Mouth structure of bionic service type humanoid machine

Abstract

The utility model discloses a bionic service type humanoid robot mouth structure which comprises a sensory system and a mouth system connected with the sensory system, and the mouth system comprises a jaw structure, a tooth structure, a lip structure and a tongue structure. The jaw structure, the tooth structure, the lip structure and the tongue structure receive control signals sent by the sensory system to execute corresponding motions, the sensory system is formed by the sensing center, the sensor network, the signal processing unit and the execution unit, timely and effective feedback can be made to external environment changes, and the interaction capacity with the outside is greatly improved; meanwhile, according to the taste sensor, the humanoid robot can test and evaluate the food under the condition that no human testee exists, and the taste sensing system can simulate the function of a human taste sensing system, so that the taste of the food is automatically evaluated.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot bionics, and relates to a mouth structure of a bionic service type humanoid robot. BACKGROUND

[0002] A humanoid robot can be defined as a robot that has some attributes of the appearance and functionality of a human (e.g., torso, head, arms, legs), the ability to use speech recognition and voice synthesis to communicate verbally with humans, etc. This class of robots aims to reduce the cognitive distance between humans and machines.

[0003] In some workplaces, a humanoid robot is required to automatically identify the taste of food, but the existing humanoid robot cannot complete the corresponding work. SUMMARY

[0004] The utility model discloses to overcome at least one prior art deficiency, provide bionic service type humanoid robot mouth structure.

[0005] In order to realize the above-mentioned purpose, the utility model discloses the following technical scheme: bionic service type humanoid robot mouth structure, including sensory system and with the mouth system of sensory system connection, the mouth system includes the jaw structure, tooth structure, lip structure and tongue structure, the jaw structure, tooth structure, lip structure and tongue structure receive the control signal that sensory system sends and carry out corresponding movement to execution;

[0006] Further, the jaw structure includes the upper jaw shell, jaw movable assembly and lower jaw shell, and the left and right ends of the upper jaw shell and the lower jaw shell are rotatably connected through the upper and lower jaw fixing shafts, the upper and lower jaw fixing shafts are installed in the skull structure, and the jaw movable assembly is connected to the upper jaw shell and the lower jaw shell.

[0007] Further, the jaw movable assembly includes a brushless servo, a jaw rear connecting rod structure and a jaw front connecting rod structure, the jaw rear connecting rod structure and the jaw front connecting rod structure are connected with the brushless servo respectively, the jaw rear connecting rod structure and the jaw front connecting rod structure respectively include an upper movable joint, a middle connecting rod and a lower movable joint, the upper movable joint and the lower movable joint are connected to the two ends of the middle connecting rod, the upper movable joint is connected with the fixed pin of the upper jaw shell, the lower movable joint is connected with the fixed pin of the lower jaw shell, and the brushless servo is connected with the upper movable joint.

[0008] Further, the tooth structure includes an upper gum, upper teeth, lower teeth and a lower gum, the upper gum and the lower gum are fixedly arranged on the skull structure, the upper teeth are fixedly arranged on the upper gum, the lower teeth are fixedly arranged on the lower gum, the upper gum is fixedly arranged on the upper jaw shell, and the lower gum is fixedly arranged on the lower jaw shell.

[0009] Further, the lip structure comprises an upper lip, a lower lip and a lip movable assembly, the upper lip is movably connected to the upper jaw shell, the lower lip is movably connected to the lower jaw shell, the lip movable assembly is connected to the upper lip and the lower lip, and the up-down movement and the left-right movement of the upper lip and the lower lip are controlled through the lip movable assembly.

[0010] Further, the eight groups of lip movable assemblies are provided, four groups of the lip movable assemblies are used for connecting the upper lip and the upper jaw shell, the four groups of the lip movable assemblies are distributed along the length direction of the upper lip, and the other four groups of the lip movable assemblies are used for connecting the lower lip and the lower jaw shell.

[0011] Further, the lip movable assembly comprises a servo steering wheel, a movable connecting rod and a movable telescopic rod, the servo steering wheel is installed on the upper jaw shell, the movable connecting rod is connected to the servo steering wheel, one end of the movable telescopic rod is connected to the movable connecting rod, and the other end of the movable telescopic rod is rotatably connected to the upper lip, and the lower lip is movably connected to the lower jaw shell through the movable assembly.

