Robot head structure and humanoid robot

Abstract

This utility model relates to the field of robotics technology and discloses a robot head structure and a humanoid robot. The robot head structure includes: a main head support; a mask connected to the main head support, and the mask and the main head support together enclose a component receiving cavity; the mask covers at least the front and top areas of the robot head structure; a display screen and a positioning microphone array are disposed within the component receiving cavity, with the display screen adapted to face the front area of ​​the mask; the positioning microphone array is arranged facing the top area of ​​the mask; the positioning microphone array has at least two microphone units. The robot head structure provided by this utility model has multiple interaction methods. By setting up the display screen, it can realize video image, text and other interactions; and by using the precise sound positioning of the positioning microphone array, it can easily wake up the humanoid robot from various angles, improving adaptability, without needing to wake it up from a specific position on the front of the robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robot head structure and a humanoid robot. Background Technology

[0002] With the rapid development of artificial intelligence technology, robots are being used more and more widely in various fields such as industry, service, and education. Users' demands for the intelligence and human-like features of robots are also increasing, especially in the design of the robot's head structure. As a crucial interface for human-computer interaction, the quality of the robot's head design directly affects the user experience and the robot's application scope.

[0003] In related technologies, robot head design has several limitations. First, many robot heads have limited functionality, confined to basic visual or auditory interaction, lacking diverse interaction methods. Second, existing robot heads have poor interactivity, especially in noisy environments, often failing to accurately identify the source of sound and unable to effectively wake up from multiple angles and distances, resulting in a poor user experience. Utility Model Content

[0004] In view of this, the present invention provides a robot head structure and a humanoid robot to solve the problem of poor interactivity of robot head structures.

[0005] In a first aspect, this utility model provides a robot head structure, comprising:

[0006] Head support frame;

[0007] The mask is connected to the main head support, and the mask and the main head support together form a component housing cavity; the mask covers at least the front and top areas of the robot's head structure.

[0008] The display screen is used to display information. The display screen is set inside the component housing cavity and is adapted to face the front area of ​​the mask.

[0009] A positioning microphone array for receiving sound signals is disposed within a component housing cavity and is adapted to be arranged facing the top surface area of ​​the mask; the positioning microphone array has at least two microphone units.

[0010] Beneficial effects: The robot head structure provided in the embodiments of this utility model has multiple interaction methods. By setting up a display screen, it can realize video images, text and other interactions; and by using the precise sound positioning of the positioning microphone array, it can easily wake up the humanoid robot from various angles, improving adaptability, eliminating the need to wake it up from a specific position on the front of the robot, improving user convenience and enhancing the human-computer interaction experience.

[0011] In one alternative implementation, the positioning microphone array is constructed in a ring shape, with at least four microphone units arranged along the circumference of the ring.

[0012] Beneficial effects: The ring-shaped positioning microphone array, positioned facing the top of the mask, not only enhances the comprehensiveness of sound capture but also effectively reduces environmental noise interference, ensuring clear sound signals. Through the collaborative processing of multiple microphone units, the system can quickly locate the sound source, achieving precise sound localization. This further improves the robot's interaction capabilities and response speed in complex environments, providing users with a smoother and more natural interactive experience.

[0013] In one alternative embodiment, a pickup hole is provided on the top surface of the mask, and the location of the pickup hole corresponds to the microphone unit of the positioning microphone array.

[0014] Beneficial effects: By opening a sound pickup hole in the top area of ​​the mask, and ensuring that the opening position of the sound pickup hole corresponds to the microphone unit of the positioning microphone array, the sound signal is ensured to be directly transmitted to the microphone unit, reducing attenuation and interference in the sound transmission path, improving the efficiency and accuracy of sound acquisition, further optimizing the robot's auditory perception ability, and enhancing the sensitivity and stability of human-computer interaction.

[0015] In one alternative implementation, the robot head structure further includes:

[0016] An interactive microphone is used to pick up speech. The interactive microphone is located inside the component housing cavity and is adapted to be positioned towards the side area of ​​the head main support.

[0017] And / or, a horn for emitting sound, the horn being disposed within a component housing cavity and adapted to be positioned toward the side area of ​​the head main support.

