CN105892372A - Intelligent robot expression output method and intelligent robot - Google Patents
Intelligent robot expression output method and intelligent robot Download PDFInfo
- Publication number
- CN105892372A CN105892372A CN201610375906.0A CN201610375906A CN105892372A CN 105892372 A CN105892372 A CN 105892372A CN 201610375906 A CN201610375906 A CN 201610375906A CN 105892372 A CN105892372 A CN 105892372A
- Authority
- CN
- China
- Prior art keywords
- expression
- robot
- machine
- output order
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2241—Real time database, each processor stores in local memory used variables
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent robot expression output method and an intelligent robot. The intelligent robot expression output method comprises the following steps: when a host judges that expression output is required, an expression output command corresponding to the expression to be expressed is sent to a slave; the slave analyzes the expression output command and extracts a robot expression element matched with the expression output command from an expression library, in the expression library, a plurality of different robot expression elements are included, and the robot expression elements comprise static pictures, dynamic pictures and/or videos; a slave machine control display device displays the robot expression element matched with the expression output command. Compared with the prior art, the method provided by the invention has the advantages that the procedures are simple, and both the difficulty in realization and the cost are low. According to the method and the intelligent method provided by the invention, the output expressions are more complex, the expression effect is better, and the user experience of the robot is improved greatly.
Description
Technical field
The present invention relates to robot field, in particular relate to intelligent robot expression output intent and intelligent machine
People.
Background technology
Existing small scale robot, in question answering process, is only capable of by language aspect and user interaction, and be difficult to
User passes on abundant expression output order.
Further, existing robot motion is expressed and is typically realized by motor.A set of abundant in order to complete
Action, it usually needs complicated Design of Mechanical Structure and more executor's (motor) number.But, due to
Small intelligent robot has higher requirement at intelligence degree, spatial volume on cruising time.The most small-sized
Robot is limited with cost by structure space, is difficult to accommodate too much motor.This allows for existing small-sized
Intelligent robot is also unable to reach the real purpose showing expression output order on manual expression.
Therefore, in order to pass on abundant expression output order to user, a kind of table for intelligent robot is needed
Feelings output intent and intelligent robot.
Summary of the invention
In order to pass on abundant expression output order to user, it is defeated that the present invention proposes a kind of intelligent robot expression
Going out method, described method includes:
When main frame judges that needs carry out expression output, the expression output order of the expression correspondence that will show sends
To from machine；
Resolve described expression output order extracting from expression storehouse from machine to mate with described expression output order
Robot expression element, described expression storehouse comprises multiple different robot expression element, and described robot expresses one's feelings
Element includes static images, dynamic picture and/or video；
Described from machine control display device show the robot table mated with described expression output order extracted
Feelings element.
In one embodiment, by the described display device from machine show described robot express one's feelings element, wherein, when
Before other the multi-modal outputs that currently export of the described robot expression element and the described robot that are showing
Join.
In one embodiment, USB (universal serial bus) is used to construct described main frame and described connection between machine.
In one embodiment, from described expression storehouse, extract the robot expression mated with described expression output order
Element, wherein, uses direct memory access mode to extract from described expression storehouse and described expression output order
The robot expression element joined.
In one embodiment, described from machine control display device show described robot expression element, wherein, adopt
By direct memory access mode, described robot expression element is transferred to described display device.
The invention allows for the intelligent robot of a kind of exportable expression, described robot includes:
Main frame, it is configured to judge whether that needs carry out expression output, and when needs carry out expression output, life
Become and export the expression output order corresponding with the expression that will show to from machine；
From machine, it is configured to when receiving described expression output order resolve described expression output order and from table
Feelings storehouse is extracted the robot expression element mated with described expression output order, and control display device shows
The robot mated with the described expression output order expression element extracted, described expression storehouse comprises multiple difference
Robot expression element, described robot expression element include static images, dynamic picture and/or video.
In one embodiment, described it is configured to make currently displaying described robot expression element and described machine from machine
Other multi-modal output matchings that device people currently exports.
In one embodiment, described it is additionally configured to use USB (universal serial bus) and described main frame to carry out data biography from machine
Defeated.
In one embodiment, described from machine be additionally configured to use direct memory access mode carry from described expression storehouse
Take described robot expression element.
In one embodiment, described display device is LCDs, described in machine is additionally configured to use directly
Deposit access mode and described robot expression element is transferred to described display device.