[0012] Further, the mouth structure is provided with a mouth cavity space, the mouth cavity space is fixedly provided with a mounting rack, a tongue structure is mounted on the mounting rack, the tongue structure comprises a controllable telescopic steering wheel, a tongue fetus and a tongue joint structure, the tongue joint structure is composed of a plurality of tongue joints, the plurality of tongue joints are sequentially mounted and connected through connecting pipelines, one end of the tongue joint structure is connected to the mounting rack and connected to the controllable telescopic steering wheel, and the other end of the tongue joint structure is a free end, and the tongue fetus is nested outside the tongue joint structure.

[0013] Further, the tongue structure further comprises a taste perception system, the taste perception system comprises a plurality of high-temperature-resistant taste sensors, and the high-temperature-resistant taste sensors are distributed on the surface of the tongue fetus.

[0014] Further, the mouth cavity space is further provided with a perception organ, and the perception organ integrates a plurality of sensors, including a taste sensor, a touch sensor, a temperature sensor and a pressure sensor.

[0015] In summary, the utility model has the advantages that:

[0016] The sensory system constituted by the perception center, the sensor network, the signal processing unit and the execution unit can make timely and effective feedback to the changes of the external environment, and the interaction ability with the external environment is greatly improved; meanwhile, the taste sensor enables the humanoid robot to test and evaluate food without human testers, the taste perception system can simulate the function of the human taste perception system, and thus the taste of food can be automatically evaluated. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The head of the utility model is a top view.

[0018] Figure 2The jaw structure and tooth structure of the utility model are shown in the figure Figure One .

[0019] Figure 3 The jaw structure and tooth structure of the utility model are shown in the figure Figure Two .

[0020] Figure 4 The jaw structure and tooth structure of the utility model are shown in the figure Figure One .

[0021] Figure 5 The jaw structure and tooth structure of the utility model are shown in the figure Figure Two .

[0022] Figure 6 The jaw structure and tooth structure of the utility model are shown in the figure Figure Three . DETAILED DESCRIPTION

[0023] The embodiments of the present application will be described in detail with specific examples. Those skilled in the art can easily understand other advantages and functions of the present application from the content disclosed in the specification. The present application can also be implemented or applied in other different embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the following examples and features in the examples can be combined with each other without conflict.

[0024] It should be noted that the diagrams provided in the following examples only illustrate the basic concept of the present application in a schematic manner, and only the components related to the present application are shown in the diagrams, not the number, shape and size of the components when actually implemented. The shape, number and proportion of each component in actual implementation can be arbitrarily changed, and the component layout pattern can also be more complex.

[0025] All directional indications (such as up, down, left, right, front, back, transverse, longitudinal, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between the components in a certain specific posture, and if the specific posture changes, the directional indications also change accordingly.

[0026] Due to installation errors and other reasons, the parallel relationship referred to in the embodiments of the present application may actually be an approximate parallel relationship, and the perpendicular relationship may actually be an approximate perpendicular relationship.

[0027] Embodiment one:

[0028] As shown in Figures 1-6 , the bionic service type humanoid robot mouth structure is installed on the skull structure, comprising a sensory system and a mouth system 2.

[0029] The sensory system includes a perception center, a sensor network, a signal processing unit, and an execution unit. The sensor network is connected to the signal processing unit, the signal processing unit is connected to the perception center, and the perception center is connected to the execution unit.

[0030] The sensor network includes a number of sensors, including taste sensors, touch sensors, and other types of sensors, to capture environmental information. The sensor network transmits the captured information to the signal processing unit, and provides various information about the external environment, which is the input source of the perception center.

[0031] The signal processing unit is used to receive raw signals from the sensor network, perform signal processing and preprocessing, enhance the accuracy and stability of the signals, and then transmit the processed signals to the perception center to provide more reliable information for the perception center.

[0032] The perception center, as the intelligent core of the humanoid robot, receives the processed information, analyzes and makes decisions, determines the state of the external environment and the required response, to realize the perception of the surrounding environment and the response to external stimuli. The perception center is connected to the mouth system 2 to realize overall perception and decision-making.

