Autonomous sensing head device of robot

Abstract

The utility model relates to an autonomous sensing head device of a robot, belongs to the technical field of robots, and solves the problem of inflexible movement of the head of the robot in the prior art. The head device comprises a rear shell, a front shell, a head assembly and a neck assembly. The head assembly is arranged in a shell formed by the rear shell and the front shell and fixed to the neck assembly through a hole in the bottom of the rear shell. The head assembly comprises a calculation unit, and a motor control panel, a visual unit and a voice unit which are connected with the calculation unit; the front shell face is provided with a long-strip-shaped notch for exposing the visual unit. The neck assembly comprises a neck pitching motor and a neck horizontal rotating motor; and the motor control board, the neck pitching motor and the neck horizontal rotating motor are connected through a CAN bus. Flexible pitching and translation motion is achieved, and components in the head device are reasonable in structure and simple in connection relation.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially, relate to a robot autonomous perception head device. BACKGROUND

[0002] With the continuous development of science and technology, people put forward higher requirements to the working ability of robot, wherein the robot head is an important perception system for cognizing outside environment and realizing barrier-free communication with people, and the design of robot head is particularly important.

[0003] The design of the existing robot head usually focuses on appearance, and pursues the fidelity of face, so that the robot can accurately control the action of eyebrow, eyeball, eyelid and mouth, to realize more human-like action.

[0004] However, the existing robot head cannot move autonomously and flexibly, needs to be installed on the robot body, and realizes the rotation of the head with the rotation of the body, and due to the excessive parts of the head and the limitation of the head space, the control components of the head need to be arranged in the body, thereby generating complex lines, and the control precision of the head is not high. SUMMARY

[0005] In view of the above analysis, the utility model aims at providing a robot autonomous perception head device to solve the problem of unsmooth movement of the existing robot head.

[0006] The utility model mainly aims at realizing the following technical schemes:

[0007] A robot autonomous perception head device, comprising: a rear shell, a front shell, a head assembly and a neck assembly; the head assembly is in the shell formed by the rear shell and the front shell, and is fixed on the neck assembly through the hole in the bottom of the rear shell; the head assembly comprises a computing unit, a motor control board connected with the computing unit, a vision unit and a voice unit; the front shell face is provided with a long strip-shaped opening to expose the vision unit; the neck assembly comprises a neck pitch motor and a neck horizontal rotation motor; the motor control board, the neck pitch motor and the neck horizontal rotation motor are connected through a CAN bus.

[0008] Based on the further improvement of the above scheme, the voice unit comprises a sound pickup sensor, a speech synthesis sensor and a sound pickup sensor control board.

[0009] Based on the further improvement of the above scheme, the head assembly further comprises a head support, the sound pickup sensor control board and the motor control board are arranged in the interior of the head support, the sound pickup sensor and the speech synthesis sensor are arranged on the upper portion of the head support, and the vision unit is arranged in the front upper portion of the head support; the computing unit is arranged at the rear end of the head support.

[0010] Further improvement based on the above scheme, the visual unit in the head assembly is a binocular camera, which is connected with the computing unit through Type-C.

[0011] Further improvement based on the above scheme, the head assembly further comprises an expression panel, which is connected with the computing unit through HDMI and USB; the expression panel is arranged at the front of the head support.

[0012] Further improvement based on the above scheme, the front shell face is provided with a transparent resin square frame at the position corresponding to the expression panel, and the expression panel is displayed through the transparent resin square frame.

[0013] Further improvement based on the above scheme, the neck assembly further comprises a neck support frame and two neck side supports, the neck support frame comprises a bottom plate and side plates on both sides of the bottom plate, and through holes are arranged on the side plates; the neck tilt motor is horizontally arranged in the neck support frame, and the two ends of the neck tilt motor are fixedly connected with one end of a first motor connecting block through the through holes of the side plates of the neck support frame, and the other end of the two first motor connecting blocks is fixedly connected with the lower end of the neck side support on the same side; the upper ends of the two neck side supports are fixedly connected with the head support.

[0014] Further improvement based on the above scheme, the neck assembly further comprises a neck protection shell; the neck horizontal rotation motor is vertically arranged in the neck protection shell, and the upper end of the neck horizontal rotation motor is fixedly connected with one end of a second motor connecting block through the through hole in the top cover of the neck protection shell, and the other end of the second motor connecting block is fixedly connected with the bottom plate of the neck support frame.

