Robotic chest breathing structure and control method

Abstract

The application discloses a robot chest breathing fluctuation structure and a control method, the fluctuation structure realizes the dynamic effect of bionic breath fluctuation of the robot chest, fills the technical blank of the dynamic simulation of the existing humanoid robot trunk, simultaneously, through the hinged + sliding connection mode of the connecting rod, the movement track of the front chest component is smooth linear motion changing with the connecting rod angle, which is consistent with the natural fluctuation characteristics of the human chest when breathing; further, the control method collects real-time detection data such as the actual fluctuation amplitude of the front chest component, the actual rotation angle of the connecting rod and the actual movement speed of the front chest component through displacement / angle sensors, speed sensors and pressure sensors; a first control strategy is generated, the output of the power mechanism is dynamically adjusted, and the actual parameters of the chest fluctuation are close to the target parameters; while guaranteeing the humanization effect, the problems such as structural overload and external contact damage are effectively avoided, and the reliability and safety of the equipment are improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a structure and control method for the chest breathing movement of a robot. Background Technology

[0002] With the rapid development of robotics technology, service robots, companion robots, and other types of robots that frequently interact with humans have been widely used. The degree of anthropomorphism in these robots directly affects user experience and the acceptance of interaction. One of the core design principles of anthropomorphic robots is to simulate human body movements, facial expressions, and other physiological characteristics to bridge the psychological distance with humans and enhance the naturalness and intimacy of interaction.

[0003] In the development of anthropomorphic robots, the uncanny valley theory is a crucial issue that must be carefully avoided. This theory states that when a robot's appearance and behavior become similar to humans to a certain extent, but not completely identical, humans will experience strong discomfort, alienation, or even fear. These negative emotions can severely hinder the widespread application of robots. Therefore, optimizing the anthropomorphic performance of robots through detailed design to mitigate the uncanny valley effect has become an important research direction in the field of robotics.

[0004] In the existing technology, the design of existing anthropomorphic robots is mostly focused on facial expression simulation and limb joint movement, while the dynamic simulation of the torso is lacking. This has become an important technical bottleneck that restricts the further development of anthropomorphic robots and makes it difficult to effectively avoid the uncanny valley theory. There is an urgent need for a technical solution that can optimize the dynamic performance of the robot's torso and improve the level of anthropomorphism.

[0005] Therefore, the aforementioned problems in the existing technology still need to be improved. Summary of the Invention

[0006] The main objective of this invention is to provide a structure and control method for the chest breathing movement of a robot. By setting up a movable robot chest cavity and controlling the movement of the chest cavity, the technical problem of the lack of anthropomorphism in the robot's driving mechanism in the prior art is solved.

[0007] The first aspect of the present invention provides a robotic chest breathing and undulation structure, including a front chest assembly, a back assembly, and a drive assembly, wherein the drive assembly includes: a guide mechanism disposed between the front chest assembly and the back assembly to limit the reciprocating movement of the front chest assembly relative to the back assembly in a defined direction; a link, the first end of which is hinged to one of the front chest assembly or the back assembly, and the second end of which is slidably connected to the other of the front chest assembly or the back assembly; and a power mechanism that drives the second end of the link to reciprocate along the front chest assembly or the back assembly.

[0008] Optionally, the drive assembly further includes a slider that is slidably connected to the back assembly; a first end of the link is hinged to the front chest assembly, and a second end of the link is hinged to the slider; the power mechanism is connected to the slider to drive the slider to reciprocate relative to the back assembly.

[0009] Optionally, the inner side of the rear assembly is provided with a slide rail groove, and the slider is disposed in the slide rail groove so that the slider slides back and forth along the slide rail groove under the drive of the power mechanism.

[0010] Optionally, the system further includes a control unit and a real-time monitoring sensor assembly, which includes at least one of a displacement / angle sensor, a speed sensor, or a pressure sensor. The displacement / angle sensor is used to detect the amplitude of the movement of the front chest assembly and / or the angle data of the link; the speed sensor is used to detect the movement speed of the front chest assembly; the pressure sensor is used to detect the pressure data of the front chest assembly in contact with the outside environment; and the control unit is used to drive the power mechanism to work based on the detection data of the real-time monitoring sensor assembly.

[0011] Optionally, it also includes a scene determination component, which is used to generate a corresponding control strategy based on the real-time scene, so that the control unit drives the power mechanism to work according to the control strategy.

[0012] The beneficial technical effects of the first aspect of the embodiments of this application are as follows: The robotic chest breathing undulation structure provided in the embodiments of this application includes a front chest assembly, a back assembly, and a drive assembly. The drive assembly includes: a guide mechanism disposed between the front chest assembly and the back assembly to limit the reciprocating motion of the front chest assembly relative to the back assembly in a defined direction; a connecting rod, the first end of which is hinged to one of the front chest assembly or the back assembly, and the second end of which is slidably connected to the other of the front chest assembly or the back assembly; and a power mechanism that drives the second end of the connecting rod to reciprocate along the front chest assembly or the back assembly. Through the change in the included angle of the connecting rod, a pushing and pulling force is generated on the connected assembly, pushing / pulling the front chest assembly, under the limitation of the guide mechanism, to make a reciprocating linear motion relative to the back assembly, moving closer or further away, thereby simulating the undulation motion of human chest breathing. It achieves the dynamic effect of biomimetic breathing rise and fall of the robot's chest, filling the technical gap in the dynamic simulation of the torso of existing anthropomorphic robots. At the same time, through the articulation and sliding connection of the linkage, the movement trajectory of the front chest component is a smooth linear motion that changes with the angle of the linkage, which matches the natural rise and fall characteristics of human chest breathing.

