WO2018108177A1 - 一种机器人绘画教学方法、装置及其机器人 - Google Patents

一种机器人绘画教学方法、装置及其机器人 Download PDF

Info

Publication number
WO2018108177A1
WO2018108177A1 PCT/CN2017/116675 CN2017116675W WO2018108177A1 WO 2018108177 A1 WO2018108177 A1 WO 2018108177A1 CN 2017116675 W CN2017116675 W CN 2017116675W WO 2018108177 A1 WO2018108177 A1 WO 2018108177A1
Authority
WO
WIPO (PCT)
Prior art keywords
reference model
robot
drawing reference
brush
teaching
Prior art date
Application number
PCT/CN2017/116675
Other languages
English (en)
French (fr)
Inventor
黄明
杨刚
Original Assignee
北京奇虎科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN201611168829.8A external-priority patent/CN106426223B/zh
Priority claimed from CN201611169379.4A external-priority patent/CN106409063A/zh
Application filed by 北京奇虎科技有限公司 filed Critical 北京奇虎科技有限公司
Publication of WO2018108177A1 publication Critical patent/WO2018108177A1/zh

Links

Images

Classifications

    • 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
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B11/00—Teaching hand-writing, shorthand, drawing, or painting
    • G09B11/10—Teaching painting

Definitions

  • the embodiment of the invention relates to the field of intelligent control, in particular to a robot painting teaching method and device and a robot thereof.
  • the intelligent educational equipment in the prior art is designed as a robot that is easily accepted by the user.
  • the intelligent robot is limited to the education of the user, communicates with the user, and provides cultural education to the child through speech, compared with the educational significance.
  • the robot in the prior art is more inclined to be a companion type toy.
  • the inventor of the present invention found in the research that the educational robot in the prior art is more inclined to be a companion type toy, lacking the ability to recognize children's painting behavior, and the ability to judge children's painting learning behavior is incapable. It plays a good supporting role for user education.
  • the shooting device is generally set on the robot, and the robot acquires the real image of the environment or the command behavior of the user in real time through the shooting device.
  • the imaging device of the robot is mounted on the robot in a fixed manner, so that the range of the field of view that can be captured is limited, and only the image in front of the imaging device can be captured, and the shooting horizon of the imaging device is close to and far from the shooting.
  • It has a trumpet shape, that is, the ground is horizontal, and there is a certain angle between the shooting horizon of the camera and the ground.
  • the angle is the shooting angle of the robot, and it is impossible to shoot for this area.
  • the robot often needs to acquire images in the angled area. For example, when shooting a user's writing or drawing, it is the best shooting area in the angled area due to the requirement of shooting sharpness.
  • a fixedly installed drone cannot photograph an angled area perpendicular to the direction of the center axis of the shooting horizon.
  • the technical problem mainly solved by the embodiments of the present invention is to provide a robot painting teaching method, device and robot thereof.
  • the drawing reference model is displayed on the display screen of the robot, so that the user can copy the drawing reference model, so that the user learns to master the basic essentials of the painting, and the user takes the process of copying the reference model of the painting to extract the brush traces of the user.
  • the brush trace is compared with the drawing reference model, and the user's copying level is judged according to the comparison result, so that the user can master the drawing skill and solve the robot in the prior art, because of the lack of ability to recognize the child behavior, As well as the ability to judge children's learning behavior, it can not help the user's education.
  • the optical lens is placed obliquely, and the light taken in the direction perpendicular to the central axis of the shooting direction can be refracted, that is, the shooting device can shoot the light in the dead angle. Refraction causes the light to collimate into the field of view even if the camera is able to capture an image of its dead angle. In the prior art, the fixed installation of the camera cannot capture the image in the angled area.
  • a robot painting teaching method comprising the steps of: displaying a drawing reference model; capturing image information of a drawing reference model of the user while displaying the drawing reference model; and extracting the user information when the image information is extracted a brush trace and simultaneously displayed on the display device; comparing the brush trace with the drawing reference model, determining to correspond to the brush according to the degree of similarity between the brush trace and the drawing reference model Trace evaluation information.
  • an embodiment of the present invention further provides a drawing teaching apparatus, including: at least one processor; and at least one memory communicably connected to the at least one processor;
  • a memory includes processor-executable instructions that, when executed by the at least one processor, cause the apparatus to perform at least the following operations: displaying a drawing reference model; displaying a drawing reference model Simultaneously taking the image information of the drawing reference model of the user; extracting the brush trace of the user in the image information and simultaneously displaying it on the display device; comparing the brush trace with the drawing reference model, and The brush trace is evaluated based on the degree of similarity of the brush trace to the paint reference model.
  • an embodiment of the present invention further provides a drawing teaching robot, including: a touch sensitive display; one or more processors; a memory; one or more applications, wherein the one or more An application is stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: display a drawing reference model; photographing a user while displaying a drawing reference model The image information of the reference model is extracted; the brush trace of the user in the image information is extracted and displayed on the display device; the brush trace is compared with the drawing reference model, according to the comparison The brush trace is evaluated by the degree of similarity of the brush trace to the paint reference model.
  • the invention also provides a computer program comprising computer readable code, when the drawing teaching robot runs the computer readable code, causing the method of the first aspect to be performed.
  • the invention provides a computer readable medium storing the computer program as described in the fourth aspect.
  • an embodiment of the present invention further provides a robot, the robot includes: a robot body; a photographing device, the photographing device is disposed on the robot body; and an optical lens, the optical lens is disposed The optical lens is placed obliquely within the shooting horizon of the photographing device, and light incident perpendicular to the central axis of the photographing horizon is refracted into the photographing horizon.
  • the optical lens is placed obliquely, and the light taken in the direction perpendicular to the central axis of the shooting direction can be refracted, that is, the shooting device can shoot the light in the dead angle Refraction causes the light to collimate into the field of view even if the camera is able to capture an image of its dead angle.
  • the fixed installation of the camera cannot capture the image in the angled area.
  • FIG. 1 is a basic flow chart of a robot painting teaching method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a robot with vertical shooting capability according to an embodiment of the present invention
  • FIG. 3 is a flowchart of a method for displaying a reference model contour according to an embodiment of the present invention
  • FIG. 4 is a flow chart of a method for demonstrating a reference model contour image by an animation according to an embodiment of the present invention
  • FIG. 5 is a flowchart of a method for evaluating a contour map of a brush reference and a drawing reference model according to an embodiment of the present invention
  • FIG. 6 is a flowchart showing a warning display of an error occurring during a copying process according to an embodiment of the present invention
  • FIG. 7 is a flowchart of demonstrating teaching of non-overlapping parts according to an embodiment of the present invention.
  • FIG. 8 is a flowchart of a method for repeatedly teaching non-overlapping parts according to an embodiment of the present invention.
  • FIG. 9 is a flow chart of remote transmission of a teaching teaching method according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a drawing teaching apparatus according to an embodiment of the present invention.
  • FIG. 11 is a schematic structural diagram of a drawing teaching apparatus having a function of displaying a reference model contour according to an embodiment of the present invention
  • FIG. 12 is a schematic structural diagram of a drawing teaching apparatus having an animation presentation reference model contour graphic function according to an embodiment of the present invention
  • FIG. 13 is a schematic structural diagram of a drawing teaching apparatus for evaluating a contour map of a brush reference and a drawing reference model according to an embodiment of the present invention
  • FIG. 14 is a schematic structural diagram of a drawing teaching apparatus having an error warning display function according to an embodiment of the present invention.
  • FIG. 15 is a schematic structural diagram of a drawing teaching apparatus having a demonstration teaching function for a non-overlapping portion according to an embodiment of the present invention.
  • 16 is a schematic structural diagram of a drawing teaching apparatus having a function of repeatedly teaching non-overlapping parts according to an embodiment of the present invention
  • FIG. 17 is a schematic structural diagram of a drawing teaching apparatus having a remote transmission function according to an embodiment of the present invention.
  • FIG. 18 is a structural block diagram of a drawing teaching robot according to an embodiment of the present invention.
  • Figure 19 is a block diagram of a drawing teaching robot for performing the method according to the present invention.
  • Figure 20 shows a schematic diagram of a memory unit for holding or carrying program code implementing a method in accordance with the present invention
  • 21 is a schematic view showing the overall structure of a robot according to an embodiment of the present invention.
  • 22 is a schematic diagram of the refraction of an optical lens according to an embodiment of the present invention.
  • FIG. 23 is a schematic structural view of a carrier according to an embodiment of the present invention.
  • FIG. 1 is a basic flow chart of a robot painting teaching method according to an embodiment of the present invention.
  • a robot painting teaching method includes the following steps:
  • the robot internally stores a drawing reference model for the user to refer to.
  • the painting reference model can be (not limited to) a photograph taken by a real object existing in reality, a cartoon drawing of a real object, or a virtual painting work.
  • S1120 The image information of the drawing reference model of the user is taken while the drawing reference model is displayed.
  • the robot takes a picture of the user's copying process.
  • the user places the copying tool directly in front of the robot.
  • the camera is provided with a camera, and the camera on the robot is disposed on the side of the robot facing the user, that is, the shooting horizon of the robot camera and the copying device are in a position perpendicular to each other. Therefore, if the user performs a copy near the position of the robot, the robot camera It is not possible to capture images when the user is copying.
  • the camera shooting horizon is extended with the shooting distance, the user can copy the position away from the camera at a certain distance, the camera can capture the user's copying process, but because the distance is far away, the user cannot be clearly photographed. Traces of the brush at the time of copying, the captured image could not meet the requirements of subsequent processing.
  • FIG. 2 is a schematic diagram of a robot with vertical shooting capability according to the embodiment.
  • an optical mold is added to the robot, and the optical mold is snap-fitted on the robot, and the connection mode of the optical mold and the robot is not limited thereto, and some options are selected.
  • the optical mold and the robot are connected to each other by providing permanent magnets.
  • the optical mold places a mirror on the side of the robot camera, the mirror is placed obliquely, and the mirror is placed within the scope of the robot camera.
  • the mirror Since the mirror is placed obliquely and the tilted position is directly below the field of view of the robot, Therefore, the mirror can receive the reflected light from the user's copying process, and the light is incident into the robot's camera through the light refraction, so that the robot camera can obtain the image information of the user's copying process.
  • the method of the robot to take a copying process is not limited to the use of an optical mold.
  • the top of the robot extends out of the carrier member, the carrier member being perpendicular to the plane facing the direction of the robot, and in some alternative embodiments, the carrier member It is stored in the inside of the robot when it is not in use, and is taken out from the inside of the robot when it is used.
  • a camera is arranged on the carrier member, and the camera viewing interface is directly below the carrier member. This structure enables the camera on the robot to capture the image of the user.
  • S1130 Extract a brush trace of the user in the image information when it is copied, and simultaneously display it on the display device.
  • the robot extracts the brush traces of Linyi according to the user's copy of the image taken by the camera.
  • the image captured by the robot camera generally includes: the user's hand, the brush, the canvas, and the brush trace.
  • the robot extracts the brush trace of the user, the user's hand and the brush in the image are first removed.
  • the specific method is to pre-store the color information and contour information of the human hand in the robot, and the robot compares the color.
  • the robot can recognize the user's hand in the captured image and remove the recognized user's hand.
  • the robot recognizes the brush and removes the brush from the captured image.
  • the brush In the selected brush, the brush with the difference between the brush color and the canvas is selected.
  • the robot can obtain the brush trace formed by the user in the image information through the image processing technology.
  • the method for extracting the brush trace of the user in the image information when the user is copying is not limited to the above extraction method.
  • the user removes the hand and the brush from the canvas after the completion of the copy, and the canvas only has Brush traces
  • the camera captures the picture at this time
  • the robot intercepts the picture taken by the camera, and extracts the brush trace formed by the user in the image information by image processing technology.
  • Image processing technology means that the robot separates and extracts the brush traces painted on the canvas from the canvas through the color difference between the canvas and the brush trace.
  • the image processing technology further includes: magnifying the canvas located at the edge of the image in the image information, and the light located at the edge of the canvas is obliquely incident when the optical module collects the light, thereby causing the shooting.
  • the canvas at the edge of the shooting horizon is smaller than the actual canvas area.
  • the ratio of the actual change of the canvas at the time of shooting is obtained by multiple measurement experiments, and then in the post processing, The canvas at the edge position is zoomed in at the same ratio so that the captured image information is not deformed.
  • the brush traces located within the shooting horizon are also simultaneously amplified. After the same ratio is enlarged, the brush traces are extracted.
  • the brush trace is displayed in synchronization with the drawing reference model.
  • the brush traces are extracted and displayed in synchronization with the drawing reference model.
  • the drawing reference model stored in the robot mainly comprises a contour map and a detail map. If the drawing reference model is a colored balloon, the drawing elements constituting the color balloon include: a contour constituting the color balloon and constituting the color. The color of the interior of the balloon. When comparing, first compare the similarity of the contours of the balloons, and then compare the similarities of the colors.
  • the user's brush marks are scored according to the similarity of the comparison.
  • the score is related to the similarity. If the similarity is 80%, the copy is 80%; the similarity is 80%. At sixty hours, he played sixty cents against Linyi.
  • the evaluation of the brush marks is not limited to this.
  • the brush marks of Linyi are scored according to the score segments, such as A, B, C, and D, or excellent, good, and general.
  • the painting reference model is displayed on the display screen of the robot, so that the user can copy the painting reference model, so that the user learns to grasp the basic essentials of the painting, and the user takes the process of copying the reference model of the painting, and extracts the brush trace of the user.
  • the brush trace is compared with the painting reference model, and the user's copying level is judged according to the comparison result, so that the user can master the drawing skill and solve the robot in the prior art, because of the lack of ability to recognize the child behavior, and The ability of children to judge their behavior can not help users' education.
  • the brush traces are pattern overlapped with the paint reference model, and the portion of the brush trace that does not overlap the paint reference model is displayed in an alert manner.
  • the robot superimposes the brush trace with the contour of the painting reference model. After calculating the score of Linyi, the robot needs to be alerted to the error occurring in the user's copy, so that the user finds that there is an error in the process of copying, so that the user can recognize the error and Correct the error.
  • the specific implementation method is that the brush trace is superimposed with the contour graph of the drawing reference model, and the robot intercepts the portion of the brush trace that is not superimposed with the painting reference model through the graphic software processing, and the intercepted part is the user copy error. The place.
  • the error location is displayed as a warning.
  • the warning display refers to a display mode that can cause the user to pay attention to the color difference or flickering of the error position.
  • the position of the error is marked as red, and blinking is performed to draw the user's attention.
  • FIG. 3 is a flowchart of a method for displaying a reference model contour according to an embodiment.
  • S1111 After displaying the drawing reference model, displaying a contour figure of the drawing reference model.
  • the outline of the painting reference model is often only copied to quickly grasp the copying skill of the drawing reference model.
  • the robot displays the contour of the drawing reference model after displaying the drawing reference model.
  • the outline figure of the drawing reference model refers to the main structure of the drawing reference model. For example, when the drawing reference model is a peach, the heart-shaped pattern constituting the outline of the peach is the outline figure of the drawing reference model.
  • the painting reference model is displayed first, and then the painting reference model is displayed.
  • the length of the display time can be set.
  • the order of display is the initial setting.
  • the user can control the display of the reference model and the reference model by sending control commands to the robot. Graphics.
  • the manner in which control commands are sent includes (not limited to) remote control, voice commands, touch screen control commands, or gesture commands.
  • FIG. 4 is a flow chart of a method for animating a reference model contour by an animation.
  • an outline of the reference model is animated by animation.
  • the user who uses the robot in this embodiment to perform painting exercises is generally a child, and is generally following in learning painting.
  • the state of the habit that is, when learning to draw, you need to tell the child how to start the pen, how the curve is drawn, the brush strokes and other basic execution elements of the painting. If the outline image is displayed only when the outline image of the reference model is displayed, the child often does not Knowing where to start painting, I also don't know how to paint, and then do a doodle, so that the robot can not play a good teaching role.
