Interaction method and device, robot, storage medium and computer program product

Abstract

The application provides an interaction method and device, a robot, a storage medium and a computer program product. The interaction method is used for the robot, and the method comprises the following steps: receiving a target instruction of a user, the target instruction being used for instructing the robot to perform a target task on a target object; determining position information of the target object in a target scene according to a target scene map; determining a first moving route according to the target scene map and the position information, and moving to the target object along the first moving route; and performing the target task on the target object. According to the technical scheme provided in the application, the robot can automatically plan a route and independently search for a person and perform an interaction task.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an interaction method and device, a robot, a storage medium and a computer program product. BACKGROUND

[0002] At present, with the development of robot technology, the application of home service robots is becoming more and more widespread, and the functional requirements of users for home service robots are gradually increasing. Based on this, the functional research of robots by those skilled in the art is particularly important. For example, in some scenarios where users cannot leave to do things such as passing messages and delivering things, functional research on intelligent robots for passing messages and delivering things is more applicable. SUMMARY

[0003] The present application aims to at least solve one of the problems in the prior art or related art.

[0004] To this end, a first aspect of the present application provides an interaction method.

[0005] A second aspect of the present application provides an interaction device.

[0006] A third aspect of the present application provides another interaction device.

[0007] A fourth aspect of the present application provides a robot.

[0008] A fifth aspect of the present application provides a readable storage medium.

[0009] A sixth aspect of the present application provides a computer program product.

[0010] Therefore, according to an aspect of the present application, an interaction method is provided, which is used for a robot, and the interaction method comprises the following steps: receiving a target instruction of a user, the target instruction being used to instruct the robot to perform a target task on a target object; determining position information of the target object in a target scene according to a target scene map; determining a first moving route according to the target scene map and the position information, and moving to the target object along the first moving route; and performing the target task on the target object.

[0011] The execution subject of the technical solution of the interaction method provided by the present application can be a robot, and can also be an interaction device, and can be determined according to actual use requirements, which is not specifically limited here. In order to more clearly describe the interaction method provided by the present application, the execution subject of the interaction method is taken as a robot in the following description.

[0012] The interactive method provided in the application is used for controlling a robot to work so as to make the robot complete a corresponding interactive task. The robot is provided with a detection device and a moving device. In actual application, the robot can be a sweeping robot, a hall robot, a child accompanying robot, an airport intelligent robot, an intelligent question and answer robot, a household service robot, and other mobile devices with autonomous moving function, which are not specifically limited here.

[0013] On this basis, in the interactive method provided in the application, the robot stores a target scene map of a target scene. After the robot receives a target instruction of a user, the robot calls the pre-stored target scene map in the storage device, and autonomously searches for a target object indicated by the target instruction in the target scene based on the target scene map, so as to determine specific position information of the target object in the target scene. After the robot determines the specific position information of the target object, the robot autonomously plans a moving route required for the robot to move to the position of the target object, i.e., a first moving route, based on the specific position information of the target object and the target scene map, and moves the whole robot to the target object according to the first moving route until the robot moves to the position of the target object, and the robot stops moving.

[0014] After the robot moves to the position of the target object, the robot actively interacts with the target object based on the user instruction to complete a target task indicated by the user instruction. In this way, without manual control of the user, the robot can automatically plan a route and autonomously search for a person and complete an interactive task according to the target instruction issued by the user, which enriches the interactive function of the robot and meets the use demand of the user.

[0015] According to the above interactive method of the application, the following additional technical features can be provided.

[0016] In the above technical solution, the position information of the target object in the target scene is determined according to the target scene map, including: determining a plurality of detection positions in the target scene and a target searching path penetrating through the plurality of detection positions according to the target scene map; moving to each detection position along the target searching path in turn and performing target detection at each detection position; and determining the position information of the target object according to the target detection result.

[0017] In the technical solution, after the robot receives the target instruction issued by the user, the robot calls the pre-stored target scene map in the storage device, and autonomously plans a plurality of detection positions in the target scene based on the target scene map. After the robot plans the plurality of detection positions, the robot autonomously plans a searching path, i.e., a target searching path, according to the target scene map, the specific position coordinates of the plurality of detection positions, and the obstacle information of the target scene, and the searching path passes through each detection position. On this basis, the robot moves to each detection position planned by the moving device on the searching path, and detects the surrounding environment of each detection position by the detection device on the robot. The robot identifies the target object to be searched from a plurality of objects in the target scene according to the target detection result, and determines the specific position information of the target object in the target scene. In this way, the target scene is detected position by position by planning a plurality of detection positions in the target scene, which ensures the omnidirectionality of scanning and detecting the target scene, and thus ensures the comprehensiveness and accuracy of the target detection result, and improves the autonomous searching performance of the robot.

[0018] In any of the above technical solutions, determining the position information of the target object in the target scene according to the target scene map comprises: determining a second moving route according to the target scene map; performing target detection in the target scene according to the second moving route; and determining the position information of the target object according to the target detection result.

[0019] In the technical solution, after the robot receives the target instruction issued by the user, the robot calls the pre-stored target scene map in the storage device, and autonomously plans a plurality of detection positions in the target scene based on the target scene map. After the robot plans the plurality of detection positions, the robot autonomously plans a searching path, i.e., a target searching path, according to the target scene map, the specific position coordinates of the plurality of detection positions, and the obstacle information of the target scene, and the searching path passes through each detection position. On this basis, the robot moves to each detection position planned by the moving device on the searching path, and detects the surrounding environment of each detection position by the detection device on the robot. The robot identifies the target object to be searched from a plurality of objects in the target scene according to the target detection result, and determines the specific position information of the target object in the target scene. In this way, the target scene is detected position by position by planning a plurality of detection positions in the target scene, which ensures the omnidirectionality of scanning and detecting the target scene, and thus ensures the comprehensiveness and accuracy of the target detection result, and improves the autonomous searching performance of the robot.

[0020] In any of the above technical solutions, determining the position information of the target object in the target scene according to the target scene map comprises: determining a second moving route according to the target scene map; performing target detection in the target scene according to the second moving route; and determining the position information of the target object according to the target detection result.

[0021] In the technical solution, after the robot receives the target instruction issued by the user, the robot calls the target scene map pre-stored in the storage device, and traverses the target scene based on the target scene map. In the process of traversing the target scene, the robot continuously detects the surrounding environment through the detection device on the robot. On this basis, the robot identifies the target object to be found from the multiple objects in the target scene according to the target detection result, and determines the specific position information of the target object in the target scene. In this way, the robot traverses the entire target scene to find the target object, realizes the dead angle-free detection of the target scene, guarantees the comprehensiveness and accuracy of the target detection result, and improves the autonomous person-finding performance of the robot.

[0022] In any of the above technical solutions, determining the position information of the target object according to the target detection result comprises: in the case that the first biological feature is detected, matching the first biological feature with a second biological feature in a target biological feature library, the second biological feature being a biological feature of the target object registered in the robot; and in the case that the first biological feature and the second biological feature are successfully matched, determining the detected object corresponding to the first biological feature as the target object, and determining the position information of the target object.