[0033] The perception center uses NVIDIA's Project GR00T and Isaac robot platform's high-performance processor, which uses NVIDIA's unique SoC (system-on-chip) technology, optimized for the needs of complex robot systems, to achieve highly automated and intelligent operation. Specifically, it includes the following functions:

[0034] 1. High-performance computing support:

[0035] The main purpose of NVIDIA's SoC design is to provide sufficient processing power to support the running of AI algorithms and models in robots. This chip integrates a high-efficiency GPU (Graphics Processing Unit), allowing the robot to quickly process perception data and perform real-time complex image recognition, object detection, and environment understanding. This is because GPUs are designed for parallel processing of large amounts of data, making them ideal for performing deep learning tasks.

[0036] 2. Multi-modal sensor fusion:

[0037] In the application of humanoid robots, data from various sensors needs to be integrated and processed, including taste, touch, and position perception. NVIDIA's SoC supports this advanced sensor fusion, allowing the robot to more accurately understand and adapt to its environment. For example, the robot can simultaneously process taste data from a taste sensor and force feedback from a touch sensor to achieve more accurate object manipulation and navigation.

[0038] 3. Low latency real-time response:

[0039] Humanoid robots require extremely low response times when performing tasks such as delivery, rescue, or collaborative work. NVIDIA SoC ensures low latency and high-speed data processing capabilities by optimizing the computing path and improving data transmission efficiency. This allows robots to react quickly in dynamic and unpredictable environments.

[0040] 4. Energy efficiency:

[0041] Considering the need for humanoid robots to operate for long periods on battery power, energy efficiency becomes a key factor in designing SoC. NVIDIA's chips optimize energy consumption while maintaining high performance through advanced manufacturing processes and power management techniques, extending the operating time of robots.

[0042] 5. Software and hardware synergy optimization:

[0043] The Isaac robot platform not only includes hardware SoC, but also covers a complete software development kit (SDK), including simulators, development tools, and pre-trained AI models. These software tools are tightly integrated with SoC hardware, allowing developers to customize and optimize robot behavior for specific application scenarios, thereby improving development efficiency and robot performance.

[0044] The execution unit receives instructions from the perception center and performs corresponding actions or tasks, such as movement, operation of external devices, etc.

[0045] The execution unit can use servo motors, electromagnetic brakes, linear actuators, sensors, and brakes, etc.

[0046] The signal processing unit is the core processing unit for processing all sensory data, including a central processing unit (CPU) and a graphics processing unit (GPU).

[0047] The central processing unit is responsible for processing program instructions, managing software operations and other computing tasks, while the graphics processing unit (GPU) is used for image analysis and machine vision, such as NVIDIA's Jetson series.

[0048] The central processing unit (CPU) can use conventional NVIDIA Jetson AGX Xavier, Intel Core i7-1185G7, AMD Ryzen 9 5900HX, Qualcomm Snapdragon 888, Apple M1, etc.

[0049] The graphics processing unit (GPU) can be a conventional NVIDIA GeForce RTX 3080, AMD Radeon RX6800XT, Intel Iris Xe Graphics G7, Qualcomm Adreno660, Apple M1 GPU, etc.

[0050] The sensory system also includes a sensory central electromagnetic interference prevention system and a sensory central storage chip family. The sensory central electromagnetic interference prevention system realizes electromagnetic interference (EMI) protection. The sensory central electromagnetic interference prevention system uses EMI shielding materials to cover sensitive components with conductive or magnetic materials to reduce the impact of external electromagnetic waves. The sensory central storage chip family is used to store the memory and storage devices of the data collected from various sensor networks, including random access memory (RAM): fast access memory for temporarily storing data in processing, and solid state drive (SSD): for long-term data storage, with faster read and write speed and high durability.

[0051] The sensory central storage chip family can use conventional Samsung PM9A3 E1.S SSD, Western Digital WD Black SN850 NVMe SSD, SK Hynix Gold P31 NVMe SSD, Crucial P5 Plus NVMe SSD, Intel Optane SSD 905P U.2 SSD, etc.

[0052] The sensory system is integrated and installed on the head structure. The rear side of the head structure is also provided with a storage chip card slot and a hatch 12. The hatch 12 can be detachably installed in the storage chip card slot, and the sensory central storage chip family is installed in the storage chip card slot.