[0013] A second aspect of this application provides a method for controlling the chest breathing fluctuations of a robot, used in the robot chest breathing fluctuation structure described in the first aspect of this application. The method includes: detecting at least one of a first amplitude of movement of the front chest assembly or a first angle of the link using a displacement / angle sensor; and / or detecting a first velocity of movement of the front chest assembly using a velocity sensor; and / or detecting a first pressure of contact between the front chest assembly and the outside environment using a pressure sensor; a control unit generating a first control strategy based on at least one of the first amplitude, the first angle, the first velocity, or the first pressure; and the control unit controlling the power output mode of the power mechanism using the first control strategy.

[0014] Optionally, it further includes: the control unit obtaining preset information from the robot's central processing unit; the control unit generating a second control strategy based on the preset information; the preset information including at least one of emotion information, motion information, and voice information; and the control unit controlling the power output mode of the power mechanism according to the first control strategy and the second control strategy.

[0015] Optionally, the control unit generates a second control strategy based on the preset information, including: when the emotional information includes at least one of anger, excitement, fear, tension, or sadness; or when the movement information includes at least one of high-intensity exercise, exhaustion, or explosive exercise; or when the voice information includes at least one of arguing, crying, or joy; the control unit generates a rapid and large-amplitude control strategy; the control unit controls the power output mode of the power mechanism according to the first control strategy and the second control strategy, including: the control unit controls the sliding amplitude and sliding speed of the second end of the linkage to be greater than or equal to the first preset value.

[0016] Optionally, the control unit generates a second control strategy based on the preset information, including: when the emotional information includes at least one of calm, focused, relaxed, and relieved; or when the motion information includes at least one of resting state, low-intensity uniform motion state, or sleep motion state; or when the voice information includes at least one of objective explanation, gentle soothing, and quiet listening; the control unit generates a slow, small-amplitude control strategy; the control unit controls the power output mode of the power mechanism according to the first control strategy and the second control strategy, including: the control unit controls the sliding amplitude and sliding speed of the second end of the linkage to be less than or equal to the first preset value.

[0017] Optionally, the control unit controls the power output mode of the power mechanism according to the first control strategy and the second control strategy, including: the control unit controls and adjusts the value of the first preset value according to the detection result of at least one of the displacement / angle sensor, the speed sensor or the pressure sensor.

[0018] The beneficial technical effects of the second aspect of the embodiments of this application are as follows: The robot chest breathing fluctuation control method provided in this application collects real-time detection data such as the actual fluctuation amplitude (first amplitude) of the anterior chest component, the actual rotation angle of the linkage (first angle), the actual movement speed of the anterior chest component (first speed), and the actual contact pressure between the anterior chest component and the outside world (first pressure) through displacement / angle sensors, speed sensors, and pressure sensors, respectively. The control unit then compares and analyzes the collected actual data with preset target parameters (such as target fluctuation amplitude, target breathing frequency, and safe pressure threshold), and generates a first control strategy based on the deviation value. The first control strategy mainly includes setting power output modes such as speed adjustment, torque adjustment, stroke limit adjustment, and start-stop control of the power mechanism. Finally, the control unit sends control commands to the power mechanism according to the first control strategy, dynamically adjusting the output of the power mechanism to make the actual parameters of chest fluctuation approach the target parameters, thus achieving closed-loop feedback control. This ensures the accuracy and consistency of the breathing simulation. While ensuring the anthropomorphic effect, it effectively avoids problems such as structural overload and external contact damage, improving the reliability and safety of the equipment. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional schematic diagram of the robot's chest breathing structure provided in the embodiments of this application;

[0021] Figure 2 This is a cross-sectional view of the robot's chest breathing structure provided in an embodiment of this application; Figure 3 A schematic diagram of one embodiment of the robot chest breathing rise and fall control method provided in this application; Figure 4 A schematic diagram of another embodiment of the robot chest breathing rise and fall control method provided in this application; Figure 5 A schematic diagram of another embodiment of the robot chest breathing rise and fall control method provided in this application; Figure 6 This is a schematic diagram of another embodiment of the robot chest breathing rise and fall control method provided in this application. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0024] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0025] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0026] With the rapid development of robotics technology, service robots, companion robots, and other types of robots that frequently interact with humans have been widely used. The degree of anthropomorphism in these robots directly affects user experience and the acceptance of interaction. One of the core design principles of anthropomorphic robots is to simulate human body movements, facial expressions, and other physiological characteristics to bridge the psychological distance with humans and enhance the naturalness and intimacy of interaction.

[0027] In the development of anthropomorphic robots, the uncanny valley theory is a crucial issue that must be carefully avoided. This theory states that when a robot's appearance and behavior become similar to humans to a certain extent, but not completely identical, humans will experience strong discomfort, alienation, or even fear. These negative emotions can severely hinder the widespread application of robots. Therefore, optimizing the anthropomorphic performance of robots through detailed design to mitigate the uncanny valley effect has become an important research direction in the field of robotics.

[0028] Currently, the design of existing anthropomorphic robots mainly focuses on facial expression simulation and limb joint movement, while the dynamic simulation of the torso is lacking. This has become a major technical bottleneck restricting the further development of anthropomorphic robots and making it difficult to effectively avoid the uncanny valley theory. There is an urgent need for a technical solution that can optimize the dynamic performance of the robot's torso and improve the level of anthropomorphism.

[0029] To address the aforementioned issues, this application provides a robotic chest breathing rise and fall structure and control method. By setting up a rise and fall robotic chest cavity and controlling the movement of the chest cavity, the technical problem of insufficient anthropomorphism in robot driving in the prior art is solved.

[0030] The following is a detailed introduction.

