Robot interaction method and device, electronic device, and storage medium

Abstract

The application discloses a kind of robot interaction method, device, equipment and medium.Therein, the method includes: by detecting input interaction operation information generated by acting on robot input component;According to the input interaction operation information and robot state information, determine the feedback interaction operation information to be used by robot;According to the feedback interaction operation information, control robot feedback component to execute active feedback interaction action.This technical solution solves the problem that people's emotions cannot be intuitively conveyed to the machine through touch point press and other interaction methods, resulting in an unnatural and smooth interaction process, and achieves the beneficial effects of information input and emotional release of the human side in the interaction process through natural and direct operations such as pinching, pressing, rubbing, rubbing, patting and poking.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot interaction method, device, electronic device, and storage medium. Background Technology

[0002] With the continuous development of technology, various types of robots are emerging, especially various bionic robot toys, which are beginning to replace pets in fulfilling their functions.

[0003] However, robots rely heavily on voice for human-computer interaction, which can only convey the purpose but not enough emotion. Their movements are stiff and cannot achieve a realistic biomimetic effect, making it difficult to achieve effective interaction. At the same time, most contact-based interactions use touch screens, touch taps, etc., which cannot directly convey human emotions to the machine, resulting in an unnatural and unsmooth interaction process. Summary of the Invention

[0004] This invention provides a robot interaction method, device, electronic device, and storage medium to achieve information input and emotional expression for the human party during the interaction process through natural and direct operations such as pinching, pressing, kneading, rubbing, patting, and poking.

[0005] According to one aspect of the present invention, a robot interaction method is provided, comprising:

[0006] Detect the input interaction information generated by the robot's input components;

[0007] Based on the input interaction information and the robot's own state information, determine the feedback interaction information that the robot should use;

[0008] Based on the feedback interaction operation information, the robot feedback component is controlled to perform active feedback interaction actions.

[0009] Optionally, the method further includes:

[0010] The robot input component includes at least two deformable pinch-type acquisition sensors, each pinch-type acquisition sensor array is arranged at a preset part of the robot and embedded and fitted with the robot body.

[0011] Optionally, the method further includes:

[0012] The input interaction information is determined by intuitive input interaction actions that can represent the robot's emotional expression. The input interaction actions include at least one of the following: pinching, pressing, kneading, rubbing, patting, and poking.

[0013] Optionally, the method further includes:

[0014] The robot input component is presented through an interactive visual guidance system.

[0015] Optionally, when controlling the robot feedback component to perform an active feedback interaction action based on the feedback interaction operation information, the method further includes:

[0016] The robot's feedback component is controlled to perform passive motion actions, which are then combined with the active feedback interaction actions to smoothly display the interactive actions.

[0017] The passive motion actions include preset biomimetic actions that are passively performed based on the magnitude and direction of the external force corresponding to the input interaction actions acting on the robot's input components, in order to suppress and counteract the external force and adjust the robot's motion balance.

[0018] Optionally, the method further includes:

[0019] When applied to the robot input component, the robot input component generates preset tactile feedback that matches the robot.

[0020] The preset tactile feedback is determined based on the material configuration of the robot input components.

[0021] Optionally, the preset tactile feedback includes filling force feedback, mechanical force feedback, and surface tactile feedback; wherein, surface tactile feedback is determined by the tactile sensation of the surface material of the robot input component, and filling force feedback is determined by the pressure, temperature change, and vibration feedback generated by the filling material.

[0022] Optionally, determining the feedback interaction information to be used by the robot based on the input interaction information and the robot's own state information includes:

[0023] Based on the input interaction information and the robot's own state information, the bionic emotional information that the robot wants to express is generated, so as to obtain the robot's bionic emotional changes.

[0024] Based on the robot's biomimetic emotional changes, the input interaction information, and the robot's own state information, the feedback interaction information to be used by the robot is determined.

[0025] Optionally, when controlling the robot feedback component to perform an active feedback interaction action based on the feedback interaction operation information, the method further includes:

[0026] Based on the biomimetic emotional information that the robot wants to express, control the robot to adjust its biomimetic emotions.

