A robot game method, device and computing device

Abstract

The present invention relates to the technical field of artificial intelligence devices, and particularly relates to a robot game method, device and computing device. The robot game method includes: acquiring an image including a chasing object; processing the image through a vision algorithm to determine the throwing direction of the chasing object; and controlling the robot to move in the throwing direction. The present invention solves the problem of poor interactivity of existing robots.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence equipment technology, and in particular to a robot game method, device and computing equipment. Background Art

[0002] With the development of artificial intelligence technology, robots have begun to enter family scenes, especially robots that have the role of child education and companionship, which are highly sought after by parents and the market. However, existing robots are less interesting and have poor interactivity with users. Summary of the invention

[0003] In order to solve the problem of poor interactivity of existing robots, the present invention provides a robot game method, device and computing equipment.

[0004] In a first aspect, a robot game method is provided, comprising: acquiring an image including a chasing object; processing the image through a visual algorithm to determine a throwing direction of the chasing object; and controlling a robot to move in the throwing direction.

[0005] In combination with the first aspect, in certain implementations of the first aspect, the image is processed by a visual algorithm to determine the initial speed of the chasing object, and the landing position of the chasing object is predicted based on the throwing direction and the initial speed; controlling the robot to move in the throwing direction specifically includes: controlling the robot to move toward the landing position.

[0006] In combination with the first aspect, in certain implementations of the first aspect, after controlling the robot to move in the throwing direction, it also includes: obtaining a position signal of the chasing object; determining the real-time position of the chasing object based on the position signal; and controlling the robot to move to the real-time position.

[0007] In combination with the first aspect, in some implementations of the first aspect, the location signal is at least one of a sound signal, a short-range communication signal, and an electromagnetic signal actively emitted by the pursuit object.

[0008] In combination with the first aspect, in some implementations of the first aspect, a marking layer is provided on the surface of the pursuit object, the position signal is a detection signal reflected by the marking layer, and the detection signal is emitted by the device.

[0009] In combination with the first aspect, in some implementations of the first aspect, after controlling the robot to move in the throwing direction, the method further includes controlling the robot to perform a preset action.

[0010] In combination with the first aspect, in some implementations of the first aspect, the preset action is at least one of a two-round standing action, a three-round standing action, and a four-round standing action.

[0011] In combination with the first aspect, in certain implementations of the first aspect, the preset action is to carry the pursued object to a preset position.

[0012] In a second aspect, a robot game device is provided, including: a detection module for acquiring an image including a pursued object; a processing module for processing the image through a vision algorithm to determine the throwing direction of the pursued object; and a control module for controlling the robot to move in the throwing direction.

[0013] In a third aspect, a computing device is provided, including: one or more processors; one or more memories; and one or more computer programs, where the one or more computer programs are stored in the one or more memories, and the one or more computer programs include instructions that, when executed by the one or more processors, cause the above-mentioned device to execute the method in the above-mentioned first aspect and any possible implementation in the first aspect.

[0014] Compared with the prior art, a robot game method, device, and computing device provided by the present invention have the following beneficial effects: By processing an image containing a pursued object through a vision algorithm, determining the throwing direction of the pursued object, and controlling the robot to move in the throwing direction, when the pursued object disappears from the robot's field of vision, the robot can accurately judge the movement direction of the pursued object and move towards the pursued object. Compared with the prior art, the robot game method provided by the present invention has better interactivity. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic structural diagram of a robot component provided by an embodiment of the present invention.

[0016] Figure 2 It is a schematic flowchart of a robot game method provided by an embodiment of the present invention.

[0017] Figure 3 It is a schematic structural diagram of a robot game system provided by an embodiment of the present invention.

[0018] Figure 4 It is a partial schematic structural diagram of a robot component provided by an embodiment of the present invention.

[0019] Figure 5 A schematic diagram of the prone posture of a robot provided by an embodiment of the present invention.

[0020] Figure 6 A schematic diagram of the standing posture of a robot provided by an embodiment of the present invention Figure 1 .

[0021] Figure 7 A schematic diagram of the standing posture of a robot provided by an embodiment of the present invention Figure 2 .

[0022] Figure 8 Schematic diagram of the standing posture of the robot provided by the embodiment of the present invention Figure 3 .

[0023] Figure 9 Schematic diagram of the angry expression posture of the robot provided by the embodiment of the present invention.

[0024] Figure 10 Schematic diagram of the focused expression posture of the robot provided by the embodiment of the present invention.

[0025] Figure 11 Schematic diagram of the anxious expression posture of the robot provided by the embodiment of the present invention.

[0026] Figure 12 Schematic diagram of the excited expression posture of the robot provided by the embodiment of the present invention.

[0027] Figure 13 Schematic diagram of the cautious expression posture of the robot provided by the embodiment of the present invention.

[0028] Figure 14 Is a schematic diagram of the structure of the computer device provided by the embodiment of the present invention.

[0029] Explanation of the attached drawing reference numerals:

[0030] 2. Robot game system; 3. Computer device;

[0031] 21. Robot; 22. Chase object; 31. Memory; 32. Processor; 33. Computer program;

[0032] 211. First positioning module; 212. Control module; 213. Driving module; 214. Trunk module; 215. Sound module; 216. Display; 221. Second positioning module;

[0033] 2111. Signal sending module; 2112. Visual recognition module; 2113. Signal receiving module; 2130. Leg component; 2131. First leg component; 2132. Second leg component; 2211. Recognition layer. Detailed implementation manners

[0034] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] In the embodiments provided by the present invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0036] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present invention. Therefore, the "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0037] In various embodiments of the present invention, it should be understood that the magnitude of the serial numbers of the above processes does not necessarily mean the inevitable sequence of execution. The execution sequence of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0038] The flowcharts and block diagrams in the drawings of the present invention illustrate the possible architectures, functions and operations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may also occur in a different order than marked in the drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, which is determined based on the functions involved. It should be particularly noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0039] Please combine Figure 1 and Figure 3The present invention provides a robot game system 2, which includes a robot 21 and a chasing object 22 corresponding to the robot 21; the robot 21 includes a control module 212, a driving module 213, and a first positioning module 211 corresponding to the chasing object 22; the control module 212 is electrically connected to the first positioning module 211 and the driving module 213 respectively; the robot 21 can obtain the position information of the chasing object 22 through the cooperation between the chasing object 22 and the first positioning module 211; the control module 212 controls the driving module 213 according to the position information to make the robot 21 approach the chasing object 22 and perform a preset action.

