本發明(ming)屬于智能機器人(ren)領域，具體涉及一種全向(xiang)單球體自平衡人(ren)臉識別與追蹤機器人(ren)。

背景技術：

在便攜(xie)式(shi)(shi)(shi)設備和服務型機器(qi)人等(deng)行業，運動方(fang)(fang)(fang)式(shi)(shi)(shi)多采用(yong)(yong)(yong)(yong)4輪(lun)(lun)(lun)以(yi)及以(yi)上的(de)多輪(lun)(lun)(lun)驅動方(fang)(fang)(fang)案。采用(yong)(yong)(yong)(yong)這種方(fang)(fang)(fang)式(shi)(shi)(shi)可使(shi)機器(qi)人本體(ti)(ti)(ti)自然保持穩定，但也帶來(lai)了機器(qi)人本體(ti)(ti)(ti)體(ti)(ti)(ti)積大、轉彎(wan)困難等(deng)缺點，因(yin)而限制(zhi)了其在空(kong)間狹小(xiao)(xiao)或(huo)需要快速響應(ying)等(deng)場(chang)(chang)合(he)的(de)應(ying)用(yong)(yong)(yong)(yong)。針(zhen)對上述問題(ti)，自平(ping)衡獨輪(lun)(lun)(lun)平(ping)衡的(de)控(kong)(kong)制(zhi)方(fang)(fang)(fang)式(shi)(shi)(shi)被提出，如名稱為(wei)(wei)“自平(ping)衡載人獨輪(lun)(lun)(lun)車(che)(che)系(xi)統(tong)及控(kong)(kong)制(zhi)方(fang)(fang)(fang)法”（公(gong)開(kai)號為(wei)(wei)CN102079348A）和名稱為(wei)(wei)“自平(ping)衡載人獨輪(lun)(lun)(lun)車(che)(che)系(xi)統(tong)”（公(gong)開(kai)號為(wei)(wei)20）的(de)專利文獻，通(tong)過使(shi)用(yong)(yong)(yong)(yong)獨輪(lun)(lun)(lun)系(xi)統(tong)控(kong)(kong)制(zhi)方(fang)(fang)(fang)式(shi)(shi)(shi)來(lai)獲取整(zheng)體(ti)(ti)(ti)系(xi)統(tong)的(de)動態平(ping)衡，雖然整(zheng)體(ti)(ti)(ti)系(xi)統(tong)的(de)體(ti)(ti)(ti)積縮小(xiao)(xiao)了，但是由于還是采用(yong)(yong)(yong)(yong)傳統(tong)驅動方(fang)(fang)(fang)式(shi)(shi)(shi)，所以(yi)會出現轉彎(wan)半徑大、不能立即轉彎(wan)等(deng)問題(ti)。因(yin)此這種控(kong)(kong)制(zhi)方(fang)(fang)(fang)式(shi)(shi)(shi)在空(kong)間狹小(xiao)(xiao)或(huo)需要快速響應(ying)等(deng)場(chang)(chang)合(he)效(xiao)率(lv)較低。而在與(yu)用(yong)(yong)(yong)(yong)戶交互使(shi)用(yong)(yong)(yong)(yong)時多采用(yong)(yong)(yong)(yong)語音識別(bie)(bie)控(kong)(kong)制(zhi)，不能識別(bie)(bie)跟隨(sui)用(yong)(yong)(yong)(yong)戶運動，使(shi)得用(yong)(yong)(yong)(yong)戶體(ti)(ti)(ti)驗感差，交互方(fang)(fang)(fang)式(shi)(shi)(shi)單一，產品不具有吸引力。

技術實現要素：

本發明(ming)的目(mu)的在于提出一種(zhong)全向單球體自平衡人(ren)臉識別(bie)與追(zhui)蹤機(ji)器(qi)人(ren)，該機(ji)器(qi)人(ren)用(yong)于可移動機(ji)器(qi)人(ren)領域，例如便攜式(shi)助力(li)設(she)備行業(ye)、醫療機(ji)器(qi)人(ren)行業(ye)和服務機(ji)器(qi)人(ren)行業(ye)，可解決(jue)復雜環境下(xia)轉向困難(nan)、運動受限、使用(yong)體驗感差和交互方式(shi)單一等問(wen)題。

本發明采(cai)用如下技術方案：一種(zhong)全向(xiang)單球體自平(ping)衡人臉識別與(yu)追蹤(zong)機(ji)(ji)器(qi)人，主要由(you)運動控(kong)制(zhi)(zhi)系(xi)(xi)(xi)(xi)統、支(zhi)撐(cheng)柱、數據處(chu)理(li)系(xi)(xi)(xi)(xi)統、觸控(kong)顯示模(mo)塊、二(er)自由(you)度攝(she)像頭系(xi)(xi)(xi)(xi)統、伺(si)服電(dian)(dian)機(ji)(ji)控(kong)制(zhi)(zhi)系(xi)(xi)(xi)(xi)統、下部(bu)(bu)(bu)圓形(xing)(xing)水(shui)(shui)(shui)(shui)(shui)平(ping)固(gu)(gu)(gu)(gu)定(ding)件(jian)(jian)、中部(bu)(bu)(bu)圓形(xing)(xing)水(shui)(shui)(shui)(shui)(shui)平(ping)固(gu)(gu)(gu)(gu)定(ding)件(jian)(jian)、上(shang)(shang)(shang)部(bu)(bu)(bu)圓形(xing)(xing)水(shui)(shui)(shui)(shui)(shui)平(ping)固(gu)(gu)(gu)(gu)定(ding)件(jian)(jian)、姿態傳(chuan)感器(qi)系(xi)(xi)(xi)(xi)統組成；其特征在于：運動控(kong)制(zhi)(zhi)系(xi)(xi)(xi)(xi)統安裝于下部(bu)(bu)(bu)圓形(xing)(xing)水(shui)(shui)(shui)(shui)(shui)平(ping)固(gu)(gu)(gu)(gu)定(ding)件(jian)(jian)下表(biao)(biao)面，是(shi)整(zheng)個裝置(zhi)的運動和(he)支(zhi)撐(cheng)部(bu)(bu)(bu)件(jian)(jian)；伺(si)服電(dian)(dian)機(ji)(ji)控(kong)制(zhi)(zhi)系(xi)(xi)(xi)(xi)統置(zhi)于下部(bu)(bu)(bu)圓形(xing)(xing)水(shui)(shui)(shui)(shui)(shui)平(ping)固(gu)(gu)(gu)(gu)定(ding)件(jian)(jian)上(shang)(shang)(shang)表(biao)(biao)面；中部(bu)(bu)(bu)圓形(xing)(xing)水(shui)(shui)(shui)(shui)(shui)平(ping)固(gu)(gu)(gu)(gu)定(ding)件(jian)(jian)通(tong)(tong)過支(zhi)撐(cheng)柱固(gu)(gu)(gu)(gu)定(ding)于下部(bu)(bu)(bu)圓形(xing)(xing)水(shui)(shui)(shui)(shui)(shui)平(ping)固(gu)(gu)(gu)(gu)定(ding)件(jian)(jian)上(shang)(shang)(shang)表(biao)(biao)面；數據處(chu)理(li)系(xi)(xi)(xi)(xi)統和(he)姿態傳(chuan)感器(qi)系(xi)(xi)(xi)(xi)統置(zhi)于中部(bu)(bu)(bu)圓形(xing)(xing)水(shui)(shui)(shui)(shui)(shui)平(ping)固(gu)(gu)(gu)(gu)定(ding)件(jian)(jian)上(shang)(shang)(shang)表(biao)(biao)面；上(shang)(shang)(shang)部(bu)(bu)(bu)圓形(xing)(xing)水(shui)(shui)(shui)(shui)(shui)平(ping)固(gu)(gu)(gu)(gu)定(ding)件(jian)(jian)通(tong)(tong)過支(zhi)撐(cheng)柱安裝于中部(bu)(bu)(bu)圓形(xing)(xing)水(shui)(shui)(shui)(shui)(shui)平(ping)固(gu)(gu)(gu)(gu)定(ding)件(jian)(jian)上(shang)(shang)(shang)表(biao)(biao)面；觸控(kong)顯示模(mo)塊和(he)二(er)自由(you)度攝(she)像頭系(xi)(xi)(xi)(xi)統分別置(zhi)于上(shang)(shang)(shang)部(bu)(bu)(bu)圓形(xing)(xing)水(shui)(shui)(shui)(shui)(shui)平(ping)固(gu)(gu)(gu)(gu)定(ding)件(jian)(jian)上(shang)(shang)(shang)表(biao)(biao)面；