[0027] Optionally, the step of generating the biomimetic emotion information to be expressed by the robot based on the input interaction operation information and the robot's own state information includes:

[0028] The input interaction operation information collected by the robot input component is parsed to obtain the input interaction action attribute information acting on the robot input component; the input interaction action attribute information includes the magnitude of the external force, the direction of the external force, and the duration of the external force.

[0029] According to another aspect of the present invention, a robot interaction device is provided, comprising:

[0030] The detection module is used to detect the input interaction information generated by the robot's input components;

[0031] The determination module is used to determine the feedback interaction information to be used by the robot based on the input interaction operation information and the robot's own state information;

[0032] The execution module is used to control the robot feedback component to perform active feedback interaction actions based on the feedback interaction operation information.

[0033] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0034] At least one processor; and

[0035] A memory communicatively connected to the at least one processor; wherein,

[0036] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the robot interaction method according to any embodiment of the present invention.

[0037] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the robot interaction method according to any embodiment of the present invention.

[0038] The technical solution of this invention detects input interaction information generated by the robot's input component; determines the feedback interaction information to be used by the robot based on the input interaction information and the robot's own state information; and controls the robot's feedback component to execute active feedback interaction actions based on the feedback interaction information. This technical solution solves the problem that touch-based interactions cannot intuitively convey human emotions to the machine, resulting in an unnatural and unsmooth interaction process. It achieves the beneficial effect of allowing for information input and emotional expression on the human side during the interaction process through natural and direct operations such as pinching, pressing, kneading, rubbing, patting, and poking.

[0039] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a flowchart of a robot interaction method provided according to Embodiment 1 of the present invention;

[0042] Figure 2 A flowchart illustrating the human-computer interaction process is provided.

[0043] Figure 3 This is a flowchart of a robot interaction method provided in Embodiment 2 of the present invention;

[0044] Figure 4 This is a schematic diagram of the structure of a robot interaction device provided in Embodiment 3 of the present invention;

[0045] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. Detailed Implementation

[0046] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0048] Example 1

[0049] Figure 1 This is a flowchart of a robot interaction method provided in Embodiment 1 of the present invention. This embodiment is applicable to human-computer interaction with robots. The method can be executed by a robot interaction device, which can be implemented in hardware and / or software. This robot interaction device can be configured in any electronic device with network communication capabilities. Figure 1 As shown, the method includes:

[0050] S110, Detect the input interaction information generated by the robot input component.

[0051] The robot can be a machine that mimics the external shape or certain functions of organisms in nature, performing tasks based on biological characteristics, such as robot dogs or robot cats. The input component can be a sensor device that captures input interaction information that characterizes the robot's emotional expression. Input interaction information can be detected by touching preset buttons, touching preset areas of the screen, or by sensors. Input interaction information can be action execution information input to the robot through the input component. For example, input interaction information could be an instruction for a logistics robot to retrieve a package.

[0052] In this embodiment, optionally, the robot input component includes at least two deformable pinch-type acquisition sensors, each pinch-type acquisition sensor array being arranged at a preset part of the robot and embedded and fitted with the robot body.

[0053] The deformable pinch-type sensor can be a detection device for collecting input interaction information, such as contact temperature, contact area, and force direction. The array layout involves arranging the sensors according to a preset number of rows and columns. The preset location can be determined based on the recorded positions of historical input interaction information from the robot. For example, when interacting with a robot dog, its head and back are often touched; therefore, the preset location can be determined based on the number of times each part of the robot dog is touched, i.e., the number of times interaction information is input. Embedding and fitting involves embedding the deformable pinch-type sensor into the robot's surface, configuring it to fit the robot's skin.

[0054] Optionally, the robot input component may include a deformable pinch-type sensor, which is covered by a deformable outer casing. The deformable outer casing collects intuitive input interactions that represent the robot's emotional expressions. In this embodiment, by embedding the deformable pinch-type sensor into the robot body, the problem of inaccurate user behavior detection due to insufficient pressure and touch duration when collecting input interaction information via buttons and touchscreens is solved. Furthermore, it accurately collects data from the pinch-type sensor in an intuitive way that aligns with the user's input, further determining the user's pinching, pressing, kneading, rubbing, patting, and poking input interactions. Simultaneously, by deploying the various pinch-type sensor arrays at preset locations on the robot, an intuitive and emotionally resonant input method is provided, facilitating emotional expression and more accurate and sensitive collection of input interaction information.

