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CN-121979467-A - Desktop robot expression display method and system for round double screens

CN121979467ACN 121979467 ACN121979467 ACN 121979467ACN-121979467-A

Abstract

The invention discloses a desktop robot expression display method and system for round double screens, and belongs to the technical field of intelligent interaction equipment display. The system adopts a main control unit, a round double-screen module, a storage module and a double-screen driving module integrating a double-screen buffer unit to construct a hardware architecture, and the method comprises an expression file adaptation processing step, a standardized storage step, a binocular double-mode control step and a double-screen collaborative display step. The adaptation processing solves the problem of incomplete display through format conversion, resolution scaling and pixel clipping based on circular physical contours, a double-screen buffer mechanism adopts a ping-pong buffer strategy of background drawing frames and foreground display to eliminate picture tearing, a symmetrical mode in the double-mode control mechanism realizes single-side resource multiplexing through a horizontal overturning algorithm, and an independent mode supports binocular differential expression display. The invention obviously improves the integrity, fluency and adaptation efficiency of the circular double-screen expression display, and is suitable for desktop accompanying robots and other intelligent interaction devices.

Inventors

  • SUN QI
  • CHI CHE
  • FANG TAO

Assignees

  • 杭州星梦岛科技有限公司

Dates

Publication Date
20260505
Application Date
20260306

Claims (8)

  1. 1. The desktop robot expression display method for the circular double screens is characterized by comprising the following steps of: s1, performing expression file adaptation processing, specifically: S1.1, acquiring an original GIF expression file, detecting whether the file format is a GIF89a version, and if not, converting the file format into the GIF89a version; s1.2, scaling the resolution of the GIF file to be consistent with the resolution of the circular double screen, wherein the resolution scaling adopts a bilinear interpolation algorithm; S1.3, circular clipping is carried out based on the physical outline of a circular double screen, an effective pixel area in a circular range is reserved, four corners redundant pixels are clipped, the radius of the circular outline is r pixels, the circle center coordinates are (120 ), clipping logic is that for pixel points (x 0 ,y 0 ), if (x-x 0 )²+(y-y 0 ) 2 is less than or equal to r2, the pixels are reserved, otherwise clipping is carried out; S1.4, performing double-screen buffer pretreatment on the cut frame data, and adopting a background drawing frame and foreground display mechanism; s2, storing expression files, wherein the expression files are specifically: S2.1, naming the adapted GIF file according to a standardized naming rule, wherein the naming format comprises emotion type, display mode identification, eye identification, play duration and speed coefficient; s2.2, classifying and storing the named files to corresponding hierarchical directories of the SD card according to emotion types; s3, controlling the binocular expression in a double-mode, wherein the method specifically comprises the following steps: s3.1, the main control unit receives an upper computer instruction, and judges whether a symmetrical display mode or an independent display mode is adopted according to an instruction identifier or a file name identifier; s3.2, if the display mode is a symmetrical display mode, reading a single-side right-eye GIF file from the SD card, and running a horizontal turning algorithm to generate left-eye frame data, wherein the formula of the horizontal turning algorithm is x_left=240-x_right, and y_left=y_right; S3.3, if the display mode is the independent display mode, respectively reading a right-eye forward GIF file and a left-eye reverse GIF file from the SD card, and respectively transmitting frame data of the double-sided files to double-sided independent interfaces of the double-screen driving module; and S4, synchronously outputting frame data to the left and right circular double screens by the double-screen driving module to realize expression display.
  2. 2. The method for displaying the expression of the desktop robot for the circular dual-screen as claimed in claim 1, wherein the method further comprises a storage optimization strategy in step S2.2, wherein expression files with higher use frequency are stored in a high-speed sector of the SD card, the use state of the files is detected regularly, and the expression files which reach a set threshold value when not in use are cleaned automatically.
  3. 3. The method for displaying the expression of the desktop robot for the circular dual-screen according to claim 1, wherein in the step S3.2, the right-eye GIF file is read from the SD card in the symmetrical display mode, and the left-eye frame data is generated in real time by a horizontal flip algorithm.
  4. 4. The method for displaying the expression of the desktop robot for the circular dual-screen as claimed in claim 1, wherein in the step S3.3, the double-sided GIF file in the independent display mode is set with different playing time length and speed coefficient, so as to realize differential expression display.
  5. 5. A desktop robotic expression display system for a circular dual screen, comprising: The main control unit adopts an ESP32P4 chip or an ESP32 and STM32 series single-chip microcomputer compatible, and is used for analyzing an upper computer instruction, calling an expression file in an SD card, running a horizontal overturning algorithm and controlling a double-screen drive; the round double-screen module comprises two LCD screens which respectively correspond to left and right eyes of the robot; the SD card storage module is connected with the main control unit through a communication protocol and used for storing the adapted GIF expression file and supporting the reading and writing of the high-speed sector; LVGL +SPI double-screen driving module, integrated double-screen buffer unit, connected with main control unit by communication protocol, communication rate is 10MHz, used for GIF decoding, frame data buffer and double-screen synchronous output; the power supply module provides power supply support for all the modules; the SD card storage module adopts a hierarchical storage structure and comprises a root level expression storage area, a first level sub-level classified according to emotion types and a second level sub-level containing a symmetrical mode special file and an independent mode special file.
  6. 6. The desktop robot expression display system for round double-screen according to claim 5, wherein the double-screen buffer unit of the LVGL +spi double-screen driving module adopts a double-buffer mechanism for background drawing and foreground display, so as to avoid frame tearing caused by asynchronous frame data transmission and display.
  7. 7. The desktop robot expression display system for the circular dual-screen according to claim 5, wherein the main control unit is connected with the SD card storage module and the dual-screen driving module through an SPI communication protocol to form a data stream transmission link.
  8. 8. The desktop robot expression display system for a circular dual-screen according to claim 5, wherein the dual-screen driving module feeds back playing state information including playing start, playing end and abnormal information to the main control unit in real time to form a control closed loop.