[0023] In the above technical solution, the storage device of the robot pre-stores a target biological feature library, in the case that the detection device on the robot detects a first biological feature of a to-be-detected object, the robot calls a second biological feature in the target biological feature library, and compares and matches the second biological feature with the first biological feature detected by the detection device. The second biological feature is a biological feature of the target object to be found pre-registered in the robot. On this basis, in the case that the first biological feature of the to-be-detected object detected by the detection device and the second biological feature of the target object are successfully matched, the robot determines the to-be-detected object as the target object to be found, and determines the specific position information of the target object in the target scene. In this way, based on the pre-registered biological feature of the target object, the target object is screened out from the multiple objects in the target scene, guaranteeing the accuracy of identifying the target object.

[0024] In any of the above technical solutions, executing the target task on the target object comprises: playing a target voice message corresponding to the target instruction to the target object.

[0025] In the above technical solution, in the case that the target instruction issued by the user to the robot is a message passing instruction, the robot automatically plays the voice message to be conveyed by the user to the target object after finding the target object. In this way, in the case that the user is too busy to spare time, the user does not need to personally pass the message to the target object, but only needs to use the robot to convey the message to the target object, meeting the use demand of the user.

[0026] In any of the above technical solutions, the robot comprises an article access device, and after receiving the target instruction of the user, the interaction method further comprises: rotating the article access device to a side close to the user, so that the user can place the target article in the article access device; and performing the target task on the target object, comprising: rotating the article access device to a side close to the target object, so that the target object can take out the target article from the article access device.

[0027] In the above technical solution, the robot is provided with an article access device. On this basis, when the target instruction issued by the user to the robot is a delivery instruction, after the robot receives the target instruction of the user, the robot automatically rotates to rotate the article access device thereon to a side closer to the user, so that the user can place the target article to be delivered in the article access device. After the robot finds the target object, the robot automatically rotates to rotate the article access device thereon to a side closer to the target object, so that the target object can take away the target article placed in the article access device. In this way, when the user is too busy to leave, the user can deliver the target article to be delivered to the target object by means of the robot only, meeting the use demand of the user.

[0028] In any of the above technical solutions, after performing the target task on the target object, the interaction method further comprises: moving to a target position in the target scene, wherein the target position is an initial position of the robot before receiving the target instruction, or the target position is a preset position set by the user.

[0029] In the above technical solution, after the robot performs the target task indicated by the target instruction on the target object, the robot moves as a whole by means of the moving device thereon to the initial position thereof before receiving the target instruction of the user, or the robot moves as a whole by means of the moving device thereon to the preset position set by the user, so as to facilitate the user to master the standby position of the robot, so as to quickly start the next person-finding operation.

[0030] According to a second aspect of the present application, an interaction device is provided, which is used for a robot, and the interaction device comprises: a receiving unit configured to receive a target instruction of a user, the target instruction being used to instruct the robot to perform a target task on a target object; a processing unit configured to determine position information of the target object in a target scene according to a target scene map; the processing unit is further configured to determine a first moving route according to the target scene map and the position information; a moving unit configured to move to the target object along the first moving route; and an interaction unit configured to perform the target task on the target object.

[0031] The interactive device provided in the application is used for controlling the robot to work, so that the robot completes a corresponding interactive task for a user. The robot is provided with a detection device and a moving device.

[0032] Specifically, the interactive device provided in the application comprises a receiving unit, a processing unit, a moving unit and an interactive unit. After the receiving unit receives a target instruction of a user, the processing unit calls a target scene map pre-stored in a robot storage device, and autonomously searches for a target object indicated by the target instruction in the target scene based on the target scene map, so as to determine specific position information of the target object in the target scene. On this basis, after the processing unit determines the specific position information of the target object, the processing unit autonomously plans a movement route required for the robot to move to the position of the target object, i.e., a first movement route, based on the specific position information of the target object and the target scene map. The moving unit controls the robot to move towards the target object as a whole by the moving device thereon according to the first movement route, until the robot moves to the position of the target object, and the moving unit controls the robot to stop moving. After the moving unit controls the robot to move to the position of the target object, the interactive unit controls the robot to actively interact with the target object based on the user instruction, so as to complete a target task indicated by the user instruction. In this way, without manual control of the user, the robot can automatically plan a route and autonomously search for a person and perform an interactive task according to the target instruction issued by the user, which enriches the interactive function of the robot and meets the use requirement of the user.

[0033] According to a third aspect of the application, another interactive device is provided, comprising: a memory storing a program or instructions; and a processor, which implements the steps of the interactive method in any of the above technical solutions when executing the program or instructions. Therefore, the interactive device provided in the third aspect of the application has all the beneficial effects of the interactive method in any of the technical solutions of the first aspect, which will not be repeated here.

[0034] According to a fourth aspect of the application, a robot is provided, comprising: a chassis provided with a moving device; a main body provided on the chassis, the main body being provided with a detection device and an article access device; and the interactive device in the technical solution of the third aspect, which is arranged in the main body, controls the moving device to move or rotate, and controls the detection device to perform target detection on a target scene.

[0035] The robot provided in the fourth aspect of the application comprises the interactive device in the technical solution of the third aspect. Therefore, the robot provided in the fourth aspect of the application has all the beneficial effects of the interactive device in the technical solution of the third aspect, which will not be repeated here.

[0036] The robot is not limited to a floor cleaning robot, a hall robot, a child accompanying robot, an airport intelligent robot, an intelligent question answering robot, a home service robot, and other mobile devices with autonomous moving functions.

[0037] During the working process of the robot, the detection device is controlled by the interaction device to detect a target, and the moving device is controlled by the interaction device to move.

[0038] Specifically, the robot has an autonomous interaction function. After the robot receives an instruction from a user to perform a target task on a target object, the interaction device autonomously plans a path to find the target object based on a target scene map, controls the moving device on the chassis to move the robot as a whole, and controls the detection device on the main body to rotate to detect the surrounding environment of the robot to determine the location of the target object. On this basis, the interaction device plans a moving route and controls the moving device to move according to the planned moving route. After the robot moves to the location of the target object, the interaction device controls the robot to actively interact with the target object to complete the interaction task indicated by the target instruction.

[0039] According to the fourth aspect of the present application, the robot can also have the following additional technical features:

[0040] In the above technical solution, the main body includes a first main body disposed on the chassis, and the article access device is disposed on the first main body; and a second main body disposed on the first main body and rotatably connected to the first main body, and the detection device is disposed on the second main body; wherein, during the process in which the interaction device controls the detection device to detect a target scene, the interaction device controls the moving device and / or the second main body to rotate to adjust the detection angle of the detection device.

[0041] In this technical solution, the main body specifically includes a first main body and a second main body. The first main body is disposed on the chassis, and the second main body is disposed on the first main body. The detection device is disposed on the second main body, and the second main body is rotatably connected to the first main body.

[0042] On this basis, during the process in which the interaction device controls the detection device to rotate to detect the surrounding environment of the robot, the interaction device can control the moving device to rotate alone to drive the chassis, the first main body, and the second main body to rotate, thereby adjusting the detection direction of the detection device; the interaction device can also control the second main body to drive the detection device to rotate alone, thereby adjusting the detection direction of the detection device; and the interaction device can also control the moving device and the second main body to rotate in cooperation, thereby adjusting the detection direction of the detection device. The specific way in which the interaction device adjusts the detection direction of the detection device can be set by a person skilled in the art according to actual conditions, and is not specifically limited herein.