[0053] The head structure is provided with an oral cavity space, and the oral system 2 is installed in the oral cavity space. The oral system 2 includes a jaw structure 20, a tooth structure, a lip structure 21 and a tongue structure 23. The oral system 2 is connected with the sensory system to simulate the function and perception process of the human oral cavity.

[0054] The jaw structure 20 includes an upper jaw shell 201, a jaw movable assembly and a lower jaw shell 202. The left and right ends of the upper jaw shell 201 and the lower jaw shell 202 are rotatably connected by an upper and lower jaw fixing shaft 203. The upper jaw shell 201 and the lower jaw shell 202 can rotate in the up-down direction relative to the upper and lower jaw fixing shaft 203. The upper and lower jaw fixing shaft 203 is installed in the head structure 1, so that the upper jaw shell 201 and the lower jaw shell 202 can move up and down relative to the head structure 1.

[0055] The upper jaw shell 201 and the lower jaw shell 202 are made of abs material.

[0056] The jaw moving assembly is provided with two sets, which are symmetrically arranged on the left and right sides, and is connected with the upper jaw shell 201 and the lower jaw shell 202. The jaw moving assembly receives the control signal sent by the execution unit to control the upper jaw shell 201 and the lower jaw shell 202 to perform corresponding movements.

[0057] The jaw moving assembly includes a brushless servo 204, a jaw rear connecting rod structure 205, and a jaw front connecting rod structure 206. The jaw rear connecting rod structure 205 and the jaw front connecting rod structure 206 are respectively connected with the brushless servo 204. The jaw rear connecting rod structure 205 and the jaw front connecting rod structure 206 respectively include an upper movable joint 2051, a middle connecting rod 2052, and a lower movable joint 2053. The upper movable joint 2051 and the lower movable joint 2053 are connected at both ends of the middle connecting rod 2052. The upper movable joint 2051 is connected with the fixed pin of the upper jaw shell 201, and the lower movable joint 2053 is connected with the fixed pin of the lower jaw shell 202. The middle connecting rod 2052 is provided as a telescopic rod. The brushless servo 204 is connected with the upper movable joint 2051 to realize the movement control of the upper jaw shell 201 and the lower jaw shell 202, realize the front and rear movement speed control of the upper jaw shell 201 and the lower jaw shell 202 relative to the skull structure 1, and also realize local micro-motion.

[0058] The brushless servo 204 adopts a 15kg level to provide sufficient power for the movement of the jaw.

[0059] In the embodiment, the upper jaw shell 201 and the lower jaw shell 202 are controlled to perform corresponding movements by the jaw moving assembly. The jaw moving assembly is connected with the execution unit. After processing the jaw moving trigger instruction sent by the perception center, the execution unit sends a jaw control signal to the jaw moving assembly to control the movement of the upper jaw shell 201 and the lower jaw shell 202.

[0060] The jaw moving trigger instruction includes instructions for triggering the up-down movement and the left-right micro-motion of the jaw, i.e., a jaw up-down movement trigger instruction and a jaw left-right micro-motion trigger instruction.

[0061] The jaw up-down movement trigger instruction includes

[0062] Chewing instruction: When the perception center detects food particles or other objects in the oral cavity space, the upper jaw shell 201 is triggered to move up and down to simulate the chewing action and send the food into the oral cavity.

[0063] Voice instruction: When the humanoid robot receives a specific oral instruction, the up-down movement of the jaw is triggered, such as “mouth closing” and “mouth opening”.

[0064] Voice interaction instruction: when the humanoid robot has a voice conversation with the user, trigger the up-down movement of the upper jaw under conditions such as the start of speech and the end of speech.

[0065] Emotion expression instruction: when the humanoid robot needs to simulate a smile or cry, trigger the up-down movement of the upper jaw according to the emotion recognition algorithm;

[0066] Jaw left and right micro-motion trigger instruction includes

[0067] Voice interaction instruction: when the humanoid robot has a voice conversation with the user, trigger the small left and right movement of the upper jaw according to the directionality of the voice instruction, to express the intention of listening or responding;

[0068] Emotion simulation instruction: according to the emotion recognition algorithm to analyze the emotional signals in the environment, for example, when the user's smile or nervousness is detected, trigger the micro-motion of the upper jaw to establish a closer emotional connection with the user.

