Cloth bag play robot and control method thereof

Abstract

The invention discloses a cloth bag play robot and a control method thereof, and relates to the technical field of cloth bag play robots, the cloth bag play robot comprises a robot main body shell, a head mechanism and two large arm rotating steering engine assemblies, an independent power supply and a control mainboard are installed in the robot main body shell, and arm connecting grooves are formed in the tops of the two side walls of the robot main body shell; a neck head shaking steering engine assembly is installed at the top of the robot body shell, and a neck nodding steering engine assembly is installed at the top of the neck head shaking steering engine assembly. Accurate matching of various dynamic expressions and complex limb actions is achieved through the steering engine linkage mechanism, and dependence of traditional manual control is avoided; the PA12 nylon shell and the magnetic type clothing module support completion of role replacement within 30 seconds, and the disassembly and assembly loss of a traditional robot is avoided; and a non-discarding thematic action library and an MIDI sound effect synchronization function are built in, a classical bridge segment can be called by one key, and digital inheritance of cultural heritage is assisted.

Description

Technical Field

[0001] The present invention relates to the technical field of glove puppetry robots, and in particular to a glove puppetry robot and a control method thereof. Background Art

[0002] The puppet show robot is designed for traditional cultural performances and modern stage art, aiming to replace the real puppeteers in traditional puppet theaters and realize unmanned, high-precision, and reusable drama performances. Its core functions include: dynamic expression interpretation: simulating human facial expressions (such as opening the mouth and squinting eyes) through mechanical structures, adapting to the needs of intangible cultural heritage repertoires such as "Lei Wanchun Fighting the Tiger"; bipedal balanced walking: supporting complex stage movements (such as turning and jumping), breaking through the limitations of single joint activities of traditional puppets; multi-machine collaborative performance: supporting 5 robots to perform multi-person scenes simultaneously, reducing the labor costs of the troupe.

[0003] Existing traditional puppet shows rely on manual control, requiring 3-5 puppeteers for each show, which has high labor costs; it takes a long time to switch the puppet's expressions, and the dynamic expression is poor; traditional robots only support preset actions, have no expression interaction modules, and have a high error rate; traditional robots are complex to install, configure and operate, take a long time to change costumes, and are prone to damage to the basic structure. Summary of the invention

[0004] The main purpose of the present invention is to provide a puppetry robot and a control method thereof, which can effectively solve the problems in the background technology.

[0005] To achieve the above object, the technical solution adopted by the present invention is: A puppetry robot comprises a robot main body shell, a head mechanism and two large arm rotating servo assemblies, wherein an independent power supply and a control mainboard are installed inside the robot main body shell, arm connecting grooves are provided on the tops of both side walls of the robot main body shell, a neck shaking servo assembly is installed on the top of the robot main body shell, a neck nodding servo assembly is installed on the top of the neck shaking servo assembly, and a head mechanism is installed on the top of the neck nodding servo assembly.

[0006] The head mechanism includes a head body, a cheek part, a jaw part and an expression control servo. The head body is installed on the top of the neck nodding servo assembly. Three expression control servos are installed inside the head body, and connecting rods are installed at the output ends of the three expression control servos.

[0007] Preferably, a boom rotating servo gear assembly is installed in each of the two arm connecting grooves, a boom double-line servo gear assembly is installed at the rotating ends of the two boom rotating servo gear assemblies, a forearm double-line servo gear assembly is installed at the remaining ends of the two boom double-line servo gear assemblies, a wrist double-line servo gear assembly is installed at the remaining ends of the two forearm double-line servo gear assemblies, and a hand component is installed at the remaining ends of the wrist double-line servo gear assemblies.

[0008] Preferably, leg connecting grooves are provided on both sides of the bottom of the robot main body shell, and thigh rotating servo assemblies are rotatably installed on the two leg connecting grooves, and two leg intelligent double-line servo assemblies are installed on the bottom of the two thigh rotating servo assemblies in turn, and ankle rotating servo assemblies are installed on the bottom rotating ends of the two leg intelligent double-line servo assemblies, and foot parts are installed on the bottom of the two ankle rotating servo assemblies.

[0009] Preferably, the remaining ends of the three connecting rods are respectively mounted with a lower jaw component and two cheek components.

[0010] Preferably, the control mainboard is based on a Raspberry Pi development board and supports VNC remote control and Python script programming.

