CN109571507A - A kind of service robot system and method for servicing - Google Patents
A kind of service robot system and method for servicing Download PDFInfo
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- CN109571507A CN109571507A CN201910037700.0A CN201910037700A CN109571507A CN 109571507 A CN109571507 A CN 109571507A CN 201910037700 A CN201910037700 A CN 201910037700A CN 109571507 A CN109571507 A CN 109571507A
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- 238000000034 method Methods 0.000 title claims description 52
- 235000006508 Nelumbo nucifera Nutrition 0.000 claims abstract description 13
- 240000002853 Nelumbo nucifera Species 0.000 claims abstract description 13
- 230000001815 facial effect Effects 0.000 claims abstract description 4
- 238000004590 computer program Methods 0.000 claims description 21
- 230000015654 memory Effects 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 19
- 238000003384 imaging method Methods 0.000 claims description 17
- 238000003860 storage Methods 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 9
- 230000000474 nursing effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 10
- 235000013305 food Nutrition 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 230000036651 mood Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- G09F19/00—Advertising or display means not otherwise provided for
- G09F19/12—Advertising or display means not otherwise provided for using special optical effects
- G09F19/18—Advertising or display means not otherwise provided for using special optical effects involving the use of optical projection means, e.g. projection of images on clouds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Business, Economics & Management (AREA)
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- Marketing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Processing Or Creating Images (AREA)
Abstract
The present invention provides a kind of service robot system, which includes: that the service robot system includes: robot and displaying device；The displaying device includes display unit and control unit；The display unit includes at least displaying portion；The robot, for providing service operations；Described control unit lotus root connects the display unit；The displaying portion is arranged in the robot；Described control unit includes at least facial displaying image for obtaining or generating, and sends the displaying image to the display unit；And the displaying portion, for showing the displaying image in the robot.Using technical solution of the present invention, by the way that displaying portion is arranged on service robot, so that robot during providing service, more has vividness, entertainment and interest, more good experience is brought for client.
Description
Technical field
The present invention relates to service robot technical fields, and in particular to a kind of service robot system and method for servicing.
Background technique
With the development of the technologies such as the raising of automatic technology level and artificial intelligence, robot is obtained in every field
It is more and more widely used.
Wherein, service robot is widely used, and service robot can be applied to food material processing, amusement, religion
Educate etc. various service fields, especially food material processing field.
But existing service robot, often function, appearance are relatively simple or inflexible, therefore service robot is answered
Used in consumer field, tending not to bring good experience for client.
Summary of the invention
In view of this, the present invention provides a kind of service robot system and method for servicing.
First aspect present invention provides a kind of service robot system, the service robot system include: robot and
Show device；The displaying device includes display unit and control unit；The display unit includes at least displaying portion；
The robot, for providing service operations；
Described control unit lotus root connects the display unit；
The displaying portion is arranged in the robot；
Described control unit includes at least the displaying image of face for obtaining or generating, send the displaying image to
The display unit；And
The displaying portion, for showing the displaying image in the robot.
Further, the display unit includes projector and is projected body；Wherein, the body that is projected is the displaying
Portion；
Described control unit lotus root connects the projector.
Further, the display unit includes display；The display is the displaying portion；
Described control unit lotus root connects the display.
Further, the service robot system further includes imaging sensor；
Described control unit lotus root connects described image sensor；
Described image sensor, for shooting the displaying image or initial pictures, by the displaying image or it is described just
Beginning image is sent to described control unit.
Further, the displaying image is true picture or virtual image.
Further, the displaying image is animation image.
Further, the displaying portion forms the corresponding 3D construction for showing the physical feeling in image.
Further, the artificial food material processing machine device people of the machine, amusement robot, educational robot, medical robot or
Nursing robot.
Second aspect of the present invention provides a kind of method of servicing, and the method for servicing includes:
It obtains or generates and show image；
The displaying image is sent to display unit.
Further, the generation shows that image includes；
Obtain initial pictures；
The initial pictures are handled, the displaying image is generated.
Further, the initial pictures are
The initial pictures that imaging sensor shoots and sends；Or
Pre-stored initial pictures；Or
The image that server is sent.
