Intelligent humanoid robot with body for playing melodica and man-machine interaction playing method thereof

Abstract

The invention provides an intelligent humanoid robot with a body for playing a melodica and a man-machine interaction playing method.The intelligent humanoid robot comprises the intelligent humanoid robot body and the melodica, the intelligent humanoid robot body comprises a wheel type chassis walking mechanism, and a lifting stand column leg mechanism is arranged above the wheel type chassis walking mechanism; a robot trunk structure simulating the upper body of the human body is installed on the lifting stand column leg mechanism. A man-machine interaction touch control display screen is installed in front of the trunk structure, and a flow valve, an air pump, a driver and an air path control circuit are arranged in the trunk structure. A robot head mechanism is arranged at the top end of the robot trunk mechanism, and an air channel pipeline connected with the chest, a camera and a sound box are arranged in the head mechanism. The robot arm mechanisms are installed on the two sides of the robot trunk mechanism, and the five-finger dexterous hand is installed at the tail end of a mechanical arm of each robot arm mechanism of the robot trunk mechanism. The melodica is of a double-row key structure and is provided with an air path control valve, two air pipes are connected with the robot respectively, and the other air pipe can be used by a user.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent humanoid robots, in particular, to a body-possessing intelligent humanoid robot capable of playing a melodeon and a man-machine interactive playing method thereof. BACKGROUND

[0002] With the rapid development of the field of body-possessing intelligent robots, a large number of robots have appeared in many practical application scenarios, such as intelligent education robots, emotional communication robots, cooking robots, and performance robots. With the increasing progress of robot precision, the degree of humanization that robots can achieve is getting higher and higher, and some robots with higher humanization needs have emerged, such as a piano-playing robot capable of playing the piano.

[0003] Patent document CN117207204A (application number: 202311489049.3) discloses a control method and control device for a piano-playing robot. After obtaining the key area image through the camera, the coordinates of each key in the camera coordinate system are determined according to the image feature points in the image, and the coordinates of each key in the camera coordinate system in the key template are determined according to the coordinates of the image feature points in the camera coordinate system. The relative position between the piano-playing robot and the keys is determined by the pose of the piano-playing robot during playing and the coordinates of each key in the camera coordinate system. The relative position between the piano-playing robot and the keys is compensated for error through a pre-determined error fitting function, and the mechanical arm of the piano-playing robot plays the compensated relative position. The relative position between the piano-playing robot and the keys is compensated for error through a pre-determined error fitting function, reducing the error of real-time positioning of the piano-playing robot to the keys.

[0004] Patent document CN116394277A (application number: 202310676079.9) discloses a human-like piano playing robot. The human-like piano playing robot can include a hand claw, an arm, a waist, a neck, a leg, a control system, and a base. The neck corresponds to two degrees of freedom to drive the head to perform rotation and pitching movements. The waist corresponds to two degrees of freedom to drive the upper body to perform rotation and pitching movements. The human-like piano playing robot can accurately locate the position of the keys through a visual perception unit, and can intelligently identify the content of the music score and automatically play the piano according to the music score. Through the two degrees of freedom of the waist and the head, and the control of the two mechanical arm poses, the piano playing robot in the specification can play the piano skillfully and intelligently.

[0005] Patent document CN113183166A (application number: 202110600930.0) discloses an electronic piano playing robot, comprising a human model torso, further comprising a first mechanism for swinging the arm and a second mechanism for controlling the left and right fingers to press the electronic piano, which are installed in the human model torso, and a driving device for driving the first mechanism; the first mechanism comprises a rotating shaft rotatably installed on the right shoulder of the human model torso.

[0006] However, the existing piano playing robot cannot achieve human-computer interaction in the process of anthropomorphic playing, because only the robot working mode is set according to the mode of the human, and there is a lack of human-computer interaction mode. Therefore, how to invent a human-computer interaction device and its method is a problem to be solved. The present application provides a body-equipped intelligent humanoid robot playing a mouth organ and a human-computer interaction playing method thereof. SUMMARY

[0007] In view of the defects in the prior art, the purpose of the present application is to provide a body-equipped intelligent humanoid robot playing a mouth organ and a human-computer interaction playing method thereof.