Compared to prior art, the method flow of the present invention is simple, and system architecture is succinct, it is achieved difficulty and cost
The lowest.The expression of the method according to the invention and system output is more complicated, and expression expression effect is more preferable,
The Consumer's Experience of robot is greatly enhanced.
The further feature of the present invention or advantage will illustrate in the following description.Further, the part of the present invention is special
Levy or advantage will be become apparent by description, or be appreciated that by implementing the present invention.The present invention
Purpose and certain advantages can be come by step specifically noted in description, claims and accompanying drawing
Realize or obtain.
Accompanying drawing explanation
Accompanying drawing is for providing a further understanding of the present invention, and constitutes a part for description, with the present invention
Embodiment be provided commonly for explain the present invention, be not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 is method flow diagram according to an embodiment of the invention；
Fig. 2 is according to one embodiment of the invention intelligent robot structure diagram；
Fig. 3 is according to one embodiment of the invention hardware arrangement sketch；
Fig. 4 and Fig. 5 is method partial process view according to an embodiment of the invention respectively；
Fig. 6 is fractional hardware structure interface wiring diagram according to an embodiment of the invention；
Fig. 7 is system drive flow chart according to an embodiment of the invention.
Detailed description of the invention
Embodiments of the present invention are described in detail, whereby the enforcement of the present invention below with reference to drawings and Examples
Personnel can fully understand how application technology means are to solve technical problem for the present invention, and reaches technique effect
Realize process and be embodied as the present invention according to the above-mentioned process that realizes.As long as it should be noted that do not constitute conflict,
Each embodiment in the present invention and each feature in each embodiment can be combined with each other, the technology formed
Scheme is all within protection scope of the present invention.
Existing small scale robot, in question answering process, is only capable of by language aspect and user interaction, and be difficult to
User passes on abundant expression output order.
Further, existing robot motion is expressed and is typically realized by motor.A set of abundant in order to complete
Action, it usually needs complicated Design of Mechanical Structure and more executor's (motor) number.But, due to
Small intelligent robot has higher requirement at intelligence degree, spatial volume on cruising time.The most small-sized
Robot is limited with cost by structure space, is difficult to accommodate too much motor.This allows for existing small-sized
Intelligent robot is also unable to reach the real purpose showing expression output order on manual expression.
In order to pass on abundant expression output order to user, it is defeated that the present invention proposes a kind of intelligent robot expression
Go out method.Next the execution flow process of the specific embodiment of the invention is described in detail based on accompanying drawing.The flow chart of accompanying drawing
Shown in step can perform in the computer system comprising such as one group of computer executable instructions.Although
Show the logical order of each step in flow charts, but in some cases, can be to be different from herein
Step shown or described by order execution.
In one embodiment in accordance with the present invention, structure comprises the expression storehouse of multiple different robot expression element
(concrete, expression element comprises in the multiple different media formats such as static images, dynamic picture and video
The combination of one or more).
The substantially flow process of expression output as it is shown in figure 1, during robot interacts, the master of robot
Machine according to current interactive environment, the data such as interactively enter and judge whether that needs carry out expression output (step
S100).When needs expression output, main frame generates needs the expression output order corresponding to expression of output also
Expression output order is exported from machine (step S110).
Expression output order (step S120) is resolved, then according to parsing after machine receives expression output order
Result extracts, from the expression storehouse constructed in advance, the expression element (step S130) mated with output order of expressing one's feelings.
Finally, carry out having shown expression output (step S140) according to the expression element extracted.Concrete,
Display device is comprised, from machine according to the expression Element generation idsplay order extracted, with idsplay order control from machine
Display device shows accordingly.
As a example by a concrete application scenarios, such as, structure comprises the expression storehouse of smile picture, sobbing picture.When
Judge to be currently needed for when user smiles to comprise smile output order with the main frame of user interaction opportunity device people
Expression output order is sent to from machine.Resolve expression output order from machine thus obtain smile output order, then
From expression storehouse, smile picture is extracted based on smile output order.Finally control display device from machine smile to be schemed
Sheet is shown to user thus completes expression output.
Based on above-mentioned flow process, the present invention proposes the intelligent robot of a kind of exportable expression.Real in the present invention one
Execute in example, as in figure 2 it is shown, robot is including at least main frame 200 and from machine 210.
