Two-degree-of-freedom humanoid robot sensing head system

Abstract

The utility model belongs to the technical field of humanoid robots, and particularly relates to a two-degree-of-freedom humanoid robot head sensing system which comprises a movement assembly (1) located at the bottom. The sensing assembly (2) is arranged above the motion assembly (1) and comprises a visual module, an auditory module and an olfactory module; and the calculation and interaction assembly (3) is connected with the sensing assembly (2) and is used for performing calculation processing on the external environment information received by the sensing assembly (2) and making feedback to the outside so as to realize communication and interaction between the humanoid robot and human beings. According to the head sensing system, turnover and pitching motion of a humanoid robot sensing head can be achieved, and the neck of a human is highly simulated; the sensing head system has a multi-dimensional sensing function, so that the humanoid robot has visual, auditory and olfactory functions, richer external environment information is provided for the whole humanoid robot system, and the environmental adaptability of the humanoid robot is improved.

Description

Technical Field

[0001] This utility model belongs to the field of humanoid robot technology, specifically relating to a two-degree-of-freedom humanoid robot sensing head system. Background Technology

[0002] Humanoid robots, integrating advanced technologies such as artificial intelligence, high-end manufacturing, and new materials, are poised to become disruptive products following computers, smartphones, and new energy vehicles, profoundly transforming human production and lifestyles and reshaping the global industrial development landscape. Currently, humanoid robot technology is rapidly evolving, becoming a new frontier in technological competition, a new track for future industries, and a new engine for economic development.

[0003] Humanoid robots need to move, recognize, and interact autonomously like humans, requiring direct and essential 3D vision, hearing, and smell. Currently, there are two main approaches to the sensory head structure of humanoid robots. The first approach involves a sensory head with only basic sensory functions, such as patent CN214081507U (which only has a visual module) and patent CN107948768 A (which only has an auditory module). The second approach focuses on sensory heads that primarily function to interact with humans, making various facial expressions. Examples include patent CN111531553 B (which features a movable mouth and eyes) and patent CN211362285 U (which includes muscle prostheses to mimic human expressions). Utility Model Content

[0004] (a) Technical problems to be solved

[0005] The technical problem to be solved by this utility model is: how to provide a two-degree-of-freedom humanoid robot perception head system, which can realize a wide range of movements and has visual, auditory and olfactory functions, can independently calculate and process external environmental information, and can also interact with people through facial expressions.

[0006] (II) Technical Solution

[0007] To solve the above-mentioned technical problems, this utility model provides a two-degree-of-freedom humanoid robot perception head system, the system comprising:

[0008] Motion component (1), located at the bottom, simulates the human cervical spine, enabling the sensing head to perform rotational and pitching movements;

[0009] The sensing component (2) is disposed above the motion component (1) and includes a visual module, an auditory module and an olfactory module. The sensing component receives external environmental information from the humanoid robot, enabling the humanoid robot to walk autonomously in the external environment.

[0010] The computing and interaction component (3) is connected to the sensing component (2), performs calculations on the external environment information received by the sensing component (2), and provides feedback to the outside world, so as to realize the communication and interaction between the humanoid robot and humans.

[0011] The motion component (1) includes: a cylindrical base (1.1), a drive unit one (1.2), a rotating adapter plate (1.3), a drive unit two (1.4), a pitch support one (1.5), a pitch support two (1.6), a pitch support three (1.7), a deep groove ball bearing (1.8), a pitch support rod one (1.9), a pitch support rod two (1.10), and a support plate one (1.11).

[0012] The cylindrical base (1.1) is fixedly connected to the thoracic cavity assembly of the humanoid robot and serves as the mounting base for the sensing head system.

[0013] The turnover adapter plate (1.3) is fixedly connected to the cylindrical base (1.1);

[0014] The drive unit 1 (1.2) is installed in the cavity formed by the turnover adapter plate (1.3) and the cylindrical base (1.1). The fixed end of the drive unit 1 (1.2) is fixedly connected to the turnover adapter plate (1.3) to drive the head sensing system to rotate.