[0040] It can be understood that the first positioning module 211 in the embodiment of the present invention includes a signal sending module 2111, a visual recognition module 2112 and a signal receiving module 2113. The signal sending module 2111, the visual recognition module 2112 and the signal receiving module 2113 are all electrically connected to the control module 212; the chasing object 22 and the first positioning module 211 can cooperate with each other, so that the robot 21 can obtain the position information of the chasing object 22, and approach the chasing object 22 to perform a preset action, which increases the fun of the robot 21. For example, the visual recognition module 2112 can be any one of a visual sensor, an optical lens or a camera. The visual recognition module 2112 shoots the chasing object 22 and transmits the captured image information to the control module 212 electrically connected to the visual sensor. The control module 212 analyzes the image information and obtains the position information of the chasing object 22, and then substitutes the position information into the preset algorithm and plans the path, and finally controls the driving module 213 so that the robot 21 approaches the chasing object 22 according to the planned path.

[0041] It should be noted that the preset algorithm in the embodiment of the present invention can be any one of the Dijkstra algorithm, the RRT algorithm or the BUG1 algorithm. Among them, the BUG1 algorithm is: initially, if no obstacle is detected, the robot 21 will go straight to the target until it reaches the target point or encounters an obstacle. When encountering an obstacle, the current position is recorded. Then the robot 21 circles the obstacle until it arrives again, finds the point closest to the target on the circling route, and moves to this point along the obstacle boundary. Subsequently, the straight line is updated, and the robot 21 continues to move toward the target along the straight line. If the obstacle is encountered again while moving along this straight line, the robot 21 cannot reach the target point. Otherwise, the algorithm continues to loop until the robot 21 reaches the target point or the planner believes that the robot cannot reach the target point.

[0042] See also Figure 1, embodiments of the present invention further provide a chasing object 22. A second positioning module 221 capable of emitting the positioning signal is provided on the chasing object 22. An identification layer 2211 capable of reflecting the detection signal sent by the signal sending module 2111 is provided on the chasing object 22. The identification layer 2211 is any one or a combination of a color coating, a metal coating, or a stripe layer. Specifically, the material of the metal coating can be any one of aluminum, gold, or silver. The stripe layer refers to a preset identification code engraved on the surface of the chasing object 22. The color coating refers to coating a preset color on the surface of the chasing object 22, and the coated color can be a combination of one or more of red, yellow, blue, green, cyan, purple, and white. Preferably, the identification layer 2211 is a combination of a color coating, a metal coating, or a stripe layer. By combining the color coating, the metal coating, or the stripe layer, the error tolerance rate of the signal sending module 2111 for identification is improved. The variety of types of the identification layer 2211 makes it easier for the robot 21 to identify the chasing object 22. The signal sending module 2111 will send a detection signal, and the identification layer 2211 provided on the chasing object 22 can reflect the detection signal emitted by the signal sending module 2111. The reflected detection signal is received by the signal receiving module 2113. The signal receiving module 2113 transmits the reflected detection signal to the control module 212 through an electrical connection. The control module 212 analyzes the detection signal and obtains the position information of the chasing object 22. The control module 212 then substitutes the position information into a preset algorithm and plans a path. Finally, the control module 212 controls the driving module 213 to make the robot 21 approach the chasing object 22 according to the planned path. Among them, the signal sending module 2111 can be an ultrasonic radar or a millimeter-wave radar. By sending electromagnetic waves to the surface of the chasing object 22, and the identification layer 2211 can reflect the electromagnetic waves, and the signal receiving module 2113 receives the reflected electromagnetic waves to locate the position of the chasing object 22. In addition, the signal sending module 2111 can also be a non-visible light emitting device, which emits non-visible light with a specific frequency. The frequency range of the non-visible light is greater than 760 MHz or less than 400 MHz. The frequency range of the non-visible light can be 200 - 400 MHz, 100 - 300 MHz, 800 - 1000 MHz, or 900 - 1000 MHz, and is received by the signal receiving module 2113 after being reflected by the identification layer 2211.

[0043] As another variation, the second positioning module 221 can send a positioning signal. The signal receiving module 2113 receives the positioning signal sent by the second positioning module 221 and transmits it to the control module 212. The control module 212 analyzes the positioning signal and obtains the position information of the pursued object 22. The control module 212 then substitutes the position information into a preset algorithm and plans a path. Finally, the control drives the module 213 to make the robot 21 approach the pursued object 22 along the planned path. Optionally, the positioning signal can be non-visible light, including ultraviolet light, infrared light, or far-infrared light, etc. Preferably, the wavelength range of the non-visible light is less than 400 nanometers or greater than 760 nanometers. The wavelength range of the non-visible light is 200 - 400 nanometers, 100 - 300 nanometers, or 800 - 1000 nanometers

[0044] Please refer to Figure 1 , the robot 21 includes a torso module 214, and the torso module 214 and the drive module 213 are rotatably connected. It can be understood that the torso module 214 can rotate relative to the drive module 213, increasing the flexibility of the torso module 214. Further improving the richness and stability of the actions of the robot 21.

