A method and device for processing emotional information

Abstract

The embodiment of the present application discloses a method and device for processing emotional information, a computer device, and a readable storage medium, which are conducive to showing the emotion dissipation process of a robot and improving the robot's anthropomorphism. The method provided by the embodiment of the present application includes: in response to the robot detecting a first emotional triggering event, determining first emotional information according to the first emotional triggering event; generating first control information according to the first emotional information, the first control information is used to instruct the robot to sequentially perform a first behavior and a second behavior for expressing an emotion, wherein the first behavior is used to express the emotion indicated by the first emotional information, and the second behavior is used to express an emotion that is milder than the emotion indicated by the first emotional information.

Description

Technical Field

[0001] The present application relates to the field of information processing, and in particular to a method and device for processing emotional information. Background Art

[0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated by artificial intelligence technology. Its task is to assist or replace human work, such as work in the manufacturing industry, construction industry, and other fields. With the development of science and technology, the research field of robots has gradually expanded from the industrial field to the fields of medicine, health care, entertainment, and education. Robots not only have the ability to complete designated tasks, but also have the ability to interact with people. In order to obtain a better interactive experience, it is necessary to make the interaction between robots and people more humanized.

[0003] External or internal stimuli usually cause changes in people's emotions. People usually express different emotions through different behaviors (such as different facial expressions, sounds or movements, etc.). Since people usually have common ways of expressing emotions, in the process of communication between people, it is helpful to determine the other person's emotions by observing the other person's behavior. For example, when you see a person smiling, you can generally think that his current emotion is a positive emotion, such as happiness; when you hear a person crying, you can generally think that his current emotion is a negative emotion, such as sadness.

[0004] When a robot is stimulated by external or internal stimuli, if the robot can express its emotional changes like a human, it will make the robot more human-like, making it easier for people to resonate with the robot and increase people's stickiness to the robot. However, there are not many solutions for how robots can express their emotions like humans after being stimulated. Summary of the invention

[0005] The embodiments of the present application provide a method and apparatus for processing emotional information, a computer device, and a readable storage medium, which are conducive to demonstrating the emotion dissipation process of a robot and improving the robot's degree of anthropomorphism.

[0006] A first aspect of an embodiment of the present application provides a method for processing emotional information, including: in response to a robot detecting a first emotional triggering event, determining first emotional information based on the first emotional triggering event; generating first control information based on the first emotional information, the first control information being used to instruct the robot to perform a first behavior and a second behavior in sequence, the first behavior and the second behavior being both used to express emotions, wherein the first behavior is used to express the emotion indicated by the first emotional information, and the second behavior is used to express an emotion that is milder than the emotion indicated by the first emotional information.

[0007] An emotion triggering event is an event that causes a change in the robot's emotion information and can be detected by the robot; the executor is a robot or a server, or a system of a robot and a server; the emotion information can be quantified into parameters that express the robot's emotions; the emotion corresponding to the second behavior is milder than the first emotion, or in other words, the second behavior is closer to a behavior under a calm emotion than the first behavior, or in other words, the type of emotion corresponding to the second behavior is the same as the type of the first emotion, but at a lower degree; the robot can perform behaviors that express emotions, and the first behavior and the second behavior are used to express emotions, for example, by making sounds, displaying images or texts, driving entities to make actions, etc., to show human emotion expression behaviors such as laughing, crying, and frowning.

[0008] In the method provided in the first aspect, after determining the first emotional information of the robot, by instructing the robot to perform the first behavior and the second behavior in sequence, it is helpful for people interacting with the robot to feel the dissipation process of the robot's emotions, which is helpful to improve the robot's emotional sophistication, and then improve the robot's anthropomorphism, making it easier for people to resonate with the robot, thereby improving the robot's usage stickiness and increasing the robot's value.

[0009] In a possible implementation, the first emotion triggering event includes at least one of the robot being moved, the robot falling down, the robot's environmental parameters being worse than preset parameters, the robot's mission failure, and the robot's mission success. Exemplarily, the environmental parameters may be light intensity, temperature, noise decibels, etc.

[0010] In a possible implementation manner, the degree of the second behavior is milder than the degree of the first behavior, and the degree of the first behavior and the second behavior is at least one of amplitude, frequency and volume.

[0011] In one possible implementation, the first control information is also used to instruct the robot to perform a third behavior for expressing an initial emotion after performing the second behavior and before detecting the next emotion triggering event, and initial emotion information indicating the initial emotion is pre-stored in a storage medium.

[0012] In a possible implementation, the third behavior is the first behavior for expressing emotions executed by the robot after it is turned on.

[0013] In a possible implementation manner, the first emotion information is used to indicate that the type of emotion is a first type, and the degree of the emotion is a first degree.

[0014] In a possible implementation manner, the type of emotion expressed by the second behavior is the first type, and the degree of the emotion expressed by the second behavior is lighter than the first degree.

[0015] In one possible implementation, before determining the first emotion information based on the first emotion trigger event, the method also includes: in response to the robot detecting a second emotion trigger event, determining historical emotion information based on the second emotion trigger event, the historical emotion information is used to generate historical control information, the historical control information is used to instruct the robot to perform historical behavior, and the historical behavior is used to express the emotion indicated by the historical emotion information; determining the first emotion information based on the first emotion trigger event includes: determining first emotion change information based on the first emotion trigger event, the first emotion change information is used to indicate the type and degree of change of the emotion whose degree has changed due to the first emotion trigger event; determining the first emotion information based on the first emotion change information and the historical emotion information.

[0016] In a possible implementation, based on the fact that the type of emotion indicated by the first emotion change information and the type of emotion indicated by the historical emotion information are both emotion types in a first direction, then the first type is the emotion type in the first direction, and the first degree is positively correlated with the amount of change in the emotion indicated by the first emotion change information, the first degree is positively correlated with the degree of emotion indicated by the historical emotion information, and the emotion type in the first direction is a positive emotion type (for example, happiness, satisfaction, self-confidence, etc.), or a negative emotion type (for example, sadness, disappointment, lack of confidence, etc.).

[0017] In a possible implementation, the first degree is negatively correlated with a first duration, where the first duration is the interval between a second moment when the robot detects the second emotion triggering event and a first moment when the robot detects the first emotion triggering event.

[0018] In actual design, the first duration is not strictly limited to the time interval between the first moment and the second moment. It can be slightly larger or smaller than the time interval as long as it can reflect the change in the time interval. For example, when the time interval increases, the first duration also increases accordingly.

[0019] In one possible implementation, the emotion type in the first direction is a positive emotion type, and the emotion type in the second direction is a negative emotion type; or, the emotion type in the first direction is a negative emotion type, and the emotion type in the second direction is a positive emotion type; based on the fact that the type of emotion indicated by the first emotion change information is the emotion type in the first direction, the type of emotion indicated by the historical emotion information is the emotion type in the second direction, and the first type is the emotion type in the first direction, then the first degree is positively correlated with the change in emotion indicated by the first emotion information, and the first degree is negatively correlated with the degree of emotion indicated by the historical emotion information.

[0020] In a possible implementation, the first degree is positively correlated with a first duration, and the first degree is negatively correlated with the first duration, and the first duration is the interval between a second moment when the robot detects the second emotion triggering event and a first moment when the robot detects the first emotion triggering event.