[0069] The tooth structure includes an upper tooth bed 241, an upper tooth 242, a lower tooth 243, and a lower tooth bed 244. The upper tooth bed 241 and the lower tooth bed 244 are fixedly arranged in the skull structure 1. The upper tooth 242 is fixedly arranged in the upper tooth bed 241, and the lower tooth 243 is fixedly arranged in the lower tooth bed 244. The upper tooth bed 241 is fixedly arranged in the upper jaw shell 201, and the lower tooth bed 244 is fixedly arranged in the lower jaw shell 202. The upper tooth 242 and the lower tooth 243 move synchronously with the upper jaw shell 201 and the lower jaw shell 202. A 15kg level brushless servo motor 204 provides sufficient biting force for the tooth structure.

[0070] In this embodiment, the upper tooth bed 241, the upper tooth 242, the lower tooth 243, and the lower tooth bed 244 are all made of high molecular polymer. The number of teeth of the upper tooth 242 and the lower tooth 243 can be set as needed.

[0071] The lip structure 21 includes an upper lip 211, a lip movable assembly, and a lower lip 212. The upper lip 211 is movably connected to the upper jaw shell 201, and the lower lip 212 is movably connected to the lower jaw shell 202. The lip movable assembly is connected to the upper lip 211 and the lower lip 212, and controls the up-down movement and left-right movement of the upper lip 211 and the lower lip 212 through the lip movable assembly.

[0072] There are eight sets of lip movable assemblies in total. Four sets of lip movable assemblies are used for connecting the upper lip 211 and the upper jaw shell 201. The four sets of lip movable assemblies are evenly distributed along the length direction of the upper lip 211, and are specifically distributed at both ends of the upper lip 211 and in the middle of the upper lip 211. The other four sets of lip movable assemblies are used for connecting the lower lip 212 and the lower jaw shell 202, and are distributed in the same way as described above, which will not be repeated here.

[0073] The lip moving assembly comprises a servo steering engine 213, a moving connecting rod 214 and a moving telescopic rod 215. The servo steering engine 213 is installed on the upper jaw shell 201, the moving connecting rod 214 is connected to the servo steering engine 213, one end of the moving telescopic rod 215 is connected to the moving connecting rod 214, and the other end of the moving telescopic rod 215 is rotatably connected to the upper lip 211. The lower lip 212 is movably connected to the lower jaw shell 202 through the moving assembly, which is the same as the above and will not be repeated here.

[0074] The servo steering engine 213 provides power for the movement of the upper lip 211 and the lower lip 212. The servo steering engine 213 and the moving connecting rod 214 are connected through a universal ball, and the moving connecting rod 214 and the moving telescopic rod 215 are connected through a universal ball, realizing 360° rotation. When the two groups of lip moving assemblies located in the middle of the upper lip 211 and / or the lower lip 212 are activated, the up-and-down movement of the upper lip 211 and / or the lower lip 212 can be realized. When the lip moving assemblies located at both ends of the upper lip 211 and / or the lower lip 212 are activated, the left-and-right movement of the upper lip 211 and / or the lower lip 212 can be realized.

[0075] In this embodiment, the upper lip 211 and the lower lip 212 are made of high-temperature-resistant silicone polymer.

[0076] In this embodiment, the upper lip 211 and the lower lip 212 are controlled to perform corresponding movements by the lip moving assembly. The lip moving assembly is connected to an execution unit. The execution unit receives a lip moving trigger instruction, processes it, and sends a lip control signal to the lip moving assembly, thereby controlling the movement of the upper lip 211 and the lower lip 212.

[0077] The lip moving trigger instruction includes instructions for triggering the up-and-down movement and the left-and-right movement of the lips, i.e., the lip up-and-down movement trigger instruction and the lip left-and-right movement trigger instruction.

[0078] The lip up-and-down movement trigger instruction includes

[0079] Voice instruction: When the humanoid robot receives a specific oral instruction, the up-and-down movement of the lips is triggered, such as "mouth closing" and "mouth opening".