Further, the processing initial pictures are
The initial pictures are converted as virtual image；Or
Optimize the initial pictures；Or
Extract the target site in the initial pictures.
Third aspect present invention provides a kind of control device of service robot system, and the control device includes: image
Acquisition or generation module, image sending module；
Described image obtains or generation module, for obtaining or generating displaying image；
Described image sending module, for sending the displaying image to display unit.
Fourth aspect present invention provides a kind of computer equipment, the computer equipment include memory, processor and
Store the computer program that can be run in the memory and on the processor, which is characterized in that the processor is held
The step of realizing method of servicing described in any of the above item when the row computer program.
Fifth aspect present invention provides a kind of computer readable storage medium, and the computer-readable recording medium storage has
Computer program, which is characterized in that the computer program realizes service side described in any of the above item when being executed by processor
The step of method.
Using technical solution of the present invention, have it is following main the utility model has the advantages that
By the way that displaying portion is arranged on service robot, so that robot during providing service, more has life
Dynamic property, entertainment or interest can bring more good experience during for offering customers service for client.
Detailed description of the invention
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to institute in embodiment and description of the prior art
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the first structure diagram of the embodiment of service robot system provided by the invention.
Fig. 2 is the second structural schematic diagram of the embodiment of service robot system provided by the invention.
Fig. 3 is the third structural schematic diagram of the embodiment of service robot system provided by the invention.
Fig. 4 is the 4th structural schematic diagram of the embodiment of service robot system provided by the invention.
Fig. 5 is the 5th structural schematic diagram of the embodiment of service robot system provided by the invention.
Fig. 6 is the first pass schematic diagram of the embodiment of method of servicing provided by the invention.
Fig. 7 is the second procedure schematic diagram of the embodiment of method of servicing provided by the invention.
Fig. 8 is the first structure block diagram of the embodiment of control device provided by the invention.
Fig. 9 is the second structural block diagram of the embodiment of control device provided by the invention.
Figure 10 is the structural block diagram of the embodiment of computer equipment provided by the invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the embodiment of the present invention provides a kind of service robot system 10, the service robot system 10 packet
It includes: robot 11 and displaying device 12；
Show that device 12 includes display unit 121 and control unit 122；
Display unit 121 includes at least displaying portion 1211；
Control unit 122 is by the way that wired or wirelessly lotus root connects display unit 121；
Control unit 122 includes at least facial displaying image for obtaining or generating, and sends the displaying image to institute
State display unit；
Displaying portion 1211 is arranged in robot 11, for showing at least facial image in robot 11.
By the way that displaying portion is arranged on service robot, so that robot during providing service, more has life
Dynamic property, entertainment or interest can bring more good experience during for offering customers service for client.
Specifically, because face has expression abundant, and the opposite other positions of human body have higher identification, because
This shows that image includes at least the image of face.In addition to face, the image at other positions can also be shown.
Specifically, displaying portion 121 can it is integral with Robot Design, be fixed in robot or mobilizable company
It connects in robot.
Specifically, the displaying image of face can include but is not limited to: the face of people, the face of animal or animation image
Face displaying image.
It should be noted that showing that image can be the true picture of real scene shooting；Specifically, true picture can be with
It is the image of true human or animal really shot etc., or certain drawing after creating of true shooting necessary being are made
The image of product, craftwork etc.；In addition to this, show image can also be virtual image, specifically, virtual image can refer to by
Control unit synthesized using certain technologies or true picture is converted (such as: the true picture of face is converted into face
The animation image in portion), treated the image such as optimization (such as: cutting, U.S. face, splicing, micro-adjustment).Specifically, showing image
It can be two dimension, be also possible to multidimensional.
It further, in some embodiments, may include: that will show that image is correspondingly formed the difference of various expressions to adjust
Version, to embody the various moods such as pleasure, anger, sorrow, happiness, to preferably increase customer experience.
Further, in some preferred embodiments, show that image is animation image；Specifically, the animation image can be
The true animation image that the shooting of true works is obtained；It is also possible to the virtual animation image of control unit synthesis, either
The virtual animation image that the true picture really shot is generated after the conversion of certain switch technologies；So that showing that image has more
There is entertainment, to preferably increase customer experience.