[0021] The second aspect of an embodiment of the present application also provides an emotional information processing device, including: a determination module, for determining first emotional information according to a first emotional triggering event detected by a robot; a generation module, for generating first control information according to the first emotional information, the first control information being used to instruct the robot to perform a first behavior and a second behavior in sequence, the first behavior and the second behavior being both used to express emotions, wherein the first behavior is used to express the emotion indicated by the first emotional information, and the second behavior is used to express an emotion that is milder than the emotion indicated by the first emotional information.

[0022] In a possible implementation, the first emotion triggering event includes at least one of the robot being moved, the robot falling down, the environmental parameters of the robot being worse than preset parameters, the robot's mission failing, and the robot's mission succeeding.

[0023] In a possible implementation, the degree of the second behavior is milder than the degree of the first behavior, and the degree of the first behavior and the second behavior is at least one of amplitude, frequency, and volume.

[0024] In one possible implementation, the first control information is also used to instruct the robot to perform a third behavior for expressing an initial emotion after performing the second behavior and before detecting the next emotion triggering event, and initial emotion information indicating the initial emotion is pre-stored in a storage medium.

[0025] In a possible implementation, the third behavior is the first behavior for expressing emotions executed by the robot after it is turned on.

[0026] In a possible implementation manner, the first emotion information is used to indicate that the type of emotion is a first type, and the degree of the emotion is a first degree.

[0027] In a possible implementation manner, the type of emotion expressed by the second behavior is the first type, and the degree of the emotion expressed by the second behavior is lighter than the first degree.

[0028] In one possible implementation, the determination module is also used to: before determining the first emotion information based on the first emotion trigger event, in response to the robot detecting a second emotion trigger event, determine historical emotion information based on the second emotion trigger event, the historical emotion information is used to generate historical control information, the historical control information is used to instruct the robot to perform historical behavior, and the historical behavior is used to express the emotion indicated by the historical emotion information; the determination module determines the first emotion information based on the first emotion trigger event, specifically for: determining first emotion change information based on the first emotion trigger event, the first emotion change information is used to indicate the type and degree of change of emotion whose degree has changed due to the first emotion trigger event; determining the first emotion information based on the first emotion change information and the historical emotion information.

[0029] In a possible implementation, based on the fact that the type of emotion indicated by the first emotion change information and the type of emotion indicated by the historical emotion information are both emotion types in a first direction, then the first type is the emotion type in the first direction, and the first degree is positively correlated with the amount of change in the emotion indicated by the first emotion change information, the first degree is positively correlated with the degree of emotion indicated by the historical emotion information, and the emotion type in the first direction is a positive emotion type, or a negative emotion type.

[0030] In a possible implementation, the first degree is negatively correlated with a first duration, where the first duration is the interval between a second moment when the robot detects the second emotion triggering event and a first moment when the robot detects the first emotion triggering event.

[0031] In one possible implementation, the emotion type in the first direction is a positive emotion type, and the emotion type in the second direction is a negative emotion type; or, the emotion type in the first direction is a negative emotion type, and the emotion type in the second direction is a positive emotion type; based on the fact that the type of emotion indicated by the first emotion change information is the emotion type in the first direction, the type of emotion indicated by the historical emotion information is the emotion type in the second direction, and the first type is the emotion type in the first direction, then the first degree is positively correlated with the change in emotion indicated by the first emotion information, and the first degree is negatively correlated with the degree of emotion indicated by the historical emotion information.

[0032] In a possible implementation, the first degree is positively correlated with a first duration, and the first degree is negatively correlated with the first duration, and the first duration is the interval between a second moment when the robot detects the second emotion triggering event and a first moment when the robot detects the first emotion triggering event.

[0033] In a possible implementation, the device further includes an execution module, and the execution module is used to: after the generation module generates first control information according to the first emotion information, execute the first behavior and the second behavior in sequence according to the first control information.

[0034] A third aspect of an embodiment of the present application provides a computer device, including a processor and a memory. When the processor runs the computer instructions stored in the memory, it executes the method described in the first aspect of the embodiment of the present application or any possible implementation method of the first aspect.

[0035] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, comprising instructions. When the instructions are executed on a computer, the computer executes a method as described in the first aspect of the embodiment of the present application or any possible implementation of the first aspect.

[0036] A fifth aspect of an embodiment of the present application provides a computer program product, including instructions. When the instructions are executed on a computer, the computer executes the method described in the first aspect of the embodiment of the present application or any possible implementation of the first aspect.

[0037] A sixth aspect of an embodiment of the present application provides a robot, comprising an input module, an output module, a processor and a memory, wherein the input module is used to detect emotion triggering events, the memory is used to store computer instructions, and when the processor runs the computer instructions stored in the memory, it executes the method described in the first aspect of the embodiment of the present application or any possible implementation of the first aspect, and the output module is used to execute control information generated by the processor, for example, after receiving first control information sent by a server, the first behavior and the second behavior are executed in sequence according to the first control information.

[0038] A seventh aspect of an embodiment of the present application provides a robot system, including a robot and a server; the robot is used to detect emotion triggering events and send the detected emotion triggering events to the server; the server is used to execute the method described in the first aspect of the embodiment of the present application or any possible implementation method of the first aspect according to the emotion triggering events detected by the robot, and send control information to the robot; the robot is also used to execute the control information sent by the server, for example, after receiving the first control information sent by the server, execute the first behavior and the second behavior in sequence according to the first control information. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1A is a schematic diagram of an embodiment of a robot provided by the present application;

[0040] Figure 1B This is a schematic diagram of an embodiment of a server provided by the present application;

[0041] Figure 1C is a schematic diagram of an embodiment of a robot system provided by the present application;

[0042] Figure 2 It is a schematic diagram of an embodiment of the method for processing emotion information provided by the present application;

[0043] Figure 3A It is a schematic diagram of different behaviors corresponding to different degrees of happiness provided by this application;

[0044] Figure 3B It is a schematic diagram of different behaviors corresponding to different degrees of sadness provided by this application;

[0045] Figure 4A It is a schematic diagram of the behavior dissipation process used by the robot of the present application to express emotions;

[0046] Figure 4B is another schematic diagram of the behavior dissipation process used by the robot of the present application to express emotions;

[0047] Figure 4Cis another schematic diagram of the behavior dissipation process used by the robot of the present application to express emotions;

[0048] Figure 5 This is a possible schematic diagram of the curves corresponding to the dissipation equations of two emotions provided by the present application;

[0049] FIG. 6A to FIG. 6E This is a schematic diagram of a possible application scenario of the method for processing emotional information provided by this application;

[0050] Fig. 7A It is a schematic diagram of an embodiment of a device for processing emotion information provided by the present application;

[0051] Figure 7B This is a schematic diagram of another embodiment of the device for processing emotion information provided in the present application. DETAILED DESCRIPTION

[0052] The embodiments of the present application provide a method and device for processing emotion information, a robot, a server, a robot system, a computer-readable storage medium, and a computer program product. The embodiments of the present application are described below in conjunction with the accompanying drawings.

[0053] Figure 1A 1 is a schematic diagram of an embodiment of the robot 110 provided in the present application. The robot 110 may include an input module 111, a processor 112, a memory 113 and an output module 114. Among them, the input module 111 may include a sensor and a data processing module, the sensor is used to detect data, the data processing module is used to process the data detected by the sensor, for example, the camera is used to detect image data, the microphone array is used to detect audio data, the thermal sensor is used to detect ambient temperature data, the light sensor is used to detect light intensity data, etc.; the memory 113 is used to store computer programs; the processor 112 is used to execute the computer program in the memory, perform data processing, and send control information to the output module; the output module 114 is used to interact with a user (human or other robot), for example, the output module 114 may be a display screen (for example, it can be set on Figure 1A The driving mechanism may be used to control the robot to change its body posture, such as by controlling the rotation of the robot's hands, arms, legs, head, etc. The driving mechanism may also be used to control the movement of the robot.

