CN106409063A - Robot painting teaching method and device and robot - Google Patents
Robot painting teaching method and device and robot Download PDFInfo
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- CN106409063A CN106409063A CN201611169379.4A CN201611169379A CN106409063A CN 106409063 A CN106409063 A CN 106409063A CN 201611169379 A CN201611169379 A CN 201611169379A CN 106409063 A CN106409063 A CN 106409063A
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- 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
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- 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
- G09B5/00—Electrically-operated educational appliances
- G09B5/02—Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
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- Business, Economics & Management (AREA)
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Abstract
The embodiment of the invention discloses a robot painting teaching method. The robot painting teaching method comprises the steps of displaying a painting reference model; shooting image information of a user facsimileing the painting reference model at the time of displaying the painting reference model; extracting paintbrush traces in the image information when the user facsimiles the painting reference model, and displaying the paintbrush traces on the displaying device at the same time; comparing the paintbrush traces and the painting reference model, and determining evaluating information which corresponds to the paintbrush traces according to the similarity level between the paintbrush traces and the painting reference model. By displaying the painting reference model through a displaying screen of the robot to make the user facsimile the painting reference model, the user can learn the basic essentials of painting; in addition, by shooting the process of the user facsimileing the painting reference model, extracting the paintbrush traces when the user facsimiles the painting reference model, comparing the paintbrush traces and the painting reference model, and evaluating a facsimileing level of the user according to a comparison result, the user can grasp the painting skill.
Description
Technical field
The present embodiments relate to field of intelligent control, especially a kind of robot drawing teaching method, device and its machine
Device people.
Background technology
With the development of mobile communication, computer and Internet technology, smart machine, due to its small volume, processes energy
Power is strong, is used for user's education.
Intellectual education equipment of the prior art, is designed to the robot being easy to be easily accepted by a user, intelligence in prior art
Robot is only limitted to the education of user, has conversation with user and exchanges, and carries out culture and education by voice to child, teaches with it
Educate meaning to compare, robot of the prior art is more likely to be a kind of toy of company type.
The inventor of the invention finds under study for action, educational robot of the prior art, be in fact more likely to be
A kind of toy of company type, the drawing behavior to child lacks identification capability, the judge energy that learning behavior that child is painted lacks
Power is it is impossible to play preferable booster action to user's education.
Content of the invention
The embodiment of the present invention is mainly solving the technical problems that provide a kind of robot drawing teaching method, device and its machine
Device people.By the display screen display drawing reference model of robot, make user copy this drawing reference model, so that user learning is slapped
Hold the basic main points of drawing, and the process that user is copied this drawing reference model is shot, extract user and yes copy
Paintbrush vestige, this paintbrush vestige is compared with drawing reference model, and according to this imitation level to user of comparison result
Passed judgment on, allow users to grasp pictorial skill, solve robot of the prior art, due to lacking, child's behavior is distinguished
Knowledge ability, and to the judge ability of child's learning behavior it is impossible to user's education is played with the problem of booster action.
For solving above-mentioned technical problem, the technical scheme that the embodiment of the invention adopts is：A kind of machine is provided
Device people's drawing teaching method, comprises the steps：
Display drawing reference model；
Shoot, while display drawing reference model, the image information that user copies described drawing reference model；
Extract paintbrush vestige when user copies in described image information, and be simultaneously displayed in display device；
Described paintbrush vestige is compared with described drawing reference model, paints with described according to comparing described paintbrush vestige
Draw the similarity degree of reference model, determine corresponding to described paintbrush vestige evaluation information.
Alternatively, shoot, while the described drawing reference model in display, the image that user copies described drawing reference model
Information, including：
By being arranged at the optical mirror slip in robot shooting vision range, shoot and be located at immediately below described shooting visual field
Imitation process.
Alternatively, extract paintbrush vestige during user's imitation in described image information, including：
Described paintbrush vestige is synchronized display with described drawing reference model.
Alternatively, described paintbrush vestige is synchronized display with described drawing reference model, including：
Described paintbrush vestige is carried out pattern overlapping and compares with described drawing reference model, and by paintbrush vestige with described
The drawing nonoverlapping part of reference model carries out warning display.
Alternatively, described display drawing reference model, including：
After display described drawing reference model, the contour pattern of display described drawing reference model.
Alternatively, after display described drawing reference model, the contour pattern of display described drawing reference model, including：
Contour pattern by reference model described in flash demo.
Alternatively, described paintbrush vestige is compared with described drawing reference model, according to the described paintbrush vestige of comparison
With the similarity degree of described drawing reference model, determine corresponding to described paintbrush vestige evaluation information, including：
The contour pattern of described paintbrush vestige and described drawing reference model is carried out pattern overlapping compare, according to faying surface
Long-pending accounting is evaluated to described paintbrush vestige.
Alternatively, described paintbrush vestige is compared with described drawing reference model, according to the described paintbrush vestige of comparison
With described drawing reference model similarity degree, determine corresponding to described paintbrush vestige evaluation information step after, including：
By in described drawing reference model profile diagram, lap does not intercept out with described paintbrush vestige；
Described not lap is carried out with warning display.
Alternatively, described described not lap is carried out warn step display after, including：
Drawing method by not lap described in flash demo.
Alternatively, described robot drawing teaching method also includes：
Record the profile with described paintbrush vestige not lap in described drawing reference model profile diagram；
Search for the drawing reference model of the not profile of lap described in including；
Show this include described in the not profile of lap drawing reference model.
Alternatively, described robot drawing teaching method also includes：
Record described image information and the evaluation to described paintbrush vestige；
Evaluation according to described image information with to described paintbrush vestige generates diary for instruction；
External network sends described diary for instruction.
Also provide a kind of drawing teaching device for solving the above-mentioned technical problem embodiment of the present invention, including：
Display module, for display drawing reference model；
Taking module, for shooting, while display drawing reference model, the shadow that user copies described drawing reference model
As information；
Separating latent marks module, for extracting paintbrush vestige when user copies in described image information, and is simultaneously displayed on
In display device；
First processing module, for comparing described paintbrush vestige, and according to comparison with described drawing reference model
Described paintbrush vestige and the similarity degree of described drawing reference model, evaluate to described paintbrush vestige.
Alternatively, described drawing teaching device also includes：
Optical module, described optical module is arranged in robot shooting vision range, for making institute by light refraction
State taking module, shoot the imitation process being located at immediately below described shooting visual field.
Alternatively, described paintbrush vestige is synchronized display with described drawing reference model by described display module.