姿態傳感器系(xi)統(tong)用(yong)于檢測整個系(xi)統(tong)的運動狀(zhuang)(zhuang)態，并將運動狀(zhuang)(zhuang)態數(shu)據通過有線或者無(wu)線的方(fang)式發送給數(shu)據處(chu)理系(xi)統(tong)；

數據處理系(xi)(xi)(xi)統(tong)(tong)(tong)分別與(yu)姿態(tai)(tai)(tai)傳感器(qi)系(xi)(xi)(xi)統(tong)(tong)(tong)、二自(zi)由度攝像(xiang)頭系(xi)(xi)(xi)統(tong)(tong)(tong)、觸控(kong)顯示(shi)模塊和(he)伺(si)服(fu)電機控(kong)制(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)(tong)相連(lian)；一方面解析、處理和(he)儲(chu)存姿態(tai)(tai)(tai)傳感器(qi)系(xi)(xi)(xi)統(tong)(tong)(tong)采集的各種運(yun)動(dong)狀(zhuang)態(tai)(tai)(tai)數據，計(ji)算運(yun)動(dong)量，并依據相應(ying)的控(kong)制(zhi)(zhi)模型(xing)(xing)生成(cheng)相應(ying)的控(kong)制(zhi)(zhi)指令去控(kong)制(zhi)(zhi)伺(si)服(fu)電機控(kong)制(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)(tong)，伺(si)服(fu)電機控(kong)制(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)(tong)然后驅動(dong)運(yun)動(dong)控(kong)制(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)(tong)以改(gai)變整體系(xi)(xi)(xi)統(tong)(tong)(tong)的位置和(he)狀(zhuang)態(tai)(tai)(tai)，使其保持動(dong)態(tai)(tai)(tai)平衡、運(yun)動(dong)或停止；形成(cheng)閉環控(kong)制(zhi)(zhi)模型(xing)(xing)，從而實(shi)現(xian)系(xi)(xi)(xi)統(tong)(tong)(tong)的動(dong)態(tai)(tai)(tai)平衡；另一方面分析處理來自(zi)二自(zi)由度攝像(xiang)頭系(xi)(xi)(xi)統(tong)(tong)(tong)的圖像(xiang)數據，進行用(yong)戶人臉的識(shi)別與(yu)跟蹤(zong)，并在觸控(kong)顯示(shi)模塊上顯示(shi)幫(bang)助信息和(he)用(yong)戶信息等，實(shi)現(xian)友好的交(jiao)互環境；

二自由(you)度攝(she)像(xiang)頭系統(tong)(tong)采(cai)集實(shi)時環境的(de)圖(tu)像(xiang)信息并發(fa)送給數(shu)據處(chu)理(li)系統(tong)(tong)，數(shu)據處(chu)理(li)系統(tong)(tong)分析處(chu)理(li)圖(tu)像(xiang)數(shu)據，再根據相應的(de)控制模型控制二自由(you)度攝(she)像(xiang)頭系統(tong)(tong)中的(de)Y軸旋轉舵(duo)機和Z軸旋轉舵(duo)機實(shi)現人臉的(de)識別和追(zhui)蹤(zong)；

伺服電(dian)(dian)機控(kong)制(zhi)系(xi)(xi)統接收數據處理(li)系(xi)(xi)統的指令，控(kong)制(zhi)運動控(kong)制(zhi)系(xi)(xi)統中的旋轉伺服電(dian)(dian)機和水(shui)平(ping)伺服電(dian)(dian)機；

運(yun)動控制(zhi)系(xi)統(tong)(tong)(tong)(tong)根據(ju)伺服電(dian)機(ji)控制(zhi)系(xi)統(tong)(tong)(tong)(tong)的(de)控制(zhi)指(zhi)令(ling)做(zuo)出相應的(de)運(yun)動，通過(guo)旋(xuan)轉(zhuan)運(yun)動和水平(ping)運(yun)動的(de)合成實現整體系(xi)統(tong)(tong)(tong)(tong)的(de)自平(ping)衡；并在自平(ping)衡狀(zhuang)態(tai)的(de)基(ji)礎上分別調節旋(xuan)轉(zhuan)運(yun)動狀(zhuang)態(tai)和水平(ping)運(yun)動狀(zhuang)態(tai)實現整體機(ji)器人的(de)旋(xuan)轉(zhuan)運(yun)動和水平(ping)運(yun)動；通過(guo)姿態(tai)傳感器系(xi)統(tong)(tong)(tong)(tong)采集(ji)當(dang)前系(xi)統(tong)(tong)(tong)(tong)運(yun)動狀(zhuang)態(tai)數據(ju)并反饋給數據(ju)處理系(xi)統(tong)(tong)(tong)(tong)，形成閉(bi)環控制(zhi)模(mo)型；

觸控顯(xian)示(shi)模塊與數(shu)據處理系統(tong)相連，顯(xian)示(shi)相關的交互(hu)信息(xi)、幫助信息(xi)和(he)各(ge)種產品的推廣信息(xi)等，形成良好的交互(hu)界面。

進一步的(de)，所述二自由(you)度攝像頭系統由(you)攝像頭、Y軸(zhou)旋(xuan)(xuan)轉(zhuan)(zhuan)舵(duo)(duo)(duo)(duo)機(ji)(ji)、Z軸(zhou)旋(xuan)(xuan)轉(zhuan)(zhuan)舵(duo)(duo)(duo)(duo)機(ji)(ji)、Y軸(zhou)旋(xuan)(xuan)轉(zhuan)(zhuan)舵(duo)(duo)(duo)(duo)機(ji)(ji)固(gu)(gu)定架(jia)、Z軸(zhou)旋(xuan)(xuan)轉(zhuan)(zhuan)舵(duo)(duo)(duo)(duo)機(ji)(ji)固(gu)(gu)定件和舵(duo)(duo)(duo)(duo)機(ji)(ji)支撐柱構(gou)成；所述攝像頭安裝(zhuang)于(yu)Y軸(zhou)旋(xuan)(xuan)轉(zhuan)(zhuan)舵(duo)(duo)(duo)(duo)機(ji)(ji)舵(duo)(duo)(duo)(duo)盤上，通(tong)過(guo)控制Y軸(zhou)旋(xuan)(xuan)轉(zhuan)(zhuan)舵(duo)(duo)(duo)(duo)機(ji)(ji)實現攝像頭的(de)俯仰(yang)角度的(de)控制；Y軸(zhou)旋(xuan)(xuan)轉(zhuan)(zhuan)舵(duo)(duo)(duo)(duo)機(ji)(ji)通(tong)過(guo)Y軸(zhou)旋(xuan)(xuan)轉(zhuan)(zhuan)舵(duo)(duo)(duo)(duo)機(ji)(ji)固(gu)(gu)定架(jia)安裝(zhuang)于(yu)Z軸(zhou)旋(xuan)(xuan)轉(zhuan)(zhuan)舵(duo)(duo)(duo)(duo)機(ji)(ji)舵(duo)(duo)(duo)(duo)盤上，通(tong)過(guo)控制Z軸(zhou)旋(xuan)(xuan)轉(zhuan)(zhuan)舵(duo)(duo)(duo)(duo)機(ji)(ji)實現攝像頭的(de)左右角度的(de)控制；Z軸(zhou)旋(xuan)(xuan)轉(zhuan)(zhuan)舵(duo)(duo)(duo)(duo)機(ji)(ji)通(tong)過(guo)舵(duo)(duo)(duo)(duo)機(ji)(ji)支撐柱和Z軸(zhou)旋(xuan)(xuan)轉(zhuan)(zhuan)舵(duo)(duo)(duo)(duo)機(ji)(ji)固(gu)(gu)定件固(gu)(gu)定于(yu)上部(bu)圓形(xing)水平固(gu)(gu)定件。