[0080] Emotion expression instruction: When the humanoid robot needs to simulate a smile, expression change or sound, the up-and-down movement of the lips is triggered according to the emotion recognition algorithm.

[0081] The lip left-and-right micro movement trigger instruction includes

[0082] Voice interaction instruction: When the humanoid robot has a voice conversation with the user, according to the directionality of the voice instruction, the small left-and-right movement of the lips is triggered to express the intention of listening or responding.

[0083] Emotion simulation instruction: According to the emotion recognition algorithm to analyze the emotional signals in the environment, for example, when detecting the user's smile or nervousness, trigger the micro-movement of the lips to establish a closer emotional connection with the user.

[0084] The oral cavity space is provided with a mounting rack 230, and the tongue structure 23 is mounted on the mounting rack 230. The tongue structure 23 includes a controllable telescopic rudder, a tongue fetus 231, and a tongue joint structure 232. The tongue joint structure 232 is composed of a plurality of tongue joints 233, which are sequentially mounted and connected through connecting pipelines to form a chain structure similar to a snake, which can realize telescopic and curling movement. One end of the tongue joint structure 232 is connected with the mounting rack 230 and the controllable telescopic rudder, which ensures the movement of the tongue joint structure 232 according to the instruction. The other end of the tongue joint structure 232 is a free end. The tongue fetus 231 is nested outside the tongue joint structure 232. The tongue fetus 231 is made of APS+PC material, and a layer of sheath can be nested outside the tongue fetus 231.

[0085] The sheath of the tongue fetus 231 is made of a special high-molecular polymer, specifically an engineering plastic polyphenylene sulfide (PPS). PPS has very good thermal stability (can be used at 200℃ for a long time, and can withstand up to 260℃ for a short time), and is also very resistant to chemical corrosion and oxidation. PPS has high mechanical strength and certain elasticity.

[0086] The tongue structure 23 also includes a taste perception system that simulates the human taste perception ability. The taste perception system includes a plurality of high-temperature-resistant taste sensors that are evenly distributed on the surface of the tongue fetus 231 for perceiving five basic tastes: sour, sweet, bitter, salty, and umami. Each type of taste has two sensors distributed on the left and right sides to ensure comprehensive coverage and accurate perception of taste stimulation.

[0087] The taste perception system of the humanoid robot in this embodiment enables testing and evaluation of food without human testers. The taste perception system can simulate the function of the human taste perception system, thereby automatically evaluating the taste of food.

[0088] The high-temperature-resistant taste sensor integrates a taste sensor module, which can detect the taste in the oral cavity and convert it into an electrical signal. The tongue joint structure 232 has taste signal lines distributed inside. The electrical signal is transmitted to the signal processing unit through the taste signal lines for processing. The signal processing unit converts the original signal into a digital signal and performs filtering and processing to enhance the accuracy of the signal. The processed signal is sent to the perception center, which analyzes, decodes, and discriminates the signal. It can identify the characteristic patterns of the five basic tastes and compare them with the pre-stored patterns to determine the type and degree of the taste.

[0089] The process of analyzing the signal by the perception center is as follows:

[0090] The perception center receives the digital signals processed by the signal processing unit, which are first analyzed to determine their intensity and pattern, which is the first step in identifying the taste. By amplifying and filtering these signals, the perception center can distinguish which signals are relevant and which are background noise or irrelevant information.

[0091] The process of decoding signals by the perception center is as follows:

[0092] The decoding step involves converting the electrical signals obtained from the analysis stage into specific taste information. This process requires the use of known neural encoding patterns, which are pre-set through extensive sensory tests and data analysis. During the decoding process, the nervous system matches the received signals with these pre-set patterns, such as sweet, sour, bitter, salty, and umami.

[0093] The process of discriminating signals by the perception center is as follows:

[0094] In the discrimination stage, the perception center uses the results of the previous decoding to determine the specific taste category and intensity. This step involves comparing the decoded taste patterns with standard taste patterns stored in a database. Through comparison, the perception center can accurately identify the taste being experienced and assess its intensity.

[0095] The analysis, decoding, and discrimination of signals by the perception center is a highly integrated and automated process that relies on advanced neural networks and machine learning techniques to improve the accuracy and efficiency of recognition. In artificial systems, algorithms and neural network models that simulate these biological processes are used to perform similar tasks.