[0015] The pitch support (1.5) is fixedly connected to the output end of the drive unit (1.2), and there are limit blocks on the pitch support (1.5) and the rotating adapter plate (1.3) to limit the range of rotation of the sensing head.

[0016] The second pitch support (1.6) is fixedly connected to the first pitch support (1.5). The second pitch support (1.6) has a limit block that cooperates with the first pitch support rod (1.9) to limit the pitch movement range of the sensing head.

[0017] Among them, the pitch support three (1.7) is fixedly connected to the pitch support one (1.5);

[0018] The deep groove ball bearing (1.8) is installed in the pitch support three (1.7), and its outer ring is tightly attached to the pitch support three (1.7) to fix the outer ring of the deep groove ball bearing (1.8);

[0019] The second drive unit (1.4) is installed in the cavity formed by the first pitch support (1.5), the second pitch support (1.6), and the third pitch support (1.7) to drive the head sensing system to perform pitch movement. The fixed end of the second drive unit (1.4) is fixedly connected to the second pitch support (1.6).

[0020] The pitch support rod 1 (1.9) is fixedly connected to the output end of the drive unit 2 (1.4) and also fixedly connected to the support plate 1 (1.11); the pitch support rod 2 (1.10) is fixedly connected to the support plate 1 (1.11) and also fits tightly against the inner ring of the deep groove ball bearing (1.8), fixing the inner ring of the deep groove ball bearing (1.8); the pitch support rod 2 (1.10) and the pitch bracket 3 (1.7) are rotatably connected through the deep groove ball bearing (1.8), so that the pitch movement of the sensing head system is supported on both sides.

[0021] The sensing component (2) includes: a speaker bracket (2.1), a speaker (2.2), an interactive display support plate (2.3), a second support plate (2.4), a step-down module (2.5), an olfactory module (2.6), a sound processing unit (2.7), a third support plate (2.8), a visual module mounting plate (2.9), a visual module (2.10), a first microphone support plate (2.11), a second microphone support plate (2.12), a third microphone support plate (2.13), and a microphone (2.14).

[0022] The speaker bracket (2.1) is fixedly connected to the first support plate (1.11), and the speaker (2.2) is fixedly connected to the speaker bracket (2.1); the interactive display screen support plate (2.3) is fixedly connected to the first support plate (1.11), and the interactive display screen support plate (2.3) is fixedly connected to the third support plate (2.8); the second support plate (2.4) is fixedly connected to the first support plate (1.11), the third support plate (2.8), and the third microphone support plate (2.13).

[0023] The olfactory module (2.6) is fixedly connected to the second support plate (2.4) to realize the olfactory function of the sensing head system; the step-down module (2.5) is fixedly connected to the third microphone support plate (2.13). The step-down module converts the high voltage of the humanoid robot power module into a lower voltage output to meet the working requirements of each sensor in the sensing head system.

[0024] The visual module mounting plate (2.9) is fixedly connected to the microphone support plate three (2.13); the visual module (2.10) is fixedly connected to the visual module mounting plate (2.9) to realize the visual function of the head sensing system; the sound processing unit (2.7) is fixedly connected to the support plate two (2.4); the microphone support plate one (2.11) is fixedly connected to the support plate three (2.8) and the microphone support plate three (2.13); the microphone support plate two (2.12) is fixedly connected to the support plate three (2.8) and the microphone support plate three (2.13); the microphone (2.14) is fixedly connected to the microphone support plate three (2.13) and together with the speaker (2.2), realizes the interactive communication function of the head sensing system;

[0025] The computing and interaction component (3) includes: a perception system computing unit (3.1), an interactive display screen (3.2), a perception head shell (3.3), and a projection mask (3.4);

[0026] The perception system computing unit (3.1) is fixedly connected to the support plate (1.11). The perception system computing unit (3.1) performs calculations on the external environment information acquired by the perception system to obtain the real-time position of the humanoid robot and provide feedback.