[0043] According to a fifth aspect of the present application, a readable storage medium is provided, which has stored thereon a program or instructions, which when executed by a processor implement the interaction method according to any of the above technical solutions. Therefore, the readable storage medium according to the fifth aspect of the present application has all the beneficial effects of the interaction method according to any of the above technical solutions of the first aspect, which will not be repeated here.

[0044] According to a sixth aspect of the present application, a computer program product is provided, which comprises a computer program, which when executed by a processor implement the interaction method according to any of the above technical solutions. Therefore, the computer program product according to the sixth aspect of the present application has all the beneficial effects of the interaction method according to any of the above technical solutions of the first aspect, which will not be repeated here.

[0045] Additional aspects and advantages of the present application will become apparent from the following description, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0046] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood by considering the following detailed description, including the accompanying drawings, in which:

[0047] Figure 1 Fig. 1 shows one of the flow diagrams of the interaction method according to an embodiment of the present application;

[0048] Figure 2 Fig. 2 shows another of the flow diagrams of the interaction method according to an embodiment of the present application;

[0049] Figure 3 Fig. 3 shows a third of the flow diagrams of the interaction method according to an embodiment of the present application;

[0050] Figure 4 Fig. 4 shows a fourth of the flow diagrams of the interaction method according to an embodiment of the present application;

[0051] Figure 5 Fig. 5 shows a fifth of the flow diagrams of the interaction method according to an embodiment of the present application;

[0052] Figure 6 Fig. 6 shows a sixth of the flow diagrams of the interaction method according to an embodiment of the present application;

[0053] Figure 7 Fig. 7 shows a flow diagram of the message delivery process of the robot according to an embodiment of the present application;

[0054] Figure 8 Fig. 8 shows a flow diagram of the interaction control process of the robot according to an embodiment of the present application;

[0055] Figure 9A system framework diagram of the robot of the embodiment of the present application is shown.

[0056] Figure 10 A structure block diagram of the interaction device of the embodiment of the present application is shown.

[0057] Figure 11 A structure block diagram of the interaction device of the embodiment of the present application is shown.

[0058] Figure 12 A structure block diagram of the robot of the embodiment of the present application is shown. DETAILED DESCRIPTION

[0059] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0060] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and therefore the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0061] The interaction method and device, robot, storage medium and computer program product provided by the embodiments of the present application will be described in detail below in combination with specific embodiments and application scenarios. Figures 1 to 12

[0062] In an embodiment of the present application, as shown in Figure 1 the interaction method can specifically include the following steps 102 to 108:

[0063] Step 102, receiving a target instruction of a user;

[0064] Step 104, determining position information of a target object in a target scene according to a target scene map;

[0065] Step 106, determining a first moving route according to the position information and the target scene map, and moving to the target object according to the first moving route;

[0066] Step 108, executing a target task on the target object.

[0067] The execution subject of the technical scheme of the interaction method provided by the present embodiment can be a robot, and can also be an interaction device, and can be determined according to actual use requirements, which is not specifically limited here. In order to more clearly describe the interaction method provided by the present application, the execution subject of the interaction method will be described as a robot below.

[0068] ​The interactive method provided by the embodiments of the present application is used for controlling a robot to work, so that the robot completes a corresponding interactive task for a user. The robot is provided with a detection device and a moving device.

[0069] The robot is provided with a chassis, and the moving device is arranged on the chassis of the robot. The moving device can drive the robot to move forward, backward, leftward, rightward, or rotate in place.

[0070] The detection device is used for scanning the surrounding environment of the robot, so as to visually detect the surrounding environment of the robot. Specifically, the detection device is used for target detection on the surrounding environment of the robot, so as to find a target object. In actual application, the detection device can be a camera module with a visual detection function, which is not limited here.

[0071] In actual application, the robot can be a sweeping robot, a hall robot, a child accompanying robot, an airport intelligent robot, an intelligent question and answer robot, a household service robot, or a mobile device with an autonomous moving function, which is not limited here.

[0072] On this basis, in the interactive method provided by the embodiments of the present application, when the user uses the robot, the user can issue a target instruction to the robot through a key input, a voice input, or the like. The target instruction is used to instruct the robot to find a target object and execute a corresponding interactive task, i.e., a target task, on the target object. On this basis, after receiving the target instruction issued by the user, the robot starts the autonomous seeking and interacting function of the robot, so as to autonomously seek the target object indicated by the user instruction in a target scene, and after finding the target object, automatically interact with the target object to complete the target task indicated by the user.

[0073] Specifically, the robot stores a target scene map of a target scene, after the robot receives a target instruction of a user, the robot retrieves the target scene map pre-stored in the storage device, and based on the target scene map, the robot autonomously searches for a target object indicated by the target instruction in the target scene to determine the specific location information of the target object in the target scene. On this basis, after the robot determines the specific location information of the target object, the robot autonomously plans a movement route required for the robot to move to the location of the target object, i.e., a first movement route, based on the specific location information of the target object and the target scene map, and moves the robot as a whole toward the target object by the movement device thereon according to the first movement route until the robot moves to the location of the target object, and the robot stops moving. After the robot moves to the location of the target object, the robot actively interacts with the target object based on the user instruction to complete the target task indicated by the user instruction. In this way, without manual control of the user, the robot can automatically plan a route and autonomously search for a person and interact with the person according to the target instruction issued by the user, enriching the interaction function of the robot and meeting the use requirements of the user.

[0074] In the process of the robot autonomously searching for the target object indicated by the user instruction in the target scene, the robot can specifically move the robot as a whole in the target scene by the movement device thereon based on the target scene map, and in the process of moving, the robot detects the target scene environment around the robot by the detection device thereon to identify the target object to be searched for from a plurality of objects in the target scene through target detection. On this basis, in the case that the robot detects the target object, the robot determines the specific location information of the target object in the target scene based on the target scene map, i.e., determines the specific location coordinates of the location of the target object in the target scene map.

[0075] In addition, it should be noted that in the actual application process, in the process of the robot identifying the target object, the robot can specifically compare and match the biological features of the to-be-identified object detected by the robot with the biological features of the target object pre-stored in the storage device of the robot, such as facial features and voiceprint features, to screen the target object from a plurality of objects in the target scene according to the matching result.

[0076] Further, in the process of the robot planning a movement route required for the robot to move to the location of the target object, the robot determines the distance information between the robot and the target object based on the actual location information of the robot in the target scene and the specific location information of the target object in the target scene. On this basis, the robot autonomously plans a movement route with the shortest movement distance as the first movement route of the robot based on the obstacle information in the target scene and the distance information between the robot and the target object.

[0077] In actual application, the target task can be a passing task, a delivery task, etc. After receiving the target instruction issued by the user, the robot automatically finds the target object related to the target instruction, and delivers the corresponding voice message or the target object to the target object after finding the target object. In this way, the user does not need to personally perform the target task on the target object, and only with the help of the robot, the task demand of the user can be met, for example, in the case that the user is too busy to take a break, the user can help himself complete other pending transactions through the robot, and the use demand of the user is met.