  • the outline graphic of the reference model is presented by means of an animation, and the animation and the voice are introduced to introduce the contour image of the reference model to the user through the image and the voice.
  • the animation and the voice are introduced to introduce the contour image of the reference model to the user through the image and the voice.
  • draw the curve first and how the curve is drawn are introduced.
  • the user is taught step by step to learn the outline graphics of the reference model, which is easy for the user to grasp the main points and skills of the painting, improve the user's learning efficiency, and teach in an animated manner, which enables the user to raise interest in learning.
  • Animating the outline pattern of the reference model is not an essential step. When the user is able to master the outline drawing technique of the reference model, the user can skip the step by issuing an instruction.
  • FIG. 5 is a flow chart of a method for evaluating a contour map of a paint reference model by comparing a brush trace.
  • S1141 Perform pattern overlap comparison on the brush traces and the contour graphics of the drawing reference model, and evaluate the brush traces according to the proportion of the overlapping areas. After the robot obtains the brush trace of the user's copy, it is recognized whether the brush trace is a copy of the painting reference model as a whole, or whether the outline of the paint reference model is copied, because the difference between the paint reference model and its outline is that some Detail graphics and colors, contour maps generally do not have some detail graphics and multiple colors. By identifying whether the acquired images have the above-mentioned detailed graphics and colors, the robot can distinguish whether the user is in the Linyi painting reference model or the contour of the painting reference model. Graphics.
  • the brush trace is superimposed with the contour graph of the paint reference model.
  • the contour map is used as a standard reference, and the brush trace is not calculated.
  • the portion of the contour map coincides, and calculates the ratio of the non-coincident portion to the entire contour map.
  • the "1-rate" is the evaluation score of the user's copy. If the calculated ratio is 20%, the user's Linyi’s score is 80.
  • the evaluation of the brush marks is not limited to this. In some alternative embodiments, the brush marks of Linyi are scored according to the score segments, such as A, B, C, and D, or excellent, good, and general.
  • FIG. 6 is a flow chart showing the warning display of errors occurring during the process of copying.
  • S1220 Perform warning display on the non-overlapping portion.
  • the robot uses the graphics software to process the part of the contour map that is not superimposed with the brush traces.
  • the error position is displayed for warning.
  • the warning display refers to a display mode that can cause the user to pay attention to the color difference or flickering of the error position.
  • the position of the error is marked as red, and blinking is performed to draw the user's attention.
  • FIG. 7 and FIG. 7 for a flowchart of demonstrating teachings of non-overlapping portions.
  • the user's wrong drawing position is demonstrated by animation to help the user learn the correct drawing method.
  • the specific method is: determining, by the image determining processing software, a starting position of the non-overlapping portion, and truncating two frame images corresponding to the starting position in the animation demonstration, and between the two frame images
  • the animation is intercepted, that is, the animation method of the non-overlapping portion, and the robot plays the cut-out animation, that is, the painting method for presenting the non-overlapping portion to the user.
  • FIG. 8 and FIG. 8 are flowcharts of repeated teaching methods for non-overlapping parts.
  • the drawing reference model stored in the robot constitutes a drawing reference model database, and the database includes a contour map of the drawing reference model, and each contour map has a combination of a plurality of line segments, for example, the drawing reference model is the letter B, which constitutes the drawing.
  • the line segment combination of the reference model is composed of a vertical straight line segment and two semicircular arc segments, and the contour map of the complex drawing reference model is split into a plurality of line segments in the same database, and the line segments constituting the drawing reference model are segmented. Make a record.
  • searching first determine the type of line segment that does not overlap part of the outline, and then search the database for other drawing reference models that include the line segment type.
  • FIG. 9 is a flow chart of remote transmission of the teaching teaching method.
  • S1410 Record the image information and evaluate the brush trace.
  • the direct use of robot painting education is for children.
  • the painting images of the user and the evaluation of the brush marks made by the robot are recorded.
  • the evaluation includes: the score of the user and the score of the user.
  • User behavior such as the location where the user made a mistake when copying.
  • the teaching log is generated by the evaluation of the recorded painting image and the brush trace made by the robot.
  • the teaching log includes a video log, a graphic log and a text log, and the video log refers to editing the entire video of the user, that is, the image at the time of evaluation as a whole. video.
  • the graphic log the user's time, drawing reference model, brush traces and evaluation are edited into text.
  • the robot sends the generated teaching log to the designated external device through an external network, which means (not limited to): a device such as a mobile terminal and a server that can acquire and store the log through an external network.
  • the robot can send a teaching log to the user through an external network such as 3G, 4G, 5G or WiFi.
  • an external network such as 3G, 4G, 5G or WiFi.
  • the mobile terminal user sends the teaching log first establish contact with the mobile terminal, obtain the network environment where the mobile terminal is located, and then determine to send the video to the user.
  • Logs, graphic logs, or text logs If the user is in a 4G wireless environment, send a text log to the user. In the 3G environment, send a text log to the user. In the WiFi environment, send a video log to save the video log. The traffic when the user reads the log.
  • This embodiment also provides a drawing teaching device.
  • FIG. 10 is a schematic diagram of the basic structure of the painting teaching apparatus of the embodiment.
  • a drawing teaching apparatus includes: a display module 2110, a shooting module 2120, a trace extraction module 2130, and a first processing module 2140.
  • the display module 2110 is configured to display a drawing reference model;
  • the shooting module 2120 is configured to capture image information of the user's copy drawing reference model;
  • the trace extracting module 2130 is configured to extract a brush trace when the user is copying in the image information;
  • the first processing module 2140 is configured to: The brush traces are compared to the paint reference model, and the brush traces are evaluated based on how similar the brush traces are to the paint reference model.
  • the drawing teaching device stores therein a drawing reference model for the user to refer to.
  • the drawing reference model needs to be displayed through the display module 2110.
  • the painting reference model can be (not limited to) a photograph taken by a real object existing in reality, a cartoon drawing of a real object, or a virtual painting work.
  • the photographing module 2120 is snap-fitted on the drawing teaching device, and the connection mode of the photographing module 2120 and the drawing teaching device is not limited thereto.
  • the shooting module 2120 and the drawing teaching device are disposed by setting permanent magnets. Connected to each other.
  • Shooting module The 2120 is disposed on one side of the camera of the painting teaching device, and the optical module is specifically a mirror, the mirror is placed obliquely, and the mirror is placed in the shooting horizon of the painting teaching device camera.
  • the mirror Since the mirror is placed obliquely and the tilt position is directly below the field of view of the drawing teaching device, the mirror can receive the reflected light from the user's copying process, and the light is incident into the camera of the drawing teaching device through the light refraction.
  • the image teaching device camera can obtain the image information of the user's copying process.
  • the image screen captured by the camera of the painting teaching device generally includes: a user's hand, a brush, a canvas, and a brush trace.
  • the trace extraction module 2130 first removes the user's hand and the brush in the image when extracting the brush trace of the user, and the specific method is: pre-storing the color information and contour information of the human hand in the painting teaching device, and the trace
  • the extraction module 2130 can recognize the user's hand in the captured image by removing the color and contour from the shape of the user's hand in the captured image, and remove the recognized user's hand.
  • the drawing teaching device recognizes the brush and removes the brush from the captured image. In the selected brush, the brush whose brush color is different from the canvas is selected.
  • the painting teaching device can obtain the brush trace formed by the user in the image information through the image processing technology.
  • the first processing module 2140 compares the brush trace with the drawing reference model, and the main content of the comparison is the degree of similarity between the brush trace and the drawing reference model.
  • the painting reference model stored in the painting teaching device mainly comprises a contour map and a detail map. If the painting reference model is a colored balloon, the painting elements constituting the color balloon include: a contour and a composition constituting the color balloon. The color of the interior of the colorful balloon.
  • the first processing module 2140 compares the similarities of the contours of the balloons first, and then performs similarity comparisons on the colors. When comparing, the user's brush marks are scored according to the similarity of the comparison. The score is related to the similarity.
  • the similarity is 80%, the copy is 80%; the similarity is 80%. At sixty hours, he played sixty cents against Linyi.
  • the evaluation of the brush marks is not limited to this.
  • the brush marks of Linyi are scored according to the score segments, such as A, B, C, and D, or excellent, good, and general.
  • the brush trace is displayed in synchronization with the drawing reference model.
  • This embodiment In order to enable the user to see the brush traces of his own copy during the copying, the brush traces are extracted and displayed synchronously with the drawing reference model.
  • the drawing teaching device further includes: a real-time alert module (not shown). And performing pattern overlap matching on the brush trace with the drawing reference model, and alerting a part of the brush trace that does not overlap the drawing reference model.
  • the real-time warning module superimposes the brush traces with the outline graphics of the painting reference model, and after calculating the score of Linyi, it is necessary to warn the errors occurring in the user's copy, so that the user finds that there is an error in the process of copying, which is convenient for the user to recognize. Error and correct the error.
  • the specific implementation method is that the brush trace is superimposed with the contour pattern of the drawing reference model, and the real-time warning module intercepts the portion of the brush trace that is not superimposed with the painting reference model by the graphic software processing, and the intercepted part is the user.
  • the real-time warning module will display the error location for warning.
  • the warning display refers to a display mode that can cause the user to pay attention to the color difference or flickering of the error position. In the present embodiment, when the warning is displayed, the position of the error is marked as red, and blinking is performed to draw the user's attention.
  • FIG. 11 is a schematic structural diagram of a drawing teaching apparatus having a function of displaying a reference model contour in the embodiment.
  • the drawing teaching apparatus further includes: a contour display module 2210.
  • the outline display module 2210 is configured to display the outline pattern of the drawing reference model after the display module 2110 displays the drawing reference model.
  • the outline of the painting reference model is often only copied to quickly grasp the copying skills of the painting reference model.
  • the outline display module 2210 displays the outline drawing of the drawing reference model.
  • the outline figure of the drawing reference model refers to the main structure of the drawing reference model.
  • the drawing reference model is a peach
  • the heart-shaped pattern constituting the outline of the peach is the outline figure of the drawing reference model.
  • the order of display is the initial setting, and the user can control the display reference model and drawing reference by sending control instructions to the drawing teaching device.
  • Model outline graphics. How to send control commands includes (not limited to): remote control, voice commands, touch screen control commands, or gesture commands.
  • FIG. 12 is a schematic structural diagram of a drawing teaching apparatus having an animation presentation reference model contour graphic function in the embodiment.
  • the drawing teaching apparatus further includes: a first presentation module 2310 for animating the outline pattern of the reference model by animation.
  • the user who uses the painting teaching device in the embodiment to perform painting exercises is generally a child.
  • learning painting the user is generally in a state of following learning, that is, when learning painting, it is necessary to tell the child how to start the pen, how the curve is drawn, the brush trend, and the like.
  • Basic execution elements If only the outline image is displayed when the outline pattern of the reference model is displayed, the child often does not know where to start painting, nor does it know how to draw, and then draws a pass, making the painting teaching device impossible. Play a good teaching role.
  • the contour graphic of the reference model is presented by the first presentation module 2310 in an animated manner, and the animation presentation is introduced to the user through the image and the voice.
  • FIG. 13 is a schematic structural diagram of a drawing teaching apparatus for evaluating a contour map of a brush reference and a drawing reference model in the embodiment.
  • the drawing teaching apparatus further includes: a second processing module 2410.
  • the second processing module 2410 is configured to pattern overlap the brush traces with the contour graphics of the drawing reference model, and evaluate the brush traces according to the proportion of the overlapping areas.
  • the second processing module 2410 superimposes the brush trace with the contour pattern of the drawing reference model. After the pattern is superimposed, the contour map is used as a standard reference, and the portion of the brush trace that does not coincide with the contour map is calculated, and the non-coincident portion is calculated.
  • the ratio of the entire contour map, "1-rate" is the evaluation score of the user's copy, if the calculated ratio is 20%, then The user's copy score is 80.
  • the evaluation of the brush marks is not limited thereto.
  • the second processing module 2410 scores the brush marks of Linyi according to the score segments, such as A, B, C, and D, or excellent, good, and general. Wait.
  • FIG. 14 is a schematic structural diagram of a drawing teaching apparatus with an error warning display function in the embodiment.
  • the drawing teaching device further includes: an intercepting module 2510 and an alert display module 2520.
  • the intercepting module 2510 is configured to intercept the portion of the drawing reference model outline that does not overlap with the brush trace; the warning display module 2520 is configured to perform an alert display on the non-overlapping portion.
  • the second processing module 2410 superimposes the brush trace with the contour graph of the drawing reference model, and after calculating the score of the copy, the user needs to be alerted to the error occurring in the user copy, so that the user finds that there is an error in the copying process, which is convenient. The user recognizes the error and corrects the error.
  • the specific implementation method is that the brush trace is superimposed with the contour pattern of the drawing reference model, and the intercepting module 2510 intercepts the portion of the contour map that is not superimposed with the brush trace by the graphic software processing, and the intercepted part is the user copying. The place where something went wrong.
  • the intercepting module 2510 intercepts the portion of the contour map that is not superimposed with the brush trace by the graphics software processing.
  • the warning display module 2520 displays the error location for warning.
  • the warning display refers to a display mode that can cause the user to pay attention to the color difference or flickering of the error position. In the present embodiment, when the warning is displayed, the position of the error is marked as red, and blinking is performed to draw the user's attention.
  • FIG. 15 is a schematic structural diagram of a drawing teaching apparatus having a demonstration teaching function for non-overlapping parts in the embodiment.
  • the drawing teaching apparatus further includes: a second presentation module 2610.
  • the second presentation module 2610 is for animating the painting method of the non-overlapping portion.
  • the second presentation module 2610 animates the user's erroneous drawing position to help the user learn the correct drawing method.
  • the specific method is: determining, by the image determining processing software, a starting position of the non-overlapping portion, and cutting off two frame images corresponding to the starting position in the animation demonstration, and intercepting the animation between the two frame images. That is, the animation method of the non-overlapping part, the second demo module 2610 plays the cut-out animation, that is, to the user Show the painting method of the non-overlapping part.
  • FIG. 16 is a schematic structural diagram of a drawing teaching apparatus having a function of repeatedly teaching non-overlapping parts in the embodiment.
  • the drawing teaching apparatus further includes: a first recording module 2710 and a search module 2720.
  • the first recording module 2710 is configured to record a contour of a portion of the drawing reference model outline that does not overlap with the brush trace;
  • the searching module 2720 is configured to search for a drawing reference model that includes a contour of the non-overlapping portion; and the display module 2110 displays that the inclusion does not overlap. Part of the contour of the painting reference model.
  • the second processing module 2410 superimposes the brush trace with the contour pattern of the drawing reference model, and the intercepting module 2510 intercepts the portion of the contour map that is not superimposed with the brush trace by the graphic software processing, and the first recording module 2710 drawing teaching device will The truncated contour map is stored.
  • the painting reference model stored in the painting teaching device constitutes a painting reference model database
  • the database includes a contour map of the painting reference model, and each contour map has a combination of a plurality of line segments, for example, the drawing reference model is the letter B, then the composition
  • the line segment combination of the painting reference model is composed of a vertical straight line segment and two semicircular arc segments.
  • the contour map of the complex drawing reference model is split into multiple line segments, and the drawing reference model is constructed.
  • the line segment is recorded.
  • the search module 2720 first determines the line segment type of the contour that does not overlap, and then searches the database for other drawing reference models including the line segment type.
  • the display module 2110 displays a drawing reference model similar to the contour of the non-overlapping portion. If the non-overlapping portion is a semi-circular line segment, the display includes a drawing reference model having a semi-circular line segment.
  • FIG. 17 is a schematic structural diagram of a drawing teaching apparatus with a remote transmission function in the embodiment.
  • the drawing teaching apparatus further includes: a second recording module 2810, a log generating module 2820, and a transmitting module 2830.