[0054] Figure 1ATaking the appearance of the robot 110 as a humanoid as an example, it should be noted that the present application does not limit the appearance of the robot 110, nor does it limit the robot 110 to be able to perform all human behaviors, as long as the robot 110 can act according to the principles and guidelines formulated with artificial intelligence technology, and perform one or more types of behaviors used to express emotions. For example, the types of human behavior used to express emotions can generally include facial expressions, body movements that express emotions (such as clapping, shaking the body, etc.), and the tone of speech. The robot 110 only needs to be able to show the user (human or other robot) at least one type of behavior used to express emotions, such as being able to show facial expressions, or being able to make body movements, or being able to make sounds with different tones. Exemplarily, the robot 110 provided in the embodiment of the present application can also be a smart terminal device (such as a mobile phone).

[0055] refer to Figure 1B The embodiment of the present application further provides a server 120. The server 120 may include a processor 121 and a memory 122.

[0056] Figure 1A and / or Figure 1B The processor in the invention may be a central processing unit (CPU), a network processor (NP) or a combination of a CPU and NP, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, or discrete hardware components. The methods, steps, and logic block diagrams disclosed in the present application may be implemented or executed. A general processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the present application may be directly embodied as being executed by a hardware decoding processor, or may be executed by a combination of hardware and software modules in a decoding processor. The software module may be located in a mature storage medium in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. Although only one processor is shown in the figure, the device may include multiple processors or the processor may include multiple processing units. Specifically, the processor may be a single-core processor, or a multi-core or multi-core processor. The processor may be an ARM architecture processor.

[0057] Figure 1A and / or Figure 1B The memory in the memory is used to store computer instructions executed by the processor. The memory can be a storage circuit or a memory. The memory can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. The memory can be independent of the processor. In one possible implementation, the processor and the memory can be connected to each other via a bus. The bus can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. Alternatively, the memory can also be a storage unit in the processor, which is directly connected to the processor (attach), which is not limited here. Although only one memory is shown in the figure, the device may also include multiple memories or the memory may include multiple storage units.

[0058] Figure 1C 1 is a schematic diagram of an embodiment of the robot system 100 provided in the present application. The robot system 100 includes a robot 110 and a server 120. The structure of the robot 110 can be referred to in Figure 1A For the related description of the server 120, the structure of the server 120 can refer to Figure 1B The robot 110 and the server 120 may further include a communication module, and the robot 110 and the server 120 may communicate with each other by wire or wirelessly through their respective communication modules, for example, interacting through the Internet.

[0059] The robot 110, server 120 and robot system 100 provided in the embodiment of the present application are introduced above. The method for processing emotion information provided in the present application is introduced below. The method can be applied to Figure 1A The robot 110 shown can also be applied to Figure 1B The server 120 shown in FIG. 1 may also be applied to Figure 1CIn the robot system 100 shown in FIG. 1 , when the method is applied to the robot system 100, the method is jointly executed by the robot 110 and the server 120. For ease of description, the execution subject of the method is collectively referred to as a computer device below.

[0060] People's emotions are usually affected by some events, which cause changes in emotions. Events that cause changes in emotions are called emotion triggering events. Similarly, events that cause changes in robot's emotional information can be called emotion triggering events. After people feel emotion triggering events from the outside world (such as being praised) or internal emotion triggering events (such as hunger), they will have corresponding emotions, such as happiness or sadness, and express the emotions through corresponding behaviors, such as expressing happiness through expression-smile, and expressing sadness through expression-frown. When the emotions generated return to calm (i.e., no emotions), people no longer show behaviors used to express emotions, i.e., no expressions.

[0061] Since people usually have common ways of expressing their emotions, in the process of communication between people, it is helpful to determine the other person's emotions by observing their behavior. For example, when you see a person smiling, you can generally assume that his current emotion is a positive emotion, such as happiness; when you hear a person crying, you can generally assume that his current emotion is a negative emotion, such as sadness.

[0062] In order to realize the anthropomorphism of the robot, the robot can generate emotional information in response to detecting an emotion triggering event, imitate the way people express emotions, and perform behaviors used to express emotions, so that the interactive objects (such as people or other robots) can understand the robot's emotions.

[0063] In the prior art, when a robot generates emotion information e1 in response to detecting an emotion triggering event i1, the robot will execute behavior a1 corresponding to the emotion information e1 to express the emotion. Afterwards, the robot can maintain the behavior a1 until the behavior a1 is maintained for a preset time length, or the next emotion triggering event i2 is detected.

[0064] Human emotions are usually delicate, and this delicacy can be reflected in the fact that the emotions generated by emotional triggering events will gradually weaken over time until they return to a relatively calm state. Correspondingly, the behaviors used to express emotions by people will also gradually weaken over time until they no longer express emotions. The weakening of emotions can be a weakening of the same type, or it can be a change from one type of emotion to another, for example, from joy to satisfaction.

[0065] In the prior art, after detecting the emotion triggering event i1 and before detecting the next emotion triggering event i2, the robot generally performs an action for expressing emotion in one of the following two ways:

[0066] 1) Switch directly from executing behavior a1 to not executing any behavior that expresses emotion;

[0067] 2) Maintain behavior a1.

[0068] It can be seen that compared with human emotional expression, the way existing robots express emotions is not delicate enough, which is not conducive to improving the robot's level of anthropomorphism.

[0069] Figure 2 A schematic diagram of an embodiment of the method for processing emotional information provided in the embodiment of the present application. Figure 2 An embodiment of the method for processing emotional information of the present application may include the following steps:

[0070] 201. In response to the robot detecting a first emotion triggering event, determining first emotion information according to the first emotion triggering event;

[0071] The robot can detect the emotion triggering event through sensors such as cameras, thermal sensors, light sensors, and sound detection devices. When the robot detects the emotion triggering event, the computer device can obtain the emotion triggering event and determine the emotion information of the robot according to the emotion triggering event. The emotion triggering event detected in step 201 is called the first emotion triggering event, and the determined emotion information is called the first emotion information. The emotion information can be quantified into parameters that express the robot's emotions, and different values ​​of the parameters can be used to represent different emotion information of the robot.

[0072] The embodiments of the present application do not limit the manner in which the computer device determines the first emotion information of the robot based on the first emotion triggering event. For example, the computer device may input the detected first emotion triggering event into a trained neural network model through artificial intelligence and output the first emotion information of the robot. Alternatively, the computer device may determine the first emotion information corresponding to the first emotion triggering event through a preset corresponding relationship.

[0073] 202. Generate first control information according to the first emotion information;

[0074] After the computer device determines the first emotion information, it can generate first control information according to the first emotion information, and the first control information is used to instruct the robot to perform a first behavior and a second behavior in sequence, and the first behavior and the second behavior are both behaviors for expressing emotions. Among them, the first behavior is used to express the emotion indicated by the first emotion information, and the second behavior is used to express an emotion that is milder than the emotion indicated by the first emotion information.