[0018] Beneficial effects: By setting up an interactive microphone and speaker, voice input and output can be realized, which facilitates voice communication with users, ensures the accurate transmission and reception of information, and makes it convenient to perform voice calls, play music and other operations.

[0019] In one alternative implementation, the robot head structure further includes:

[0020] A camera is used to acquire images. The camera is housed within a component housing cavity and is adapted to face the front area of ​​the mask.

[0021] Beneficial effects: The camera and display screen work together to achieve seamless integration of image acquisition and display, improving the smoothness of interaction.

[0022] In one alternative implementation, the face mask includes:

[0023] The outer cover, made of transparent material, covers the entire outer surface of the mask.

[0024] An inner cover is attached to the inside of the outer cover. The inner cover is made of light-blocking material. The inner cover forms a display screen avoidance part in the area corresponding to the display screen, and / or, the inner cover forms a camera avoidance part in the area corresponding to the camera.

[0025] Beneficial effects: The mask in this embodiment adopts a multi-layer structure design. The outer mask is made of transparent material, which ensures good light transmission, providing a clear field of view for the camera and facilitating the display screen; it also effectively prevents external light interference, ensuring the clear visibility of the content displayed on the screen. The inner mask is attached to the inside of the outer mask and is made of light-shielding material. It effectively shields the internal components and circuits of the robot's head structure, preventing direct exposure to external light and avoiding direct viewing of the internal structure by the user, thus preserving the visual experience.

[0026] In one alternative implementation, the robot head structure further includes:

[0027] The control board is located inside the component housing cavity and is electrically connected to the display screen and the positioning microphone array.

[0028] An internal head support, fixed to the main head support, is suitable for supporting the display screen and / or control board.

[0029] In one alternative implementation, the robot head structure further includes:

[0030] The rotating module is connected to the main head support and is suitable for driving the main head support to rotate relative to the external structure.

[0031] Beneficial effects: The rotating module is connected to the main head support, enabling the head to rotate flexibly, improving the robot's field of vision and enhancing its environmental perception capabilities.

[0032] In one alternative implementation, a mounting notch is formed in the central annular region of the positioning microphone array;

[0033] The robot's head structure also includes:

[0034] The communication and positioning module is used to realize positioning and data transmission. The communication and positioning module is set in the installation notch.

[0035] A shielding cover is located on the side of the positioning microphone array away from the face mask. The shielding cover is used to cover the communication positioning module.

[0036] Beneficial effects: By placing the communication and positioning module within the installation notch, the internal space of the robot's head structure can be made more efficient, improving the overall design compactness.

[0037] Secondly, this utility model also provides a humanoid robot, comprising:

[0038] The robot itself;

[0039] And the robot head structure as described above; the robot head structure is connected to the robot body through a rotating module, and the robot head structure is adapted to rotate relative to the robot body.

[0040] Since humanoid robots include a robot head structure and have the same effects as a robot head structure, they will not be elaborated on here. Attached Figure Description

[0041] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0042] Figure 1 This is a side view of the robot head structure of this utility model;

[0043] Figure 2 This is an exploded view of the robot head structure of this utility model;

[0044] Figure 3 This is an exploded view of the face mask and its internal structure according to the present invention;

[0045] Figure 4 This is a top view of the robot head structure of this utility model.

[0046] Explanation of reference numerals in the attached figures:

[0047] 1. Headrest; 2. Display screen; 3. Camera bracket; 4. Camera;

[0048] 5. Internal support frame; 6. Control board; 7. Rotation module; 8. Face mask; 801. Outer face mask; 802. Inner face mask; 803. Sound pickup hole;

[0049] 9. Interactive microphone; 10. Speaker; 11. Component housing cavity; 13. Shielding cover; 14. Communication positioning module; 15. Positioning microphone array; 151. Mounting notch; 16. Display screen clearance part; 17. Camera clearance part. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0051] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0052] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0053] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0054] With the rapid development of artificial intelligence technology, robots are being used more and more widely in various fields such as industry, service, and education. Users' demands for the intelligence and human-like features of robots are also increasing, especially in the design of the robot's head structure. As a crucial interface for human-computer interaction, the quality of the robot's head design directly affects the user experience and the robot's application scope.