[0015] Further improvement based on the above scheme, the neck assembly further comprises a base, which is connected with the bottom cover of the neck protection shell.

[0016] Further improvement based on the above scheme, the head assembly further comprises a power distribution plate, which is arranged at the bottom end of the head support, and the power supply interface of the power distribution plate is exposed through the circular port at the bottom of the rear shell; the power distribution plate is connected with the motor control board and the computing unit.

[0017] Compared with the prior art, the present application can at least realize one of the following beneficial effects:

[0018] 1. The different motors control the head assembly and the neck assembly to flexibly tilt and translate, realize accurate head movement, and enhance the interaction ability and environmental adaptability of the robot; the computing unit and the motor control board arranged in the head device enable the head device to be compatible and integrated with different robot bodies.

[0019] 2. The various components are arranged on the head support, which is compact in structure and simple in arrangement, thereby improving the stability and durability of the structure, and facilitating assembly and maintenance.

[0020] 3. The neck assembly is horizontally and vertically placed with two motors by the neck support frame and the neck protection shell respectively, and the structure is reasonable and ingenious; and the neck side support is connected with the head support, so that the flexible movement of the head is controlled.

[0021] 4. The power distribution is centrally managed by the power distribution plate, so as to provide stable power supply for the computing unit and the motor control plate and other components, and the power supply line design is simplified.

[0022] In the utility model, the above technical solutions can be combined with each other to realize more optional combination solutions. Other features and advantages of the utility model will be described in the following content, and some advantages can become obvious from the description or be understood by implementing the utility model. The purpose and other advantages of the utility model can be realized and obtained through the content specially pointed out in the description and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0023] The drawings are only used for the purpose of showing the specific embodiments, and are not considered as the limitation of the utility model, and the same reference signs represent the same parts in the whole drawings;

[0024] Figure 1 It is the exploded rendering diagram of the robot autonomous perception head device in the utility model embodiment;

[0025] Figure 2 It is the overall structure diagram of the robot autonomous perception head device in the utility model embodiment;

[0026] Figure 3 It is the head assembly and neck assembly structure diagram in the utility model embodiment;

[0027] Figure 4 It is the external schematic diagram of the robot autonomous perception head device in the utility model embodiment;

[0028] Figure 5 It is the head assembly exploded view in the utility model embodiment;

[0029] Figure 6 It is the neck assembly exploded view in the utility model embodiment;

[0030] Reference signs:

[0031] 1 - rear shell; 2 - front shell; 3 - head assembly; 4 - neck assembly; 5 - sound pickup sensor; 6 - speech synthesis sensor; 7 - vision unit; 8 - expression panel; 9 - neck pitch motor; 10 - neck roll motor; 11 - computing unit; 12 - heat dissipation fan; 13 - sound pickup sensor control board; 14 - motor control board; 15 - power distribution board; 16 - head support; 17 - neck side support; 18 - first motor connecting block; 19 - first bearing; 20 - neck support frame; 21 - first retainer ring; 22 - motor connecting block; 23 - second bearing; 23 - second retainer ring. DETAILED DESCRIPTION

[0032] The preferred embodiments of the utility model will be described in detail below with reference to the drawings, wherein the drawings form a part of the present application and are used together with the embodiments of the utility model to explain the principles of the utility model, but are not used to limit the scope of the utility model.

[0033] One specific embodiment of the utility model discloses a kind of robot autonomous perception head device, as shown in Figure 1 , Figure 2 And Figure 3 It includes:

[0034] rear shell 1, front shell 2, head assembly 3 and neck assembly 4;Head assembly 3 is in the shell formed by rear shell 1 and front shell 2, and is connected with neck assembly 4 by the hole in the bottom of rear shell 1;Head assembly 3 includes computing unit 11, and motor control board 14, vision unit 7 and speech unit connected with computing unit 11;Front shell 2 face is provided with long strip shape mouth to expose vision unit 7;Neck assembly 4 includes neck pitch motor 9 and neck roll motor 10;Motor control board 14, neck pitch motor 9 and neck roll motor 10 are connected by CAN bus.