  • the second recording module 2810 is configured to record image information and evaluate the brush traces;
  • the log generating module 2820 is configured to generate a teaching log according to the image information and the evaluation of the brush traces;
  • the sending module 2830 is configured to send the teaching to the external network. Learn the log.
  • the direct use user of the painting teaching device painting education is a child.
  • the second recording module 2810 records the painting image of the user at the time of copying and the evaluation of the brush trace made by the painting teaching device.
  • the evaluation includes: the user's copying score and the user's behavior such as the location of the user's drawing error.
  • the log generation module 2820 generates a teaching log by evaluating the recorded drawing image and the brush traces made by the drawing teaching device.
  • the teaching log includes a video log, a graphic log, and a text log, and the video log refers to the entire video that is copied by the user. Edit the picture for an entire video.
  • the graphic log the user's time, drawing reference model, brush traces and evaluation are edited into text.
  • the sending module 2830 sends the generated teaching log to the designated external device through the external network, and the external device refers to (not limited to) a device that can acquire and store the log through the external network, such as a mobile terminal and a server.
  • the sending module 2830 can send a teaching log to the user through an external network such as 3G, 4G, 5G or Wi F i, and when the mobile terminal user sends the teaching log, first establish a contact with the mobile terminal, obtain the network environment where the mobile terminal is located, and then determine Send a video log, a graphic log, or a text log to the user. If the user is in a 4G wireless environment, send a text log to the user. In the 3G environment, send a text log to the user, and in the Wi F i environment, Send video logs to save traffic when users read the logs.
  • FIG. 18 is a structural block diagram of a painting teaching robot.
  • the drawing teaching robot includes: one or more processors 3110 and a memory 3120; one or more applications, wherein one or more applications are stored in the memory and configured to be processed by one or more Execution, one or more program configurations for:
  • the image information of the drawing reference model of the user is taken while the drawing reference model is displayed;
  • the brush trace is compared with the drawing reference model, and the brush trace is evaluated according to a degree of similarity between the brush trace and the drawing reference model.
  • Fig. 19 shows a drawing teaching robot (hereinafter referred to as a painting teaching robot collectively referred to as a device) in which the robot painting teaching method according to the present invention can be realized.
  • the device conventionally includes a processor 1010 and a computer program product or computer readable medium in the form of a memory 1020.
  • the memory 1020 may be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), an EPROM, a hard disk, or a ROM.
  • the memory 1020 has a memory space 1030 for executing program code 1031 of any of the above method steps.
  • storage space 1030 for program code may include various program code 1031 for implementing various steps in the above methods, respectively.
  • the program code can be read from or written to one or more computer program products.
  • These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks.
  • Such a computer program product is typically a portable or fixed storage unit as described with reference to FIG.
  • the storage unit may have a storage section or a storage space or the like arranged similarly to the storage 1020 in FIG.
  • the program code can be compressed, for example, in an appropriate form.
  • the storage unit comprises program code 1031' for performing the steps of the method according to the invention, ie code that can be read by, for example, a processor such as 1010, which when executed by the device causes the device to perform the above Each step in the described method.
  • FIG. 21 is a schematic diagram of the overall structure of the robot according to the embodiment.
  • FIG. 22 is a schematic diagram of the optical lens refraction of the embodiment.
  • a robot includes a robot body 100, a photographing device 110, and an optical lens 210.
  • the imaging device 110 is disposed on the robot body 100; the optical lens 210 is disposed within the shooting horizon of the imaging device 110, and the optical lens 210 is disposed obliquely to be perpendicular to the central axis 112 of the shooting horizon 111. Injected light The line refracts into the range of the shooting horizon 111.
  • the robot body 100 includes a base and a display device 130 disposed above the base 120.
  • the base 120 is a cylindrical body, and the display device 130 is disposed above the base 120 for human-machine communication with the user.
  • the display device 130 includes a housing and a display screen 132 disposed on the housing 131.
  • the housing 131 is rotatably coupled to the base 120 at one end.
  • the photographing device 110 is disposed on the casing 131, and specifically, the photographing device 110 is disposed on the casing 131 above the display screen 132.
  • the photographing horizon 111 of the photographing device 110 refers to a light incident path that is flared in a direction in which the imaging device 110 faces the origin of the imaging device.
  • the principle that the photographing device 110 can capture an image of a thing is that the object itself has an instinct to reflect light. When sunlight or other light source emits light on a thing, the object reflects the light, which is reflected by different things. The light is different, so it is possible to distinguish the color of different things.
  • the photographing device 110 When the photographing device 110 performs photographing, the light in the range of the photographing horizon 111 is also collected, and the color indicated by the light is recorded to form an image of the photographing object. Therefore, at the time of shooting, only the reflected light of the photographed object is incident on the photographing horizon 111 of the photographing device 110, and the matter can be photographed by the photographing device 110.
  • the imaging device 110 is specifically a camera.
  • the optical lens 210 is an optical lens capable of refracting light incident thereon.
  • the optical lens 210 is placed within the range in which the imaging device 110 captures the field of view 111, and the optical lens 210 is placed obliquely downward, i.e., the optical lens 210 forms an acute angle with the central axis 112 of the imaging field 111.
  • the light reflected by the camera 110 at the dead angle position is first incident into the optical lens 210. Since the optical lens 210 is placed obliquely, the light incident below it can be refracted, so that the light can be collimated into the light.
  • the imaging device 110 When shooting is in the world, it enters the imaging device 110, so that the imaging device 110 can capture an image in a dead angle directly below it.
  • the space facing the camera device 110 is regarded as a cylindrical shape
  • the photographing horizon 111 of the photographing device 110 is a horn-shaped path placed in the cylindrical space, due to the starting point of the flared path.
  • the area is small, and the cross-sectional area of the flared end point is large, that is, a cylindrical body having a tapered cut surface is formed between the horn-shaped path and the cylindrical space, and the inside
  • the cylindrical body having the tapered cutting surface is the shooting dead angle of the photographing device 110, so that it can be seen that the shooting dead angle of the photographing device 110 is not limited to the lower side of the central axis 112 of the shooting horizon 111, but a stereoscopic shooting corner space, so In order to capture other scenes in the dead space, it is necessary to adjust the tilt direction of the optical lens 210 so that it can capture images of different orientations.
  • the optical lens 210 is a planar mirror, but the optical lens 210 is not limited to a planar mirror. In some alternative embodiments, the optical lens 210 can be (not limited to) a concave mirror or a convex mirror. A mirror that can reflect the incoming light.
  • the angle between the optical lens 210 and the central axis 112 of the photographic field of view 111 is between 0 and 90 degrees. There is a correlation between the ability of the reflective side of the optical lens 210 to refract light and the position of the refracted ray to be inclined.
  • the optical lens 210 and the central axis 112 of the photographic field of view 111 tend to be more parallel, at which time the optical lens 210 can accept more From the light reflected by the object directly below the central axis 112 of the field of view 111, but since the optical lens 210 and the central axis 112 of the photographic field of view 111 tend to be parallel, only a small amount of the received reflected light is refracted into the range of the photographic field of view 111,
  • the device 110 is capable of capturing fewer images of the object directly below the central axis 112 of the photographic field 111.
  • the optical axis 210 and the central axis 112 of the photographic field of view 111 tend to be perpendicular, and the optical lens 210 can receive less from the shooting.
  • the light reflected by the object directly below the central axis 112 of the field of view 111 only a small amount of the received light is refracted into the range of the shooting horizon 111, and the light entering the shooting horizon 111 is the light reflected by the object infinitely close to the robot body 100.
  • the imaging device 110 is capable of capturing a small number of images directly below the central axis 112 of the imaging field 111, and infinitely approaches the robot body 100.
  • the angle between the optical lens 210 and the central axis 112 of the imaging field 111 is 45°.
  • the optical lens 210 can acquire more food reflections under the axis 112 of the shooting horizon 111. The light is refracting the received reflected light almost completely, so that it collimates into the shooting horizon 111, enabling the imaging device 110 to capture a 45° wide and clear view.
  • the cross-sectional area of the photographing field 111 of the photographing device 110 is gradually increased.
  • the area of the optical lens 210 is larger than the area of the imaging field 111 at the position of the optical lens 210, and the light acquired by the imaging device 110 is limited to the light refracted by the optical lens 210.
  • the optical lens 210 has a rectangular shape.
  • the width of the optical lens 210 is larger than the cross-section of the imaging field 111 at the position of the optical lens 210. diameter of.
  • the specific shape of the optical lens 210 is not limited to a rectangular shape.
  • the shape of the optical lens 210 is not limited to a square, a regular hexagon, a regular octagon, a circle, an ellipse, etc., depending on the specific application scenario.
  • the optical lens 210 meets the requirements for use, and the optical lens 210 is sized to ensure that the cross-section of the optical lens 210 does not exceed the optical lens 210.
  • the optical lens 210 is disposed in the range of the image capturing device 111 of the robot, and the optical lens 210 is placed obliquely, and the light taken in the direction perpendicular to the central axis 112 of the shooting direction 111 can be refracted, that is, The photographing device 110 photographs the light refraction in the dead angle, and the light is collimated into the photographing horizon 111 even if the photographing device 110 can capture the image within the photographing dead angle.
  • the problem that the fixedly mounted photographing device 110 cannot capture an image in the corner region thereof can be solved.
  • FIG. 23 is a schematic structural view of the carrier of the embodiment.
  • the robot in this embodiment further includes: a carrier 200.
  • the optical lens 210 in this embodiment is an accessory component of the robot, that is, the optical lens 210 can be not connected to the robot body 100, and the position where the optical lens 210 is placed is placed within the shooting path range of the imaging device 110. Therefore, the optical lens 210 can be mounted by an external bracket or other external device.
  • the optical lens 210 is mounted on the carrier 200, the carrier 200 is disposed on the robot body 100, and one end of the carrier 200 is bent.
  • the end portion of the end of the photographing device 111 that is bent into the photographing device 111 is provided with an inclined surface 220, and the optical lens 210 is adhered and fixed on the inclined surface 220, due to the inclined surface
  • the angle of inclination of 220 forms an acute angle with the central axis 112 of the shooting horizon 111, and the optical lens 210 attached to the inclined surface 220 also forms an acute angle with the central axis 112 of the viewing angle.
  • the carrier 200 on which the optical lens 210 is placed the carrier 200 is disposed on the robot body 100. With this connection, the optical lens 210 and the robot body 100 can be formed in a relatively fixed connection manner and position without using the device.
  • the optical lens 210 is repositioned to facilitate the use of the robot.
  • the function of the robot camera 110 is not limited to the acquisition of the light refracted by the optical lens 210, and its function is dual-purpose.
  • the robot camera 110 needs to acquire the range of its shooting range 111 during normal use without the need for shooting.
  • the optical lens 210 refracts into the scene within the range of the shooting horizon 111.
  • a card slot 230 is formed in the intermediate position of the carrier 200 or at other positions of the trunk portion thereof. The card slot 230 cooperates with the top of the housing 131 to be mounted on the top of the housing 131.
  • the top of the housing 131 is rectangular, and the card slot 230 formed on the carrier 200 is square.
  • the cross-sectional area of the slot 230 is slightly larger than the cross-sectional area of the top of the housing 131.
  • the card slot 230 can be snap-fitted to the robot.
  • the carrier 200 is movably connected to the top of the robot through the card slot 230, and the carrier 200 can be detached from the robot at any time, so that the scene captured by the camera 110 can be viewed from the normal shooting angle and the shooting through the optical
  • the mirror 210 is arbitrarily transformed between the refracted scenes to facilitate the robot to convert between different functions.
  • the robot camera device 110 is disposed at an intermediate position above the display screen 132 of the robot housing 131.
  • the positions of the camera device 110 are different, but the same is true, the robot camera device 110 is provided.
  • the position of the camera 110 is determined, the position is no longer changed, that is, the shooting field 111 of the camera 110 is also fixed.
  • the specific position at which the optical lens 210 is placed is also fixed.
  • the carrier 200 is quickly mounted on the robot housing 131 for ease of installation, and the optical lens 210 can be positioned for viewing after installation. Within the boundaries of 111.
  • a first permanent magnet is disposed on the top of the housing 131, and the second permanent magnet is disposed inside the card slot 230.
  • the first permanent magnet is disposed directly above the imaging device 110, and the imaging device 110 is located at the first permanent In the middle of the magnet, the second permanent magnet is disposed inside the card slot 230 of the carrier 200.
  • the polarity of the first permanent magnet and the second permanent magnet are opposite, and have the instinct of attracting each other. Therefore, in this embodiment, the bearing will be carried.
  • the first permanent magnet and the second permanent magnet attract each other, so that the carrier 200 can be quickly mounted on the top of the robot housing 131, and since the position where the first permanent magnet is mounted is the photographing device 110 Directly above, therefore, the combination of the first permanent magnet and the second permanent magnet enables the carrier 200 to be positioned intermediate the shooting horizon 111, ie, the optical lens 210 can be positioned within the range of the shooting horizon 111.
  • the first permanent magnet and the second magnet are both natural magnets or artificial magnets.
  • the back of the robot housing 131 is designed to be curved, and the other end of the carrier 200 is attached to the surface of the housing 131, that is, the other end of the carrier 200 is configured in an arc shape.
  • one end of the supporting member 200 is provided with the inclined surface 220 in a floating state, and the carrier 200 is engaged with the top of the housing 131 through the card slot 230. After one end of the inclined surface 220 receives an upward or downward external force, the carrier 200 is easily released from the housing 131 by an external force.
  • the other end of the carrier 200 is designed to be curved and attached to the back of the housing 131, so that the connection between the carrier 200 and the housing 131 can be more stabilized.
  • the end of the carrier 200 designed to form an arc with the card slot 230 forms a stress against the upward external force, so that the carrier 200 is prevented from being detached from the housing 131. If the carrier 200 is subjected to a downward external force, since the center of gravity of the carrier 200 is designed to be below the camera device, the stability of the carrier 200 is increased, and the carrier 200 is subjected to a small downward action. When the external force is applied, it is not easy to cause sway and fall off.
  • the robot housing 131 is provided with a display screen 132, which is a main window for human-computer interaction with the user, and prevents the user from operating the shooting robot at a close distance, thereby affecting the user's vision, and the robot presets
  • a protection program for preventing the over-operation, and the specific operation is prevented such that when the user normally operates the distance, the photographing device 110 captures a screen that the user is too close, and the robot immediately turns off the display screen 132 to protect the user.
  • the optical lens 210 is added to the robot, in order to ensure the clarity of the shooting, the light
  • the distance between the position where the lens 210 is placed is smaller than the normal distance operated by the user, and therefore, when the optical lens 210 is placed within the range of shooting according to the set protection program, the robot starts the protection program to display Screen 132 is in a closed state. That is, the display screen 132 of the robot to which the optical lens 210 is attached cannot be used normally.
  • the carrier 200 is configured to be provided with a third permanent magnet on the inner side of one end of the arc, and is provided with the third permanent magnet at a position corresponding to the inside of the robot. Hall sensor.
  • the Hall sensor can sense the change of the external magnetic force and send the information of the magnetic transformation to the robot. After acquiring the information, the robot closes or suppresses the opening of the protection program for preventing the over-operation.
  • the magnetic force at the location of the Hall sensor changes to a stable magnetic field that is insufficient to trigger the Hall sensor.
  • the Hall sensor senses that the magnetic field of the third permanent magnet is triggered, thereby closing the shutdown or suppressing the over-operation.
  • the protection program is turned on.
  • the third magnet is constructed of a natural magnet or an artificial magnet.
  • the carrier 200 does not have a card slot 230.
  • the connection between the carrier 200 and the housing 131 is performed by a magnet.
  • a first permanent magnet is disposed on the top of the housing 131.
  • the second permanent magnet is disposed inside the member 200, and the first permanent magnet is disposed directly above the photographing device 110, and the photographing device 110 is located in the middle of the first permanent magnet, and the second permanent magnet is disposed on the bearing.
  • the polarity of the first permanent magnet and the second permanent magnet are opposite, and have the instinct of attracting each other.
  • the first permanent magnet when the carrier 200 is mounted on the top of the housing 131, the first permanent magnet is The second permanent magnets are attracted to each other, enabling the carrier 200 to be quickly mounted on the top of the robot housing 131, and since the first permanent magnet is mounted at a position directly above the photographing device 110, the first permanent magnet is combined with the second permanent magnet
  • the carrier 200 can then be positioned intermediate the shooting horizon 111, ie, the optical lens 210 can be positioned within the range of the shooting horizon 111.
  • the first permanent magnet and the second magnet are both natural magnets or artificial magnets.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Processing Or Creating Images (AREA)