[0031] Please see Figure 1 and Figure 2 This application provides a robotic chest breathing and undulation structure, including a front chest assembly 100, a back assembly 200, and a drive assembly 300. The drive assembly 300 includes: a guide mechanism 310, which is disposed between the front chest assembly 100 and the back assembly 200 to limit the reciprocating movement of the front chest assembly 100 relative to the back assembly 200 in a defined direction; a link 320, the first end 321 of which is hinged to one of the front chest assembly 100 or the back assembly 200, and the second end 322 of which is slidably connected to the other of the front chest assembly 100 or the back assembly 200; and a power mechanism (not shown in the figure), which drives the second end 322 of the link 320 to reciprocate along the front chest assembly 100 or the back assembly 200.

[0032] In this embodiment, the movement of the link 320 drives the front chest assembly 100 to reciprocate linearly relative to the back assembly 200, simulating chest breathing fluctuations. The guide mechanism 310 pre-defines the movement trajectory of the front chest assembly 100, ensuring it can only move linearly towards / away from the back assembly 200 along the axis of the human chest's rise and fall, avoiding deviations and swaying that could reduce simulation accuracy and cause structural jamming. The link 320, as a force transmission component, has its first end 321 hinged to the front chest assembly 100 / back assembly 200, possessing a degree of freedom to rotate around the hinge point, and its second end 322 slidably connected to another assembly, possessing a degree of freedom to slide linearly along the assembly surface. When the power mechanism... When the second end 322 of the drive link 320 slides back and forth, the angle between the link 320 and the front chest component 100 and the back component 200 will change synchronously with the sliding position. During the change of the angle, the first end 321 of the link 320 will generate a pushing and pulling force on the connected components, pushing / pulling the front chest component 100 to move closer to (exhalation state) or further away from (inhalation state) relative to the back component 200 under the limit of the guide mechanism 310, thereby simulating the rise and fall of the human chest cavity during breathing.

[0033] Optionally, such as Figure 2As shown, the guide mechanism 310 is configured as a guide post structure. One end of the guide post is fixed to the inside of the back component 200, and the other end slides with the front component 100. Two to four guide posts can be arranged in a symmetrical layout to ensure the smooth movement of the front component 100. The power mechanism is preferably a structure of servo motor and lead screw / nut pair / synchronous belt module. The servo motor provides precise rotational power, and the lead screw / nut pair / synchronous belt module converts the rotational motion into linear motion, driving the second end 322 of the connecting rod 320 to complete the reciprocating sliding. Alternatively, a stepper motor can be selected to adapt to miniaturized robot scenarios and meet different precision and cost requirements.

[0034] In this embodiment, a dynamic effect of biomimetic chest movement during breathing is achieved, filling the technological gap in existing anthropomorphic robot torso dynamic simulation. Compared to conventional robots without torso dynamics, it exhibits more realistic chest cavity dynamics, effectively enhancing the robot's anthropomorphism. Simultaneously, through the hinged and sliding connection of the link 320, the movement trajectory of the front chest component 100 is a smooth linear motion that varies with the angle of the link 320, conforming to the natural rise and fall characteristics of human chest breathing, rather than a mechanical, fixed-stroke reciprocating motion. This restores the gentleness and continuity of chest rise and fall during human breathing, achieving a lifelike breathing simulation effect. Furthermore, the linear output direction of the power mechanism is parallel to the vertical direction of the robot's torso. Components such as the lead screw and nut pair / synchronous belt module, guide column, and connecting rod 320 are all integrated inside the cavity between the front chest assembly 100 and the back assembly 200, without occupying additional external space of the robot. Moreover, the structure of the connecting rod 320 transmission is compact, enabling precise undulation control within a relatively thin chest cavity volume, which is suitable for the miniaturization and lightweight design requirements of anthropomorphic robots.

[0035] It should be noted that the specific components connected to the first end 321 and the second end 322 of the connecting rod 320, as well as the sliding method of the second end 322 of the connecting rod 320, are not limited in the embodiments of this application. For ease of understanding, the preferred technical solutions are provided as follows.

[0036] like Figure 2 As shown, the drive assembly 300 also includes a slider 330, which is slidably connected to the back assembly 200; the first end 321 of the connecting rod 320 is hinged to the front chest assembly 100, and the second end 322 of the connecting rod 320 is hinged to the slider 330; the power mechanism is connected to the slider 330 to drive the slider 330 to slide back and forth relative to the back assembly 200.

[0037] In this embodiment, the sliding connection method of the connecting rod 320 has been refined and optimized. By adding a slider 330 as a motion transfer component between the connecting rod 320 and the back assembly 200, a transmission link of "power mechanism → slider 330 → connecting rod 320 → front chest assembly 100" is formed. The slider 330 is slidably engaged with the back assembly 200, and its sliding direction is adapted to the undulation direction of the front chest assembly 100. The first end 321 of the connecting rod 320 is hinged to the front chest assembly 100, and the second end 322 is hinged to the slider 330, so that both ends of the connecting rod 320 have rotational freedom. When the power mechanism drives the slider 330 to slide back and forth linearly along the back assembly 200, the movement of the slider 330 drives the second end 322 of the connecting rod 320 to move synchronously. The included angle of the connecting rod 320 is dynamically adjusted as the position of the slider 330 changes. Then, through the pushing and pulling force of the first end 321 of the connecting rod 320, the front chest assembly 100 is driven to complete the undulation action of inhalation / exhalation under the limit of the guide mechanism 310. Therefore, the slider 330, as a dedicated motion transition component, transforms the sliding friction between the connecting rod 320 and the back assembly 200 into sliding friction between the slider 330 and the back assembly 200. This reduces wear on the back assembly 200 caused by the direct sliding of the connecting rod 320, while also reducing frictional resistance during movement, improving transmission smoothness, and making chest rise and fall movements gentler. Simultaneously, the hinged connections at both ends of the connecting rod 320 eliminate motion interference during sliding, allowing for more flexible angle changes in the connecting rod 320, further optimizing the smoothness of the movement of the front chest assembly 100, and replicating the natural trajectory of chest rise and fall during human breathing. Furthermore, the rigid fixed connection between the slider 330 and the power mechanism ensures lossless transmission of linear power from the power mechanism to the connecting rod 320, improving the precision of motion control and ensuring that the amplitude and frequency of chest rise and fall closely match preset parameters. Moreover, the modular design of slider 330 makes it easy to disassemble and replace. When slider 330 is worn, slider 330 can be replaced separately without replacing connecting rod 320 or back assembly 200, which reduces the maintenance cost and failure rate of the equipment.