[0035] When implementing, as shown in Figure 4 Front shell 2 is used as the face and head top part of robot, and rear shell 1 is used as the back brain part of robot, and the head size formed by front shell 2 and rear shell 1 is about: high 170mm x thick 165mm x wide 130mm, maximum limit close to human head, and the quality is lighter, about 1.384kg, reduces the burden of neck assembly. The height of the whole head device is about 290mm. After opening, computing unit 11 sends motion angle signal to motor control board 14, and motor control board 14 controls neck pitch motor 9 to pitch (nod) motion, and controls neck roll motor 10 to roll motion (shake head).

[0036] It should be noted that rear shell 1 and front shell 2 are fixed on head assembly 3 by screw, to ensure that rear shell 1 and front shell 2 follow the motion of head assembly 3.

[0037] The computing unit 11 adopts a high-performance and small-size AI edge computer, and is deployed with a voice de-noising component, a voice recognition component, a text prediction component, a voice synthesis component, an emotion classification component, and a target detection and tracking component.

[0038] Exemplarily, the Allspark-OrinNX product is selected, the body shell adopts an aluminum alloy new material, the built-in active cooling device, the size is 102.5mmx62.5mmx31mm, the weight is about 188g, and the product has the advantages of small size and light weight.

[0039] The motor control board 14 is connected with the UART1 interface of the computing unit 11 in a serial communication mode through a UART port, and controls the neck pitching motor 9 and the neck horizontal rotation motor 10 in a CAN bus communication mode. The motor control board takes an STM32 single-chip microcomputer as the core, integrates three function modules of power supply, communication, and control, and reserves two UART redundancies for possible expansion functions.

[0040] The neck pitching motor 9 and the neck horizontal rotation motor 10 adopt a driving motor of the MG4010E-i10v3 type, realize the pitching motion of pitching-65° and looking up +50°, and the horizontal rotation motion of ±90°.

[0041] Further, the visual unit 7 in the head assembly 3 is a binocular camera, which is connected with the computing unit through a Type-C port. Exemplarily, the visual unit 7 adopts the Gemini 2 binocular structured light 3D camera of OBI.

[0042] Further, the voice unit in the head assembly 3 includes the sound pickup sensor 5, the voice synthesis sensor 6, and the sound pickup sensor control board 13. The sound pickup sensor 5 is connected with the sound pickup sensor control board 13, and the sound pickup sensor control board 13 and the voice synthesis sensor 6 are connected with the computing unit 11 through a USB interface. The voice unit is controlled by the computing unit 11 to realize the voice interaction function. The voice synthesis sensor 6 includes a loudspeaker and a sound card.

[0043] The sound pickup sensor 5 adopts a ring microphone. Exemplarily, the sound pickup sensor 5 adopts the M260C ring microphone module of the Kedao Xunfei. The voice sensor control board 13 adopts a signal conversion board, which is used for converting the voice signal collected by the sound pickup sensor 5 and sending the voice signal to the computing unit 11.

[0044] Preferably, a USB HUB is added, the voice synthesis sensor 6 and the sound pickup sensor control board 13 are connected with the USB HUB, and the USB HUB is connected with the computing unit 11.

[0045] As Figure 5As shown, the head assembly 3 further comprises a head support 16, which is a three-dimensional support composed of a head front support, a head rear support, a head upper support, a head lower support, and two head side supports; the pickup sensor control board 13 and the motor control board 14 are relatively fragile, and are arranged in the interior of the head support 16 for protection, and are fixed in the interior of the head support 16, for example, by copper studs and nuts; the pickup sensor 5 and the speech synthesis sensor 6 are arranged on the upper part of the head support, i.e. on the head upper support; a plurality of small air vents are arranged at the corresponding positions on the top end of the front shell 2, facilitating voice emission; the visual unit 7 is arranged on the front upper part of the head support 16, i.e. on the upper end of the head front support, and the camera is exposed through the long strip-shaped opening arranged on the face of the front shell 2, realizing interaction with the outside; the computing unit 11 is arranged on the rear end of the head support 16, i.e. on the head rear support.

[0046] For example, the pickup sensor 5, the speech synthesis sensor 6, the visual unit 7, and the computing unit 11 are all fixed on the corresponding positions of the head support 16 by screws.

[0047] Further, the head assembly 3 further comprises an expression panel 8, which is connected with the computing unit 11 through HDMI and USB interfaces, and is arranged in front of the head support 16, i.e. below the visual unit 7 on the head front support.