[0011] Preferably, the hand component adopts a magnetic interface to support quick replacement of a sword or whisk prop module.

[0012] Preferably, a six-axis inertial sensor is built into the foot part to collect center of gravity data in real time and feed it back to the control unit.

[0013] Preferably, the three expression control servos drive the lower jaw part to sink 0mm-15mm and the cheek part to move up 0mm-10mm via a crank connecting rod.

[0014] The neck shaking servo assembly drives the head body to rotate ±30°.

[0015] The control mainboard has a built-in expression action library and supports dynamic sequence programming.

[0016] Preferably, the robot main body shell is externally wearable, and all are 3D printed with PA12 nylon, with a wear-resistant ceramic coating on the surface, and clothing modules can be quickly replaced with Velcro.

[0017] A control method for a glove puppetry robot, the control method for the glove puppetry robot comprising the following steps: In the first step, the robot’s center of gravity offset is monitored in real time through the IMU sensor, and the pitch angle deviation Δθ is calculated.

[0018] The second step, if Δθ>3°, adjust the pitch angle of the waist servo and the torque distribution of the ankle servo.

[0019] The third step is that if the single-leg support time reaches 2 seconds, the leg servo will be triggered to vibrate slightly to maintain balance.

[0020] Compared with the prior art, the present invention has the following beneficial effects: 1. The robot's main body shell integrates the arm rotation servo assembly, the leg intelligent dual-line servo assembly, and the neck shaking and nodding servo assembly to achieve linkage control of 18 degrees of freedom throughout the body. The arm connection slot cooperates with the arm dual-line servo assembly to accurately simulate traditional puppetry movements such as sword swinging and sleeve flicking, getting rid of the dependence on artificial puppeteers. The leg connection slot cooperates with the IMU sensor to ensure the stability of bipedal walking and adapt to complex stage terrain.

[0021] 2. The three expression control servos drive the jaw and cheek parts through the connecting rod, and combined with the crank connecting rod design, realize the physical linkage of expressions such as "opening the mouth-squinting eyes". The ±30° rotation of the neck shaking servo assembly further expands the expression dimension, such as the left tilt of the face when angry and the slight tremor of the jaw when surprised, which significantly enhances the authenticity of the character's emotional transmission.

[0022] 3. The Raspberry Pi development board supports Python script programming, allowing non-professionals to choreograph complex action sequences through the VNC platform. The built-in IMU sensor in the foot part provides real-time feedback of the center of gravity data, combined with the micro-vibration mode, to dynamically adjust the posture to prevent imbalance. The classic repertoire library and MIDI synchronization function can directly call the intangible cultural heritage action modules (such as "turning over and splitting" and "shaking sleeves to show up"), reducing the difficulty of repertoire choreography.

[0023] 4. The magnetic hand parts support the replacement of props such as swords and whisks in seconds, avoiding the cable entanglement problem of traditional puppet prop installation. The PA12 nylon shell and Velcro clothing design solve the defect of easy wear and tear when changing clothes of traditional robots, shortening the time of clothing replacement and making it reusable. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of a glove puppet show of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of a main body shell of a glove puppet robot according to the present invention; Figure 3 This is a three-dimensional structural schematic diagram of a head mechanism of a glove puppetry robot according to the present invention; Figure 4 The present invention is a three-dimensional structural schematic diagram of a cheek component of a puppetry robot.

[0025] In the figure: 1. Robot body shell; 21. Neck shaking head servo assembly; 22. Neck nodding servo assembly; 3. Head mechanism; 31. Head body; 32. Cheek part; 33. Jaw part; 34. Expression control servo; 35. Connecting rod; 41. Upper arm rotation servo assembly; 42. Upper arm two-line servo assembly; 43. Lower arm two-line servo assembly; 44. Wrist two-line servo assembly; 45. Hand part; 51. Thigh rotation servo assembly; 52. Leg intelligent two-line servo assembly; 53. Ankle rotation servo assembly; 54. Foot part; 6. Leg connecting slot; 7. Arm connecting slot. DETAILED DESCRIPTION

[0026] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0027] like Figure 1-4 As shown, a puppetry robot comprises a robot main body shell 1, a head mechanism 3 and two large arm rotating servo assemblies 41, wherein an independent power supply and a control main board are installed inside the robot main body shell 1, arm connecting grooves 7 are provided on the tops of both side walls of the robot main body shell 1, a neck shaking servo assembly 21 is installed on the top of the robot main body shell 1, a neck nodding servo assembly 22 is installed on the top of the neck shaking servo assembly 21, and a head mechanism 3 is installed on the top of the neck nodding servo assembly 22.