[0008] According to the present application, a body-equipped intelligent humanoid robot playing a mouth organ is provided, comprising: a body-equipped intelligent wheeled humanoid robot and a mouth organ 6 played by human-computer interaction; The body-equipped intelligent wheeled humanoid robot comprises: a wheeled chassis walking mechanism 1, a lifting column leg mechanism 2, a robot torso mechanism 3, a robot head mechanism 4, a robot arm mechanism 5, and a five-finger bionic dexterous hand 56; The lifting column leg mechanism 2 is arranged above the wheeled chassis walking mechanism 1; the robot torso mechanism 3 is arranged above the lifting column leg mechanism 2; the robot head mechanism 4 is arranged at the top end of the robot torso mechanism 3; the robot arm mechanism 5 is arranged on both sides of the robot torso mechanism 3; the five-finger bionic dexterous hand 56 is mounted at the end of the mechanical arm of each robot arm mechanism 5; and the five-finger bionic dexterous hand 56 is used to play the mouth organ; An airflow generating device module 36 is arranged inside the robot torso mechanism 3; the airflow generating device module 36 is used to simulate the airflow generated by the human body and output; An air path pipeline is arranged inside the robot head mechanism 4, one end of the air path pipeline is connected with the airflow generating device module 36, and the other end is connected with a lip air pipe 47; An air path control valve 61 is arranged at one end of the mouth organ 6 played by human-computer interaction, the air path control valve 61 is connected with two air pipes, the two air pipes comprise: a robot air pipe 7 and a user air pipe 8; wherein the robot air pipe 7 is connected with the lip air pipe 47, and is used to provide playing for the body-equipped intelligent wheeled humanoid robot; and the user air pipe 8 is used to provide playing for the user; The air path control valve 61 is used to control the performance mode of the embodied intelligent wheeled humanoid robot, including: the embodied intelligent wheeled humanoid robot autonomously performing the organ or interacting with people to perform.

[0009] Preferably, the wheeled chassis walking mechanism 1 comprises a bottom plate 11 and a chassis shell 12. The bottom plate 11 comprises an industrial computer 114, an embedded control board 111, a first depth camera 113, a laser radar 112, a drive wheel 115, a universal follow-up wheel 118, and a drive motor 116. The industrial computer 114 is connected to the embedded control board 111 through a communication interface; the embedded control board 111 is electrically connected to the drive wheel 115; two drive wheels 115 are respectively connected to two drive motors 116. The universal follow-up wheel 118 serves as the third wheel of the wheeled chassis walking mechanism 1 and has no active driving capability. The chassis shell 12 comprises an emergency stop button 122, a start-stop button 121, and an ultrasonic sensor 123; wherein the ultrasonic sensor 123 is distributed on the four surrounding surfaces of the chassis shell 12 and is electrically connected to the industrial computer 114. The first depth camera 113, the laser radar 112, and the ultrasonic sensor 123 are all used to capture environmental information.

[0010] Preferably, the industrial computer 114 collects the first depth camera 113 data and the laser radar 112 data to establish an environmental model and a navigation model. In the navigation motion control, the industrial computer 114 collects the ultrasonic sensor 123 data, the first depth camera 113 data, and the laser radar 112 data to control the robot to autonomously navigate so as to avoid collision with moving objects.

[0011] Preferably, the lifting column leg mechanism 2 comprises a column outer square 21, a column inner square 22, a motor 23, a motor gear 231, a drive rod 24, and a sliding block 25. The lifting column leg mechanism 2 is a square nested structure, the column outer square 21 is installed at the center area of the bottom plate and is fixedly connected with the column docking plate 117; the column inner square 22 is nested in the column outer square 21; the motor 23 is installed in the column outer square 21; the motor gear 231 is connected with the drive rod 24, the sliding block 25 on the drive rod 24 is connected with the column inner square 22; under the driving of the motor 23, the sliding block 25 drives the column inner square 22 to lift; the top end of the column inner square 22 is connected with the robot torso mechanism 3.

[0012] Preferably, the robot trunk mechanism 3 comprises a trunk shell 31, a trunk skeleton 32, a bending motor module 33, a neck rotation mechanism 34; The trunk skeleton 32 is fixedly arranged in the trunk shell 31; the bottom end of the trunk skeleton 32 is fixedly arranged with the bending motor module 33, and the top end is arranged with the neck rotation mechanism 34; the top end of the neck rotation mechanism 34 is arranged with the robot head mechanism 4; the two sides of the trunk skeleton 32 are arranged with the robot arm mechanism 5; The trunk skeleton 32 is internally arranged with an airflow generating device module 36; the airflow generating device module 36 generates airflow under the control of an air path control circuit and a driver, and a flow valve controls the airflow output, simulating the required gas flow when a human plays an organ; The bending motor module 33 comprises a bending motor 331, a lower groove 332, an upper groove 333, and a bearing 334; one end of the lower groove 332 is arranged with the bearing 334 rotating passively, the bearing 334 rotating passively is connected with one end of the upper groove 333, the other end of the lower groove 332 is arranged with the bending motor 331, and the bending motor 331 is connected with the other end of the upper groove 333; when the bending motor 331 rotates, it drives the upper groove 333 to rotate, and the rotation range is -90° to 90°; A touch display screen 35 is further arranged in front of the trunk shell 31; the touch display screen 35 is used for human-computer interaction, including setting the working mode of the robot; The neck rotation mechanism 34 comprises a neck rotation motor 341, a shoulder connecting piece 342, and a neck rotation connecting piece 343; the neck rotation motor 341 is installed on the shoulder connecting piece 342, and the protruding end is connected with the neck rotation connecting piece 343; when the neck rotation motor 341 rotates, it drives the neck rotation connecting piece 343 to rotate; the shoulder connecting piece 342 is installed on the trunk skeleton 32.