[0048] For example, the expression panel 8 adopts a 4.3-inch IPS wide-angle panel, has a resolution of 800x480, a size of 107.1mmx86.4mm, and a super-wide viewing angle of 178°, ensuring clear and stable visual output from almost any angle, and is fixed on the head front support of the head support 16 by screws.

[0049] The face of the front shell 2 is provided with a transparent resin square frame at the position corresponding to the expression panel 8, and the expression panel 8 is displayed through the transparent resin square frame.

[0050] Further, the head assembly 3 further comprises a power distribution board 15, which is arranged at the bottom end of the head support 16, i.e. below the head lower support of the head support 16; the power supply interface of the power distribution board 15 is exposed through the circular port on the bottom of the rear shell 1; for example, the power distribution board 15 is fixed below the head lower support of the head support 16 by copper studs and screws, and is connected with the motor control board 14 and the computing unit 11 to supply power to the motor control board 14 and the computing unit 11.

[0051] Specifically, the power supply of the motor control board 14 comes from the 24V and 5V outputs on the power distribution board. The 24V power supply is the motor power supply, which is transmitted to the neck pitch motor 9 and the neck horizontal rotation motor 10 through the motor control board 14, and the 5V power supply is the motor control board chip set power supply, which comes from the 5V output on the power distribution board.

[0052] As shown in Figure 6 The neck assembly 4 further comprises a neck support frame 20 and two neck side frames 17. The neck support frame 20 comprises a bottom plate and side plates on both sides of the bottom plate, and the side plates are provided with through holes. The neck pitch motor 9 is horizontally arranged in the neck support frame 20, and the two ends of the neck pitch motor 9 are fixedly connected with one end of a first motor connecting block 18 through the through holes of the side plates of the neck support frame 20. The other end of the first motor connecting block 18 is fixedly connected with the lower end of the same side neck side frame 17. The upper end of each neck side frame 17 is fixedly connected with the lower end of the same side head side frame of the head support frame.

[0053] Exemplarily, the fixed connection is realized by screws.

[0054] Preferably, a first bearing 19 is arranged outside each first motor connecting block 18, and the diameter of the first bearing 19 is smaller than the diameter of the through hole of the side plate of the neck support frame 20, so as to reduce the friction when the first motor connecting block 18 rotates and improve the operation efficiency and performance of the neck pitch motor 9. Meanwhile, a first retainer ring 21 is arranged outside each side plate of the neck support frame 20, so as to improve the stability.

[0055] When the neck pitch motor 9 rotates, the neck side frame 17 is driven by the first motor connecting block 18 to perform a pitch movement, so as to drive the head support frame 16 to perform a pitch movement.

[0056] It should be noted that the neck assembly 4 further comprises a neck protection shell. The neck horizontal rotation motor 10 is vertically arranged in the neck protection shell, and the upper end of the neck horizontal rotation motor 10 is fixedly connected with one end of a second motor connecting block 22 through the through hole in the top cover of the neck protection shell. The other end of the second motor connecting block 22 is fixedly connected with the bottom plate of the neck support frame 20.

[0057] Preferably, a second bearing 23 is arranged outside the second motor connecting block 22, and a second retainer ring 24 is arranged outside the through hole in the top cover of the neck protection shell.

[0058] When the neck horizontal rotation motor 10 rotates, the neck support frame 20 is driven by the second motor connecting block 22 to perform a horizontal rotation movement, so as to drive the entire head support frame 16 to perform a horizontal rotation movement.

[0059] Further, the neck assembly 4 further comprises a base, and the base is connected with the bottom cover of the neck protection shell.

[0060] Preferably, as shown in Figure 1As shown, the robot autonomous perception head device of the embodiment further comprises three cooling fans 12 fixed in three protruding square clamping grooves in the inner surface of the rear shell 1, and the rear shell 1 is provided with a plurality of cooling holes at the fixed positions of the cooling fans. The three cooling fans 12 are connected with the power distribution plate 15, and the power distribution plate 15 supplies power to the cooling fans 12.

