A robot motion amplitude control system

Abstract

The application discloses a kind of robot action amplitude control systems, including embedded system deployment module, the embedded system deployment module is inlayed with emotional intensity identification module, dynamic action adjustment module, distance detection module and action execution module are arranged in.The beneficial effects of the application are that by dynamically adjusting action amplitude, the robot can flexibly adjust action according to user emotional intensity and distance change, so as to realize the naturalization and accuracy of emotional expression.This innovation solves the expression distortion problem caused by traditional fixed amplitude action, ensures that users can clearly perceive the emotional expression of the robot at different distances, significantly improves the naturalness of human-computer interaction and user experience.The system has strong adaptability, can monitor the emotional state and distance change of user in real time, and dynamically adjusts action amplitude, so that it is suitable for a variety of application scenarios and different user groups.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot motion amplitude control system. Background Technology

[0002] In existing technologies, non-humanoid robots (such as lamp robots) typically use fixed-amplitude movements to express emotions. For example, the robot expresses happiness or sadness by swaying the lamp head; the amplitude of the movement is preset and does not adjust according to the user's emotional state or distance. While this fixed-amplitude movement method is simple, it has significant limitations in practical applications. When the user is far away from the robot, small movements may not be clearly perceived; while when the user is close, large movements may appear exaggerated or even make the user uncomfortable.

[0003] To address this, the inventor developed a robot motion amplitude control system. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above or prior art, the present invention is proposed.

[0006] Therefore, the purpose of this invention is to provide a robot motion amplitude control system, which enables the robot to flexibly adjust its movements according to changes in the intensity of the user's emotions and distance by dynamically adjusting the motion amplitude, thereby achieving natural and accurate emotional expression.

[0007] To solve the above technical problems, the present invention provides the following technical solution: a robot motion amplitude control system, which includes an embedded system deployment module, wherein an emotion intensity recognition module, a dynamic motion adjustment module, a distance detection module, and a motion execution module are embedded in the embedded system deployment module; The emotion intensity recognition module captures the user's facial micro-expressions through the facial recognition module and calculates the emotion intensity index through voice spectrum features; The dynamic motion adjustment module dynamically adjusts the robot's motion amplitude based on the emotion intensity index; The distance detection module uses sensors to detect the distance between the user and the robot and calculates the distance compensation factor. The motion execution module performs the corresponding action based on the adjusted motion amplitude; The embedded system deployment module ensures that the emotion intensity recognition module, dynamic action adjustment module, distance detection module, and action execution module operate without delay. The robot's motion amplitude control system can monitor the user's emotional response and distance changes in real time, and dynamically adjust the emotional intensity index and motion amplitude.

[0008] As a preferred embodiment of the robot motion amplitude control system of the present invention, the emotion intensity recognition module captures the user's facial expressions through a camera, extracts the micro-expression features of the upturn of the corners of the mouth and the activity of the brow muscles, collects the user's voice signal through a microphone, extracts the fundamental frequency and energy speech spectrum features, and inputs the above features into an LSTM network to calculate the emotion intensity index.

[0009] In a preferred embodiment of the robot motion amplitude control system of the present invention, the formula for calculating the emotion intensity index is as follows: Where EI represents the Emotion Index, FEF represents Facial Expression Features, and VF represents Speech Spectrum Features. This represents the Sigmoid activation function, used to map output values ​​to the (0~1) interval; It is a weighting parameter that is adjusted based on experimental data to balance the contributions of facial expressions and speech features; the emotional intensity index ranges from 0 to 1, where 0 represents no emotion and 1 represents the highest emotional intensity.

[0010] As a preferred embodiment of the robot motion amplitude control system of the present invention, the LSTM network contains two hidden layers, each with 128 neurons; the input layer receives facial expression features and speech spectrum features, and the output layer outputs an emotion intensity index through a Sigmoid activation function.