Abstract

一种机器人绘画教学方法、装置及其机器人，其中机器人绘画教学方法包括下述步骤：显示绘画参考模型（S1110）；在显示绘画参考模型的同时拍摄用户临摹绘画参考模型的影像信息（S1120）；提取影像信息中用户临摹时的画笔痕迹，并同时显示在显示装置上（S1130）；将画笔痕迹与绘画参考模型进行比对，根据比对画笔痕迹与绘画参考模型的相似程度，确定对应于画笔痕迹评价信息（S1140）。通过机器人绘画教学方法，使用户能够掌握绘画技巧。

Description

一种机器人绘画教学方法、装置及其机器人 技术领域
本发明实施例涉及智能控制领域，尤其是一种机器人绘画教学方法、装置及其机器人。
背景技术
随着移动通信、计算机以及互联网技术的发展，智能设备由于其体积较小，处理能力强，被用于用户教育。
现有技术中的智能教育设备，设计成易于被用户接受的机器人，现有技术中智能机器人对用户的教育仅限于，与用户进行谈话交流，通过语音向孩童进行文化教育，与其教育意义相比，现有技术中的机器人更倾向于是一种陪伴型的玩具。
本发明创造的发明人在研究中发现，现有技术中的教育机器人，其实更倾向于是一种陪伴型的玩具，对孩童的绘画行为缺乏辨识能力，对孩童绘画学习行为缺乏的评判能力，无法对用户教育起到较好的辅助作用。
此外，为使机器人对现实环境或者用户的指令行为进行辨识，一般均在机器人上设置拍摄装置，机器人通过拍摄装置实时获取所在环境的真实影像或用户的指令行为。
现有技术中机器人的拍摄装置以固定的方式安装在机器人上，故其能够拍摄的视界范围也是有限的，仅能够拍摄拍摄装置前方的画面，且拍摄时由于拍摄装置的拍摄视界由近及远呈喇叭状，即以地面为水平线，拍摄装置的拍摄视界与地面之间存在一定夹角，对于固定放置的拍摄装置来讲，该夹角即为机器人的拍摄死角，对于该区域始终无法进行拍摄。但现实的使用中往往需要机器人获取该夹角区域内的影像，如拍摄用户写字或画画等行为时，由于拍摄清晰度的要求，在夹角区域内进行拍摄是最佳的拍摄区域。现有技术中固定设置的无人机无法对垂直于其拍摄视界中轴线方向的夹角区域进行拍摄。
发明内容
本发明实施例主要解决的技术问题是提供一种机器人绘画教学方法、装置及其机器人。首先，通过机器人的显示屏显示绘画参考模型，使用户临摹该绘画参考模型，使用户学习掌握绘画的基本要领，并且将用户临摹该绘画参考模型的过程进行拍摄，提取用户临摹是的画笔痕迹，将该画笔痕迹与绘画参考模型进行比对，并根据比对结果该对用户的临摹水平进行评判，使用户能够掌握绘画技巧，解决现有技术中的机器人，由于缺乏对孩童行为的辨识能力，以及对孩童学习行为的评判能力，无法对用户教育起到辅助作用的问题。
其次，通过在该机器人的拍摄装置拍摄视界范围内设置光学镜片，该光学镜片倾斜放置，能够将垂直于该拍摄视界中轴线方向摄入的光线进行折射，即能够将拍摄装置拍摄死角内的光线折射，使该光线准直的进入到拍摄视界内，即使拍摄装置能够拍摄到其拍摄死角内的影像。解决现有技术中，固定安装的拍摄装置无法拍摄其夹角区域内影像的问题。
为解决上述技术问题，本发明创造的实施例采用的一个技术方案是：
第一方面，提供一种机器人绘画教学方法，包括下述步骤：显示绘画参考模型；在显示绘画参考模型的同时拍摄用户临摹所述绘画参考模型的影像信息；提取所述影像信息中用户临摹时的画笔痕迹，并同时显示在显示装置上；将所述画笔痕迹与所述绘画参考模型进行比对，根据比对所述画笔痕迹与所述绘画参考模型的相似程度，确定对应于所述画笔痕迹评价信息。
第二方面，为解决上述技术问题本发明实施例还提供一种绘画教学装置，包括：至少一个处理器；以及，至少一个存储器，其与所述至少一个处理器可通信地连接；所述至少一个存储器包括处理器可执行的指令，当所述处理器可执行的指令由所述至少一个处理器执行时，致使所述装置执行至少以下操作：显示绘画参考模型；在显示绘画参考模型的 同时拍摄用户临摹所述绘画参考模型的影像信息；提取所述影像信息中用户临摹时的画笔痕迹，并同时显示在显示装置上；将所述画笔痕迹与所述绘画参考模型进行比对，并根据比对所述画笔痕迹与所述绘画参考模型的相似程度，对所述画笔痕迹进行评价。
第三方面，为解决上述技术问题本发明实施例还提供一种绘画教学机器人，包括：触敏显示器；一个或多个处理器；存储器；一个或多个应用程序，其中所述一个或多个应用程序被存储在所述存储器中并被配置为由所述一个或多个处理器执行，所述一个或多个程序配置用于：显示绘画参考模型；在显示绘画参考模型的同时拍摄用户临摹所述绘画参考模型的影像信息；提取所述影像信息中用户临摹时的画笔痕迹，并同时显示在显示装置上；将所述画笔痕迹与所述绘画参考模型进行比对，根据比对所述画笔痕迹与所述绘画参考模型的相似程度，对所述画笔痕迹进行评价。
第四方面，本发明还提供一种计算机程序，包括计算机可读代码，当绘画教学机器人运行所述计算机可读代码时，导致第一方面所述的方法被执行。
第五方面，本发明还提供一种计算机可读介质，其中存储了如第四方面所述的计算机程序。
第六方面，为解决上述技术问题本发明实施例还提供一种机器人，所述机器人包括：机器人本体；拍摄装置，所述拍摄装置设置在所述机器人本体上；光学镜片，所述光学镜片设置在所述拍摄装置的拍摄视界范围内，所述光学镜片倾斜放置，将垂直于所述拍摄视界中轴线方向射入的光线折射进入所述拍摄视界范围内。
本发明实施例的有益效果是：
1.通过机器人的显示屏显示绘画参考模型，使用户临摹该绘画参考模型，使用户学习掌握绘画的基本要领，并且将用户临摹该绘画参考模型的过程进行拍摄，提取用户临摹是的画笔痕迹，将该画笔痕迹与绘画参考模型进行比对，并根据比对结果该对用户的临摹水平进行评判，使用户能够掌握绘画技巧，解决现有技术中的机器人，由于缺乏对孩童行 为的辨识能力，以及对孩童学习行为的评判能力，无法对用户教育起到辅助作用的问题。
2.通过在该机器人的拍摄装置拍摄视界范围内设置光学镜片，该光学镜片倾斜放置，能够将垂直于该拍摄视界中轴线方向摄入的光线进行折射，即能够将拍摄装置拍摄死角内的光线折射，使该光线准直的进入到拍摄视界内，即使拍摄装置能够拍摄到其拍摄死角内的影像。解决现有技术中，固定安装的拍摄装置无法拍摄其夹角区域内影像的问题。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例机器人绘画教学方法基本流程图；
图2为本发明实施例具有垂直拍摄能力机器人示意图；
图3为本发明实施例显示参考模型轮廓的方法流程图；
图4为本发明实施例通过动画演示参考模型轮廓图形的方法流程图；
图5为本发明实施例通过比对画笔痕迹与绘画参考模型的轮廓图进行评价的方法流程图；
图6为本发明实施例对临摹过程中出现的错误进行警示显示的流程图；
图7为本发明实施例对不重叠部分进行演示教学的流程图；
图8为本发明实施例对不重叠部分进行反复教学方法流程图；
图9为本发明实施例绘画教学方法的远程传输流程图；
图10为本发明实施例绘画教学装置基本结构示意图；
图11为本发明实施例中具有显示参考模型轮廓功能的绘画教学装置结构示意图；
图12为本发明实施例中具有动画演示参考模型轮廓图形功能的绘画教学装置结构示意图；
图13为本发明实施例中通过比对画笔痕迹与绘画参考模型的轮廓图进行评价的绘画教学装置结构示意图；
图14为本发明实施例中具有错误进行警示显示功能的绘画教学装置结构示意图；
图15为本发明实施例中具有对不重叠部分进行演示教学功能的绘画教学装置结构示意图；
图16为本发明实施例中具有对不重叠部分进行反复教学功能的绘画教学装置结构示意图；
图17为本发明实施例中具有远程传输功能的绘画教学装置结构示意图；
图18为本发明实施例中绘画教学机器人的结构框图；
图19为用于执行根据本发明的方法的绘画教学机器人的框图；
图20示出了用于保持或者携带实现根据本发明的方法的程序代码的存储单元示意图；
图21为本发明实施例机器人整体结构示意图；
图22为本发明实施例光学镜片折射原理图；
图23为本发明实施例承载件结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。
在本发明的说明书和权利要求书及上述附图中的描述的一些流程中，包含了按照特定顺序出现的多个操作，但是应该清楚了解，这些操作可以不按照其在本文中出现的顺序来执行或并行执行，操作的序号如101、102等，仅仅是用于区分开各个不同的操作，序号本身不代表任何的执行顺序。另外，这些流程可以包括更多或更少的操作，并且这些操作可以按顺序执行或并行执行。需要说明的是，本文中的“第一”、“第二”等描述，是用于区分不同的消息、设备、模块等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例
请参阅图1，图1为本实施例机器人绘画教学方法基本流程图。
如图1所示，一种机器人绘画教学方法，包括下述步骤：
S1110、显示绘画参考模型。机器人内部存储有供用户参照的绘画参考模型，用户在使用本实施例中提供的机器人学习绘画时，需要在屏幕上选择临摹的绘画参考模型。该绘画参考模型能够是(不限于)现实当中存在的实物拍摄的照片、实物的卡通图样或虚拟的绘画作品等。
S1120、在显示绘画参考模型的同时拍摄用户临摹所述绘画参考模型的影像信息。机器人对用户的临摹过程进行拍摄。用户在使用该机器人进行学习时，用户临摹时将临摹用具放置在机器人的正前方。机器人上设置有摄像头，且机器人上的摄像头设置在机器人面向用户的侧面上，即机器人摄像头的拍摄视界与临摹用具处于相互垂直的位置，因此，若用户在靠近机器人得位置进行临摹时，机器人摄像头无法采集到用户临摹时的影像。由于摄像头拍摄视界是随着其拍摄距离不断扩展延伸的，因此，用户在远离摄像头一定距离的位置进行临摹，摄像头能够拍摄到用户的临摹过程，但是由于距离较远，不能够清楚地拍摄出用户临摹时画笔的痕迹，拍摄的影像无法满足后续处理的要求。
请参阅图2，图2为本实施例具有垂直拍摄能力机器人示意图。
如图2所示，为解决上述技术问题，本实施例中在机器人上加装了一个光学模具，光学模具卡接安装在机器人上，光学模具与机器人的连接方式不局限与此，在一些选择性实施例中，光学模具与机器人之间通过设置永磁体，进行相互连接。光学模具面向机器人摄像头的一侧放置反射镜，反射镜呈倾斜放置，且反射镜放置在机器人摄像头拍摄视界范围内。由于反射镜倾斜放置，且倾斜位置面向机器人拍摄视界的正下方， 故反射镜能够接收到来自用户临摹过程的反射光线，并通过光线折射将该光线射入到机器人的摄像头内，使机器人摄像头能够获取到用户的临摹过程的影像信息。
机器人拍摄临摹过程的方法不局限于使用光学模具，在一些选择性实施例当中，机器人顶部延伸出载体件，载体件与机器人面向临摹方向的面相互垂直，在一些选择性实施方式中，载体件在不使用的时候收纳在机器人内部，使用时从机器人内部取出后使用。在载体件上设置有摄像头，摄像头的拍摄视界面向载体件的正下方，这种结构能够使机器人上的摄像头拍摄到用户临摹的影像。
S1130、提取所述影像信息中用户临摹时的画笔痕迹，并同时显示在显示装置上。机器人根据摄像头拍摄的用户临摹影像，提取出其中临摹的画笔痕迹。机器人摄像头采集的影像画面中，一般包括：用户的手、画笔、画布以及画笔痕迹。机器人在对用户的画笔痕迹提取时，先要将影像中用户的手以及画笔移除，移除的具体办法为：在机器人内预存储人体手的颜色信息与轮廓信息，机器人通过比对该颜色与轮廓跟拍摄影像中用户的手的形态相同时，机器人能够在拍摄的影像中识别用户的手，并将识别出的用户手型移除。采用相同的原理，机器人识别画笔并在拍摄的影像中移除该画笔。在选用的画笔时选用画笔颜色与画布区别较大的画笔，至此机器人通过图像处理技术能够获取影像信息中用户临摹时形成的画笔痕迹。
机器人提取影像信息中用户临摹时的画笔痕迹的方法不限于上述提取方法，在一些选择性实施方式中，用户在临摹结束后，会将手以及画笔从画布上拿开，此时画布上仅具有画笔痕迹，摄像头拍摄此时的画面，机器人截取摄像头拍摄的画面，通过图像处理技术将取影像信息中用户临摹时形成的画笔痕迹提取出来。
图像处理技术是指，机器人通过画布与画笔痕迹之间存在的色差值，将涂画在画布上的画笔痕迹从画布上分离提取出来。图像处理技术还包括：对影像信息中位于拍摄边缘位置的画布进行放大处理，由于光学模组在收集光线时，位于画布边缘处的光线是斜射入的，导致拍摄的 影像信息中，位于拍摄视界范围边缘处的画布比实际的画布面积要小，为了解决这一技术问题，通过多次测量实验得出拍摄时画布的实际变化的比率，然后在后期处理中，对拍摄边缘位置的画布进行相同比率的放大，以使拍摄出的影像信息不发生形变，同样的，在同比率放大时，将位于拍摄视界范围内的画笔痕迹也进行同步放大。同比率放大完成后，对画笔痕迹进行提取。