[0045] Furthermore, the robot 21 also includes a sound module 215 electrically connected to the control module 212; the control module 212 can control the sound module 215 to emit sounds. It should be understood that the control module 212 can control the sound module 215 to emit sounds. For example, when the user and the robot 21 are playing a game interactively, the sound module 215 can emit a prompt sound to enter the game, thus reminding the user that the game has started. Also, when the robot 21 and the user are interacting, the sound module 215 can emit some specific sounds, such as "loud laughter" or "sad crying", etc. That is, through the sound module 215, the robot 21 can actively interact with the user, increasing the playability and functionality of the robot 21. It should be noted that the number of sound modules 215 is at least one. The position where the sound module 215 is set is not limited. It can be set on the torso module 214 or the drive module 213, or part of it can be set on the torso module 214 and part on the drive module 213.

[0046] Furthermore, please combine Figure 1 and Figure 4, the robot 21 includes a display 216 electrically connected to the control module 212. The display 216 is disposed on the torso module 214 and provides display information or emits light. It should be understood that the display 216 and the control module 212 are electrically connected, and the control module 212 can control the display 216 to display different display information according to the environment where the robot 21 is located. For example, the control module 212 will identify the environment where the robot 21 is located according to the first positioning module 211 of the robot 21, and control the display 216 to display different emotion information. Or, the control module 212 can control the display 216 to display weather information. When the robot 21 is in a dark environment, the control module 212 can identify and control the display 216 to emit light, providing an illumination function, which greatly improves the applicable range of the robot 21. Optionally, the emotion information includes any one of: happy, sad, smug, squinting, sticking out the tongue, blowing bubbles, silly smile, smiling, daze, like, excited, surprised, afraid, shy, contemptuous, angry.

[0047] Please continue to combine Figure 1 and Figure 4 , the driving module 213 includes at least one leg component 2130; the control module 212 can control at least one leg component 2130 to switch between the states of lifting off the ground and touching the ground, so as to change the overall state of the robot 21. It can be understood that through the design that the control module 212 can control at least one leg component 2130 to switch between the states of lifting off the ground and touching the ground, the overall state of the robot 21 can be changed, making the actions of the robot 21 more flexible and variable. For example, please refer to Figure 5 and Figure 6 , when all the leg components 2130 touch the ground, the robot 21 is in a prone posture, imitating the appearance of a cute pet with all feet on the ground. When some leg components 2130 lift off the ground, the robot is in a standing posture, imitating the appearance of a cute pet with some feet standing and some feet lifted. The actions of the robot 21 are more flexible and rich, providing a basic condition for the in-depth promotion of human-robot interaction. In addition, the design that the control module 212 can control at least one leg component 2130 to switch between the states of lifting off the ground and touching the ground enables the robot 21 to adapt to more complex environments. For example, the robot 21 can bypass obstacles by controlling some moving elements to lift off the ground, or prevent the robot 21 from tipping over by switching the leg components 2130 that lift off the ground to the state of touching the ground when the robot 21 has a tendency to tilt. It can be seen that the design that the control module 212 can control at least one leg component 2130 to switch between the states of lifting off the ground and touching the ground greatly improves the flexibility, adaptability and reliability of the actions of the robot 21.

[0048] Further, at least two leg components 2130 are respectively disposed on opposite sides of the torso module 214. It can be understood that, through the design of at least two leg components 2130 being respectively disposed on opposite sides of the torso module 214, the overall design of the robot 21 is relatively symmetrical, and thus the overall center of gravity of the robot 21 is relatively more centered, so that the robot 21 is more likely to maintain balance and stability, further improving the adaptability of the robot 21 to different terrains. In addition, the design of the leg components 2130 being respectively disposed on opposite sides of the torso module 214 enables the center of gravity of the torso module 214 to be relatively closer to the ground, thereby reducing the overall center of gravity height of the robot 21, further improving the stability of the robot 21, making it not easy to topple, and thus further improving the adaptability of the robot 21 to the environment.

[0049] Further, at least one leg component 2130 includes a first leg component 2131 and a second leg component 2132. The first leg component 2131 and the second leg component 2132 are both disposed on two sides of the torso module 214 and define and accommodate a space with the torso module 214. The chasing object 22 can be accommodated in the accommodating space. When the robot 21 approaches the chasing object 22, it can interact with the chasing object 22 autonomously or move the chasing object 22, increasing the interest and interactivity of the robot 21. When the robot 21 interacts with the chasing object 22, the first leg component 2131 and / or the second leg component 2132 can impact the chasing object 22, causing the chasing object 22 to be knocked away after being subjected to force. Additionally, please refer to Figure 7 and Figure 8 , the control module 212 can control the first leg component 2131 and / or the second leg component 2132 to lift and stand and then enter a standing posture or a leg-lifting posture and impact the chasing object 22, making the robot 21 more like a cute pet playing with the chasing object 22. When the robot 21 moves the chasing object 22, the robot 21 will locate the position of the chasing object 22 and move to beside the chasing object 22, and an accommodating space will be formed among the first leg component 2131, the second leg component 2132, and the torso module 214. The accommodating space can perform a function of storing the chasing object 22, enabling the chasing object 22 to be stored in the accommodating space and transported to a preset position by the robot 21, that is, the robot 21 can transport the chasing object 22, further increasing the interesting practicality of the robot 21.

[0050] Please refer to Figure 2 , the present invention further includes a robot game method, and the robot game method includes the following steps:

[0051] S1, enter the game mode after receiving a preset start instruction;

[0052] S2. If entering the game mode, the robot locates and tracks a preset pursuit object through active recognition and / or passive recognition; and executes a preset action after approaching the pursuit object.

[0053] Understandably, please refer to Figure 1 , the robot 21 can interact with the pursuit object 22 or a person. Through the robot game method, the fun is increased. In particular, as a robot 21 for children's education and companionship, the robot game method enhances the emotions among children, parents, and the robot 21, and improves the interaction experience of users.

[0054] In the above step S1, preferably, entering the game mode after receiving a preset start instruction includes the following steps: The robot recognizes real-time instructions. When the real-time instructions match the preset start instruction, it enters the game mode. Understandably, the preset start instruction can be an instruction to start the game by the user through a program application on a mobile terminal, or an instruction to start the game by the user through making a specific sound, or an instruction to start the game by the user through triggering a remote control, or an instruction to start the game and enter the game mode by the robot 21 recognizing the action of the user placing the pursuit object 22 in front of the robot 21, or an instruction to start the game when the robot 21 recognizes the pursuit object 22 during movement. The ways of entering the game are diversified, increasing the convenience for the user to start the game.