[0038] It should be noted that the implementation method of the sliding connection between the slider 330 and the back assembly 200 is not limited in the embodiments of this application. For ease of understanding, a preferred embodiment is provided as follows.

[0039] like Figure 2 As shown, the inner side of the rear assembly 200 is provided with a slide rail groove 210, and the slider 330 is disposed in the slide rail groove 210 so that the slider 330 slides back and forth along the slide rail groove 210 under the drive of the power mechanism.

[0040] In this embodiment, a slide rail groove 210 is directly machined on the inner side of the back component 200, and the slider 330 is embedded inside the slide rail groove 210. The extension direction of the slide rail groove 210 is consistent with the undulation direction of the front chest component 100, forming a rigid limit on the movement trajectory of the slider 330. When the power mechanism drives the slider 330, the slider 330 can only slide back and forth in a straight line along the extension direction of the slide rail groove 210, and cannot deviate laterally or vertically, thereby ensuring the stability of the movement trajectory of the connecting rod 320 and making the undulation movement of the front chest component 100 precise and controllable. As a result, the slide rail groove 210 forms an omnidirectional limit on the slider 330, so that the movement trajectory of the slider 330 is without deviation. The angle change of the connecting rod 320 and the undulation amplitude of the front chest component 100 can be precisely matched with the output parameters of the power mechanism, realizing high-precision control of chest breathing undulation and improving the realism of the simulation. Meanwhile, since the slide rail groove 210 is directly machined onto the inner side of the back assembly 200, forming an integrated structure, there is no need to install an additional independent slide rail on the outside of the back assembly 200. This reduces the number of parts, simplifies the overall assembly process, and further compresses the space occupied by the components, meeting the thin design requirements of the robot's chest cavity. Furthermore, the slider 330 is embedded inside the slide rail groove 210, preventing it from falling off or wobbling during movement. This improves the structural stability and motion reliability of the drive assembly 300, effectively avoiding problems such as transmission jamming and structural damage caused by slider 330 offset. Moreover, the machining process of the slide rail groove 210 is simple and can be completed simultaneously with the overall machining of the back assembly 200, eliminating the need for additional machining steps and reducing the product's manufacturing cost.

[0041] The mechanical structure of the robot chest breathing undulation structure provided in the embodiments of this application has been described above. In order to make the undulation motion of the front chest component 100 more realistic, the preferred embodiment of this application further provides a series of sensors so that the robot chest breathing undulation structure provided in the embodiments of this application can adaptively change the motion mode according to the actual situation and achieve a more realistic simulation effect.

[0042] The details are as follows.

[0043] The robotic chest breathing fluctuation structure provided in this application embodiment further includes a control unit (not shown in the figure) and a real-time monitoring sensor assembly (not shown in the figure). The real-time monitoring sensor assembly includes at least one of a displacement / angle sensor, a speed sensor, or a pressure sensor. The displacement / angle sensor is used to detect the amplitude of the movement of the front chest assembly 100 and / or the angle data of the link 320; the speed sensor is used to detect the movement speed of the front chest assembly 100; the pressure sensor is used to detect the pressure data of the front chest assembly 100 in contact with the outside world; and the control unit is used to drive the power mechanism to work based on the detection data of the real-time monitoring sensor assembly.

[0044] In this embodiment, a control unit and a real-time monitoring sensor assembly are added to the mechanical structure to construct a closed-loop control system of "detection-feedback-control". The displacement / angle sensor can be a rotary encoder (installed at the hinge point / guide post of the connecting rod 320) or a linear displacement sensor (installed between the front chest component 100 and the back component 200) to collect real-time data on the amplitude of the front chest component 100's fluctuations and the rotation angle of the connecting rod 320, and transmit the data to the control unit. The speed sensor can be a tachogenerator or a Hall effect speed sensor (installed at the output shaft of the power mechanism / front chest component 100) to detect the reciprocating speed of the front chest component 100 in real-time. The pressure sensor is preferably a flexible thin-film pressure sensor (arranged in an array on the outer surface of the front chest component 100) to detect the contact pressure data between the front chest component 100 and external objects in real-time. The control unit has a built-in control algorithm that receives real-time detection data from various sensors and compares it with preset motion parameters (amplitude, speed, and safety pressure thresholds). Based on the comparison results, it dynamically adjusts the power output of the power mechanism (such as adjusting motor speed, torque, and start / stop position) to achieve precise closed-loop control of chest rise and fall. Optionally, a torque sensor (installed at the power input end of the power mechanism / the hinge point between the connecting rod 320 and the slider 330) can be further installed in the real-time monitoring sensor assembly to monitor the output torque of the power mechanism and the force data of the connecting rod 320 in real time. When the detected torque / force exceeds the preset threshold, the control unit can adjust the output of the power mechanism in a timely manner to avoid structural overload damage.