[0011] As a preferred embodiment of the robot motion amplitude control system of the present invention, the robot motion amplitude is dynamically adjusted according to the calculated emotion intensity index; when the emotion intensity index is greater than 0.7, a large-angle swinging motion is triggered; when the emotion intensity index is less than 0.3, a micro-motion is adopted.

[0012] In a preferred embodiment of the robot motion amplitude control system of the present invention, the adjustment formula for the motion amplitude is: Where Max A represents the maximum amplitude, Min A represents the minimum amplitude, and IA represents the intermediate amplitude; Max A and Min A are parameters preset according to the robot design; IA is calculated by linear interpolation based on the emotional intensity.

[0013] As a preferred embodiment of the robot motion amplitude control system of the present invention, the distance between the user and the robot is detected by an infrared sensor or an ultrasonic sensor on the robot; when the user distance is greater than 1 meter, the motion amplitude is automatically amplified by 20% to ensure long-distance visibility.

[0014] In a preferred embodiment of the robot motion amplitude control system of the present invention, the distance compensation factor is calculated using the following formula: The compensation factor is calculated using the formula above based on the detected distance; if the distance is greater than 1 meter, the compensation factor is 1.2; otherwise, it is 1. The adjusted range of motion is as follows: Multiply the calculated compensation factor by the original motion amplitude to obtain the adjusted motion amplitude.

[0015] In a preferred embodiment of the robot motion amplitude control system of the present invention, the motion execution module uses a PWM signal to control the rotation angle of the motor; calculates the PWM value of the motor according to the adjusted motion amplitude, and sends it to the motor driver through the control module; the motor driver drives the motor according to the received PWM signal, so that the target part swings according to the set amplitude.

[0016] As a preferred embodiment of the robot motion amplitude control system of the present invention, the robot motion amplitude control system recaptures the user's facial expressions and voice signals every first preset time interval seconds and recalculates the emotion intensity index. At the same time, it remeasures the distance between the user and the robot every second preset time interval seconds and recalculates the distance compensation factor. Based on the new emotional intensity index and distance compensation factor, the motion amplitude is recalculated and the motor's PWM value is adjusted to ensure the real-time performance and adaptability of the motion.

[0017] The beneficial effects of this invention are as follows: By dynamically adjusting the amplitude of movements, this invention enables the robot to flexibly adjust its actions according to changes in the intensity of the user's emotions and distance, thereby achieving natural and accurate emotional expression. This innovation solves the problem of expression distortion caused by traditional fixed-amplitude movements, ensuring that users can clearly perceive the robot's emotional expression at different distances, significantly improving the naturalness of human-computer interaction and user experience. The system has strong adaptability, capable of monitoring the user's emotional state and distance changes in real time and dynamically adjusting the amplitude of movements, making it suitable for various application scenarios and different user groups. In addition, the algorithm is deployed in the robot's embedded system, ensuring low-latency operation and real-time response to changes in the user's emotions, further enhancing the system's interactivity and real-time performance. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a flowchart of the robot's motion amplitude control system. Detailed Implementation

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0020] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0021] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0022] Example 1 Reference Figure 1 This is the first embodiment of the present invention. This embodiment provides a robot motion amplitude control system, which includes an embedded system deployment module. The embedded system deployment module is embedded with an emotion intensity recognition module, a dynamic motion adjustment module, a distance detection module, and a motion execution module. The emotion intensity recognition module captures the user's facial micro-expressions through the facial recognition module and calculates the emotion intensity index through voice spectrum features; The dynamic motion adjustment module dynamically adjusts the robot's motion amplitude based on the emotion intensity index. The distance detection module detects the distance between the user and the robot using sensors and calculates a distance compensation factor. The action execution module performs the corresponding action according to the adjusted action range; The embedded system deployment module can ensure that the emotion intensity recognition module, dynamic action adjustment module, distance detection module, and action execution module operate without delay. The robot's motion amplitude control system can monitor the user's emotional response and distance changes in real time, and dynamically adjust the emotional intensity index and motion amplitude.

[0023] Preferably, the facial recognition module can be a camera or other recognition components; the algorithm is built into the system.