[0055] Optionally, the robot's recognition of real-time instructions includes any one or a combination of visual recognition, signal recognition, or sound recognition.

[0056] It should be understood that recognizing real-time instructions through visual recognition includes the following steps: Obtaining real-time instructions by visually recognizing the user's real-time body movements. Please refer to Figure 1 and Figure 3For example, when the robot 21 is in a dormant state or in a working state, the visual recognition module 2112 provided on the trunk module 214 of the robot 21 can continuously monitor the area within a preset angle range. When the user places the chasing object 22 in the area monitored by the visual recognition module 2112 of the robot 21, the robot 21 can recognize the chasing object 22 and compare the placed chasing object 22 with the chasing object 22 placed in the preset start instruction. If the result matches, the game will be started and the game state will be entered. As a variation, the robot 21 can perform sound recognition of the surrounding preset area through a sound sensor when it is in a dormant state or in a working state. The sound sensor continuously receives the real-time voice command issued by the user. When the real-time voice command matches the preset voice command, the robot 21 will start the game and enter the game state. There is no restriction on the location of the sound sensor. The sound sensor can be centrally arranged on the trunk module 214, the driving module 213 or the external terminal; the sound sensor can also be distributedly arranged on the trunk module 214 or the driving module 213; the sound sensor can also be partially arranged on the trunk module 214 and / or the driving module 213 and partially arranged on the external terminal.

[0057] In the above step S1, entering the game mode also includes the following steps: identifying the user's real-time body movements, and determining whether to enter the chasing state based on a preset standard. Optionally, the preset standard can be a preset specific body movement of the user, for example, the preset standard can be a small-amplitude throwing of the chasing object, or a large-amplitude throwing of the chasing object, or a preset movement speed threshold of the chasing object. It is understandable that please combine Figure 1 and Figure 3 , the robot 21 can identify the user's real-time body movements, for example, by visually identifying the user to obtain the user's real-time body movements. When the user's body movements match the body movements in the preset standard, the robot 21 enters the tracking state. Specifically, the user can pretend to throw the chasing object 22, and the robot 21 can identify the direction of the user's hand movement when throwing the chasing object 22 and move in the direction of the hand movement. When the robot 21 does not identify the chasing object 22 moving in this direction through the first positioning module 211, please refer to Figure 9, the control module 212 will control the display screen to display emotional information, such as some sad, upset or angry expressions after being deceived, making the robot 21 more like a cute pet, increasing the fun of the robot 21. For another example, when the user faces the robot 21 and secretly throws the chasing object 22 from the user's back, the robot 21 cannot recognize the user's throwing posture of the chasing object 22. At this time, after the chasing object 22 is thrown, the second positioning module 221 set on the chasing object 22 will send a positioning signal, which can be an electromagnetic wave signal. The signal receiving module 2113 set on the robot 21 receives the positioning signal and transmits the electromagnetic wave signal to the control module 212. The control module 212 can obtain the position information of the chasing object 22 by analyzing the positioning signal, and calculate the position of the chasing object 22 moving in unit time to obtain the movement speed of the chasing object 22. When the movement speed of the chasing object 22 is greater than the preset speed threshold in the preset standard, the robot 21 enters the tracking state.

[0058] Further, in the above step S1, after entering the chasing state, the following steps are included: after entering the game mode, the following steps are included: identifying the direction in which the chasing object is thrown and the movement speed of the chasing object; predicting the landing position of the chasing object according to the throwing direction and the movement speed of the chasing object. It should be understood that the robot 21 is provided with a TOF sensor electrically connected to the control module 212. Through the TOF sensor, the robot 21 continuously shoots the fixed screen in real time. When the user throws the chasing object 22, the TOF sensor can identify the movement direction of the user's hand when throwing the chasing object 22, thereby obtaining the throwing direction of the chasing object, and the TOF sensor can detect the distance of the chasing object from the robot 21 in the screen through the continuously shot pictures. By continuously shooting the moving chasing object in the fixed screen, different position information of the chasing object at different times can be obtained, and the speed information of the chasing object can be obtained through the distance moved by the chasing object in a unit time. Thus, a spatial coordinate system of the position information of the chasing object-the speed information of the chasing object-the throwing direction of the chasing object is established. When the object being chased flies out of the screen, the robot 21 will obtain the speed value t0 of the object being chased, and substitute the speed value t0 into the spatial coordinate system to predict the landing position of the object being chased. Furthermore, the robot 21 analyzes the landing position and can move to the vicinity of the landing position in advance, which improves the intelligence of the robot 21, making the robot 21 more intelligent than a cute pet, thereby improving the user experience.

[0059] In the above step S3, active identification includes the following steps: the robot sends a detection signal, receives the detection signal reflected by the chased object, and obtains the location information of the chased object. Figure 1 and Figure 3, the signal transmission module 2111 set on the robot 21 will emit a detection signal, and the detection signal can be any one of ultrasonic waves, millimeter waves or non-visible light. When the robot 21 enters the chasing state, the detection signal sent by the signal transmission module 2111 will be reflected by the recognition layer 2211 set on the chased object 22, and the reflected detection signal will be received by the signal reception module 2113 set on the robot 21 and transmitted to the control module 212, so that the position information of the chased object 22 can be obtained.

[0060] In the above step S3, the active recognition includes the following steps: obtaining the position information of the chased object through visual recognition. It should be understood that, please combine Figure 1 and Figure 3 , the visual recognition module takes pictures of the chased object 22 and transmits the captured image information to the control module 212 electrically connected to the visual sensor, and the control module 212 analyzes the image information and obtains the position information of the chased object 22.