[0075] After detecting the first stimulus data and before detecting the next stimulus data, the robot can, in addition to executing the first behavior for expressing the emotion corresponding to the first emotion information, also execute a second behavior for expressing an emotion that is milder than the emotion indicated by the first emotion information. Compared with the prior art, the method for processing emotion information provided in the embodiment of the present application is conducive to enabling the robot to show a process in which emotions gradually weaken over time, and is conducive to enabling the robot to express emotions in a more delicate manner, thereby helping to improve the robot's degree of anthropomorphism and increase the robot's user stickiness.

[0076] The robot may include multiple output modules, each of which is used to output a unit action, such as a speaker for outputting sound, a display for outputting expression, and a driving mechanism for outputting a shaking body action. In a possible implementation, the first behavior for expressing emotional information may include multiple unit actions performed by the robot at the same time, such as outputting a smiling expression through the display, outputting laughter through the speaker, and driving the body to shake slightly through the driving mechanism. Similarly, the second behavior may include multiple unit actions performed by the robot at the same time.

[0077] The robot's behavior for expressing emotions can be understood by referring to the behavior of a person for expressing emotions. For example, the first behavior and the second behavior can be one or more of the behaviors of laughing, crying, frowning, sighing, clapping, singing, speaking in a happy or angry tone, etc., and the emotional information expressed by the behavior can refer to the emotions expressed by the behavior of a person. For example, laughing is used to express happiness, and crying and frowning are used to express sadness. It should be noted that the first behavior and the second behavior can be the same type of behavior, for example, both are laughing, but the degree of the two is different.

[0078] In a possible implementation, the degree of the behavior may refer to the amplitude, frequency, or volume of the behavior, etc. For example, the first behavior refers to the robot making a laughing expression, and the amplitude of the first behavior refers to the amplitude of a bend in the mouth, eyes, and eyebrows in the expression; the first behavior refers to the robot making a laugh or clapping, and the frequency of the first behavior refers to the frequency of the sound or the frequency of clapping; the first behavior refers to the robot making a crying sound, and the volume of the first behavior refers to the volume of the crying sound.

[0079] In one possible implementation, the emotion expressed by the second behavior is milder than the emotion expressed by the first behavior, then the degree of the second behavior is milder than the degree of the first behavior, and the degree of behavior can be understood as at least one of amplitude, frequency and volume, that is, the amplitude of the second behavior is smaller than the amplitude of the first behavior, and / or the frequency of the second behavior is lower than the frequency of the first behavior, and / or the sound generated by the second behavior is smaller than the sound generated by the first behavior.

[0080] When analyzing and studying people's emotions and their expressions, people's emotions are generally divided into two categories: positive emotions and negative emotions. In addition, the same type of emotions can be divided into different degrees, for example, adverbs indicating different degrees (such as extremely, very, very and slightly, or severe, moderate, mild, slightly) or numerical values ​​can be used to distinguish the different degrees of emotions. In some more specific studies, positive emotions and negative emotions are divided into more types, or the different degrees of the same type of emotions are divided more finely.

[0081] In order to improve the anthropomorphism of the robot, in a possible implementation, the emotion information may be used to indicate the type and degree of the emotion.

[0082] Different types of emotions have different corresponding behaviors; for the same type of emotions with different degrees, the corresponding behaviors are also different. For example, a positive integer represents the degree of emotion, and the larger the value, the higher the degree of emotion. Figure 3A and Figure 3B , showing different behaviors corresponding to different levels of happiness ( Figure 3A and Figure 3B In the example, facial expressions represent the behavior of expressing emotions), I1 and I2 are used to represent the degree of happiness and sadness, respectively. In a possible implementation, a degree threshold can be set for each type of emotion, for example, Figure 3A TH1 (0.1) represents the threshold of happiness. Figure 3B TH2 (0.2) represents the threshold of sadness. When the happiness level exceeds 0.1, the face will show a corresponding level of happiness. When the happiness level does not exceed 0.1, the face will not show any expression of happiness.

[0083] In a possible implementation, it can be considered that the type of emotion corresponding to the second behavior is the same as the type of emotion corresponding to the first behavior, and the degree of emotion expressed by the second behavior is lighter than the degree of emotion expressed by the first behavior.

[0084] In one possible implementation, after the robot performs the second behavior, it may also perform one or more other behaviors for expressing emotions. The milder the behavior, the later it is executed in the order, which is conducive to a more delicate expression of the process of the robot's emotions gradually disappearing.

[0085] In a possible implementation, the robot may stop executing the behavior for expressing emotional information after executing the last behavior for expressing emotional information before detecting the next stimulus data. FIG. 4A to FIG. 4C The process of dissipation of the behavior expressing emotions is shown in Figure 1. Figure 4A,As time passes, the faces of the robot change to face 1, face 2 and face 0 in turn, where face 1 and face 2 respectively represent the first behavior (specifically the first expression) and the second behavior (specifically the second expression), and face 0 is used to represent stopping the behavior of expressing emotional information (specifically no expression).

[0086] Alternatively, in a possible implementation, initial emotion information may be set for the robot, and after executing the second behavior, the robot may continue to execute a third behavior for expressing the initial emotion information. The initial emotion information may be pre-stored in a storage medium. In a possible implementation, a plurality of alternative initial emotion information may be stored in the storage medium, and the computer device may dynamically select one as the current initial emotion information. For example, the robot may be designed to have periodic changes in initial emotion information. Exemplarily, a cycle may be 28 days, and the computer device may store 28 alternative initial emotion information, each of which corresponds to one day in a cycle. The alternative initial emotion information for two adjacent days is different. The computer device may determine the current initial emotion information based on the order of the current date in the current cycle (for example, today is the second day of the current Sunday). Reference Figure 4B and Figure 4C , Face 3 and Face 4 are used to represent different initial emotional information. Figure 4B Combination Figure 3A ,The initial emotional information corresponding to face 3 is : happy, with a degree between 0.1 and 0.35; Figure 4C Combination Figure 3B ,The initial emotional information corresponding to face 4 is : sad, with a degree between 0.2 and 0.4.

[0087] The stimulation data (the stimulation data currently detected is referred to as the first stimulation data) is not limited to the first stimulation data as data detected by one type of sensor, and may include data detected by multiple types of sensors, for example, image data detected by a camera, audio data detected by a voice detection device, ambient temperature data detected by a thermistor, and light intensity data detected by a photosensor, etc.

[0088] The computer device can determine whether an emotion triggering event, that is, an event that causes the robot's emotion change, occurs based on the first stimulus data. If an emotion triggering event occurs, it is determined that the robot detects an emotion triggering event (called a first emotion triggering event).

[0089] Regarding step 201, in a possible implementation, the computer device can detect corresponding data through sensors such as cameras, thermal sensors, photosensitive sensors, and sound detection devices, for example, detecting image data through cameras, detecting audio data through voice detection devices, detecting ambient temperature data through thermal sensors, and detecting light intensity data through photosensitive sensors. The computer device can determine whether an emotion triggering event is detected based on the data detected by one or more sensors (called stimulus data). Specifically, the computer device can identify and process the stimulus data. For example, the computer device can perform face recognition on the detected image, and recognize the expression of the person in the image, the number of people, etc.; after recognizing the face, the computer device can also recognize the person's body posture, such as recognizing that the person is waving; the computer device can perform text recognition on the detected audio data, and perform semantic analysis on the recognized text to obtain the person's speaking intention, such as commanding the robot to perform a task, or saying hello to the robot. After the stimulus data is identified and processed, the computer device may identify the emotion triggering event indicated by the stimulus data (referred to as the first emotion triggering event). For example, the first emotion triggering event may include at least one of the robot being moved, the robot falling down, the robot's environmental parameters being worse than preset parameters, the robot's mission failure, and the robot's mission success. Environmental parameters may refer to light intensity, ambient temperature, noise decibels, etc.