[0013] Preferably, the robot head mechanism 4 comprises a neck connecting piece 41, a nodding motor 42, a head fixing piece 43, a second depth camera 44, a head shell 45, a sound 46, and a lip air pipe 47; The neck connecting piece 41 is arranged in the trunk shell 31 and detachably connected with the trunk skeleton 32; the neck rotation connecting piece 343 is arranged with the nodding motor 42; the periphery of the nodding motor 42 is the head fixing piece 43; the head fixing piece 43 is arranged with the head shell 45; the head shell 45 is fixedly arranged with the second depth camera 44 and the sound 46; The second depth camera 44 is used for identifying the key button and observing the situation of the robot playing the keyboard; The sound 46 is used for including music playing, human-computer interaction voice playing, and abnormality prompting; The mouth trachea 47 is connected with the airflow generating device module 36 through the air path pipeline at one end, and is connected with the robot trachea 7 at the other end.

[0014] Preferably, the robot arm mechanism 5 comprises a mechanical arm, a six-dimensional force sensor 55, and a five-finger bionic dexterous hand 56. The mechanical arm is connected with the robot trunk mechanism 3 at one end, and is connected with the six-dimensional force sensor 55 at the other end; the six-dimensional force sensor 55 is connected with the five-finger bionic dexterous hand 56. The mechanical arm is composed of a first section mechanical arm 51, a second section mechanical arm 52, a third section mechanical arm 53, and a fourth section mechanical arm 54; the first section mechanical arm 51, the second section mechanical arm 52, the third section mechanical arm 53, and the fourth section mechanical arm 54 are connected in sequence, and each mechanical arm connection has one rotation degree of freedom; each mechanical arm has a self-rotation degree of freedom, so that the mechanical arm realizes six degrees of freedom or seven degrees of freedom, and can imitate the free movement of a human arm. Each finger of the five-finger bionic dexterous hand 56 has at least two degrees of freedom, and can bend and straighten.

[0015] Preferably, the human-computer interaction played accordion 6 is a double-row key structure, wherein an inner keyboard is used for robot playing, and an outer keyboard is used for user playing. The air path control valve 61 comprises: the outer channels of the first control valve 611 and the second control valve 612 are connected to the robot trachea 7 through a Y-shaped bifurcated pipeline; the outer channels of the third control valve 613 and the fourth control valve 614 are connected to the user trachea 8 through a Y-shaped bifurcated pipeline; the inner channels of the second control valve 612 and the fourth control valve 614 are connected to the outer keyboard through a Y-shaped pipeline; and the inner channels of the third control valve 613 and the first control valve 611 are connected with the inner keyboard through a Y-shaped pipeline.

[0016] According to the present application, a human-computer interaction playing method of a body-equipped intelligent humanoid robot playing an accordion is provided, and the following steps are executed by the above-mentioned body-equipped intelligent humanoid robot playing an accordion: The robot playing mode is selected through the touch display screen 35, including: A plurality of human-computer interaction modes are realized through the control valve, including: when the first control valve 611 is opened, and the second control valve 612, the third control valve 613, and the fourth control valve 614 are closed, the robot air path is connected with the inner keyboard air path 616, and the robot plays alone; When the first control valve 611, the third control valve 613 and the fourth control valve 614 are closed, and the second control valve 612 is opened, the robot gas circuit is connected with the external keyboard gas circuit 615, the robot provides the air source, and the user cooperates with the robot to play; When the first control valve 611, the second control valve 612 and the fourth control valve 614 are closed, and the third control valve 613 is opened, the user gas circuit is connected with the internal keyboard gas circuit 616, the user provides the air source, and the robot plays; When the first control valve 611, the second control valve 612 and the third control valve 613 are closed, and the fourth control valve 614 is opened, the user gas circuit is connected with the external keyboard gas circuit 615, the user provides the air source, and the user plays alone. When the second control valve 612 and the third control valve 613 are closed, and the first control valve 611 and the fourth control valve 614 are opened, the user gas circuit is connected with the external keyboard gas circuit 615, the robot gas circuit is connected with the internal keyboard gas circuit 616, and the user and the robot play at the same time.

[0017] Preferably, when the robot provides the air source, the robot generates the air source through the air pump of the air flow generating device module 36, and the flow valve controls the air flow output according to the rhythm set by the music to simulate the human body expiration volume. When the robot plays, the robot drives the five-finger bionic dexterous hand 56 above the keys through the robot arm mechanism 5, and the keys are pressed down according to the rhythm simulation of the human finger bending.

[0018] Compared with the prior art, the present application has the following beneficial effects: 1、The body intelligent wheeled humanoid robot of the present application adopts a wheeled chassis walking structure to realize autonomous motion control, increases a lifting column leg mechanism to realize height free adjustment, and increases a bending structure module to expand the motion space of the robot bionic human body motion performance; 2、The mouth organ of the present application adopts a double-row key structure, sets a gas circuit switching control valve, and realizes the performance of various man-machine interaction modes; 3、The robot of the present application integrates an air flow generating device module capable of simulating human body air flow output, generates the gas flow and pressure required for driving the mouth organ, and realizes the blowing of the mouth organ by the robot; 4、The robot bionic human body upper body structure design of the present application, the arm structure can imitate human arm movement, the mechanical arm end integrates five-finger dexterous hand, the dexterous hand bionics human hand strikes the mouth organ keyboard, and the mouth organ key performance can be realized; 5、The present application is set through the cooperation between various structures, so that the robot can autonomously play the mouth organ and interact with the person to play. BRIEF DESCRIPTION OF DRAWINGS

[0019] Other features, objects, and advantages of the application will become more apparent by reading the following detailed description together with reference to the following drawings: Figure 1 Figure 1 is a schematic diagram of an embodied intelligent humanoid robot device playing a mouth organ.

