Control system for intelligent biomimetic expression robot based on facial muscle neural network

1 . A control system for an intelligent biomimetic expression robot based on a facial muscle neural network, comprising:

a support body;

a power module, arranged with a plurality of first output ports;

a control module, comprising a plurality of control units and a plurality of first sensors; wherein the control module is electrically connected to the power module;

a muscle neural network, comprising a grid conductor that comprises conductive wires that are interconnected in a grid pattern, a plurality of drive units, and a plurality of second sensors; wherein the grid conductor is connected to the plurality of second sensors; a plurality of intersection points are formed within the grid conductor, and each intersection point is connected to a corresponding drive unit; ends of the grid conductor are electrically connected to the plurality of first output ports; each drive unit is configured to generate a driving force under a control of a corresponding control unit; each first sensor is configured to detect a longitudinal force component of the driving force generated by a corresponding drive unit, and each second sensor is configured to detect a horizontal force component of the driving force generated by a corresponding drive units; and

an expression generation body, connected to the support body; wherein the expression generation body comprises a plurality of deformation zones, with the plurality of drive units connected to the plurality of deformation zones; the plurality of drive units are configured to generate the driving forces continuously varying to cause the plurality of deformation zones to undergo continuous deformation;

wherein the plurality of first output ports are configured to output a power difference through the grid conductor to act on the plurality of drive units, and the power difference between each adjacent drive units are continuously changeable, causing the plurality of deformation zones to undergo continuous deformation;

wherein the conductive wires comprise a plurality of horizontal conductive wires and a plurality of longitudinal conductive wires; the plurality of intersection points are located where the plurality of horizontal conductive wires and the plurality of longitudinal conductive wires intersect; the plurality of second sensors are respectively located on the plurality of horizontal conductive wires and the longitudinal conductive wires, and the plurality of drive units are respectively located at the plurality of intersection points; the plurality of horizontal conductive wires and the plurality of longitudinal conductive wires are respectively connected to the plurality of first output ports to obtain continuous voltage signals, forming continuously varying voltage difference signals at each adjacent intersection points, and causing the power difference between each adjacent drive units to continuously vary.

2 . The control system according to claim 1 , wherein the plurality of control units are arranged in an array below the plurality of drive units and are electrically connected to the power module; the plurality of control units are fixed to the support body.

3 . The control system according to claim 2 , wherein the power module further comprises a plurality of second output ports; each second output port is electrically connected to a corresponding control unit, and each first sensor is disposed and abuts against between the support body and a corresponding control unit.

4 . The control system according to claim 1 , wherein the muscle neural network further comprises a plurality of shape memory alloys, connected around the plurality of intersection points of the plurality of horizontal conductive wires and the plurality of longitudinal conductive wires, causing each drive unit to undergo elastic deformation relative to the plurality of horizontal conductive wires and the plurality of longitudinal conductive wires.

5 . The control system according to claim 4 , wherein each drive unit is a first electromagnet, and a corresponding control unit is a second electromagnet.

6 . The control system according to claim 5 , wherein in a case where the first electromagnet and the second electromagnet generate a first attractive force, the first electromagnet moves closer to the second electromagnet in a plane; in a case where the first electromagnet and the second electromagnet generate a second attractive force, and the second attractive force is greater than the first attractive force, the first electromagnet moves closer to the second electromagnet in space.

7 . The control system according to claim 5 , wherein in a case where the first electromagnet and the second electromagnet generate a first repulsive force, the first electromagnet moves away from the second electromagnet in a plane; in a case where the first electromagnet and the second electromagnet generate a second repulsive force, and the second repulsive force is greater than the first repulsive force, the first electromagnet moves away from the second electromagnet in space.

8 . The control system according to claim 1 , wherein each drive unit is a first hydraulic pump, and a corresponding control unit is a second hydraulic pump; or, each drive unit is a first air pump, and a corresponding control unit is a second air pump.