Facial expression switching method, face skin structure and bionic robot

Abstract

This invention relates to the field of bionic robot technology, specifically disclosing a facial expression switching method, a facial skin structure, and a bionic robot. The facial expression switching method includes: receiving an facial expression switching command; acquiring the displacement A1 of all inserts 20 of the current facial expression and the displacement A2 of all inserts 20 of the target facial expression; based on A1 and A2, determining whether the current facial expression can be directly switched to the target facial expression; if not, acquiring a transitional facial expression sequence from the current facial expression to the target facial expression based on A1 and A2, wherein the transitional facial expression sequence includes at least one intermediate facial expression; and controlling each insert 20 to move according to the transitional facial expression sequence under the current facial expression until the target facial expression is switched. This facial expression switching method avoids the mechanical feel of switching from the current facial expression to the target facial expression, thereby improving the realism of the facial skin structure during the facial expression switching process.

Description

Technical Field

[0001] This invention relates to the field of bionic robot technology, and in particular to a method for switching facial expressions, facial skin structure, and a bionic robot. Background Technology

[0002] A bionic robot is a machine device that automatically performs tasks. It can be commanded by humans, run pre-programmed routines, or act according to principles established using artificial intelligence technology. Bionic robots can mimic humans, assist or replace human workers, and provide many convenient services such as shopping guides, tour guides, and information providers. They can also replace humans in performing dangerous or difficult tasks, showing broad development prospects. Bionic robots can have the same body shape and appearance as real people, but their realism and expressive ability directly affect the human-computer interaction experience. To achieve highly realistic facial expressions, the facial structure of existing bionic robots typically includes a facial body and multiple inserts to move the facial body. The facial body is usually made of silicone, and the inserts are usually distributed in various positions. When the facial structure makes an expression, the inserts point-like lift the facial body. Furthermore, during the use of bionic robots, they often switch between different expressions. If the displacement of the inserts between the two expressions is too large, the facial expression will feel mechanical and lack realism.

[0003] Therefore, a method for switching facial expressions, a facial skin structure, and a bionic robot are needed to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a method for switching facial expressions, a facial skin structure, and a bionic robot, so as to solve the problem that the facial skin structure in related technologies has a strong mechanical feel and lacks realism during the process of switching facial expressions.

[0005] On one hand, the present invention provides an expression switching method applicable to the facial skin structure of a simulation robot, the facial skin structure including a facial skin body and multiple inserts, the expression switching method comprising: S10: Receive an expression switching instruction, obtain the current displacement A1 of all the embeddings of the current expression and the target displacement A2 of all the embeddings of the target expression, and determine whether the current expression can be directly switched to the target expression based on A1 and A2; if not, proceed to S20. S20. Based on A1 and A2, obtain a transitional expression sequence for switching from the current expression to the target expression, and the transitional expression sequence includes at least one intermediate expression; S30. Under the current expression, control each of the embeddings to move according to the transition expression sequence until switching to the target expression.

[0006] As an optional technical solution, determining whether it is possible to directly switch from the current expression to the target expression specifically includes: S11. Based on A1 and A2, the displacement Δ of the insert is obtained; S12. Compare the displacement of each insert and obtain the displacement value ΔMax of the insert with the largest displacement. S13. Compare ΔMax with the preset threshold for switching. If ΔMax is greater than or equal to the preset threshold, it is determined that the current expression cannot be directly switched to the target expression.

[0007] As an optional technical solution, S11 further includes: Obtain the initial displacement A3 of all the embeddings of the initial expression, and based on A1, A2 and A3, obtain the displacement Δ of the embeddings.

[0008] As an optional technical solution, S20 further includes: S21A. Based on the displacement value ΔMax of the insert with the largest displacement and the maximum allowable step size B per step, the number N1 of intermediate expressions that switch from the current expression to the target expression is obtained.

[0009] As an optional technical solution, S21A specifically refers to: The number of intermediate expressions N1 is calculated based on the displacement value ΔMax and the maximum allowable step size B per step, where N1 is calculated using the following formula: N1=ceil(ΔMax / B)-1.

[0010] As an optional technical solution, S20 further includes: S22. The displacement of each of the inserts in each intermediate step is calculated sequentially using the linear interpolation method. The displacement of all the inserts in the intermediate step forms the intermediate expression of the intermediate step, and all the intermediate expressions form the transition expression sequence.

[0011] As an optional technical solution, S20 further includes: S21B. Based on the current expression and the target expression, obtain the total switching time T from the current expression to the target expression, and based on the total switching time T and the switching frequency F per unit time, calculate the number N2 of intermediate expressions from the current expression to the target expression.