Robot main frame 200 is configured to judge whether that needs carry out expression output, when needs carry out expression output,
Main frame 200 according to the robot expression generation being currently needed for representing express one's feelings accordingly output order and export give from machine
210。
It is configured at robot main frame 200 obtain expression output order, when receiving from machine 210 from machine 210
Resolve expression output order during expression output order and extract, from expression storehouse, the machine mated with output order of expressing one's feelings
Device people expresses one's feelings element, and controls display device and show the machine mated with described expression output order extracted
People expresses one's feelings element, and described expression storehouse comprises multiple different robot expression element, described robot expression element
Including static images, dynamic picture and/or video.
Further, in an embodiment of the present invention, connect up for convenience and install, reduction system volume, will
Expression storehouse is integrated in from machine.As it is shown on figure 3, be integrated with from machine master control borad 300 master-slave communication unit 301,
From machine control chip 302 and storage chip 303.
Storage chip 303 is used for storing robot expression element to constitute expression storehouse.Use from machine control chip 302
Processing in data, master-slave communication unit 301 is for realizing between machine control chip 302 and robot main frame
Communication.Master-slave communication unit 310 receives from the expression output order 321 of robot main frame and forwards it to
From machine control chip 302.
Concrete, in an embodiment of the present invention, construct based on STM32 governor circuit from machine master control borad 300.
Constructing based on STM32 main control chip (MCU) from machine control chip 302, storage chip 303 is based on flash memory
(Flash) W25Q80/16/32 structure.Corresponding STM32 main control chip, goes back structure in STM32 governor circuit
Crystal oscillator and reset circuit, power supply pipe circuit, communication interface, JLINK download program interface are made.
In said structure, STM32 main control chip is that (ST, several big quasiconductor in the world is public in ST Microelectronics
One of department) the microcontroller series products released, based in 32 Cortex-M series that ARM company releases
Core.Flash memory (Flash) W25Q80 (8M-bit), W25Q16 (16M-bit) and W25Q32 (32M-bit) are little
The serial Flash memorizer of space low-power consumption.
Further, due to serial communication device (USART) communication have only to 2 lines (send data wire,
Receive data wire), have the advantages that low cost transmission speed is fast.The most in an embodiment of the present invention, machine
People realizes based on USART from the communication between machine and robot main frame.It is to say, the principal and subordinate in Fig. 3 is led to
Letter unit 301 is serial communication device (USART).
In an embodiment of the present invention, expression storehouse can be to be pre-written in storage chip, assembles structure the most again
Make from machine.But in order to improve the motility of system, in an embodiment of the present invention, have employed can be at any time
The design in the expression storehouse expanded.I.e., it is possible to from outside machine, to the expression element new from machine input, (developer is certainly
The expression element of definition), the expression element inputted outside from machine is saved in expression storehouse with extension expression storehouse.
Concrete, as a example by embodiment illustrated in fig. 3.It is defeated that master-slave communication unit 301 also has reception expression element
The function entered.Concrete, during structure expression storehouse, by outside by master-slave communication unit 301 to from
Machine control chip 302 transmits new expression element (developer's self-defining expression element 322), then from machine
Control chip 302 is by new expression element write storage chip 303.
In an embodiment of the present invention, the concrete write flow process of new expression element is as shown in Figure 4.Using table
Before feelings storehouse, from machine it is first determined whether need to update the most whether expression storehouse (step S400) (exists expression
Storehouse updates instruction).If need not update expression storehouse, then explanation expression storehouse is ready, it is possible to use.
If needing to update expression storehouse, then performing step S410, communication interface (USART) waits outside defeated
Enter new expression element.It follows that outside is by new expression element input, communication interface receives new expression unit
Element (step S420), from the expression element write expression storehouse that machine will receive (storing in storage chip)
(step S430).
Next judge from machine whether the write of expression element completes (whether the renewal in expression storehouse completes, if need
Continue to write to new expression element), if write, then expression storehouse is ready, it is possible to use.As
Fruit write is not fully complete, then return and perform step S410, continue to write to new expression element.
Needing exist for being intended that, the step in above-mentioned renewal expression storehouse is not limited only to write new expression element,
Also deletion and the replacement of old expression element are comprised.From machine according to concrete renewal command determination: by new table
Feelings element write empty storage space, with extension expression storehouse, writes original old expression element storage position to replace
Old expression element, or clear data is write original old expression element storage position to delete old expression unit
Element.
