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CN-122008268-A - Dynamic bionic robot head skin system and control method thereof

CN122008268ACN 122008268 ACN122008268 ACN 122008268ACN-122008268-A

Abstract

The application provides a head skin system of a dynamic bionic robot and a control method thereof, belonging to the technical field of bionic robots, wherein a skin structure body integrally stacked comprises a flexible substrate functional layer, a flexible electric heating module and a control circuit, wherein the flexible substrate functional layer is integrated with the flexible electric heating module and is used for differentially heating skin; the bionic skin layer is provided with a micropore structure communicated with the elastic cavity, a temperature information acquisition interface is used for acquiring skin temperature data, a pressure regulating module is used for regulating the internal pressure of the elastic cavity, a central controller is used for cooperatively controlling the flexible electric heating module and the pressure regulating module based on the temperature data to execute at least one bionic thermal management response, and the bionic skin layer comprises a thermochromic response, an active cooling sweat response and a basic body temperature maintenance response. The multi-modal dynamic bionic conforming to the physiological logic is realized through intelligent cooperative control, and the simulation degree and interactive reality sense of the head skin of the robot are remarkably improved.

Inventors

  • XIE YUNPENG
  • YU MIAO
  • Gao Daichen

Assignees

  • 杭州今日芯动科技有限公司

Dates

Publication Date
20260512
Application Date
20260414

Claims (10)

  1. 1. A dynamic biomimetic robotic head skin system, comprising: a skin structure of integration range upon range of setting for cover and laminate in robot head surface, skin structure includes: a flexible substrate functional layer integrated with a flexible electrothermal module configured to differentially heat different regions of skin; a functional intermediate layer, which is laminated and combined on the flexible substrate functional layer, wherein at least one elastic cavity filled with functional liquid is arranged in the functional intermediate layer, and at least part of wall materials of the elastic cavity are made of thermochromic elastic materials; The bionic surface layer is laminated and combined on the functional intermediate layer, has a bionic surface texture and is provided with a micropore structure communicated with the elastic cavity; the temperature information acquisition interface is used for acquiring temperature data representing the temperature of at least one area of the skin of the robot; the pressure adjusting module is connected with the elastic chamber and used for adjusting the internal pressure of the elastic chamber; The central controller is connected with the flexible electric heating module, the temperature information acquisition interface and the pressure regulating module; the central controller is configured to cooperatively control the flexible electrothermal module and the pressure regulation module based on the temperature data, performing at least one biomimetic thermal management response; Wherein the thermal management response comprises: The thermochromic response is realized by controlling the flexible electric heating module to increase the temperature of a target area through the central controller so as to trigger the corresponding thermochromic elastic material to change color; an active cooling sweat response, the central controller controlling the pressure regulating module to increase the pressure of the elastic chamber in response to skin temperature exceeding a threshold such that at least a portion of the functional liquid is exuded via the microporous structure; The basal body temperature maintains a response.
  2. 2. The dynamic biomimetic robotic head skin system according to claim 1, wherein the temperature information acquisition interface is connected with at least one temperature sensor provided in the skin structure for sensing the temperature of the area and generating the temperature data.
  3. 3. The dynamic biomimetic robotic head skin system according to claim 2, wherein the at least one temperature sensor comprises a flexible temperature sensor conformally integrated on a surface or inside the flexible substrate functional layer.
  4. 4. The dynamic bionic robot head skin system according to claim 3, wherein the plurality of flexible temperature sensors are arranged in an array to form a flexible temperature sensor array; Each flexible temperature sensor in the flexible temperature sensor array and a plurality of temperature control units which can be independently addressed and controlled in the flexible electrothermal module are correspondingly arranged on the space position.
  5. 5. The dynamic biomimetic robotic head skin system of claim 4, wherein the microporous structure on the biomimetic skin layer forms a plurality of microporous regions; at least part of the flexible temperature sensors in the flexible temperature sensor array are arranged corresponding to the micropore areas in space and are used for monitoring temperature changes of the corresponding micropore areas.
  6. 6. The dynamic biomimetic robotic head skin system according to any one of claims 1-5, wherein said central controller is further configured to execute a cooperative control strategy of: When judging that the specific area has overheat risk and bionic color change requirement at the same time based on the temperature data, controlling the flexible electric heating module to heat the specific area until the thermochromic material reaches a target color change state, and then or synchronously controlling the pressure regulating module to pressurize an elastic cavity corresponding to the specific area.
  7. 7. The dynamic bionic robot head skin system according to claim 1, wherein the central controller is preset with preset temperature thresholds corresponding to different bionic thermal management response modes, and the temperature thresholds comprise a first preset temperature threshold, a second preset temperature threshold, a third preset temperature threshold and a third preset temperature threshold, wherein the second preset temperature threshold is higher than the first preset temperature threshold; Wherein, the central controller judges and triggers corresponding response modes by comparing the temperature data with the temperature threshold value: Triggering the basic body temperature maintenance response when the temperature data is lower than a first preset temperature threshold; Triggering the thermochromic response when the temperature data reaches the second preset temperature threshold but is lower than the third preset temperature threshold; and triggering the active cooling sweat response when the temperature data reaches the third preset temperature threshold.
  8. 8. The dynamic biomimetic robotic head skin system according to claim 1, further comprising a heat dissipation module disposed in the flexible substrate functional layer and arranged corresponding to an area where the temperature indicated by the temperature data is above a preset threshold, the heat dissipation module comprising a heat conduction path and a heat dissipation structure.
  9. 9. The dynamic biomimetic robotic head skin system of claim 1, wherein the pressure regulating module comprises a micropump, a precision pressure sensor and a control valve, forming a closed loop servo control of the pressure within the elastic chamber.
  10. 10. A method for controlling a dynamic biomimetic robotic head skin system as claimed in any one of claims 1-9, comprising the steps of: Acquiring temperature data characterizing the temperature of at least one region of the skin of the robot; Judging a bionic thermal management response mode to be triggered based on the temperature data and a comparison result of the temperature data and a preset temperature threshold; generating a control signal and executing a corresponding bionic thermal management response according to the judged response mode, wherein: If the high-temperature early warning and the bionic blushing response are performed, controlling the flexible electric heating module in the corresponding area to increase the temperature so as to trigger the thermochromic elastic material to change color; If the active cooling and the bionic sweating response are performed, controlling the pressure regulating module to increase the internal pressure of the corresponding elastic cavity, so that at least part of the functional liquid seeps out through the micropore structure; and if the response is maintained for the basic body temperature, controlling the flexible electrothermal module to work so that the skin temperature falls into a target range.

