Spherical robot, man-machine interaction method and storage medium

Abstract

The invention discloses a spherical robot, a man-machine interaction method and a storage medium, and relates to the technical field of robots. And the projection module is arranged in the spherical shell and is used for projecting corresponding target display content to the spherical shell in response to a user interaction instruction so as to display the target display content to an external environment through the spherical shell. The technical problem that an existing spherical robot is poor in interactivity in the aspect of man-machine interaction is solved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a spherical robot, a human-machine interaction method and a storage medium. Background Art

[0002] With the rapid development of science and technology, spherical robots have shown great application potential in many fields such as entertainment, education, exploration and home services.

[0003] Traditional spherical robots generally adopt two solutions in terms of human-computer interaction. One is to completely abandon direct interaction and only interactively control the spherical robot through the application of a smartphone; the other is to set a display screen on the spherical robot to display relevant information of the spherical robot to the user through this display screen. However, if the interaction can only be achieved through the application of a smartphone, the spherical robot is equivalent to an execution terminal and there is no direct human-computer interaction with the user. The way of setting up the display screen is limited by the display screen, making it difficult to display complex information and limited in expression. That is, the existing spherical robots have poor interactivity in terms of human-computer interaction.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention The main purpose of the present application is to provide a spherical robot, a human-computer interaction method and a storage medium, aiming to solve the technical problem that the existing spherical robots have poor interactivity in human-computer interaction.

[0005] To achieve the above-mentioned purpose, the present application proposes a spherical robot, which comprises: a translucent spherical shell; The projection module is arranged inside the spherical shell, and is used for projecting corresponding target display content onto the spherical shell in response to user interaction instructions, so as to display the target display content to the external environment through the spherical shell.

[0006] In one embodiment, the spherical robot further comprises a main control module, which is disposed inside the spherical shell and is electrically connected to the projection module; The main control module is used to perform anti-distortion processing on the target display content based on predetermined anti-distortion parameters and send the anti-distortion processed target display content to the projection module, wherein the predetermined anti-distortion parameters are used to correct at least the distortion caused by the curvature of the spherical shell.

[0007] In one embodiment, the spherical robot further comprises a light sensor, which is disposed inside the spherical shell and electrically connected to the main control module; the collection end of the light sensor points to the projection area of ​​the projection module; The light sensor is used to collect the internal environment brightness of the spherical robot and send the internal environment brightness to the main control module; The main control module is used to query a predetermined light mapping table to obtain the external environment brightness corresponding to the internal environment brightness, and adjust the projection brightness of the projection module according to the external environment brightness.

[0008] In one embodiment, the spherical robot further comprises an inertial sensor, which is disposed inside the spherical shell and is electrically connected to the main control module; The inertial sensor is used to collect inertial information of the spherical robot during the interaction process and send the inertial information to the main control module; The main control module is used to identify the motion posture of the spherical robot according to the inertial information, and determine the user interaction action and the user interaction instruction corresponding to the user interaction action according to the motion posture.

[0009] In addition, to achieve the above purpose, the present application also proposes a human-computer interaction method, which is applied to the spherical robot as described above, and the human-computer interaction method includes: In response to a user interaction instruction, acquiring target display content corresponding to the user interaction instruction; The target display content is projected onto the spherical shell of the spherical robot, so as to display the target display content to the external environment through the spherical shell.

[0010] In one embodiment, the step of projecting the target display content onto the spherical shell of the spherical robot comprises: Acquiring predetermined anti-distortion parameters, wherein the predetermined anti-distortion parameters are used to correct distortion caused by at least the curvature of the spherical shell; After performing anti-distortion processing on the target display content based on the predetermined anti-distortion parameters, the target display content after the anti-distortion processing is projected onto the spherical shell.

