Robotic head

Abstract

The present invention relates to a robotic head configured to display a dynamic face, comprising a frame (10) formed by at least one wall (11) and defining a chamber (12) having an opening; a translucent projection screen having at least one hollow protrusion; wherein the screen is secured to the frame (10) and closes the opening; electronic components attached to the wall (11); wherein the electronic components comprise a projector (30), a ventilation system (40), a reflective surface and a graphics processor; and wherein the projector (30) projects the image onto the reflective surface, the graphics processor transforms the projected image to adapt it to the projection screen, and the adapted image is projected onto the projection screen, and the ventilation system (40) is configured to cool the projector (30).

Description

Robotic head

[0001] The present invention relates to the field of robots, in particular humanoid robots. More specifically, the invention relates to a robotic head intended to interact with its environment. STATE OF THE ART

[0002] Known in the prior art is a robot comprising a robotic head with a flat or curved, or even spherical, display screen. This display screen is mounted on a housing inside which are arranged electronic components connected to the display screen and allowing the projection onto the display screen of the robot's facial image.

[0003] Since the electronic components are arranged in a housing separate from the display screen, the robotic head is very bulky. In addition, the display screen onto which the robot's facial image is projected has a regular surface allowing for correct projection of the image but does not allow for a realistic robotic head corresponding to the head of a human and / or an animal, for example.

[0004] Also known is a robotic head comprising a face mask onto which the facial image of the robot is projected by means of a projector. The facial image comprises a plurality of reference landmarks and a character animation application for animating the projected image. The distance between the face mask and the projector lens is variable so as to adapt the clarity of the projected image. In addition, the robotic head comprises a camera recording an image of the face mask with the plurality of projected landmarks, a processor coupled to the camera and configured to determine a plurality of distances between the location of each of the landmarks on the face mask relative to an expected location of the landmarks, and then the processor calculates a transformation based on said distances and applies said transformation to the facial images.Such a method allows correct projection of the facial image onto a face mask with irregular shapes such as protrusions for example.

[0005] However, all or part of the electronic components enabling the projection of the facial image and the projector are arranged outside the robotic head for reasons of electronic installation complexity and due to lack of space in the robotic head. Thus, the robotic head has a large footprint. Conversely, housing all of said components inside the robotic head would, based on the state of the art, create problems in terms of heat concentration and cooling of said components.

[0006] Furthermore, the facial image is projected onto the face mask by the projector through a glass lens, refracting the light from the projected image into the thickness of the glass, creating a double, reflected image. The image resolution is degraded. The components enabling the projection of the facial image cause overheating within the robotic head, forcing it to be open to the outside.

[0007] The present invention therefore aims to solve at least in part the aforementioned problems by proposing an ergonomic and realistic robotic head, i.e. corresponding to the head of a human and / or an animal for example, having an improved resolution of the projected image and better heat dissipation. PRESENTATION OF THE INVENTION

[0008] More specifically, the invention relates to a robotic head for a robot, configured to display a dynamic face. Said robotic head comprises: a frame formed by a plurality of walls and delimiting an interior chamber having an opening; a translucent projection screen having an interior face and an exterior face having at least one hollow protuberance. Said projection screen is fixed to the frame and closes said opening of said interior chamber of the frame, the interior face being oriented towards the interior chamber. Said robotic head comprises electronic components fixed to different walls of the frame. The electronic components comprise at least one projector, a ventilation system, a reflection surface and a graphics processor.The projector projects the image onto the reflective surface, the graphics processor transforms the projected image to fit the projection screen, the fit image is projected onto the projection screen, and the ventilation system is configured to cool the projector. Further, the graphics processor and the projector are disposed on opposite walls of the interior chamber, the projector being disposed in an upper portion of the chassis, the reflective surface being disposed in a bottom portion of the chassis opposite the opening of the interior chamber, the projector being oriented so as to project an image onto the reflective surface, the graphics processor being disposed in a lower portion of the chassis, opposite the upper portion with respect to the interior chamber, and the ventilation system being disposed in the chassis adjacent the projector, so as to cool the projector.