進一步(bu)的，所述運(yun)動(dong)控(kong)制(zhi)系統包含獨立(li)態(tai)(tai)單(dan)(dan)球(qiu)體(ti)模塊(kuai)(kuai)、旋(xuan)轉(zhuan)運(yun)動(dong)摩擦(ca)輪(lun)、旋(xuan)轉(zhuan)伺(si)服(fu)(fu)電機(ji)(ji)(ji)(ji)固(gu)定(ding)(ding)(ding)(ding)件(jian)(jian)(jian)、旋(xuan)轉(zhuan)伺(si)服(fu)(fu)電機(ji)(ji)(ji)(ji)、彈簧(huang)減震(zhen)(zhen)模塊(kuai)(kuai)、水平運(yun)動(dong)摩擦(ca)輪(lun)、水平伺(si)服(fu)(fu)電機(ji)(ji)(ji)(ji)固(gu)定(ding)(ding)(ding)(ding)件(jian)(jian)(jian)、水平伺(si)服(fu)(fu)電機(ji)(ji)(ji)(ji)、圓(yuan)形固(gu)定(ding)(ding)(ding)(ding)件(jian)(jian)(jian)和(he)阻(zu)(zu)礙(ai)(ai)式(shi)(shi)夾(jia)具(ju)；所述獨立(li)態(tai)(tai)單(dan)(dan)球(qiu)體(ti)模塊(kuai)(kuai)安(an)(an)(an)裝于(yu)(yu)最底部(bu)，是整(zheng)(zheng)個系統的運(yun)動(dong)部(bu)分；旋(xuan)轉(zhuan)運(yun)動(dong)摩擦(ca)輪(lun)安(an)(an)(an)裝于(yu)(yu)旋(xuan)轉(zhuan)伺(si)服(fu)(fu)電機(ji)(ji)(ji)(ji)主軸部(bu)分，整(zheng)(zheng)體(ti)通過旋(xuan)轉(zhuan)伺(si)服(fu)(fu)電機(ji)(ji)(ji)(ji)固(gu)定(ding)(ding)(ding)(ding)件(jian)(jian)(jian)安(an)(an)(an)裝于(yu)(yu)圓(yuan)形固(gu)定(ding)(ding)(ding)(ding)件(jian)(jian)(jian)外緣(yuan)下(xia)表(biao)面(mian)(mian)，其(qi)中旋(xuan)轉(zhuan)運(yun)動(dong)摩擦(ca)輪(lun)與獨立(li)態(tai)(tai)單(dan)(dan)球(qiu)體(ti)模塊(kuai)(kuai)相(xiang)切；所述水平運(yun)動(dong)摩擦(ca)輪(lun)安(an)(an)(an)裝于(yu)(yu)水平伺(si)服(fu)(fu)電機(ji)(ji)(ji)(ji)主軸部(bu)分，整(zheng)(zheng)體(ti)通過水平伺(si)服(fu)(fu)電機(ji)(ji)(ji)(ji)固(gu)定(ding)(ding)(ding)(ding)件(jian)(jian)(jian)安(an)(an)(an)裝于(yu)(yu)圓(yuan)形固(gu)定(ding)(ding)(ding)(ding)件(jian)(jian)(jian)上(shang)表(biao)面(mian)(mian)，其(qi)中水平運(yun)動(dong)摩擦(ca)輪(lun)與獨立(li)態(tai)(tai)單(dan)(dan)球(qiu)體(ti)模塊(kuai)(kuai)相(xiang)切；彈簧(huang)減震(zhen)(zhen)模塊(kuai)(kuai)均勻(yun)垂直安(an)(an)(an)裝于(yu)(yu)圓(yuan)形固(gu)定(ding)(ding)(ding)(ding)件(jian)(jian)(jian)外緣(yuan)上(shang)表(biao)面(mian)(mian)；阻(zu)(zu)礙(ai)(ai)式(shi)(shi)夾(jia)具(ju)通過阻(zu)(zu)礙(ai)(ai)式(shi)(shi)夾(jia)具(ju)固(gu)定(ding)(ding)(ding)(ding)件(jian)(jian)(jian)均勻(yun)安(an)(an)(an)裝于(yu)(yu)圓(yuan)形固(gu)定(ding)(ding)(ding)(ding)件(jian)(jian)(jian)下(xia)表(biao)面(mian)(mian)邊緣(yuan)，阻(zu)(zu)礙(ai)(ai)式(shi)(shi)夾(jia)具(ju)由(you)阻(zu)(zu)礙(ai)(ai)式(shi)(shi)夾(jia)具(ju)滑(hua)動(dong)球(qiu)體(ti)、阻(zu)(zu)礙(ai)(ai)式(shi)(shi)夾(jia)具(ju)彈片和(he)阻(zu)(zu)礙(ai)(ai)式(shi)(shi)夾(jia)具(ju)固(gu)定(ding)(ding)(ding)(ding)件(jian)(jian)(jian)組成，其(qi)中阻(zu)(zu)礙(ai)(ai)式(shi)(shi)夾(jia)具(ju)滑(hua)動(dong)球(qiu)體(ti)與獨立(li)態(tai)(tai)單(dan)(dan)球(qiu)體(ti)模塊(kuai)(kuai)接觸相(xiang)切。

進一(yi)步(bu)的，所述獨立態單球體模塊形狀為(wei)一(yi)球體，處于獨立態，為(wei)整體系統提(ti)供行走運動部件，是水平(ping)伺服(fu)(fu)電機和旋轉伺服(fu)(fu)電機的控制對象。

進一(yi)步的，所述(shu)旋(xuan)轉(zhuan)運動摩擦輪(lun)安(an)裝于旋(xuan)轉(zhuan)伺服電機(ji)主(zhu)軸(zhou)部分，整體(ti)使用(yong)旋(xuan)轉(zhuan)伺服電機(ji)固定件(jian)安(an)裝于圓(yuan)形固定件(jian)表面，控制下方的獨立態單(dan)球(qiu)體(ti)模塊做旋(xuan)轉(zhuan)運動。

進(jin)一步的(de)， 所述水(shui)(shui)平(ping)運(yun)動(dong)(dong)摩擦輪(lun)安裝于(yu)水(shui)(shui)平(ping)伺服(fu)電機(ji)主(zhu)軸(zhou)部(bu)分，整體使用水(shui)(shui)平(ping)伺服(fu)電機(ji)固定件安裝于(yu)圓形固定件表面，控制下方的(de)獨立態(tai)單球(qiu)體模塊做水(shui)(shui)平(ping)運(yun)動(dong)(dong)；水(shui)(shui)平(ping)運(yun)動(dong)(dong)摩擦輪(lun)為整體系(xi)統(tong)提供(gong)水(shui)(shui)平(ping)運(yun)動(dong)(dong)的(de)動(dong)(dong)力，在進(jin)行(xing)旋轉(zhuan)運(yun)動(dong)(dong)的(de)過程中，水(shui)(shui)平(ping)運(yun)動(dong)(dong)摩擦輪(lun)與(yu)獨立態(tai)單球(qiu)體模塊接觸面少，且(qie)兩部(bu)件相切點(dian)為球(qiu)體最頂點(dian)，與(yu)旋轉(zhuan)軸(zhou)共線，因此水(shui)(shui)平(ping)運(yun)動(dong)(dong)摩擦輪(lun)對機(ji)器人的(de)旋轉(zhuan)運(yun)動(dong)(dong)影響基本沒有(you)；

進一(yi)步的(de)，所(suo)述(shu)彈簧(huang)減震(zhen)模(mo)塊(kuai)為(wei)上部(bu)(bu)結構(gou)提(ti)供支撐與減小震(zhen)動；所(suo)述(shu)圓形固定件位于獨立態(tai)單球(qiu)體模(mo)塊(kuai)頂(ding)部(bu)(bu)，其作用(yong)為(wei)固定阻礙式夾(jia)具、水平(ping)伺服電(dian)機(ji)(ji)、旋轉伺服電(dian)機(ji)(ji)、彈簧(huang)減震(zhen)模(mo)塊(kuai)。