[0011] In one embodiment, before the step of obtaining the predetermined anti-distortion parameter, the method includes: Projecting a predetermined calibration chart onto the spherical shell, and acquiring a calibration projection image of the predetermined calibration chart; Obtaining an intrinsic parameter matrix of the projection module; According to the intrinsic parameter matrix, the projection corner points in the calibrated projection image and the original corner points in the predetermined calibration chart, a mapping relationship of pixel points from distorted positions to undistorted positions is constructed as predetermined anti-distortion parameters.

[0012] In one embodiment, before the step of projecting the target display content onto the spherical shell of the spherical robot, the human-computer interaction method further includes: Acquire the internal environment brightness of the spherical robot; A predetermined illumination mapping table is queried to obtain the external environment brightness corresponding to the internal environment brightness, and the projection brightness of the projection module is adjusted according to the external environment brightness.

[0013] In one embodiment, before the step of acquiring the target display content corresponding to the user interaction instruction in response to the user interaction instruction, the human-computer interaction method further includes: Acquiring inertial information of the spherical robot during the interaction; According to the inertial information, identifying the motion posture of the spherical robot; A user interaction action is determined according to the motion posture, and a control instruction corresponding to the user interaction action is used as a user interaction instruction.

[0014] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the human-computer interaction method described above are implemented.

[0015] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the human-computer interaction method described above are implemented.

[0016] One or more technical solutions proposed in this application have at least the following technical effects: The present application proposes a spherical robot, which includes: a translucent spherical shell; a projection module, which is arranged inside the spherical shell and is used to project corresponding target display content onto the spherical shell in response to user interaction instructions, so as to display the target display content to the external environment through the spherical shell. Therefore, the present application can project more complex and expressive content onto the spherical shell of the spherical robot through the projection module, and display the target display content to the external environment with the help of the translucent spherical shell, so as to improve the interactivity between the spherical robot and the user in terms of human-computer interaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 A schematic diagram of the structure of a spherical robot according to an embodiment of the present application; Figure 2 A schematic diagram of the target display content involved in the embodiment of the present application; Figure 3 A schematic diagram of the structure of another embodiment of the spherical robot of the present application; Figure 4 This is a flow chart of the first embodiment of the application human-computer interaction method; Figure 5 This is a flow chart of the second embodiment of the application human-computer interaction method.

[0020] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0022] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0023] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0024] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0025] The main solution of the embodiment of the present application is: the spherical robot includes: a translucent spherical shell; a projection module, arranged inside the spherical shell, for responding to user interaction instructions, projecting corresponding target display content onto the spherical shell, so as to display the target display content to the external environment through the spherical shell.

[0026] Traditional spherical robots generally adopt two solutions in terms of human-computer interaction. One is to completely abandon direct interaction and only interactively control the spherical robot through the application of a smartphone; the other is to set a display screen on the spherical robot to display relevant information of the spherical robot to the user through this display screen. However, if the interaction can only be achieved through the application of a smartphone, the spherical robot is equivalent to an execution terminal and there is no direct human-computer interaction with the user. The way of setting up the display screen is limited by the display screen, making it difficult to display complex information and limited in expression. That is, the existing spherical robots have poor interactivity in terms of human-computer interaction.

[0027] The present application provides a solution, which can project more complex and expressive content onto the spherical shell of the spherical robot through a projection module, and display the target display content to the external environment with the help of a translucent spherical shell, so as to improve the interactivity between the spherical robot and the user in terms of human-computer interaction.

[0028] Based on this, the present application proposes a spherical robot. Figure 1 As shown, an embodiment of the present application provides a spherical robot, the spherical robot comprising: the spherical robot comprises: a translucent spherical shell 100; The projection module 200 is disposed inside the spherical shell 100 , and is used to project corresponding target display content onto the spherical shell 100 in response to a user interaction instruction, so as to display the target display content to the external environment through the spherical shell 100 .