[0020] Figure 2 Figure 2 is a schematic diagram of a wheeled chassis walking mechanism.

[0021] Figure 3 Figure 3 is a schematic diagram of a lifting column leg structure.

[0022] Figure 4 Figure 4 is a schematic diagram of a robot torso structure.

[0023] Figure 5 Figure 5 is a schematic diagram of a head structure.

[0024] Figure 6 Figure 6 is a schematic diagram of an arm structure.

[0025] Figure 7 Figure 7 is a schematic diagram of a mouth organ component structure.

[0026] Figure 8 Figure 8 is a schematic diagram of a gas path control valve control.

[0027] Wherein, 1-wheel chassis walking mechanism, 2-lifting column leg mechanism, 3-robot torso mechanism, 4-robot head mechanism, 5-robot arm mechanism, 6-human-machine interaction playing accordion, 7-robot air pipe, 8-user air pipe, 11-bottom plate, 111-embedded control board, 112-laser radar, 113-first depth camera, 114-industrial computer, 115-driving wheel, 116-driving motor, 117-column butt joint plate, 118-universal following wheel, 119-battery, 12-chassis shell, 121-start-stop button, 122-emergency stop button, 123-ultrasonic sensor, 21-column outer square, 22-column inner square, 23-motor, 231-motor gear, 24-driving rod, 25-sliding block, 31-torso shell, 32-torso framework, 33-bending motor module, 331-bending motor, 332-lower groove, 333-upper groove, 334-bearing, 34-neck rotation mechanism, 341-neck rotation motor, 342-shoulder connecting piece, 343-neck rotation connecting piece; 35-touch display screen, 36-air flow generating device module; 41-neck connecting piece, 42-nodding motor, 43-head fixing piece, 44-second depth camera, 45-head shell, 46-sound, 47-lip air pipe, 51-first section of mechanical arm, 511-first rotation degree of freedom, 52-second section of mechanical arm, 521-second rotation degree of freedom, 522-third rotation degree of freedom, 53-third section of mechanical arm, 531-fourth rotation degree of freedom, 532-fifth rotation degree of freedom, 54-fourth section of mechanical arm, 541-sixth rotation degree of freedom, 542-seventh rotation degree of freedom, 55-six-dimensional force sensor, 56-five-finger bionic dexterous hand, 561-first degree of freedom finger, 562-second degree of freedom finger, 563-thumb, 61-air path control valve, 62-outer keyboard, 63-inner keyboard, 611-first control valve, 612-second control valve, 613-third control valve, 614-fourth control valve, 615-outer keyboard air path, 616-inner keyboard air path. DETAILED DESCRIPTION

[0028] The application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be pointed out that, for those skilled in the art, without departing from the concept of the application, a number of changes and improvements can be made. These all belong to the protection scope of the application.

[0029] Example 1 According to the present application, a playing accordion with a body intelligent humanoid robot is provided, as shown in the figure, comprising: a body intelligent wheeled humanoid robot and a human-machine interaction playing accordion. Figures 1 to 8 As shown in the figure, comprising: a body intelligent wheeled humanoid robot and a human-machine interaction playing accordion. The upper part of the wheeled chassis walking mechanism 1 is provided with a lifting column leg mechanism 2, the upper part of the lifting column leg mechanism 2 is provided with a robot trunk mechanism 3 simulating the upper body of a human, the front of the robot trunk mechanism 3 is provided with a touch display screen 35 for human-computer interaction, the inside of the robot trunk mechanism 3 is provided with airflow generating device modules 36 such as flow valves, air pumps, drivers and airflow control circuits which can simulate the human body to generate airflow output, the top of the robot trunk mechanism 3 is provided with a robot head mechanism 4, the robot head mechanism 4 is connected with the airflow pipeline of the airflow generating device modules 36 in the chest, a camera and a sound device, the two sides of the robot trunk mechanism 3 are provided with robot arm mechanisms 5, and the mechanical arm of each robot arm mechanism 5 is provided with a five-finger bionic dexterous hand 56 which can play a melodeon. The melodeon 6 played by human-computer interaction is a double-row key structure, one end is provided with an airflow control valve 61 and leads out two air pipes, one of which is connected with the robot, and the other of which can be used by the user; the robot can play the melodeon autonomously or interactively play the melodeon with the user in various modes through the setting of the airflow control valve 61.