進一步的，所述旋(xuan)轉(zhuan)(zhuan)(zhuan)運(yun)動(dong)摩(mo)擦(ca)輪(lun)(lun)由旋(xuan)轉(zhuan)(zhuan)(zhuan)輪(lun)(lun)內輪(lun)(lun)與(yu)(yu)旋(xuan)轉(zhuan)(zhuan)(zhuan)運(yun)動(dong)輪(lun)(lun)表面橡(xiang)膠(jiao)構(gou)成(cheng)(cheng)，并且旋(xuan)轉(zhuan)(zhuan)(zhuan)運(yun)動(dong)輪(lun)(lun)表面橡(xiang)膠(jiao)一部分形成(cheng)(cheng)旋(xuan)轉(zhuan)(zhuan)(zhuan)運(yun)動(dong)輪(lun)(lun)表面間(jian)斷結(jie)構(gou)，該結(jie)構(gou)在獨(du)立(li)態(tai)單(dan)(dan)球體模塊做水平(ping)運(yun)動(dong)時將(jiang)因(yin)旋(xuan)轉(zhuan)(zhuan)(zhuan)運(yun)動(dong)輪(lun)(lun)表面橡(xiang)膠(jiao)非間(jian)斷面的摩(mo)擦(ca)而(er)處于獨(du)立(li)態(tai)單(dan)(dan)球體模塊正上方，以使得此時旋(xuan)轉(zhuan)(zhuan)(zhuan)運(yun)動(dong)摩(mo)擦(ca)輪(lun)(lun)與(yu)(yu)獨(du)立(li)態(tai)單(dan)(dan)球體模塊處于分離狀態(tai)，即(ji)此時旋(xuan)轉(zhuan)(zhuan)(zhuan)運(yun)動(dong)摩(mo)擦(ca)輪(lun)(lun)與(yu)(yu)獨(du)立(li)態(tai)單(dan)(dan)球體模塊之間(jian)沒有摩(mo)擦(ca)力(li)，使得旋(xuan)轉(zhuan)(zhuan)(zhuan)運(yun)動(dong)摩(mo)擦(ca)輪(lun)(lun)不(bu)影響整(zheng)體系統做水平(ping)運(yun)動(dong)。

進一步的(de)，所述阻(zu)礙式(shi)夾(jia)具由下(xia)部(bu)阻(zu)礙式(shi)夾(jia)具滑(hua)動球體(ti)、中部(bu)阻(zu)礙式(shi)夾(jia)具彈片和上部(bu)阻(zu)礙式(shi)夾(jia)具固(gu)定件(jian)構成，置(zhi)于圓形固(gu)定件(jian)表面，共同控制著獨(du)立態單球體(ti)模(mo)塊的(de)位置(zhi)與運動。

本發明的優點：該(gai)全(quan)向(xiang)單球體自平(ping)衡(heng)人臉識別與追蹤機器人運動(dong)方(fang)(fang)式(shi)靈(ling)活和不(bu)受狹(xia)(xia)窄空間(jian)的影響，能在狹(xia)(xia)小空間(jian)內方(fang)(fang)便地進(jin)行(xing)原(yuan)地360度方(fang)(fang)向(xiang)的快速運動(dong)；與用戶交互(hu)方(fang)(fang)式(shi)靈(ling)活自由，應用范圍廣(guang)，可廣(guang)泛應用于服(fu)務機器人行(xing)業(ye)、醫療(liao)機器人行(xing)業(ye)和便攜(xie)式(shi)助力設備等(deng)多個行(xing)業(ye)；節(jie)能環保，采用電控方(fang)(fang)式(shi)，實現零污(wu)染，適應未來(lai)發展的需求。

附圖說明

圖(tu)1是本發明整體系統的(de)框架圖(tu)。

圖2為本(ben)發明整體系統的結構(gou)正視(shi)圖。

圖(tu)3為本發明整體(ti)系統(tong)的結(jie)構(gou)側視圖(tu)。

圖4為本發明運(yun)動(dong)控制(zhi)系統的整體結構正視圖。

圖(tu)5為(wei)本發明運動控制系統的夾具(ju)結構側視圖(tu)。

圖6為(wei)本(ben)發明(ming)的(de)二自(zi)由度攝(she)像(xiang)頭系統結(jie)構側視圖。

附圖標記說明：1—運(yun)(yun)動控(kong)制(zhi)系(xi)統(tong)(tong)；2—支撐柱(zhu)(zhu)；3—數據(ju)處理(li)系(xi)統(tong)(tong)；4—觸控(kong)顯示(shi)模塊(kuai)；5—二自由(you)度攝(she)像(xiang)頭(tou)系(xi)統(tong)(tong)；6—伺服(fu)(fu)(fu)電(dian)機(ji)控(kong)制(zhi)系(xi)統(tong)(tong)；7—下部圓形水(shui)(shui)平固(gu)(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)；8—中部圓形水(shui)(shui)平固(gu)(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)；9—上部圓形水(shui)(shui)平固(gu)(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)；10—姿(zi)態傳感器系(xi)統(tong)(tong)；101—獨立態單球(qiu)體(ti)模塊(kuai)；102—旋轉(zhuan)(zhuan)運(yun)(yun)動摩擦輪(lun)；102A—旋轉(zhuan)(zhuan)運(yun)(yun)動輪(lun)表面橡(xiang)膠；102B—旋轉(zhuan)(zhuan)輪(lun)內輪(lun)；102C—旋轉(zhuan)(zhuan)運(yun)(yun)動輪(lun)表面間斷結構；103—旋轉(zhuan)(zhuan)伺服(fu)(fu)(fu)電(dian)機(ji)固(gu)(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)；104—旋轉(zhuan)(zhuan)伺服(fu)(fu)(fu)電(dian)機(ji)；105—彈(dan)簧減震模塊(kuai)；106—水(shui)(shui)平運(yun)(yun)動摩擦輪(lun)；107—水(shui)(shui)平伺服(fu)(fu)(fu)電(dian)機(ji)固(gu)(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)；108—水(shui)(shui)平伺服(fu)(fu)(fu)電(dian)機(ji)；109—圓形固(gu)(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)；110—阻礙式(shi)夾(jia)(jia)具；110A—阻礙式(shi)夾(jia)(jia)具滑動球(qiu)體(ti)；110B—阻礙式(shi)夾(jia)(jia)具彈(dan)片；110C—阻礙式(shi)夾(jia)(jia)具固(gu)(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)；501—舵機(ji)支撐柱(zhu)(zhu)；502—Y軸(zhou)旋轉(zhuan)(zhuan)舵機(ji)；503—攝(she)像(xiang)頭(tou)；504—Y軸(zhou)旋轉(zhuan)(zhuan)舵機(ji)固(gu)(gu)(gu)(gu)定(ding)(ding)(ding)架；505—Z軸(zhou)旋轉(zhuan)(zhuan)舵機(ji)固(gu)(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)；506—Z軸(zhou)旋轉(zhuan)(zhuan)舵機(ji)。

具體實施方式

下面結合附圖(tu)和(he)實(shi)例對本發明作進(jin)一步(bu)詳細(xi)的說明。

如圖1所示，本(ben)發明設計的全(quan)向單球體自平(ping)衡人臉識(shi)別(bie)與追(zhui)蹤機器人，包括姿態傳感(gan)器系統(tong)10、數據處理系統(tong)3、二(er)自由度攝像(xiang)頭系統(tong)5、伺服電機控(kong)制系統(tong)6、運(yun)動控(kong)制系統(tong)1和觸(chu)控(kong)顯示模(mo)塊(kuai)4；

數(shu)(shu)據(ju)(ju)處理系(xi)(xi)(xi)(xi)統(tong)(tong)3可以是計算(suan)機或嵌入式設備(bei)或其它(ta)能進行計算(suan)處理的(de)裝置，它(ta)一方面用(yong)于實(shi)時讀取(qu)、處理和儲存姿(zi)態(tai)傳感器(qi)系(xi)(xi)(xi)(xi)統(tong)(tong)10采(cai)集的(de)各(ge)種(zhong)運動(dong)(dong)姿(zi)態(tai)數(shu)(shu)據(ju)(ju)，并結(jie)合當前系(xi)(xi)(xi)(xi)統(tong)(tong)狀態(tai)與相關(guan)算(suan)法(fa)控(kong)(kong)制(zhi)伺(si)服電機控(kong)(kong)制(zhi)系(xi)(xi)(xi)(xi)統(tong)(tong)6，以此實(shi)現(xian)控(kong)(kong)制(zhi)運動(dong)(dong)控(kong)(kong)制(zhi)系(xi)(xi)(xi)(xi)統(tong)(tong)1的(de)狀態(tai)來實(shi)現(xian)整個機器(qi)人(ren)運動(dong)(dong)狀態(tai)的(de)控(kong)(kong)制(zhi)；另(ling)一方面數(shu)(shu)據(ju)(ju)處理系(xi)(xi)(xi)(xi)統(tong)(tong)3分析(xi)處理來自二(er)自由度攝(she)(she)像(xiang)頭系(xi)(xi)(xi)(xi)統(tong)(tong)5的(de)圖像(xiang)數(shu)(shu)據(ju)(ju)，計算(suan)出當前用(yong)戶(hu)的(de)位置信息(xi)，如角度、方位和距離等，再結(jie)合歷史數(shu)(shu)據(ju)(ju)得到當前用(yong)戶(hu)的(de)變化量(liang)，進而控(kong)(kong)制(zhi)二(er)自由度攝(she)(she)像(xiang)頭系(xi)(xi)(xi)(xi)統(tong)(tong)5里面的(de)運動(dong)(dong)部件實(shi)現(xian)用(yong)戶(hu)的(de)人(ren)臉識別(bie)與追蹤等要求；