[0096] This embodiment divides the taste level into 0-10 levels to represent the robot's acceptance of different tastes, and the threshold can be adjusted according to specific circumstances.

[0097] The perception center discriminates the type and degree of taste and sends corresponding control signals to the execution unit to perform corresponding actions.

[0098] The robot expresses its feelings about different tastes through movements of the mouth, sounds, or expressions, etc. according to the detected taste and taste level, i.e. the execution unit makes appropriate responses and decisions according to pre-set patterns and task requirements, so that the tongue structure performs specific actions such as opening and closing, chewing, swallowing, etc., so that the humanoid robot can more realistically simulate the human taste perception process. Specifically:

[0099] Sour: The tongue slightly curls or makes a sour expression, and the voice has a certain sharpness.

[0100] Sweet: The tongue licks the lips or smiles, and the voice has a pleasant tone.

[0101] Bitter: The tongue slightly retracts or makes an unpleasant expression, and the voice may have a suppressed or uncomfortable tone.

[0102] Salt: The tongue protrudes or licks the lips, making a gesture of thirst, and the voice has a sense of thirst.

[0103] Fresh: Slightly open the mouth, accompanied by lip licking, and the voice has a fresh or energetic tone.

[0104] The emotional tone or feeling in the above voice is established by the conventional method of establishing the sour / sweet / bitter / salty / fresh model, which associates the taste with the voice, and the corresponding voice is called by identifying the taste.

[0105] In this embodiment, the tongue structure 23 is controlled by a controllable telescopic rudder to perform corresponding movements. The controllable telescopic rudder is connected to the execution unit, and the execution unit sends tongue control signals to the controllable telescopic rudder after processing the tongue movement trigger instruction, thereby controlling the movement of the tongue structure 23.

[0106] The tongue movement trigger instruction includes instructions for triggering the extension and retraction movement and the curling movement of the tongue, which are respectively the tongue extension and retraction movement trigger instruction and the tongue curling movement trigger instruction.

[0107] The tongue extension and retraction movement trigger instruction includes

[0108] Voice instruction: When the humanoid robot receives a specific oral instruction, the extension and retraction movement of the tongue is triggered, such as "tongue out" and "tongue back" orders.

[0109] Emotion expression instruction: When the humanoid robot needs to simulate swallowing, spitting out objects or expression changes, the extension and retraction movement of the tongue is triggered according to the emotion recognition algorithm.

[0110] The tongue curling movement trigger instruction includes

[0111] Voice interaction instruction: When the humanoid robot has a voice conversation with the user, the tongue curling movement is performed according to the content and emotion of the voice instruction, such as simulating spitting out, licking, etc.

[0112] Emotion simulation instruction: According to the emotion recognition algorithm, analyze the emotional signals in the environment, such as detecting the user's smile, surprise or anger, trigger the tongue micro-movement or curling movement to establish a closer emotional connection with the user.

[0113] The oral cavity space is also provided with a sensory organ, which is a device simulating the function of a human oral cavity, and the sensory organ senses the stimulation in the oral cavity by capturing various stimulation signals inside the oral cavity, such as taste, temperature, texture, etc. The sensory organ integrates a variety of sensors to simulate and evaluate the sensory experience of humans during food intake, including the above-mentioned taste sensors, touch sensors, temperature sensors, pressure sensors, etc. Several types of sensors work together to fully simulate the taste, temperature, texture, etc. of food.

[0114] The installation position of the sensory organ simulates the structural layout of the human oral cavity. The taste sensors and temperature sensors are distributed on the surface of the tongue fetus, the touch sensors and pressure sensors are distributed on the tooth structure, and the temperature sensors are distributed on different parts of the simulated oral cavity to fully capture the experience during food intake.

[0115] The taste of food can be captured by the taste sensor and then processed by the signal processing unit. The sensory center analyzes the signal to obtain the taste. The temperature of the food can be captured by the temperature sensor. The texture of the food refers to the physical composition and feeling of the food, such as hardness, viscosity, humidity, and granularity. The texture is captured by the touch sensor. For example, the tooth structure can evaluate the hardness of the food through the pressure sensor, and the touch sensor can evaluate the viscosity or roughness of the surface of the food.