[0024] The detailed implementation steps are as follows: 1. Emotion intensity recognition Furthermore, the emotion intensity recognition module captures the user's facial expressions through a camera, extracts micro-expression features such as the degree of mouth twitching and the activity of the brow muscles, collects the user's voice signal through a microphone, extracts the fundamental frequency and energy speech spectrum features, and inputs the above features into an LSTM network to calculate the emotion intensity index.

[0025] Furthermore, the formula for calculating the emotional intensity index is as follows: Here, EI stands for Emotion Index, FEF for Facial Expression Feature, and VF for Voice Feature. This represents the Sigmoid activation function, used to map output values ​​to the (0~1) interval; It is a weighting parameter that is adjusted based on experimental data to balance the contributions of facial expressions and speech features; the emotional intensity index ranges from 0 to 1, where 0 represents no emotion and 1 represents the highest emotional intensity.

[0026] Better, for example, assuming = 0.6 and = 0.4, facial expression feature value is 0.7, and voice feature value is 0.5. The emotion intensity index is calculated as follows: ; This indicates that the user's emotional intensity is 0.65, which is considered a medium-intensity emotion.

[0027] A better approach is to extract facial expression features: using the OpenCV library to detect faces from images captured by a camera and extract the degree of mouth twitching and glabellar muscle activity. The degree of mouth twitching is calculated by detecting the vertical displacement of key points at the corners of the mouth, and the glabellar muscle activity is calculated by detecting texture changes in the glabellar region.

[0028] A better approach is speech spectral feature extraction: using Python's `librosa` library to extract the fundamental frequency and energy from the audio signal captured by the microphone. The fundamental frequency is calculated using an autocorrelation method, and the energy is calculated using short-time energy.

[0029] Furthermore, the LSTM network structure: The LSTM network contains two hidden layers, each with 128 neurons; the input layer receives facial expression features and speech spectrum features, and the output layer outputs the emotion intensity index through the Sigmoid activation function.

[0030] 2. Dynamic motion adjustment Furthermore, the robot's movement amplitude is dynamically adjusted based on the calculated emotion intensity index; when the emotion intensity index is greater than 0.7, a large-angle swinging motion is triggered, for example, the lamp head swings left and right by ±30°; when the emotion intensity index is less than 0.3, micro-motions are used.

[0031] Furthermore, the formula for adjusting the range of motion is: Where Max A represents Max Amplitude, Min A represents Min Amplitude, and IA represents Intermediate Amplitude; Max A and Min A are parameters preset according to the robot design; IA is calculated by linear interpolation based on the emotional intensity.

[0032] Assuming a maximum amplitude of ±30° and a minimum amplitude of ±5°, the intermediate amplitude is calculated using linear interpolation based on emotional intensity. For an emotional intensity index of 0.65, the amplitude of the movement is calculated as follows: Therefore, the range of motion of the robot lamp head was adjusted to ±15.625°.

[0033] Implementation details: Calculation of movement amplitude: Based on the emotional intensity index, calculate the movement amplitude using the formula above. If the emotional intensity index is 0.65, then the movement amplitude is 15.625°.

[0034] Motion control: Send instructions to the motor driver via a robot control module (such as Arduino or Raspberry Pi) to control the motor of the lamp head to swing with a calculated amplitude.

[0035] 3. Distance detection and compensation factor, Furthermore, the distance between the user and the robot is detected by infrared or ultrasonic sensors on the robot; when the user distance is greater than 1 meter, the movement amplitude is automatically amplified by 20% to ensure long-distance visibility.

[0036] Furthermore, the formula for calculating the distance compensation factor is as follows: Based on the detected distance, the compensation factor is calculated using the above formula; if the distance ( If the distance is greater than 1 meter, the compensation factor is 1.2; otherwise, it is 1. The adjusted range of motion (denoted by ADA) is as follows: Multiply the calculated compensation factor (CF represents the compensation factor) by the original motion amplitude (MA represents the original motion amplitude) to obtain the adjusted motion amplitude.