Description

Desktop robot expression display method and system for round double screens Technical Field The invention relates to the technical field of intelligent interaction equipment display, in particular to a desktop robot expression display method and system aiming at round double screens. Background Along with the rapid development of artificial intelligence technology, a desktop accompanying robot gradually walks into families and office scenes and becomes an important component of intelligent interaction equipment. In order to improve affinity and emotion expression capacity of man-machine interaction, a desktop accompanying robot generally adopts a double-screen display scheme to simulate human eyes, and emotion interaction is realized through expression change. The circular double screen is gradually becoming a core expression display carrier of the equipment due to visual affinity and personification characteristics. At present, the expression display technology of the desktop accompanying robot is mainly realized based on a GIF animation format, and is played through a prefabricated expression animation file in combination with interactive scenes such as voice, touch and the like. However, the following technical drawbacks exist in the practical application of the circular double-screen expression display in the prior art: First, the existing scheme generally directly adopts a general GIF format as expression resource, and is not specially adapted to the physical characteristics of the circular double screen. Because general GIF file is square resolution design generally, and the visual area of circular LCD screen is circular profile, during actual display, the four corners area of square picture can be sheltered from by circular screen, leads to expression to show incompletely, influences visual effect. Meanwhile, the resolution of the existing GIF file is often not matched with the 240×240 resolution of the circular double screen, and the problem of incomplete display is further aggravated due to lack of targeted scaling and clipping processing. Second, the prior art lacks a buffering mechanism for dual screen displays. Under high frame rate scenes such as fast blinking, continuous expression switching and the like, the phenomenon of picture tearing easily occurs due to the fact that the transmission and the display of frame data are asynchronous, the phenomenon is shown as discontinuous or misplacement of upper and lower partial images, and the smoothness and the user experience of expression display are seriously affected. Third, the binocular expression control method has limitations. The existing scheme only supports the display of the identical expressions by two eyes, lacks the differential expression capability, cannot meet the requirements of complex interaction scenes (such as smiling one eye and blinking the other eye when the naught expression is needed), or requires a designer to manually manufacture GIF files with independent left and right eyes, and has the advantages of complex development flow, high resource manufacturing cost, large maintenance workload and low adaptation efficiency. Fourth, there are technical problems in managing and loading expression files. The prior art lacks unified file naming standards and classified storage strategies, and format versions of expression files are not uniform (partially GIF87a version and partially GIF89a version), so that the compatibility of equipment is poor during reading and decoding, and analysis errors are easy to occur. Meanwhile, expression files are stored unordered in a storage medium, and optimization management aiming at the use frequency is lacking, so that file loading delay is high, accurate synchronization with the duration of interaction scenes such as voice reply and touch response cannot be achieved, and the continuity of overall interaction experience is affected. Disclosure of Invention The technical defects restrict the application effect of the circular double-screen expression display scheme in the desktop accompanying robot, and a technical scheme capable of solving the problems of incomplete display, tearing of pictures, low adaptation efficiency, high loading delay and the like is needed to improve the fluency, the completeness and the adaptation flexibility of the circular double-screen expression display. Therefore, the desktop robot expression display method for the circular double screen comprises the following steps: s1, performing expression file adaptation processing, specifically: S1.1, acquiring an original GIF expression file, detecting whether the file format is a GIF89a version, and if not, converting the file format into the GIF89a version; S1.2, scaling the GIF file resolution to 240 multiplied by 240 pixels, and conforming to the circular double-screen resolution; S1.3, circular clipping is carried out based on the physical outline of a circular double screen, an effective pixel area in a circular range i