[0028] The head mechanism 3 includes a head body 31, a cheek part 32, a jaw part 33 and an expression control servo 34. The head body 31 is installed on the top of the neck nodding servo assembly 22. Three expression control servos 34 are installed inside the head body 31. The output ends of the three expression control servos 34 are all installed with connecting rods 35. Head mechanism 3: Integrate three expression control servos 34, and drive the physical linkage of the jaw part 33 and the cheek part 32 through the connecting rod 35 to realize dynamic switching of expressions. Neck assembly: The series design of the shaking servo 21 and the nodding servo 22 supports horizontal rotation of the head by ±30° and pitch action by ±15°, enhancing the sense of performance space. Main body shell 1: The arm connection slots 7 on both sides are made of high-strength aluminum alloy frames with a load-bearing capacity of 5kg, ensuring the stable operation of the large arm servo assembly 41.

[0029] In this embodiment, a boom rotating servo assembly 41 is installed in each of the two arm connecting grooves 7, a boom double-line servo assembly 42 is installed at the rotating end of each of the two boom rotating servo assemblies 41, a forearm double-line servo assembly 43 is installed at the remaining end of each of the two boom double-line servo assemblies 42, a wrist double-line servo assembly 44 is installed at the remaining end of each of the two forearm double-line servo assemblies 43, and a hand component 45 is installed at the remaining end of each of the wrist double-line servo assemblies 44.

[0030] In this embodiment, leg connecting grooves 6 are provided on both sides of the bottom of the robot main body shell 1, and thigh rotating servo assemblies 51 are rotatably installed on the two leg connecting grooves 6. Two leg intelligent double-line servo assemblies 52 are installed on the bottom of the two thigh rotating servo assemblies 51 in turn, and ankle rotating servo assemblies 53 are installed on the bottom rotating ends of the two leg intelligent double-line servo assemblies 52 at the bottom, and foot parts 54 are installed on the bottom of the two ankle rotating servo assemblies 53.

[0031] In this embodiment, the remaining ends of the three connecting rods 35 are respectively installed with a lower jaw component 33 and two cheek components 32, and the three expression control servos 34 drive the lower jaw component 33 to sink 0mm-15mm and the cheek component 32 to move up 0mm-10mm through a crank connecting rod.

[0032] The neck shaking servo assembly 21 drives the head body 31 to rotate ±30°.

[0033] The control mainboard has a built-in expression action library and supports dynamic sequence programming.

[0034] Specifically, the arm-to-wrist linkage: the arm double-line servo 42, the forearm double-line servo 43, and the wrist double-line servo 44 form a three-level transmission to achieve arm lifting 0-180°, swinging 0-120° / s, and wrist turning ±90°. Hand component 45: The magnetic interface has a built-in Hall sensor to automatically identify the prop type, such as the sword handle contact triggering the martial arts script, and the replacement error is less than 0.1mm.

[0035] In this embodiment, the control mainboard is based on a Raspberry Pi development board, supports VNC remote control and Python script programming, and the foot part 54 has a built-in six-axis inertial sensor to collect center of gravity data in real time and feed it back to the control unit.

[0036] Specifically, the leg structure: the thigh rotation servo 51 is linked with the intelligent two-line servo 52, and the stride is dynamically adjusted by an algorithm to 0-30cm to adapt to stage steps and slopes.

[0037] Dynamic balance: The IMU sensor at the foot 54 collects center of gravity data at a frequency of 100Hz, combined with the pitch compensation of the waist servo ±5°, to achieve posture recovery within 0.3 seconds after imbalance.

[0038] In this embodiment, the hand component 45 adopts a magnetic interface to support rapid replacement of a sword or whisk prop module.

[0039] In this embodiment, the robot body shell 1 is externally wearable, and is 3D printed with PA12 nylon, with a wear-resistant ceramic coating on the surface, and the clothing module can be quickly replaced by Velcro.