[0012] As an optional technical solution, S21B specifically refers to: The number of intermediate expressions N2 is calculated based on the total switching time T and the switching frequency F per unit time, where N2 is calculated using the following formula: N2 = int(T×F) - 1.

[0013] The facial expression switching method provided by this invention has at least the following beneficial effects: The expression switching method provided by this invention calculates the switching path from the current expression to the target expression if the current expression cannot be directly switched to the target expression, and generates a transition expression sequence. The switching is performed according to the transition expression sequence, thereby avoiding the mechanical feeling caused by switching from the current expression to the target expression, and thus improving the realism of the facial structure during the expression switching process.

[0014] On the other hand, the present invention provides a face skin structure, including a head support, a face skin body, an insert, and a driving mechanism. The driving mechanism is disposed on the head support, and the insert is connected between the face skin body and the driving mechanism. The driving mechanism drives the insert to move, thereby forming an expression on the face skin body. The face skin structure is used to implement the above-mentioned expression switching method.

[0015] The facial skin structure provided by this invention has at least the following beneficial effects: The facial skin structure provided by this invention includes a head support, a facial skin body, an insert, and a driving mechanism, and is used to implement the above-mentioned expression switching method. By adopting the above-mentioned expression switching method, the mechanical feeling during the expression switching process can be reduced, and the facial skin structure can smoothly switch from the current expression to the target expression, making the facial skin structure more realistic.

[0016] On the other hand, the present invention provides a bionic robot including the aforementioned facial skin structure.

[0017] The bionic robot provided by this invention has at least the following beneficial effects: The bionic robot provided by this invention, by having the aforementioned facial skin structure, can reduce the mechanical feeling during the expression switching process, enabling the bionic robot's facial skin structure to smoothly switch from the current expression to the target expression, thereby improving the performance of the bionic robot. Attached Figure Description

[0018] Figure 1 This is a flowchart of the expression switching method in an embodiment of the present invention; Figure 2 This is a schematic diagram of the facial skin structure in an embodiment of the present invention.

[0019] In the picture: 10. The face itself; 20. Inlay; 21. Left eyebrow inlay; 22. Left upper eyelid inlay; 23. Left ear inlay; 24. Nose-lower eyelid inlay; 25. Upper left mouth inlay; 26. Left corner of mouth inlay; 27. Lower left mouth inlay; 28. Lower middle lip inlay; 29. ​​Upper face positioning inlay; 210. Right eyebrow inlay; 211. Right upper eyelid inlay; 212. Right ear inlay; 213. Upper middle lip inlay; 214. Upper right mouth inlay; 215. Right corner of mouth inlay; 216. Lower right mouth inlay; 217. Mushroom screw; 218. Chin inlay. Detailed Implementation

[0020] The technical solution of the present invention will now be clearly and completely described 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.

[0021] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0024] Example 1 like Figure 1 As shown, this embodiment provides an expression switching method applicable to the facial skin structure of a simulation robot. The facial skin structure includes a facial skin body 10 and multiple inserts 20. The expression switching method includes the following steps.

[0025] S10: Receive the expression switching instruction, obtain the displacement A1 of all the embeddings 20 of the current expression and the displacement A2 of all the embeddings 20 of the target expression, and determine whether the current expression can be directly switched to the target expression based on A1 and A2; if not, proceed to S20.

[0026] Specifically, in this embodiment, after receiving the expression switching command, the current displacement A1 of all the embeddings 20 of the current expression and the displacement A2 of all the embeddings 20 of the target expression are obtained. If the difference between A1 and A2 of some embeddings 20 is large, it will cause a large change in the local area of ​​the face body 10 in a short period of time during the expression switching process, making the face body 10 feel mechanical. If the difference between A1 and A2 of some embeddings 20 is small, it will not cause a large displacement change in the local area of ​​the face body 10 during the expression switching process. In this case, it can be switched directly from the current expression to the target expression by default, thereby reducing the mechanical feel of the facial expressions of the bionic robot and improving the realism. Furthermore, determining whether the current expression can be directly switched to the target expression includes the following steps.

[0027] S11. Based on A1 and A2, the displacement Δ of insert 20 is obtained.

[0028] Specifically, in this embodiment, each insert 20 corresponds to a current displacement A1 in the current expression, and each insert 20 corresponds to a target displacement A2 in the target expression. The displacement Δ of the insert 20 is the difference between the target displacement A2 and the current displacement A1.