[0090] In a possible implementation, the computer device may pre-store the correspondence between the emotion triggering event and the emotion change information, and after identifying the first emotion triggering event indicated by the first stimulus data, the corresponding first emotion change information may be determined, and the first emotion change information is used to indicate the type and degree of the emotion whose degree is changed due to the first emotion triggering event. In a possible implementation, the type and degree of the emotion indicated by the first emotion change information are the type and degree of the emotion indicated by the first emotion information.

[0091] In one possible implementation, the correspondence between emotion triggering events and emotion change information can be determined according to the robot's needs hierarchy, which is conducive to designing a correspondence that is more in line with human emotion changes and improving the robot's degree of anthropomorphism.

[0092] In a possible implementation, the first emotion change information may be used to indicate the type of emotion affected by the first emotion triggering event and the degree of change of the type of emotion caused. Exemplarily, Tables 1 and 2 respectively show the types of emotions affected by various emotion triggering events and the degree of change of the corresponding types of emotions caused, with the degree change being represented by a value greater than 0 and not exceeding 1, and the larger the value, the greater the degree change.

[0093] Table 1

[0094]

[0095] Table 2

[0096]

[0097] When a person experiences an emotion triggering event, his or her current emotion generally changes. For the sake of ease of description, the current emotion before the change due to the emotion triggering event can be called the historical emotion margin, and the current emotion after the change can be called the stimulus-response emotion. The stimulus-response emotion is determined not only by the emotional change brought about by the stimulus, but also by the historical emotion margin.

[0098] In a possible implementation, the historical emotion margin is determined by the emotion of the previous stimulus response. Therefore, in order to improve the anthropomorphism of the robot, if the robot detects a second emotion triggering event before detecting a first emotion triggering event, and determines the corresponding emotion information (referred to as historical emotion information) according to the second emotion triggering event, wherein the historical emotion information is used to generate historical control information, the historical control information is used to instruct the robot to perform historical behavior, and the historical behavior is used to express the emotion indicated by the historical emotion information, then in a possible implementation, step 201 may include: determining the first emotion change information according to the first emotion triggering event, and then determining the first emotion information according to the first emotion change information and the historical emotion information.

[0099] For the convenience of description, the type of emotion indicated by the first emotion information is referred to as a first type, and the degree of the emotion indicated by the first emotion information is referred to as a first degree.

[0100] The influence between emotions can be mutually reinforcing or mutually inhibiting.

[0101] In one possible implementation, based on the fact that the type of emotion indicated by the first emotion change information and the type of emotion indicated by the historical emotion information are both emotion types in the first direction, then the first type is the emotion type in the first direction, and the first degree is positively correlated with the amount of change in the emotion indicated by the first emotion change information, the first degree is positively correlated with the degree of emotion indicated by the historical emotion information, and the emotion type in the first direction is a positive emotion type, or a negative emotion type.

[0102] Assume that the emotion type in the first direction is a positive emotion type, and the emotion type in the second direction is a negative emotion type; or, the emotion type in the first direction is a negative emotion type, and the emotion type in the second direction is a positive emotion type. In one possible implementation, based on the fact that the type of emotion indicated by the first emotion change information is the emotion type in the first direction, and the type of emotion indicated by the historical emotion information is the emotion type in the second direction, if the first type is the emotion type in the first direction, then the first degree is positively correlated with the amount of change in the emotion indicated by the first emotion information, and the first degree is negatively correlated with the degree of the emotion indicated by the historical emotion information; if the first type is the emotion type in the second direction, then the first degree is negatively correlated with the amount of change in the emotion indicated by the first emotion information, and the first degree is positively correlated with the degree of the emotion indicated by the historical emotion information.

[0103] In a possible implementation, the historical emotion margin is also related to the duration between the moment of acquiring the second emotion triggering event and the moment of acquiring the first emotion triggering event. Assume that the first duration is the interval duration between the second moment of acquiring the second emotion triggering event and the first moment of acquiring the first emotion triggering event.

[0104] In a possible implementation, if the first type and the types of emotions indicated by the historical emotion information are both negative emotion types or both positive emotion types, then the first degree is negatively correlated with the first duration.

[0105] In actual design, the first duration is not strictly limited to the time interval between the first moment and the second moment. It can be slightly larger or smaller than the time interval as long as it can reflect the change in the time interval. For example, when the time interval increases, the first duration also increases accordingly.

[0106] In one possible implementation, if the first type is a negative emotion type and the emotion type indicated by the historical emotion information is a positive emotion type; or, if the first type is a positive emotion type and the emotion type indicated by the historical emotion information is a negative emotion type, then the first degree is positively correlated with the first duration.

[0107] Exemplarily, the historical emotion margin I_r may be calculated according to the following formula (called dissipation equation) based on the first duration and the degree of emotion indicated by the historical emotion information:

[0108] I_r = I_2*f = I_2*1 / (param1+param2*Math.exp(param3 / t)), where param1, param2 and param3 are the three parameters of the equation, t represents the first duration, and I_2 represents the degree of emotion indicated by the historical emotion information. By adjusting these three parameters, different dissipation curves can be fitted.

[0109] In a possible implementation, one or more parameters in the dissipation equation corresponding to different types of emotions may be different. Figure 5 The solid curve and the dotted curve in the figure represent the dissipation curve corresponding to the happiness level of 1 and the dissipation curve corresponding to the sadness level of 1, respectively. It can be seen that the similarity between the two is that they are both "inverted S-shaped" curves, that is, the degree increases first and then decreases over time; the difference is that the time it takes for the sadness level to decrease from 1 to 0 (called the dissipation time) is shorter than the time it takes for the happiness level to decrease from 1 to 0 (the dissipation time). In a possible implementation, the dissipation time of negative emotions is shorter than that of positive emotions, which is conducive to the robot expressing more positive emotions.

[0110] The above respectively introduces the methods for determining the emotion change information and the historical emotion margin corresponding to the emotion triggering event. The following example introduces a method for determining the first emotion information based on the emotion change information and the historical emotion margin.

[0111] If the robot includes multiple types of emotions, in a possible implementation, the first type indicated by the first emotion information of the robot corresponds to a type of emotion, and the first type corresponds to an emotion type whose degree is higher than a threshold. In a possible implementation, the degree of each type of emotion can be determined according to the emotion change information, the historical emotion margin, and the influence amount between different types of emotions, and the degree higher than the threshold is selected, and the degree is used as the first degree, and the type of emotion corresponding to the degree is used as the first type.

[0112] The following example introduces a method for determining the first emotion information of a robot.

[0113] Assume that the robot has three types of emotions, denoted as A, B and C, and the degrees of the three emotions are denoted as I(A), I(B) and I(C), respectively. A and B promote each other, A and C inhibit each other, and B and C inhibit each other.

[0114] When the robot detects the first emotion triggering event, assuming that the first emotion triggering event causes a change in the degree of A, the degree of the three emotions can be calculated according to the following process:

[0115] I(B)=F(B)+E(B)+In(B_A)-In(B_C);

[0116] I(C)=F(C)+E(C)-In(C_B)-In(C_A);

[0117] I(A)=F(A)+E(A)+In(A_B)-In(A_C);

[0118] Among them, F(A), F(B), and F(C) are the historical emotion margins of A, B, and C respectively. When the historical emotion margins of the three are all 0, for example, the first emotion triggering event is the first emotion triggering event detected after the robot is turned on, F(A), F(B), and F(C) are the degrees of A, B, and C determined according to the initial emotion information. For example, if the initial emotion information is used to indicate emotion B and the degree is b, then F(A)=0, F(B)=b, and F(C)=0.