[0061] In the above step S2, receiving the positioning signal sent by the chased object to obtain the position information of the chased object. It should be understood that, please combine Figure 1 and Figure 3, the second positioning module 221 provided on the pursued object 22 can send a positioning signal. The signal receiving module 2113 receives the positioning signal and transmits it to the control module 212, and then the position information of the pursued object 22 can be obtained. It can be understood that the robot 21 obtains the position information of the pursued object 22 through active recognition or passive recognition, with richer diversity. Or the robot 21 obtains the position information of the pursued object 22 through the combination of active recognition and passive recognition, with higher positioning accuracy for the pursued object 22. It should be noted that the number of the visual recognition module 2112 and the signal sending module 2111 is at least one. Specifically, when the number of the visual recognition module 2112 and the signal sending module 2111 is one, the visual recognition module 2112 and the signal sending module 2111 can be set on the same side of the torso module 214. It should be understood that when the robot 21 actively locates the pursued object 22, the visual recognition module 2112 and the signal sending module 2111 can work simultaneously, increasing the positioning accuracy and also improving the fault tolerance rate of the robot 21's positioning. The visual recognition module 2112 and the signal sending module 2111 can also be set on the opposite sides of the torso module 214. It should be understood that the visual recognition module 2112 and the signal sending module 2111 being separately set on the opposite sides of the torso module 214 increases the recognition range of the robot 21. When the number of the visual recognition module 2112 and the signal sending module 2111 is at least two, the positions of the visual recognition module 2112 and the signal sending module 2111 are not restricted. The visual recognition module 2112 and the signal sending module 2111 can be set on the torso module 214 of the robot 21, or can be set on the driving module 213 of the robot 21, or partially set on the driving module 213 and / or the torso module 214 of the robot 21, and partially set on the peripheral terminal. In addition, the number of the signal receiving modules 2113 of the robot 21 is at least one. The position where the signal receiving module 2113 is set is not restricted. The signal receiving module 2113 can be set on the torso module 214 or the driving module 213. Specifically, when there is one signal receiving module 2113 of the robot 21 and the signal receiving module 2113 is set on the torso module 214, the robot 21 will control the torso module 214 to rotate relative to the driving module 213 through the control module 212, and keep rotating until the signal receiving module 2113 on the torso module 214 receives the positioning signal sent by the pursued object 22, transmits it to the control module 212, and then controls the driving module 213 to approach the pursued object 22. When there is one signal receiving module 2113 of the robot 21 and the signal receiving module 2113 is set on the driving module 213, the control module 212 will control the driving module 213 to rotate in place until the signal receiving module 2113 on the driving module 213 receives the positioning signal sent by the pursued object 22, transmits it to the control module 212, and then controls the driving module 213 to approach the pursued object 22.

[0062] Further, entering the game mode further includes the following steps: The robot makes preset postures in response to the user's body movements; the preset postures include a first preset posture, a second preset posture, and a third preset posture; after the robot enters the game mode, it makes the first preset posture; when the robot performs positioning and tracking, it makes the second preset posture, and after the robot executes the preset action, it makes the third preset posture. Among them, the preset postures include the robot's expression postures and action postures; the expression postures can be changed by changing the size of the robot's eyes and the swing of the robot's torso; the action postures include any one of the two-wheel posture, the three-wheel posture, and the four-wheel posture.

[0063] It should be understood that, in combination with Figure 1 and Figure 3 , the shape of the robot 21's eyes can be displayed on the display member 216 of the robot 21. The change in the size of the eyes can display different expression information of the robot 21, and the swing of the robot 21's torso can be achieved by the rotation between the torso module 214 and the drive module 213.

[0064] Further, please continue to refer to Figure 1 and Figure 3 , after the robot 21 enters the game mode, it makes the first preset posture. Specifically, when the robot 21 enters the game mode, it continuously monitors the user's body movements through the visual recognition module 2112 and makes feedback to make the first preset posture. The first preset posture specifically includes expression postures and action postures. For example, please refer to Figure 10 together. When the user holds the chasing object 22 in front of the robot 21 and shakes it, the control module 212 of the robot 21 will control the display member 216 to display a concentrated expression, and control the leg components 2130 of the drive module 213 to all touch the ground and enter the prone posture, showing a state of eagerness to try, making the actions of the robot 21 more flexible and vivid. Another example, please refer to Figure 11 together. When the user raises the chasing object 22, the control module 212 of the robot 21 will control the display member 216 to display an anxious expression, and control the leg components 2130 of the drive module 213 to lift off the ground, making the robot 21 in a standing posture. By making the first preset posture feedback, the behavior of the robot 21 is closer to that of a cute pet, and by displaying expressions, the robot 21 becomes more cute, increasing the user's experience.

[0065] It should be understood that, in combination with Figure 1 and Figure 3, when the robot 21 performs positioning and tracking, it makes a second preset posture. Preferably, after the robot locates and tracks the preset chasing object by means of active recognition and / or passive recognition, the following steps are further included: after locating the chasing object, obtaining the position information of the chasing object, and performing path planning based on the preset algorithm according to the position information; approaching the chasing object according to the path planning and continuously judging the distance from the chasing object in real time; making a second preset posture feedback according to the distance. It can be understood that the robot 21 locates the chasing object 22 by means of active recognition and / or passive recognition and obtains the position information of the chasing object 22, and then the control module 212 performs path planning on the position information and the preset algorithm. After planning the path, the control module 212 of the robot 21 controls the driving module 213 to approach the chasing object according to the planned path and judge the distance from the chasing object 22. Specifically, the distance can be measured by the visual recognition module 2112. Among them, the second preset posture includes an expression posture and an action posture. For example, please refer to Figure 12 , when the distance between the robot 21 and the chasing object 22 is relatively far, the control module 212 controls the display 216 to display an excited expression; please refer to Figure 13 , when the distance between the robot 21 and the chasing object 22 is relatively close, the control module 212 controls the display 216 to display a cautious expression; when the robot 21 touches the chasing object 22, the control module 212 will control the display 216 to display a victorious expression and control the leg assembly 2130 to lift off the ground to make a celebrating action. This makes the action posture of the robot 21 more abundant and increases the fun of the game, thereby enhancing the game experience of the user.