将所述画笔痕迹与所述绘画参考模型进行同步显示。本实施方式中，为使用户能够在进行临摹时，既能够看到自己临摹的画笔痕迹，将画笔痕迹提取出来后，将其与绘画参考模型进行同步显示。
S1140、将所述画笔痕迹与所述绘画参考模型进行比对，根据比对所述画笔痕迹与所述绘画参考模型的相似程度，确定对应于所述画笔痕迹评价信息。机器人将画笔痕迹提取出来后，将该画笔痕迹与绘画参考模型进行比对，比对的主要内容为画笔痕迹与绘画参考模型的相似程度。具体为，机器人中存储的绘画参考模型主要有轮廓图与细节图构成，如绘画参考模型是一只彩色的气球时，构成该彩色气球的绘画元素包括：构成该彩色气球的轮廓以及构成该彩色气球内部的花色。比较时先比较气球轮廓的相似度，然后再对其颜色进行相似度比对。比对时根据比对的相似度对用户临摹的画笔痕迹进行打分，打分根据与相似度相关，如相似度在百分之八十时，对该临摹打八十分；相似度为百分之六十时，对该临摹打六十分。对于画笔痕迹的评价不局限与此，在一些选择性实施方式中，按照分数段对临摹的画笔痕迹进行打分，如A、B、C和D等，或者优秀、良好和一般等。
通过机器人的显示屏显示绘画参考模型，使用户临摹该绘画参考模型，使用户学习掌握绘画的基本要领，并且将用户临摹该绘画参考模型的过程进行拍摄，提取用户临摹是的画笔痕迹，将该画笔痕迹与绘画参考模型进行比对，并根据比对结果该对用户的临摹水平进行评判，使用户能够掌握绘画技巧，解决现有技术中的机器人，由于缺乏对孩童行为的辨识能力，以及对孩童学习行为的评判能力，无法对用户教育起到辅助作用的问题。
在一些实施方式中，将画笔痕迹与所述绘画参考模型进行图案重叠比对，并将画笔痕迹中与所述绘画参考模型不重叠的部分进行警示显示。机器人将画笔痕迹与该绘画参考模型的轮廓图形进行图样叠加，计算出临摹的分数后，需要对用户临摹中出现的错误进行警示，以使用户发现在临摹过程中存在错误，便于用户认识错误并改正错误。具体实现方法为，将画笔痕迹与该绘画参考模型的轮廓图形进行图样叠加，机器人通过图形软件处理将画笔痕迹中不与绘画参考模型叠加的部分截取出来，被截取出来的部分即为用户临摹出错的地方。为方便用户辨识，将出错位置进行警示显示。警示显示是指，对出错位置进行颜色区别或闪烁等能够引起用户注意的显示方式，本实施方式中警示显示时，将出错的位置标记为红色，并进行闪烁，以引起用户的注意。
请参阅图3，图3为本实施例显示参考模型轮廓的方法流程图。
如图3所示，包括步骤：
S1111、显示所述绘画参考模型后，显示所述绘画参考模型的轮廓图形。用户在使用机器人进行绘画联系时，为方便起见，往往仅会对绘画参考模型的轮廓进行临摹，以快速掌握该绘画参考模型的临摹技巧。为使客户有选择的临摹整个绘画参考模型或绘画参考模型的轮廓图，机器人在显示了绘画参考模型后，显示绘画参考模型的轮廓图形。示绘画参考模型的轮廓图形是指构成绘画参考模型的主体架构，如绘画参考模型为一个桃子时，构成桃子外形轮廓的类心形图案就是该绘画参考模型的轮廓图形。显示时首先显示绘画参考模型，再显示绘画参考模型，显示时间的长短能够进行设定，显示的先后顺序是初始设定，用户能够通过向机器人发送控制指令，控制显示参考模型和绘画参考模型轮廓图形。控制指令的发送方式包括(不限于)：远程遥控、语音指令、触屏控制指令或手势指令等。
请参阅图4，图4为通过动画演示参考模型轮廓图形的方法流程图。
如图4所示，包括步骤：
S1112、通过动画演示所述参考模型的轮廓图形。使用本实施例中的机器人进行绘画练习的用户一般为儿童，学习绘画时一般处于跟随学 习的状态，即在学习绘画时，需要告诉孩子如何起笔，曲线如何进行描绘，画笔走势等绘画的基本执行要素，如果在显示参考模型的轮廓图形时，仅显示该轮廓图，则儿童往往不知道从什么地方开始画，同样也不知道应该怎样进行绘画，进而乱画一通，使机器人无法起到很好地教学作用。为解决上述技术问题，在本实施方式中，参考模型的轮廓图形是通过动画演示的方式呈现出来的，动画演示中会通过图像与语音的方式，向用户介绍在临摹该参考模型的轮廓图形时，用户应该从哪里起笔，先画那一条曲线以及该曲线如何进行绘制等。通过动画一步步教用户学习临摹该参考模型的轮廓图形，容易使用户掌握绘画的要点与技巧，提高用户的学习效率，且以动画的方式进行教学，能够使用户提起学习兴趣。动画演示参考模型的轮廓图形并非必须步骤，在用户能够熟练掌握该参考模型的轮廓图形绘画技巧时，用户能够通过下达指令的方式，跳过该步骤。
请参阅图5，图5为通过比对画笔痕迹与绘画参考模型的轮廓图进行评价的方法流程图。
如图5所示，包括步骤：
S1141、将所述画笔痕迹与所述绘画参考模型的轮廓图形进行图案重叠比对，根据重叠面积的占比对所述画笔痕迹进行评价。机器人获取到用户的临摹的画笔痕迹后，识别该画笔痕迹是对该绘画参考模型整体的临摹，还是对该绘画参考模型的轮廓图进行临摹，由于绘画参考模型与其轮廓图之间的区别在于一些细节图形和颜色，轮廓图一般不具有一些细节图形和多种色彩，机器人通过鉴别获取的影像中是否具有上述细节图形与颜色，就能够区别出用户是在临摹绘画参考模型还是绘画参考模型的轮廓图形。
当机器人鉴别出画笔痕迹是在临摹绘画参考模型的轮廓图形后，将该画笔痕迹与该绘画参考模型的轮廓图形进行图样叠加，图样叠加后，以轮廓图为标准参考，计算画笔痕迹中不与轮廓图重合的部分，并计算出不重合部分占整个轮廓图的比率，“1-比率”即为用户的临摹的评价成绩，如计算出的比率为百分之二十时，则该用户的临摹成绩为八十分。 对于画笔痕迹的评价不局限与此，在一些选择性实施方式中，按照分数段对临摹的画笔痕迹进行打分，如A、B、C和D等，或者优秀、良好和一般等。
请参阅图6，图6对临摹过程中出现的错误进行警示显示的流程图。
如图6所示，包括步骤：
S1210、将所述绘画参考模型轮廓图中与所述画笔痕迹不重叠部分截取出来。机器人将画笔痕迹与该绘画参考模型的轮廓图形进行图样叠加，计算出临摹的分数后，需要对用户临摹中出现的错误进行警示，以使用户发现在临摹过程中存在错误，便于用户认识错误并改正错误。具体实现方法为，将画笔痕迹与该绘画参考模型的轮廓图形进行图样叠加，机器人通过图形软件处理将轮廓图中不与画笔痕迹叠加的部分截取出来，被截取出来的部分即为用户临摹出错的地方。
S1220、对所述不重叠部分进行警示显示。机器人通过图形软件处理将轮廓图中不与画笔痕迹叠加的部分截取出来，为方便用户辨识，将出错位置进行警示显示。警示显示是指，对出错位置进行颜色区别或闪烁等能够引起用户注意的显示方式，本实施方式中警示显示时，将出错的位置标记为红色，并进行闪烁，以引起用户的注意。
请参阅图7，图7对不重叠部分进行演示教学的流程图。
如图7所示，包括步骤：
S1230、通过动画演示所述不重叠部分的绘画方法。用户在临摹的过程中出现了错误，机器人在确定用户的错误位置后，对用户警醒警示显示，以引起用户的注意，传统教育方式中，对于错误的矫正方式为，指出错误让犯错方自己寻找解决错误的方法。传统的教育方式对于知错但不知道正确解法的用户收效极微，因为用户知道自己错了，但是不指导正确的画法，只能自己摸索，长此以往将使用户失去改正的兴趣甚至不愿意继续学习绘画。为突破传统教育中的弊端，本实施方式中，将用户错误的绘画位置用动画进行演示，帮助用户学习正确的绘画方法。具体方法为：通过图像确定处理软件确定不重叠部分的起始位置，并在动画演示的中截去与该起始位置相对应的两个帧画面，将两个帧画面之间 的动画截取出来，即为该不重叠部分的动画演示方法，机器人播放该截取出来的动画，即向用户演示该不重叠部分的绘画方法。
请参阅图8，图8对不重叠部分进行反复教学方法流程图。
如图8所示，包括步骤：
S1310、记录所述绘画参考模型轮廓图中与所述画笔痕迹不重叠部分的轮廓。将画笔痕迹与该绘画参考模型的轮廓图形进行图样叠加，机器人通过图形软件处理将轮廓图中不与画笔痕迹叠加的部分截取出来，机器人将该截取出来的轮廓图进行存储。
S1320、搜索包括所述不重叠部分轮廓的绘画参考模型。机器人内存储的绘画参考模型，构成绘画参考模型数据库，数据库中包括该绘画参考模型的轮廓图，每一个轮廓图都是有多个线段的组合，如绘画参考模型为字母B，则构成该绘画参考模型的线段组合为竖直直线段与两个半圆形的弧线段构成，相同的数据库中将复杂的绘画参考模型的轮廓图拆分为多个线段，并对构成绘画参考模型的线段进行记录。搜索时先确定不重叠部分轮廓的线段类型，然后在数据库中搜索包括该线段类型的其他绘画参考模型。
S1330、显示该包括所述不重叠部分轮廓的绘画参考模型。为使用户掌握错误画笔痕迹的正确画法，对该错误绘画痕迹所表示的线段进行反复的练习，以掌握正确的画法。因此将与不重叠部分轮廓相似的绘画参考模型显示出来，如不重叠部分轮廓为半圆形线段时，显示包括具有半圆形线段的绘画参考模型。
请参阅图9，图9为绘画教学方法的远程传输流程图。
如图9所示，包括步骤：
S1410、记录所述影像信息和对所述画笔痕迹的评价。机器人绘画教育的直接使用用户为儿童，为方便家长、老师或者大数据收集的需要，将用户临摹时的绘画影像与机器人做出的画笔痕迹的评价进行记录，其中评价包括：用户临摹的得分和用户临摹时绘画出错的位置等用户行为。
S1420、根据所述影像信息和对所述画笔痕迹的评价生成教学日志。 将记录的绘画影像与机器人做出的画笔痕迹的评价生成教学日志，教学日志包括视频日志、图文日志与文字日志，视频日志是指将用户临摹的整个视频即评价时的图片编辑为一整个视频。图文日志时将用户临摹时的时间、绘画参考模型、画笔痕迹和评价，编辑成文字文本。
S1430、向外部网络发送所述教学日志。机器人将生成的教学日志通过外部网络发送到指定接收的外部设备中，外部设备是指(不限于)：移动终端和服务器等能够通过外部网络获取和存储该日志的设备。机器人能够通过3G、4G、5G或WiFi等外部网络向用户发送教学日志，对移动终端用户发送教学日志时，先与移动终端建立联系，获取移动终端所在的网络环境，然后在确定向用户发送视频日志、图文日志或文字日志，如用户在4G无线环境下，则向其发送图文日志，在3G环境下，则向其发送文字日志，在WiFi环境下则向其发送视频日志，以节省用户阅读日志时的流量。
本实施例还提供一种绘画教学装置。
请参阅图10，图10为本实施例绘画教学装置基本结构示意图。
如图10所示，一种绘画教学装置，包括：显示模块2110、拍摄模块2120、痕迹提取模块2130与第一处理模块2140。其中显示模块2110用于显示绘画参考模型；拍摄模块2120用于拍摄用户临摹绘画参考模型的影像信息；痕迹提取模块2130用于提取影像信息中用户临摹时的画笔痕迹；第一处理模块2140用于将画笔痕迹与绘画参考模型进行比对，并根据比对画笔痕迹与绘画参考模型的相似程度，对画笔痕迹进行评价。
绘画教学装置内部存储有供用户参照的绘画参考模型，用户在使用本实施例中提供的绘画教学装置学习绘画时，需要通过显示模块2110显示绘画参考模型。该绘画参考模型能够是(不限于)现实当中存在的实物拍摄的照片、实物的卡通图样或虚拟的绘画作品等。
拍摄模块2120卡接安装在绘画教学装置上，拍摄模块2120与绘画教学装置的连接方式不局限与此，在一些选择性实施例中，拍摄模块2120与绘画教学装置之间通过设置永磁体，进行相互连接。拍摄模块 2120面向绘画教学装置摄像头的一侧放置光学模块，光学模块具体为反射镜，反射镜呈倾斜放置，且反射镜放置在绘画教学装置摄像头拍摄视界范围内。由于反射镜倾斜放置，且倾斜位置面向绘画教学装置拍摄视界的正下方，故反射镜能够接收到来自用户临摹过程的反射光线，并通过光线折射将该光线射入到绘画教学装置的摄像头内，使绘画教学装置摄像头能够获取到用户的临摹过程的影像信息。
绘画教学装置摄像头采集的影像画面中，一般包括：用户的手、画笔、画布以及画笔痕迹。痕迹提取模块2130在对用户的画笔痕迹提取时，先要将影像中用户的手以及画笔移除，移除的具体办法为：在绘画教学装置内预存储人体手的颜色信息与轮廓信息，痕迹提取模块2130通过比对该颜色与轮廓跟拍摄影像中用户的手的形态相同时，痕迹提取模块2130能够在拍摄的影像中识别用户的手，并将识别出的用户手型移除。采用相同的原理，绘画教学装置识别画笔并在拍摄的影像中移除该画笔。在选用的画笔时选用画笔颜色与画布区别较大的画笔，至此绘画教学装置通过图像处理技术能够获取影像信息中用户临摹时形成的画笔痕迹。
痕迹提取模块2130将画笔痕迹提取出来后，第一处理模块2140将该画笔痕迹与绘画参考模型进行比对，比对的主要内容为画笔痕迹与绘画参考模型的相似程度。具体为，绘画教学装置中存储的绘画参考模型主要有轮廓图与细节图构成，如绘画参考模型是一只彩色的气球时，构成该彩色气球的绘画元素包括：构成该彩色气球的轮廓以及构成该彩色气球内部的花色。第一处理模块2140比较时先比较气球轮廓的相似度，然后再对其颜色进行相似度比对。比对时根据比对的相似度对用户临摹的画笔痕迹进行打分，打分根据与相似度相关，如相似度在百分之八十时，对该临摹打八十分；相似度为百分之六十时，对该临摹打六十分。对于画笔痕迹的评价不局限与此，在一些选择性实施方式中，按照分数段对临摹的画笔痕迹进行打分，如A、B、C和D等，或者优秀、良好和一般等。