Alternatively, described drawing teaching device also includes：
Alarm module in real time, compares for described paintbrush vestige is carried out pattern overlapping with described drawing reference model, and
Warning display will be carried out with the described drawing nonoverlapping part of reference model in paintbrush vestige.
Alternatively, described drawing teaching device also includes：
Profile display module, for, after described display module shows described drawing reference model, the described drawing of display is joined
Examine the contour pattern of model.
Alternatively, described drawing teaching device also includes：
First demonstration module, for the contour pattern by reference model described in flash demo.
Alternatively, described drawing teaching device also includes：
Second processing module, for carrying out pattern weight by the contour pattern of described paintbrush vestige and described drawing reference model
Folded comparison, and according to the accounting of overlapping area, described paintbrush vestige is evaluated.
Alternatively, described drawing teaching device also includes：
Interception module, for by described drawing reference model profile diagram, lap does not intercept out with described paintbrush vestige
Come；
Warning display module, for carrying out warning display to described not lap.
Alternatively, described drawing teaching device also includes：
Second demonstration module, for the drawing method by not lap described in flash demo.
Alternatively, described drawing teaching device also includes：
First logging modle, be used for recording in described drawing reference model profile diagram with described paintbrush vestige not lap
Profile；
Search module, for searching for the drawing reference model of the not profile of lap described in inclusion；
Described display module show this include described in the not profile of lap drawing reference model.
Alternatively, described drawing teaching device also includes：
Second logging modle, for recording described image information and the evaluation to described paintbrush vestige；
Daily record generation module, generates diary for instruction for the evaluation according to described image information with to described paintbrush vestige；
Sending module, sends described diary for instruction for external network.
Also provide a kind of drawing teaching robot for solving the above-mentioned technical problem embodiment of the present invention, including：
Touch-sensitive display；
One or more processors；
Memory；
One or more application programs, wherein said one or more application programs are stored in described memory and quilt
It is configured to by one or more of computing devices, one or more of programs are configured to：
Display drawing reference model；
Shoot, while display drawing reference model, the image information that user copies described drawing reference model；
Extract paintbrush vestige when user copies in described image information, and be simultaneously displayed in display device；
Described paintbrush vestige is compared with described drawing reference model, paints with described according to comparing described paintbrush vestige
Draw the similarity degree of reference model, described paintbrush vestige is evaluated.
Alternatively, one or more of programs are additionally configured to：
By being arranged at the optical mirror slip in robot shooting vision range, shoot and be located at immediately below described shooting visual field
Imitation process.
Alternatively, state one or more programs to be additionally configured to：
Described paintbrush vestige is synchronized display with described drawing reference model.
Alternatively, one or more of programs are additionally configured to：
Described paintbrush vestige is carried out pattern overlapping and compares with described drawing reference model, and by paintbrush vestige with described
The drawing nonoverlapping part of reference model carries out warning display.
Alternatively, one or more of programs are additionally configured to：
After display described drawing reference model, the contour pattern of display described drawing reference model.
Alternatively, one or more of programs are additionally configured to：
Contour pattern by reference model described in flash demo.
Alternatively, one or more of programs are additionally configured to：
The contour pattern of described paintbrush vestige and described drawing reference model is carried out pattern overlapping compare, according to faying surface
Long-pending accounting is evaluated to described paintbrush vestige.
Alternatively, by described drawing reference model profile diagram, lap does not intercept out with described paintbrush vestige；
Described not lap is carried out with warning display.
Alternatively, one or more of programs are additionally configured to：
Drawing method by not lap described in flash demo.
Alternatively, one or more of programs are additionally configured to：
Record the profile with described paintbrush vestige not lap in described drawing reference model profile diagram；
Search for the drawing reference model of the not profile of lap described in including；
Show this include described in the not profile of lap drawing reference model.
Alternatively, one or more of programs are additionally configured to：
Record described image information and the evaluation to described paintbrush vestige；
Evaluation according to described image information with to described paintbrush vestige generates diary for instruction；
External network sends described diary for instruction.
The beneficial effect of the embodiment of the present invention is：By the display screen display drawing reference model of robot, user is made to face
Imitate this drawing reference model, make the basic main points that user's learning and mastering is painted, and user is copied this drawing reference model
Process is shot, and extracts the paintbrush vestige that user's imitation is, this paintbrush vestige is compared with drawing reference model, and root
According to comparison result, this is passed judgment on to the imitation level of user, allows users to grasp pictorial skill, solves of the prior art
Robot, due to lacking identification capability to child's behavior, and to the judge ability of child's learning behavior it is impossible to teach to user
Educate the problem playing booster action.
Brief description
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, will make to required in embodiment description below
Accompanying drawing be briefly described it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those skilled in the art, on the premise of not paying creative work, can also be obtained other attached according to these accompanying drawings
Figure.
Fig. 1 is embodiment of the present invention robot drawing teaching method basic flow sheet；
Fig. 2 has vertical shooting powerful machines people's schematic diagram for the embodiment of the present invention；
Fig. 3 shows the method flow diagram of reference model profile for the embodiment of the present invention；
Fig. 4 passes through the method flow diagram of flash demo reference model contour pattern for the embodiment of the present invention；
The method that Fig. 5 is evaluated with the profile diagram of reference model of painting by comparing paintbrush vestige for the embodiment of the present invention
Flow chart；
Fig. 6 is the flow chart that the embodiment of the present invention carries out to the mistake occurring during copying warning display；
The flow chart that Fig. 7 carries out teaching demonstration for the embodiment of the present invention to not lap；
Fig. 8 carries out teaching method flow chart repeatedly for the embodiment of the present invention to not lap；
Fig. 9 is the remote transmission flow chart of embodiment of the present invention drawing teaching method；
Figure 10 is embodiment of the present invention drawing teaching device basic structure schematic diagram；
Figure 11 is the drawing teaching apparatus structure schematic diagram in the embodiment of the present invention with display reference model profile function；
Figure 12 is the drawing teaching device knot in the embodiment of the present invention with flash demo reference model contour pattern function
Structure schematic diagram；
Figure 13 is to be evaluated with the profile diagram of reference model of painting by comparing paintbrush vestige in the embodiment of the present invention
Drawing teaching apparatus structure schematic diagram；
Figure 14 is to have mistake in the embodiment of the present invention to carry out warning the drawing teaching apparatus structure schematic diagram of display function；
Figure 15 is the drawing teaching device knot having in the embodiment of the present invention and not lap being carried out with teaching demonstration function
Structure schematic diagram；
Figure 16 is the drawing teaching device knot having in the embodiment of the present invention and not lap being carried out repeatedly with instructional function
Structure schematic diagram；
Figure 17 is the drawing teaching apparatus structure schematic diagram in the embodiment of the present invention with remote transmission function；
Figure 18 is the structured flowchart of drawing teaching robot in the embodiment of the present invention.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention.