[0045] Thus, by constructing a closed-loop control system, the motion parameters of chest rise and fall can be detected and dynamically adjusted in real time, solving the problem of motion parameter deviations not being corrected in time in traditional open-loop control, and improving the accuracy and consistency of breathing simulation. Specifically, real-time detection by displacement / angle sensors can accurately control the amplitude of chest rise and fall of the front chest component 100, avoiding excessive / insignificant amplitudes caused by accumulated errors in the power mechanism, ensuring standardized inhalation and exhalation movements. Speed ​​sensor detection enables precise control of chest rise and fall frequency, matching the simulation needs of different human breathing rhythms. The installation of pressure sensors provides collision and overload protection safety controls. When the front chest component 100 comes into contact with the outside environment and the pressure exceeds the safety threshold, the control unit can immediately control the power mechanism to stop output or reverse movement, avoiding damage to the robot structure and the contact object, and improving the safety of the equipment. Meanwhile, the torque sensor can monitor the force state of the power mechanism and connecting rod 320 in real time, promptly detect abnormalities such as structural jamming and overload, protect the mechanical structure, and extend the service life of the equipment. Furthermore, the modular design of the control unit can be adapted to different control algorithms, providing a hardware foundation for the intelligent and adaptive adjustment of subsequent breathing simulation.

[0046] Furthermore, the robot chest breathing fluctuation structure provided in this application embodiment can adaptively change the fluctuation pattern of the front chest component 100 according to different scenarios and emotions of the robot. This better suits the working needs of emotional companion robots.

[0047] For ease of understanding, a detailed explanation is provided below.

[0048] Optionally, the robot chest breathing rise and fall structure provided in this application embodiment further includes a scene judgment component (not shown in the figure) to realize scene-based adaptive control of chest breathing rise and fall. The scene judgment component can be an independent sub-component of the robot chest breathing rise and fall structure, or it can be integrated into the central processing unit of the entire robot. It receives signals from the robot's environmental perception module (such as visual sensors and sound sensors) and behavior control module, and combines them with a preset scene recognition algorithm to determine the robot's current scene and working state (such as quiet communication, movement state, emotional expression, etc.) in real time. Based on the scene / state characteristics, it generates a corresponding chest rise and fall control strategy (such as parameter settings for breathing frequency and amplitude), and transmits the control strategy to the control unit of the chest rise and fall structure. The control unit adjusts the output parameters of the power mechanism according to the strategy to match the chest rise and fall movement with the robot's overall scene / state. In this way, the linkage and adaptation between chest breathing rise and fall and robot scene is realized, so that the robot's breathing movement is no longer a single fixed pattern, but dynamically changes with the scene, greatly improving the anthropomorphic simulation degree of the robot and effectively reducing the uncanny valley effect. It can be customized according to actual application needs to adapt to the needs of different application scenarios such as service robots, companion robots, and simulation robots, thus expanding the application scope of this structure.

[0049] In summary, this application provides a robotic chest breathing undulation structure, including a front chest assembly, a back assembly, and a drive assembly. The drive assembly includes: a guide mechanism disposed between the front chest assembly and the back assembly to limit the reciprocating motion of the front chest assembly relative to the back assembly in a defined direction; a link, the first end of which is hinged to one of the front chest assembly or the back assembly, and the second end of which is slidably connected to the other of the front chest assembly or the back assembly; and a power mechanism that drives the second end of the link to reciprocate along the front chest assembly or the back assembly. The changing angle of the link generates a pushing / pulling force on the connected components, pushing / pulling the front chest assembly, limited by the guide mechanism, to reciprocate linearly towards or away from the back assembly, thereby simulating the undulation motion of human chest breathing. It achieves the dynamic effect of biomimetic breathing rise and fall of the robot's chest, filling the technical gap in the dynamic simulation of the torso of existing anthropomorphic robots. At the same time, through the articulation and sliding connection of the linkage, the movement trajectory of the front chest component is a smooth linear motion that changes with the angle of the linkage, which matches the natural rise and fall characteristics of human chest breathing.

[0050] Based on the above-described structure of the robot's chest breathing fluctuations, this application further provides a method for controlling the robot's chest breathing fluctuations, which is described in detail below.

[0051] Please see Figure 3 The robotic chest breathing rise and fall control method provided in this application includes: 101. Detecting at least one of the first amplitude of movement of the front chest assembly or the first angle of the link using a displacement / angle sensor; and / or, 102. Detect the first velocity of the movement of the front chest assembly using a speed sensor; and / or, 103. The first pressure of the front chest component coming into contact with the outside world is detected by a pressure sensor; 104. The control unit generates a first control strategy based on at least one of a first amplitude, a first angle, a first speed, or a first pressure; 105. The control unit controls the power output mode of the power mechanism through the first control strategy.

[0052] In this embodiment, displacement / angle sensors, speed sensors, and pressure sensors are used to collect real-time detection data such as the actual fluctuation amplitude of the chest component (first amplitude), the actual rotation angle of the connecting rod (first angle), the actual movement speed of the chest component (first speed), and the actual contact pressure between the chest component and the outside world (first pressure). Then, the control unit compares and analyzes the collected actual data with preset target parameters (such as target fluctuation amplitude, target respiratory rate, and safe pressure threshold), and generates a first control strategy based on the deviation value. The first control strategy mainly includes setting the power output mode such as speed adjustment, torque adjustment, stroke limit adjustment, and start-stop control of the power mechanism. Finally, the control unit sends control commands to the power mechanism according to the first control strategy to dynamically adjust the output of the power mechanism, so that the actual parameters of chest fluctuation are closer to the target parameters, thereby realizing closed-loop feedback control.

[0053] Optionally, the detection data of the torque sensor can be added to the detection step. That is, the output torque (first torque) of the power mechanism or the force value of the connecting rod (first force) is detected by the torque sensor. The control unit compares the first torque / first force with the preset safety threshold and incorporates it into the generation basis of the first control strategy. When the torque / force exceeds the threshold, a control strategy of reducing torque and stopping the machine is generated.