[0066] It should be understood that, please combine Figure 1 and Figure 3 , after the robot 21 executes the preset action, it makes a third preset posture. Among them, the third preset posture includes an expression posture and an action posture. For example, after the robot 21 brings back the chasing object 22 and detects the position of the user through the visual recognition module 2112, the robot 21 can actively interact. For example, the control module 212 will control the display 216 to display a smug expression, and the control module 212 can also control the sound module 215 to emit a celebrating sound, so as to imitate the cute pet expressing the state of successfully bringing back the chasing object 22 and seeking praise from the user, making the robot 21 more interesting.

[0067] It should be noted that there are no restrictions on the specific expression postures and action postures in the above first preset posture, second preset posture and third preset posture. The first preset posture, second preset posture and third preset posture can be the expression postures and action postures extracted by the control module 212 from the same preset posture library, so that the robot 21 can make different expressions and action postures in different environments. This increases the richness of the robot 21.

[0068] In the above step S2, performing the preset action includes bringing the chasing object back to the preset position or colliding with the chasing object and continuing to chase the chasing object. Understandably, please combine Figure 1 and Figure 3 , when the robot 21 approaches the chasing object 22, the robot 21 can perform face recognition on the user through the visual recognition module 2112, so as to choose to collide with the chasing object 22 and continue to chase the chasing object 22 or bring the chasing object 22 back to the preset position. Specifically, the robot 21 can recognize the facial expression of the user through face recognition and compare it with the expressions in the preset expression library to analyze the mood state of the user. For example, when the robot 21 recognizes that the user is in a bad mood, the robot 21 tries to attract the user's attention, and the robot 21 can choose to collide with the chasing object 22 and continue to chase the chasing object 22. Specifically, please refer to Figure 7 and Figure 8 , the robot 21 controls the leg assembly 2130 to lift through the control module 212, so that the robot 21 enters a standing posture or a leg-lifting posture, and then controls the leg assembly 2130 to impact the chasing object 22, and the chasing object 22 moves after being impacted. The robot 21 then locates the position of the chasing object 22 after moving through the first positioning module 211, tracks and approaches the chasing object 22. As a variation, the robot 21 can also choose to bring the chasing object 22 back to the preset position, where the preset position includes the initial position and / or a specific range of the position where the user is located. Among them, the specific range refers to the distance range from the position where the user is located, where the range value of the distance is 0-1 meter, and the range value of the distance can also be 0-0.2 meter, 0-0.4 meter, 0-0.5 meter, 0.4-0.8 meter or 0.5-1 meter. It should be understood that the initial position refers to the position where the robot 21 is located when it enters the chasing state. The position where the user is located refers to the position where the user is located when the robot 21 touches the chasing object 22. When the robot 21 transports the chasing object 22 back, the robot 21 will locate the position of the user through the visual recognition module 2112 and transport the chasing object 22 to a specific range of the position where the user is located. That is, the robot 21 can bring the chasing object 22 back by itself, increasing the interaction between the user and the robot 21 in the game and also bringing fun to the game.

[0069] Please combine Figure 1 and Figure 3, after performing the preset action, the following steps are further included: receiving a preset end instruction to end the game. It should be understood that the preset end instruction can be an instruction for ending the game by the user through a program application on the mobile terminal, or an instruction for ending the game by the user through making a specific sound, or an instruction for ending the game by the user triggering a remote controller, or by the user making a specific body movement in front of the robot 21, and the body movement is the same as the preset end instruction, thus ending the game. The ways of ending the game are diverse, which increases the convenience for the user to end the game.

[0070] Specifically, receiving a preset end instruction to end the game includes the following steps: visually identifying the real-time body movement of the user, and ending the game if the real-time body movement matches the preset body movement, and / or, receiving an interruption signal to end the game. It should be understood that the robot 21 can identify the real-time body movement of the user, and compare it with the preset body movement in the preset end instruction to check if they match, and decide whether to end the game according to the judgment result. That is, the robot 21 can use the visual recognition module 2112 to identify the body movement of the user in real time. If the real-time body movement of the user does not match the preset body movement, the game continues; if the real-time body movement of the user matches the preset body movement, the game ends. Specifically, the preset body movement can be a static body movement, such as reaching out to signal a pause or making an "X" shape with both hands crossed, and the preset body movement can also be a continuous movement made by the user, such as waving. In addition, the robot 21 can also use the visual recognition module 2112 to identify the body movement of the user, and transmit the recognized image information to the control module 212. The control module 212 will compare the body movement of the user with the posture movements in the preset body movement library, and then analyze the real-time state of the user. For example, when the robot 21 recognizes that the user is in a busy state through comparison, the game ends. The robot 21 can also end the game by receiving an interruption signal. Optionally, the interruption signal can be an end instruction sent through a mobile terminal program, or an end instruction sent through a remote controller, or an end instruction for ending the game by touching the end button set on the torso module 214 of the robot 21. The selection methods are diverse.

[0071] Please combine Figure 1 and Figure 2 , a robot 21 provided by an embodiment of the present invention, which is applied to chasing a chasing object in the above-mentioned robot game method, has the same beneficial effects as the above-mentioned robot game method, and will not be elaborated here.

[0072] Please continue to combine Figure 1 and Figure 2A chasing object 22 provided in an embodiment of the present invention is applied to the above-mentioned robot game method and has the same beneficial effects as the above-mentioned robot game method, which will not be described in detail here.

[0073] Please combine Figure 1 and Figure 8 The present invention also provides a computer device 3, including a memory 31, a processor 32, and a computer program 33 stored in the memory 31 and executable on the processor 32. When the processor 32 executes the program, the above-mentioned robot game method is implemented.