In some flow processs of the description in description and claims of this specification and above-mentioned accompanying drawing, contain according to
Multiple operations that particular order occurs, but it should be clearly understood that these operations can not be suitable according to its appearance herein
Sequence, to execute or executed in parallel, sequence number such as 101,102 of operation etc., is only used for distinguishing each different operation, sequence number
Itself do not represent any execution sequence.In addition, these flow processs can include more or less of operation, and these operations can
To execute in order or executed in parallel.It should be noted that the description such as " first ", " second " herein, it is for distinguishing not
Message together, equipment, module etc., do not represent sequencing, also not limiting " first " and " second " is different types.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, the every other enforcement that those skilled in the art are obtained under the premise of not making creative work
Example, broadly falls into the scope of protection of the invention.
Embodiment
Refer to Fig. 1, Fig. 1 is the present embodiment robot drawing teaching method basic flow sheet.
As shown in figure 1, a kind of robot drawing teaching method, comprise the steps：
S1110, display drawing reference model.The drawing reference model that robot interior is stored with for user's reference, user
During the robot learning drawing providing in using the present embodiment, the drawing reference model selecting to copy is needed on screen.Should
Drawing reference model can be the photo shooting in kind, cartoon pattern or virtual in kind present in (being not limited to) reality is worked as
Paint etc..
S1120, display drawing reference model while shoot user copy described drawing reference model image information.
Robot shoots to the imitation process of user.When being learnt using this robot, user will copy when copying user
Apparatus is placed on the dead ahead of robot.The camera being provided with robot on camera, and robot is arranged on robot
On user oriented side, that is, the shooting visual field of robot camera is in orthogonal position with copying apparatus, therefore, if
When close robot obtains position and copied, robot camera cannot collect image when user copies to user.Due to
Camera shooting visual field is as its shooting distance and constantly extends extension, and therefore, user is away from camera certain distance
Position is copied, and camera can photograph the imitation process of user, but due to distant it is impossible to enough clearly shoot
Go out the vestige of paintbrush when user copies, the image of shooting cannot meet the requirement of subsequent treatment.
Refer to Fig. 2, Fig. 2 has vertical shooting powerful machines people's schematic diagram for the present embodiment.
As shown in Fig. 2 for solving above-mentioned technical problem additional, an optical mould has been installed in the present embodiment on robot,
Optical mould clamping is arranged in robot, and optical mould is not limited to and this with the connected mode of robot, at some selectively
In embodiment, pass through between optical mould and robot to arrange permanent magnet, be connected with each other.Optical mould object manipulator is taken the photograph
Place speculum, the inclined placement of speculum, and speculum as the side of head and be placed on robot camera shooting vision range
Interior.Because mirror tilt is placed, and obliquity object manipulator shoots the underface of visual field, therefore speculum can receive
Copy the reflection light of process from user, and by light refraction, this light is injected in the camera of robot, make machine
Device people's camera can get the image information of the imitation process of user.
The method that robot shoots imitation process is not limited to use optical mould, in the middle of some selective embodiments,
Robot extends at top carrier member, and carrier member is mutually perpendicular to towards the face copying direction with robot, selectively real at some
Apply in mode, carrier member is accommodated in robot interior when not using, use after robot interior taking-up during use.?
Camera is provided with carrier member, camera shoot visual field towards the underface of carrier member, this structure can make robot
On camera photograph user imitation image.
Paintbrush vestige when user copies in S1130, the described image information of extraction, and be simultaneously displayed in display device.
Image is copied according to the user that camera shoots by robot, extracts the paintbrush vestige of wherein imitation.Robot camera collection
Image frame in, generally comprise：The hand of user, paintbrush, painting canvas and paintbrush vestige.Robot is in the paintbrush vestige to user
During extraction, first the hand of user in image and paintbrush are removed, the concrete way removing is：Pre-stored human body in robot
The colouring information of hand and profile information, robot passes through to compare this color and profile form phase with the hand of user in filmed image
Meanwhile, robot can in the image shooting identifying user hand, and the user's hand-type that will identify that removes.Using identical
Principle, robot identifies paintbrush and removes this paintbrush in the image shooting.Select brush color and picture in the paintbrush selected
Larger paintbrush distinguished by cloth, and so far robot can obtain what user in image information was formed when copying by image processing techniques
Paintbrush vestige.
The method that robot extracts paintbrush vestige during user's imitation in image information is not limited to said extracted method, one
A bit in selective embodiment, hand and paintbrush, after imitation terminates, can be taken away from painting canvas, now only have on painting canvas by user
There is paintbrush vestige, camera shoots picture now, robot intercepts the picture that camera shoots, will by image processing techniques
Take the paintbrush separating latent marks that in image information, user is formed when copying out.
Image processing techniques refers to, robot passes through the value of chromatism existing between painting canvas and paintbrush vestige, and painting is drawn in picture
Separation and Extraction is out from painting canvas for paintbrush vestige on cloth.Image processing techniques also includes：Shoot side to being located in image information
The painting canvas of edge position is amplified processing, and because optics module is when collecting light, is oblique fire positioned at the light of painting canvas edge
Enter, lead in the image information shooting, less than actual painting canvas area positioned at the painting canvas shooting vision range edge, be
Solve this technical problem, draw the ratio of the actual change of painting canvas during shooting by multiple measurement experiment, then in the later stage
In process, the painting canvas shooting marginal position is carried out with the amplification of same ratio, so that the image information shot does not deform upon,
Likewise, when same ratio is amplified, the paintbrush vestige in shooting vision range is also carried out synchronous amplification.Amplify with ratio
After the completion of, paintbrush vestige is extracted.
Described paintbrush vestige is synchronized display with described drawing reference model.In present embodiment, for enabling users to
Enough can either be seen, when copying, the paintbrush vestige oneself copied, by paintbrush separating latent marks out after, by itself and drawing ginseng
Examine model and synchronize display.