[0119] E(A), E(B), and E(C) are the degree changes of A, B, and C caused by the first emotion triggering event, respectively. For the degree change of A caused by the first emotion triggering event, the change is a, then E(A)=a, E(B)=0, and E(C)=0.

[0120] In(A_B) is the influence of B on A, and In(B_A) is the influence of A on B. In one possible implementation, In(A_B) = in(A_B)*I(B), In(B_A) = in(B_A)*E(A), where in(A_B) is the influence factor of B on A, and in(B_A) is the influence factor of A on B, which can be different or the same. The meanings of other In() and in() can be understood similarly and will not be repeated here.

[0121] The degree exceeding the threshold is selected from I(A), I(B) and I(C) as the degree indicated by the first emotion information, and the type of emotion corresponding to the degree is used as the type of emotion indicated by the first emotion information. When multiple degrees all exceed the threshold, the maximum degree can be used as the degree indicated by the first emotion information, and the type of emotion corresponding to the degree can be used as the type of emotion indicated by the first emotion information.

[0122] If the above-mentioned computer device is a robot, then the method embodiment of the present application may also include: executing the first behavior and the second behavior in sequence according to the first control information.

[0123] The following describes an application scenario of the method for processing emotional information provided by the present application. Assume that the corresponding relationship between emotional information and emotional expression is as follows: Figure 3A and 3B As shown, the corresponding relationship between emotion triggering events and emotion changes is shown in Figure 1 and Table 2, and the computer device is a robot.

[0124] 1. Turn on the robot;

[0125] refer to Fig. 6A ,The emotion corresponding to the robot’s expression can be “calm”.

[0126] 2. The robot determines the initial emotional information based on the current time;

[0127] Assume that the initial emotional information is: happy, and the degree is f1=0.3.

[0128] 3. The robot detects emotional triggering events;

[0129] The stimulus signal is detected by sensors of sound, contact, light and other signals, and the stimulus signal is processed to determine whether an emotion triggering event is detected.

[0130] 4. In response to detecting the emotion triggering event i1 at time t1, the robot determines the emotion change information v1 according to the emotion triggering event i1;

[0131] refer to Figure 6B ,user( Figure 6B Taking a child as an example, the child greets the robot enthusiastically and says "Good morning, can you tell me a story?" At this time, the robot can determine that an emotion trigger event i1 is detected, and the emotion trigger event i1 is "being greeted enthusiastically". Referring to Table 1, the emotion change information v1 can be determined to be: happy, 0.5.

[0132] 5. The robot determines the emotion information e1 based on the initial emotion information and the emotion change information v1;

[0133] Afterwards, the robot can determine the emotion information e1 according to the initial emotion information and the emotion change information v1. For example, taking the robot including two types of emotions (A and C), where A is happy and C is sad, in(A_C) is 0.1, in(C_A) is 0.2, the threshold of the degree of C is 0.2, and the threshold of the degree of A is 0.1, the specific process of determining the emotion information e1 can be as follows:

[0134] I(C)=F(C)+E(C)-in(C_A)*E(A)=0+0-0.2*0.5=-0.1. If the degree of sadness is less than 0, it can be considered that the degree of sadness is 0.

[0135] I(A)=F(A)+E(A)-in(A_C)*I(C)=0.3+0.6-0.1*0=0.9.

[0136] For the understanding of the above two formulas, you can refer to the above introduction to the calculation process of the degree of the three emotions, which will not be repeated here.

[0137] Since I(C)<0.2, I(A)>0.1, the emotional information e1 is: happy, and the degree I(A) is 0.9.

[0138] 6. The robot performs emotion dissipation behavior a1 according to the first emotion information;

[0139] refer to Figure 6C, t represents time, t1, t2, and t3 represent different moments, and t1 is earlier than t2, and t2 is earlier than t3. For example, the emotion dissipation behavior a1 includes three emotion behaviors (behavior 1, behavior 2, and behavior 3), among which behavior 1 corresponds to emotion information e1. Figure 3A ; The emotion type corresponding to behavior 2 is the same as that corresponding to behavior 1, but the emotion level corresponding to behavior 2 is lower than that corresponding to behavior 1; Behavior 3 corresponds to the initial emotion information.

[0140] 7. Robots detect emotional triggering events;

[0141] 8. In response to detecting the emotion triggering event i2 at time t4, the robot determines the emotion change information v2 according to the emotion triggering event i2;

[0142] After step 4, the robot can also obtain the task instructions issued by the user based on the detected audio data and image data, that is, the instruction to read a story. The robot can download the audio of a story through the network or read it from the local storage medium, and play the audio data of the story through the loudspeaker.

[0143] refer to Fig.6D ,Assume that after playing the audio data of the story (assuming it is at time t4), the user frowns and says "this story is not good", then the robot can detect the emotion triggering event i2, specifically the task failure. The robot can determine the emotion change information v2 based on the emotion triggering event i2. You can refer to Table 2. The historical emotion change information is: sad, 0.8.

[0144] 9. In response to detecting the emotion triggering event i2 at time t4, the robot determines the dissipation margin of the emotion information e1 according to t1 and t4;

[0145] Assume that t1 is 9:15 and t4 is 9:20, the dissipation margin of the first emotional information is: happy, the degree is I1*f(t4-t1)=0.3, where f(t4-t1) can refer to Figure 5 Please understand the corresponding description and will not repeat it here.

[0146] The timing relationship between step 8 and step 9 is not limited.

[0147] 10. The robot determines the emotion information e2 according to the dissipation margin of the emotion information e1 and the emotion change information v2;

[0148] Afterwards, the robot may determine the emotion information e2 according to the dissipation margin of the emotion information e1 and the emotion change information v2. Exemplarily, the specific process of determining the emotion information e2 may be as follows:

[0149] I(A)=F(A)+E(A)-in(A_C)*E(C)=0.3+0-0.1*0.8=0.22.

[0150] I(C)=F(C)+E(C)-in(C_A)*I(A)=0+0.8-0.2*0.22=0.8-0.044=0.756.

[0151] Since I(C)>0.2, I(A)>0.1, I(C)>I(A), the emotional information e2 is: sad, and the degree I(C) is 0.756.

[0152] 11. The robot performs emotion dissipation behavior a2 based on the emotion information e2.

[0153] refer to Fig. 6E , t represents time, t4, t5, and t6 represent different moments, and t4 is earlier than t5, and t5 is earlier than t6. For example, the emotion dissipation behavior a2 includes three emotion behaviors (behavior 4, behavior 5, and behavior 3), among which behavior 4 corresponds to emotion information e2. Figure 3B ; The emotion type corresponding to behavior 5 is the same as that corresponding to behavior 4, but the emotion level corresponding to behavior 5 is lower than that corresponding to behavior 4.

[0154] Combination Figure 1A The computer device in any of the above method embodiments may be a robot 110, then the input module 111 may be used to detect an emotion triggering event (e.g., the first emotion triggering event in the above method embodiment), the memory 113 is used to store computer instructions for executing the scheme of the present application, the processor 112 is used to execute the computer instructions in the memory 113, and execute any one of the method embodiments provided in the embodiments of the present application, the output module 114 is used to receive and execute the control information generated by the processor 112, for example, executing the first behavior and the second behavior in sequence according to the first control information.