[0116] Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

Claims

1. A mouth structure for a biomimetic service humanoid robot, installed in the head structure, characterized in that: It includes a sensory system and an oral system connected to the sensory system. The oral system includes the jaw structure, tooth structure, lip structure, and tongue structure. The sensory system includes a sensing center, a sensor network, a signal processing unit, and an execution unit. The sensor network is connected to the signal processing unit, the signal processing unit is connected to the sensing center, and the sensing center is connected to the execution unit. The jaw structure, tooth structure, lip structure, and tongue structure receive control signals from the sensory system and execute corresponding movements.

2. The mouth structure of the biomimetic service humanoid robot according to claim 1, characterized in that: The jaw structure includes an upper jaw shell, a jaw movable component, and a lower jaw shell. The left and right ends of the upper jaw shell and the lower jaw shell are rotatably connected by upper and lower jaw fixing shafts, which are installed on the skull structure. The jaw movable component connects the upper jaw shell and the lower jaw shell.

3. The mouth structure of the biomimetic service humanoid robot according to claim 2, characterized in that: The jaw movement assembly includes a brushless servo, a rear jaw linkage structure, and a front jaw linkage structure. The rear jaw linkage structure and the front jaw linkage structure are respectively connected to the brushless servo. The rear jaw linkage structure and the front jaw linkage structure each include an upper movable section, a middle connecting rod, and a lower movable section. The upper movable section and the lower movable section are connected to the two ends of the middle connecting rod. The upper movable section is connected to the fixing pin of the upper jaw housing, and the lower movable section is connected to the fixing pin of the lower jaw housing. The brushless servo is connected to the upper movable section.

4. The mouth structure of the biomimetic service humanoid robot according to claim 1, characterized in that: The dental structure includes an upper jaw, upper teeth, lower teeth, and a lower jaw. The upper and lower jaws are fixed to the skull structure. The upper teeth are fixed to the upper jaw, the lower teeth are fixed to the lower jaw, the upper jaw is fixed to the maxillary shell, and the lower jaw is fixed to the lower jaw shell.

5. The mouth structure of the biomimetic service humanoid robot according to claim 1, characterized in that: The lip structure includes an upper lip, a lip movement component, and a lower lip. The upper lip is movably connected to the maxillary shell, and the lower lip is movably connected to the lower jaw shell. The lip movement component is connected to the upper and lower lips, and controls the up-and-down and left-and-right movements of the upper and lower lips.

6. The mouth structure of the biomimetic service humanoid robot according to claim 5, characterized in that: The lip movement components consist of eight sets: four sets are used for the connection between the upper lip and the maxillary shell, four sets are distributed along the length of the upper lip, and the other four sets are used for the connection between the lower lip and the maxillary shell.

7. The mouth structure of the biomimetic service humanoid robot according to claim 5, characterized in that: The lip movement assembly includes a servo motor, a movable link, and a movable telescopic rod. The servo motor is mounted on the upper jaw housing, the movable link is connected to the servo motor, one end of the movable telescopic rod is connected to the movable link, and the other end of the movable telescopic rod is rotatably connected to the upper lip. The lower lip is movably connected to the lower jaw housing through the movement assembly.

8. The mouth structure of the biomimetic service humanoid robot according to claim 1, characterized in that: The mouth structure has an oral cavity space, and a mounting frame is fixed in the oral cavity space. The tongue structure is mounted on the mounting frame. The tongue structure includes a controllable telescopic servo, a tongue tire, and a tongue segment structure. The tongue segment structure is composed of several tongue segments, which are installed sequentially and connected by connecting pipelines. One end of the tongue segment structure is connected to the mounting frame and the controllable telescopic servo. The other end of the tongue segment structure is a free end, and the tongue tire is nested outside the tongue segment structure.

9. The mouth structure of the biomimetic service humanoid robot according to claim 8, characterized in that: The tongue structure also includes a taste perception system, which includes several high-temperature resistant taste sensors distributed on the surface of the tongue.

10. The mouth structure of the biomimetic service humanoid robot according to claim 8, characterized in that: The oral cavity space is also equipped with sensory organs, which integrate a variety of sensors, including taste sensors, touch sensors, temperature sensors, and pressure sensors.

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