S1140, by described paintbrush vestige with described drawing reference model compare, according to compare described paintbrush vestige with
The similarity degree of described drawing reference model, determines corresponding to described paintbrush vestige evaluation information.Paintbrush vestige is carried by robot
After taking out, this paintbrush vestige is compared with drawing reference model, the main contents of comparison are paintbrush vestige and drawing ginseng
Examine the similarity degree of model.Specifically, the drawing reference model of storage mainly has profile diagram to constitute with detail view, such as in robot
When drawing reference model is a colored balloon, the painting element constituting this colored balloon includes：Constitute this colored balloon
Profile and constitute the pattern within this colored balloon.The similarity of balloon profile is first compared, then again to its color when relatively
Carry out similarity comparison.During comparison according to compare similarity the paintbrush vestige that user copies is given a mark, marking basis with
Similarity is related, and such as similarity, when 80 percent, makes 80 scores to this imitation；When similarity is 60 percent, to this
Copy and make 60 scores.Evaluation for paintbrush vestige is not limited to and this, in some selective embodiments, right according to fraction section
The paintbrush vestige copied is given a mark, such as A, B, C and D etc., or outstanding, good and general etc..
By the display screen display drawing reference model of robot, make user copy this drawing reference model, so that user is learned
Practise the basic main points grasping drawing, and the process that user is copied this drawing reference model is shot, extract user and copy
The paintbrush vestige being, this paintbrush vestige is compared with drawing reference model, and according to this imitation to user of comparison result
Level is passed judgment on, and allows users to grasp pictorial skill, solves robot of the prior art, due to lacking to child's behavior
Identification capability, and to the judge ability of child's learning behavior it is impossible to user's education is played with the problem of booster action.
In some embodiments, paintbrush vestige is carried out pattern overlapping and compares with described drawing reference model, and by picture
Carry out warning display with the described drawing nonoverlapping part of reference model in pen touch mark.Paintbrush vestige is joined by robot with this drawing
The contour pattern examining model carries out pattern superposition, and after calculating the fraction of imitation, the mistake occurring in needing user is copied is entered
, there is mistake so that the user discover that in row warning during copying, be easy to user's understanding mistake and right a wrong.The side of implementing
Method is with the contour pattern of this drawing reference model, paintbrush vestige to be carried out pattern and is superimposed, robot is processed by graphics software
By the portion intercepts not being superimposed with drawing reference model in paintbrush vestige out, the part being intercepted out is user and copies out
Wrong place.Recognize for the convenience of the user, Error Location is carried out warning display.Warning display refers to, carries out face to Error Location
Color difference or flicker etc. can cause the display mode that user notes, in present embodiment during warning display, by the position of error
It is labeled as redness, line flicker of going forward side by side, to cause the attention of user.
Refer to Fig. 3, Fig. 3 shows the method flow diagram of reference model profile for the present embodiment.
As shown in figure 3, inclusion step：
After S1111, display described drawing reference model, the contour pattern of display described drawing reference model.User makes
When carrying out drawing contact with robot, for convenience, often only the profile of drawing reference model can be copied, with quick
Grasp the imitation skill of this drawing reference model.For making client selectively copy whole drawing reference model or drawing with reference to mould
The profile diagram of type, robot, after showing drawing reference model, shows the contour pattern of drawing reference model.Show drawing reference
The contour pattern of model refers to constitute the main framework of drawing reference model, when such as drawing reference model is a peach, constitutes
The class heart pattern of peach appearance profile is exactly the contour pattern of this drawing reference model.Show drawing with reference to mould during display first
Type, then show drawing reference model, the length of display time can be set, and the sequencing of display is initial setting, uses
Family can control display reference model and drawing reference model contour pattern by sending control instruction to robot.Control refers to
The sending method of order includes but is not limited to：Remote, phonetic order, touch screen control instruction or gesture instruction etc..
Refer to Fig. 4, Fig. 4 is the method flow diagram by flash demo reference model contour pattern.
As shown in figure 4, inclusion step：
S1112, by the contour pattern of reference model described in flash demo.Painted using the robot in the present embodiment
The user drawing exercise is generally children, is typically in, during study drawing, the state following study, that is, in study drawing, needs to accuse
Tell child's how first stroke of a Chinese character, how curve is described, the basic execution key element of the drawing such as paintbrush tendency, if in display with reference to mould
During the contour pattern of type, only show this profile diagram, then children often do not know from where starting picture, equally also not knowing should
How to be painted, and then scratched one and led to, make robot cannot play teaching function well.Ask for solving above-mentioned technology
Topic, in the present embodiment, the contour pattern of reference model is to be presented by way of flash demo, in flash demo
Can be introduced when copying the contour pattern of this reference model to user, user should be wherefrom by way of image with voice
The first stroke of a Chinese character, first draws that curve and how this curve is drawn etc..User learning is taught to copy this ginseng step by step by animation
Examine the contour pattern of model, easily make user grasp main points and the skill of drawing, improve the learning efficiency of user, and with animation
Mode is imparted knowledge to students, and user can be made to lift learning interest.The contour pattern of flash demo reference model not necessarily step,
When user can skillfully grasp the contour pattern pictorial skill of this reference model, user can be jumped by way of assigning instruction
Cross this step.
Refer to Fig. 5, Fig. 5 is the method stream evaluated with the profile diagram of reference model of painting by comparing paintbrush vestige
Cheng Tu.
As shown in figure 5, inclusion step：
S1141, the contour pattern of described paintbrush vestige and described drawing reference model is carried out pattern overlapping and compares, according to
The accounting of overlapping area is evaluated to described paintbrush vestige.After robot gets the paintbrush vestige of the imitation of user, identification
This paintbrush vestige is the imitation overall to this drawing reference model, or the profile diagram of this drawing reference model is copied,
Because the difference between drawing reference model and its profile diagram is some details figures and color, profile diagram does not typically have one
A little details figures and multicolour, robot passes through to differentiate whether there is above-mentioned details figure and color, just in the image obtaining
It is in the contour pattern copying drawing reference model or drawing reference model that user can be distinguished.
When robot identify paintbrush vestige be copy drawing reference model contour pattern after, by this paintbrush vestige with
The contour pattern of this drawing reference model carries out pattern superposition, after pattern superposition, with profile diagram as canonical reference, calculates paintbrush trace
The part not overlapped with profile diagram in mark, and calculate the ratio that misaligned part accounts for whole profile diagram, " 1- ratio " is and uses
The evaluation achievement of the imitation at family, when the ratio such as calculating is 20 percent, then the imitation achievement of this user is 80 points.Right
Evaluation in paintbrush vestige is not limited to and this, in some selective embodiments, according to fraction section to the paintbrush vestige copied
Given a mark, such as A, B, C and D etc., or outstanding, good and general etc..
Refer to Fig. 6, Fig. 6 carries out the flow chart warning display to the mistake occurring during copying.