[0155] Combination Figure 1B The computer device in any of the above method embodiments may be a server 120, the memory 122 is used to store computer instructions for executing the scheme of the present application, and the processor 121 is used to execute the computer instructions in the memory 122 to execute any one of the method embodiments provided in the embodiments of the present application to generate first control information.

[0156] Combination Figure 1CThe computer device in any of the above method embodiments may be a computer system 100, and the robot 110 and the server 120 jointly execute any of the above method embodiments. For example, the robot 110 is used to detect emotion triggering events and send the detected emotion triggering events to the server 120; the server 120 is used to execute any method embodiment of the present application according to the emotion triggering events detected by the robot 110, generate control information, and send the control information to the robot 110; the robot 110 is also used to execute the control information sent by the server 120, for example, after receiving the first control information sent by the server 120, execute the first behavior and the second behavior in sequence according to the first control information.

[0157] The above describes the embodiment of the present application from the perspective of method and physical device. Next, the emotion information processing device provided by the embodiment of the present application is described from the perspective of functional modules.

[0158] From the perspective of functional modules, the present application can divide the functional modules of the device for executing the method for processing emotional information according to the above method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one functional module. The above integrated functional modules can be implemented in the form of hardware or in the form of software functional units.

[0159] For example, when each functional unit is divided in an integrated manner, Fig. 7A FIG. 1 shows a schematic diagram of the structure of a device for processing emotional information. Fig. 7A As shown, an embodiment of the apparatus 700 for processing emotion information of the present application may include:

[0160] The determination module 701 is used to determine the first emotion information according to the first emotion triggering event in response to the robot detecting the first emotion triggering event; the generation module 702 is used to generate the first control information according to the first emotion information, and the first control information is used to instruct the robot to perform the first behavior and the second behavior in sequence, and both the first behavior and the second behavior are used to express emotions, wherein the first behavior is used to express the emotion indicated by the first emotion information, and the second behavior is used to express an emotion that is milder than the emotion indicated by the first emotion information.

[0161] In a possible implementation, the first emotion triggering event includes at least one of the robot being moved, the robot falling down, the robot's environmental parameters being worse than preset parameters, the robot's mission failure, and the robot's mission success.

[0162] In a possible implementation, the degree of the second behavior is milder than the degree of the first behavior, and the degree of the first behavior and the second behavior is at least one of amplitude, frequency and volume.

[0163] In one possible implementation, the first control information is also used to instruct the robot to perform a third behavior for expressing an initial emotion after performing the second behavior and before detecting the next emotion triggering event, and the initial emotion information for indicating the initial emotion is pre-stored in a storage medium.

[0164] In a possible implementation, the third behavior is the first behavior for expressing emotions executed after the robot is turned on.

[0165] In a possible implementation manner, the first emotion information is used to indicate that the type of emotion is a first type, and the degree of the emotion is a first degree.

[0166] In a possible implementation, the type of emotion expressed by the second behavior is the first type, and the degree of the emotion expressed by the second behavior is lighter than the first degree.

[0167] In a possible implementation, the determination module 701 is also used to, before determining the first emotion information according to the first emotion triggering event, in response to the robot detecting the second emotion triggering event, determine historical emotion information according to the second emotion triggering event, the historical emotion information is used to generate historical control information, the historical control information is used to instruct the robot to perform historical behavior, and the historical behavior is used to express the emotion indicated by the historical emotion information. The determination module determines the first emotion information according to the first emotion triggering event, specifically, determines the first emotion change information according to the first emotion triggering event, the first emotion change information is used to indicate the type and degree of change of the emotion caused by the first emotion triggering event; determines the first emotion information according to the first emotion change information and the historical emotion information.

[0168] In one possible implementation, based on the fact that the type of emotion indicated by the first emotion change information and the type of emotion indicated by the historical emotion information are both emotion types in the first direction, then the first type is the emotion type in the first direction, and the first degree is positively correlated with the amount of change in the emotion indicated by the first emotion change information, the first degree is positively correlated with the degree of emotion indicated by the historical emotion information, and the emotion type in the first direction is a positive emotion type, or a negative emotion type.

[0169] In a possible implementation, the first degree is negatively correlated with a first duration, where the first duration is an interval between a second moment when the robot detects a second emotion triggering event and a first moment when the robot detects a first emotion triggering event.

[0170] In one possible implementation, the emotion type in the first direction is a positive emotion type, and the emotion type in the second direction is a negative emotion type; or, the emotion type in the first direction is a negative emotion type, and the emotion type in the second direction is a positive emotion type; based on the fact that the type of emotion indicated by the first emotion change information is the emotion type in the first direction, the type of emotion indicated by the historical emotion information is the emotion type in the second direction, and the first type is the emotion type in the first direction, then the first degree is positively correlated with the change in the emotion indicated by the first emotion information, and the first degree is negatively correlated with the degree of emotion indicated by the historical emotion information.

[0171] In one possible implementation, the first degree is positively correlated with the first duration, and the first degree is negatively correlated with the first duration, where the first duration is the interval between the second moment when the robot detects the second emotion triggering event and the first moment when the robot detects the first emotion triggering event.

[0172] refer to Figure 7B In a possible implementation, the device further includes an execution module 703, and the execution module 703 is used to: after the generation module 702 generates the first control information according to the first emotion information, execute the first behavior and the second behavior in sequence according to the first control information. Figure 7B The corresponding device may be provided in the robot 110 or the robot system 100 .

[0173] In a possible implementation manner, the computer executable instructions or computer instructions in the embodiments of the present application may also be referred to as application code, which is not specifically limited in the embodiments of the present application.

[0174] The above embodiments may be implemented in whole or in part through software, hardware, firmware or any combination thereof. When implemented by software, they may be implemented in whole or in part in the form of a computer program product.

[0175] The computer program product includes one or more computer instructions. When the computer execution instruction is loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instruction may be stored in a computer-readable storage medium, or transmitted from a computer-readable storage medium to another computer-readable storage medium, for example, the computer instruction may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0176] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable in appropriate circumstances, which is merely a way of distinguishing the objects of the same attributes when describing them in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment. In the present application embodiment, "plurality" refers to two or more.

[0177] In the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0178] In the various embodiments of the present application, various examples are provided for ease of understanding, however, these examples are merely examples and are not intended to be the best implementation of the present application.

[0179] The technical solution provided by the present application is introduced in detail above. The principles and implementation methods of the present application are explained by using specific examples in the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for processing emotional information, characterized in that: include: In response to the robot detecting a first emotion triggering event, determining first emotion information according to the first emotion triggering event; generating first control information according to the first emotion information, the first control information being used to instruct the robot to sequentially perform a first behavior and a second behavior, the first behavior and the second behavior both being used to express emotions, wherein the first behavior is used to express the emotion indicated by the first emotion information, and the second behavior is used to express an emotion that is milder than the emotion indicated by the first emotion information; Wherein, determining the first emotion information according to the first emotion triggering event includes: Determining first emotion change information according to the first emotion triggering event; The first emotion information is determined according to the first emotion change information and the historical emotion margin, the historical emotion margin is determined according to a dissipation equation based on the first duration and the degree of emotion indicated by the historical emotion information, different types of emotions correspond to different one or more parameters in the dissipation equation, the historical emotion information is determined according to a second emotion triggering event, the first duration is the interval between the second moment when the robot detects the second emotion triggering event and the first moment when the robot detects the first emotion triggering event.