[0074] Compared with the prior art, the robot game method, robot, chase object and computer device provided by the present invention have the following beneficial effects:

[0075] 1. An embodiment of the present invention provides a robot game method, which includes the following steps: entering a game mode after receiving a preset start command; if entering the game mode, the robot locates and tracks a preset chasing object by active identification and / or passive identification; and performs a preset action after approaching the chasing object. The chasing game in which the robot can interact with the chasing object or person increases the fun. In particular, the robot, which serves as a child education and companion, enhances the direct emotions among children, parents and robots through the chasing game, and improves the user's interactive experience.

[0076] 2. The embodiment of the present invention enters the game mode after receiving the preset start command, including the following steps: the robot recognizes the real-time command, and when the real-time command matches the preset start command, the game mode is entered. The preset start command can be a command for the user to start the game through the program application on the mobile terminal, or a command for the user to start the game by making a specific sound, or a command for the user to start the game by triggering the remote control, or a chased object is placed in front of the robot, and the robot recognizes the chased object to start the game and enter the game mode. The way to enter the game is diversified, which increases the convenience of the user to start the game.

[0077] 3. After entering the game mode, the embodiment of the present invention includes the following steps: identifying the direction in which the chased object is thrown and the speed of the chased object; predicting the landing point of the chased object according to the throwing direction and the speed of the chased object. The robot analyzes the landing position and can move to the vicinity of the landing position in advance, which improves the intelligence of the robot, making the robot more intelligent than a cute pet, thereby improving the user experience.

[0078] 4. The active recognition in the embodiments of the present invention includes the following steps: The robot sends a detection signal, receives the detection signal reflected by the object to be chased to obtain the position information of the chasing object, and / or obtains the position information of the chasing object by visually recognizing the specific identifier of the chasing object. The detection signal can be any one of ultrasonic waves, millimeter waves or non-visible light. When the robot enters the chasing state, the detection signal sent by the robot will be reflected by the chasing object, and the reflected detection signal can be obtained by the robot to obtain the position information of the chasing object, with accurate recognition and good convenience.

[0079] 5. The passive recognition in the embodiments of the present invention includes the following steps: Receiving the positioning signal sent by the chasing object to obtain the position information of the chasing object, with accurate recognition and good convenience.

[0080] 6. The robot game method in the embodiments of the present invention further includes the following steps: Entering the game mode further includes the following steps: The robot makes a preset gesture in response to the user's body movements; The preset gestures include a first preset gesture, a second preset gesture and a third preset gesture. After the robot enters the game mode, it makes the first preset gesture; When the robot performs positioning and tracking, it makes the second preset gesture, and after the robot executes the preset action, it makes the third preset gesture. The preset gestures include the expression gestures and action gestures of the robot; The expression gestures can be changed by changing the size of the robot's eyes and the swaying of the robot's torso; The action gestures include any one of two-wheel gestures, three-wheel gestures, and four-wheel gestures. For example, the robot can show a concentrated expression, or when the user holds the chasing object high, the robot will show an anxious expression, making the robot's behavior more similar to that of a cute pet, and making the robot more cute by showing expressions, increasing the user's experience. When the robot brings back the chasing object, it detects the position of the user through visual recognition, and the robot can actively interact, such as showing a smug expression and making a celebration sound, so as to imitate the cute pet expressing the state of successfully bringing back the chasing object and seeking praise from the user, making the robot more interesting.

[0081] 7. After the robot in the embodiments of the present invention locates and tracks the preset chasing object by means of active recognition and / or passive recognition, the following steps are further included: After locating the chasing object, obtain the position information of the chasing object, and perform path planning based on the preset algorithm according to the position information; Approach the chasing object according to the path planning and continuously judge the distance from the chasing object in real time. When the robot is far away from the chasing object, it can show an excited expression, and when the robot is close to the chasing object, it can show a cautious expression, making the robot's action gestures more abundant and increasing the fun of the game, thereby increasing the user's gaming experience.

[0082] 8. The preset actions executed in the embodiments of the present invention include bringing the chased object back to a preset position or colliding with the chased object and continuing to chase the chased object. The ways for the robot to execute the preset actions are diversified, enabling the robot to randomly perform various interaction modes, thus enhancing the user's gaming experience.

[0083] 9. The preset positions in the embodiments of the present invention include the initial position and / or a specific range of the position where the user is located. The initial position refers to the position where the robot enters the chasing state. The position where the user is located refers to the position where the user is when the robot touches the chased object. When the robot transports the chased object back, the robot will locate the position of the user through visual recognition and transport the chased object to a specific range of the position where the user is located. The robot can bring the chased object back by itself, increasing the interactivity between the user and the robot in the game and also adding fun to the game.

[0084] 10. After the preset actions are executed in the embodiments of the present invention, the following steps are further included: receiving a preset end instruction to end the game. The preset end instruction can be an instruction to end the game by the user through a program application on the mobile terminal, or an instruction to end the game by the user through making a specific sound, or an instruction to end the game by the user triggering a remote controller, or by the user making a specific body movement in front of the robot, and the body movement is the same as the preset end instruction, thereby ending the game. The ways to end the game are diversified, increasing the convenience for the user to end the game.

[0085] 11. In the embodiments of the present invention, receiving a preset end instruction to end the game includes the following steps: recognizing the user's real-time body movement through visual recognition. If the real-time body movement matches the preset body movement, the game ends, and / or receiving an interruption signal to end the game. The robot can continuously recognize the user's body movement through the visual recognition module. If the user's real-time body movement does not match the preset body movement, the game continues; if the user's real-time body movement matches the preset body movement, the game ends. The robot can also end the game by receiving an interruption signal. Optionally, the interruption signal can be an end instruction sent through a mobile terminal program, or an end instruction sent through a remote controller, or an end instruction to end the game by touching an end button set on the robot's torso module. The selection methods are diverse.

[0086] 12. A robot, which is applied to the above robot game method for chasing a chased object and has the same beneficial effects as the above robot game method, and will not be elaborated here.

[0087] 13. The robot of the embodiment of the present invention includes a trunk module, and the trunk module and the driving module are rotatably connected. The trunk module can rotate relative to the driving module, which increases the flexibility of the trunk module and further improves the richness and stability of the robot's movements.