As shown in fig. 6, inclusion step：
S1210, by described drawing reference model profile diagram in lap does not intercept out with described paintbrush vestige.Machine
Paintbrush vestige is carried out pattern with the contour pattern of this drawing reference model and is superimposed by people, and after calculating the fraction of imitation, it is right to need
The mistake that user occurs in copying is warned, and there is mistake so that the user discover that during copying, and is easy to user's understanding wrong
Miss and right a wrong.Concrete methods of realizing is with the contour pattern of this drawing reference model, paintbrush vestige to be carried out pattern and is superimposed,
Robot is processed by the portion intercepts not being superimposed with paintbrush vestige in profile diagram out by graphics software, the portion being intercepted out
Divide and be the place that user copies error.
S1220, described not lap is carried out warning display.Robot by graphics software process by profile diagram not
The portion intercepts being superimposed with paintbrush vestige out, are recognized for the convenience of the user, and Error Location is carried out warning display.Warning display be
Refer to, the display mode that colouring discrimination or flicker etc. can cause user to note is carried out to Error Location, warn in present embodiment
During display, the position mark of error is redness, line flicker of going forward side by side, to cause the attention of user.
Refer to Fig. 7, the flow chart that Fig. 7 carries out teaching demonstration to not lap.
As shown in fig. 7, comprises step：
S1230, by the drawing method of not lap described in flash demo.User occurs in that mistake during copying
By mistake, after the errors present determining user, warning display watchful to user, to cause the attention of user, traditional education for robot
In mode, for wrong rectification mode be it is indicated that mistake allow the side of making a mistake oneself find solving error method.Traditional education
Mode does not know the user of correct solution produce effects atomic for knowing mistake but, since the user knows that oneself is wrong, but does not just instruct
The true technique of painting, can only oneself grope, and if things go on like this interest making user lose correction is not even interested in continuing with study drawing.For
The drawbacks of break through in traditional education, in present embodiment, the drawing position of user error is demonstrated with animation, helps user
Learn correct drawing method.Concrete grammar is：Determined by image and process the original position that software determines not lap, and
Clip two corresponding with this original position frame picture in flash demo, the animation between two frame pictures is intercepted out
Come, be the flash demo method of this not lap, robot plays this intercepting animation out, demonstrates this not to user
The drawing method of lap.
Refer to Fig. 8, Fig. 8 carries out teaching method flow chart repeatedly to not lap.
As shown in figure 8, inclusion step：
S1310, record the profile with described paintbrush vestige not lap in described drawing reference model profile diagram.By picture
Pen touch mark carries out pattern with the contour pattern of this drawing reference model and is superimposed, and robot is processed in profile diagram by graphics software
Out, by this intercepting, profile diagram out is stored the portion intercepts not being superimposed with paintbrush vestige for robot.
S1320, search include described in not lap profile drawing reference model.The drawing reference of robot memory's storage
Model, constitutes drawing reference model database, and database includes the profile diagram of this drawing reference model, each profile diagram
It is the combination having multiple line segments, such as drawing reference model is letter b, then the line segment constituting this drawing reference model is combined as vertically
Straightway and two semicircular arcs are constituted, and in identical database split the profile diagram of complicated drawing reference model
For multiple line segments, and the line segment constituting drawing reference model is recorded.The line of not lap profile is first determined during search
Segment type, then in database, search includes other reference models of painting of this line segment type.
S1330, show this include described in not lap profile drawing reference model.For making user grasp wrong paintbrush
The correct technique of painting of vestige, the line segment that this mistake is painted represented by vestige carries out exercise repeatedly, to grasp the correct technique of painting.Cause
Drawing reference model with not lap profile similarity is shown by this, if lap profile is not semicircle line segment
When, display includes the drawing reference model with semicircle line segment.
Refer to Fig. 9, Fig. 9 is the remote transmission flow chart of drawing teaching method.
As shown in figure 9, inclusion step：
S1410, record described image information and the evaluation to described paintbrush vestige.The direct use of robot drawing education
User is children, needs, drawing image when user is copied and the robot collected for convenience of the head of a family, teacher or big data
The evaluation of the paintbrush vestige made is recorded, and wherein evaluates and includes：The score that user copies and user paint when copying and malfunction
The user behavior such as position.
S1420, the evaluation according to described image information with to described paintbrush vestige generate diary for instruction.Drawing by record
The evaluation of the paintbrush vestige that image and robot make generates diary for instruction, diary for instruction include video daily record, picture and text daily record with
Word daily record, picture editor when video daily record refers to that the whole video copying user is evaluated is a whole video.Picture and text
Time when during daily record copying user, drawing reference model, paintbrush vestige and evaluation, compile writing text.
S1430, external network send described diary for instruction.The diary for instruction of generation is sent out by robot by external network
Deliver in the external equipment specifying reception, external equipment refers to (being not limited to)：Mobile terminal server etc. can be by outside
Network Capture and the equipment storing this daily record.Robot can send religion by the external network such as 3G, 4G, 5G or WiFi to user
Learn daily record, when diary for instruction is sent to mobile phone users, first set up with mobile terminal and contact, obtain the net that mobile terminal is located
Network environment, then sends video daily record, picture and text daily record or word daily record in true directional user, if user is under 4G wireless environment,
Then it is sent to picture and text daily record, under 3G environment, is then sent to word daily record, be then sent to video day under WiFi environment
Will, reads flow during daily record to save user.
The present embodiment also provides a kind of drawing teaching device.
Refer to Figure 10, Figure 10 is the present embodiment drawing teaching device basic structure schematic diagram.
As shown in Figure 10, a kind of drawing teaching device, including：Display module 2110, taking module 2120, separating latent marks mould
Block 2130 and first processing module 2140.Wherein display module 2110 is used for display drawing reference model；Taking module 2120 is used
In the image information shooting user's imitation drawing reference model；Separating latent marks module 2130 is used for extracting user in image information faces
Paintbrush vestige when imitating；First processing module 2140 be used for by paintbrush vestige with paint reference model compare, and according to than
Similarity degree to paintbrush vestige and drawing reference model, evaluates to paintbrush vestige.
Drawing teaching device storage inside has the drawing reference model for user's reference, and user is carried in using the present embodiment
For drawing teaching device study drawing when, need by display module 2110 show drawing reference model.This drawing is with reference to mould
Type can be the photo shooting in kind present in (being not limited to) reality is worked as, cartoon pattern in kind or virtual paint
Deng.