[0029] S12. Compare the displacement of each insert 20 and obtain the displacement value ΔMax of the insert 20 with the largest displacement.

[0030] Specifically, in this embodiment, the displacement values ​​of each insert 20 are compared to obtain the maximum displacement value ΔMax, and the insert 20 corresponding to ΔMax is the insert 20 with the largest displacement.

[0031] It is understood that in this embodiment, the insert 20 includes a first insert 20, a second insert 20, and a third insert 20. During the process of switching from the current expression to the target expression, the position of the first insert 20 remains unchanged, the displacement of the second insert 20 increases, and the displacement of the third insert 20 decreases. For the second insert 20, the displacement is the difference between the target displacement A2 and the current displacement A1. For the third insert 20, the displacement is the difference between the current displacement A1 and the target displacement A2. This will not be elaborated further here.

[0032] Optionally, in this embodiment, the bionic robot also includes a controller. The controller is used to calculate the displacement Δ. Before the calculation, it first identifies which of the three types of insert 20, the first insert 20, the second insert 20, and the third insert 20, is used. If the insert 20 is the first insert 20, no calculation is performed. If the insert 20 is the second insert 20 or the third insert 20, the corresponding calculation is performed.

[0033] S13. Compare ΔMax with the preset threshold for switching. If ΔMax is greater than or equal to the preset threshold, it is determined that the current expression cannot be directly switched to the target expression.

[0034] Specifically, in this embodiment, the calculated ΔMax is compared with the preset threshold. If ΔMax is greater than or equal to the preset threshold, it is determined that switching directly from the current expression to the target expression will cause the face body 10 to have a mechanical feel, and it is necessary to enter S20. If ΔMax is less than the preset threshold, it is determined that switching directly from the current expression to the target expression will not cause the face body 10 to have a mechanical feel, and the switching can be performed directly.

[0035] Optionally, in this embodiment, the preset threshold for switching can be obtained through simulation analysis, and will not be elaborated here.

[0036] Alternatively, in another embodiment, S11 further includes the following.

[0037] Obtain the initial displacement A3 of all the inserts 20 of the initial expression. Based on A1, A2 and A3, obtain the displacement Δ of the insert 20.

[0038] Specifically, in this embodiment, the initial expression is the expression presented by the face body 10 when it is in a certain state. The initial displacement of the initial expression's insert 20 is A3. A1 is compared with A3 to obtain the displacement Δ1 of the current expression relative to the initial expression. A2 is compared with A3 to obtain the displacement Δ2 of the target expression relative to the initial expression. Δ1 and Δ2 are compared to obtain Δ.

[0039] This method calculates the displacement Δ based on the initial expression. It differs from the method described above, which calculates Δ based on the current expression, only in the reference point. The calculation results are the same, so we will not elaborate further here.

[0040] S20. Obtain the transition expression sequence from the current expression to the target expression based on A1 and A2, and the transition expression sequence includes at least one intermediate expression.

[0041] Specifically, in this embodiment, a transitional expression sequence from the current expression to the target expression is obtained based on A1 and A2, and the transitional expression sequence includes at least one intermediate expression. During the process of switching from the current expression to the target expression, the face body 10 sequentially passes through at least one intermediate expression before switching to the target expression. This avoids the face body 10 from producing a mechanical feel due to excessive displacement of the insert 20. Furthermore, when a human face switches expressions, the changes in the face are continuous and have intermediate states. This method makes the expressions of the bionic robot more realistic.

[0042] Furthermore, S20 also includes: S21A, based on the displacement value ΔMax of the insert 20 with the largest displacement and the maximum allowable step size B per step, the number N1 of intermediate expressions that switch from the current expression to the target expression is obtained.

[0043] Specifically, in this embodiment, the maximum allowable step size B is the maximum amount of movement of the insert 20 without causing the face skin body 10 to exhibit a mechanical sensation during movement. Optionally, the maximum allowable step size B can range from 0.5mm to 2mm, and the range of the maximum allowable step size B is determined by the material and hardness of the face skin body 10, and is not specifically limited here.

[0044] Further, S21A specifically involves: calculating the number of intermediate expressions N1 based on the displacement value ΔMax and the maximum allowable step size B per step, where the formula for calculating N1 is: N1 = ceil(ΔMax÷B) - 1.

[0045] Specifically, in this embodiment, the number of intermediate expressions can be calculated as N1 using the above calculation formula. This allows the current expression to be switched to the target expression after N1+1 expression switching steps. This avoids the face body 10 from having a mechanical feel due to excessive displacement of the insert 20, thereby improving the realism of the facial expressions of the simulation robot.