[0027] The interactive display screen (3.2) is fixedly connected to the interactive display screen support plate (2.3), and the interactive display screen (3.2) displays image information fed back by the computing unit of the perception system;

[0028] The sensing head housing (3.3) is fixedly connected to the support plate one (1.11), support plate three (2.8), and microphone support plate three (2.13), and the sensing head housing (3.3) protects the sensing and computing units inside the sensing head. The projection mask (3.4) is fixedly connected to the sensing head housing (3.3) and projects the image information on the interactive display screen onto the projection mask (3.4).

[0029] (III) Beneficial Effects

[0030] Compared with existing technologies, this utility model provides a two-degree-of-freedom sensing head system. This sensing head system can realize the rotation and pitch movements of the humanoid robot's sensing head, highly simulating the human neck. The sensing head system has multi-dimensional sensing capabilities, enabling the humanoid robot to possess visual, auditory, and olfactory functions, providing richer external environmental information for the entire humanoid robot system and improving its environmental adaptability. This sensing head system also has the function of interacting with humans. Traditional humanoid robot sensing heads achieve this function through complex mechanical structures, such as linkages and gears, and make expressions of joy, anger, sorrow, and happiness through movable mouths and eyes, but cannot interconnect with the external environment. This sensing head system processes external environmental information (sound, smell, light, etc.) through a sensing system computing unit, and projects the image information on the interactive display screen onto the projection mask, thus achieving interaction with the outside world while avoiding complex mechanical structures. Attached Figure Description

[0031] Figure 1 This is an overall schematic diagram of the two-degree-of-freedom sensing head system of this utility model.

[0032] Figure 2 This is a schematic diagram of the internal structure of the two-degree-of-freedom sensing head system of this utility model.

[0033] Figure 3 This is an exploded view of the internal structure of the two-degree-of-freedom sensing head system of this utility model.

[0034] Figure 4 This is a schematic diagram of the external structure of the two-degree-of-freedom sensing head system of this utility model.

[0035] Reference numerals for each figure: Motion component 1, Cylindrical base 1.1, Drive unit one 1.2, Adapter plate 1.3, Drive unit two 1.4, Pitch bracket one 1.5, Pitch bracket two 1.6, Pitch bracket three 1.7, Deep groove ball bearing 1.8, Pitch support rod one 1.9, Pitch support rod two 1.10, Support plate one 1.11; Sensing component 2, Speaker bracket 2.1, Speaker 2.2, Interactive display support plate 2.3, Support plate two 2.4, Step-down module 2.5, Olfactory module 2.6, Sound processing unit 2.7, Support plate three 2.8, Vision module mounting plate 2.9, Vision module 2.10, Microphone support plate one 2.11, Microphone support plate two 2.12, Microphone support plate three 2.13, Microphone 2.14; Computing and interaction component 3, Sensing system computing unit 3.1, Interactive display screen 3.2, Sensing head shell 3.3, Projection mask 3.4. Detailed Implementation

[0036] To make the objectives, contents, and advantages of this utility model clearer, the specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples.

[0037] Example 1

[0038] To solve the above-mentioned technical problems, this utility model provides a two-degree-of-freedom humanoid robot perception head system, the system comprising:

[0039] Motion component (1), located at the bottom, simulates the human cervical spine, enabling the sensing head to perform rotational and pitching movements;

[0040] The sensing component (2) is disposed above the motion component (1) and includes a visual module, an auditory module and an olfactory module. The sensing component receives external environmental information from the humanoid robot, enabling the humanoid robot to walk autonomously in the external environment.

[0041] The computing and interaction component (3) is connected to the sensing component (2), performs calculations on the external environment information received by the sensing component (2), and provides feedback to the outside world, so as to realize the communication and interaction between the humanoid robot and humans.

[0042] Among them, such as Figure 2 , Figure 3 As shown, the motion component (1) includes: a cylindrical base (1.1), a drive unit one (1.2), a rotating adapter plate (1.3), a drive unit two (1.4), a pitch support one (1.5), a pitch support two (1.6), a pitch support three (1.7), a deep groove ball bearing (1.8), a pitch support rod one (1.9), a pitch support rod two (1.10), and a support plate one (1.11);

[0043] The cylindrical base (1.1) is fixedly connected to the thoracic cavity assembly of the humanoid robot and serves as the mounting base for the sensing head system.