Specifically, service robot 11, for various types of services of being engaged in automatically or semi-automatically, such as: food
The various service fields of material reason, amusement, education, monitoring etc..In some preferred embodiments, it is particularly suitable for food material processing,
Because food material processing machine people combines while arranging food materials includes at least face displaying image, it can increase user experience, drop
Irritated mood of the low people in waiting process, reduces the cost of serving of relevant enterprise；Specifically, food material processing may include but
It is not limited to: various Chinese and western dish, beverage or drinks etc..
In some embodiments, robot can be humanoid, class humanoid (casper) or animal-shaped etc. robot；
Displaying portion can be set in the position that robot arbitrarily needs；In some preferred embodiments, displaying portion is arranged in robot
Head position.
In some embodiments, at least one arm of robot 11 can for multiple joints and connecting rod by series connection or
Various types of manipulators that parallel connection is formed, the output end of the terminal shaft of manipulator also fixation ends actuator, end effector
It can be sucker or clamping jaw etc.；Since robot uses manipulator as arm, arm has higher flexible
Degree, so that robot can complete the services of some high-precisions or high complexity.
Specifically, control unit 122 can be independent a part for calculating equipment；It is also possible to service robot 11
A part (such as: control robot motion)；Either imaging sensor 123 described in Examples hereinafter a part (such as:
Control image working sensor), in this embodiment, for convenience of description, control unit 122 is with the displaying of individual component.
The detailed associated description limited referring to the method for servicing in Examples hereinafter in relation to control unit 122；Control is single
Member 122 can be programmable logic controller (PLC) (Programmable Logic Controller, PLC), field-programmable gate array
Arrange (Field-Programmable Gate Array, FPGA), computer (Personal Computer, PC), Industry Control
Computer (Industrial Personal Computer, IPC) or server etc..Control device is according to journey fixed in advance
Sequence, data acquired in conjunction with the information, parameter or external sensor (such as imaging sensor) being manually entered etc. generate program
Instruction.
It should be noted that Fig. 1 is only the example of service robot system, the limit to service robot system is not constituted
It is fixed, it may include perhaps combining certain components or different components than illustrating more or fewer components.
In some embodiments, displaying portion can form the corresponding 3D construction for showing the physical feeling in image；With face
For image, it includes that the 3D of eye, nose, mouth etc. organ is constructed that displaying portion can be made, which to be formed, so that service robot
The service of offer brings more interests and vividness to client, to form good experience effect.
Continue as shown in Figure 1, in some embodiments, display unit 121 includes display 1211；Wherein, display
1211 be displaying portion 1211；
122 lotus root of control unit connects display 1211, will show that image is sent to display 1211；
Display 1211, for showing image.
Specifically, display is the various displays that can show two dimension or multidimensional image.
As shown in figure 5, the display is touch control display in some embodiments, certain use are inputted by touch control display
In instruction, thus with service robot carry out it is certain interact, such as: by hand M touch control display 1211 input be directed to display diagram
The conversion instruction of picture is sent to control unit 122, and control unit carries out corresponding conversion operation according to conversion instruction, generates new
The displaying image according to customer requirement.To increase the entertainment of service robot and interacting between service user
Property.
As shown in Fig. 2, in some embodiments, display unit 121 includes projector 1212 and is projected body 1211；Its
In, being projected body 1211 is displaying portion 1211；
122 lotus root of control unit connects projector 121, will show that image is sent to projector；
Projector 1212 is projected body 1211 for the displaying image that the control unit 122 received is sent to be projected in.
Specifically, displaying portion 121 is the various bodies that are projected for being projected image, and such as: it is arranged to any knot of white background
Structure；Specifically, displaying portion 121 can include but is not limited to: preceding throwing curtain or back-projection screen；Projector 1221 can be various types,
Such as: various types of projectors.