[0029] Figure 1 In the figure, Figure (a) and Figure (b) show the spherical robot at different observation angles. The translucent spherical shell 100 is made of a translucent material, and the translucent property is that only a part of the visible light can be transmitted, but other objects cannot be clearly observed through it. The transparency of the translucent spherical shell 100 is not only related to the material, but also to the thickness of the shell. In this embodiment, the translucent spherical shell 100 can be prepared by selecting the corresponding material and shell thickness according to specific needs. As a preferred example, the spherical shell 100 can be made of PC (Poly-Carbonate, polycarbonate), with a shell thickness of 1.5mm and a light transmittance of 65%. The user interaction instruction can be a control instruction issued by the user, or it can be a control instruction triggered based on a preset interaction rule. The preset interaction rules are pre-set rules for interacting with the user. For example, when the battery level of the spherical robot is lower than a predetermined battery threshold, a user interaction instruction for event reminder is triggered. The spherical robot responds to the user interaction instruction and projects the low battery event prompt information onto the spherical shell 100, so as to display the low battery event to the user in the external environment through the spherical shell 100. The projection module 200 is disposed inside the spherical shell 100, so that after receiving the user interaction instruction, it can respond to the user interaction instruction and project the target display content corresponding to the user interaction instruction onto the spherical shell 100, so as to display the target display content to the external environment through the spherical shell 100. The target display content can be content in at least one displayable form such as text, symbols, icons, images, etc. Figure 2 As shown, in this embodiment, the corresponding specified expressions (static or animated) can be configured as target display content according to different states of the spherical robot, such as Figure 2 (a), (b), (c) and (d) in the figure.

[0030] In some embodiments, the spherical robot further includes a main control module 300 disposed inside the spherical housing 100 and electrically connected to the projection module 200; The main control module 300 is used to perform anti-distortion processing on the target display content based on predetermined anti-distortion parameters and send the anti-distorted target display content to the projection module 200 , wherein the predetermined anti-distortion parameters are used to correct at least the distortion caused by the curvature of the spherical shell 100 .

[0031] Since the embodiment of the present application needs to display the target display content to the user through the translucent spherical shell 100, and the projection area provided by the spherical shell is not a plane, but an arc surface with a certain curvature, if the target display content is directly projected onto the spherical shell 100 in the present embodiment, the target display content on the spherical shell 100 will be distorted when the user observes it in the external environment.

[0032] In this embodiment, the spherical robot further includes a main control module 300, which is arranged inside the spherical shell 100 and electrically connected to the projection module 200; the main control module 300 can perform anti-distortion processing on the target display content based on the predetermined anti-distortion parameters, and then send the target display content after the anti-distortion processing to the projection module 200, wherein the predetermined anti-distortion parameters are used to correct the distortion caused by at least the curvature of the spherical shell 100. The predetermined anti-distortion parameters at least include the mapping relationship of the pixel points projected under the curvature of the spherical shell 100 from the distorted position to the non-distorted position. Of course, since the optical system of the projection module 200 will also have certain distortion during the projection process, the predetermined anti-distortion parameters can also include the mapping relationship of the pixel points projected under the curvature of the spherical shell 100 and the optical system of the projection module 200 from the distorted position to the non-distorted position. Therefore, there is no need to perform anti-distortion processing on the distortion caused by the optical system of the projection module 200 and the distortion caused by the curvature of the spherical shell 100 respectively.

[0033] In some embodiments, the spherical robot further includes a light sensor 400, which is disposed inside the spherical shell 100 and is electrically connected to the main control module 300; the collection end of the light sensor 400 points to the projection area of ​​the projection module 200; The light sensor 400 is used to collect the internal environment brightness of the spherical robot and send the internal environment brightness to the main control module 300; The main control module 300 is used to query a predetermined light mapping table to obtain the external environment brightness corresponding to the internal environment brightness, and adjust the projection brightness of the projection module 200 according to the external environment brightness.

[0034] It should be noted that the spherical shell 100 is a fully enclosed sphere. The internal environment brightness is the environment brightness inside the spherical shell 100 when the external environment light irradiates the spherical shell 100. The external environment brightness is the brightness of the external environment light.