[0044] The turnover adapter plate (1.3) is fixedly connected to the cylindrical base (1.1);

[0045] The drive unit 1 (1.2) is installed in the cavity formed by the turnover adapter plate (1.3) and the cylindrical base (1.1). The fixed end of the drive unit 1 (1.2) is fixedly connected to the turnover adapter plate (1.3) to drive the head sensing system to rotate.

[0046] The pitch support (1.5) is fixedly connected to the output end of the drive unit (1.2), and there are limit blocks on the pitch support (1.5) and the rotating adapter plate (1.3) to limit the range of rotation of the sensing head.

[0047] The second pitch support (1.6) is fixedly connected to the first pitch support (1.5). The second pitch support (1.6) has a limit block that cooperates with the first pitch support rod (1.9) to limit the pitch movement range of the sensing head.

[0048] Among them, the pitch support three (1.7) is fixedly connected to the pitch support one (1.5);

[0049] The deep groove ball bearing (1.8) is installed in the pitch support three (1.7), and its outer ring is tightly attached to the pitch support three (1.7) to fix the outer ring of the deep groove ball bearing (1.8);

[0050] The second drive unit (1.4) is installed in the cavity formed by the first pitch support (1.5), the second pitch support (1.6), and the third pitch support (1.7) to drive the head sensing system to perform pitch movement. The fixed end of the second drive unit (1.4) is fixedly connected to the second pitch support (1.6).

[0051] The pitch support rod 1 (1.9) is fixedly connected to the output end of the drive unit 2 (1.4) and also fixedly connected to the support plate 1 (1.11); the pitch support rod 2 (1.10) is fixedly connected to the support plate 1 (1.11) and also fits tightly against the inner ring of the deep groove ball bearing (1.8), fixing the inner ring of the deep groove ball bearing (1.8); the pitch support rod 2 (1.10) and the pitch bracket 3 (1.7) are rotatably connected through the deep groove ball bearing (1.8), so that the pitch movement of the sensing head system is supported on both sides.

[0052] Among them, such as Figure 2 , Figure 3 As shown, the sensing component (2) includes: a speaker bracket (2.1), a speaker (2.2), an interactive display support plate (2.3), a second support plate (2.4), a step-down module (2.5), an olfactory module (2.6), a sound processing unit (2.7), a third support plate (2.8), a visual module mounting plate (2.9), a visual module (2.10), a first microphone support plate (2.11), a second microphone support plate (2.12), a third microphone support plate (2.13), and a microphone (2.14).

[0053] The speaker bracket (2.1) is fixedly connected to the first support plate (1.11), and the speaker (2.2) is fixedly connected to the speaker bracket (2.1); the interactive display screen support plate (2.3) is fixedly connected to the first support plate (1.11), and the interactive display screen support plate (2.3) is fixedly connected to the third support plate (2.8); the second support plate (2.4) is fixedly connected to the first support plate (1.11), the third support plate (2.8), and the third microphone support plate (2.13).

[0054] The olfactory module (2.6) is fixedly connected to the second support plate (2.4) to realize the olfactory function of the sensing head system; the step-down module (2.5) is fixedly connected to the third microphone support plate (2.13). The step-down module converts the high voltage of the humanoid robot power module into a lower voltage output to meet the working requirements of each sensor in the sensing head system.

[0055] The visual module mounting plate (2.9) is fixedly connected to the microphone support plate three (2.13); the visual module (2.10) is fixedly connected to the visual module mounting plate (2.9) to realize the visual function of the head sensing system; the sound processing unit (2.7) is fixedly connected to the support plate two (2.4); the microphone support plate one (2.11) is fixedly connected to the support plate three (2.8) and the microphone support plate three (2.13); the microphone support plate two (2.12) is fixedly connected to the support plate three (2.8) and the microphone support plate three (2.13); the microphone (2.14) is fixedly connected to the microphone support plate three (2.13) and together with the speaker (2.2), realizes the interactive communication function of the head sensing system;

[0056] Among them, such as Figure 2 , Figure 3 , Figure 4 As shown, the computing and interaction component (3) includes: a sensing system computing unit (3.1), an interactive display screen (3.2), a sensing head shell (3.3), and a projection mask (3.4);

[0057] The perception system computing unit (3.1) is fixedly connected to the support plate (1.11). The perception system computing unit (3.1) performs calculations on the external environment information acquired by the perception system to obtain the real-time position of the humanoid robot and provide feedback.