[0055] In this embodiment, optionally, the input interaction operation information is determined by an input interaction action that can represent the robot's emotional expression and is intuitive. The input interaction action includes at least one of the following: pinching, pressing, kneading, rubbing, patting, and poking.

[0056] The robot's emotional expression can include emotions such as happiness and anger. The input interaction information is determined by intuitive input actions that represent the robot's emotional expression, such as the manner and force of the input action. For example, gently rubbing the robot dog's head could represent happiness, while forcefully squeezing its back could represent anger. In this embodiment, natural and direct operations such as pinching, pressing, kneading, rubbing, patting, and poking are used to determine the user's information input and emotional expression during the interaction. This solves the problem that buttons and touchscreens cannot intuitively convey the user's emotions to the robot, enabling the determination of the user's emotional input during the interaction by collecting input interaction information, resulting in a more natural and fluid interaction process.

[0057] In this embodiment, optionally, the robot input component is presented through an interactive visual guidance form conveyed by its appearance.

[0058] The interactive visual guidance conveyed through appearance can be achieved by setting the robot's exterior color, material, etc., to subconsciously guide the user to touch the robot's input components to input interactive information. For example, if the robot dog's head and back are made of soft silicone and its limbs are made of mechanical alloy, the user will unconsciously be more inclined to touch the robot dog's head and back than its limbs based on the visual information conveyed by the robot dog's appearance. In this embodiment, presenting the input components through an interactive visual guidance form, causing the user to unconsciously touch the robot's input components, can improve the efficiency and accuracy of collecting interactive information.

[0059] S120. Based on the input interaction operation information and the robot's own state information, determine the feedback interaction operation information to be used by the robot.

[0060] The robot's own state information can include its own emotional information, remaining battery power, etc. This emotional information can be automatically generated based on environmental information, which can be natural or artificial. For example, a robot dog might be equipped with sound sensors, temperature sensors, and cameras to capture images. It collects ambient sound data, temperature data, and video data, and uses this data to determine its simulated emotional data, which is then used as its own emotional information. The feedback interaction information used can be interactive information that is actively fed back from the input interaction information and the robot's own state information.

[0061] In this embodiment, optionally, determining the feedback interaction information to be used by the robot based on the input interaction operation information and the robot's own state information includes: generating biomimetic emotion information to be expressed by the robot based on the input interaction operation information and the robot's own state information to obtain the robot's biomimetic emotion change; and determining the feedback interaction information to be used by the robot based on the robot's biomimetic emotion change, the input interaction operation information, and the robot's own state information.

[0062] The generation of the biomimetic emotional information to be expressed by the robot based on the input interaction information and the robot's own state information can be determined by considering user input of interactive actions such as pinching, pressing, kneading, rubbing, patting, and poking, as well as the robot's battery level. For example, if the robot dog is in a sunny environment with sufficient battery power, it will express a more pleasant emotion when the user inputs a gentle kneading interaction. Further, based on the more pleasant emotion, the user's gentle kneading interaction, and the robot dog's sunny and fully charged state, a nodding and smiling feedback interaction can be selected. Optionally, in this embodiment, feature information of the robot's biomimetic emotional changes, input interaction information, and the robot's own state information can be extracted, and a corresponding feature value can be determined based on this feature information. A pre-set correlation between the feature value range and the feedback interaction information to be used by the robot can be established, and the feedback interaction information to be used by the robot can be determined based on the feature value falling within the specified range. In this embodiment, determining the feedback interaction information to be used by the robot through its biomimetic emotional changes, input interaction information, and its own state information can help the robot provide reasonable proactive feedback and complete the interaction loop.

[0063] S130. Control the robot feedback component to perform active feedback interaction actions based on the feedback interaction operation information.