Taking module 2120 clamping is arranged on drawing teaching device, the connection of taking module 2120 and drawing teaching device
Mode is not limited to and this, in some selective embodiments, passes through setting forever between taking module 2120 and drawing teaching device
Magnet, is connected with each other.Taking module 2120 places optical module, optical mode towards the side of drawing teaching device camera
Block is specially speculum, the inclined placement of speculum, and speculum is placed on drawing teaching device camera and shoots vision range
Interior.Because mirror tilt is placed, and obliquity shoots the underface of visual field towards drawing teaching device, therefore speculum can
Receive the reflection light copying process from user, and this light is injected into by taking the photograph of drawing teaching device by light refraction
As, in head, enabling drawing teaching device camera to get the image information of the imitation process of user.
In the image frame of drawing teaching device camera collection, generally comprise：The hand of user, paintbrush, painting canvas and picture
Pen touch mark.Separating latent marks module 2130 in the paintbrush separating latent marks to user, first by the hand of user in image and paintbrush
Remove, the concrete way removing is：The colouring information of pre-stored human body hand and profile information in drawing teaching device, vestige carries
Delivery block 2130 passes through to compare this color and profile with filmed image during the homomorphosis of the hand of user, separating latent marks module
2130 can in the image shooting identifying user hand, and the user's hand-type that will identify that removes.Using identical principle, paint
Draw instructional device to identify paintbrush and remove this paintbrush in the image shooting.Select brush color and painting canvas in the paintbrush selected
Distinguish larger paintbrush, shape when so far drawing teaching device can obtain user's imitation in image information by image processing techniques
The paintbrush vestige becoming.
Separating latent marks module 2130 by paintbrush separating latent marks out after, first processing module 2140 by this paintbrush vestige with paint
Draw reference model to compare, the main contents of comparison are the similarity degree of paintbrush vestige and drawing reference model.Specifically, painting
The drawing reference model drawing storage in instructional device mainly has profile diagram to constitute with detail view, and such as drawing reference model is a coloured silk
During the balloon of color, the painting element constituting this colored balloon includes：Constitute the profile of this colored balloon and constitute this colored gas
Pattern within ball.First compare the similarity of balloon profile when first processing module 2140 compares, then again its color is carried out
Similarity compares.During comparison according to compare similarity the paintbrush vestige that user copies is given a mark, marking basis to similar
Degree is related, and such as similarity, when 80 percent, makes 80 scores to this imitation；When similarity is 60 percent, to this imitation
Make 60 scores.Evaluation for paintbrush vestige is not limited to and this, in some selective embodiments, according to fraction section to imitation
Paintbrush vestige given a mark, such as A, B, C and D etc., or outstanding, good and general etc..
Described paintbrush vestige is synchronized display with described drawing reference model.In present embodiment, for enabling users to
Enough can either be seen, when copying, the paintbrush vestige oneself copied, by paintbrush separating latent marks out after, by itself and drawing ginseng
Examine model and synchronize display.
In some embodiments, drawing teaching device also includes：Alarm module (not shown) in real time.For by paintbrush trace
Mark carries out pattern overlapping with described drawing reference model and compares, and will be nonoverlapping with described drawing reference model in paintbrush vestige
Part carries out warning display.The contour pattern of paintbrush vestige and this drawing reference model is carried out pattern and folds by real-time alarm module
Plus, after calculating the fraction of imitation, the mistake occurring in needing user is copied warns, and is copying so that the user discover that
There is mistake in journey, be easy to user's understanding mistake and right a wrong.Concrete methods of realizing is, by paintbrush vestige and this drawing reference
The contour pattern of model carries out pattern superposition, and real-time alarm module is processed and will not joined with drawing in paintbrush vestige by graphics software
Examine the portion intercepts of model superposition out, the part being intercepted out is the place that user copies error.Distinguish for the convenience of the user
Know, Error Location is carried out warning display by real-time alarm module.Warning display refers to, carries out colouring discrimination or sudden strain of a muscle to Error Location
The display mode that user can be caused to note such as bright, in present embodiment during warning display, the position mark of error is redness,
Go forward side by side line flicker, to cause the attention of user.
Refer to Figure 11, Figure 11 is the drawing teaching apparatus structure in the present embodiment with display reference model profile function
Schematic diagram.
As shown in figure 11, drawing teaching device also includes：Profile display module 2210.Profile display module 2210 is used for
After display module 2110 display drawing reference model, the contour pattern of display drawing reference model.
Family using drawing teaching device carry out drawing contact when, for convenience, often only can to drawing reference model
Profile copied, with the quick imitation skill grasping this drawing reference model.For making the selectable imitation of client entirely paint
Draw reference model or the profile diagram of drawing reference model, after showing drawing reference model, profile shows display module 2110
The contour pattern of module 2210 display drawing reference model.Show that the contour pattern of drawing reference model refers to constitute drawing with reference to mould
The main framework of type, when such as drawing reference model is a peach, the class heart pattern constituting peach appearance profile is exactly that this is painted
Draw the contour pattern of reference model.Show drawing reference model first during display, then show drawing reference model, the display time
Length can be set, and the sequencing of display is initial setting, and user can be controlled by sending to drawing teaching device
Instruction, controls display reference model and drawing reference model contour pattern.The sending method of control instruction includes but is not limited to：Far
Journey remote control, phonetic order, touch screen control instruction or gesture instruction etc..
Refer to Figure 12, Figure 12 is the drawing teaching in the present embodiment with flash demo reference model contour pattern function
Apparatus structure schematic diagram.
As shown in figure 12, drawing teaching device also includes：First demonstration module 2310, the first demonstration module 2310 is used for leading to
Cross the contour pattern of flash demo reference model.
It is generally children using the user that the drawing teaching device in the present embodiment carries out painting practice, one during study drawing
As be in the state following study, that is, in study drawing, need to tell child the how first stroke of a Chinese character, how curve is described, and draws
The basic execution key element of the drawing such as tendency, if when showing the contour pattern of reference model, only show this profile diagram, then
Child does not often know from where starting picture, does not equally know how to be painted yet, so scratch one lead to, make drawing
Instructional device cannot play teaching function well.For solving above-mentioned technical problem, in the present embodiment, the wheel of reference model
Wide figure is by the first demonstration module 2310, is presented in the way of flash demo, can pass through image in flash demo
With the mode of voice, to user introduce copy this reference model contour pattern when, user should the wherefrom first stroke of a Chinese character, first draw that
Article one, how curve and this curve are drawn etc..User learning is taught to copy the profile of this reference model step by step by animation
Figure, easily makes user grasp main points and the skill of drawing, improves the learning efficiency of user, and taught in animated way
Learn, user can be made to lift learning interest.The contour pattern of flash demo reference model not necessarily step, can be ripe in user
When the contour pattern pictorial skill of this reference model grasped by white silk, user can not review animation by way of assigning instruction
Demonstration.