[0030] Specifically, the wheeled chassis walking mechanism 1 comprises a bottom plate 11, the upper end of the bottom plate 11 is provided with a chassis shell 12, the front end of the chassis shell 12 is provided with a window for a first depth camera 113 and a laser radar 112 to capture environmental information, which is used for controlling the autonomous movement of the robot, and the top of the chassis shell 12 is provided with a window for a lifting column. The inside of the bottom plate 11 is provided with a battery 119, an industrial computer 114, an embedded control board 111 and two drive wheels 115, the first depth camera 113 and the laser radar 112 are used for environmental modeling and autonomous navigation, the industrial computer 114 is connected with the embedded control board 111 through a communication interface, the embedded control board 111 is electrically connected with the drive wheels 115, the two drive wheels 115 are respectively connected with left and right two drive motors 116, and the third wheel is a universal follow-up wheel 118 without active driving capability. The chassis shell 12 is provided with an emergency stop button 122, a start-stop button 121 and ultrasonic sensors 123, the ultrasonic sensors 123 are distributed on the four surrounding surfaces of the shell and are electrically connected with the industrial computer, in the process of navigation modeling, the industrial computer 114 collects first depth camera data and laser radar data, and establishes an environmental model and a navigation model through a first fusion algorithm, in the process of navigation motion control, the industrial computer 114 collects ultrasonic sensor data, first depth camera data and laser radar data, and controls the autonomous navigation of the robot and avoids collision with moving objects through a second fusion algorithm; wherein the first fusion algorithm is Kalman filtering, Bayesian estimation, weighted average method, fuzzy logic, neural network, etc., and the second fusion algorithm is convolutional neural network, transform network, etc.

[0031] Specifically, the lifting column leg mechanism 2 is a square nested structure, the outer column square 21 is fixedly connected with the column butt joint plate 117 in the center area of the bottom plate; the inner column square 22 is nested in the outer column square 21; the motor 23 is installed in the outer column square 21, the motor gear 231 is connected with the driving rod 24, the sliding block 25 on the driving rod 24 is connected with the inner column square 22; under the driving of the motor 23, the sliding block 25 drives the inner column square 22 to realize lifting; the top end of the inner column square 22 is connected with the robot torso mechanism 3.

[0032] The robot torso mechanism 3 comprises a torso shell 31, a torso framework 32, an airflow generating device module 36 and a touch display screen 35, the touch display screen 35 for human-computer interaction is installed on the front of the torso structure, so that the user can perform human-computer interaction and set the working mode of the robot; the torso framework 32 is fixedly arranged in the torso shell 31, the torso framework is provided with a bending motor module 33 at the bottom end, the bending motor module 33 comprises a bending motor 331, a lower groove 332, an upper groove 333 and a bearing 334, the left side of the lower groove 332 is provided with a passive rotating bearing 334, the passive rotating bearing 334 is connected with the left end of the upper groove 333, the right side of the lower groove 332 is provided with the bending motor 331, one end of the bending motor 331 is connected with the upper groove 333, when the bending motor 331 rotates, the upper groove 333 rotates, and the rotating range is-90° to 90°; the torso framework 32 is internally provided with the airflow generating device module 36, under the control of the air path control circuit and the driver, the air pump generates airflow, the flow valve controls the airflow output, the airflow generating device module 36 simulates the required gas flow when a person plays an organ, one air path pipeline of the airflow generating device module 36 is connected to the lips of the robot head; the torso framework 32 is provided with a robot neck rotating mechanism 34, the neck rotating mechanism 34 comprises a neck rotating motor 341, a shoulder connecting piece 342 and a neck rotating connecting piece 343, the neck rotating motor 341 is installed on the shoulder connecting piece 342, and a convex end is provided with the neck rotating connecting piece 343, when the neck rotating motor 341 rotates, the neck rotating connecting piece 343 rotates, the shoulder connecting piece 342 is installed on the torso framework 32, the robot head mechanism 4 is installed on the neck rotating mechanism 34, and the robot arm mechanisms 5 are arranged on both sides of the robot head mechanism 4, and each robot arm mechanism is installed on the torso framework 32.

[0033] Specifically, the robot head mechanism 4 comprises a neck connecting piece 41 provided in the torso shell 31 and detachably connected with the torso skeleton 32, a nodding motor 42 mounted on the neck rotating connecting piece 343, a head fixing piece 43 surrounding the nodding motor 42, a head shell 45 provided on the head fixing piece 43, and a head second depth camera 44 and a sound 46 fixedly provided on the head shell 45. The second depth camera 44 can be used to identify the key button and observe the situation of the robot playing the keyboard, the sound 46 can be used for music playing, voice playing of human-computer interaction, and abnormal prompt, etc. The mouth air pipe 47 is directly connected to the airflow generating device module 36 in the torso skeleton 32 at one end, and connected to the first air inlet of the accordion through the airflow pipe at the other end.