[0064] The robot feedback component can be a part that receives feedback interaction information and executes proactive feedback interaction actions. Examples include a facial display screen component switching facial expressions, mechanical movement components at the limbs and tail rotating in place, wagging the tail, and a light component at the eye position switching light colors. Proactive feedback interaction actions can be proactive feedback behaviors determined by predetermined business logic based on the feedback interaction information the robot intends to use.

[0065] In this embodiment, optionally, when controlling the robot feedback component to perform active feedback interaction actions based on the feedback interaction operation information, it further includes: controlling the robot to perform bionic emotion adjustment based on the bionic emotion information that the robot wants to express.

[0066] One approach is to control the robot's biomimetic emotion adjustment based on the biomimetic emotion information it intends to express. This involves adjusting the robot's emotion from its own state information to the emotion generated after receiving input interaction information. For example, when a robot dog is in a sunny environment, its natural emotion is happiness. If a user vigorously rubs the robot dog's head, the robot dog will become angry, thus changing its emotion from happiness to anger. In this embodiment, controlling the robot's biomimetic emotion adjustment based on the information it intends to express allows for appropriate proactive feedback based on changes in the robot's biomimetic emotion, simulating real-life animal interaction scenarios to complete the interaction with the robot.

[0067] In this embodiment, optionally, the biomimetic emotion information to be expressed by the robot is generated based on the input interaction operation information and the robot's own state information, including: parsing the input interaction operation information collected by the robot's input component to obtain the input interaction action attribute information acting on the robot's input component; the input interaction action attribute information includes the magnitude of the external force, the direction of the external force, and the duration of the external force.

[0068] The parsing of the input interaction information collected by the robot input component can be achieved by analyzing the direction and magnitude of the force executing the input interaction action, based on data collected from various deformable pinch-type sensors, to determine the type of input interaction action and its emotional expression to the robot. Alternatively, it can be achieved by directly merging the external forces collected by various deformable pinch-type sensors to generate information such as the direction and magnitude of the force executing the input interaction action, thereby determining the type of input interaction action and its emotional expression to the robot. In this embodiment, by parsing the input interaction information collected by the robot input component, attribute information of the input interaction action acting on the robot input component is obtained. Based on this attribute information, human emotions can be conveyed to the machine, making the interaction process natural and smooth.

[0069] Figure 2 A flowchart illustrating human-computer interaction is provided. For example... Figure 2 As shown, the human-computer interaction process includes:

[0070] Users apply input operations such as pinching, pressing, kneading, rubbing, patting, and poking through the input interaction component C1 (pinch unit) to interact with the robot. Tactile feedback is obtained based on the interaction of forces and the material configuration of the robot's input components. The robot's motion module C6 may dynamically adjust its balance due to the magnitude and direction of external forces, resulting in posture adjustments. Users receive reasonable and predictable action feedback through visual feedback. Simultaneously, the robot's perception module analyzes the force information reported by the pinch unit, converting it into describable user interaction behavior, which is then transmitted to the business logic module. According to established business rules, user interaction behavior is mapped to proactive feedback behavior, which is then presented through the expression module. Users complete the human-computer interaction process by perceiving the behaviors presented by the robot's expression module.

[0071] The established business rules could be as follows: The C2 perception module detects the force applied by the user to the C1 pinch unit, converts the behavioral information into data, and then passes it to the C5 behavior selection module. The C5 behavior selection module, combined with the current state information provided by the C3 self-state judgment module, determines the impact of the interaction on the emotion and notifies the C4 emotion management module to implement corresponding change logic. The C5 behavior selection module, by integrating information from the C2 perception module, the C3 self-state judgment module, and the C4 emotion management module, selects the proactive feedback method: based on the intensity of the information from the C2 perception module, it selects the degree of machine cooperation; based on the current emotional state from the C4 emotion management module, it selects the expression method.

[0072] The technical solution of this invention detects input interaction information generated by the robot's input component; determines the feedback interaction information to be used by the robot based on the input interaction information and the robot's own state information; and controls the robot's feedback component to execute active feedback interaction actions based on the feedback interaction information. This technical solution solves the problem that touch-based interactions cannot intuitively convey human emotions to the machine, resulting in an unnatural and unsmooth interaction process. It achieves the beneficial effect of allowing for information input and emotional expression on the human side during the interaction process through natural and direct operations such as pinching, pressing, kneading, rubbing, patting, and poking.