将所述画笔痕迹与所述绘画参考模型进行同步显示。本实施方式 中，为使用户能够在进行临摹时，既能够看到自己临摹的画笔痕迹，将画笔痕迹提取出来后，将其与绘画参考模型进行同步显示。
在一些实施方式中，绘画教学装置还包括：实时警示模块(图未示)。用于将画笔痕迹与所述绘画参考模型进行图案重叠比对，并将画笔痕迹中与所述绘画参考模型不重叠的部分进行警示显示。实时警示模块将画笔痕迹与该绘画参考模型的轮廓图形进行图样叠加，计算出临摹的分数后，需要对用户临摹中出现的错误进行警示，以使用户发现在临摹过程中存在错误，便于用户认识错误并改正错误。具体实现方法为，将画笔痕迹与该绘画参考模型的轮廓图形进行图样叠加，实时警示模块通过图形软件处理将画笔痕迹中不与绘画参考模型叠加的部分截取出来，被截取出来的部分即为用户临摹出错的地方。为方便用户辨识，实时警示模块将出错位置进行警示显示。警示显示是指，对出错位置进行颜色区别或闪烁等能够引起用户注意的显示方式，本实施方式中警示显示时，将出错的位置标记为红色，并进行闪烁，以引起用户的注意。
请参阅图11，图11为本实施例中具有显示参考模型轮廓功能的绘画教学装置结构示意图。
如图11所示，绘画教学装置还包括：轮廓显示模块2210。轮廓显示模块2210用于在显示模块2110显示绘画参考模型后，显示绘画参考模型的轮廓图形。
户在使用绘画教学装置进行绘画联系时，为方便起见，往往仅会对绘画参考模型的轮廓进行临摹，以快速掌握该绘画参考模型的临摹技巧。为使客户有选择的临摹整个绘画参考模型或绘画参考模型的轮廓图，显示模块2110在显示了绘画参考模型后，轮廓显示模块2210显示绘画参考模型的轮廓图形。示绘画参考模型的轮廓图形是指构成绘画参考模型的主体架构，如绘画参考模型为一个桃子时，构成桃子外形轮廓的类心形图案就是该绘画参考模型的轮廓图形。显示时首先显示绘画参考模型，再显示绘画参考模型，显示时间的长短能够进行设定，显示的先后顺序是初始设定，用户能够通过向绘画教学装置发送控制指令，控制显示参考模型和绘画参考模型轮廓图形。控制指令的发送方式包括 (不限于)：远程遥控、语音指令、触屏控制指令或手势指令等。
请参阅图12，图12为本实施例中具有动画演示参考模型轮廓图形功能的绘画教学装置结构示意图。
如图12所示，绘画教学装置还包括：第一演示模块2310，第一演示模块2310用于通过动画演示参考模型的轮廓图形。
使用本实施例中的绘画教学装置进行绘画练习的用户一般为儿童，学习绘画时一般处于跟随学习的状态，即在学习绘画时，需要告诉孩子如何起笔，曲线如何进行描绘，画笔走势等绘画的基本执行要素，如果在显示参考模型的轮廓图形时，仅显示该轮廓图，则儿童往往不知道从什么地方开始画，同样也不知道应该怎样进行绘画，进而乱画一通，使绘画教学装置无法起到很好地教学作用。为解决上述技术问题，在本实施方式中，参考模型的轮廓图形是通过第一演示模块2310，以动画演示的方式呈现出来的，动画演示中会通过图像与语音的方式，向用户介绍在临摹该参考模型的轮廓图形时，用户应该从哪里起笔，先画那一条曲线以及该曲线如何进行绘制等。通过动画一步步教用户学习临摹该参考模型的轮廓图形，容易使用户掌握绘画的要点与技巧，提高用户的学习效率，且以动画的方式进行教学，能够使用户提起学习兴趣。动画演示参考模型的轮廓图形并非必须步骤，在用户能够熟练掌握该参考模型的轮廓图形绘画技巧时，用户能够通过下达指令的方式，不再观看动画演示。
请参阅图13，图13为本实施例中通过比对画笔痕迹与绘画参考模型的轮廓图进行评价的绘画教学装置结构示意图。
如图13所示，绘画教学装置还包括：第二处理模块2410。第二处理模块2410用于将画笔痕迹与绘画参考模型的轮廓图形进行图案重叠比对，并根据重叠面积的占比对画笔痕迹进行评价。
第二处理模块2410将该画笔痕迹与该绘画参考模型的轮廓图形进行图样叠加，图样叠加后，以轮廓图为标准参考，计算画笔痕迹中不与轮廓图重合的部分，并计算出不重合部分占整个轮廓图的比率，“1-比率”即为用户的临摹的评价成绩，如计算出的比率为百分之二十时，则 该用户的临摹成绩为八十分。对于画笔痕迹的评价不局限与此，在一些选择性实施方式中，第二处理模块2410按照分数段对临摹的画笔痕迹进行打分，如A、B、C和D等，或者优秀、良好和一般等。
请参阅图14，图14为本实施例中具有错误进行警示显示功能的绘画教学装置结构示意图。
如图14所示，绘画教学装置还包括：截取模块2510与警示显示模块2520。其中，截取模块2510用于将绘画参考模型轮廓图中与画笔痕迹不重叠部分截取出来；警示显示模块2520用于对不重叠部分进行警示显示。
第二处理模块2410将画笔痕迹与该绘画参考模型的轮廓图形进行图样叠加，计算出临摹的分数后，需要对用户临摹中出现的错误进行警示，以使用户发现在临摹过程中存在错误，便于用户认识错误并改正错误。具体实现方法为，将画笔痕迹与该绘画参考模型的轮廓图形进行图样叠加，截取模块2510通过图形软件处理将轮廓图中不与画笔痕迹叠加的部分截取出来，被截取出来的部分即为用户临摹出错的地方。
截取模块2510通过图形软件处理将轮廓图中不与画笔痕迹叠加的部分截取出来，为方便用户辨识，警示显示模块2520将出错位置进行警示显示。警示显示是指，对出错位置进行颜色区别或闪烁等能够引起用户注意的显示方式，本实施方式中警示显示时，将出错的位置标记为红色，并进行闪烁，以引起用户的注意。
请参阅图15，图15为本实施例中具有对不重叠部分进行演示教学功能的绘画教学装置结构示意图。
如图15所示，绘画教学装置还包括：第二演示模块2610。第二演示模块2610用于通过动画演示不重叠部分的绘画方法。
第二演示模块2610将用户错误的绘画位置用动画进行演示，帮助用户学习正确的绘画方法。具体方法为：通过图像确定处理软件确定不重叠部分的起始位置，并在动画演示的中截去与该起始位置相对应的两个帧画面，将两个帧画面之间的动画截取出来，即为该不重叠部分的动画演示方法，第二演示模块2610播放该截取出来的动画，即向用户演 示该不重叠部分的绘画方法。
请参阅图16，图16为本实施例中具有对不重叠部分进行反复教学功能的绘画教学装置结构示意图。
如图16所示，绘画教学装置还包括：第一记录模块2710与搜索模块2720。其中，第一记录模块2710用于记录绘画参考模型轮廓图中与画笔痕迹不重叠部分的轮廓；搜索模块2720用于搜索包括不重叠部分的轮廓的绘画参考模型；显示模块2110显示该包括不重叠部分的轮廓的绘画参考模型。
第二处理模块2410将画笔痕迹与该绘画参考模型的轮廓图形进行图样叠加，截取模块2510通过图形软件处理将轮廓图中不与画笔痕迹叠加的部分截取出来，第一记录模块2710绘画教学装置将该截取出来的轮廓图进行存储。
绘画教学装置内存储的绘画参考模型，构成绘画参考模型数据库，数据库中包括该绘画参考模型的轮廓图，每一个轮廓图都是有多个线段的组合，如绘画参考模型为字母B，则构成该绘画参考模型的线段组合为竖直直线段与两个半圆形的弧线段构成，相同的数据库中将复杂的绘画参考模型的轮廓图拆分为多个线段，并对构成绘画参考模型的线段进行记录。搜索模块2720搜索时先确定不重叠部分轮廓的线段类型，然后在数据库中搜索包括该线段类型的其他绘画参考模型。
为使用户掌握错误画笔痕迹的正确画法，对该错误绘画痕迹所表示的线段进行反复的练习，以掌握正确的画法。因此显示模块2110将与不重叠部分轮廓相似的绘画参考模型显示出来，如不重叠部分轮廓为半圆形线段时，显示包括具有半圆形线段的绘画参考模型。
请参阅图17，图17为本实施例中具有远程传输功能的绘画教学装置结构示意图。
如图17所示，绘画教学装置还包括：第二记录模块2810、日志生成模块2820与发送模块2830。其中，第二记录模块2810用于记录影像信息和对画笔痕迹的评价；日志生成模块2820用于根据影像信息和对画笔痕迹的评价生成教学日志；发送模块2830用于向外部网络发送教 学日志。
绘画教学装置绘画教育的直接使用用户为儿童，为方便家长、老师或者大数据收集的需要，第二记录模块2810将用户临摹时的绘画影像与绘画教学装置做出的画笔痕迹的评价进行记录，其中评价包括：用户临摹的得分和用户临摹时绘画出错的位置等用户行为。
日志生成模块2820将记录的绘画影像与绘画教学装置做出的画笔痕迹的评价生成教学日志，教学日志包括视频日志、图文日志与文字日志，视频日志是指将用户临摹的整个视频即评价时的图片编辑为一整个视频。图文日志时将用户临摹时的时间、绘画参考模型、画笔痕迹和评价，编辑成文字文本。
发送模块2830将生成的教学日志通过外部网络发送到指定接收的外部设备中，外部设备是指(不限于)：移动终端和服务器等能够通过外部网络获取和存储该日志的设备。发送模块2830能够通过3G、4G、5G或Wi F i等外部网络向用户发送教学日志，对移动终端用户发送教学日志时，先与移动终端建立联系，获取移动终端所在的网络环境，然后在确定向用户发送视频日志、图文日志或文字日志，如用户在4G无线环境下，则向其发送图文日志，在3G环境下，则向其发送文字日志，在Wi F i环境下则向其发送视频日志，以节省用户阅读日志时的流量。
本实施例提供还一种绘画教学机器人的实施方式。具体请参阅图18，图18为绘画教学机器人的结构框图。
请参阅图18，绘画教学机器人包括：一个或多个处理器3110和存储器3120；一个或多个应用程序，其中一个或多个应用程序被存储在存储器中并被配置为由一个或多个处理器执行，一个或多个程序配置用于：
显示绘画参考模型；
在显示绘画参考模型的同时拍摄用户临摹所述绘画参考模型的影像信息；
提取所述影像信息中用户临摹时的画笔痕迹，并同时显示在显示装置上；
将所述画笔痕迹与所述绘画参考模型进行比对，根据比对所述画笔痕迹与所述绘画参考模型的相似程度，对所述画笔痕迹进行评价。
图19示出了可以实现根据本发明的机器人绘画教学方法的绘画教学机器人(下述将绘画教学机器人统称为设备)。该设备传统上包括处理器1010和以存储器1020形式的计算机程序产品或者计算机可读介质。存储器1020可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器1020具有用于执行上述方法中的任何方法步骤的程序代码1031的存储空间1030。例如，用于程序代码的存储空间1030可以包括分别用于实现上面的方法中的各种步骤的各个程序代码1031。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘，紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为如参考图20所述的便携式或者固定存储单元。该存储单元可以具有与图19中的存储器1020类似布置的存储段或者存储空间等。程序代码可以例如以适当形式进行压缩。通常，存储单元包括用于执行根据本发明的方法步骤的程序代码1031’，即可以由例如诸如1010之类的处理器读取的代码，这些代码当由设备运行时，导致该设备执行上面所描述的方法中的各个步骤。
需要指出的是本实施列中，绘画教学机器人的存储器内存储用于实现本实施例中机器人绘画教学方法的所有程序，处理器能够调用该存储器内的程序，执行上述机器人绘画教学方法所列举的所有功能。由于绘画教学机器人实现的功能在本实施例中的机器人绘画教学方法进行了详述，在此不再进行赘述。
请参阅图21-23，图21为本实施例机器人整体结构示意图；图22为本实施例光学镜片折射原理图。
如图21所示，一种机器人，包括：机器人本体100、拍摄装置110与光学镜片210。其中，拍摄装置110设置在所述机器人本体100上；光学镜片210设置在所述拍摄装置110的拍摄视界范围内，所述光学镜片210倾斜放置，将垂直于所述拍摄视界111中轴线112方向射入的光 线折射进入所述拍摄视界111范围内。
具体的，机器人本体100包括基座以及设置在基座120上方的显示装置130，其中，基座120为柱形体，显示装置130为设置在基座120上方，用于与用户进行人机交流的主要窗口，显示装置130包括壳体以及设置在壳体131上的显示屏132。该壳体131一端可旋转的连接在基座120上。