[0046] S22. The displacement of each insert 20 in each intermediate step is calculated sequentially using the linear interpolation method. The displacement of all inserts 20 in the intermediate steps forms the intermediate expressions of the intermediate steps, and all intermediate expressions form the transition expression sequence.

[0047] Specifically, in this embodiment, if the displacement of each insert 20 at any intermediate step is C, then the displacement at the kth intermediate step is Ck. k Calculate C based on N1, A1, and A2. k The calculation formula is: C k =A1+(k÷N1)×(A2-A1); Where k = 1, 2, ..., N1-1.

[0048] The displacement values ​​C1, C2, ..., C of each insert 20 at each intermediate step are calculated using the above formula. N1-1 The displacement of all inserts 20 at the kth intermediate step forms the kth intermediate expression, and all intermediate expressions form the aforementioned transition expression sequence. During the transition from the current expression to the target expression, the current expression sequentially passes through the first intermediate expression, the second intermediate expression, ... the kth intermediate expression, ... the N1-1th intermediate expression before switching to the target expression, thereby enabling the face body 10 to smoothly transition from the current expression to the target expression and improving the realism of the face structure.

[0049] S30. Under the current expression, control each insert 20 to move according to the transition expression sequence until the target expression is switched.

[0050] Specifically, in this embodiment, by controlling the installation of the transition expression sequence movement of each insert 20, a smooth transition can be achieved during the switching from the current expression to the target expression, reducing the mechanical feel of the face body 10 and improving its performance.

[0051] Optionally, during the process of switching from the current expression to the target expression, each embedding 20 is controlled to maintain a preset holding time when passing through each intermediate expression, thereby enhancing the realism of the facial expression.

[0052] Example 2 This embodiment provides an expression switching method, which differs from the expression switching method in Embodiment 1 in that: S20 further includes the following steps.

[0053] S21B. Based on the current expression and the target expression, obtain the total switching time T from the current expression to the target expression, and based on the total switching time T and the switching frequency F per unit time, calculate the number of intermediate expressions N2 from the current expression to the target expression.

[0054] Specifically, in this embodiment, the total switching time T is the preset switching time from the current expression to the target expression, and F is the switching frequency per unit time. During the process of switching from the current expression to the target expression, the more intermediate expressions there are, the smaller the step size of the insert 20 during the movement, and the lower the probability of the face body 10 exhibiting a mechanical feel, thereby improving the realism of the face structure.

[0055] As an optional technical solution, S21B specifically involves: calculating the number of intermediate expressions N2 based on the total switching time T and the switching frequency F per unit time, where the formula for calculating N2 is: N2 = int(T×F) - 1.

[0056] Specifically, in this embodiment, the number of intermediate expressions can be calculated as N2 using the above calculation formula. This allows the current expression to be switched to the target expression after N2+1 expression switching steps. This avoids the mechanical feel of the face body 10 caused by excessive displacement of the insert 20, thereby improving the realism of the facial expressions of the simulation robot.

[0057] Example 3 like Figure 2 As shown, this embodiment provides a face skin structure, including a head support, a face skin body 10, an insert 20, and a driving mechanism. The driving mechanism is disposed on the head support, and the insert 20 is connected between the face skin body 10 and the driving mechanism. The driving mechanism drives the insert 20 to move, thereby forming an expression on the face skin body 10. The face skin structure is used to implement the expression switching method in Embodiment 1 or Embodiment 2.

[0058] The facial skin structure provided in this embodiment, by employing the above-described expression switching method, can reduce the mechanical feel during the expression switching process, enabling the facial skin structure to smoothly switch from the current expression to the target expression, making the facial skin structure more realistic.

[0059] Optionally, in this embodiment, the contouring inserts include a left eyebrow contouring insert 21, a nose-lower eyelid contouring insert 24, a right eyebrow contouring insert 210, and a chin contouring insert 218. The left eyebrow contouring insert 21 and the right eyebrow contouring insert 210 are respectively provided with a left eyebrow contouring surface and a right eyebrow contouring surface that match the frontal bone of the human face structure; the nose-lower eyelid contouring insert 24 is provided with a nose-lower eyelid contouring surface that matches the nasal bone, infraorbital margin, and nasal cartilage of the human face structure; the chin contouring insert 218 is provided with a chin contouring surface that matches the mandible of the human face structure. This configuration allows the static facial skin structure to approximate the actual facial structure, enhancing the realism of the facial skin structure.