Further, in the present embodiment, it is required for when start every time (starting from machine) checking that expression storehouse is
No ready (judging whether to need to update expression storehouse, perform step S400).Further, running from machine
Cheng Zhong, if the expression storehouse receiving outside input updates instruction, is then directly entered expression storehouse more new technological process and (opens
Beginning step S410).
It is noted herein that, in an embodiment of the present invention, developer can use independent input equipment
It is directly accessed master-slave communication unit 301 and inputs new expression element (expression element updates instruction), it is possible in order to
With the relevant interface of robot main frame, input new expression unit by robot main frame to master-slave communication unit 301
Element (expression element updates instruction).
Based on said structure functional design, developer can be with self-defined abundant robot expression pattern.Select
W25Q16 storage chip, then can store about 170 pictures, selects W25Q128 storage chip, then can deposit
Storage about 1360 pictures.
Further, in an embodiment of the present invention, from machine start-up course, whether expression storehouse is not only being checked
Ready, also boot up display.It is to say, when just starting from machine, even if robot main frame is not
Send over expression output order, also can automatically carry out the start expression display preset from machine.
Concrete, as it is shown in figure 5, when robot system starts startup robot main frame (S501) and
From machine (S502).After the main frame of robot is activated, check that main frame is the most ready, if it is not, continue
Carry out the startup of main frame.If main frame is ready, notify from machine (S520).
After starting from machine, and check from machine after receiving the ready notice of main frame the most ready (the need of more
Newly express one's feelings storehouse), if it is not, proceed the startup (renewal in expression storehouse) from machine.If from machine just
Thread, then judge the expression output order (the need of carrying out expression output) currently whether existed from main frame
(S530).If there is expression output order, then show the expression (S540) mated with expression output order.
If there is no expression output order, then automatically call the relevant expression element in expression storehouse according to presupposed solution,
Boot up the display (S550) of expression.
In the present invention, control display device extract the expression element mated with output order of expressing one's feelings from machine after to show
Show expression element.Concrete, in an embodiment of the present invention, display device is LCDs.
Further, the expression that robot is abundant represents and is difficult to by the way of LED dot matrix display, commonly
LED lattice pixels relatively low, color is single, and board area is relatively big, greatly limit robot and passes on emotion
Ability, be therefore not suitable in small intelligent robot system apply.The most in an embodiment of the present invention,
Display device be LCDs be OLED color screen, OLED technology is organic light emitting display technology.When there being electricity
When lotus passes through, these organic materials will be luminous.Color luminous for OLED depends on the material of organic luminous layer.
OLED possesses and has that simple structure, self-luminous are not required to backlight, contrast is high, thickness is thin, visual angle is wide, react
The advantages such as speed is fast, can be greatly improved the effect of expression display based on OLED.
Further, in order to cost-effective, reduce data processing amount, in an embodiment of the present invention, as far as possible
Reduce expression element data volume and display area.In view of robot expression show in most important be eye
The expression of eyeball expression, most human expressions may be by eye change and shows, and therefore the present invention one is real
Executing the display device in example is LCDs (left eye liquid crystal display and the right eye liquid crystal being configured to eyes
Show, LCDs 311 and 312 as shown in Figure 3).
Further, as PCB such as Fig. 6 institute of the OLED color screen of any one eye in binocular robot
Show that there are on PCB 7 pin interface.This OLED color screen plate is easily installed in small scale robot
Head, as robot eyes show expression.
Further, it is contemplated that robot based on the present invention has multi-modal mutual output function (except expression
Also there is beyond output the outputs such as voice output action output), the output of each mode of robot to be mutually matched.
It is to say, in output opportunity (output time node), the mutual output of each mode to cooperate.
Such as, need to export laugh while making laugh expression.
Therefore, in an embodiment of the present invention, other being additionally configured to that display currently exports with robot from machine are many
The robot expression element of mode output matching.That is, robot robot expression is shown from the display device of machine
Element, wherein, the robot that is currently displaying expression element and robot currently export other are multi-modal defeated
Go out coupling.
Concrete, robot main frame comprises expression output order to robot from the expression output order that machine exports
Output time nodal information.Robot shows expression element from machine according to output time nodal information.Further
, in an embodiment of the present invention, robot main frame is only currently needed for the expression of display to robot from machine output
Output order (needs the expression output order shown immediately).Robot is receiving expression output order from machine
After the extraction of expression element that carries out immediately being correlated with and display, thus ensure expression element and the robot of display
The mutual output matching of other mode of current output.