[0009] The projector is oriented towards the reflection surface, so as to project an image onto said reflection surface, located in the bottom of the inner chamber of the chassis. The projector projects the image of the face onto the reflection surface, the graphics processor transforms the projected image to adapt it to the projection screen, and in particular to adapt to the different protrusions of the projection screen so that the image is not distorted. In particular, the image adapted to the protrusions allows the robot to have a dynamic face, having an interaction with the user and having facial movements comparable to those of a human and / or an animal, in order to facilitate its acceptance by the user. The reflection surface is a reflective glass lens, that is to say there is no refraction of light within the thickness of the glass, no double reflected image, and therefore an improved image resolution.Additionally, for better heat dissipation, an air duct has been added, guiding the air towards the fan and then towards the outside of the robotic head.

[0010] Thus, the shape of the robotic head and the arrangement of the components, arranged on the inner chamber, contribute to arranging the components close to external parts, in other words close to the shell, the robotic head (in particular the projector in the upper part and the graphics processor in the lower part), so that they have easy access to the outside air for their cooling.

[0011] Advantageously, the robotic head further comprises at least one motor and at least one pulley system connected to the motor by means of a belt, said motor and said pulley system being connected to the wall of the chassis, said motor and said pulley system being configured to allow mobility of an ear of the robotic head.

[0012] The robotic head preferably has two ears on either side of the face and the projection screen. In particular, by means of the motor of the pulley system and the belt, the ears are movable. The movement of the ears can for example be associated with the photos and / or videos taken by a camera so as to allow a reaction to the facial expressions of a user of the robot and to associate them with an emotion or even a reaction. The robotic head could then be configured to associate this emotion with a predefined ear movement, making it possible to interact with said user by reacting to his emotion. The ear movement can correspond to an identical movement between the two ears of the robot or to a distinct movement between each ear.

[0013] Similar to what has already been described with regard to the projector and the graphics processor, the ear motors are also preferably located close to the shell of the robotic head, on either side of the inner chamber, to facilitate cooling thanks to the proximity of the outside air.

[0014] Advantageously, the robotic head further comprises a camera connected to the wall of the chassis, and configured to capture images and / or videos of the environment of the robotic head.

[0015] Capturing images and / or videos of the robotic head's environment makes it possible, for example, to take photos and / or videos of the facial expressions of a robot user and associate them with an emotion or even a reaction. The robotic head could then be configured to associate a predefined image with this emotion, making it possible to interact with said user by reacting to their emotion.

[0016] Advantageously, the projection screen has a plurality of hollow protrusions configured to allow the projection screen to have the shape of a human and / or animal face.

[0017] The projection screen has a protrusion to represent the relief of a nose on the face, two protrusions on either side of the protrusion representing the nose, so as to represent the cheekbones of the face. It is obvious that the projection screen can have as many protrusions as necessary, with desired dimensions. The different protrusions allow the robot's face to resemble as much as possible the face of a human and / or an animal and therefore facilitate its acceptance by a user.

[0018] Advantageously, a cover is arranged around the chassis so as to house said chassis and the electronic components, said cover having an opening, corresponding to the opening of the interior chamber of the chassis, the projection screen being configured to both close the opening of said interior chamber of the chassis and the opening of the cover.

[0019] The hood takes the form of a skull and, by housing the electronic components and allowing the attachment of the projection screen, makes the robotic head visually similar to a human and / or animal head, while making it ergonomic and mobile. The hood also protects the various electronic components.

[0020] Advantageously, the robotic head further comprises a connectivity system connected to the chassis and configured to allow the robotic head to communicate with an external control unit.

[0021] Advantageously, the robotic head comprises a connection portion connected to the chassis, said connection portion being configured to allow the robotic head to be connected to a robot body.

[0022] Advantageously, the projection screen is made of polycarbonate. PRESENTATION OF FIGURES

[0023] The invention will be better understood on reading the following description, given solely by way of example, and referring to the appended drawings given as non-limiting examples, in which identical references are given to similar objects and in which:

[0024] This is a schematic representation, seen from the left, of a robotic head according to the invention, comprising a cover on which a projection screen and robot ears have been fixed;

[0025] This is a similar view of the robotic head, with the cover and projection screen removed, revealing the chassis connected to the electronic components;

[0026] This is a similar view of the robotic head, with the electronic components removed, allowing the entire chassis to be visible;

[0027] This is a schematic representation, in perspective, seen from behind, of the projection screen of the robotic head of the ;

[0028] This is a schematic representation, seen from above and to the left, of the robotic head of the ;

[0029] This is a similar view of the robotic head, with the cover and projection screen removed, revealing the chassis connected to the electronic components;

[0030] This is a similar view of the robotic head, with the electronic components removed, allowing the entire chassis to be visible; and

[0031] This is a front view of the robotic head, making the reflective surface of the electronic components visible.