[0055] In related technologies, robot head design has several limitations. First, many robot heads have limited functionality, confined to basic visual or auditory interaction, lacking diverse interaction methods. Second, existing robot heads have poor interactivity, especially in noisy environments, often failing to accurately identify the source of sound and unable to effectively wake up from multiple angles and distances, resulting in a poor user experience.

[0056] Furthermore, to achieve effective visual interaction, visual devices such as cameras and displays need to be integrated into the robot's head. Since the outer surface of the robot's head structure is covered by a mask, the mask must have good light transmittance to ensure clear images captured by the cameras and high visibility of the display content. Simultaneously, the internal components and wiring of the robot's head structure must be effectively shielded to prevent interference from external light and to prevent users from directly viewing the internal structure, which would negatively impact the visual experience. Therefore, how to design the mask of the robot's head structure to balance light transmittance and occlusion has become one of the key challenges in robot head structure design.

[0057] The robot head structure provided by the embodiments of this utility model can meet various interaction needs such as video images, text, and voice, and can achieve sound source localization, enabling effective wake-up from multiple angles and distances in complex environments. At the same time, the mask meets the dual requirements of light transmission and occlusion, ensuring clear images and concealing the internal structure, thus optimizing the visual interaction effect.

[0058] The following is combined with Figures 1 to 4 The following describes embodiments of the present invention.

[0059] According to an embodiment of the present invention, in one aspect, a robot head structure is provided, comprising:

[0060] Head main support 1;

[0061] The mask 8 is connected to the main head support 1, and the mask 8 and the main head support 1 together form a component receiving cavity 11; the mask 8 covers at least the front and top areas of the robot's head structure.

[0062] Display screen 2 is used to display information. Display screen 2 is disposed in component receiving cavity 11 and is adapted to face the front area of ​​mask 8.

[0063] A positioning microphone array 15 is used to receive sound signals. The positioning microphone array 15 is disposed in the component receiving cavity 11 and is adapted to be arranged facing the top surface area of ​​the mask 8. The positioning microphone array 15 has at least two microphone units.

[0064] In some embodiments, the robot head structure further includes:

[0065] An interactive microphone 9 is used to pick up voice. The interactive microphone 9 is disposed in the component housing cavity 11 and is adapted to be arranged toward the side area of ​​the head main support 1.

[0066] And / or, a speaker 10 for emitting sound, the speaker 10 is disposed within the component receiving cavity 11 and is adapted to be arranged toward the side region of the head main support 1.

[0067] In some embodiments, the robot head structure further includes:

[0068] Camera 4 is used to acquire images. Camera 4 is disposed in component housing cavity 11 and is adapted to face the front area of ​​mask 8.

[0069] Display screen 2 is adapted to face the front area of ​​mask 8, and camera 4 is adapted to face the front area of ​​mask 8. By placing both display screen 2 and camera 4 on the front area of ​​mask 8, it ensures that users can clearly see the displayed content during interaction, while also facilitating efficient facial recognition by the robot, thus improving the naturalness and accuracy of human-computer interaction. Camera 4 works in conjunction with display screen 2 to achieve seamless integration of image acquisition and display, enhancing the smoothness of interaction.

[0070] The robot head structure provided in this embodiment of the utility model has multiple interaction methods. By setting up a display screen 2, it can realize video images, text and other interactions; by setting up an interactive microphone 9 and a speaker 10, it can realize voice input and output, which can facilitate voice communication with users, ensure accurate transmission and reception of information, and facilitate voice calls, music playback and other operations; at the same time, through the precise sound positioning of the positioning microphone array 15, it can be easily woken up from various angles, improving adaptability, eliminating the need to wake up from a specific position on the front of the robot, improving user convenience and enhancing the human-computer interaction experience.

[0071] In this embodiment, the positioning microphone array 15 is arranged facing the top area of ​​the mask 8, effectively capturing sound signals from all directions, enhancing the wide-angle sound reception, and ensuring omnidirectional wake-up response.

[0072] The positioning microphone array 15 has at least two microphone units. Through the collaborative work of multiple microphones, it can accurately identify the direction of the sound source, improve the sensitivity and accuracy of sound acquisition, and further optimize the human-computer interaction effect.

[0073] In some embodiments, the positioning microphone array 15 is configured as a ring, and at least four microphone units are arranged along the circumference of the positioning microphone array 15.