[0034] Specifically, the robot arm mechanism comprises a mechanical arm, a six-dimensional force sensor 55 and a five-finger bionic dexterous hand 56. The mechanical arm is connected with the torso skeleton 32 at one end and connected with the six-dimensional force sensor 55 at the other end. The mechanical arm is composed of four sections of arms, specifically, a first section of arm 51, a second section of arm 52, a third section of arm 53 and a fourth section of arm 54. Each of the first section of arm 51 and the second section of arm 52, the second section of arm 52 and the third section of arm 53, and the third section of arm 53 and the fourth section of arm 54 contains one rotational degree of freedom, specifically, a second rotational degree of freedom 521, a fourth rotational degree of freedom 531 and a sixth rotational degree of freedom 541. Each section has one rotational degree of freedom, specifically, a first rotational degree of freedom 511, a third rotational degree of freedom 522, a fifth rotational degree of freedom 532 and a seventh rotational degree of freedom 542. The fifth rotational degree of freedom 532 of the third section of arm is usually redundant and can be added or removed, so the mechanical arm has six or seven degrees of freedom and can simulate the free movement of human arms. The six-dimensional force sensor 55 is mounted at the end of the five-finger bionic dexterous hand 56 which can play the accordion. The five-finger dexterous hand is bionic to human hand structure. Except the thumb 563, each finger has at least two degrees of freedom, including a first degree of freedom finger 561 and a second degree of freedom finger 562, which can bend and straighten.

[0035] Specifically, the accordion has a double-row key structure. The inner keyboard 63 is mainly for the robot to play, and the outer keyboard 62 is mainly for the user to play. The key structure in each row is a commonly used key. The accordion is provided with an air path control valve 61 at one end, and two air pipes are led out, one of which is connected with the robot, and the other of which is available for the user. The outer passages of the first control valve 611 and the second control valve 612 are connected to the robot air pipe 7 through a Y-shaped bifurcated pipe, and the outer passages of the third control valve 613 and the fourth control valve 614 are connected to the user air pipe 8 through a Y-shaped bifurcated pipe. The inner passages of the second control valve and the fourth control valve are connected to the outer keyboard 62 through a Y-shaped pipe, and the inner passages of the third control valve and the first control valve are connected to the inner keyboard 63 through a Y-shaped pipe.

[0036] Embodiment 2 According to the present application, a method for human-robot interaction performance of a body-possessed intelligent humanoid robot playing a melodeon is provided, which is implemented by the above-mentioned body-possessed intelligent humanoid robot playing a melodeon and comprises the following steps: The human-robot interaction performance method can realize various human-robot interaction modes through the control of the valves. When the first control valve 611 is opened and the second control valve 612, the third control valve 613 and the fourth control valve 614 are closed, the air path of the robot is connected with the inner keyboard, and the robot can perform alone. When the first control valve 611, the third control valve 613 and the fourth control valve 614 are closed and the second control valve 612 is opened, the air path of the robot is connected with the outer keyboard, and the robot provides the air source for the user to play together with the robot. When the first control valve 611, the second control valve 612 and the fourth control valve 614 are closed and the third control valve 613 is opened, the air path of the user is connected with the inner keyboard, and the user provides the air source for the robot to play. When the first control valve 611, the second control valve 612 and the third control valve 613 are closed and the fourth control valve 614 is opened, the air path of the user is connected with the outer keyboard, and the user provides the air source for the user to play alone. When the second control valve 612 and the third control valve 613 are closed and the first control valve 611 and the fourth control valve 614 are opened, the air path of the user is connected with the outer keyboard, and the air path of the robot is connected with the inner keyboard, so that the user and the robot can perform at the same time.

[0037] The working mode of the robot is as follows: the robot is started, and the robot starts the self-checking mode. The self-checking mode includes whether it has been in a suitable position, such as whether the melodeon center in front of the robot is at a height of 1 meter and a distance of 0.5 meters. If the distance between the melodeon and the robot is not suitable, the robot controls the front and rear, left and right and height of the wheeled chassis walking mechanism 1 to make fine adjustment. The user can select the robot performance mode through the touch display screen 35. The touch display screen 35 is integrated with various music performance cases, and the user clicks the music button needed to be performed, such as the robot performing alone. The instructions on the touch display screen 35 are transmitted to the industrial computer 114, the industrial computer 114 controls the first control valve 611 of the air path control valve 61 to be opened and the second control valve 612, the third control valve 613 and the fourth control valve 614 to be closed, and then starts the airflow generating device module 36. The air pump of the airflow generating device module 36 generates the air source, the drive and the air path control circuit control the flow valve to output the airflow according to the rhythm set by the music to simulate the amount of human exhalation, at the same time, the robot starts the robot arm mechanism 5 with the five-finger bionic dexterous hand 56 to the upper part of the inner keyboard 63, and according to the rhythm, the robot simulates the human finger to press down the keyboard, at the same time, the multi-modal sensor on the finger records the force information. According to the feedback information of the force, the time and the force of pressing down can be further controlled, so as to more realistically simulate the robot bionic human performance melodeon paradigm.

[0038] In the description of the present application, it needs to be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0039] Those skilled in the art know that, in addition to implementing the system, device and each module thereof provided by the present application in the form of pure computer readable program code, the same program can also be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and each module thereof provided by the present application can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing methods and structures within hardware components.

[0040] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.