[0073] Example 2

[0074] Figure 3 This is a flowchart of a robot interaction method provided in Embodiment 2 of the present invention. This embodiment is based on the above embodiment but with optimizations. Specifically, the optimizations are as follows: when acting on the robot input component, the robot input component generates preset tactile feedback matching the robot to the outside; when controlling the robot feedback component to perform an active feedback interaction action according to the feedback interaction operation information, the robot feedback component is controlled to perform a passive motion action, so as to combine with the active feedback interaction action to smoothly display the interaction action. Figure 2As shown, the method includes:

[0075] S310, Detect the input interaction information generated by the robot input component.

[0076] S320. When acting on the robot input component, the robot input component generates a preset tactile feedback that matches the robot to the outside; wherein the preset tactile feedback is determined based on the material configuration of the robot input component.

[0077] The preset tactile feedback can be information about the reaction caused by contact, such as temperature and softness. Determining the preset tactile feedback based on the material configuration of the robot input component can be done by determining the tactile feedback information based on the texture of the input component material. In this embodiment, generating preset tactile feedback that matches the robot's material configuration can provide users with a pleasant interactive experience.

[0078] In this embodiment, optionally, the preset tactile feedback includes filling force feedback, mechanical force feedback, and surface tactile feedback. Surface tactile feedback is determined by the tactile sensation of the surface material of the robot input component. Filling force feedback is determined by the pressure, temperature changes, and vibration feedback generated by the filling material. The internal filling material may be gas, colloid, liquid, soft material, elastic material, etc. Mechanical force feedback is determined by the force applied to the robot input component. In this embodiment, determining the preset tactile feedback through the filling force feedback, mechanical force feedback, and surface tactile feedback of the input component enriches the tactile feedback information and provides better sensory feedback.

[0079] S330. Based on the input interaction operation information and the robot's own state information, determine the feedback interaction operation information to be used by the robot.

[0080] S340. Control the robot feedback component to perform active feedback interaction actions based on the feedback interaction operation information.

[0081] S350. When controlling the robot feedback component to perform active feedback interaction actions based on the feedback interaction operation information, the robot feedback component is controlled to perform passive motion actions to combine with the active feedback interaction actions for a smooth display of the interaction actions; wherein, the passive motion actions include preset biomimetic actions passively performed based on the magnitude and direction of the external force corresponding to the input interaction actions acting on the robot input component, which are used to suppress and offset the external force to achieve dynamic balance.

[0082] In this embodiment, passive motion can occur when an external force disrupts the robot's current stable state. The passive motion system adjusts the robot's joints to restore stability and achieve dynamic balance. For example, when a user pushes a robot dog, a conventional robot dog might fall over or move forward; in this embodiment, due to the passive motion of the feedback component, the robot dog maintains a stable standing position. In this embodiment, by controlling the robot's feedback component to perform passive motion while simultaneously controlling it to perform active feedback interaction based on the feedback interaction information, the robot can achieve a more realistic biomimetic effect. Combining passive motion with active feedback interaction makes the interaction smoother and the human-computer interaction process more natural and fluid.

[0083] This solution determines preset tactile feedback by inputting the filling force feedback, mechanical force feedback, and surface tactile sensation of the component. This enriches the tactile feedback information, providing a better sensory experience and a more pleasant interactive experience for the user. By controlling the robot's feedback component to perform active feedback interaction actions based on the feedback interaction operation information, and by controlling the robot's feedback component to perform passive motion actions in combination with the active feedback interaction actions, the robot can have a more realistic biomimetic effect, the interaction actions are displayed more smoothly, and the human-computer interaction process is more natural and fluid.

[0084] Example 3

[0085] Figure 4 This is a structural schematic diagram of a robot interaction device provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes:

[0086] Detection module 410 is used to detect input interaction operation information generated by the robot input component;

[0087] The determining module 420 is used to determine the feedback interaction information to be used by the robot based on the input interaction operation information and the robot's own state information;

[0088] The execution module 430 is used to control the robot feedback component to perform active feedback interaction actions based on the feedback interaction operation information.