[0054] Therefore, by generating a control strategy based on real-time sensor data, precise closed-loop control of chest rise and fall movements is achieved, effectively correcting parameter deviations in the power mechanism and mechanical transmission process, and ensuring the accuracy and consistency of respiratory simulation. Simultaneously, the first control strategy directly adjusts the power output mode of the power mechanism, resulting in high execution efficiency and fast response speed of control commands, enabling real-time adjustment of chest rise and fall parameters to meet dynamic respiratory simulation needs. Furthermore, incorporating safety detection data such as pressure and torque gives the control strategy both simulation control and safety control functions, effectively avoiding structural overload and external contact damage while maintaining a human-like effect, thus improving the reliability and safety of the equipment. The control method provided in this application embodiment has simple logic and is easy to implement. It can be completed through the basic PID control algorithm built into the control unit, eliminating the need for complex calculations and reducing the hardware cost and software development difficulty of the control unit.

[0055] Furthermore, such as Figure 4 As shown in the preferred embodiment, the robot chest breathing rise and fall control method further provided in this application includes the following steps: 106. The control unit obtains preset information from the robot's central processing unit; The 107 control unit generates a second control strategy based on preset information.

[0056] In this embodiment, the preset information includes at least one of emotion information, motion information, and voice information. Step 105 above, the control unit controls the power output mode of the power mechanism through the first control strategy, specifically including the following steps: The control unit controls the power output mode of the power mechanism according to the first control strategy and the second control strategy.

[0057] In this embodiment, based on basic sensor feedback control, the robot's overall state information is introduced to achieve multi-dimensional collaborative control of chest breathing movements. First, the control unit obtains preset information from the robot's central processor via a communication interface (such as CAN bus or SPI bus). This preset information is the overall state information generated by the robot's perception and recognition modules, including emotional information (such as calm, excitement, and anger, generated by the robot's emotion recognition module), motion information (such as resting, low-speed movement, and high-intensity movement, generated by the robot's motion control module), and voice information (such as gentle soothing, arguing, and crying, generated by the robot's voice recognition module). Then, based on the characteristics of the preset information and combined with the respiratory physiological characteristics of humans in the corresponding states, the control unit generates a second control strategy. This second control strategy is a scenario / state-based respiratory parameter optimization strategy, mainly including personalized adjustments to respiratory frequency, amplitude of fluctuation, and movement speed. Finally, the control unit merges the first control strategy (the basic control strategy based on sensor feedback) with the second control strategy (the state-adaptive optimized control strategy) to generate the final control command, controlling the power output mode of the power mechanism so that the robot's chest movement not only meets the precise control requirements of sensor feedback but also matches the robot's overall emotional, motion, and voice states.

[0058] This achieves linkage between chest breathing and the robot's overall state, transforming the robot's breathing from isolated mechanical movements into physiological characteristics that align with emotions, movements, and speech. This significantly enhances the robot's anthropomorphic simulation, effectively bridging the psychological distance with humans and mitigating the uncanny valley effect for the emotional companion robot or service robot specifically applied in this embodiment. Simultaneously, the second control strategy, based on realistic human respiratory physiological characteristics, replicates the differences in human breathing under different states (e.g., rapid breathing when excited, slow breathing when calm), making the breathing simulation more realistic and enhancing the naturalness and intimacy of robot-human interaction. Furthermore, the fusion of the first and second control strategies balances accuracy and adaptability. It ensures the mechanical precision of chest breathing through sensor feedback and achieves scenario-based breathing simulation through state information adaptation, solving the problems of the uniformity and rigidity of traditional fixed-mode breathing simulation. Furthermore, the control unit obtains preset information from the robot's central processing unit, eliminating the need for additional sensing and recognition modules. This fully utilizes the robot's existing hardware resources, reduces the implementation cost of this control method, and enhances its integration with the overall robot system.

[0059] Regarding step 107 above, the different chest rise and fall control modes under different scenario states are not limited in this application embodiment. For ease of understanding, specific working states are further provided as follows: Figure 5 As shown.

[0060] 1071. When the emotional information includes at least one of anger, excitement, fear, tension, or sadness; or, 1072. When the motion information includes at least one of a high-intensity motion state, a state of exhaustion, or a burst motion state; or, 1073. When the speech information includes at least one of the following: arguing, crying, or joy; 1074. The control unit generates a rapid and large-amplitude control strategy; The above steps include: the control unit controlling the power output mode of the power mechanism according to the first control strategy and the second control strategy, including: 1075. The control unit controls the sliding amplitude and sliding speed of the second end of the control link to be greater than or equal to the first preset value.

[0061] In this embodiment, a corresponding chest breathing fluctuation control strategy is formulated for the robot's excited / intense state, which conforms to the respiratory physiological characteristics of humans in such states. When the emotional information obtained by the control unit from the robot's central processing unit is excited / stressed emotions such as anger, excitement, fear, tension, or sadness, or the motion information is intense exercise such as high-intensity exercise, exhaustion, or explosive exercise, or the voice information is a high-pitched voice such as arguing, crying, or joy, combined with human physiological characteristics, human breathing in such states is characterized by high frequency, large amplitude, and rapid breathing. Therefore, the control unit generates a rapid and large amplitude control strategy as a second control strategy. It should be noted that the judgment and acquisition of the above-mentioned emotional information, motion information, and voice information are obtained by the robot's central processing unit through artificial intelligence and other methods. The specific acquisition method is not limited in this embodiment.

[0062] Furthermore, in this second control strategy, a first preset value is set as a reference value for respiratory parameters adapted to human arousal / intense states. The first preset value for the sliding speed of the second end of the linkage is preferably 5-8 mm / s, and the first preset value for the sliding amplitude is preferably 15-25 mm. After the control unit integrates the first control strategy with this rapid and large-amplitude control strategy, it sends a control command to the power mechanism to control the power mechanism to increase the output speed and stroke, so that the sliding amplitude and sliding speed of the second end of the linkage are both greater than or equal to the first preset value, thereby driving the front chest assembly to make rapid and large-amplitude reciprocating undulating movements to simulate the rapid breathing state of humans.

