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Head and eye watching control device of humanoid robot, and control method of control device

A control device and robot technology, which is applied in the field of humanoid robots, can solve the problem that the head and eyes of humanoid robots are not enough to look like humans, and achieve the effect of more degrees of freedom and enhanced robustness

Active Publication Date: 2021-06-11
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Such a traditional control algorithm makes the head and eyes of the humanoid robot less human-like (only one-dimensional and can only judge which direction the robot should turn based on image information)

Method used

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  • Head and eye watching control device of humanoid robot, and control method of control device
  • Head and eye watching control device of humanoid robot, and control method of control device
  • Head and eye watching control device of humanoid robot, and control method of control device

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Embodiment Construction

[0037] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0038] see figure 1 , a humanoid robot head and eye gaze control device provided in this embodiment includes an electric push rod 1, an angle sensor 2, a motor 3, an encoder 4, a camera 5, a first eye rotation steering gear 6, and a second eye rotation Servo 7, microphone array and controller.

[0039] The controller is installed on the torso of the robot. The function of the controller is to connect various sensors and collect information from the sensors, drive the motor and run the algorithm. The controller includes an industrial computer, a single-chip microcomputer, and a motor driver. The industrial computer is responsible for running the algorithm, receiving the camera, The data of the microphone array calculates the motor control amount through the control algorithm, and send...

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Abstract

The invention provides a head and eye watching control device of a humanoid robot. The head and eye watching control device of the humanoid robot comprises an electric push rod for controlling the head of the humanoid robot to move up and down; angle sensors which collect the pitching angle of the head of the humanoid robot and is used for closed-loop control of the electric push rod; a steering engine for controlling eyes of the humanoid robot to rotate; a motor for controlling the head of the humanoid robot to move left and right; an encoder for collecting the rotation angle of the motor; a depth camera for collecting video data and depth data; a microphone array used for identifying the orientation of a user; and a controller used for connecting the sensors and collecting information of the sensors. The invention also provides a control method of the device at the same time, the user is positioned through the camera and the microphone array, and then the corresponding motor is controlled to move to a specified angle. According to the head and eye watching control device of the humanoid robot, and the control method of the control device provided by the invention, when the humanoid robot executes the interaction task, the head and the eyes always watch the face of the user, so that the robot is closer to humans in the aspect of interaction action.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, and in particular relates to a head and eye gaze control device and method of a humanoid robot. Background technique [0002] In the field of robotics, humanoid robots are currently a hot research direction. A prominent feature of humanoid robots is their strong interactivity, so they are often used for welcoming guests and accompanying them. When a humanoid robot performs interactive functions (such as talking and communicating with humans), it needs to make actions and reactions similar to humans, so that the robot can be closer to humans. It is necessary for the robot to make actions and reactions similar to humans, which requires the good cooperation of hardware, sensors, and methods. In the existing robot control system, the method of controlling the robot's gaze is often relatively simple, and some only have the head rotation, such as the Chinese patent application "A robot head a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J13/08B25J19/02
CPCB25J9/10B25J13/087B25J19/023Y02P90/02
Inventor 张智军林俊杰
Owner SOUTH CHINA UNIV OF TECH
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