As shown in Figure 3,4, further, in some embodiments, show that device 12 further includes imaging sensor 123；
The also lotus root of control unit 122 connects imaging sensor 123；
Imaging sensor 123 will be initial for the initial pictures or displaying image of real-time or periodic shooting client
Image shows that image is sent to control unit 122；
Wherein, show that image is after referring to that control unit obtains the image that imaging sensor 123 is sent, control unit is not required to
Image is handled and just be transmitted directly to display unit 121 and be shown.
After initial pictures refer to that control unit obtains the image that imaging sensor 123 is sent, need by above example
The various processing methods mentioned generate after being handled and show image, then will show that image is sent to display unit and shows.
Specifically, imaging sensor 12 may include: camera, video camera, scanner or other with correlation function
Equipment (mobile phone, computer etc.) etc..Imaging sensor can be designed as any more than or equal to 1, image sensing as needed
The image of device shooting can be 2D image, 3D rendering or video etc..
By the way that imaging sensor is arranged, then the initial pictures that imaging sensor is shot are sent after certain processing
Give displaying portion show, therefore increase robot provide service during with client between interactivity and interest, more
The good experience for improving user.
As shown in figure 5, in some embodiments, the present invention also provides service robots described in a kind of above example
Method of servicing, the method for servicing include following method and step:
S100, which is obtained or generated, shows image；
In some embodiments, various images can be stored in memory in advance, control unit 122 is by executing foot
This program obtains the image in memory, and image is sent to display unit 121 directly as displaying image；In some realities
It applies in example, control unit 122 can also directly acquire external server or other control devices etc. by perform script program
The image of transmission is directly as displaying image；Or in further embodiments, the figure that imaging sensor shoots and sends is obtained
As directly as displaying image.
In further embodiments, the figure that control unit 122 will need to obtain by various modes described in above example
As being used as initial pictures, after control unit 122 handles initial pictures, generates and show image, following example meeting
There is further detailed description.
S200 sends the displaying image to display unit.
By showing image during service robot services, so that robot is providing the process of service
In, more there is vividness, entertainment or interest, during for offering customers service, can be brought for client better
Good experience.
As shown in fig. 6, in some embodiments, in S100, generating and showing that image includes following method and step；
S110 obtains initial pictures；
Acquisition methods in relation to initial pictures are referring to described in above example, and it is no longer repeated herein.
S120 handles initial pictures, generates and shows image.
Specifically, processing initial pictures, generate and show that image can include but is not limited to:
In some embodiments, processing initial pictures (when initial pictures are true picture) is the conversion initial pictures
For various virtual images.
In some embodiments, the processing initial pictures are to optimize the initial pictures；Such as: it cuts out, color or light
The enhancement and treatment of the various various images developed now or in the future of line adjustment, merging, distortion, U.S. face etc..
In some embodiments, handling initial pictures (when the true picture that initial pictures are imaging sensor shooting) is to turn
Changing the initial pictures is virtual image (such as: true face-image is converted into animation image).
In some embodiments, processing initial pictures are the mesh that target site (such as: face) is extracted from initial pictures
Logo image.Specifically, extracting method can based on traditional visible sensation method (such as: binaryzation, connected domain and/or edge extracting
Etc.)；Or the method based on machine learning is realized.
In some embodiments, handling initial pictures is, can be according to specific structure when displaying portion forms 3D construction
Position carries out torsional deformation to image, preferably to use the image of 3D construction to show.
Other associated descriptions in relation to service robot system are referring to above embodiment, and it is no longer repeated herein.
As shown in figure 8, the embodiment of corresponding above method, the embodiment of the present invention also provides a kind of service robot system
Control device 200, control device 200 described below and above-described method of servicing can correspond to each other reference.
Control device 200 includes: image acquisition or generation module 210 and image sending module 220；
Image obtains or generation module 210, for obtaining or generating displaying image；
Image sending module 220 shows image to display unit for sending.
As shown in figure 9, further, in some embodiments, image obtains or generation module 210 includes:
Initial pictures acquisition unit 211, for extracting the target image in initial pictures.
It shows image production part 212, for handling initial pictures, generates and show image.