[0078] In addition, in actual application, the specific content of the target task that the robot can perform is different according to the model of the robot. For example, for a robot with air supply function, the robot can find the target object in the target scene according to the target instruction of the user indicating air supply to the target object, and perform air supply operation on the target object after finding the target object; for a robot with massage function, such as a robot installed with a massage hammer, the robot can find the target object in the target scene according to the target instruction of the user indicating massage for the target object, and perform massage on the target object through the massage hammer thereon after finding the target object. It should be noted that in some application scenarios, such as air supply scenarios, the user issuing the target instruction and the target object to be found can be the same person, which is not limited herein.

[0079] Exemplarily, in the case that the robot is a home service robot installed with a massage hammer, the family member "Grandpa" issues an instruction "come to massage Grandpa" to the robot, and the robot determines that the target object to be found is "Grandpa" after receiving the instruction. On this basis, the robot finds the target person "Grandpa" in the whole house with the biological features identified as "Grandpa" in the pre-stored biological feature library as the matching standard. After detecting the target person "Grandpa", the robot autonomously plans the action route and moves to the location of the target person "Grandpa" according to the action route. After the robot moves to the location of the target person "Grandpa", the robot adjusts its posture and automatically performs the knocking massage operation on the target person "Grandpa" through the massage hammer thereon.

[0080] To sum up, the interactive method proposed in the embodiments of the present application, after the robot receives the instruction of the user to the target object to perform a certain target task, the robot automatically finds the target object in the target scene based on the target scene map, and after finding the target object, the robot autonomously interacts with the target object according to the user instruction to complete the target task indicated by the user. In this way, the autonomous person-finding interaction function of the robot is realized, and the user does not need to manually control the robot. The robot can automatically plan a route and autonomously find a person and perform an interaction task according to the target instruction issued by the user, which enriches the interaction function of the robot and meets the use demand of the user.

[0081] In the embodiments of the present application, as shown in Figure 2 The step 104 can specifically include the following steps 104a to 104c:

[0082] Step 104a, determining a plurality of detection positions in the target scene according to the target scene map, and determining a target finding path through the plurality of detection positions;

[0083] Step 104b, moving to each detection position in turn according to the target finding path, and performing target detection at each detection position;

[0084] Step 104c: determining the position information of the target object according to the target detection result.

[0085] In the above embodiments, the specific way in which the robot autonomously finds the target object in the target scene according to the user instruction is further limited. Specifically, the robot stores a target scene map of the target scene. After the robot receives the target instruction issued by the user, the robot retrieves the pre-stored target scene map in its storage device, and autonomously plans a plurality of detection positions in the target scene based on the target scene map. After the robot plans the plurality of detection positions, the robot autonomously plans a person-finding path, i.e., a target finding path, according to the target scene map, the specific position coordinates of the plurality of detection positions, and the obstacle information of the target scene. The person-finding path passes through each detection position.

[0086] On this basis, the robot moves in the target scene through the moving device thereon according to the planned searching path, so as to move to each planned detection position in turn according to the searching path. Meanwhile, the robot stops at each detection position and rotates to scan the surrounding environment through the detection device thereon to detect the target. Specifically, at each detection position, the robot continuously adjusts the detection direction of the detection device thereon, so that the detection device rotates 360° to detect the surrounding environment of the robot. On this basis, the robot identifies the target object to be searched from the multiple objects in the target scene according to the target detection result, and determines the specific position information of the target object in the target scene, that is, determines the specific position coordinates of the position of the target object in the target scene map. In this way, by planning multiple detection positions in the target scene and detecting the target scene position by position, the robot ensures the omnidirectionality of scanning and detecting the target scene, thereby ensuring the comprehensiveness and accuracy of the target detection result, and improving the autonomous searching performance of the robot.

[0087] It should be noted that the detection position is located in a relatively open place in the target scene. In actual application, the detection position can be a relatively central position in each room. That is, when the robot rotates 360° to detect at each detection position through the detection device thereon, there is no obstacle to block the detection route of the detection device, that is, the detection device can perform 360° omnidirectional and dead angle-free scanning at the detection position. Based on this, the robot performs rotation detection at multiple detection positions in the target scene to realize dead angle-free detection of the target scene, thereby ensuring the comprehensiveness of the autonomous searching of the robot.

[0088] In actual application, the robot can specifically include a chassis and a main body, and the main body includes a first main body and a second main body. The moving device is arranged on the chassis, and the detection device is arranged on the second main body, and the second main body is rotatably connected with the first main body. On this basis, when the robot rotates to detect the surrounding environment, the robot can specifically rotate through the moving device thereon to drive the chassis and the main body to rotate, so as to adjust the detection direction of the detection device; the robot can also rotate through the second main body to adjust the detection direction of the detection device; and the robot can also rotate through the moving device and the second main body to adjust the detection direction of the detection device. The specific manner of adjusting the detection direction of the detection device by the robot can be set according to actual conditions by those skilled in the art, and is not specifically limited herein.

[0089] In actual application, when the robot scans the surrounding environment by the detection device for target detection, the detection device can specifically detect based on a YoLo series target detection algorithm, a Faster R-CNN target detection algorithm, an SSD (Single Shot Multibox Detector) target algorithm, and the like, without specific limitation.

[0090] In addition, it should be noted that in the process of moving the robot by the moving device thereon, the visual detection function of the robot is always in an open state, that is, the detection device thereon always scans and detects the environment in the scanning range thereof. The moving speed of the robot is related to the scanning result of the detection device. Specifically, in the case that the detection device scans a human image, the robot moves slowly so that the detection device thereon can accurately identify the to-be-detected object, thereby ensuring the accuracy of the detection result of the detection device; and in the case that the detection device does not scan a human image, the robot moves quickly to improve the speed of finding the target object.

[0091] In the embodiment of the present application, as shown in Figure 3 The step 104 specifically can include the following steps 104d and 104e:

[0092] Step 104d: traversing the target scene according to the target scene map and performing target detection on the target scene;

[0093] Step 104e: determining the position information of the target object according to the target detection result.

[0094] In the above embodiment, the specific manner in which the robot autonomously finds the target object in the target scene according to the user instruction is further limited. Specifically, the robot stores a target scene map of the target scene, after the robot receives the target instruction issued by the user, the robot retrieves the pre-stored target scene map in the storage device thereof, and traverses the target scene based on the target scene map. At the same time, in the process of traversing the target scene, the robot constantly rotates and scans the surrounding environment by the detection device thereon to realize target detection on the surrounding environment. On this basis, the robot identifies the target object to be found from a plurality of objects in the target scene according to the target detection result, and determines the specific position information of the target object in the target scene, that is, determines the specific position coordinates of the position of the target object in the target scene map. In this way, the robot traverses the entire target scene to find the target object, realizes no dead angle detection of the target scene, ensures the comprehensiveness and accuracy of the target detection result, and improves the autonomous finding performance of the robot.

[0095] It should be noted that in the process of the robot traversing the target scene for movement, the detection device on the robot always performs target detection on the environment in its scanning range. On this basis, in the case that the detection device detects a human feature, that is, in the case that the partial feature or the entire feature of the human appears in the scanning range of the detection device, the robot moves slowly, and in the case that the detection device does not detect a human feature, the robot moves quickly. In this way, while ensuring the comprehensiveness of the detection result of the detection device, the phenomenon of blurred detection picture is avoided, thereby reducing the misrecognition rate of the detection device, ensuring the accuracy and precision of the detection device in detecting the to-be-detected object, and improving the speed of the robot in finding the target object.