姿態(tai)傳(chuan)感(gan)(gan)器(qi)(qi)(qi)系(xi)統10包含多種(zhong)運(yun)動狀態(tai)傳(chuan)感(gan)(gan)器(qi)(qi)(qi)，例如三軸陀(tuo)螺儀、角度傳(chuan)感(gan)(gan)器(qi)(qi)(qi)、速度/加速度傳(chuan)感(gan)(gan)器(qi)(qi)(qi)等傳(chuan)感(gan)(gan)器(qi)(qi)(qi)，該系(xi)統實時反饋當前機器(qi)(qi)(qi)人(ren)的運(yun)動狀態(tai)給數(shu)(shu)據處(chu)理系(xi)統3，以此使數(shu)(shu)據處(chu)理系(xi)統3能(neng)夠實時調節機器(qi)(qi)(qi)人(ren)運(yun)動狀態(tai)并最終在設計點(dian)周(zhou)圍趨于平衡；

二自由度攝像(xiang)頭系統(tong)5實(shi)時(shi)將環境的圖(tu)像(xiang)數據傳(chuan)(chuan)輸給數據處理系統(tong)3，并且根據數據處理系統(tong)3傳(chuan)(chuan)輸的控制指令(ling)改變Y軸旋(xuan)轉(zhuan)(zhuan)(zhuan)舵機502與Z軸旋(xuan)轉(zhuan)(zhuan)(zhuan)舵機506分別(bie)在Y和(he)Z軸上的轉(zhuan)(zhuan)(zhuan)動量，進而(er)實(shi)現用戶的人臉識別(bie)與追蹤等要求；

伺(si)服電(dian)機控制系統(tong)(tong)6接收(shou)來自數據處理系統(tong)(tong)3的控制指令，進而控制運動(dong)系統(tong)(tong)1中的水平伺(si)服電(dian)機108與旋轉伺(si)服電(dian)機104的運動(dong)狀(zhuang)態；

運(yun)動(dong)控制系統1由伺服電機控制系統6接收(shou)數據(ju)處理系統3的(de)控制指(zhi)令(ling)驅(qu)動(dong)，是(shi)整(zheng)個(ge)裝置(zhi)的(de)運(yun)動(dong)和(he)(he)支撐部件；運(yun)動(dong)控制系統1根據(ju)數據(ju)處理系統3的(de)控制指(zhi)令(ling)做出相應的(de)運(yun)動(dong)，通(tong)過旋轉(zhuan)運(yun)動(dong)和(he)(he)水平(ping)運(yun)動(dong)的(de)合成實(shi)現整(zheng)體系統的(de)自(zi)平(ping)衡；并在自(zi)平(ping)衡狀態(tai)的(de)基(ji)礎上分別調節(jie)旋轉(zhuan)運(yun)動(dong)狀態(tai)和(he)(he)水平(ping)運(yun)動(dong)狀態(tai)實(shi)現整(zheng)體系統的(de)旋轉(zhuan)運(yun)動(dong)和(he)(he)水平(ping)運(yun)動(dong)；

觸(chu)摸顯示(shi)模塊(kuai)4接收來自數據處(chu)理(li)系統(tong)3的顯示(shi)數據，例如(ru)用戶(hu)數據、幫(bang)助信(xin)息(xi)和推廣信(xin)息(xi)等；

進(jin)一步，如圖2和(he)圖3所示，所述運動(dong)控(kong)(kong)制(zhi)系(xi)(xi)統(tong)1安裝于(yu)下(xia)部(bu)(bu)圓(yuan)(yuan)(yuan)形(xing)(xing)(xing)(xing)(xing)水(shui)(shui)(shui)平(ping)(ping)固(gu)(gu)定(ding)件(jian)(jian)7下(xia)表(biao)(biao)面(mian)，是(shi)整個裝置(zhi)的(de)運動(dong)和(he)支(zhi)撐(cheng)(cheng)部(bu)(bu)件(jian)(jian)；伺服電機控(kong)(kong)制(zhi)系(xi)(xi)統(tong)6置(zhi)于(yu)下(xia)部(bu)(bu)圓(yuan)(yuan)(yuan)形(xing)(xing)(xing)(xing)(xing)水(shui)(shui)(shui)平(ping)(ping)固(gu)(gu)定(ding)件(jian)(jian)7上表(biao)(biao)面(mian)；中部(bu)(bu)圓(yuan)(yuan)(yuan)形(xing)(xing)(xing)(xing)(xing)水(shui)(shui)(shui)平(ping)(ping)固(gu)(gu)定(ding)件(jian)(jian)8通(tong)過(guo)支(zhi)撐(cheng)(cheng)柱2固(gu)(gu)定(ding)于(yu)下(xia)部(bu)(bu)圓(yuan)(yuan)(yuan)形(xing)(xing)(xing)(xing)(xing)水(shui)(shui)(shui)平(ping)(ping)固(gu)(gu)定(ding)件(jian)(jian)7上表(biao)(biao)面(mian)；數據處理系(xi)(xi)統(tong)3和(he)姿態(tai)傳(chuan)感器系(xi)(xi)統(tong)10置(zhi)于(yu)中部(bu)(bu)圓(yuan)(yuan)(yuan)形(xing)(xing)(xing)(xing)(xing)水(shui)(shui)(shui)平(ping)(ping)固(gu)(gu)定(ding)件(jian)(jian)8上表(biao)(biao)面(mian)；上部(bu)(bu)圓(yuan)(yuan)(yuan)形(xing)(xing)(xing)(xing)(xing)水(shui)(shui)(shui)平(ping)(ping)固(gu)(gu)定(ding)件(jian)(jian)9通(tong)過(guo)支(zhi)撐(cheng)(cheng)柱2安裝于(yu)中部(bu)(bu)圓(yuan)(yuan)(yuan)形(xing)(xing)(xing)(xing)(xing)水(shui)(shui)(shui)平(ping)(ping)固(gu)(gu)定(ding)件(jian)(jian)8上表(biao)(biao)面(mian)；觸控(kong)(kong)顯示模塊4和(he)二自由度攝像(xiang)頭系(xi)(xi)統(tong)5分別置(zhi)于(yu)上部(bu)(bu)圓(yuan)(yuan)(yuan)形(xing)(xing)(xing)(xing)(xing)水(shui)(shui)(shui)平(ping)(ping)固(gu)(gu)定(ding)件(jian)(jian)9上表(biao)(biao)面(mian)；

進一(yi)步，如圖6所示，二自(zi)由度攝(she)像頭(tou)系統5包(bao)括舵機(ji)(ji)支撐(cheng)柱501、Y軸(zhou)旋轉舵機(ji)(ji)502、攝(she)像頭(tou)503、Y軸(zhou)旋轉舵機(ji)(ji)固定(ding)架504、Z軸(zhou)旋轉舵機(ji)(ji)固定(ding)件(jian)505和(he)Z軸(zhou)旋轉舵機(ji)(ji)506；