Description

Dynamic bionic robot head skin system and control method thereof Technical Field The application relates to the technical field of bionic robots, in particular to a head skin system of a dynamic bionic robot and a control method thereof. Background With the popularization of bionic robot technology in close-range man-machine interaction scenes such as accompanying, nursing, social interaction and the like, the head of a robot, particularly the face of the robot, has become a core interaction interface for transmitting emotion and establishing trust. Users not only expect that the users have realistic static appearances, but also expect to perceive dynamic physiological feedback such as body temperature, micro-expressions and the like, thereby obtaining interactive experience with more life feeling. Therefore, the simulation of the thermal regulation functions (such as flushing and sweating) and basic thermal sensation of human skin becomes a key for improving the anthropomorphic degree of the robot. At present, bionic researches on robot skin, particularly facial skin, have been tried to realize some dynamic functions, but the problems of single function and isolated mechanism generally exist, and the bionic researches are not deeply integrated with an overall thermal management system of a robot, and specifically comprise the following steps: 1. the 'blush' is bionic and stays in visual performance, and lacks functional association, and the prior art mostly adopts the modes of LED embedding or electrochromic films and the like, and generates color change in a specific area of the face so as to simulate the blush. However, this color change is usually triggered directly by a preset affective algorithm, a pure "visual display". The device is completely disjointed with the actual thermal state (such as whether the internal elements are overheated) of the robot body, cannot play a role in physiological early warning or state indication, and has shallow bionic logic. 2. The purpose of the heating function is single, and the heating function is not integrated into a thermal management closed loop, so that the conventional scheme is generally to arrange a resistance wire or an electrothermal film under the skin for realizing touch warm. Such heating is typically only to maintain a fixed "body temperature" setting, which is open loop control. It is neither dynamically adjustable to maintain thermal equilibrium depending on ambient temperature or internal heating conditions nor thermally coupled with the "blush" function described above (e.g., active triggering of thermochromic by heating). 3. The active 'perspiration' heat dissipation mechanism has serious defects that the human body carries out high-efficiency heat dissipation through sweat evaporation, and is an important heat regulation means. However, in current robotic skin technology, there is little research to simulate perspiration, let alone integrating it as an active, controllable heat sink terminal into a thermal management system. This results in a robot that lacks effective active cooling capability for facial skin under high load operation or high temperature conditions, with thermal management strategies having dead zones. 4. The bionic functions of color, heat and humidity are often realized by mutually independent hardware modules and control systems. For example, the expression management system controls "blush", the thermal simulation system controls "heat", and both are not in communication with each other at the information and control level. The fracturing not only makes complex responses which accord with physiological logic such as redness, fever and slight sweat of cheeks after exercise difficult to realize, but also causes redundancy of resources such as sensors, controllers and the like, and limits the integration level and response intelligence of the system. In view of the foregoing, there is a need in the art for a biomimetic skin solution for robotic heads. The scheme should surpass the limitation of the prior art on single sense imitation, uses intelligent heat management as a core driving force, reconstructs the "flush" into high-temperature early warning indication, develops the "sweating" into an active cooling means, optimizes the "heating" into a body temperature maintaining link, and enables the functions to be deeply coordinated in thermal logic through a unified sensing and control framework. Therefore, the crossing from passive ' simulation ' to active ' management and from form ' bionic ' to functional ' bionic ' is realized, and the head skin of the robot becomes an interactive interface truly having physiological intelligence. Disclosure of Invention The present application is directed to a bionic robot skin and a thermal management control system and method thereof, and aims to solve one or more of the above-mentioned problems. In a first aspect, the present application provides a dynamic biomimetic robotic head skin s