拍摄装置110设置在壳体131上，具体地拍摄装置110设置在显示屏132上方的壳体131上。拍摄装置110的拍摄视界111是指：以摄像装置为拍摄的原点，在拍摄装置110面向的方向呈喇叭状散射的光线射入路径。拍摄装置110之所以能够拍摄到事物的影像，其原理在于，事物的本身具有反射光线的本能，当太阳光或者其他光源发出的光线照射在事物上时，事物反射该光线，由于不同事物反射的光线不同，故能够区别出不同事物的颜色。拍摄装置110进行拍摄时，同样也是收集拍摄视界111范围内的光线，并将光线表示的颜色加以记录，而形成拍摄事物的影像。因此拍摄时，只有将拍摄的事物的反射光线射入到拍摄装置110的拍摄视界111范围内，该事物即能够被拍摄装置110拍摄到。本实施方式中，拍摄装置110具体为摄像头。
如图22所示，光学镜片210为能够将射入其中的光线进行折射的光学镜。将光学镜片210放置在拍摄装置110拍摄视界111的范围内，且该光学镜片210向下倾斜放置，即光学镜片210与拍摄视界111的中轴线112形成锐角。在该放置形态下，拍摄装置110拍摄死角位置反射的光线首先射入到光学镜片210内，由于光学镜片210倾斜放置，能够将其下方射入的光线进行折射，使该光线能够准直的进入到拍摄世界范围内，进而进入到拍摄装置110内，使拍摄装置110能够拍摄到其正下方拍摄死角内的影像。
需要指出的是，将拍摄装置110正向面对的空间看做一个圆柱形，拍摄装置110的拍摄视界111即为放置在该圆柱形空间内的喇叭形路径，由于喇叭形路径的起点横截面积较小，喇叭形终点的横截面积较大，即喇叭形路径与圆柱形空间之间形成内部具有锥形切面的柱形体，该内 部具有锥形切面的柱形体即为拍摄装置110的拍摄死角，由此能够看出拍摄装置110的拍摄死角不局限在拍摄视界111中轴线112的下方，而是一个立体的拍摄死角空间，故想要拍摄该死角空间内其他方位的景象，需要将光学镜片210倾斜方向进行调整，以使其能够拍摄不同方位的影像。
本实施例中光学镜片210为平面反光镜，但光学镜片210不局限于平面反光镜一种，在一些选择性实施方式中，光学镜片210能够为(不限于)：凹面反光镜或凸面反光镜等能够对射入光线进行反射的镜面。
光学镜片210与拍摄视界111中轴线112之间的夹角为0～90°之间，光学镜片210中反光的一面折射光线的能力和折射光线的位置与其倾斜的角度之间存在关联。具体地，当光学镜片210与拍摄视界111中轴线112之间的夹角趋向于0°时，光学镜片210与拍摄视界111的中轴线112越趋向于平行，此时光学镜片210能够接受更多来自由拍摄视界111中轴线112正下方事物反射的光线，但是由于光学镜片210与拍摄视界111中轴线112趋向于平行，接受的反射光仅少数光线经过折射进入到拍摄视界111的范围内，拍摄装置110能够拍摄到拍摄视界111中轴线112正下方的事物影像较少。当光学镜片210与拍摄视界111中轴线112之间的夹角趋向于90°时，光学镜片210与拍摄视界111的中轴线112越趋向于垂直，此时光学镜片210能够接受较少来自由拍摄视界111中轴线112正下方事物反射的光线，接受的反射光仅少数光线经过折射进入到拍摄视界111的范围内，且进入拍摄视界111的光线是有无限接近机器人本体100的事物反射的光线，拍摄装置110能够拍摄到拍摄视界111中轴线112正下方的事物影像较少，且无限接近与机器人本体100。优选地，本实施方式中，光学镜片210与拍摄视界111中轴线112之间的夹角为45°，在该夹角时，光学镜片210能够获取较多拍摄视界111中轴线112下方食物反射的光线，并能够将接收到的反射光线几乎完全的折射，使其准直的进入到拍摄视界111内，使拍摄装置110能够拍摄到视野角度广且清晰的画面45°。仅是本实施例中光学镜片210与拍摄视界111中轴线112之间夹角的一个优选实施例，根据具体 应用场景的不同，机器人使用环境光源放置位置不同，或者选用的光学镜片210的折射率不同，都会使光学镜片210与拍摄视界111之间的最佳角度发生变化，应当根据具体应用场景选取光学镜片210与拍摄视界111之间合适的角度。
拍摄装置110的拍摄视界111的横截面积是逐渐增大的，为保证拍摄装置110拍摄影像的清晰度，以及拍摄装置110拍摄的影像应当不包括除光学镜片210反射光线所呈现出的图像。为满足上述条件，本实施例中，光学镜片210的面积大于光学镜片210所在位置处拍摄视界111范围的面积，限定拍摄装置110获取的光线均为光学镜片210折射的光线。具体的本实施方式中，光学镜片210为长方形，由于拍摄视界111位于光学镜片210所在位置的横截面积为圆形，光学镜片210的宽度要大于拍摄视界111位于光学镜片210所在位置的横截面的直径。但光学镜片210的具体形状不局限于长方形，根据具体应用场景的不同，光学镜片210的形状不局限于：正方形、正六边形、正八边形、圆形、椭圆形等，为使上述形状的光学镜片210满足使用要求，光学镜片210的尺寸要保证光学镜片210所在位置的横截面不超出光学镜片210。
上述实施方式通过在该机器人的拍摄装置110拍摄视界111范围内设置光学镜片210，该光学镜片210倾斜放置，能够将垂直于该拍摄视界111中轴线112方向摄入的光线进行折射，即能够将拍摄装置110拍摄死角内的光线折射，使该光线准直的进入到拍摄视界111内，即使拍摄装置110能够拍摄到其拍摄死角内的影像。解决现有技术中，固定安装的拍摄装置110无法拍摄其夹角区域内影像的问题。
请参阅图23，图23为本实施例承载件结构示意图。
如图23所示，本实施例中机器人还包括：承载件200。本实施例中的光学镜片210为该机器人的附属部件，即该光学镜片210能够不连接在机器人本体100上，由于光学镜片210放置的位置是放置在拍摄装置110的拍摄路径范围内即可，故光学镜片210能够通过外部的支架或其他外部设施进行搭载，在本实施列中，光学镜片210搭载在承载件200上，承载件200设置在机器人本体100上，且承载件200的一端弯曲伸 入到拍摄装置110的拍摄视界111内，承载件200弯曲伸入到拍摄装置110拍摄视界111内一端的端部设有倾斜面220，光学镜片210粘贴固定在该倾斜面220上，由于倾斜面220的倾斜的角度与拍摄视界111的中轴线112形成锐角夹角，粘贴在该倾斜面220上的光学镜片210同样的与拍摄视角中轴线112形成锐角夹角。将光学镜片210放置的承载件200上，承载件200设置在机器人本体100上，采用这种连接方式能够使光学镜片210与机器人本体100形成相对固定的连接方式与位置，无需在使用时对该光学镜片210进行重新放置，方便机器人的使用。
机器人拍摄装置110的作用不局限于获取由光学镜片210折射的光线，其作用是两用性的，如机器人拍摄装置110在正常使用时需要获取其拍摄视界111范围的事物，而不需要拍摄由光学镜片210折射进入到其拍摄视界111范围内的景象，此时如果承载件200固定设置在机器人本体100上时，机器人拍摄装置110拍摄的景象不能够随时进行变换，不方便机器人的使用。在一些选择性实施方式中，在承载件200的中间位置或者其躯干部的其他位置开设有卡槽230，该卡槽230与壳体131顶部相配合，能够卡装在该壳体131顶部上。具体地，壳体131顶部为长方形，承载件200上开设的卡槽230方形，卡槽230的横截面的面积略大于壳体131顶部的横截面积，是卡槽230能够卡接安装在机器人壳体131顶部，承载件200通过卡槽230活动连接与机器人顶部的连接方式，能够随时将承载件200从机器人上拆卸下来，使拍摄装置110拍摄到的景象能够由正常拍摄视角与拍摄经过光学镜片210折射后的景象之间进行随意转化，方便机器人在不同功能之间进行转化。
本实施例中机器人拍摄装置110设置在机器人壳体131显示屏132上方的中间位置，在其他选择性实施例中，拍摄装置110设置的位置有所区别，但相同的是，机器人拍摄装置110设定的位置一旦确定该拍摄装置110的位置即不再发生变换，也就是说，拍摄装置110的拍摄视界111也是固定的。在拍摄视界111固定的状态下，光学镜片210放置的具体位置也是固定。在一些选择性实施方式中，为方便将承载件200快速安装在机器人壳体131上，且安装后能够使光学镜片210位于拍摄视 界111范围内。在壳体131顶部设置第一永磁体，卡槽230内部设有与第一永磁体配合的第二永磁体，第一永磁体设置于拍摄装置110的正上方，且拍摄装置110位于第一永磁体的正中间，第二永磁体设置在承载件200卡槽230的内部，第一永磁体与第二永磁体的极性刚好相反，具有相互吸引的本能，因此在本实施方式中，将承载件200安装在壳体131顶部时，第一永磁体与第二永磁体相互吸引，能够使承载件200快速安装在机器人壳体131顶部，且由于第一永磁体安装的位置为拍摄装置110的正上方，因此，第一永磁体与第二永磁体结合后能够使承载件200位于拍摄视界111的中间位置，即能够使光学镜片210位于拍摄视界111的范围内。第一永磁体和第二磁体均为天然的磁石或人造磁体构成。
机器人壳体131的背部设计为弧形，承载件200的另一端贴附于壳体131表面，即承载件200的另一端构造成弧形。为使光学镜片210位于拍摄视界111的范围内，承载件200设有倾斜面220的一端处于悬空状态，承载件200通过卡槽230与壳体131顶部实现卡接连接，若承载件200设有倾斜面220的一端收到向上或者向下的外力后，承载件200容易在外力的作用下脱离该壳体131。本实施方式中，将承载件200的另一端设计成弧形，并使其贴附于壳体131的背部，能够使承载件200与壳体131之间的连接更加稳定。如承载件200收到向上的外力作用后，承载件200设计成弧形的一端与卡槽230形成对抗该向上外力的应力，使承载件200避免脱离壳体131。若承载件200受到向下的外力作用后，由于，承载件200设计成弧形的一端重心在摄像装置下方，增加了承载件200的稳定性，使承载件200在受到较小的向下作用的外力时，不容易产生晃动和脱落现象。
本实施例中，机器人壳体131上设有显示屏132，该显示屏132为与用户进行人机交互的主要窗口，为防止用户近距离操作拍摄机器人，对用户的视力造成影响，机器人预设有防止过进操作的保护程序，其具体操作防止为，当用户正常操作的距离时，拍摄装置110拍摄到用户过于接近的画面，机器人即将显示屏132关闭，以起到保用户的作用。本实施例中由于为机器人加装了光学镜片210，为保证拍摄的清晰度，光 学镜片210放置的位置距拍摄装置110之间的距离小于用户操作的正常距离，因此根据设定的保护程序，将光学镜片210放置于拍摄时而范围内时，机器人即会启动保护程序，使显示屏132处于关闭状态。即加装了光学镜片210的机器人的显示屏132无法正常使用。
为解决上述存在的技术问题，本实施方式中，承载件200构造成弧形的一端内侧设有第三永磁体，并在机器人可以内部相对应的位置上设有与第三永磁体相配合的霍尔传感器。霍尔传感器能够感应到外界磁力的变化，并将磁力变换的信息发送给机器人，机器人在获取到该信息之后关闭或抑制防止过进操作的保护程序的开启。具体地，承载件200在安装到机器人上时，霍尔传感器所在位置的磁力变化为稳定性的磁场，该磁场不足以触发霍尔传感器。当承载件200安装到壳体131上时，第三永磁体位于霍尔传感器的上方，此时，霍尔传感器感应到第三永磁体的磁场被触发，进而关闭了关闭或抑制防止过进操作的保护程序的开启。第三磁体为天然的磁石或人造磁体构成。
在本发明的又一实施例中，承载件200不设卡槽230，承载件200与壳体131之间的连接均通过磁体进行，具体地，在壳体131顶部设置第一永磁体，承载件200内部设有与第一永磁体配合的第二永磁体，第一永磁体设置于拍摄装置110的正上方，且拍摄装置110位于第一永磁体的正中间，第二永磁体设置在承载件200的内部，第一永磁体与第二永磁体的极性刚好相反，具有相互吸引的本能，因此在本实施方式中，将承载件200安装在壳体131顶部时，第一永磁体与第二永磁体相互吸引，能够使承载件200快速安装在机器人壳体131顶部，且由于第一永磁体安装的位置为拍摄装置110的正上方，因此，第一永磁体与第二永磁体结合后能够使承载件200位于拍摄视界111的中间位置，即能够使光学镜片210位于拍摄视界111的范围内。第一永磁体和第二磁体均为天然的磁石或人造磁体构成。
需要说明的是，本发明的说明书及其附图中给出了本发明的较佳的实施例，但是，本发明可以通过许多不同的形式来实现，并不限于本说明书所描述的实施例，这些实施例不作为对本发明内容的额外限制，提 供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。并且，上述各技术特征继续相互组合，形成未在上面列举的各种实施例，均视为本发明说明书记载的范围；进一步地，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本发明所附权利要求的保护范围。