[0088] 14. The robot in the embodiment of the present invention also includes a sound module electrically connected to the control module. The control module can control the sound module to make sound. Through the sound module, the robot can actively interact with the user, thereby increasing the playability and functionality of the robot.

[0089] 15. The robot of the embodiment of the present invention includes a display element, which is arranged on the torso module and provides display information or light. The display element is electrically connected to the control module, and the control module can control the display element to display different display information according to the environment in which the robot is located. For example, the control module can identify the environment in which the robot is located according to the first positioning module of the robot, and control the display element to display different emotional information, or the control module can control the display element to display weather information. When the robot is in a dark environment, the control module can identify and control the display element to emit light, providing a lighting function, which greatly improves the application range of the robot.

[0090] 16. The driving module of the embodiment of the present invention includes at least one leg assembly; the control module can control at least one leg assembly to switch between the state of being lifted off the ground and being in contact with the ground, so as to change the overall state of the robot, making the robot's movements more flexible and varied.

[0091] 17. At least one leg assembly of the embodiment of the present invention includes a first leg assembly and a second leg assembly. The first leg assembly and the second leg assembly are both arranged on the same side of the trunk module and define a storage space with the trunk module. The chasing object can be accommodated in the storage space. When the robot approaches the chasing object, it can autonomously interact with the chasing object or move the chasing object, which increases the fun and interactivity of the robot. When the robot interacts with the chasing object, the first leg assembly and / or the second leg assembly can hit the chasing object, so that the chasing object is knocked away after being subjected to force. In addition, the control module can control the first leg assembly and / or the second leg assembly to lift up and then hit the chasing object, making the robot more like a cute pet playing with the chasing object. When the robot moves the chasing object, the robot will locate the position of the chasing object and move to the side of the chasing object, and a storage space will be formed between the first leg assembly, the second leg assembly and the torso module. The storage space can store and locate the chasing object, so that the chasing object can be transported to a preset position by the robot, that is, the robot can transport the chasing object, which further increases the fun and practicality of the robot.

[0092] 18. An embodiment of the present invention further provides a chasing object, which is applied to the above robot game method and has the same beneficial effects as the above robot game method, which will not be elaborated here.

[0093] 19. The chasing object in the embodiment of the present invention is provided with an identification layer, and the identification layer is any one or a combination of a color coating, a metal coating or a stripe layer. By combining the color coating, the metal coating or the stripe layer, the error tolerance rate of the signal sending module for identification is improved. The variety of types of the identification layer makes it easier for the robot to identify.

[0094] 20. A computer device according to an embodiment of the present invention has the same beneficial effects as the above robot game method, which will not be elaborated here.

[0095] The above has introduced in detail a robot game method, a robot, a chasing object and a computer device disclosed in the embodiments of the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot game method, characterized in that, it includes: Enter the game mode after receiving the preset start instruction from the user; After performing the game mode, recognize the user's real-time body movements, monitor the user's real-time body movements, and make a first preset posture according to the monitoring results; wherein, the first preset posture includes the robot's expression posture and movement posture; When the user's real-time body movements match the body movements in the preset standard, enter the chasing state; In the chasing state, obtain an image including the chasing object; Process the image through a vision algorithm to determine the throwing direction of the chasing object; Control the robot to move in the throwing direction, and obtain the distance between the robot and the chasing object, and make a second preset posture according to the distance; wherein, the second preset posture includes the robot's expression posture and movement posture; After approaching the chasing object, execute a preset action according to the user's mood state obtained through the vision algorithm; the execution of the preset action includes: bringing the chasing object back to the preset position, or colliding with the chasing object and continuing to chase the chasing object; After performing the preset action, make a third preset posture; wherein, the third preset posture includes the robot's expression posture and movement posture.

2. The method according to claim 1, characterized in that, it further includes: Process the image through a vision algorithm to determine the initial speed of the chasing object, and predict the landing position of the chasing object based on the throwing direction and the initial speed; The control of the robot to move in the throwing direction specifically includes: Controlling the robot to move towards the landing position.

3. The method according to claim 1, characterized in that, After controlling the robot to move in the throwing direction, it further includes: Obtain the position signal of the chasing object; Determine the real-time position of the chasing object based on the position signal; Control the robot to move towards the real-time position.

4. The method according to claim 3, characterized in that, The position signal is at least one of a sound signal, a short-range communication signal, and an electromagnetic signal actively emitted by the chasing object.

5. The method according to claim 3, characterized in that, The chasing object is provided with an identification layer on its surface, the position signal is a detection signal reflected by the identification layer, and the detection signal is emitted by the robot.

6. A robot game device, applied to the method described in any one of claims 1-5, characterized in that, it includes: A visual recognition module, configured to enter the game mode after receiving the preset start instruction from the user; after performing the game mode, recognize the user's real-time body movements, monitor the user's real-time body movements, and make a first preset posture according to the monitoring results; wherein, the first preset posture includes the robot's expression posture and movement posture; when the user's real-time body movements match the body movements in the preset standard, enter the chasing state; A detection module, configured to obtain an image including the chasing object in the chasing state; A processing module, configured to process the image through a vision algorithm to determine the throwing direction of the chasing object; A control module, configured to control the robot to move in the throwing direction, obtain the distance between the robot and the chasing object, and make a second preset posture according to the distance; wherein the second preset posture includes the expression posture and the action posture of the robot; after approaching the chasing object, according to the mood state of the user obtained by the vision algorithm, execute a preset action; the execution of the preset action includes: bringing the chasing object back to a preset position, or colliding with the chasing object and continuing to chase the chasing object; after executing the preset action, make a third preset posture; wherein the third preset posture includes the expression posture and the action posture of the robot.

7. A computing device, characterized in that it includes: one or more processors; one or more memories; and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, and the one or more computer programs include instructions that, when executed by the one or more processors, cause the robot game device to execute the method according to any one of claims 1-5.

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