[0060] In this embodiment, as Figure 1As shown, the face structure also includes an upper eyelid left insert 22, an ear left insert 23, a mouth upper left insert 25, a left corner of the mouth insert 26, a mouth lower left insert 27, a lip lower middle insert 28, an upper face positioning insert 29, an upper eyelid right insert 211, an ear right insert 212, a lip upper middle insert 213, a mouth upper right insert 214, a mouth corner right insert 215, and a mouth lower right insert 216, which are used to support the face body and form related target expressions.

[0061] Optionally, in this embodiment, the driving mechanism includes multiple driving structures, and each insert 20 is provided with at least one driving structure. The at least one driving structure provided with respect to the insert 20 is used to drive the insert 20 to move, thereby causing the face body 10 to form the target expression.

[0062] Example 4 This embodiment also provides a bionic robot, including the facial skin structure described above.

[0063] The bionic robot provided in this embodiment, by having the aforementioned facial skin structure, can reduce the mechanical feel during expression switching, enabling the bionic robot's facial skin structure to smoothly switch from the current expression to the target expression, thereby improving the performance of the bionic robot.

[0064] Obviously, the above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. Expression switching method, applicable to a face skin structure of a simulation robot, the face skin structure comprising a face skin body (10) and a plurality of inserts (20), characterized in that, The expression switching method includes: S10: Receive an expression switching instruction, obtain the current displacement A1 of all the embeddings (20) of the current expression and the target displacement A2 of all the embeddings (20) of the target expression, and determine whether the current expression can be directly switched to the target expression based on A1 and A2; if not, proceed to S20. S20. Based on A1 and A2, obtain a transitional expression sequence for switching from the current expression to the target expression, and the transitional expression sequence includes at least one intermediate expression; S30. Under the current expression, control each of the embeddings (20) to move according to the transition expression sequence until the target expression is switched.

2. The expression switching method according to claim 1, characterized by, Determining whether it is possible to switch directly from the current emoji to the target emoji specifically includes: S11. Based on A1 and A2, the displacement Δ of the insert (20) is obtained; S12. Compare the displacement of each of the inserts (20) to obtain the displacement value ΔMax of the insert (20) with the largest displacement. S13. Compare ΔMax with the preset threshold for switching. If ΔMax is greater than or equal to the preset threshold, it is determined that the current expression cannot be directly switched to the target expression.

3. The expression switching method according to claim 1, characterized by, S11 further includes: Obtain the initial displacement A3 of all the inserts (20) of the initial expression, and obtain the displacement Δ of the inserts (20) based on A1, A2 and A3.

4. The expression switching method according to claim 2, characterized by, S20 further includes: S21A, based on the displacement value ΔMax of the insert (20) with the largest displacement and the maximum allowed step size B per step, the number N1 of intermediate expressions that switch from the current expression to the target expression is obtained.

5. The expression switching method according to claim 4, characterized by, Specifically, S21A is: The number of intermediate expressions N1 is calculated based on the displacement value ΔMax and the maximum allowable step size B per step, where N1 is calculated using the following formula: N1=ceil(ΔMax / B)-1.

6. The expression switching method according to claim 4, characterized by, S20 further includes: S22. The displacement of each of the inserts (20) in each intermediate step is calculated sequentially by the linear interpolation method. The displacement of all the inserts (20) in the intermediate step forms the intermediate expression of the intermediate step. All the intermediate expressions form the transition expression sequence.

7. The expression switching method according to claim 2, characterized by, S20 further includes: S21B. Based on the current expression and the target expression, obtain the total switching time T from the current expression to the target expression, and based on the total switching time T and the switching frequency F per unit time, calculate the number N2 of intermediate expressions from the current expression to the target expression.

8. The expression switching method according to claim 7, characterized by, Specifically, S21B is: The number of intermediate expressions N2 is calculated based on the total switching time T and the switching frequency F per unit time, where N2 is calculated using the following formula: N2 = int(T×F) - 1.

9. A face skin structure comprising a head support, a face skin body (10), an insert (20) and a driving mechanism, said driving mechanism being provided in said head support, said insert (20) being connected between said face skin body (10) and said driving mechanism, said driving mechanism forming an expression on said face skin body (10) by driving said insert (20) to move, characterized in that, The facial skin structure is used to implement the expression switching method according to any one of claims 1-8.

10. A biomimetic robot, characterized in that, Includes the facial skin structure as described in claim 9.

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