[0032] It should be noted that the figures set out the invention in detail to enable the invention to be implemented; although not limiting, said figures serve in particular to better define the invention where appropriate. DETAILED DESCRIPTION OF THE INVENTION

[0033] The invention relates to a robotic head 1 for a robot. In particular, the robot, not shown, may for example comprise a single spherical wheel intended to be in contact with the ground. It may comprise a platform, mounted on the spherical wheel by means of stabilizing means. The robot may rest on the spherical wheel by means of the platform. This type of robot is commonly called a "ballbot".

[0034] It is obvious to those skilled in the art that the robotic head 1 which is the subject of the invention can also be for any other type of robot, other than a ballbot, such as for example a humanoid robot, moving by means of robotic legs. The ballbot is only one particular embodiment of the invention.

[0035] The robotic head 1 shown in Figures 1 to 8 is configured to display a dynamic face. In other words, the robotic head 1 is configured to display a face of the robot in motion. The face of the robot may also be static at times. The robotic head 1 is generally spherical, substantially protruding towards the rear, which makes it possible to accommodate at least two ventilation devices, in particular described below.

[0036] The dynamic face of the robotic head 1 allows the robot to interact with its environment, for example by expressing emotions. Emotions can be expressed by the movement of the face's eyes, by the movement of the mouth, or by the display of colors on the face.

[0037] The face of the robotic head 1 can then express the emotions of a human face or an animal face.

[0038] The robotic head 1 comprises a chassis 10, visible in figures 2, 3, 6 to 8, a projection screen 20, shown in figures 1, 4 and 5, and electronic components, visible in figures 2, 6 and 8.

[0039] With reference to Figures 3 and 7, the frame 10 is formed by a plurality of walls 11.

[0040] The walls 11 of the frame 10 take the shape of the cranium of a human or an animal.

[0041] The walls 11 delimit an interior chamber 12 having an opening. In particular, the interior chamber 12 has a substantially quadrangular prism shape, in particular based on a trapezium. It is included within the volume of the robotic head.

[0042] The interior of the chamber 12 is made particularly visible on the. In particular, the interior of the inner chamber 12 remains empty while its various walls, on their external surface, receive various electronic components which are fixed to it.

[0043] The projection screen 20, shown in the, is translucent and has an inner face 22 and an outer face 23.

[0044] The projection screen 20 has at least one hollow protrusion 21.

[0045] The projection screen 20 may have a plurality of hollow protrusions 21, configured to allow the projection screen 20 to have a human and / or animal face shape.

[0046] With reference to figures 1 and 5, the projection screen 20 has a protuberance 21 making it possible to represent the relief of a nose on the face, two protuberances 21 on either side of the protuberance representing the nose, so as to represent the cheekbones of the face.

[0047] It is obvious that the projection screen 20 can have as many protrusions as necessary, with desired dimensions.

[0048] The projection screen 20 is preferably made of polycarbonate.

[0049] Polycarbonate has better impact resistance and therefore provides greater robustness for the robotic head 1. Furthermore, polycarbonate allows for brighter, higher-resolution image projection. Thus, the image projected onto a polycarbonate projection screen 20 allows for better viewing of said image in an environment with high-intensity external light sources.

[0050] The projection screen 20 is fixed to the frame 10 and closes the opening of the inner chamber 12. In particular, the inner face 22 of the projection screen 20 is oriented towards the inner chamber 12. This means that the outer face 23 of the projection screen 20 is oriented towards the outside, i.e. the surrounding environment of the robotic head 1.

[0051] The electronic components are fixed to different walls 11 of the chassis 10. In particular, they comprise at least one projector 30, a ventilation system 40, a reflection surface 60 and a graphics processor 31 and a ventilation system 41 of the graphics processor. The electronic components emitting the most heat, namely the projector and the graphics processor, are in particular arranged on opposite walls of the interior chamber 12.

[0052] The projector 30 projects the image of the face onto the reflection surface 60, the graphics processor transforms the projected image to adapt it to the projection screen, and in particular to adapt to the different protrusions of the projection screen 20 so that the image is not distorted. The adapted image is projected onto the projection screen 20. The ventilation system 40 is configured to cool the projector 30 when it is activated.