[0074] The positioning microphone array 15 is constructed in a ring shape and is arranged facing the top surface of the mask 8. This not only enhances the comprehensiveness of sound capture but also effectively reduces environmental noise interference, ensuring the clarity of the sound signal. Through the collaborative processing of multiple microphone units, the system can quickly locate the sound source, achieving precise sound localization. This further improves the robot's interaction capabilities and response speed in complex environments, providing users with a smoother and more natural interactive experience.

[0075] In some embodiments, a pickup hole 803 is provided on the top surface area of ​​the mask 8, and the location of the pickup hole 803 corresponds to the microphone unit of the positioning microphone array 15.

[0076] By opening a sound pickup hole 803 on the top surface of the mask 8, and the opening position of the sound pickup hole 803 corresponds to the microphone unit of the positioning microphone array 15, it is ensured that the sound signal is directly transmitted to the microphone unit, reducing attenuation and interference in the sound transmission path, improving the efficiency and accuracy of sound acquisition, further optimizing the robot's auditory perception ability, and enhancing the sensitivity and stability of human-computer interaction.

[0077] In some embodiments, the face mask 8 includes:

[0078] The outer cover 801 is made of transparent material and covers the entire outer surface of the mask 8.

[0079] The inner cover 802 is attached to the inside of the outer cover 801. The inner cover 802 is made of light-shielding material. The inner cover 802 forms a display screen avoidance part 16 in the area corresponding to the display screen 2, and / or, the inner cover 802 forms a camera avoidance part 17 in the area corresponding to the camera 4.

[0080] In this embodiment, the mask 8 adopts a multi-layer structure design. The outer mask 801 is made of transparent material, specifically a semi-transparent and semi-reflective material, such as PMMA (polymethyl methacrylate). This ensures good light transmittance, facilitating the view of the camera 4 and the display screen 2, while effectively preventing external light interference and ensuring the clear visibility of the content displayed on the display screen 2. The inner mask 802 is attached to the inside of the outer mask 801 and is made of light-shielding material. It effectively shields the internal components and circuits of the robot's head structure, preventing direct external light and avoiding direct viewing of the internal structure by the user, thus preserving the visual experience.

[0081] Meanwhile, in order to avoid the inner cover 802 from obstructing the camera 4 and the display screen 2, the inner cover 802 is designed with a clearance part in the corresponding area to ensure that the normal operation of the camera 4 and the display screen 2 is not affected.

[0082] In some embodiments, the robot head structure further includes:

[0083] The control board 6 is located inside the component housing cavity 11 and is electrically connected to the display screen 2 and the positioning microphone array 15.

[0084] The internal support 5 of the head is fixed to the main support 1 of the head and is adapted to support the display screen 2 and / or the control board 6.

[0085] In addition, the control board 6 can be electrically connected to the interactive microphone 9, speaker 10, and camera 4 to achieve multimodal interaction. The control board 6 integrates a high-performance processor to quickly process data from various sensors and coordinate the collaborative work of various components, ensuring that the robot responds quickly and operates smoothly.

[0086] The internal support 5 of the head can support various components, improve the stability and durability of the overall structure, and reduce the risk of damage caused by vibration or collision.

[0087] In some embodiments, the robot head structure further includes:

[0088] The rotating module 7 is connected to the head main support 1 and is adapted to drive the head main support 1 to rotate relative to the external structure.

[0089] The rotating module 7 is connected to the head main support 1, which enables the head to rotate flexibly, improves the robot's field of vision, and enhances its environmental perception capabilities.

[0090] In some embodiments, a mounting notch 151 is formed in the annular central region of the positioning microphone array 15;

[0091] The robot's head structure also includes:

[0092] The communication positioning module 14 is used to realize positioning and data transmission, and the communication positioning module 14 is disposed within the installation notch 151;

[0093] The shielding cover 13 is located on the side of the positioning microphone array 15 away from the mask 8. The shielding cover 13 is used to cover the communication positioning module 14.

[0094] The communication positioning module 14 may include, for example, a GPS chip, a Wi-Fi module, a Bluetooth module, or an RTK antenna, to ensure accurate positioning and efficient data transmission. The shielding cover 13 uses electromagnetic shielding material to effectively reduce external electromagnetic interference and ensure the stable operation of the communication positioning module 14.