[0096] In the embodiment of the present application, as shown in Figure 4 The step 104 can specifically include the following steps 104f to 104h:

[0097] Step 104f, determining a second movement route according to the target scene map;

[0098] Step 104g, performing target detection in the target scene according to the second movement route;

[0099] Step 104h: determining the position information of the target object according to the target detection result.

[0100] In the above embodiment, after the robot receives the target instruction issued by the user, the robot retrieves the target scene map pre-stored in its storage device, and autonomously plans a detection route, i.e., a second movement route, according to the target scene map. On this basis, the robot drives its whole body to move in the target scene based on the planned first movement route by the movement device thereon, and in the process of movement of the movement device, the robot constantly performs target detection on the environment around it by the detection device thereon. The robot identifies the target object to be found from a plurality of objects in the target scene according to the target detection result, and determines the specific position information of the target object in the target scene. In this way, the self-finding function of the robot is realized, and the use performance of the robot is improved.

[0101] In the embodiment of the present application, the step of determining the position information of the target object according to the target detection result can specifically include the following steps 110 and 112:

[0102] Step 110, in the case that the first biological feature is detected, matching the second biological feature in the target biological feature library with the first biological feature;

[0103] Step 112, in the case that the second biological feature matches the first biological feature successfully, the detected object corresponding to the first biological feature is determined as the target object, and the position information of the target object is determined.

[0104] In the above embodiment, the specific manner in which the robot determines the specific position of the target object according to the target detection result is further limited. Specifically, the storage device of the robot pre-stores a target biological feature library. In the case that the detection device on the robot detects the first biological feature of a certain to-be-detected object, the robot retrieves the second biological feature in the target biological feature library, and compares and matches the second biological feature with the first biological feature detected by the detection device. The second biological feature is the biological feature of the target object to be found, which is pre-registered in the robot.

[0105] On this basis, in the case that the first biological feature of a certain to-be-detected object detected by the detection device is consistent with the second biological feature of the target object, that is, in the case that the first biological feature of a certain to-be-detected object detected by the detection device matches the second biological feature of the target object successfully, the robot determines the to-be-detected object as the target object to be found, and determines the specific position information of the target object in the target scene, that is, determines the specific position coordinates of the location of the target object in the target scene map. In the case that the first biological feature of a certain to-be-detected object detected by the detection device is inconsistent with the second biological feature of the target object, that is, in the case that the first biological feature of a certain to-be-detected object detected by the detection device fails to match the second biological feature of the target object, the robot continues to scan and detect the surrounding environment until the target object is detected, the robot determines the specific position information of the target object, or until the detection time of the robot is exceeded, the robot returns to the initial position.

[0106] In actual application, the biological feature can be a face feature, a voiceprint feature, or other biological features that can be used for object recognition. In the interactive method proposed in the embodiments of the present application, the user can pre-register his / her face feature, voiceprint feature, or other biological features in the robot. On this basis, in the process of autonomous searching of the robot, the robot compares the face feature or voiceprint feature detected by it with the pre-stored face feature or voiceprint feature of the target object, identifies the target object to be found from multiple objects in the target scene, and determines the specific position information of the target object in the target scene.

[0107] In addition, in actual application, when the biological feature of the target object is not registered in the robot, the robot can inquire whether the to-be-detected object is the target object to be found through voice inquiry when the detection device on the robot detects the biological feature of the to-be-detected object.

[0108] In the embodiment of the present application, as shown in Figure 5 The step 108 can specifically include the following step 108a:

[0109] The step 108a is to broadcast the target voice message indicated by the target instruction to the target object.

[0110] In the above embodiment, the specific manner in which the robot automatically interacts with the target object is further limited. Specifically, when the target instruction issued by the user to the robot is a message passing instruction, the robot automatically plays the voice message to be conveyed by the user to the target object after finding the target object. In this way, in the case that the user is too busy to be away, the user does not need to personally pass the message to the target object, but only needs to use the robot to convey the message to the target object, thereby meeting the user's use demand.

[0111] For example, in the case that the robot is a home service robot, when the user issues a voice instruction "call dad to eat" to the robot, the robot starts the whole house searching function and determines that the target object to be found is the target person identified as "dad" in the target biological feature library. On this basis, the robot autonomously plans a searching path to find the target person "dad" in the target scene. After the robot finds the target person "dad", the robot issues a voice message "eat" to the target person "dad" to inform the target person "dad" to go to the dining room to eat.

[0112] In the embodiment of the present application, the robot includes an article access device, and on this basis, as shown in Figure 6 After the step 102, the interaction method can specifically further include the following step 103, and the step 108 can specifically include the following step 108b.

[0113] The step 103 is to rotate the article access device to the side close to the user, so that the user can place the target article in the article access device;

[0114] The step 108b is to rotate the article access device to the side close to the target object, so that the target object can take out the target article from the article access device.

[0115] In the above embodiments, the robot is provided with an article storage device such as a backpack, an article basket, a drawer, and the like. On this basis, in the case where the target instruction issued by the user to the robot is a delivery instruction, after the robot receives the target instruction of the user, the robot automatically rotates to turn the article storage device thereon to a side closer to the user, so that the user can place the target article to be delivered into the article storage device. After the robot finds the target object, the robot automatically rotates to turn the article storage device thereon to a side closer to the target object, so that the target object can take the target article placed in the article storage device. In this way, in the case where the user is too busy to deliver the article to the target object, the user can deliver the target article to be delivered to the target object by means of the robot only, which meets the use requirement of the user.

[0116] Exemplarily, in the case where the robot is a home service robot and the robot is provided with a backpack, after the user issues an instruction of "deliver the remote controller to mom" to the robot, the robot automatically rotates to turn the backpack thereon to a side closer to the user, so that the user places the remote controller into the backpack. Meanwhile, the robot starts a whole-house object search function and determines that the target object to be searched is a target person identified as "mom" in a target biometric feature library. On this basis, the robot autonomously plans a search path to search for the target person "mom" in a target scene. After the robot finds the target person "mom" and moves to the position of the target person "mom", the robot automatically rotates to turn the backpack thereon to a side closer to the target person "mom", so that the target person "mom" takes the remote controller placed in the backpack.

[0117] In the embodiments of the present application, the robot includes an article storage device, and on this basis, as shown in Figure 3 After the step 108, the interaction method specifically further includes the following step 114:

[0118] Step 114: moving to a target position in a target scene.

[0119] In the above embodiments, after the robot executes the target task indicated by the target instruction to the target object, the robot moves as a whole by means of the moving device thereon to the initial position before the robot receives the target instruction of the user, or the robot moves as a whole by means of the moving device thereon to a preset position set by the user, so as to facilitate the user to master the standby position of the robot, so as to quickly start the next object search operation.