Refer to Figure 13, Figure 13 is to carry out with the profile diagram of drawing reference model by comparing paintbrush vestige in the present embodiment
The drawing teaching apparatus structure schematic diagram evaluated.
As shown in figure 13, drawing teaching device also includes：Second processing module 2410.Second processing module 2410 is used for will
Paintbrush vestige carries out pattern overlapping and compares with the contour pattern of drawing reference model, and according to the accounting of overlapping area to paintbrush trace
Mark is evaluated.
This paintbrush vestige is carried out pattern with the contour pattern of this drawing reference model and is superimposed by Second processing module 2410, figure
After sample superposition, with profile diagram as canonical reference, calculate the part not overlapped with profile diagram in paintbrush vestige, and calculate misaligned
Part accounts for the ratio of whole profile diagram, and " 1- ratio " is the evaluation achievement of the imitation of user, and the ratio such as calculating is percentage
20 when, then the imitation achievement of this user be 80 points.Evaluation for paintbrush vestige is not limited to and this, at some selectively
In embodiment, Second processing module 2410 is given a mark to the paintbrush vestige copied according to fraction section, such as A, B, C and D etc., or
Person is outstanding, good and general etc..
Refer to Figure 14, Figure 14 is to have mistake in the present embodiment to carry out warning the drawing teaching apparatus structure of display function
Schematic diagram.
As shown in figure 14, drawing teaching device also includes：Interception module 2510 and warning display module 2520.Wherein, cut
For in reference model profile diagram of painting, lap does not intercept out delivery block 2510 with paintbrush vestige；Warning display module
2520 are used for not lap is carried out with warning display.
Paintbrush vestige is carried out pattern with the contour pattern of this drawing reference model and is superimposed by Second processing module 2410, calculates
After going out the fraction of imitation, the mistake occurring in needing user is copied warns, and deposits during copying so that the user discover that
In mistake, it is easy to user's understanding mistake and rights a wrong.Concrete methods of realizing is, by paintbrush vestige and this drawing reference model
Contour pattern carries out pattern superposition, and interception module 2510 is processed and will be superimposed with paintbrush vestige in profile diagram by graphics software
Out, the part being intercepted out is the place that user copies error to portion intercepts.
Interception module 2510 processes by the portion intercepts not being superimposed with paintbrush vestige in profile diagram out by graphics software,
Recognize for the convenience of the user, Error Location is carried out warning display by warning display module 2520.Warning display refers to, to Error Location
Carry out the display mode that colouring discrimination or flicker etc. can cause user to note, in present embodiment during warning display, will malfunction
Position mark be redness, line flicker of going forward side by side, to cause the attention of user.
Refer to Figure 15, Figure 15 is to have, in the present embodiment, the drawing teaching that not lap is carried out with teaching demonstration function
Apparatus structure schematic diagram.
As shown in figure 15, drawing teaching device also includes：Second demonstration module 2610.Second demonstration module 2610 is used for leading to
Cross the drawing method of flash demo not lap.
The drawing position of user error is demonstrated by the second demonstration module 2610 with animation, helps user learning correct
Drawing method.Concrete grammar is：Determined by image and process the original position that software determines not lap, and in flash demo
In clip two corresponding with this original position frame picture, the animation between two frame pictures is intercepted out, as should
The not flash demo method of lap, the second demonstration module 2610 plays this intercepting animation out, that is, should to user's demonstration
The not drawing method of lap.
Refer to Figure 16, Figure 16 is to have, in the present embodiment, the drawing teaching that not lap is carried out repeatedly with instructional function
Apparatus structure schematic diagram.
As shown in figure 16, drawing teaching device also includes：First logging modle 2710 and search module 2720.Wherein,
One logging modle 2710 is used for the profile in record drawing reference model profile diagram with paintbrush vestige not lap；Search module
2720 are used for the drawing reference model that search includes the not profile of lap；Display module 2110 shows that this includes not overlapping portion
The drawing reference model of the profile dividing.
Paintbrush vestige is carried out pattern with the contour pattern of this drawing reference model and is superimposed by Second processing module 2410, intercepts
Module 2510 processes by the portion intercepts not being superimposed with paintbrush vestige in profile diagram out by graphics software, the first logging modle
By this intercepting, profile diagram out is stored 2710 drawing teaching devices.
The drawing reference model of drawing teaching device memory storage, constitutes drawing reference model database, and database includes
The profile diagram of this drawing reference model, each profile diagram is the combination having multiple line segments, and such as drawing reference model is letter
B, then the line segment constituting this drawing reference model is combined as vertical straight line section and two semicircular arcs compositions, identical number
According in storehouse, the profile diagram of complicated drawing reference model is split as multiple line segments, and the line segment constituting drawing reference model is entered
Row record.The line segment type of not lap profile is first determined, then search bag in database during search module 2720 search
Include other reference models of painting of this line segment type.
For making user grasp the correct technique of painting of wrong paintbrush vestige, the line segment that this mistake is painted represented by vestige is carried out instead
Multiple exercise, to grasp the correct technique of painting.Therefore display module 2110 by with the drawing of not lap profile similarity with reference to mould
Type shows, if when lap profile is not semicircle line segment, display includes the drawing reference mould with semicircle line segment
Type.
Refer to Figure 17, Figure 17 is the drawing teaching apparatus structure schematic diagram in the present embodiment with remote transmission function.
As shown in figure 17, drawing teaching device also includes：Second logging modle 2810, daily record generation module 2820 and transmission
Module 2830.Wherein, the second logging modle 2810 is used for recording image information and the evaluation to paintbrush vestige；Daily record generation module
2820 evaluations being used for according to image information with to paintbrush vestige generate diary for instruction；Sending module 2830 is used for external network
Send diary for instruction.
The user that directly uses of drawing teaching device drawing education is children, receives for convenience of the head of a family, teacher or big data
The needs of collection, the paintbrush vestige that drawing image when user is copied by the second logging modle 2810 is made with drawing teaching device
Evaluation is recorded, and wherein evaluates and includes：The user behavior such as position of drawing error when score of user's imitation and user copy.
The evaluation life of the paintbrush vestige that the drawing recording image is made by daily record generation module 2820 with drawing teaching device
Become diary for instruction, diary for instruction includes video daily record, picture and text daily record and word daily record, video daily record refer to by user copy whole
Picture editor when individual video is evaluated is a whole video.Time when during picture and text daily record copying user, drawing are with reference to mould
Type, paintbrush vestige and evaluation, compile writing text.
The diary for instruction of generation is sent in the external equipment specifying reception by sending module 2830 by external network, outward
Portion's equipment refers to (being not limited to)：Mobile terminal server etc. can obtain and store the equipment of this daily record by external network.