Other associated descriptions in relation to robot service system and method for servicing are no longer heavy herein referring to above embodiment
It repeats again.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of the control device is divided into different functional unit or module, to complete
All or part of function described above.Each functional unit in embodiment, module can integrate in one processing unit,
It is also possible to each unit to physically exist alone, can also be integrated in one unit with two or more units, above-mentioned collection
At unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function
Unit, module specific name be also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above-mentioned system
The specific work process of unit in system, module, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In further embodiments, a kind of computer readable storage medium, the computer readable storage medium are also provided
It is stored with computer program, robot service described in above example is realized when the computer program is executed by processor
The step of method.
Description in relation to manipulator demarcating method is referring to above embodiment, and it is no longer repeated herein.
As shown in Figure 10, in further embodiments, a kind of computer equipment 30 is also provided, the computer equipment 30 is wrapped
It includes memory 31, processor 32 and is stored in the computer journey that can be run in the memory 31 and on the processor 32
Sequence 311, the processor 32 realize the step of method of servicing described in above example when executing the computer program 311
Suddenly.Description in relation to plug in machine method is referring to above embodiment, and it is no longer repeated herein.
By taking computer and industrial control computer as an example, industrial control computer has important computer attribute and spy
Sign, therefore they all have computer central processing unit (Central Processing Unit, CPU), hard disk, memory etc.
Internal storage also has plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure
Digital, SD) card, the external memories such as flash card (Flash Card), and have operating system, control network and agreement, calculating
Ability, friendly man-machine interface, be provided for other each structure/equipment/systems reliable, embedded, intelligentized computer and
Industrial control computer.
Illustratively, the computer program 311 can be divided into one or more module/units, it is one or
Multiple module/the units of person are stored in the memory 31, and are executed by the processor 32, to complete the present invention.It is described
One or more module/units can be the series of computation machine program instruction section that can complete specific function, which uses
In implementation procedure of the description computer program 311 in the control device 30.For example, the computer program 311 can
To be divided into image acquisition or generation module and image sending module 220；Each module concrete function is as follows: image obtains or life
At module 210, for obtaining or generating displaying image；Image sending module 220 shows image to display unit for sending.
Alleged processor 32 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory can be the storage equipment built in computer equipment 30, such as hard disk or memory.The memory
31 are also possible to the plug-in type hard disk being equipped on the External memory equipment of computer equipment 30, such as the computer equipment 30,
Intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash
Card) etc..Further, the memory 31 can also both include the internal storage unit of the computer equipment 30, also wrap
Include External memory equipment.The memory 31 is for storing needed for the computer program and the computer equipment other
Program and data.The memory 31 can be also used for temporarily storing the data that has exported or will export.
It will be understood by those skilled in the art that Figure 10 is only the example of computer equipment 30, do not constitute to computer
The restriction of equipment 30 may include perhaps combining certain components or different components than illustrating more or fewer components,
Such as the computer equipment 30 can also include input-output equipment, network access equipment, bus etc..
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed each device and method can pass through it
Its mode is realized.For example, the embodiment of each device described above is only schematical, for example, the module or
The division of unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units
Or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, institute
Display or the mutual coupling or direct-coupling or communication connection discussed can be through some interfaces, device or unit
INDIRECT COUPLING or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and
Telecommunication signal.
When element is expressed " being fixed on " another element, it can directly on the other element or therebetween can be with
It is prefabricated integral in the presence of one or more elements placed in the middle and another element.When an element be expressed " connection " another
Element, it can be directly to another element or there may be one or more elements placed in the middle therebetween.This explanation
Term "vertical", "horizontal", "left" and "right" that book uses, "inner", "outside" and similar statement simply to illustrate that
Purpose.
Unless otherwise defined, technical and scientific term all used in this specification is led with technology of the invention is belonged to
The normally understood meaning of the technical staff in domain is identical.In this specification in the description of the invention used in belong to and be only
The purpose of description specific embodiment is not intended to the limitation present invention.