[0120] In conclusion, the interaction method proposed in the embodiments of the present application realizes the autonomous delivery function of the robot, and meets the use requirement of the user. Specifically, as Figure 7As shown, when the user uses the above robot, the user can start the autonomous message transmission function of the robot through a voice instruction such as "XXX, go call dad to eat", or the user can start the autonomous delivery function of the robot through a voice instruction such as "XXX, deliver this bottle of water to dad", and "XXX" can be a nickname set by the user for the robot. On this basis, after the robot receives the user instruction, the robot starts to perform the moving message transmission or delivery operation to find the target person indicated by the user instruction in the whole house environment, and after finding the target person, the robot delivers the voice or the object to the target person to complete the autonomous person-finding message transmission / delivery task.

[0121] In an embodiment of the present application, an interaction device is also provided. As shown in Figure 10 Figure 10 A structural block diagram of the interaction device 1000 of the embodiment of the present application is shown. The interaction device 1000 is used for a robot, and the interaction device 1000 can specifically include the following receiving unit 1002, processing unit 1004, moving unit 1006, and interaction unit 1008:

[0122] The receiving unit 1002 is configured to receive a target instruction of a user, the target instruction being used to instruct the robot to perform a target task on a target object;

[0123] The processing unit 1004 is configured to determine position information of the target object in a target scene according to a target scene map;

[0124] The processing unit 1004 is further configured to determine a first moving route according to the position information and the target scene map;

[0125] The moving unit 1006 is configured to move to the target object according to the first moving route;

[0126] The interaction unit 1008 is configured to perform the target task on the target object.

[0127] The interaction device 1000 provided by the embodiment of the present application is used to control the robot to work, so as to make the robot complete a corresponding interaction task for the user. The above robot is provided with a detection device and a moving device.

[0128] The above robot is provided with a chassis, and the above moving device is arranged on the chassis of the robot. The moving device can drive the robot to move forward, backward, leftward, rightward, or rotate in place.

[0129] The above detection device is used to scan the surrounding environment of the robot, so as to perform visual detection on the surrounding environment of the robot. Specifically, the detection device is used to perform target detection on the surrounding environment of the robot, so as to find the target object. In actual application, the detection device can be specifically a camera module with visual detection function, which is not limited here.​

[0130] In actual application, the robot can be a sweeping robot, a hall robot, a child accompanying robot, an airport intelligent robot, an intelligent question-answering robot, or other mobile devices with autonomous mobile function, which are not specifically limited here.

[0131] Specifically, the interaction device provided in the embodiments of the present application includes a receiving unit 1002, a processing unit 1004, a moving unit 1006, and an interaction unit 1008. When a user uses the robot, the user can issue a target instruction to the robot through a key input, a voice input, or other ways, which is used to instruct the robot to find a target object and perform a corresponding interaction task, i.e., a target task, on the target object. On this basis, the receiving unit 1002 receives the target instruction issued by the user to the robot, and the processing unit 1004 starts the autonomous searching and interaction function of the robot, so that the robot autonomously searches for the target object indicated by the user instruction in the target scene. After finding the target object, the interaction unit 1008 automatically interacts with the target object to complete the target task indicated by the user.

[0132] Specifically, the robot stores a target scene map of the target scene. After the receiving unit 1002 receives the target instruction of the user, the processing unit 1004 calls the pre-stored target scene map in the storage device of the robot, and autonomously searches for the target object indicated by the target instruction in the target scene based on the target scene map, so as to determine the specific position information of the target object in the target scene. On this basis, after the processing unit 1004 determines the specific position information of the target object, the processing unit 1004 autonomously plans a movement route, i.e., a first movement route, required for the robot to move to the position of the target object based on the specific position information of the target object and the target scene map. The moving unit 1006 controls the robot to move towards the target object as a whole according to the first movement route through the moving device thereon, until the robot moves to the position of the target object, and the moving unit 1006 controls the robot to stop moving. After the moving unit 1006 controls the robot to move to the position of the target object, the interaction unit 1008 controls the robot to actively interact with the target object based on the user instruction, so as to complete the target task indicated by the user instruction. In this way, without manual control of the user, the robot can automatically plan a route and autonomously search for and interact with the target object according to the target instruction issued by the user, which enriches the interaction function of the robot and meets the use demand of the user.

[0133] In the process that the robot autonomously searches for the target object indicated by the user instruction in the target scene, the robot can specifically move in the target scene as a whole by the moving device thereon based on the target scene map, and in the process of moving, the surrounding target scene environment is detected by the detection device thereon to identify the target object to be searched from multiple objects in the target scene through target detection. On this basis, when the robot detects the target object, the processing unit 1004 determines the specific position information of the target object in the target scene based on the target scene map, that is, the specific position coordinates of the location of the target object in the target scene map are determined.

[0134] In addition, it should be noted that in the actual application process, in the process that the processing unit 1004 identifies the target object, the processing unit 1004 can specifically compare and match the biological characteristics of the object to be identified detected by the robot according to the biological characteristics such as facial features and voiceprint characteristics of the target object pre-stored in the robot storage device, so as to screen the target object from multiple objects in the target scene according to the matching result.

[0135] In the process that the processing unit 1004 plans the action route required for the robot to move to the location of the target object, the processing unit 1004 determines the distance information between the robot and the target object based on the actual position information of the robot in the target scene and the specific position information of the target object in the target scene. On this basis, the processing unit 1004 autonomously plans an action route with the shortest movement distance as the first movement route of the robot movement in combination with the obstacle information in the target scene and the distance information between the robot and the target object.

[0136] In the actual application process, the above target task can be a relay task, a delivery task, etc. After the receiving unit 1002 receives the target instruction issued by the user, the processing unit 1004 automatically searches for the target object related to the target instruction according to the target instruction, and after finding the target object, the interactive unit 1008 controls the robot to deliver the corresponding voice message or the target object to the target object. In this way, the user does not need to personally perform the target task on the target object, and only with the help of the robot, the task demand of the user can be met, for example, in the case that the user is busy and cannot spare time, the user can help himself complete other to-be-handled transactions through the robot, and the use demand of the user is met.

[0137] In addition, in actual application, the specific content of the target task that can be executed by the robot is different according to the robot model. For example, for a robot with air supply function, the robot can find a target object in a target scene according to a target instruction of air supply to the target object indicated by a user, and perform air supply operation on the target object after finding the target object; for a robot with massage function, such as a robot installed with a massage hammer, the robot can find a target object in a target scene according to a target instruction of massage for the target object indicated by a user, and perform massage on the target object through the massage hammer thereon after finding the target object. It should be noted that in some application scenarios, such as air supply scene, the user who issues the target instruction and the target object to be found can be the same person, which is not limited here.

[0138] For example, in the case of the above robot being a home service robot installed with a massage hammer, a family member "Grandpa" issues an instruction "come to massage Grandpa" to the robot, and the robot determines that the target object to be found is "Grandpa" after receiving the instruction. On this basis, the robot finds the target person "Grandpa" in the whole house by taking the biological features identified as "Grandpa" in the pre-stored biological feature library as the matching standard. After detecting the target person "Grandpa", the robot autonomously plans an action route and moves towards the location of the target person "Grandpa" according to the action route. After the robot moves to the location of the target person "Grandpa", the robot adjusts its posture and automatically performs a knocking massage operation on the target person "Grandpa" through the massage hammer thereon.