[0037] Assuming the user's distance is 1.2 meters, which is greater than 1 meter, the distance compensation factor is 1.2. Therefore, the adjusted motion range is: The range of motion of the robot lamp head was ultimately adjusted to ±18.75°.

[0038] Implementation details: Distance detection: An ultrasonic sensor is used to measure the distance between the user and the robot. The sensor sends an ultrasonic signal every 0.5 seconds and measures the echo time to calculate the distance.

[0039] Compensation factor calculation: Based on the detected distance, calculate the compensation factor using the formula above. If the distance is greater than 1 meter, the compensation factor is 1.2; otherwise, it is 1.

[0040] Motion amplitude adjustment: Multiply the calculated compensation factor by the original motion amplitude to obtain the adjusted motion amplitude.

[0041] 4. Action execution Based on the adjusted range of motion, the motion execution module controls the robot to perform corresponding actions. For example, the robot's lamp head swings with an amplitude of ±18.75° to ensure the action is clearly visible and matches the user's emotional state. During the execution of the action, the robot precisely controls the lamp head's movement angle through the motor control module to ensure the accuracy and stability of the action.

[0042] Specifically: Motor control: The motor's rotation angle is controlled using a PWM (Pulse Width Modulation) signal. Based on the adjusted amplitude of the movement, the PWM value of the motor is calculated and sent to the motor driver via the control module.

[0043] Action execution: The motor driver drives the motor according to the received PWM signal, causing the lamp head to swing at a set amplitude. For example, if the adjusted amplitude is 18.75°, the motor driver will swing the lamp head 18.75° to the left from the initial position and then 18.75° to the right.

[0044] 5. Real-time feedback and optimization During action execution, the system monitors the user's emotional response and distance changes in real time, dynamically adjusting the emotional intensity index and action amplitude. By continuously optimizing the LSTM network parameters and distance compensation factor, the system can better adapt to different users and scenarios, improving the naturalness and accuracy of emotional expression. For example, if the user's emotional intensity changes (e.g., from 0.65 to 0.8), the system will recalculate the emotional intensity index and adjust the action amplitude according to the new index value. Simultaneously, if the user's distance changes (e.g., from 1.2 meters to 0.8 meters), the system will recalculate the distance compensation factor and adjust the action amplitude to adapt to the new distance conditions.

[0045] In one embodiment, the first preset time interval is in the range of 0.4 to 0.6 seconds, and the second preset time interval is in the range of 0.4 to 0.6 seconds.

[0046] The system recaptures the user's facial expressions and voice signals every 0.5 seconds (first preset time interval) and recalculates the emotion intensity index; at the same time, it remeasures the distance between the user and the robot every 0.5 seconds (second preset time interval) and recalculates the distance compensation factor.

[0047] Based on the new emotional intensity index and distance compensation factor, the motion amplitude is recalculated and the motor's PWM value is adjusted to ensure the real-time performance and adaptability of the motion.

[0048] The weight parameters of the LSTM network are optimized using a machine learning algorithm (gradient descent) to improve the accuracy of the emotion intensity index. Simultaneously, the threshold of the distance compensation factor (e.g., 1 meter) is adjusted based on the actual usage scenario to optimize the adjustment effect on the amplitude of movements.

[0049] In summary, this invention enables the robot to flexibly adjust its movements based on changes in the user's emotional intensity and distance by dynamically adjusting the amplitude of its actions, thereby achieving natural and accurate emotional expression. This innovation solves the problem of expression distortion caused by traditional fixed-amplitude movements, ensuring that users can clearly perceive the robot's emotional expressions at different distances, significantly improving the naturalness of human-computer interaction and user experience. The system possesses strong adaptability, capable of monitoring the user's emotional state and distance changes in real time and dynamically adjusting the amplitude of its movements, making it suitable for various application scenarios and different user groups. Furthermore, the algorithm is deployed in the robot's embedded system, ensuring low-latency operation and real-time response to changes in the user's emotional state, further enhancing the system's interactivity and real-time performance.