[0053] Advantageously, the reflection surface 60 is a glass lens made with a metallic coating, allowing the reflection of the image.

[0054] In particular, with reference to figures 2, 6 and 8, the projector 30 is arranged in an upper portion 13 of the chassis 10; in particular, the projector 30 is fixed on an upper wall of the interior chamber 12. The reflection surface 60 is connected to a bottom portion 14 of the chassis 10 opposite the opening of the interior chamber 12. The projector 30 is oriented so as to project the image of the face onto the reflection surface 60. In addition, the ventilation system 40 is connected to the chassis 10 near the projector 30, so as to cool the projector 30 when it projects the image onto the reflection surface 60.

[0055] With reference to the, the projector 30 is oriented towards the reflection surface 60, so as to project an image onto said reflection surface 60, located in the bottom of the interior chamber 12 of the chassis 10.

[0056] Furthermore, the graphics processor 31 is arranged in a lower portion 15 of the chassis 10, opposite the upper portion 13, opposite the interior chamber 12; in particular, the graphics processor 31 is fixed on a lower wall of the interior chamber 12.

[0057] The interior volume of the interior chamber 12 being preferably empty, and the projector 30 and the graphics processor 31 being arranged opposite each other with respect to the interior chamber 12, their cooling is optimal.

[0058] The electronic components further comprise a camera 85. The camera is connected to a wall 11 of the chassis 10. In particular, the camera 85 is arranged on the front of the interior chamber 12. The camera 85 is configured to capture images and / or videos of the environment of the robotic head 1.

[0059] In particular, capturing images and / or videos of the environment of the robotic head 1 makes it possible, for example, to take photos and / or videos of the facial expressions of a user of the robot and to associate them with an emotion or even a reaction. The robotic head 1 could then be configured to associate a predefined image with this emotion, making it possible to interact with said user by reacting to his emotion.

[0060] The electronic components further comprise a connectivity system 50. The connectivity system 50 is connected to the chassis 10 and is configured to allow the robotic head 1 to communicate with an external control unit.

[0061] With reference to the, the connectivity system 50 is connected to the lower portion 15 of the chassis 10.

[0062] The connectivity system 50 may include at least one Wi-Fi connection and / or at least one Bluetooth connection. The connectivity system 50 therefore makes it possible to connect via Wi-Fi or via any cable communication system, such as a USB-C cable for example, to the robotic head 1.

[0063] The robotic head 1 further comprises a connection portion 90 connected to the chassis 10. The connection portion 90 is configured to allow the robotic head 1 to be connected to a robot body.

[0064] With reference to the, the connection portion 90 is connected to the lower portion 15 of the chassis 10.

[0065] The robotic head 1 further comprises at least one motor 70, as well as a pulley system 71 connected to the motor 70 by means of a belt 72. The motor 70 and the pulley system 71 are connected to the wall 11 of the chassis 10. The motor 70 and the pulley system 71 are configured to allow the mobility of an ear 2 of the robotic head 1.

[0066] Preferably, the robotic head 1 comprises two motors 70 as well as two pulley systems 71 each with a belt 72, each being connected to a wall 11 of the chassis 10. These two assemblies are located on either side of the robotic head 1, that is to say on either side of the opening of the inner chamber 12. Thus, in particular, the projector 30 can be arranged on an upper wall of the inner chamber 12, the graphics processor 31 on a lower wall and the motors 70, on either side, on side walls, opposite one another. In this way, the cooling of these electronic components, - projector 30, graphics processor 31 and motors 70 - is optimal. The heat-emitting electronic components being distant from each other, in particular arranged on different walls of the inner chamber 12, any concentration of heat is avoided.In addition, said components are arranged close to the hull of the robotic head, in other words close to the outside air which also promotes their cooling. For the same reason, the camera 85 is preferably arranged at another wall, namely the front of the interior chamber 12.

[0067] Thus, the robotic head 1 preferably has two ears 2 on either side of the face and the projection screen 20.

[0068] In particular, by means of the motor 70, the pulley system 71 and the belt 72, the ears 2 are movable. The movement of the ears 2 can for example be associated with the photos and / or videos taken by the camera 85 so as to allow a reaction to the facial expressions of a user of the robot and to associate them with an emotion or even a reaction. The robotic head 1 could then be configured to associate a predefined ear movement with this emotion, making it possible to interact with said user by reacting to his emotion.