"and/or" in this paper term, only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, such as: A and/or B can indicate individualism A, exist simultaneously A and B, these three situations of individualism B.In addition, herein
Middle character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Claims of the present invention and specification and term " first " in above-mentioned attached drawing, " second ", " third ",
" S100 ", " S200 " etc. (if present) are for distinguishing similar object, without specific sequentially or first for describing
Order afterwards.It should be understood that the data used in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be with
Sequence other than the content for illustrating or describing herein is implemented.In addition, term " includes " " having " and theirs is any
Deformation, it is intended that cover and non-exclusive include.Such as: include the process, method of series of steps or module, system,
Product or robot those of are not necessarily limited to be clearly listed step or module, but including being not clearly listed or right
In these process, methods, system, product or robot intrinsic other steps or module.
It should be noted that those skilled in the art should also know that, embodiment described in this description belongs to excellent
Embodiment is selected, related structure and module are not necessarily essential to the invention.
It is provided for the embodiments of the invention service robot system above and method of servicing is described in detail, but with
The explanation of upper embodiment is merely used to help understand method and its core concept of the invention, should not be construed as to limit of the invention
System.Those skilled in the art in the technical scope disclosed by the present invention, can readily occur according to the thought of the present invention
Change or replacement, should be covered by the protection scope of the present invention.
Claims (15)
1. a kind of service robot system, which is characterized in that the service robot system includes: robot and displaying device；
The displaying device includes display unit and control unit；The display unit includes at least displaying portion；
The robot, for providing service operations；
Described control unit lotus root connects the display unit；
The displaying portion is arranged in the robot；
Described control unit includes at least facial displaying image for obtaining or generating, and sends the displaying image to described
Display unit；And
The displaying portion, for showing the displaying image in the robot.
2. service robot system according to claim 1, which is characterized in that the display unit include projector and by
Projection Body；Wherein, the body that is projected is the displaying portion；
Described control unit lotus root connects the projector.
3. service robot system according to claim 1, which is characterized in that the display unit includes display；Institute
Stating display is the displaying portion；
Described control unit lotus root connects the display.
4. service robot system according to claim 1,2 or 3, which is characterized in that the service robot system is also
Including imaging sensor；
Described control unit lotus root connects described image sensor；
Described image sensor, for shooting the displaying image or initial pictures, by the displaying image or the initial graph
As being sent to described control unit.
5. service robot system according to claim 1-3, which is characterized in that the displaying image is true
Image or virtual image.
6. service robot system according to claim 1-3, which is characterized in that the displaying image is animation
Image.
7. service robot system according to claim 1-3, which is characterized in that the displaying portion forms correspondence
The 3D of physical feeling in the displaying image is constructed.
8. service robot system according to claim 1-3, which is characterized in that the artificial edible material of machine
Manage robot, amusement robot, educational robot, medical robot or nursing robot.
9. a kind of method of servicing, which is characterized in that the method for servicing includes:
It obtains or generates and show image；
The displaying image is sent to display unit.
10. method of servicing according to claim 9, which is characterized in that the generation shows that image includes；
Obtain initial pictures；
The initial pictures are handled, the displaying image is generated.
11. method of servicing according to claim 10, which is characterized in that the initial pictures are
The initial pictures that imaging sensor shoots and sends；Or
Pre-stored initial pictures；Or
The image that server is sent.
12. method of servicing described in 0 or 11 according to claim 1, which is characterized in that the processing initial pictures are
The initial pictures are converted as virtual image；Or
Optimize the initial pictures；Or
Extract the target site in the initial pictures.
13. a kind of control device of service robot system, which is characterized in that the control device includes: image acquisition or raw
At module, image sending module；
Described image obtains or generation module, for obtaining or generating displaying image；
Described image sending module, for sending the displaying image to display unit.
14. a kind of computer equipment, the computer equipment includes memory, processor and stores in the memory simultaneously
The computer program that can be run on the processor, which is characterized in that the processor executes real when the computer program
The step of existing claim 9-12 described in any item method of servicing.
15. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In the step of realizing claim 9-12 described in any item method of servicing when the computer program is executed by processor.
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| CN201910037700.0A CN109571507A (en) | 2019-01-16 | 2019-01-16 | A kind of service robot system and method for servicing |
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| CN201910037700.0A CN109571507A (en) | 2019-01-16 | 2019-01-16 | A kind of service robot system and method for servicing |
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