[0040] Specifically, the 3D printed shell: PA12 nylon material is topologically optimized, reducing weight by 30% while maintaining an impact strength of 50J / cm², and the surface ceramic coating has a scratch resistance level of H5.

[0041] Clothing module: Velcro fixing points are distributed at 4 points on the shoulder and 6 points on the waist, supporting lossless installation of traditional craft clothing such as embroidery and beading. A single replacement takes less than 40 seconds.

[0042] A control method for a glove puppetry robot, the control method for the glove puppetry robot comprising the following steps: In the first step, the robot’s center of gravity offset is monitored in real time through the IMU sensor, and the pitch angle deviation Δθ is calculated.

[0043] The second step, if Δθ>3°, adjust the pitch angle of the waist servo and the torque distribution of the ankle servo.

[0044] The third step is that if the single-leg support time reaches 2 seconds, the leg servo will be triggered to vibrate slightly to maintain balance.

[0045] Specifically, Raspberry Pi control: Develop an action scheduler based on the ROS framework, support multi-threaded processing of voice, vision, and action scripts running simultaneously, and the response delay is less than 20ms.

[0046] Digitalization of intangible cultural heritage: The built-in Zhangzhou puppet show action library contains 32 classic scenes such as the hammer swinging action of "Lei Wanchun fighting the tiger", supports the import of motion capture data, and the restoration degree exceeds 95%.

[0047] The control method of puppetry robots can also be divided into dynamic balance control method, expression and action coordinated control method, and multi-machine coordinated control method.

[0048] The dynamic balance control method includes the following steps Step 1: Data collection and preprocessing, the IMU sensor collects the center of gravity coordinates X, Y, Z, pitch angle θ and roll angle γ of the foot part 54 in real time; after the data is filtered by Kalman filtering, the center of gravity offset ΔS and pitch angle deviation Δθ are calculated.

[0049] Step 2: Attitude compensation decision, condition 1: If Δθ>3° or ΔS>5mm, trigger the waist servo pitch compensation ±5°, and adjust the ankle servo 53 torque output 0.8-1.2A; condition 2: If the single-foot support time is greater than 2 seconds, start the leg intelligent dual-line servo 52 with a micro-vibration mode frequency of 5Hz and an amplitude of ±1°.

[0050] Step 3: Execution and feedback, the control command is sent to the servo through the PWM signal, and the execution time is less than 50ms; the compensated data is fed back to the Raspberry Pi again to form a closed-loop control. The expression and action collaborative control method includes expression script analysis: Python script defines expression sequences such as "smile-surprise-anger", and each expression corresponds to the servo angle parameter; example: smile = jaw sinking 5mm + cheek moving up 3mm + head tilting 10° to the right. Action fusion logic: When the robot performs the "sword swinging" action, the head automatically tilts 15° to the right to simulate the force posture, and the jaw tightening expression is triggered synchronously; when the visual module recognizes the audience's applause signal, it automatically inserts the "bow" action and switches to the smiling expression.

[0051] The multi-machine collaborative control method includes a communication protocol: the master robot broadcasts timestamps with an accuracy of ±1ms through LoRa, and the slave synchronizes and calibrates the system clock; the data frame contains action instructions and priority tags 0-5, and the packet loss retransmission mechanism ensures integrity. Collaborative logic: the five robots are divided into "protagonist" priority 5 and "supporting role" priority 3, and the protagonist's actions are executed first; when the actions of two robots conflict, such as moving to the same position at the same time, the path is dynamically adjusted based on IMU data.

[0052] Working principle: Head expression generation process Command input: The user selects the "surprised" expression through the VNC platform; Servo drive: the servo 34-1 rotates 20° forward until the lower jaw member 33 sinks 12 mm; The servos 34-2 and 34-3 are reversed by 15° until the cheek member 32 moves upward by 8 mm; The neck shaking servo 21 rotates 25° to the left until the face tilts to the left and the eye module is half closed; Effect output: Forms a surprised expression of "open mouth and staring + tilting head", which lasts for 1.5 seconds and then recovers.

[0053] Bipedal walking control process Gait planning: Raspberry Pi generates gait cycle curve with leg lift height of 5cm and stride length of 20cm; Joint linkage: The thigh servo 51 swings forward 30° until the intelligent dual-line servo 52 bends 45°; IMU detects right tilt of 2° until ankle servo 53 increases left torque by 10%; Ground contact feedback: When the pressure sensor at the foot part 54 is greater than 300N, the next action is triggered.