Claims

1. An embodied intelligent humanoid robot that plays a melodeon, characterized by, The utility model relates to a kind of interactive playing accordions of embodied intelligent wheeled humanoid robot and human-computer interaction. The embodied intelligent wheeled humanoid robot includes: the upper part of wheeled chassis walking mechanism (1) is provided with lifting column leg mechanism (2);Lifting column leg mechanism (2) upper part is provided with robot torso mechanism (3);The top of robot torso mechanism (3) is equipped with robot head mechanism (4);The two sides of robot torso mechanism (3) are provided with robot arm mechanism (5);The mechanical arm end of each robot arm mechanism (5) is installed five-finger bionic dexterous hand (56);Five-finger bionic dexterous hand (56) is used to play accordion; Air flow generating device module (36) is provided in the inside of the robot torso mechanism (3);The air flow generating device module (36) is used to simulate human body to generate airflow and output; Air path pipeline is provided in the inside of the robot head mechanism (4), one end of the air path pipeline is connected with the air flow generating device module (36), the other end is connected with lip air pipe (47); Air path control valve (61) is provided at one end of the human-computer interaction playing accordion (6), the air path control valve (61) is connected with two air pipes, and the two air pipes include: robot air pipe (7) and user air pipe (8);Among them, the robot air pipe (7) is connected with the lip air pipe (47), for providing for embodied intelligent humanoid robot to play;The user air pipe (8) is used to provide for user to play; The air path control valve (61) is used to control the playing mode of embodied intelligent wheeled humanoid robot, including: embodied intelligent wheeled humanoid robot plays the accordion autonomously or interacts with people to play. The wheeled chassis walking mechanism (1) includes: bottom plate (11) and chassis shell (12); 2. The animatronic humanoid robot that plays a melodeon according to claim 1, characterized in that, The bottom plate (11) includes: industrial computer (114), embedded control board (111), first depth camera (113), laser radar (112), drive wheel (115), universal following wheel (118), drive motor (116); The industrial computer (114) is connected with the embedded control board (111) through communication interface;The embedded control board (111) is electrically connected with the drive wheel (115);Two drive wheels (115) are connected with two drive motors (116) respectively; The universal following wheel (118) is the third wheel of the wheeled chassis walking mechanism (1), without active driving ability; The chassis shell (12) includes emergency stop button (122), start-stop button (121) and ultrasonic sensor (123);Among them, the ultrasonic sensor (123) is distributed on the four surrounding surfaces of the chassis shell (12), and is electrically connected with the industrial computer (114); The first depth camera (113), the laser radar (112) and the ultrasonic sensor (123) are all used to capture environmental information. The industrial computer (114) collects the first depth camera (113) data and the laser radar (112) data, establishes environment model and navigation model.

3. The physically intelligent humanoid robot playing a melodeon, according to claim 2, characterized in that, ​ In the navigation motion control, the industrial computer (114) collects the ultrasonic sensor (123) data, the first depth camera (113) data and the lidar (112) data, controls the robot to autonomously navigate, so that the robot avoids collision with moving objects.

4. The animatronic humanoid robot that plays a melodeon according to claim 2, characterized in that, The lifting column leg mechanism (2) comprises a column outer square (21), a column inner square (22), a motor (23), a motor gear (231), a driving rod (24) and a sliding block (25). The lifting column leg mechanism (2) is a square nested structure, the column outer square (21) is installed in the center area of the bottom plate (11) and is fixedly connected with the column butt joint plate (117) on the bottom plate (11); the column inner square (22) is nested in the column outer square (21); the motor (23) is installed in the column outer square (21); the motor gear (231) is connected with the driving rod (24), and the sliding block (25) on the driving rod (24) is connected with the column inner square (22); under the driving of the motor (23), the sliding block (25) drives the column inner square (22) to lift; the top end of the column inner square (22) is connected with the robot torso mechanism (3).

5. The animatronic human form robot that plays a melodeon according to claim 1, characterized in that, The robot torso mechanism (3) comprises a torso shell (31), a torso skeleton (32), a bending motor module (33) and a neck rotation mechanism (34). The torso skeleton (32) is fixedly arranged in the torso shell (31); the bending motor module (33) is fixedly arranged at the bottom end of the torso skeleton (32), and the neck rotation mechanism (34) is arranged at the upper end of the torso skeleton (32); the robot head mechanism (4) is arranged at the upper end of the neck rotation mechanism (34); the robot arm mechanism (5) is arranged at the two sides of the torso skeleton (32). An airflow generating device module (36) is arranged in the torso skeleton (32); the airflow generating device module (36) generates airflow under the control of an air pump, and the airflow is output under the control of a flow valve, so as to simulate the gas flow required when a human plays an organ; The bending motor module (33) comprises a bending motor (331), a lower groove (332), an upper groove (333) and a bearing (334); one end of the lower groove (332) is provided with the bearing (334) which rotates passively, the bearing (334) which rotates passively is connected with one end of the upper groove (333), the other end of the lower groove (332) is provided with the bending motor (331), and the bending motor (331) is connected with the other end of the upper groove (333); when the bending motor (331) rotates, the upper groove (333) rotates, and the rotation range is-90° to 90°. A touch display screen (35) is further arranged in front of the torso shell (31), and the touch display screen (35) is used for human-computer interaction and setting a robot working mode. The neck rotating mechanism (34) comprises a neck rotating motor (341), a shoulder connecting piece (342) and a neck rotating connecting piece (343); the neck rotating motor (341) is installed on the shoulder connecting piece (342) and is connected with the neck rotating connecting piece (343) at a protruding end; the neck rotating motor (341) drives the neck rotating connecting piece (343) to rotate when rotating; and the shoulder connecting piece (342) is installed on the torso framework (32).