[0058] The interactive display screen (3.2) is fixedly connected to the interactive display screen support plate (2.3), and the interactive display screen (3.2) displays image information fed back by the computing unit of the perception system;

[0059] The sensing head housing (3.3) is fixedly connected to the support plate one (1.11), support plate three (2.8), and microphone support plate three (2.13), and the sensing head housing (3.3) protects the sensing and computing units inside the sensing head. The projection mask (3.4) is fixedly connected to the sensing head housing (3.3) and projects the image information on the interactive display screen onto the projection mask (3.4).

[0060] like Figure 2 , Figure 3As shown in this application, the positions of the motion components, drive unit one and drive unit two, in the two-degree-of-freedom sensing head system are relative and can be interchanged.

[0061] like Figure 2 , Figure 3 As shown, in this application, the sensing components include a visual module, an auditory module, an olfactory module, a sensing system computing unit, a step-down module, etc., and their installation positions may change. The description in the application is not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0062] Furthermore, the terms "support plate one," "support plate two," "support plate three," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. The term "deep groove ball bearing" should be interpreted broadly, and may include crossed roller bearings, spherical plain bearings, etc. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0063] In this application, unless otherwise expressly specified and limited, the terms "rotational connection," "fixed connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0064] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A two-degree-of-freedom humanoid robot sensing head system, characterized in that, The system includes: Motion component (1), located at the bottom, simulates the human cervical spine, enabling the sensing head to perform rotational and pitching movements; The sensing component (2) is disposed above the motion component (1) and includes a visual module, an auditory module and an olfactory module. The sensing component receives external environmental information from the humanoid robot, enabling the humanoid robot to walk autonomously in the external environment. The computing and interaction component (3) is connected to the sensing component (2), performs calculations on the external environment information received by the sensing component (2), and provides feedback to the outside world, so as to realize the communication and interaction between the humanoid robot and humans.

2. The two-degree-of-freedom humanoid robot perception head system as described in claim 1, characterized in that, The motion component (1) includes: a cylindrical base (1.1), a drive unit one (1.2), a rotating adapter plate (1.3), a drive unit two (1.4), a pitch support one (1.5), a pitch support two (1.6), a pitch support three (1.7), a deep groove ball bearing (1.8), a pitch support rod one (1.9), a pitch support rod two (1.10), and a support plate one (1.11); The cylindrical base (1.1) is fixedly connected to the thoracic cavity assembly of the humanoid robot and serves as the mounting base for the sensing head system. The turnover adapter plate (1.3) is fixedly connected to the cylindrical base (1.1); The drive unit 1 (1.2) is installed in the cavity formed by the turnover adapter plate (1.3) and the cylindrical base (1.1). The fixed end of the drive unit 1 (1.2) is fixedly connected to the turnover adapter plate (1.3) to drive the head sensing system to rotate.

3. The two-degree-of-freedom humanoid robot perception head system as described in claim 2, characterized in that, The pitch support (1.5) is fixedly connected to the output end of the drive unit (1.2), and there are limit blocks on the pitch support (1.5) and the rotating adapter plate (1.3) to limit the range of rotation of the sensing head. The second pitch support (1.6) is fixedly connected to the first pitch support (1.5). The second pitch support (1.6) has a limit block that cooperates with the first pitch support rod (1.9) to limit the pitch movement range of the sensing head.

4. The two-degree-of-freedom humanoid robot perception head system as described in claim 3, characterized in that, The pitch support three (1.7) is fixedly connected to the pitch support one (1.5); The deep groove ball bearing (1.8) is installed in the pitch support three (1.7), and its outer ring is tightly attached to the pitch support three (1.7) to fix the outer ring of the deep groove ball bearing (1.8); The second drive unit (1.4) is installed in the cavity formed by the first pitch support (1.5), the second pitch support (1.6), and the third pitch support (1.7) to drive the head sensing system to perform pitch movement. The fixed end of the second drive unit (1.4) is fixedly connected to the second pitch support (1.6).