所述攝(she)(she)像頭(tou)503安裝(zhuang)于(yu)Y軸(zhou)旋(xuan)轉(zhuan)舵(duo)機(ji)(ji)502舵(duo)盤上，通(tong)(tong)過控(kong)制Y軸(zhou)旋(xuan)轉(zhuan)舵(duo)機(ji)(ji)502實現攝(she)(she)像頭(tou)503的(de)俯仰角度的(de)控(kong)制；Y軸(zhou)旋(xuan)轉(zhuan)舵(duo)機(ji)(ji)502通(tong)(tong)過Y軸(zhou)旋(xuan)轉(zhuan)舵(duo)機(ji)(ji)固定(ding)(ding)架504安裝(zhuang)于(yu)Z軸(zhou)旋(xuan)轉(zhuan)舵(duo)機(ji)(ji)506舵(duo)盤上，通(tong)(tong)過控(kong)制Z軸(zhou)旋(xuan)轉(zhuan)舵(duo)機(ji)(ji)506實現攝(she)(she)像頭(tou)503的(de)左右角度的(de)控(kong)制；Z軸(zhou)旋(xuan)轉(zhuan)舵(duo)機(ji)(ji)506通(tong)(tong)過舵(duo)機(ji)(ji)支撐柱501和(he)Z軸(zhou)旋(xuan)轉(zhuan)舵(duo)機(ji)(ji)固定(ding)(ding)件(jian)505固定(ding)(ding)于(yu)上部(bu)圓形水(shui)平(ping)固定(ding)(ding)件(jian)9；

進一步，如圖4和(he)圖5，運(yun)動(dong)控制系(xi)統1包(bao)含獨立態單球體(ti)模(mo)塊101、旋轉運(yun)動(dong)摩擦輪102、旋轉伺(si)服電(dian)機固定件(jian)103、旋轉伺(si)服電(dian)機104、彈簧(huang)減震(zhen)模(mo)塊105、水(shui)平運(yun)動(dong)摩擦輪106、水(shui)平伺(si)服電(dian)機固定件(jian)107、水(shui)平伺(si)服電(dian)機108、圓形固定件(jian)109和(he)阻(zu)礙式夾具(ju)110；

所述獨(du)(du)立(li)態單(dan)球體(ti)(ti)(ti)模(mo)(mo)(mo)(mo)(mo)塊(kuai)101安(an)(an)裝(zhuang)(zhuang)于(yu)(yu)最底部(bu)，是整個系統的運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)部(bu)分(fen)(fen)；旋(xuan)(xuan)轉(zhuan)(zhuan)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)摩(mo)擦(ca)輪(lun)102安(an)(an)裝(zhuang)(zhuang)于(yu)(yu)旋(xuan)(xuan)轉(zhuan)(zhuan)伺(si)(si)服(fu)(fu)電(dian)機104主(zhu)軸部(bu)分(fen)(fen)，整體(ti)(ti)(ti)通(tong)過(guo)(guo)旋(xuan)(xuan)轉(zhuan)(zhuan)伺(si)(si)服(fu)(fu)電(dian)機固(gu)定(ding)件(jian)(jian)103安(an)(an)裝(zhuang)(zhuang)于(yu)(yu)圓(yuan)形(xing)固(gu)定(ding)件(jian)(jian)109外(wai)緣下(xia)表(biao)(biao)(biao)面(mian)(mian)，其(qi)中(zhong)旋(xuan)(xuan)轉(zhuan)(zhuan)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)摩(mo)擦(ca)輪(lun)102由旋(xuan)(xuan)轉(zhuan)(zhuan)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)輪(lun)表(biao)(biao)(biao)面(mian)(mian)橡(xiang)膠(jiao)102A和旋(xuan)(xuan)轉(zhuan)(zhuan)輪(lun)內輪(lun)102B組成，并(bing)在(zai)表(biao)(biao)(biao)面(mian)(mian)形(xing)成旋(xuan)(xuan)轉(zhuan)(zhuan)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)輪(lun)表(biao)(biao)(biao)面(mian)(mian)間(jian)斷結構(gou)102C，其(qi)中(zhong)旋(xuan)(xuan)轉(zhuan)(zhuan)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)摩(mo)擦(ca)輪(lun)102與(yu)獨(du)(du)立(li)態單(dan)球體(ti)(ti)(ti)模(mo)(mo)(mo)(mo)(mo)塊(kuai)101相切(qie)(qie)；所述水平運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)摩(mo)擦(ca)輪(lun)106安(an)(an)裝(zhuang)(zhuang)于(yu)(yu)水平伺(si)(si)服(fu)(fu)電(dian)機108主(zhu)軸部(bu)分(fen)(fen)，整體(ti)(ti)(ti)通(tong)過(guo)(guo)水平伺(si)(si)服(fu)(fu)電(dian)機固(gu)定(ding)件(jian)(jian)107安(an)(an)裝(zhuang)(zhuang)于(yu)(yu)圓(yuan)形(xing)固(gu)定(ding)件(jian)(jian)109上(shang)表(biao)(biao)(biao)面(mian)(mian)，其(qi)中(zhong)水平運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)摩(mo)擦(ca)輪(lun)106與(yu)獨(du)(du)立(li)態單(dan)球體(ti)(ti)(ti)模(mo)(mo)(mo)(mo)(mo)塊(kuai)101相切(qie)(qie)；彈簧減震模(mo)(mo)(mo)(mo)(mo)塊(kuai)105均(jun)勻(yun)垂直安(an)(an)裝(zhuang)(zhuang)于(yu)(yu)圓(yuan)形(xing)固(gu)定(ding)件(jian)(jian)109外(wai)緣上(shang)表(biao)(biao)(biao)面(mian)(mian)；阻(zu)(zu)(zu)(zu)礙(ai)式夾(jia)具(ju)110通(tong)過(guo)(guo)阻(zu)(zu)(zu)(zu)礙(ai)式夾(jia)具(ju)固(gu)定(ding)件(jian)(jian)110C均(jun)勻(yun)安(an)(an)裝(zhuang)(zhuang)于(yu)(yu)圓(yuan)形(xing)固(gu)定(ding)件(jian)(jian)109下(xia)表(biao)(biao)(biao)面(mian)(mian)邊緣，阻(zu)(zu)(zu)(zu)礙(ai)式夾(jia)具(ju)110由阻(zu)(zu)(zu)(zu)礙(ai)式夾(jia)具(ju)滑(hua)動(dong)(dong)(dong)(dong)球體(ti)(ti)(ti)110A、阻(zu)(zu)(zu)(zu)礙(ai)式夾(jia)具(ju)彈片110B和阻(zu)(zu)(zu)(zu)礙(ai)式夾(jia)具(ju)固(gu)定(ding)件(jian)(jian)110C，其(qi)中(zhong)阻(zu)(zu)(zu)(zu)礙(ai)式夾(jia)具(ju)滑(hua)動(dong)(dong)(dong)(dong)球體(ti)(ti)(ti)110A與(yu)獨(du)(du)立(li)態單(dan)球體(ti)(ti)(ti)模(mo)(mo)(mo)(mo)(mo)塊(kuai)101接觸相切(qie)(qie)；

實例：

為(wei)了使本(ben)發明所要解決的(de)(de)技(ji)術問(wen)題、技(ji)術方(fang)案及有益效果更加清(qing)楚(chu)，以下結合附圖及實(shi)例，對本(ben)發明做進(jin)一步詳細說(shuo)明。本(ben)實(shi)例中選(xuan)擇嵌入式設(she)備作(zuo)為(wei)所述(shu)數(shu)(shu)據(ju)處(chu)理(li)(li)系統(tong)(tong)3，所述(shu)姿態(tai)傳(chuan)(chuan)感器(qi)系統(tong)(tong)10可以采(cai)用現有的(de)(de)三軸(zhou)陀(tuo)螺儀，角度(du)傳(chuan)(chuan)感器(qi)等檢(jian)測傳(chuan)(chuan)感器(qi)或檢(jian)測裝置；所述(shu)數(shu)(shu)據(ju)處(chu)理(li)(li)系統(tong)(tong)3與(yu)二(er)自由度(du)攝像頭系統(tong)(tong)5之間(jian)通過有線的(de)(de)方(fang)式進(jin)行(xing)(xing)數(shu)(shu)據(ju)傳(chuan)(chuan)輸；所述(shu)姿態(tai)傳(chuan)(chuan)感器(qi)系統(tong)(tong)10與(yu)數(shu)(shu)據(ju)處(chu)理(li)(li)系統(tong)(tong)3之間(jian)通過無線方(fang)式進(jin)行(xing)(xing)數(shu)(shu)據(ju)傳(chuan)(chuan)輸；所述(shu)數(shu)(shu)據(ju)處(chu)理(li)(li)系統(tong)(tong)3與(yu)所述(shu)伺(si)服電(dian)機控(kong)(kong)制系統(tong)(tong)6以及伺(si)服電(dian)機控(kong)(kong)制系統(tong)(tong)6與(yu)運(yun)動控(kong)(kong)制系統(tong)(tong)1之間(jian)通過有線方(fang)式進(jin)行(xing)(xing)數(shu)(shu)據(ju)傳(chuan)(chuan)輸；數(shu)(shu)據(ju)處(chu)理(li)(li)系統(tong)(tong)3與(yu)觸(chu)控(kong)(kong)顯(xian)示模塊4之間(jian)通過有線的(de)(de)方(fang)式進(jin)行(xing)(xing)數(shu)(shu)據(ju)的(de)(de)傳(chuan)(chuan)輸；