Direct memory access (DMA) (DMA) mode be used to provide between peripheral hardware and memorizer or memorizer and
High speed data transfer mode between memorizer.It has quickly, saves the feature of cpu resource.In order to quickly
Display expression element, it is ensured that the mutual output of other mode that the expression element of display currently exports with robot
Join, in an embodiment of the present invention, use direct memory access (DMA) mode robot is expressed one's feelings element pass
It is passed to the display device from machine.I.e. it is configured to use direct memory access mode element of being expressed one's feelings by robot to pass from machine
It is passed to display device.
Further, using DMA transfer, the brush screen speed of OLED can reach 50 sub-pictures per second, far
Far above the speed of human eye identification, many figures can not only be realized and be switched fast, show dynamic picture, and
Can the video that carry out of very remarkable fluency show.Thus can demonstrate remarkable fluency dynamic expression change from
And substantially increase the display effect of expression output, greatly improve robot emotion ability to express.
DMA transfer when being transferred to display device, the extraction from expression storehouse of the expression element is coordinated to be also adopted by
DMA transfer, uses direct memory access mode to extract, from expression storehouse, the machine mated with output order of expressing one's feelings
People expresses one's feelings element.That is, it is configured to use direct memory access mode to extract described robot from expression storehouse from machine
Expression element.
Serial (SPI) interface is peripheral interface.SPI interface is mainly used in EEPROM, FLASH
Between electronic device, there is interface few, PCB layout joint space-efficient feature.Therefore, real in the present invention one
Executing in example, robot is between machine control chip and expression storehouse (storage chip), from machine control chip and liquid
Serial (SPI) interface is all used between crystal display screen.
To sum up, in an embodiment of the present invention, as it is shown in fig. 7, after bringing into operation from machine, control core from machine
Sheet STM32 main control chip is waited for (S700), waits from master-slave communication unit (USART)
Instruction.Whether STM32 main control chip detection USART receives expression output order (S710), does not has
Receive and continue to wait.Then resolve expression output order (S720) when receiving expression output order, generate
Corresponding storage chip read-write (S730).Then use storage chip read-write from the (storage of expression storehouse
Chip 303, flash memory (Flash) W25Q80/16/32) in extraction express one's feelings accordingly element (S740).
It follows that STM32 main control chip is (aobvious based on the expression Element generation LCD Controller signal extracted
Show instruction) (S750), and utilize LCD Controller signal to drive LCDs to carry out expression display (S760).
To sum up, the method according to the invention and system, it is possible to achieve robot expression output.The present invention is
System framework is simple, it is achieved difficulty and cost are the lowest.Compared to prior art, the method according to the invention and
The expression of system output is more complicated, and expression expression effect is more preferable, and the Consumer's Experience of robot is greatly enhanced.
Device embodiment described above is only schematically, the wherein said list illustrated as separating component
Unit can be or may not be physically separate, and the parts shown as unit can be or can also
It not physical location, i.e. may be located at a place, or can also be distributed on multiple NE.Permissible
Select some or all of module therein to realize the purpose of the present embodiment scheme according to the actual needs.Ability
Territory those of ordinary skill, in the case of not paying creative work, is i.e. appreciated that and implements.
While it is disclosed that embodiment as above, but described content is only to facilitate understand the present invention
And the embodiment used, it is not limited to the present invention.Method of the present invention also can have other multiple realities
Execute example.Without departing from the spirit of the present invention, those of ordinary skill in the art are when making according to the present invention
Go out various corresponding change or deformation, but these change accordingly or deform the claim that all should belong to the present invention
Protection domain.
Claims (10)
1. an intelligent robot expression output intent, it is characterised in that described method includes:
When main frame judges that needs carry out expression output, the expression output order of the expression correspondence that will show sends
To from machine；
Resolve described expression output order extracting from expression storehouse from machine to mate with described expression output order
Robot expression element, described expression storehouse comprises multiple different robot expression element, and described robot expresses one's feelings
Element includes static images, dynamic picture and/or video；
Described from machine control display device show the robot table mated with described expression output order extracted
Feelings element.
Method the most according to claim 1, it is characterised in that shown by the described display device from machine
Described robot expression element, wherein, described robot expression element and the described robot being currently displaying
Other multi-modal output matchings of current output.