[0063] In this way, the above methods accurately reproduce the respiratory physiological characteristics of humans in states of excitement, strenuous exercise, and loud speech, making the robot's chest rise and fall movements highly consistent with these states, thus improving the realism and scene adaptability of the breathing simulation. Simultaneously, by controlling the sliding amplitude and speed of the second end of the linkage, the rise and fall parameters of the front chest component can be directly controlled. The control logic is simple and precise, enabling rapid switching of breathing states and ensuring real-time scene linkage. Furthermore, the rapid and large-amplitude breathing simulation makes the robot's emotions and movement states more externally expressive. Humans can intuitively perceive the robot's state through its chest rise and fall movements, improving the intuitiveness and effectiveness of human-computer interaction.

[0064] The above provides a method for controlling a robot in a state of heightened emotion. Further, a method for controlling a robot in a calm state is provided, such as... Figure 6 As shown, the method includes...

[0065] 1076. When the emotional information includes at least one of calmness, focus, relaxation, and relief; or, 1077. When the motion information includes at least one of the following: resting state, low-intensity uniform motion state, or sleep-motion state; or, 1078. When the voice message package contains at least one of the following voice messages: objective explanation, gentle reassurance, or quiet listening; 1079. The control unit generates a slow, small-amplitude control strategy; The above steps include: the control unit controlling the power output mode of the power mechanism according to the first control strategy and the second control strategy, including: 10710. The control unit controls the sliding amplitude and sliding speed of the second end of the control link to be less than or equal to the first preset value.

[0066] In this embodiment, a corresponding chest breathing fluctuation control strategy is formulated for the robot's calm / soothing state, which conforms to the respiratory physiological characteristics of humans in such states. When the emotional information obtained by the control unit from the robot's central processor is a soothing emotion such as calmness, focus, relaxation, or relief, or the motion information is a gentle motion state such as rest, low-intensity uniform movement, or sleep, or the voice information is a gentle voice state such as objective explanation, gentle soothing, or quiet listening, combined with human physiological characteristics, human breathing in such states is characterized by slow frequency, small amplitude, and soothing breathing. Therefore, the control unit generates a slow, small-amplitude control strategy as the second control strategy. In this strategy, the first preset value is set as a reference value for breathing parameters that are adapted to the human calm / relaxed state. The first preset value for the sliding speed of the second end of the linkage is preferably 1-3 mm / s, and the first preset value for the sliding amplitude is preferably 5-10 mm. After the control unit integrates the first control strategy with the slow and small amplitude control strategy, it sends a control command to the power mechanism to control the power mechanism to reduce the output speed and stroke, so that the sliding amplitude and sliding speed of the second end of the linkage are both less than or equal to the first preset value, thereby driving the front chest component to make a slow and small amplitude reciprocating up-and-down movement to simulate the human relaxed breathing state.

[0067] This accurately replicates the respiratory physiology of humans in calm, gentle movements and with soft speech, making the robot's chest rise and fall smooth and gentle, consistent with human visual perception of these states, thus enhancing the naturalness and realism of the breathing simulation. The slow, small-amplitude rise and fall movements make the robot's overall performance softer, effectively reducing its mechanical feel, bridging the psychological distance with humans, and improving comfort during human-computer interaction.

[0068] It should be noted that both the above-mentioned fast, large-amplitude control strategy and slow, small-amplitude control strategy are determined based on a first preset value. Optionally, this first preset value is generated by the control unit according to the first control strategy, as detailed below.

[0069] The above steps include: the control unit controlling the power output mode of the power mechanism according to the first control strategy and the second control strategy, including: The control unit adjusts the value of the first preset value based on the detection result of at least one of the displacement / angle sensor, speed sensor, or pressure sensor.

[0070] In this embodiment, based on scenario-based breathing control, a parameter correction mechanism based on real-time sensor data detection is introduced to dynamically adjust the first preset value, ensuring the flexibility and safety of chest rise and fall control. After generating a fast / large amplitude / slow / small amplitude control strategy based on the robot's state and setting the first preset value, the control unit does not directly control the power mechanism according to the fixed first preset value. Instead, it receives the detection results from displacement / angle sensors, speed sensors, and pressure sensors in real time and uses these results as the basis for adjusting the first preset value: when the displacement / angle sensor detects that the rise and fall amplitude of the chest component is close to the mechanical travel limit, the control unit appropriately reduces the first preset value of the sliding amplitude to avoid structural collision; when the speed sensor detects that the movement speed of the chest component exceeds the safe rotational speed range of the power mechanism, the control unit appropriately reduces the first preset value of the sliding speed to avoid overloading the power mechanism; when the pressure sensor detects that the contact pressure between the chest component and the external environment exceeds the safe threshold, the control unit immediately reduces or even clears the first preset value, controlling the power mechanism to stop moving and avoid damage. The control unit dynamically adjusts the value of the first preset value in the above manner, and then combines it with the first control strategy to generate the final control command to control the output of the power mechanism.

[0071] This enables dynamic adaptive adjustment of the first preset value, freeing the scenario-based breathing control strategy from the constraints of fixed parameters. It allows for flexible adjustment based on the robot's actual mechanical state and external contact conditions, enhancing the flexibility and adaptability of the control method. Using sensor detection results as the basis for adjusting the first preset value combines scenario adaptation with safety constraints. While ensuring the breathing simulation matches the robot's state, it effectively avoids risks such as mechanical travel limits, power mechanism overload, and external contact damage, improving the equipment's safety and structural stability. Simultaneously, the adjustment of the first preset value is based on real-time sensor data, resulting in a fast response time and real-time correction during chest rise and fall movements. This ensures the continuity of the breathing simulation and avoids interruptions or stuttering caused by parameter adjustments. Ultimately, through the combination of dual control dimensions (scenario-based second control strategy + parameter correction from sensor feedback), the robot's chest rise and fall movements not only conform to human physiological characteristics and the robot's overall state but also meet the safe operation requirements of the mechanical structure. This achieves a high degree of unity between simulation and safety, significantly improving the practicality of the technical solution.