[0089] Optionally, the device includes:

[0090] A deformable pinch-type acquisition sensor configuration module is used for robot input components, including at least two deformable pinch-type acquisition sensors. Each pinch-type acquisition sensor array is arranged at a preset part of the robot and embedded and fitted to the robot body.

[0091] Optionally, the device further includes:

[0092] The input interaction operation information determination module is used to determine input interaction operation information through input interaction actions that can represent the robot's emotional expression and are intuitive. The input interaction actions include at least one of the following: pinching, pressing, kneading, rubbing, patting, and poking.

[0093] Optionally, the device further includes:

[0094] The visual guidance form display module is used to display the robot input component through an interactive visual guidance form conveyed by its appearance.

[0095] Optionally, the device further includes:

[0096] A passive motion module is used to control the robot feedback component to perform passive motion actions when the robot feedback component performs active feedback interactive actions based on the feedback interactive operation information, so as to combine with the active feedback interactive actions to smoothly display the interactive actions; wherein, the passive motion actions include preset biomimetic actions passively performed based on the magnitude and direction of the external force corresponding to the input interactive actions acting on the robot input component, which are used to suppress and cancel the external force to adjust the robot's motion balance.

[0097] Optionally, the device further includes:

[0098] A preset tactile feedback module is used to generate preset tactile feedback matching the robot to the outside through the robot input component when it is applied to the robot input component; wherein, the preset tactile feedback is determined based on the material configuration of the robot input component.

[0099] Optionally, the preset haptic feedback module specifically includes:

[0100] The system includes a filling force feedback submodule, a mechanical force feedback submodule, and a surface tactile feedback submodule. The surface tactile feedback is determined by the tactile sensation of the surface material of the robot input component, while the filling force feedback is determined by the pressure, temperature changes, and vibration feedback generated by the filling material.

[0101] Optionally, the determining module includes:

[0102] The biomimetic emotion change submodule is used to generate the biomimetic emotion information that the robot wants to express based on the input interaction operation information and the robot's own state information, so as to obtain the robot's biomimetic emotion change.

[0103] The feedback interaction operation information determination submodule is used to determine the feedback interaction operation information to be used by the robot based on the robot's bionic emotional changes, the input interaction operation information, and the robot's own state information.

[0104] Optionally, the feedback interactive operation information determination submodule includes:

[0105] The biomimetic emotion adjustment unit is used to control the robot to perform biomimetic emotion adjustment based on the biomimetic emotion information that the robot wants to express when the robot feedback component performs active feedback interaction actions according to the feedback interaction operation information.

[0106] Optionally, the feedback interaction operation information determination submodule further includes:

[0107] The interactive operation information parsing unit is used to parse the input interactive operation information collected by the robot input component to obtain the input interactive action attribute information acting on the robot input component; the input interactive action attribute information includes the magnitude of the external force, the direction of the external force, and the duration of the external force.

[0108] The robot interaction device provided in the embodiments of the present invention can execute the robot interaction method provided in any of the embodiments of the present invention, and has the corresponding functions and beneficial effects of executing the robot interaction method. For details, please refer to the relevant operations of the robot interaction method in the foregoing embodiments.

[0109] Example 4

[0110] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0111] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0112] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0113] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as methods for robot interaction.

[0114] In some embodiments, the method robot interaction may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method robot interaction described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the method robot interaction by any other suitable means (e.g., by means of firmware).