所述二自由(you)度(du)(du)(du)攝像頭(tou)(tou)系統5中的旋轉部件為Y軸(zhou)(zhou)旋轉舵(duo)機502和Z軸(zhou)(zhou)旋轉舵(duo)機506，分別控制攝像頭(tou)(tou)503的Y軸(zhou)(zhou)和Z軸(zhou)(zhou)旋轉。其中以(yi)攝像頭(tou)(tou)水平時角(jiao)度(du)(du)(du)為0度(du)(du)(du)計算Y軸(zhou)(zhou)旋轉角(jiao)度(du)(du)(du)為-45度(du)(du)(du)到(dao)+60度(du)(du)(du)，Z軸(zhou)(zhou)旋轉角(jiao)度(du)(du)(du)為-90到(dao)+90度(du)(du)(du)；Y軸(zhou)(zhou)旋轉舵(duo)機502和Z軸(zhou)(zhou)旋轉舵(duo)機506都選(xuan)用金(jin)屬舵(duo)機，優點在于可提高旋轉角(jiao)度(du)(du)(du)的精確度(du)(du)(du)，實(shi)現對用戶人臉識(shi)別和追蹤的精確定位；

所述觸控顯示模塊4使(shi)用(yong)(yong)11寸電容(rong)式觸摸屏，使(shi)與用(yong)(yong)戶交互時體(ti)驗感更(geng)好，并且能夠顯示更(geng)多的幫助(zhu)信(xin)息以及推(tui)廣信(xin)息；

所(suo)述伺服(fu)(fu)電(dian)機控(kong)制系(xi)統6使用專用的(de)(de)伺服(fu)(fu)電(dian)機控(kong)制器構成，其分(fen)析處(chu)理數據處(chu)理系(xi)統3的(de)(de)指(zhi)令(ling)并驅動(dong)相應的(de)(de)運動(dong)控(kong)制系(xi)統1里面的(de)(de)水平伺服(fu)(fu)電(dian)機108和旋轉(zhuan)伺服(fu)(fu)電(dian)機104；

所(suo)述運動(dong)(dong)(dong)(dong)(dong)系統C中獨(du)立(li)態單球(qiu)(qiu)(qiu)體模(mo)(mo)塊1由內部硬質非金屬材質與(yu)其(qi)表(biao)面(mian)(mian)高摩(mo)(mo)擦(ca)(ca)力(li)橡膠(jiao)材質構成(cheng)(cheng)，其(qi)形(xing)(xing)狀為一球(qiu)(qiu)(qiu)體，半徑為150mm，安裝于整個裝置最下(xia)部；旋(xuan)轉(zhuan)運動(dong)(dong)(dong)(dong)(dong)部分(fen)由旋(xuan)轉(zhuan)伺(si)服(fu)電(dian)機(ji)104和旋(xuan)轉(zhuan)運動(dong)(dong)(dong)(dong)(dong)摩(mo)(mo)擦(ca)(ca)輪(lun)(lun)(lun)(lun)102組(zu)成(cheng)(cheng)，共3組(zu)，經夾(jia)(jia)(jia)(jia)(jia)(jia)角(jiao)132度(du)(du)(du)旋(xuan)轉(zhuan)伺(si)服(fu)電(dian)機(ji)固(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)103均勻(yun)120度(du)(du)(du)安裝于3mm厚鋁(lv)制(zhi)(zhi)圓(yuan)形(xing)(xing)固(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)109外(wai)緣(yuan)下(xia)表(biao)面(mian)(mian)。旋(xuan)轉(zhuan)輪(lun)(lun)(lun)(lun)內輪(lun)(lun)(lun)(lun)102B與(yu)旋(xuan)轉(zhuan)運動(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)表(biao)面(mian)(mian)橡膠(jiao)102A通過熱成(cheng)(cheng)型(xing)技術構成(cheng)(cheng)旋(xuan)轉(zhuan)運動(dong)(dong)(dong)(dong)(dong)摩(mo)(mo)擦(ca)(ca)輪(lun)(lun)(lun)(lun)102，并在旋(xuan)轉(zhuan)運動(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)表(biao)面(mian)(mian)橡膠(jiao)102A上形(xing)(xing)成(cheng)(cheng)旋(xuan)轉(zhuan)運動(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)表(biao)面(mian)(mian)間斷結構102C；彈(dan)簧減震模(mo)(mo)塊105通過固(gu)(gu)(gu)定(ding)(ding)(ding)螺母均勻(yun)120度(du)(du)(du)垂直固(gu)(gu)(gu)定(ding)(ding)(ding)于3mm厚鋁(lv)制(zhi)(zhi)圓(yuan)形(xing)(xing)固(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)109外(wai)緣(yuan)上表(biao)面(mian)(mian)；阻(zu)礙(ai)式(shi)夾(jia)(jia)(jia)(jia)(jia)(jia)具(ju)(ju)110由阻(zu)礙(ai)式(shi)夾(jia)(jia)(jia)(jia)(jia)(jia)具(ju)(ju)滑(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)球(qiu)(qiu)(qiu)體110A、阻(zu)礙(ai)式(shi)夾(jia)(jia)(jia)(jia)(jia)(jia)具(ju)(ju)彈(dan)片(pian)110B和阻(zu)礙(ai)式(shi)夾(jia)(jia)(jia)(jia)(jia)(jia)具(ju)(ju)固(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)110C組(zu)成(cheng)(cheng)。其(qi)中阻(zu)礙(ai)式(shi)夾(jia)(jia)(jia)(jia)(jia)(jia)具(ju)(ju)固(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)110C均勻(yun)120度(du)(du)(du)安裝于3mm厚鋁(lv)制(zhi)(zhi)圓(yuan)形(xing)(xing)固(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)109外(wai)緣(yuan)下(xia)表(biao)面(mian)(mian)。阻(zu)礙(ai)式(shi)夾(jia)(jia)(jia)(jia)(jia)(jia)具(ju)(ju)110均勻(yun)夾(jia)(jia)(jia)(jia)(jia)(jia)住獨(du)立(li)態單球(qiu)(qiu)(qiu)體模(mo)(mo)塊101，并調(diao)節(jie)阻(zu)礙(ai)式(shi)夾(jia)(jia)(jia)(jia)(jia)(jia)具(ju)(ju)滑(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)球(qiu)(qiu)(qiu)體110A安裝位置，使得阻(zu)礙(ai)式(shi)夾(jia)(jia)(jia)(jia)(jia)(jia)具(ju)(ju)滑(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)球(qiu)(qiu)(qiu)體110A與(yu)獨(du)立(li)態單球(qiu)(qiu)(qiu)體模(mo)(mo)塊101接觸相切，阻(zu)礙(ai)式(shi)夾(jia)(jia)(jia)(jia)(jia)(jia)具(ju)(ju)彈(dan)片(pian)110B的調(diao)節(jie)使阻(zu)礙(ai)式(shi)夾(jia)(jia)(jia)(jia)(jia)(jia)具(ju)(ju)滑(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)球(qiu)(qiu)(qiu)體110A與(yu)獨(du)立(li)態單球(qiu)(qiu)(qiu)體模(mo)(mo)塊101的接觸處于適中的程度(du)(du)(du)，防(fang)止運動(dong)(dong)(dong)(dong)(dong)的不順暢；水平(ping)運動(dong)(dong)(dong)(dong)(dong)部分(fen)由水平(ping)運動(dong)(dong)(dong)(dong)(dong)摩(mo)(mo)擦(ca)(ca)輪(lun)(lun)(lun)(lun)106和水平(ping)伺(si)服(fu)電(dian)機(ji)108經固(gu)(gu)(gu)定(ding)(ding)(ding)螺母組(zu)成(cheng)(cheng)，并通過夾(jia)(jia)(jia)(jia)(jia)(jia)角(jiao)90度(du)(du)(du)水平(ping)伺(si)服(fu)電(dian)機(ji)固(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)107安裝于3mm厚鋁(lv)制(zhi)(zhi)圓(yuan)形(xing)(xing)固(gu)(gu)(gu)定(ding)(ding)(ding)件(jian)109中部上表(biao)面(mian)(mian)。