Claims (46)

  1. 一种机器人绘画教学方法，包括下述步骤：
    在显示装置上显示绘画参考模型；
    在显示绘画参考模型的同时拍摄用户临摹所述绘画参考模型的影像信息；
    提取所述影像信息中用户临摹时的画笔痕迹，并同时显示在显示装置上；
    将所述画笔痕迹与所述绘画参考模型进行比对，根据比对所述画笔痕迹与所述绘画参考模型的相似程度，确定对应于所述画笔痕迹评价信息。
  2. 根据权利要求1所述的机器人绘画教学方法，其特征在于，所述在显示绘画参考模型的同时拍摄用户临摹所述绘画参考模型的影像信息，包括：
    通过设置于机器人摄像视界范围内的光学镜片，拍摄位于所述摄像视界正下方的临摹过程。
  3. 根据权利要求1所述的机器人绘画教学方法，其特征在于，提取所述影像信息中用户临摹时的画笔痕迹，并同时显示在显示装置上，包括：
    将所述画笔痕迹与所述绘画参考模型进行同步显示。
  4. 根据权利要求2所述的机器人绘画教学方法，其特征在于，将所述画笔痕迹与所述绘画参考模型进行同步显示，包括：
    将所述画笔痕迹与所述绘画参考模型进行图案重叠比对，并将画笔痕迹中与所述绘画参考模型不重叠的部分进行警示显示。
  5. 根据权利要求1所述的机器人绘画教学方法，其特征在于，所述显示绘画参考模型，包括：
    显示所述绘画参考模型后，显示所述绘画参考模型的轮廓图形。
  6. 根据权利要求5所述的机器人绘画教学方法，其特征在于，显示所述绘画参考模型后，显示所述绘画参考模型的轮廓图形，包括：
    通过动画演示所述参考模型的轮廓图形。
  7. 根据权利要求5所述的机器人绘画教学方法，其特征在于，所述将所述画笔痕迹与所述绘画参考模型进行比对，根据比对所述画笔痕迹与所述绘画参考模型的相似程度，确定对应于所述画笔痕迹评价信息，包括：
    将所述画笔痕迹与所述绘画参考模型的轮廓图形进行图案重叠比对，根据重叠面积的占比对所述画笔痕迹进行评价。
  8. 根据权利要求7所述的机器人绘画教学方法，其特征在于，将所述画笔痕迹与所述绘画参考模型进行比对，根据比对所述画笔痕迹与所述绘画参考模型的相似程度，确定对应于所述画笔痕迹评价信息步骤之后，包括：
    将所述绘画参考模型轮廓图中与所述画笔痕迹不重叠部分截取出来；
    对所述不重叠部分进行警示显示。
  9. 根据权利要求8所述的机器人绘画教学方法，其特征在于，所述对所述不重叠部分进行警示显示步骤之后，包括：
    通过动画演示所述不重叠部分的绘画方法。
  10. 根据权利要求8所述的机器人绘画教学方法，其特征在于，所述机器人绘画教学方法还包括：
    记录所述绘画参考模型轮廓图中与所述画笔痕迹不重叠部分轮廓；
    搜索包括所述不重叠部分轮廓的绘画参考模型；
    显示该包括所述不重叠部分轮廓的绘画参考模型。
  11. 根据权利要求1所述的机器人绘画教学方法，其特征在于，所述机器人绘画教学方法还包括：
    记录所述影像信息和对所述画笔痕迹的评价；
    根据所述影像信息和对所述画笔痕迹的评价生成教学日志；
    向外部网络发送所述教学日志。
  12. 一种绘画教学装置，包括：
    至少一个处理器；
    以及，至少一个存储器，其与所述至少一个处理器可通信地连接； 所述至少一个存储器包括处理器可执行的指令，当所述处理器可执行的指令由所述至少一个处理器执行时，致使所述装置执行至少以下操作：
    显示绘画参考模型；
    在显示绘画参考模型的同时拍摄用户临摹所述绘画参考模型的影像信息；
    提取所述影像信息中用户临摹时的画笔痕迹，并同时显示在显示装置上；
    将所述画笔痕迹与所述绘画参考模型进行比对，并根据比对所述画笔痕迹与所述绘画参考模型的相似程度，对所述画笔痕迹进行评价。
  13. 根据权利要求12所述的绘画教学装置，其特征在于，还包括：
    在机器人摄像视界范围内，通过光学折射拍摄位于所述摄像视界正下方的临摹过程。
  14. 根据权利要求12所述的绘画教学装置，其特征在于，还包括：将所述画笔痕迹与所述绘画参考模型进行同步显示。
  15. 根据权利要求14所述的绘画教学装置，其特征在于，还包括：
    将所述画笔痕迹与所述绘画参考模型进行图案重叠比对，并将画笔痕迹中与所述绘画参考模型不重叠的部分进行警示显示。
  16. 根据权利要求12所述的绘画教学装置，其特征在于，还包括：
    在显示所述绘画参考模型后，显示所述绘画参考模型的轮廓图形。
  17. 根据权利要求16所述的绘画教学装置，其特征在于，还包括：
    通过动画演示所述参考模型的轮廓图形。
  18. 根据权利要求16所述的绘画教学装置，其特征在于，还包括：
    将所述画笔痕迹与所述绘画参考模型的轮廓图形进行图案重叠比对，并根据重叠面积的占比对所述画笔痕迹进行评价。
  19. 根据权利要求18所述的绘画教学装置，其特征在于，还包括：
    将所述绘画参考模型轮廓图中与所述画笔痕迹不重叠部分截取出来；
    对所述不重叠部分进行警示显示。
  20. 根据权利要求19所述的绘画教学装置，其特征在于，还包括：
    通过动画演示所述不重叠部分的绘画方法。
  21. 根据权利要求19所述的绘画教学装置，其特征在于，还包括：
    记录所述绘画参考模型轮廓图中与所述画笔痕迹不重叠部分的轮廓；
    搜索包括所述不重叠部分的轮廓的绘画参考模型；
    显示该包括所述不重叠部分的轮廓的绘画参考模型。
  22. 根据权利要求12所述的绘画教学装置，其特征在于，还包括：
    记录所述影像信息和对所述画笔痕迹的评价；
    根据所述影像信息和对所述画笔痕迹的评价生成教学日志；
    向外部网络发送所述教学日志。
  23. 一种绘画教学机器人，包括：
    触敏显示器；
    一个或多个处理器；
    存储器；
    一个或多个应用程序，其中所述一个或多个应用程序被存储在所述存储器中并被配置为由所述一个或多个处理器执行，所述一个或多个程序配置用于：
    显示绘画参考模型；
    在显示绘画参考模型的同时拍摄用户临摹所述绘画参考模型的影像信息；
    提取所述影像信息中用户临摹时的画笔痕迹，并同时显示在显示装置上；
    将所述画笔痕迹与所述绘画参考模型进行比对，根据比对所述画笔痕迹与所述绘画参考模型的相似程度，对所述画笔痕迹进行评价。
  24. 根据权利要求23所述的绘画教学机器人，其特征在于，所述一个或多个程序还被配置用于：
    通过设置于机器人摄像视界范围内的光学镜片，拍摄位于所述摄像视界正下方的临摹过程。
  25. 根据权利要求23所述的绘画教学机器人，其特征在于，所述 一个或多个程序还被配置用于：
    将所述画笔痕迹与所述绘画参考模型进行同步显示。
  26. 根据权利要求25所述的绘画教学机器人，其特征在于，所述一个或多个程序还被配置用于：
    将所述画笔痕迹与所述绘画参考模型进行图案重叠比对，并将画笔痕迹中与所述绘画参考模型不重叠的部分进行警示显示。
  27. 根据权利要求23所述的绘画教学机器人，其特征在于，所述一个或多个程序还被配置用于：
    显示所述绘画参考模型后，显示所述绘画参考模型的轮廓图形。
  28. 根据权利要求27所述的绘画教学机器人，其特征在于，所述一个或多个程序还被配置用于：
    通过动画演示所述参考模型的轮廓图形。
  29. 根据权利要求27所述的绘画教学机器人，其特征在于，所述一个或多个程序还被配置用于：
    将所述画笔痕迹与所述绘画参考模型的轮廓图形进行图案重叠比对，根据重叠面积的占比对所述画笔痕迹进行评价。
  30. 根据权利要求29所述的绘画教学机器人，其特征在于，所述一个或多个程序还被配置用于：
    将所述绘画参考模型轮廓图中与所述画笔痕迹不重叠部分截取出来；
    对所述不重叠部分进行警示显示。
  31. 根据权利要求30所述的绘画教学机器人，其特征在于，所述一个或多个程序还被配置用于：
    通过动画演示所述不重叠部分的绘画方法。
  32. 根据权利要求30所述的绘画教学机器人，其特征在于，所述一个或多个程序还被配置用于：
    记录所述绘画参考模型轮廓图中与所述画笔痕迹不重叠部分的轮廓；
    搜索包括所述不重叠部分的轮廓的绘画参考模型；
    显示该包括所述不重叠部分的轮廓的绘画参考模型。
  33. 根据权利要求23所述的绘画教学机器人，其特征在于，所述一个或多个程序还被配置用于：
    记录所述影像信息和对所述画笔痕迹的评价；
    根据所述影像信息和对所述画笔痕迹的评价生成教学日志；
    向外部网络发送所述教学日志。
  34. 一种计算机程序，包括计算机可读代码，当绘画教学机器人运行所述计算机可读代码时，导致权利要求1-11中的任一项权利要求所述的方法被执行。
  35. 一种计算机可读介质，其中存储了如权利要求34所述的计算机程序。
  36. 一种机器人，所述机器人包括：
    机器人本体；
    拍摄装置，所述拍摄装置设置在所述机器人本体上；
    光学镜片，所述光学镜片设置在所述拍摄装置的拍摄视界范围内，所述光学镜片倾斜放置，将垂直于所述拍摄视界中轴线方向射入的光线折射进入所述拍摄视界范围内。
  37. 根据权利要求36所述的机器人，其特征在于，所述机器人还包括：
    承载件，所述承载件设置在所述机器人本体上，所述承载件的一端弯曲伸入所述拍摄视界范围内；
    所述承载件伸入所述拍摄视界范围内的一端设有倾斜面，所述光学镜片设置在所述倾斜面上。
  38. 根据权利要求37所述的机器人，其特征在于，所述拍摄装置设置在所述机器人本体上端，所述承载件设置在所述机器人本体的顶部；
    所述光学镜片将所述拍摄视界中轴线正下方射入的光线折射进入所述拍摄视界范围内。
  39. 根据权利要求38所述的机器人，其特征在于，所述承载件上设有与所述机器人本体顶部配合的卡槽，所述承载件通过所述卡槽230与 所述机器人本体可拆卸连接。
  40. 根据权利要求38所述的机器人，其特征在于，所述机器人本体的顶部设有第一永磁体，所述承载件上设有与所述第一永磁体配合的第二永磁体，所述第一永磁体与所述第二永磁体的连接限定所述承载件设有倾斜面的一端位于所述拍摄视界范围内。
  41. 根据权利要求39所述的机器人，其特征在于，所述机器人本体的顶部设有第一永磁体，所述卡槽内设有与所述第一永磁体配合的第二永磁体，所述第一永磁体与所述第二永磁体的连接限定所述承载件设有倾斜面的一端位于所述拍摄视界范围内。
  42. 根据权利要求36～41任意一项所述的机器人，其特征在于，所述光学镜片倾斜放置的角度为0～90°之间。
  43. 根据权利要求42所述的机器人，其特征在于，所述光学镜片倾斜放置的角度为45°。
  44. 根据权利要求36～41任意一项所述的机器人，其特征在于，所述光学镜片的面积大于所述光学镜片所在位置处拍摄视界范围的面积，限定所述拍摄装置获取的光线均为所述光学镜片折射的光线。
  45. 根据权利要求37所述的机器人，其特征在于，所述承载件的另一端构造成弧形，并贴附于所述机器人本体的表面。
  46. 根据权利要求45所述的机器人，其特征在于，所述承载件构造成弧形的一端设有第三永磁体，所述机器人本体上设有感应所述第三永磁体磁力变化的霍尔传感器。
PCT/CN2017/116675 2016-12-16 2017-12-15 一种机器人绘画教学方法、装置及其机器人 WO2018108177A1 (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201611168829.8 2016-12-16
CN201611169379.4 2016-12-16
CN201611168829.8A CN106426223B (zh) 2016-12-16 2016-12-16 一种机器人
CN201611169379.4A CN106409063A (zh) 2016-12-16 2016-12-16 一种机器人绘画教学方法、装置及其机器人

Publications (1)

Publication Number Publication Date
WO2018108177A1 true WO2018108177A1 (zh) 2018-06-21

Family

ID=62558028

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/116675 WO2018108177A1 (zh) 2016-12-16 2017-12-15 一种机器人绘画教学方法、装置及其机器人

Country Status (1)

Country Link
WO (1) WO2018108177A1 (zh)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109087553A (zh) * 2018-08-23 2018-12-25 广东智媒云图科技股份有限公司 一种临摹绘画方法
CN110532864A (zh) * 2019-07-19 2019-12-03 中科君胜(深圳)智能数据科技发展有限公司 软笔书法临摹相似性评价方法
CN111986254A (zh) * 2020-08-21 2020-11-24 四川大学华西医院 一种靶区轮廓的分析方法、装置、存储介质及电子设备
CN112425927A (zh) * 2020-11-25 2021-03-02 唐山学院 一种可调节式图书馆书籍智能清点装置
CN114822113A (zh) * 2022-02-25 2022-07-29 杭州小伴熊科技有限公司 一种用于在线教育的绘画教学系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080036969A1 (en) * 2004-09-10 2008-02-14 Hitachi, Ltd. Display System and Camera System
CN101224519A (zh) * 2008-01-31 2008-07-23 上海交通大学 基于视觉传感的弧焊机器人焊接监控系统
CN104715256A (zh) * 2015-03-04 2015-06-17 南昌大学 一种基于图像方法的书法练习辅助系统及评价方法
CN204833783U (zh) * 2015-07-24 2015-12-02 刘世斌 书法助学仪
CN106409063A (zh) * 2016-12-16 2017-02-15 北京奇虎科技有限公司 一种机器人绘画教学方法、装置及其机器人
CN106426223A (zh) * 2016-12-16 2017-02-22 北京奇虎科技有限公司 一种机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080036969A1 (en) * 2004-09-10 2008-02-14 Hitachi, Ltd. Display System and Camera System
CN101224519A (zh) * 2008-01-31 2008-07-23 上海交通大学 基于视觉传感的弧焊机器人焊接监控系统
CN104715256A (zh) * 2015-03-04 2015-06-17 南昌大学 一种基于图像方法的书法练习辅助系统及评价方法
CN204833783U (zh) * 2015-07-24 2015-12-02 刘世斌 书法助学仪
CN106409063A (zh) * 2016-12-16 2017-02-15 北京奇虎科技有限公司 一种机器人绘画教学方法、装置及其机器人
CN106426223A (zh) * 2016-12-16 2017-02-22 北京奇虎科技有限公司 一种机器人

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109087553A (zh) * 2018-08-23 2018-12-25 广东智媒云图科技股份有限公司 一种临摹绘画方法
CN110532864A (zh) * 2019-07-19 2019-12-03 中科君胜(深圳)智能数据科技发展有限公司 软笔书法临摹相似性评价方法
CN110532864B (zh) * 2019-07-19 2023-01-31 中科君胜(深圳)智能数据科技发展有限公司 软笔书法临摹相似性评价方法
CN111986254A (zh) * 2020-08-21 2020-11-24 四川大学华西医院 一种靶区轮廓的分析方法、装置、存储介质及电子设备
CN112425927A (zh) * 2020-11-25 2021-03-02 唐山学院 一种可调节式图书馆书籍智能清点装置
CN114822113A (zh) * 2022-02-25 2022-07-29 杭州小伴熊科技有限公司 一种用于在线教育的绘画教学系统

Similar Documents

Publication Publication Date Title
WO2018108177A1 (zh) 一种机器人绘画教学方法、装置及其机器人
EP3467707B1 (en) System and method for deep learning based hand gesture recognition in first person view
US9953216B2 (en) Systems and methods for performing actions in response to user gestures in captured images
US11354825B2 (en) Method, apparatus for generating special effect based on face, and electronic device
EP3258423B1 (en) Handwriting recognition method and apparatus
KR101788499B1 (ko) 이미징 디바이스에서의 사진 구도 및 포지션 안내
CN204046697U (zh) 一种图文采集识别装置
US20160291699A1 (en) Touch fee interface for augmented reality systems
CN106409063A (zh) 一种机器人绘画教学方法、装置及其机器人
JP7168694B2 (ja) ヒューマンフェースによる３ｄ特殊効果生成方法、装置および電子装置
CN109191940B (zh) 一种基于智能设备的交互方法及智能设备
CN109637286A (zh) 一种基于图像识别的口语训练方法及家教设备
US11657085B1 (en) Optical devices and apparatuses for capturing, structuring, and using interlinked multi-directional still pictures and/or multi-directional motion pictures
CN207408959U (zh) 具有文本及语音处理功能的混合现实智能眼镜
CN109191939B (zh) 一种基于智能设备的三维投影交互方法及智能设备
CN109215416A (zh) 一种基于增强现实技术的汉字辅助学习系统及方法
US10248652B1 (en) Visual writing aid tool for a mobile writing device
US11017233B2 (en) Contextual media filter search
CN109784128A (zh) 具有文本及语音处理功能的混合现实智能眼镜
CN113950822A (zh) 实体活动表面的虚拟化
EP3273331A1 (en) Display apparatus, display control method, display control program, and display system
KR102482841B1 (ko) 인공지능 미러링 놀이 가방
KR102341294B1 (ko) 인터렉티브 콘텐츠 제공 방법 및 장치
WO2023272608A1 (zh) 一种绘本辅助阅读方法和电子设备
CN201788490U (zh) 多点触摸互动益智认知系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17880396

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17880396

Country of ref document: EP

Kind code of ref document: A1