[0115] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0116] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0117] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0118] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0119] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0120] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0121] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0122] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A robot interaction method, characterized in that, Applied to robots, the method includes: Detect the input interaction information generated by the robot's input components; Based on the input interaction information and the robot's own state information, determine the feedback interaction information that the robot should use; Based on the feedback interaction operation information, the robot feedback component is controlled to perform active feedback interaction actions; The step of determining the feedback interaction information to be used by the robot based on the input interaction information and the robot's own state information includes: Based on the input interaction information and the robot's own state information, the bionic emotional information that the robot wants to express is generated, so as to obtain the robot's bionic emotional changes. Based on the robot's biomimetic emotional changes, the input interaction information, and the robot's own state information, the feedback interaction information to be used by the robot is determined. The robot's own status information includes the robot's own emotional information and remaining battery power information. The robot's own emotional information is automatically generated based on environmental information. The robot input component includes at least two deformable pinch-type acquisition sensors. Each pinch-type acquisition sensor array is arranged at a preset part of the robot and embedded in the robot body. The deformable pinch-type acquisition sensors are covered by a deformable outer casing. The input interaction actions that can represent the robot's emotional expression can be represented through the deformable outer casing. The process of controlling the robot feedback component to perform active feedback interaction actions based on the feedback interaction operation information also includes: The robot's feedback component is controlled to perform passive motion actions, which are then combined with the active feedback interaction actions to smoothly display the interactive actions. The passive motion actions include preset biomimetic actions that are passively performed based on the magnitude and direction of the external force corresponding to the input interaction actions acting on the robot's input components, in order to suppress and counteract the external force and adjust the robot's motion balance.

2. The method according to claim 1, characterized in that, The input interaction information is determined by intuitive input interaction actions that can represent the robot's emotional expression. The input interaction actions include at least one of the following: pinching, pressing, kneading, rubbing, patting, and poking.

3. The method according to claim 1, characterized in that, The robot input component is presented through an interactive visual guidance system.

4. The method according to claim 1, characterized in that, The method further includes: When applied to the robot input component, the robot input component generates preset tactile feedback that matches the robot. The preset tactile feedback is determined based on the material configuration of the robot input components.

5. The method according to claim 4, characterized in that, The preset tactile feedback includes filling force feedback, mechanical force feedback, and surface tactile feedback; among which, surface tactile feedback is determined by the tactile sensation of the surface material of the robot input component, and filling force feedback is determined by the pressure, temperature change, and vibration feedback generated by the filling material.

6. The method according to claim 1, characterized in that, When controlling the robot feedback component to perform active feedback interaction actions based on the feedback interaction operation information, the method further includes: Based on the biomimetic emotional information that the robot wants to express, control the robot to adjust its biomimetic emotions.

7. The method according to claim 1, characterized in that, Based on the input interaction information and the robot's own state information, the biomimetic emotion information to be expressed by the robot is generated, including: The input interaction operation information collected by the robot input component is parsed to obtain the input interaction action attribute information acting on the robot input component; the input interaction action attribute information includes the magnitude of the external force, the direction of the external force, and the duration of the external force.

8. A robot interaction device, characterized in that, The device includes: The detection module is used to detect the input interaction information generated by the robot's input components; The determination module is used to determine the feedback interaction information to be used by the robot based on the input interaction operation information and the robot's own state information; The execution module is used to control the robot feedback component to perform active feedback interaction actions based on the feedback interaction operation information; The determining module includes: The biomimetic emotion change submodule is used to generate the biomimetic emotion information that the robot wants to express based on the input interaction operation information and the robot's own state information, so as to obtain the robot's biomimetic emotion change. The feedback interaction operation information determination submodule is used to determine the feedback interaction operation information to be used by the robot based on the robot's bionic emotional changes, the input interaction operation information and the robot's own state information. The robot's own status information includes the robot's own emotional information and remaining battery power information. The robot's own emotional information is automatically generated based on environmental information. The device includes: A deformable pinch-type acquisition sensor configuration module is used for robot input components, including at least two deformable pinch-type acquisition sensors. Each pinch-type acquisition sensor array is arranged at a preset part of the robot and embedded and attached to the robot body. The deformable pinch-type acquisition sensors are covered by a deformable outer casing. The input interaction actions that can be represented by the robot's emotional expression can be intuitively represented through the deformable outer casing. The device further includes: The passive motion module is used to control the robot feedback component to perform passive motion actions when the robot feedback component performs active feedback interaction actions based on the feedback interaction operation information, so as to combine with the active feedback interaction actions to smoothly display the interaction actions. The passive motion actions include preset biomimetic actions that are passively performed based on the magnitude and direction of the external force corresponding to the input interaction actions acting on the robot's input components, in order to suppress and counteract the external force and adjust the robot's motion balance.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the robot interaction method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the robot interaction method according to any one of claims 1-7.

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