[0069] The ear movement can correspond to an identical movement between the robot's two ears or to a distinct movement between each ear.

[0070] The robotic head 1 comprises a cover 80, arranged around the chassis 10. The cover 80 makes it possible to house the chassis 10 and the electronic components. The cover 80 has an opening, corresponding to the opening of the interior chamber 12 of the chassis 10. The projection screen 20 is configured to both close the opening of the interior chamber 12 of the chassis 10 and the opening of the cover 80.

[0071] Thus, the cover 80 taking the form of a skull allows, by housing the electronic components and allowing the attachment of the projection screen, to make the robotic head 1 visually similar to a human and / or animal head, while making it ergonomic and mobile.

[0072] The cover 80 also protects the various electronic components.

[0073] It will also be noted that the invention is not limited to the embodiments described above. It will indeed appear to those skilled in the art that various modifications can be made to the embodiment described above, in light of the teaching which has just been disclosed to them.

[0074] In the detailed presentation of the invention given above, the terms used should not be interpreted as limiting the invention to the embodiment set out in the present description, but should be interpreted to include all equivalents whose prediction is within the reach of those skilled in the art by applying their general knowledge to the implementation of the teaching just disclosed to them.

Claims

Robotic head (1) for a robot, configured to display a dynamic face, said robotic head (1) comprising:a chassis (10) formed by a plurality of walls (11) and delimiting an interior chamber (12) having an opening;a translucent projection screen (20) having an interior face (22) and an exterior face (23) having at least one hollow protuberance (21);said projection screen (20) being fixed on the chassis (10) and closing said opening of said interior chamber (12) of the chassis (10), the interior face (22) being oriented towards the interior chamber (12);electronic components fixed to different walls (11) of the chassis (10);the electronic components comprising at least one projector (30), a ventilation system (40), a reflection surface (60) and a graphics processor;said projector (30) projecting the image onto the reflection surface (60),the graphics processor transforming the projected image to adapt it to the projection screen (20), the adapted image being projected onto the projection screen (20) and the ventilation system (40) being configured to cool the projector (30), the graphics processor and the projector (30) being arranged on opposite walls of the interior chamber (12), the projector (30) being arranged in an upper portion (13) of the chassis (10), the reflection surface (60) being arranged in a bottom portion (14) of the chassis (10) opposite the opening of the interior chamber (12), the projector (30) being oriented so as to project an image onto the reflection surface (60), the graphics processor being arranged in a lower portion (15) of the chassis (10), opposite the upper portion (13) with respect to the interior chamber (12), and the ventilation system (40) being arranged in the chassis (10) near the projector (30), to cool the projector (30)., Robotic head (1) according to claim 1, further comprising at least one motor (70) as well as at least one pulley system (71) connected to the motor (70) by means of a belt (72), said motor (70) and said pulley system (71) being connected to the wall (11) of the chassis (10), said motor (70) and said pulley system (71) being configured to allow mobility of an ear (2) of the robotic head (1). Robotic head (1) according to one of claims 1 to 2, further comprising a camera (85) connected to a wall (11) of the chassis (10), and configured to capture images and / or videos of the environment of the robotic head (1) Robotic head (1) according to one of claims 1 to 3, wherein the projection screen (20) has a plurality of hollow protrusions (21) configured to allow the projection screen (20) to have the shape of a human and / or animal face. Robotic head according to one of claims 1 to 4, in which a cover (80) is arranged around the chassis (10) so as to house said chassis (10) and the electronic components, said cover (80) having an opening, corresponding to the opening of the interior chamber (12) of the chassis (10), the projection screen (20) being configured to both close the opening of said interior chamber (12) of the chassis (10) and the opening of the cover (80). Robotic head (1) according to one of claims 1 to 5, further comprising a connectivity system (50) connected to the chassis (10) and configured to allow the robotic head (1) to communicate with an external control unit. Robotic head (1) according to one of claims 1 to 6, comprising a connection portion (90) connected to the chassis (10), said connection portion (90) being configured to allow the robotic head (1) to be connected to a robot body. Robotic head (1) according to one of claims 1 to 7, in which the projection screen (20) is made of polycarbonate.

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