2. The method according to claim 1, characterized in that The first emotion triggering event includes at least one of the robot being moved, the robot falling down, the environmental parameters of the robot being worse than preset parameters, the robot's mission failure and the robot's mission success.

3. The method according to claim 1, characterized in that The degree of the second behavior is milder than the degree of the first behavior, and the degree of the first behavior and the second behavior is at least one of amplitude, frequency and volume.

4. The method according to any one of claims 1 to 3, characterized in that The first control information is also used to instruct the robot to perform a third behavior for expressing an initial emotion after performing the second behavior and before detecting the next emotion triggering event, and the initial emotion information for indicating the initial emotion is pre-stored in a storage medium.

5. The method according to claim 4, characterized in that The third behavior is the first behavior for expressing emotions executed by the robot after it is turned on.

6. The method according to any one of claims 1 to 3, characterized in that The first emotion information is used to indicate that the type of emotion is a first type, and the degree of the emotion is a first degree.

7. The method according to claim 6, characterized in that The type of emotion expressed by the second behavior is the first type, and the degree of emotion expressed by the second behavior is lighter than the first degree.

8. The method according to claim 6, characterized in that Before determining the first emotion information according to the first emotion triggering event, the method further includes: In response to the robot detecting the second emotion triggering event, the historical emotion information is determined according to the second emotion triggering event, the historical emotion information is used to generate historical control information, the historical control information is used to instruct the robot to perform historical behavior, and the historical behavior is used to express the emotion indicated by the historical emotion information.

9. The method according to claim 8, characterized in that Based on the fact that the type of emotion indicated by the first emotion change information and the type of emotion indicated by the historical emotion information are both emotion types in the first direction, then the first type is the emotion type in the first direction, and the first degree is positively correlated with the amount of change in the emotion indicated by the first emotion change information, the first degree is positively correlated with the degree of emotion indicated by the historical emotion information, and the emotion type in the first direction is a positive emotion type, or a negative emotion type.

10. The method according to claim 9, characterized in that The first degree is negatively correlated with the first duration.

11. The method according to claim 8, characterized in that The emotion type of the first direction is a positive emotion type, and the emotion type of the second direction is a negative emotion type; Alternatively, the emotion type of the first direction is a negative emotion type, and the emotion type of the second direction is a positive emotion type; Based on the fact that the type of emotion indicated by the first emotion change information is the emotion type in the first direction, the type of emotion indicated by the historical emotion information is the emotion type in the second direction, and the first type is the emotion type in the first direction, then the first degree is positively correlated with the change amount of the emotion indicated by the first emotion information, and the first degree is negatively correlated with the degree of emotion indicated by the historical emotion information.

12. The method according to claim 11, characterized in that The first degree is positively correlated with the first duration.

13. A device for processing emotional information, characterized in that: include: a determination module, configured to determine first emotion information according to a first emotion triggering event detected by the robot; a generating module, configured to generate first control information according to the first emotion information, wherein the first control information is used to instruct the robot to sequentially perform a first behavior and a second behavior, wherein the first behavior and the second behavior are both used to express emotions, wherein the first behavior is used to express the emotion indicated by the first emotion information, and the second behavior is used to express an emotion that is milder than the emotion indicated by the first emotion information; The determination model is specifically used for: Determining first emotion change information according to the first emotion triggering event; The first emotion information is determined according to the first emotion change information and the historical emotion margin, the historical emotion margin is determined according to a dissipation equation based on the first duration and the degree of emotion indicated by the historical emotion information, different types of emotions correspond to different one or more parameters in the dissipation equation, the historical emotion information is determined according to a second emotion triggering event, the first duration is the interval between the second moment when the robot detects the second emotion triggering event and the first moment when the robot detects the first emotion triggering event.

14. The device according to claim 13, characterized in that The first emotion triggering event includes at least one of the robot being moved, the robot falling down, the environmental parameters of the robot being worse than preset parameters, the robot's mission failure and the robot's mission success.

15. The device according to claim 13, characterized in that The degree of the second behavior is milder than the degree of the first behavior, and the degree of the first behavior and the second behavior is at least one of amplitude, frequency and volume.

16. The device according to any one of claims 13 to 15, characterized in that The first control information is also used to instruct the robot to perform a third behavior for expressing an initial emotion after performing the second behavior and before detecting the next emotion triggering event, and the initial emotion information for indicating the initial emotion is pre-stored in a storage medium.

17. The device according to claim 16, characterized in that The third behavior is the first behavior for expressing emotions executed by the robot after it is turned on.

18. The device according to any one of claims 13 to 15, characterized in that The first emotion information is used to indicate that the type of emotion is a first type, and the degree of the emotion is a first degree.

19. The device according to claim 18, characterized in that The type of emotion expressed by the second behavior is the first type, and the degree of emotion expressed by the second behavior is lighter than the first degree.

20. The device according to claim 18, characterized in that The determining module is also used for: Before determining the first emotion information based on the first emotion trigger event, in response to the robot detecting a second emotion trigger event, historical emotion information is determined based on the second emotion trigger event, the historical emotion information is used to generate historical control information, the historical control information is used to instruct the robot to perform historical behavior, and the historical behavior is used to express the emotion indicated by the historical emotion information.

21. The device according to claim 20, characterized in that Based on the fact that the type of emotion indicated by the first emotion change information and the type of emotion indicated by the historical emotion information are both emotion types in the first direction, then the first type is the emotion type in the first direction, and the first degree is positively correlated with the amount of change in the emotion indicated by the first emotion change information, the first degree is positively correlated with the degree of emotion indicated by the historical emotion information, and the emotion type in the first direction is a positive emotion type, or a negative emotion type.

22. The device according to claim 21, characterized in that The first degree is negatively correlated with the first duration.

23. The device according to claim 20, characterized in that The emotion type of the first direction is a positive emotion type, and the emotion type of the second direction is a negative emotion type; Alternatively, the emotion type of the first direction is a negative emotion type, and the emotion type of the second direction is a positive emotion type; Based on the fact that the type of emotion indicated by the first emotion change information is the emotion type in the first direction, the type of emotion indicated by the historical emotion information is the emotion type in the second direction, and the first type is the emotion type in the first direction, then the first degree is positively correlated with the change amount of the emotion indicated by the first emotion information, and the first degree is negatively correlated with the degree of emotion indicated by the historical emotion information.

24. The device according to claim 23, characterized in that The first degree is positively correlated with the first duration.

25. A computer device, characterized in that: The method comprises a processor and a memory, wherein the processor executes the method according to any one of claims 1 to 12 when executing computer instructions stored in the memory.

26. A computer-readable storage medium, characterized in that: The method comprises instructions, which, when executed on a computer, cause the computer to execute the method according to any one of claims 1 to 12.

27. A robot, characterized in that: It includes an input module, an output module, a processor and a memory, wherein the input module is used to detect emotion triggering events, the memory is used to store computer instructions, the processor executes the method as described in any one of claims 1 to 12 when running the computer instructions stored in the memory, and the output module is used to execute the control information generated by the processor.

28. A robot system, characterized in that: This includes robots and servers; The robot is used to detect emotion triggering events and send the detected emotion triggering events to the server; The server is used to execute the method according to any one of claims 1 to 12 according to the emotion triggering event detected by the robot, and send control information to the robot; The robot is also used to execute the control information sent by the server.

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