[0095] Meanwhile, by placing the communication positioning module 14 within the installation notch 151, the internal space of the robot's head structure can be made reasonable, improving the overall design compactness.

[0096] According to an embodiment of the present invention, another aspect provides a humanoid robot, comprising:

[0097] The robot itself;

[0098] And the robot head structure as described above; the robot head structure is connected to the robot body through the rotation module 7, and the robot head structure is adapted to rotate relative to the robot body.

[0099] The robot's head structure is connected to the robot body via a rotating module 7, which facilitates the flexible rotation of the robot's head structure relative to the robot body, enhances the robot's perception and interaction capabilities with the surrounding environment, and improves overall operational efficiency and user experience.

[0100] Obviously, the above embodiments are merely examples for clear illustration and are not intended to limit the implementation. Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and all such modifications and variations fall within the scope defined by the present invention.

Claims

1. A robot head structure, characterized in that, include: Main head support (1); A mask (8) is connected to the main head support (1), and the mask (8) and the main head support (1) together form a component receiving cavity (11); the mask (8) covers at least the front and top areas of the robot head structure; A display screen (2) for displaying information is disposed in the component receiving cavity (11) and the display screen (2) is adapted to be arranged facing the front area of ​​the mask (8); A positioning microphone array (15) for receiving sound signals is disposed within the component receiving cavity (11) and is adapted to be arranged toward the top surface region of the mask (8); the positioning microphone array (15) has at least two microphone units.

2. The robot head structure according to claim 1, characterized in that, The positioning microphone array (15) is constructed in a ring shape, and at least four microphone units are arranged along the circumference of the positioning microphone array (15).

3. The robot head structure according to claim 2, characterized in that, The top surface area of ​​the mask (8) is provided with a pickup hole (803), and the position of the pickup hole (803) corresponds to the microphone unit of the positioning microphone array (15).

4. The robot head structure according to claim 1, characterized in that, The robot head structure also includes: An interactive microphone (9) is used to pick up voice. The interactive microphone (9) is disposed in the component housing cavity (11) and the interactive microphone (9) is adapted to be arranged toward the side area of ​​the head main support (1). And / or, a horn (10) for emitting sound, the horn (10) being disposed within the component receiving cavity (11) and the horn (10) being adapted to be arranged toward the side region of the head main support (1).

5. The robot head structure according to claim 1, characterized in that, The robot head structure also includes: A camera (4) is used to acquire images. The camera (4) is disposed in the component receiving cavity (11) and is adapted to be arranged facing the front area of ​​the mask (8).

6. The robot head structure according to claim 5, characterized in that, The face mask (8) includes: The outer cover (801) is made of transparent material and covers the entire outer surface of the mask (8); An inner cover (802) is attached to the inside of the outer cover (801). The inner cover (802) is made of light-shielding material. The inner cover (802) forms a display screen avoidance part (16) in the area corresponding to the display screen (2), and / or, the inner cover (802) forms a camera avoidance part (17) in the area corresponding to the camera (4).

7. The robot head structure according to any one of claims 1 to 6, characterized in that, The robot head structure also includes: A control board (6) is disposed in the component receiving cavity (11), and the control board (6) is electrically connected to the display screen (2) and the positioning microphone array (15); An internal head support (5) is fixed to the main head support (1), and the internal head support (5) is adapted to support the display screen (2) and / or the control board (6).

8. The robot head structure according to any one of claims 1 to 6, characterized in that, The robot head structure also includes: A rotating module (7) is connected to the head main support (1), and the rotating module (7) is adapted to drive the head main support (1) to rotate relative to the external structure.

9. The robot head structure according to claim 2, characterized in that, An installation notch (151) is formed in the central annular region of the positioning microphone array (15); The robot head structure also includes: A communication positioning module (14) is used to realize positioning and data transmission, and the communication positioning module (14) is disposed in the installation notch (151); A shielding cover (13) is disposed on the side of the positioning microphone array (15) away from the mask (8), and the shielding cover (13) is used to cover the communication positioning module (14).

10. A humanoid robot, characterized in that, include: The robot itself; And the robot head structure as described in any one of claims 1 to 9 above; The robot head structure is connected to the robot body via a rotation module (7), and the robot head structure is adapted to rotate relative to the robot body.

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