with the inner wall of the blocking groove.

Images