6. The physically intelligent humanoid robot playing a melodeon, according to claim 5, characterized in that, The robot head mechanism (4) comprises a neck connecting piece (41), a nodding motor (42), a head fixing piece (43), a second depth camera (44), a head shell (45), a sound (46) and a lip air pipe (47). The neck connecting piece (41) is arranged in the torso shell (31) and is detachably connected with the torso framework (32); the nodding motor (42) is installed on the neck rotating connecting piece (343); the head fixing piece (43) is arranged around the nodding motor (42); the head shell (45) is arranged on the head fixing piece (43); and the second depth camera (44) and the sound (46) are fixedly arranged on the head shell (45). The second depth camera (44) is used for identifying a piano key button and observing a situation of the robot playing a keyboard. The sound (46) is used for playing music, voice playing of human-computer interaction and abnormality prompting. One end of the lip air pipe (47) is connected with the airflow generating device module (36) through an air path pipeline, and the other end is connected with the robot air pipe (7).

7. The animatronic character robot that plays a melodeon according to claim 1, characterized in that, The robot arm mechanism (5) comprises a mechanical arm, a six-dimensional force sensor (55) and a five-finger bionic dexterous hand (56). One end of the mechanical arm is connected with the robot torso mechanism (3), and the other end is connected with the six-dimensional force sensor (55); the six-dimensional force sensor (55) is connected with the five-finger bionic dexterous hand (56). The mechanical arm comprises a first section mechanical arm (51), a second section mechanical arm (52), a third section mechanical arm (53) and a fourth section mechanical arm (54); the first section mechanical arm (51), the second section mechanical arm (52), the third section mechanical arm (53) and the fourth section mechanical arm (54) are connected in sequence, and each mechanical arm connection has one rotation degree of freedom; each mechanical arm has a self-rotation degree of freedom, so that the mechanical arm realizes six degrees of freedom or seven degrees of freedom and can imitate free movement of a human arm; Each finger of the five-finger bionic dexterous hand (56) has at least two degrees of freedom and can bend and straighten.

8. The animatronic character robot that plays a melodeon according to claim 1, characterized in that, The human-computer interaction playing accordion (6) has a double-row key structure, wherein an inner keyboard is used for robot playing, and an outer keyboard is used for user playing. The gas path control valve (61) comprises: the outer channels of the first control valve (611) and the second control valve (612) are connected to the robot gas pipe (7) through a Y-shaped bifurcated pipe, the outer channels of the third control valve (613) and the fourth control valve (614) are connected to the user gas pipe (8) through a Y-shaped bifurcated pipe; the inner channels of the second control valve (612) and the fourth control valve (614) are connected to the outer keyboard through a Y-shaped pipe, and the inner channels of the third control valve (613) and the first control valve (611) are connected to the inner keyboard through a Y-shaped pipe.

9. A method of human-robot interaction for playing a concertina by a humanoid robot having a body intelligence, characterized in that, The method comprises the following steps: Selecting a robot performance mode through the touch display screen (35), including: A plurality of human-computer interaction modes are realized through the control valves, including: when the first control valve (611) is opened and the second control valve (612), the third control valve (613) and the fourth control valve (614) are closed, the robot gas path is connected to the inner keyboard gas path (616), and the robot performs alone; When the first control valve (611), the third control valve (613) and the fourth control valve (614) are closed, and the second control valve (612) is opened, the robot gas path is connected to the outer keyboard gas path (615), the robot provides a gas source, and the user plays together with the robot; When the first control valve (611), the second control valve (612) and the fourth control valve (614) are closed, and the third control valve (613) is opened, the user's gas path is connected to the inner keyboard gas path (616), the user provides a gas source, and the robot plays; When the first control valve (611), the second control valve (612) and the third control valve (613) are closed, and the fourth control valve (614) is opened, the user's gas path is connected to the outer keyboard gas path (615), the user provides a gas source, and the user plays alone; When the second control valve (612) and the third control valve (613) are closed, and the first control valve (611) and the fourth control valve (614) are opened, the user's gas path is connected to the outer keyboard gas path (615), the robot's gas path is connected to the inner keyboard gas path (616), and the user and the robot play together.

10. The method of human-machine interactive performance of a wind-accordion playing humanoid robot according to claim 9, wherein, When the robot provides a gas source, the robot generates a gas source through the air pump of the air flow generating device module (36), and the flow valve controls the air flow output according to the breath amount of a human body simulated by the rhythm set by music; When the robot plays, the robot drives the five-finger bionic dexterous hand (56) above the keyboard through the robot arm mechanism (5), and presses the keyboard according to the rhythm simulated by the bending of a human finger.

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