本發明(ming)所述全向單(dan)球體自平衡人臉識別與追蹤機器人的(de)實例(li)控制方案如下：

平衡(heng)狀態(tai)（靜止）：姿(zi)(zi)態(tai)傳感器系統(tong)(tong)(tong)10實時檢測(ce)機(ji)(ji)器人姿(zi)(zi)態(tai)，并(bing)將姿(zi)(zi)態(tai)數據發送給數據處理(li)系統(tong)(tong)(tong)3，數據處理(li)系統(tong)(tong)(tong)3再(zai)根(gen)據相應的控(kong)制算法(fa)生成控(kong)制指令并(bing)發送給伺(si)服(fu)(fu)電(dian)機(ji)(ji)控(kong)制系統(tong)(tong)(tong)6；伺(si)服(fu)(fu)電(dian)機(ji)(ji)控(kong)制系統(tong)(tong)(tong)6最(zui)后(hou)控(kong)制運動控(kong)制系統(tong)(tong)(tong)1里面相應的水(shui)平伺(si)服(fu)(fu)電(dian)機(ji)(ji)108和旋轉(zhuan)伺(si)服(fu)(fu)電(dian)機(ji)(ji)104，進而同時控(kong)制獨立態(tai)單球體模塊(kuai)101，以控(kong)制整體裝置(zhi)趨(qu)于(yu)平衡(heng)；

水(shui)(shui)平(ping)運(yun)(yun)動(dong)狀(zhuang)態(tai)：在數(shu)據處理系(xi)統(tong)(tong)3收到水(shui)(shui)平(ping)運(yun)(yun)動(dong)指令(ling)后將結合(he)姿態(tai)傳(chuan)感器(qi)系(xi)統(tong)(tong)10采集的(de)(de)各類(lei)參數(shu)數(shu)值微調所(suo)(suo)述(shu)(shu)(shu)運(yun)(yun)動(dong)控(kong)制(zhi)系(xi)統(tong)(tong)1中(zhong)(zhong)的(de)(de)旋(xuan)轉伺(si)(si)服(fu)電(dian)機(ji)104以(yi)控(kong)制(zhi)整體裝置保持平(ping)衡。同(tong)時(shi)控(kong)制(zhi)所(suo)(suo)述(shu)(shu)(shu)運(yun)(yun)動(dong)控(kong)制(zhi)系(xi)統(tong)(tong)1中(zhong)(zhong)的(de)(de)水(shui)(shui)平(ping)伺(si)(si)服(fu)電(dian)機(ji)108，以(yi)驅動(dong)所(suo)(suo)述(shu)(shu)(shu)下(xia)部獨(du)立(li)(li)態(tai)單球體模(mo)塊(kuai)(kuai)(kuai)101的(de)(de)滾(gun)動(dong)，從而(er)實現裝置的(de)(de)水(shui)(shui)平(ping)運(yun)(yun)動(dong).而(er)且獨(du)立(li)(li)態(tai)單球體模(mo)塊(kuai)(kuai)(kuai)101做(zuo)(zuo)水(shui)(shui)平(ping)運(yun)(yun)動(dong)時(shi)將因旋(xuan)轉運(yun)(yun)動(dong)結構(gou)摩(mo)擦(ca)(ca)(ca)(ca)輪表面橡膠非間(jian)斷面的(de)(de)摩(mo)擦(ca)(ca)(ca)(ca)而(er)處于獨(du)立(li)(li)態(tai)單球體模(mo)塊(kuai)(kuai)(kuai)101正上方，以(yi)使得(de)此時(shi)旋(xuan)轉運(yun)(yun)動(dong)摩(mo)擦(ca)(ca)(ca)(ca)輪102與獨(du)立(li)(li)態(tai)單球體模(mo)塊(kuai)(kuai)(kuai)101處于分離狀(zhuang)態(tai)，即此時(shi)旋(xuan)轉運(yun)(yun)動(dong)摩(mo)擦(ca)(ca)(ca)(ca)輪102與獨(du)立(li)(li)態(tai)單球體模(mo)塊(kuai)(kuai)(kuai)101之間(jian)沒(mei)有摩(mo)擦(ca)(ca)(ca)(ca)力，使得(de)旋(xuan)轉運(yun)(yun)動(dong)摩(mo)擦(ca)(ca)(ca)(ca)輪102不影(ying)響機(ji)器(qi)人做(zuo)(zuo)水(shui)(shui)平(ping)運(yun)(yun)動(dong)；

旋(xuan)轉(zhuan)運(yun)(yun)(yun)動(dong)(dong)(dong)狀態(tai)：在數據處(chu)理(li)系(xi)統(tong)3收到旋(xuan)轉(zhuan)指(zhi)令(ling)后將結(jie)合姿態(tai)傳感器系(xi)統(tong)10采集的(de)各類參數數值微調所述(shu)運(yun)(yun)(yun)動(dong)(dong)(dong)控制(zhi)(zhi)系(xi)統(tong)101中的(de)水(shui)平伺(si)服(fu)(fu)電(dian)機(ji)103以使裝置(zhi)保(bao)持平衡(heng)，同時控制(zhi)(zhi)所述(shu)運(yun)(yun)(yun)動(dong)(dong)(dong)控制(zhi)(zhi)系(xi)統(tong)101中的(de)旋(xuan)轉(zhuan)伺(si)服(fu)(fu)電(dian)機(ji)104使下部獨立態(tai)單(dan)球體(ti)模塊1進(jin)行旋(xuan)轉(zhuan)運(yun)(yun)(yun)動(dong)(dong)(dong)，從而實現整體(ti)裝置(zhi)的(de)旋(xuan)轉(zhuan)運(yun)(yun)(yun)動(dong)(dong)(dong)。而且在進(jin)行旋(xuan)轉(zhuan)運(yun)(yun)(yun)動(dong)(dong)(dong)的(de)過程(cheng)中，水(shui)平運(yun)(yun)(yun)動(dong)(dong)(dong)摩擦(ca)輪106與獨立態(tai)單(dan)球體(ti)模塊101接(jie)觸面少，且兩(liang)部件相切(qie)點為球體(ti)最(zui)頂點，與旋(xuan)轉(zhuan)軸(zhou)共(gong)線(xian)，因(yin)此水(shui)平運(yun)(yun)(yun)動(dong)(dong)(dong)摩擦(ca)輪106對旋(xuan)轉(zhuan)運(yun)(yun)(yun)動(dong)(dong)(dong)的(de)影響基(ji)本沒(mei)有。

復雜運(yun)(yun)(yun)動(dong)(dong)狀(zhuang)態：本裝置可進(jin)(jin)行復雜運(yun)(yun)(yun)動(dong)(dong)，從而實(shi)現靈活的(de)運(yun)(yun)(yun)動(dong)(dong)方式，即在進(jin)(jin)行上述（2）運(yun)(yun)(yun)動(dong)(dong)時也可同時進(jin)(jin)行（3）運(yun)(yun)(yun)動(dong)(dong)，反之亦成立。

以上所述為本(ben)發(fa)明(ming)(ming)的(de)(de)較(jiao)佳實例(li)，但本(ben)發(fa)明(ming)(ming)不應該局(ju)限于(yu)該實例(li)和(he)附圖所公開的(de)(de)內容(rong)。所以凡是不脫(tuo)離(li)本(ben)發(fa)明(ming)(ming)所公開的(de)(de)精神下完成的(de)(de)等效(xiao)或(huo)修改(gai)，都落入本(ben)發(fa)明(ming)(ming)保(bao)護的(de)(de)范(fan)圍。