5. The two-degree-of-freedom humanoid robot sensing head system as described in claim 4, characterized in that, The pitch support rod one (1.9) is fixedly connected to the output end of the drive unit two (1.4) and also fixedly connected to the support plate one (1.11); the pitch support rod two (1.10) is fixedly connected to the support plate one (1.11) and also close to the inner ring of the deep groove ball bearing (1.8), fixing the inner ring of the deep groove ball bearing (1.8). The pitch support rod two (1.10) and the pitch bracket three (1.7) are rotatably connected through the deep groove ball bearing (1.8), so that the pitch movement of the sensing head system is supported on both sides.

6. The two-degree-of-freedom humanoid robot perception head system as described in claim 5, characterized in that, The sensing component (2) includes: a speaker bracket (2.1), a speaker (2.2), an interactive display screen support plate (2.3), a second support plate (2.4), a step-down module (2.5), an olfactory module (2.6), a sound processing unit (2.7), a third support plate (2.8), a visual module mounting plate (2.9), a visual module (2.10), a first microphone support plate (2.11), a second microphone support plate (2.12), a third microphone support plate (2.13), and a microphone (2.14). The speaker bracket (2.1) is fixedly connected to the first support plate (1.11), and the speaker (2.2) is fixedly connected to the speaker bracket (2.1); the interactive display screen support plate (2.3) is fixedly connected to the first support plate (1.11), and the interactive display screen support plate (2.3) is fixedly connected to the third support plate (2.8); the second support plate (2.4) is fixedly connected to the first support plate (1.11), the third support plate (2.8), and the third microphone support plate (2.13).

7. The two-degree-of-freedom humanoid robot perception head system as described in claim 6, characterized in that, The olfactory module (2.6) is fixedly connected to the second support plate (2.4) to realize the olfactory function of the sensing head system; the step-down module (2.5) is fixedly connected to the third microphone support plate (2.13). The step-down module converts the high voltage of the humanoid robot power module into a lower voltage output to meet the working requirements of each sensor in the sensing head system.

8. The two-degree-of-freedom humanoid robot perception head system as described in claim 7, characterized in that, The visual module mounting plate (2.9) is fixedly connected to the microphone support plate three (2.13); the visual module (2.10) is fixedly connected to the visual module mounting plate (2.9) to realize the visual function of the head sensing system; the sound processing unit (2.7) is fixedly connected to the support plate two (2.4); the microphone support plate one (2.11) is fixedly connected to the support plate three (2.8) and the microphone support plate three (2.13); the microphone support plate two (2.12) is fixedly connected to the support plate three (2.8) and the microphone support plate three (2.13); the microphone (2.14) is fixedly connected to the microphone support plate three (2.13) and together with the speaker (2.2), realizes the interactive communication function of the head sensing system.

9. The two-degree-of-freedom humanoid robot perception head system as described in claim 8, characterized in that, The computing and interaction component (3) includes: a sensing system computing unit (3.1), an interactive display screen (3.2), a sensing head shell (3.3), and a projection mask (3.4); The perception system computing unit (3.1) is fixedly connected to the support plate (1.11). The perception system computing unit (3.1) performs calculations on the external environment information acquired by the perception system to obtain the real-time position of the humanoid robot and provide feedback. The interactive display screen (3.2) is fixedly connected to the interactive display screen support plate (2.3), and the interactive display screen (3.2) displays image information fed back by the computing unit of the perception system; The sensing head shell (3.3) is fixedly connected to the support plate one (1.11), support plate three (2.8), and microphone support plate three (2.13), and the sensing and computing unit inside the sensing head is protected by the sensing head shell (3.3).

10. The two-degree-of-freedom humanoid robot sensing head system as described in claim 9, Its features are, The projection mask (3.4) is fixedly connected to the sensing head shell (3.3). The image information on the interactive display screen is projected onto the projection mask (3.4).

Images