Method the most according to claim 1, it is characterised in that use USB (universal serial bus) structure described
Main frame and described connection between machine.
Method the most according to claim 1, it is characterised in that extract with described from described expression storehouse
The robot expression element of expression output order coupling, wherein, uses direct memory access mode from described expression
Storehouse is extracted the robot expression element mated with described expression output order.
Method the most according to claim 1, it is characterised in that described from machine control display device show
Described robot expression element, wherein, uses direct memory access mode by the expression element transmission of described robot
To described display device.
6. the intelligent robot of an exportable expression, it is characterised in that described robot includes:
Main frame, it is configured to judge whether that needs carry out expression output, and when needs carry out expression output, life
Become and export the expression output order corresponding with the expression that will show to from machine；
From machine, it is configured to when receiving described expression output order resolve described expression output order and from table
Feelings storehouse is extracted the robot expression element mated with described expression output order, and control display device shows
The robot mated with the described expression output order expression element extracted, described expression storehouse comprises multiple difference
Robot expression element, described robot expression element include static images, dynamic picture and/or video.
Intelligent robot the most according to claim 6, it is characterised in that described from machine be configured to order work as
Other multi-modal output matchings that the described robot expression element of front display currently exports with described robot.
Intelligent robot the most according to claim 6, it is characterised in that described be additionally configured to adopt from machine
Carry out data transmission with described main frame by USB (universal serial bus).
Intelligent robot the most according to claim 6, it is characterised in that described be additionally configured to adopt from machine
From described expression storehouse, described robot expression element is extracted by direct memory access mode.
Intelligent robot the most according to claim 6, it is characterised in that described display device is liquid crystal
Display screen, described from machine be additionally configured to use direct memory access mode by described robot expression element be transferred to
Described display device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610375906.0A CN105892372A (en) | 2016-05-31 | 2016-05-31 | Intelligent robot expression output method and intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610375906.0A CN105892372A (en) | 2016-05-31 | 2016-05-31 | Intelligent robot expression output method and intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105892372A true CN105892372A (en) | 2016-08-24 |
Family
ID=56709006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610375906.0A Pending CN105892372A (en) | 2016-05-31 | 2016-05-31 | Intelligent robot expression output method and intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105892372A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106448589A (en) * | 2016-10-11 | 2017-02-22 | 塔米智能科技（北京）有限公司 | Robot expression system based on double LCD (liquid crystal display) color screens |
| CN107438503A (en) * | 2017-04-13 | 2017-12-05 | 深圳市艾唯尔科技有限公司 | Single master chip can realize the method for control Multiple-shower output |
| CN107888620A (en) * | 2017-12-11 | 2018-04-06 | 大连高马艺术设计工程有限公司 | A role-playing toy system for remote communication of expression, voice and image |
| CN110134452A (en) * | 2018-02-09 | 2019-08-16 | 阿里巴巴集团控股有限公司 | Object processing method and device |
| CN111737198A (en) * | 2020-07-10 | 2020-10-02 | 广州今甲智能科技有限公司 | Method for improving expression playing frame rate of robot and robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101751852A (en) * | 2008-11-28 | 2010-06-23 | 复旦大学 | Method for realizing anthropomorphic countenance of robot |
| CN202315292U (en) * | 2011-11-11 | 2012-07-11 | 山东科技大学 | Comprehensive greeting robot based on smart phone interaction |
| US20130343640A1 (en) * | 2012-06-21 | 2013-12-26 | Rethink Robotics, Inc. | Vision-guided robots and methods of training them |
| CN105093986A (en) * | 2015-07-23 | 2015-11-25 | 百度在线网络技术（北京）有限公司 | Humanoid robot control method based on artificial intelligence, system and the humanoid robot |
| CN105291109A (en) * | 2015-11-13 | 2016-02-03 | 深圳狗尾草智能科技有限公司 | Robot animation expression system and achieving method thereof |