[0072] In summary, the robotic chest breathing fluctuation control method provided in this application collects real-time detection data such as the actual fluctuation amplitude (first amplitude) of the anterior chest assembly, the actual rotation angle of the linkage (first angle), the actual movement speed of the anterior chest assembly (first speed), and the actual contact pressure between the anterior chest assembly and the external environment (first pressure) through displacement / angle sensors, speed sensors, and pressure sensors, respectively. The control unit then compares and analyzes the collected actual data with preset target parameters (such as target fluctuation amplitude, target breathing frequency, and safe pressure threshold), and generates a first control strategy based on the deviation value. The first control strategy mainly includes setting power output modes such as speed adjustment, torque adjustment, stroke limit adjustment, and start-stop control of the power mechanism. Finally, the control unit sends control commands to the power mechanism according to the first control strategy, dynamically adjusting the output of the power mechanism to bring the actual chest fluctuation parameters closer to the target parameters, achieving closed-loop feedback control. This ensures the accuracy and consistency of the breathing simulation. While maintaining a human-like effect, it effectively avoids problems such as structural overload and external contact damage, improving the reliability and safety of the equipment.

[0073] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the embodiments of this application, and these modifications or substitutions should all be covered within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A robotic chest breathing and undulation structure, characterized in that, It includes a front chest assembly, a back assembly, and a drive assembly, wherein the drive assembly includes: A guiding mechanism is provided between the front chest assembly and the back assembly to limit the reciprocating movement of the front chest assembly relative to the back assembly in a defined direction; A link, the first end of which is hinged to one of the front chest assembly or the back assembly, and the second end of which is slidably connected to the other of the front chest assembly or the back assembly; A power mechanism that drives the second end of the connecting rod to slide back and forth along the front chest assembly or the back assembly.

2. The robotic chest breathing movement structure according to claim 1, characterized in that, The drive assembly further includes a slider, which is slidably connected to the rear assembly. The first end of the connecting rod is hinged to the front chest assembly, and the second end of the connecting rod is hinged to the slider; The power mechanism is connected to the slider to drive the slider to slide back and forth relative to the back assembly.

3. The robotic chest breathing movement structure according to claim 2, characterized in that, The inner side of the rear assembly is provided with a slide rail groove, and the slider is disposed in the slide rail groove so that the slider slides back and forth along the slide rail groove under the drive of the power mechanism.

4. The robotic chest breathing movement structure according to any one of claims 1 to 3, characterized in that, It also includes a control unit and a real-time monitoring sensor assembly, wherein the real-time monitoring sensor assembly includes at least one of a displacement / angle sensor, a velocity sensor, or a pressure sensor, wherein, The displacement / angle sensor is used to detect the amplitude of the movement of the front chest assembly and / or the angle data of the link; The speed sensor is used to detect the movement speed of the front chest assembly; The pressure sensor is used to detect the pressure data between the front chest component and the outside environment; The control unit is used to drive the power mechanism to work based on the detection data of the real-time monitoring sensor assembly.

5. The robotic chest breathing movement structure according to claim 4, characterized in that, It also includes a scene determination component, which is used to generate a corresponding control strategy based on the real-time scene, so that the control unit drives the power mechanism to work according to the control strategy.

6. A method for controlling the chest breathing rise and fall of a robot, characterized in that, For use in the robotic chest breathing structure as described in any one of claims 1 to 5, the method comprises: Detecting at least one of the first amplitude of movement of the front chest assembly or the first angle of the link using a displacement / angle sensor; and / or The first velocity of the movement of the front chest assembly is detected by a speed sensor; and / or The first pressure exerted by the front chest assembly upon contact with the external environment is detected by a pressure sensor. The control unit generates a first control strategy based on at least one of the first amplitude, the first angle, the first speed, or the first pressure. The control unit controls the power output mode of the power mechanism through the first control strategy.

7. The robot chest breathing rise and fall control method according to claim 6, characterized in that, Also includes: The control unit obtains preset information from the robot's central processing unit; The control unit generates a second control strategy based on the preset information; The preset information includes at least one of emotion information, motion information, and voice information; The control unit controls the power output mode of the power mechanism according to the first control strategy and the second control strategy.

8. The method for controlling the chest breathing movement of a robot according to claim 7, characterized in that, The control unit generates a second control strategy based on the preset information, including: When the emotional information includes at least one of anger, excitement, fear, tension, or sadness; or, When the motion information includes at least one of a high-intensity motion state, a state of exhaustion, or a burst of motion; or... When the voice information includes at least one of the voice information of arguing, crying or joy; The control unit generates a rapid and large-amplitude control strategy; The control unit controls the power output mode of the power mechanism according to the first control strategy and the second control strategy, including: The control unit controls the sliding amplitude and sliding speed of the second end of the control rod to be greater than or equal to the first preset value.

9. The method for controlling the chest breathing movement of a robot according to claim 7, characterized in that, The control unit generates a second control strategy based on the preset information, including: When the emotional information includes at least one of calmness, focus, relaxation, and relief; or, When the motion information includes at least one of a resting state, a low-intensity uniform motion state, or a sleep-motion state; or... When the voice information packet contains at least one of the following voice information: objective explanation, gentle comfort, or quiet listening; The control unit generates a slow, small-amplitude control strategy; The control unit controls the power output mode of the power mechanism according to the first control strategy and the second control strategy, including: The control unit controls the sliding amplitude and sliding speed of the second end of the control rod to be less than or equal to the first preset value.

10. The robotic chest breathing rise and fall control method according to claim 8 or 9, characterized in that, The control unit controls the power output mode of the power mechanism according to the first control strategy and the second control strategy, including: The control unit adjusts the value of the first preset value based on the detection result of at least one of the displacement / angle sensor, the speed sensor, or the pressure sensor.

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