[0054] Emergency safety mechanism Overload protection: When the servo current is greater than 2A, the output power will be automatically reduced by 50% and an alarm will be sent; Power failure emergency: super capacitor 100F maintains 10 minutes of battery life and saves unfinished actions to flash memory; Physical reset: Press and hold the key for 5 seconds to reset the system and restore it to its original state.

[0055] The circuits, electronic components and control modules involved are all prior art and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to software and methods.

[0056] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A puppet show robot, characterized in that: The robot comprises a robot body shell (1), a head mechanism (3) and two large arm rotation servo components (41), wherein an independent power supply and a control mainboard are installed inside the robot body shell (1), arm connection grooves (7) are provided on the tops of both side walls of the robot body shell (1), a neck shaking servo component (21) is installed on the top of the robot body shell (1), a neck nodding servo component (22) is installed on the top of the neck shaking servo component (21), and a head mechanism (3) is installed on the top of the neck nodding servo component (22); The head mechanism (3) comprises a head body (31), a cheek component (32), a lower jaw component (33) and an expression control servo (34); the head body (31) is mounted on the top of a neck nodding servo assembly (22); three expression control servos (34) are mounted inside the head body (31); and connecting rods (35) are mounted on the output ends of the three expression control servos (34).

2. The puppet robot according to claim 1, characterized in that: A large arm rotating steering gear assembly (41) is installed in each of the two arm connecting grooves (7); a large arm double-line steering gear assembly (42) is installed at the rotating end of each of the two large arm rotating steering gear assemblies (41); a small arm double-line steering gear assembly (43) is installed at the rotating end of the remaining end of each of the two large arm double-line steering gear assemblies (42); a wrist double-line steering gear assembly (44) is installed at the remaining end of each of the two small arm double-line steering gear assemblies (43); and a hand component (45) is installed at the remaining end of each of the wrist double-line steering gear assemblies (44).

3. The puppet robot according to claim 1, characterized in that: Both sides of the bottom of the robot main body shell (1) are provided with leg connection grooves (6), and thigh rotation servo components (51) are rotatably mounted on the two leg connection grooves (6), and two leg intelligent double-line servo components (52) are sequentially mounted on the bottom of the two thigh rotation servo components (51), and ankle rotation servo components (53) are mounted on the bottom rotation ends of the two leg intelligent double-line servo components (52), and foot parts (54) are mounted on the bottom of the two ankle rotation servo components (53).

4. The puppet robot according to claim 1, characterized in that: The remaining ends of the three connecting rods (35) are respectively mounted with a lower jaw component (33) and two cheek components (32).

5. The puppet robot according to claim 1, characterized in that: The control mainboard is based on the Raspberry Pi development board and supports VNC remote control and Python script programming.

6. The puppet robot according to claim 2, characterized in that: The hand part (45) adopts a magnetic interface, which supports rapid replacement of the hand part with a sword-holding or whisk-holding prop module.

7. The puppet robot according to claim 3, characterized in that: The foot part (54) has a built-in six-axis inertial sensor to collect center of gravity data in real time and feed it back to the control unit.

8. The puppet robot according to claim 1, characterized in that: The three expression control steering engines (34) drive the lower jaw component (33) to sink 0mm-15mm and the cheek component (32) to move up 0mm-10mm via a crank connecting rod; The neck shaking servo assembly (21) drives the head body (31) to rotate ±30°; The control mainboard has a built-in expression action library and supports dynamic sequence programming.

9. The puppet robot according to claim 1, characterized in that: The robot main body shell (1) is externally wearable and is all made of PA12 nylon 3D printing, with a wear-resistant ceramic coating on the surface, and clothing modules can be quickly replaced by Velcro.

10. A control method for a puppet show robot according to any one of claims 1 to 9, characterized in that: The control method of the puppet show robot comprises the following steps: The first step is to monitor the robot's center of gravity offset in real time through the IMU sensor and calculate the pitch angle deviation Δθ; Step 2: If Δθ>3°, adjust the waist servo pitch angle and ankle servo torque distribution; The third step is that if the single-leg support time reaches 2 seconds, the leg servo will be triggered to vibrate slightly to maintain balance.

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