| CN105364931A (en) * | 2015-11-30 | 2016-03-02 | 北京光年无限科技有限公司 | Emotion information processing method and small intelligent robot |
| CN105500381A (en) * | 2016-02-05 | 2016-04-20 | 中国科学院自动化研究所 | Universal modularized two-arm service robot platform and system |
-
2016
- 2016-05-31 CN CN201610375906.0A patent/CN105892372A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101751852A (en) * | 2008-11-28 | 2010-06-23 | 复旦大学 | Method for realizing anthropomorphic countenance of robot |
| CN202315292U (en) * | 2011-11-11 | 2012-07-11 | 山东科技大学 | Comprehensive greeting robot based on smart phone interaction |
| US20130343640A1 (en) * | 2012-06-21 | 2013-12-26 | Rethink Robotics, Inc. | Vision-guided robots and methods of training them |
| CN105093986A (en) * | 2015-07-23 | 2015-11-25 | 百度在线网络技术（北京）有限公司 | Humanoid robot control method based on artificial intelligence, system and the humanoid robot |
| CN105291109A (en) * | 2015-11-13 | 2016-02-03 | 深圳狗尾草智能科技有限公司 | Robot animation expression system and achieving method thereof |
| CN105364931A (en) * | 2015-11-30 | 2016-03-02 | 北京光年无限科技有限公司 | Emotion information processing method and small intelligent robot |
| CN105500381A (en) * | 2016-02-05 | 2016-04-20 | 中国科学院自动化研究所 | Universal modularized two-arm service robot platform and system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106448589A (en) * | 2016-10-11 | 2017-02-22 | 塔米智能科技（北京）有限公司 | Robot expression system based on double LCD (liquid crystal display) color screens |
| CN107438503A (en) * | 2017-04-13 | 2017-12-05 | 深圳市艾唯尔科技有限公司 | Single master chip can realize the method for control Multiple-shower output |
| WO2018188024A1 (en) * | 2017-04-13 | 2018-10-18 | 深圳市爱维尔智能科技有限公司 | Method for single main chip to control multiplex display output |
| CN107888620A (en) * | 2017-12-11 | 2018-04-06 | 大连高马艺术设计工程有限公司 | A role-playing toy system for remote communication of expression, voice and image |
| CN110134452A (en) * | 2018-02-09 | 2019-08-16 | 阿里巴巴集团控股有限公司 | Object processing method and device |
| CN110134452B (en) * | 2018-02-09 | 2022-10-25 | 阿里巴巴集团控股有限公司 | Object processing method and device |
| CN111737198A (en) * | 2020-07-10 | 2020-10-02 | 广州今甲智能科技有限公司 | Method for improving expression playing frame rate of robot and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105892372A (en) | Intelligent robot expression output method and intelligent robot | |
| CN111976482B (en) | Double-screen interaction system and method for vehicle-mounted instrument screen and central control entertainment screen | |
| CN109032494A (en) | Intelligent interaction system, writing track display method and device, tablet and medium | |
| CN108958630B (en) | Writing content display method, device and electronic device | |
| CN107295388A (en) | Boot animation starts method, device and readable storage medium storing program for executing | |
| CN107515756A (en) | A kind of display and control software implementation method based on display mechanism | |
| CN113703865B (en) | Cabin picture display method, control system, storage medium and control equipment | |
| CN105426076B (en) | Information processing method and electronic equipment | |
| CN112634404A (en) | Layer fusion method, device and system | |
| CN209373557U (en) | Intelligent interaction system and intelligent interaction panel | |
| CN206311916U (en) | A kind of intelligent robot of exportable expression | |
| US10015349B2 (en) | Image forming apparatus and storage medium | |
| CN104656873A (en) | Information processing method and electronic device | |
| CN107870747A (en) | Image processing system | |
| US10057446B2 (en) | Image forming apparatus including an application separated into a core logic portion and a user interface frame portion, and storage medium storing program causing a processor controlling the apparatus to execute an image formation process implementing the application | |
| CN106502641A (en) | The display packing of the start-up picture of VR equipment and wear-type 3D display | |
| US20180088743A1 (en) | Image forming apparatus and storage medium | |
| CN113934480B (en) | Layer resource configuration method, device and system | |
| US20180091684A1 (en) | Image forming apparatus and storage medium | |
| CN108170393A (en) | A kind of SCM Based display methods and system | |
| US20180091685A1 (en) | Image forming apparatus and storage medium | |
| CN118466769A (en) | A writing acceleration method and device supporting transparency | |
| US10178260B2 (en) | Image forming apparatus and storage medium including an application having a core logic portion and a user interface frame portion | |
| CN113010129A (en) | Virtual studio full-flow multi-terminal blackboard writing extraction method and device | |
| US10079949B2 (en) | Image forming apparatus and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160824 |