[0061] Compared with the prior art, the robot autonomous perception head device provided by the embodiment utilizes different motors to control the head assembly and the neck assembly to realize flexible pitching and translation movement, realizes accurate head movement, and enhances the interaction ability and environmental adaptability of the robot; by arranging the computing unit and the motor control board in the head device, the head device has the compatibility and integration capability with different robot bodies. Various components are arranged by using the head support, which is compact in structure and simple in arrangement, thereby improving the stability and durability of the structure, and facilitating assembly and maintenance. The neck assembly horizontally and vertically places two motors through the neck support frame and the neck protection shell, respectively, which is reasonable and ingenious in structure; and the neck side support frame is connected with the head support, thereby controlling the flexible movement of the head. The power distribution plate centrally manages power distribution, thereby providing stable power supply for the computing unit, the motor control board and other components, and simplifying the power supply line design.

[0062] Those skilled in the art can understand that the programs / software involved in the computing unit, the motor control board and the pickup sensor control board in the above embodiment are common methods in the prior art, and the utility model does not involve any improvement in software. The utility model only needs to connect the devices with corresponding functions through the connection relationship given by the embodiment of the utility model, and does not involve any improvement in program / software. As for the connection mode between the hardware devices with corresponding functions, it can be realized by using the prior art, which is not described in detail here.

[0063] The above is only a preferred specific implementation manner of the utility model, but the protection scope of the utility model is not limited to this, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the utility model, which should be covered in the protection scope of the utility model.

Claims

1. A robot autonomous sensing head device, characterized in that, include: Rear shell, front shell, head assembly, and neck assembly; The head assembly is located within the housing formed by the rear shell and the front shell, and is fixed to the neck assembly through a hole at the bottom of the rear shell; the head assembly includes a computing unit, a motor control board, a vision unit, and a voice unit connected to the computing unit; the front shell has an elongated notch on its surface to expose the vision unit; the neck assembly includes a neck pitch motor and a neck lateral motor; the motor control board, the neck pitch motor, and the neck lateral motor are connected via a CAN bus.

2. The robot autonomous sensing head device according to claim 1, characterized in that, The voice unit includes a pickup sensor, a speech synthesis sensor, and a pickup sensor control board.

3. The robot autonomous sensing head device according to claim 2, characterized in that, The head assembly also includes a head support, the sound pickup sensor control board and the motor control board are disposed inside the head support, the sound pickup sensor and the speech synthesis sensor are disposed on the upper part of the head support, the vision unit is disposed on the upper front of the head support, and the computing unit is disposed on the rear end of the head support.

4. The robot autonomous sensing head device according to claim 1, characterized in that, The vision unit in the head assembly is a binocular camera, which is connected to the computing unit via Type-C.

5. The robot autonomous sensing head device according to claim 3, characterized in that, The head assembly also includes an expression panel, which is connected to the computing unit via HDMI and USB; the expression panel is positioned directly in front of the head support.

6. The robot autonomous sensing head device according to claim 5, characterized in that, The front shell has a transparent resin frame at the position corresponding to the expression panel, and the expression panel is displayed through the transparent resin frame.

7. The robot autonomous sensing head device according to claim 3, characterized in that, The neck assembly also includes a neck support frame and two neck side supports. The neck support frame includes a base plate and side plates on both sides of the base plate, each side plate having through holes. The neck pitch motor is horizontally placed inside the neck support frame. Both ends of the neck pitch motor pass through the through holes in the side plates of the neck support frame and are fixedly connected to one end of a first motor connecting block. The other ends of the two first motor connecting blocks are fixedly connected to the lower end of the neck side supports on the same side. The upper ends of the two neck side supports are fixedly connected to the head support.

8. The robot autonomous sensing head device according to claim 7, characterized in that, The neck assembly also includes a neck protective shell; the neck horizontal rotation motor is vertically disposed inside the neck protective shell, the upper end of the neck horizontal rotation motor passes through a through hole on the top cover of the neck protective shell and is fixedly connected to one end of the second motor connecting block, and the other end of the second motor connecting block is fixedly connected to the base plate of the neck support frame.

9. The robot autonomous sensing head device according to claim 8, characterized in that, The neck assembly also includes a base that is connected to the bottom cover of the neck protective shell.

10. The robot autonomous sensing head device according to claim 3, characterized in that, The head assembly also includes a power distribution board, which is located at the bottom of the head support and has its power interface exposed through a circular opening at the bottom of the rear shell; the power distribution board is connected to the motor control board and the computing unit.

Images