[0050] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise changed, and the nature or number or position of discrete elements may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0051] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.

[0052] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0053] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A robot motion amplitude control system, characterized in that: It includes an embedded system deployment module, which embeds an emotion intensity recognition module, a dynamic action adjustment module, a distance detection module, and an action execution module. The emotion intensity recognition module captures the user's facial micro-expressions through the facial recognition module and calculates the emotion intensity index through voice spectrum features; The dynamic motion adjustment module dynamically adjusts the robot's motion amplitude based on the emotion intensity index. The distance detection module detects the distance between the user and the robot using sensors and calculates a distance compensation factor. The action execution module performs the corresponding action according to the adjusted action range; The embedded system deployment module can ensure that the emotion intensity recognition module, dynamic action adjustment module, distance detection module, and action execution module operate without delay. The robot's motion amplitude control system can monitor the user's emotional response and distance changes in real time, and dynamically adjust the emotional intensity index and motion amplitude. The emotion intensity recognition module captures the user's facial expressions through a camera, extracting micro-expression features such as the degree of mouth twitching and glabellar muscle activity. It also collects the user's voice signal through a microphone, extracting fundamental frequency and energy speech spectrum features. These features are then input into an LSTM network to calculate the emotion intensity index. The formula for calculating the emotion intensity index is as follows: Where EI represents the Emotion Index, FEF represents Facial Expression Features, and VF represents Speech Spectrum Features. This represents the Sigmoid activation function, used to map output values ​​to the (0~1) interval; It is a weighting parameter that is adjusted based on experimental data to balance the contributions of facial expressions and speech features; the emotional intensity index ranges from 0 to 1, where 0 represents no emotion and 1 represents the highest emotional intensity; The method of dynamically adjusting the robot's movement amplitude based on the emotion intensity index includes: triggering a large-angle swinging motion when the emotion intensity index is greater than 0.7; and using micro-motions when the emotion intensity index is less than 0.

3. The distance between the user and the robot is detected by infrared or ultrasonic sensors on the robot; when the user is more than 1 meter away, the movement amplitude is automatically amplified by 20% to ensure long-distance visibility.

2. The robot motion amplitude control system as described in claim 1, characterized in that: The LSTM network contains two hidden layers, each with 128 neurons; the input layer receives facial expression features and speech spectrum features, and the output layer outputs an emotion intensity index through a sigmoid activation function.

3. The robot motion amplitude control system as described in claim 1, characterized in that: The formula for adjusting the range of motion is: Where Max A represents the maximum amplitude, Min A represents the minimum amplitude, and IA represents the intermediate amplitude; Max A and Min A are parameters preset according to the robot design; IA is calculated by linear interpolation based on the emotional intensity.

4. The robot motion amplitude control system as described in claim 1, characterized in that: The formula for calculating the distance compensation factor is: The compensation factor is calculated using the formula above based on the detected distance; if the distance is greater than 1 meter, the compensation factor is 1.2; otherwise, it is 1. The adjusted range of motion is as follows: Multiply the calculated compensation factor by the original motion amplitude to obtain the adjusted motion amplitude. ADA represents the adjusted motion amplitude, MA represents the original total motion amplitude, and CF represents the compensation factor.

5. The robot motion amplitude control system as described in claim 1, characterized in that: The motion execution module uses PWM signals to control the rotation angle of the motor; based on the adjusted motion amplitude, it calculates the PWM value of the motor and sends it to the motor driver through the control module; the motor driver drives the motor according to the received PWM signal, so that the target part swings according to the set amplitude.

6. The robot motion amplitude control system as described in claim 5, characterized in that: The robot motion amplitude control system recaptures the user's facial expressions and voice signals every first preset time interval (seconds) and recalculates the emotion intensity index. At the same time, it remeasures the distance between the user and the robot every second preset time interval (seconds) and recalculates the distance compensation factor. Based on the new emotion intensity index and distance compensation factor, it recalculates the motion amplitude and adjusts the PWM value of the motor to ensure the real-time performance and adaptability of the motion.

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