[0139] In summary, the interaction device proposed in the embodiments of the present application receives the instruction of the user to the target object to perform a certain target task, and the processing unit 1004 automatically finds the target object in the target scene based on the target scene map. After finding the target object, the interaction unit controls the robot to autonomously interact with the target object according to the user instruction to complete the target task indicated by the user. In this way, the autonomous person finding and interaction function of the robot is realized, and the user does not need to manually control the robot. The robot can automatically plan a route and autonomously find a person and perform an interaction task according to the target instruction issued by the user, which enriches the interaction function of the robot and meets the use demand of the user.

[0140] In the above embodiment, the processing unit 1004 is specifically configured to: determine a plurality of detection positions in the target scene according to the target scene map, and determine a target finding path penetrating through the plurality of detection positions; move to each detection position in turn according to the target finding path, and perform target detection at each detection position; and determine the position information of the target object according to the target detection result.

[0141] The processing unit 1004 is specifically configured to: determine a second moving route according to the target scene map; and perform target detection in the target scene according to the second moving route; and determine the position information of the target object according to the target detection result.

[0142] The processing unit 1004 is specifically configured to: traverse the target scene according to the target scene map, and perform target detection on the target scene; and determine the position information of the target object according to the target detection result.

[0143] The processing unit 1004 is specifically configured to: in a case where the first biological feature is detected, match a second biological feature in the target biological feature library with the first biological feature; and in a case where the second biological feature matches the first biological feature successfully, determine a detected object corresponding to the first biological feature as the target object, and determine the position information of the target object.

[0144] As shown in Figure 10 The interactive device 1000 further includes a playing unit 1010, configured to play a target voice message indicated by the target instruction to the target object.

[0145] As shown in Figure 10 The interactive device 1000 further includes a driving unit 1012, which is specifically configured to: rotate the article access device to a side close to the user, so that the user places the target article in the article access device; and rotate the article access device to a side close to the target object, so that the target object takes out the target article from the article access device.

[0146] After the target object is executed the target task, the moving unit 1006 is further configured to: move to a target position in the target scene, the target position being an initial position of the robot before the target instruction is received, or the target position being a preset position set by the user.

[0147] In an embodiment of the present application, another interactive device is further provided. As shown in Figure 11 Figure 11 A structure block diagram of the interactive device 1100 provided by an embodiment of the present application is shown. The interactive device 1100 includes:

[0148] A memory 1102, in which a program or instruction is stored;

[0149] A processor 1104, which implements the steps of the interactive method in any of the above embodiments when executing the above program or instruction.

[0150] ​The interaction device 1100 provided in this embodiment comprises a memory 1102 and a processor 1104. When the program or instruction in the memory 1102 is executed by the processor 1104, the steps of the interaction method in any of the above embodiments are implemented. Therefore, the interaction device 1100 has all the beneficial effects of the interaction method in any of the above embodiments, which will not be repeated here.

[0151] Specifically, the memory 1102 and the processor 1104 can be connected by a bus or other means. The processor 1104 can include one or more processing units. The processor 1104 can be a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like chip.

[0152] In an embodiment of the present application, a robot is also provided. As shown in Figure 12 Figure 12 A structural block diagram of the robot 1200 provided in the embodiments of the present application is shown. The robot 1200 comprises a chassis 1202, a main body 1204, and the interaction device 1100 in the above embodiments.

[0153] The robot 1200 provided in the embodiments of the present application comprises the interaction device 1100 in the above embodiments. Therefore, the robot 1200 has all the technical effects of the interaction device 1100 in the above embodiments, which will not be repeated here.

[0154] As shown in Figure 12 The chassis 1202 is provided with a moving device 1206. The main body 1204 is arranged on the chassis 1202. The main body 1204 is provided with a detection device 1208 and an article accessing device 1214. The interaction device 1100 is arranged inside the main body 1204.

[0155] In the working process of the robot 1200, the detection device 1208 is controlled by the interaction device 1100 therein to perform target detection. The moving device 1206 is controlled by the interaction device 1100 therein to move.

[0156] ​Specifically, the robot 1200 proposed in the embodiments of the present application has an autonomous interaction function. After the robot 1200 receives an instruction from a user for a target object to perform a certain target task, the interaction device 1100 autonomously plans a path for searching for a person based on a target scene map, controls the mobile device 1206 on the chassis 1202 to drive the robot 1200 as a whole to move, and controls the detection device 1208 on the main body 1204 to perform rotating detection on the surrounding environment of the robot 1200 to determine the location of the target object. On this basis, the interaction device 1100 autonomously plans a moving route and controls the mobile device 1206 to move according to the planned moving route. After the robot 1200 moves to the location of the target object, the interaction device 1100 controls the robot 1200 to actively interact with the target object to complete the interaction task indicated by the target instruction.

[0157] In actual application, as shown in Figure 9 The robot specifically can include a camera module, an algorithm platform, a control platform, a head motor, a SLAM module and a chassis. The camera module is connected with the algorithm platform, the control platform is connected with the algorithm platform, the head motor, the SLAM module and the chassis, the algorithm platform communicates with an Android platform, and the Android platform communicates with a cloud platform. The algorithm platform further includes an application layer, a communication message bus, an algorithm framework and a system driver. The application layer is used for algorithm calculation of the robot in aspects of moving, talking and delivering, the communication message bus can be a Message Bus bus, the algorithm framework contains various algorithm models and engineering thereof, and the system driver can be a Linux Kernel driving system.

[0158] On this basis, as shown in Figure 8As shown, in the case that the robot is an intelligent robot, in the working process of the robot, the robot opens the voice interaction function of the voice module, and simultaneously opens the control function of the Android end on the chassis, the head motor, the camera module and other structures. On this basis, after the voice module receives the voice instruction of the user, the Android end controls the chassis of the robot to move, and controls the head motor of the robot to adjust the angle, and simultaneously, opens the visual algorithm function of the robot to find the target person indicated by the user instruction in the whole house. Specifically, the Android end control algorithm platform plans a person-finding path based on the scene map established by the SLAM module, and controls the chassis of the robot to move according to the person-finding path. In the process of moving the robot, the Android end controls the camera module to scan the face image, and controls the algorithm platform to recognize the scanned face image based on the pre-recorded face information, so as to find the target person in the whole house. After the robot finds the target person, the Android end controls the chassis of the robot to move to deliver the goods to the target person, or the Android end controls the voice module of the robot to deliver the voice message to the target person.

[0159] In addition, it should be noted that in actual application, the robot 1200 is not limited to a sweeping robot, a hall robot, a child accompanying robot, an airport intelligent robot, an intelligent question and answer robot and a household service robot, and other mobile devices with autonomous mobile function, which are not specifically limited herein.

[0160] In the embodiment of the present application, as shown in the figure, Figure 12 The main body 1204 can specifically include a first main body 1210 and a second main body 1212.

[0161] As shown in the figure, Figure 12 The first main body 1210 is arranged on the chassis 1202, the second main body 1212 is arranged on the first main body 1210, the detection device 1208 is arranged on the second main body 1212, and the second main body 1212 is rotatably connected with the first main body 1210.