Sending module 2830 can send diary for instruction by the external network such as 3G, 4G, 5G or WiFi to user, to mobile phone users
When sending diary for instruction, first set up with mobile terminal and contact, obtain the network environment that mobile terminal is located, then determination to
Family sends video daily record, picture and text daily record or word daily record, and such as user under 4G wireless environment, is then sent to picture and text daily record,
Under 3G environment, then it is sent to word daily record, is then sent to video daily record under WiFi environment, read daily record to save user
When flow.
The present embodiment provides also a kind of embodiment of drawing teaching robot.Specifically refer to Figure 18, Figure 18 is drawing
The structured flowchart of teaching robot.
Refer to Figure 18, drawing teaching robot includes：One or more processors 3110 and memory 3120；One or
Multiple application programs, wherein one or more application programs are stored in memory and are configured to by one or more process
Device executes, and one or more programs are configured to：
Display drawing reference model；
Shoot, while display drawing reference model, the image information that user copies described drawing reference model；
Extract paintbrush vestige when user copies in described image information, and be simultaneously displayed in display device；
Described paintbrush vestige is compared with described drawing reference model, paints with described according to comparing described paintbrush vestige
Draw the similarity degree of reference model, described paintbrush vestige is evaluated.
It is to be noted that in this enforcement row, the memory memory storage of drawing teaching robot is used for realizing in the present embodiment
All programs of robot drawing teaching method, processor can call the program in this memory, execute above-mentioned robot and paint
The institute drawn cited by teaching method is functional.Because the function robot in the present embodiment that drawing teaching robot realizes is painted
Draw teaching method to have been described in detail, here is no longer repeated.
It should be noted that giving the preferred embodiment of the present invention in the specification of the present invention and its accompanying drawing, but,
The present invention can realize the embodiment however it is not limited to described by this specification by many different forms, these embodiments
Not as the extra restriction to present invention, the purpose providing these embodiments is to make the understanding to the disclosure
More thoroughly comprehensive.And, above-mentioned each technical characteristic continues to be mutually combined, form the various embodiments not being enumerated above, all
It is considered as the scope of description of the invention record；Further, for those of ordinary skills, can be according to the above description
Improved or converted, and all these modifications and variations all should be belonged to the protection domain of claims of the present invention.
Claims (10)
1. a kind of robot drawing teaching method is it is characterised in that comprise the steps：
Show drawing reference model on the display apparatus；
Shoot, while display drawing reference model, the image information that user copies described drawing reference model；
Extract paintbrush vestige when user copies in described image information, and be simultaneously displayed in display device；
Described paintbrush vestige is compared with described drawing reference model, joins with described drawing according to comparing described paintbrush vestige
Examine the similarity degree of model, determine corresponding to described paintbrush vestige evaluation information.
2. robot according to claim 1 drawing teaching method is it is characterised in that described showing drawing reference model
While shoot user copy described drawing reference model image information, including：
By being arranged at the optical mirror slip in robot shooting vision range, shoot the imitation being located at immediately below described shooting visual field
Process.
3. robot according to claim 1 drawing teaching method is it is characterised in that extract user in described image information
Paintbrush vestige during imitation, and be simultaneously displayed in display device, including：
Described paintbrush vestige is synchronized display with described drawing reference model.
4. robot according to claim 2 drawing teaching method it is characterised in that paint described paintbrush vestige with described
Draw reference model and synchronize display, including：
Described paintbrush vestige is carried out pattern overlapping and compares with described drawing reference model, and by paintbrush vestige with described drawing
The nonoverlapping part of reference model carries out warning display.
5. robot according to claim 1 drawing teaching method it is characterised in that described display drawing reference model,
Including：
After display described drawing reference model, the contour pattern of display described drawing reference model.
6. robot according to claim 5 drawing teaching method is it is characterised in that show described drawing reference model
Afterwards, the contour pattern of display described drawing reference model, including：
Contour pattern by reference model described in flash demo.
7. robot according to claim 5 drawing teaching method it is characterised in that described by described paintbrush vestige and institute
State drawing reference model to compare, according to the similarity degree comparing described paintbrush vestige and described drawing reference model, determine
Corresponding to described paintbrush vestige evaluation information, including：
The contour pattern of described paintbrush vestige and described drawing reference model is carried out pattern overlapping compare, according to overlapping area
Accounting is evaluated to described paintbrush vestige.
8. robot according to claim 7 drawing teaching method it is characterised in that paint described paintbrush vestige with described
Draw reference model to compare, according to the similarity degree comparing described paintbrush vestige and described drawing reference model, determine and correspond to
After described paintbrush vestige evaluation information step, including：
By in described drawing reference model profile diagram, lap does not intercept out with described paintbrush vestige；
Described not lap is carried out with warning display.
9. a kind of drawing teaching device is it is characterised in that include：
Display module, for display drawing reference model；
Taking module, for shooting, while display drawing reference model, the image letter that user copies described drawing reference model
Breath；
Separating latent marks module, for extracting paintbrush vestige when user copies in described image information, and is simultaneously displayed on display
On device；
First processing module, for comparing described paintbrush vestige, and according to compare with described drawing reference model
Paintbrush vestige and the similarity degree of described drawing reference model, evaluate to described paintbrush vestige.
10. a kind of drawing teaching robot is it is characterised in that include：
Touch-sensitive display；
One or more processors；
Memory；
One or more application programs, wherein said one or more application programs are stored in described memory and are configured
It is by one or more of computing devices, one or more of programs are configured to：
Display drawing reference model；
Shoot, while display drawing reference model, the image information that user copies described drawing reference model；
Extract paintbrush vestige when user copies in described image information, and be simultaneously displayed in display device；
Described paintbrush vestige is compared with described drawing reference model, joins with described drawing according to comparing described paintbrush vestige
Examine the similarity degree of model, described paintbrush vestige is evaluated.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611169379.4A CN106409063A (en) | 2016-12-16 | 2016-12-16 | Robot painting teaching method and device and robot |
| PCT/CN2017/116675 WO2018108177A1 (en) | 2016-12-16 | 2017-12-15 | Method for teaching painting using robot, device and robot therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611169379.4A CN106409063A (en) | 2016-12-16 | 2016-12-16 | Robot painting teaching method and device and robot |
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| CN106409063A true CN106409063A (en) | 2017-02-15 |
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| CN201611169379.4A Pending CN106409063A (en) | 2016-12-16 | 2016-12-16 | Robot painting teaching method and device and robot |
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Application publication date: 20170215 |