[0162] On this basis, in the process in which the interaction device 1100 controls the detection device 1208 to perform rotation detection on the surrounding environment of the robot 1200 in the above embodiment, the interaction device 1100 can control the movement device 1206 to rotate alone, so as to drive the chassis 1202, the first main body 1210 and the second main body 1212 to rotate, thereby adjusting the detection direction of the detection device 1208; the interaction device 1100 can also control the second main body 1212 to drive the detection device 1208 to rotate alone, so as to adjust the detection direction of the detection device 1208; the interaction device 1100 can also control the movement device 1206 and the second main body 1212 to rotate in cooperation, so as to adjust the detection direction of the detection device 1208. The specific manner in which the interaction device 1100 adjusts the detection direction of the detection device 1208 can be set according to actual conditions by those skilled in the art, and is not specifically limited herein.

[0163] Embodiments of the fifth aspect of the present application provide a readable storage medium. A program or instruction is stored thereon, and the program or instruction is executed by a processor to implement the steps of the interaction method in any of the above embodiments.

[0164] The readable storage medium provided by the embodiments of the present application stores a program or instruction, and the program or instruction is executed by a processor to implement the steps of the interaction method in any of the above embodiments. Therefore, the readable storage medium has all the beneficial effects of the interaction method in any of the above embodiments, which will not be repeated here.

[0165] Specifically, the readable storage medium can include any medium capable of storing or transmitting information. Examples of the readable storage medium include electronic circuits, semiconductor memory devices, read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), flash memory, erasable ROM (EROM), magnetic tape, floppy disk, optical disc, hard disk, optical fiber medium, radio frequency (RF) link, optical data storage device, etc. Code segments can be downloaded via a computer network such as the Internet, an intranet, etc.

[0166] Embodiments of the sixth aspect of the present application provide a computer program product, which includes a computer program that is executed by a processor to implement the interaction method in any of the above technical solutions. Therefore, the computer program product of the sixth aspect of the present application has all the beneficial effects of the interaction method in any of the above technical solutions, which will not be repeated here.

[0167] In the description of the present specification, the terms "first", "second", "third" and the like are used only for the purpose of description, and cannot be understood as indicating or implying relative importance, unless otherwise explicitly specified and limited; the terms "connection", "installation", "fixation" and the like should be understood in a broad sense, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection; can be directly connected, or indirectly connected through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0168] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "a specific embodiment" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0169] In addition, the technical solutions of various embodiments of the present application can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, also not within the protection scope of the present application.

[0170] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An interaction method, characterized in that, The interaction method for the robot comprises: receiving a target instruction of a user, the target instruction being used to instruct the robot to perform a target task on a target object; determining position information of the target object in a target scene according to a target scene map; determining a first moving route according to the target scene map and the position information, and moving to the target object along the first moving route; performing the target task on the target object; The robot comprises an article access device, and after receiving the target instruction of the user, the interaction method further comprises: rotating the article access device to a side close to the user, so that the user places a target article in the article access device; The performing of the target task on the target object comprises: rotating the article access device to a side close to the target object, so that the target object takes out the target article from the article access device; wherein, in the process of moving of the robot, a face image is scanned, and the scanned face image is recognized based on pre-recorded face information; The target instruction is a transmission instruction; After the performing of the target task on the target object, the interaction method further comprises: moving to a target position in the target scene, wherein the target position is an initial position of the robot before receiving the target instruction, or the target position is a preset position set by the user; wherein, based on actual position information of the robot in the target scene and position information of the target object in the target scene, distance information between the robot and the target object is determined; in combination with obstacle information in the target scene and the distance information between the robot and the target object, an action route with the shortest movement distance is planned as the first moving route of the robot.

2. The interaction method of claim 1, wherein, The determining of the position information of the target object in the target scene according to the target scene map comprises: determining a plurality of detection positions in the target scene and a target searching path penetrating through the plurality of detection positions according to the target scene map; moving to each detection position along the target searching path in sequence, and performing target detection at each detection position; determining the position information of the target object according to a target detection result.

3. The interaction method of claim 1, wherein, The determining of the position information of the target object in the target scene according to the target scene map comprises: determining a second moving route according to the target scene map; performing target detection in the target scene according to the second moving route; determining the position information of the target object according to a target detection result.

4. The interaction method of claim 1, wherein, The determining of the position information of the target object in the target scene according to the target scene map comprises: traversing the target scene according to the target scene map, and performing target detection on the target scene; determining the position information of the target object according to a target detection result.

5. The interaction method according to any one of claims 2 to 4, characterized in that, The determining of the position information of the target object according to the target detection result comprises: In a case where the first biological feature is detected, the first biological feature is matched with a second biological feature in a target biological feature library, the second biological feature being a biological feature of the target object registered in the robot; In a case where the first biological feature is successfully matched with the second biological feature, a detected object corresponding to the first biological feature is determined as the target object, and position information of the target object is determined.

6. The interaction method according to any one of claims 1 to 4, characterized in that, The target task performed on the target object includes: playing a target voice message corresponding to the target instruction to the target object.

7. An interactive device, characterized by The interactive device for the robot includes: a receiving unit configured to receive a target instruction of a user, the target instruction being used to instruct the robot to perform a target task on a target object; a processing unit configured to determine position information of the target object in a target scene according to a target scene map; the processing unit is further configured to determine a first movement route according to the target scene map and the position information; a moving unit configured to move to the target object along the first movement route; an interacting unit configured to perform the target task on the target object; The interactive device further includes a driving unit, which is specifically configured to rotate the article access device to a side close to the user, so that the user places a target article in the article access device; rotate the article access device to a side close to the target object, so that the target object takes out the target article from the article access device; wherein, in the process of moving the robot, a face image is scanned, and the scanned face image is identified based on pre-recorded face information; the target instruction is a transmission instruction; The moving unit is further configured to move to a target position in the target scene, the target position being an initial position of the robot before the target instruction is received, or the target position being a preset position set by the user; wherein, based on actual position information of the robot in the target scene and position information of the target object in the target scene, distance information between the robot and the target object is determined; in combination with obstacle information in the target scene and the distance information between the robot and the target object, an action route with the shortest movement distance is planned as the first movement route of the robot.

8. An interactive device, characterized by comprise: a memory storing a program or instructions; a processor, which, when executing the program or instructions, implements the steps of the interactive method according to any one of claims 1 to 6.

9. A robot, characterized in that comprise: a chassis, the chassis being provided with a moving device; a main body, the main body being arranged on the chassis, the main body being provided with a detection device and an article access device; The interactive device according to claim 8 is arranged in the main body, the interactive device controls the moving device to move or rotate, and the interactive device controls the detection device to perform target detection on the target scene.

10. The robot of claim 9, wherein, The main body comprises: a first main body, the first main body being arranged on the chassis, the article access device being arranged on the first main body; a second main body, the second main body being arranged on the first main body and being rotatably connected with the first main body, the detection device being arranged on the second main body; In the process in which the interaction device controls the detection device to detect a target scene, the interaction device controls the moving device and / or the second subject to rotate, so as to adjust the detection angle of the detection device.

11. A readable storage medium, on which a program or instructions are stored, characterized in that, The program or the instruction is executed by the processor to realize the steps of the interaction method in any one of claims 1 to 6.

12. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the interaction method in any one of claims 1 to 6.

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