[0035] In this embodiment, a light sensor 400 is provided inside the spherical shell 100 of the spherical robot, and is electrically connected to the main control module 300; the acquisition end of the light sensor 400 points to the projection area of ​​the projection module 200. The light sensor 400 can collect the internal environment brightness of the spherical robot and send the internal environment brightness to the main control module 300. It can be understood that in order to ensure the accuracy of the internal environment brightness, before collecting the internal environment brightness of the spherical robot, if there are light-emitting components inside the spherical shell 100 of the spherical robot, the light-emitting components can be controlled to turn off the lights to avoid the light of the light-emitting components affecting the accuracy of the internal environment brightness. Since the transmittance of the spherical shell 100 is its fixed attribute. Therefore, this embodiment can construct a predetermined light mapping table in advance to describe the corresponding relationship between the external environment brightness and the internal environment brightness. Then, after obtaining the internal environment brightness, the main control module 300 can query the predetermined light mapping table to obtain the external environment brightness corresponding to the internal environment brightness, and adjust the projection brightness of the projection module 200 according to the external environment brightness, so that the target display content projected by the projection module 200 can be more clearly displayed to the user under the external environment light. Among them, the external environment brightness is positively correlated with the projection brightness of the projection module 200. In addition, since the external environment light is not necessarily uniformly distributed, the acquisition end of the light sensor 400 in this embodiment points to the projection area of ​​the projection module 200, which can make the projection brightness of the projection module 200 more compatible with the external environment light in the projection area. Therefore, this embodiment can still more accurately identify the lighting conditions of the external environment even if there is a barrier of the spherical shell 100.

[0036] In some embodiments, the spherical robot further includes an inertial sensor 500 , which is disposed inside the spherical housing 100 and is electrically connected to the main control module 300 ; The inertial sensor 500 is used to collect the inertial information of the spherical robot during the interaction process and send the inertial information to the main control module 300; The main control module 300 is used to identify the motion posture of the spherical robot according to the inertial information, and determine the user interaction action and the user interaction instruction corresponding to the user interaction action according to the motion posture.

[0037] It should be noted that the inertial information may include linear acceleration on three vertical axes (usually X, Y, and Z axes) and angular velocity around the three vertical axes. Of course, it may also include linear velocity and Euler angle information calculated based on the linear angular velocity and angular velocity.

[0038] In this embodiment, the inertial sensor 500 collects the inertial information of the spherical robot during the interaction process and sends the inertial information to the main control module 300. The main control module 300 can identify the motion posture of the spherical robot based on the inertial information. Then, the user interaction action (such as throwing, turning, waving to the left, waving to the right, etc.) and the user interaction instruction corresponding to the user interaction action (such as waking up, sleeping, switching, turning pages, etc.) can be determined based on the motion posture. In this embodiment, a corresponding relationship between the motion posture of the spherical robot and the user interaction action can be established, so that after the motion posture of the spherical robot is identified based on the inertial information, the corresponding user interaction action can be determined based on the motion posture. For example, when it is detected that the motion posture of the spherical robot is accelerating from static to the left and then decelerating until static, the corresponding user interaction action is waving to the left. Therefore, in this embodiment, the user can directly interact with the spherical robot to realize the input of the user interaction instruction, which effectively improves the interactivity of the spherical robot.

[0039] In some embodiments, the spherical robot further includes: a wireless communication module 600, which is disposed inside the spherical shell 100 and is electrically connected to the main control module 300; the wireless communication module 600 is used to establish a wireless connection channel with a predetermined user terminal and receive the custom display content sent by the predetermined user terminal through the wireless connection channel; the main control module 300 is used to perform anti-distortion processing on the custom display content based on predetermined anti-distortion parameters, and send the anti-distortion processed custom display content to the projection module 200; the projection module 200 is used to project the anti-distortion processed custom display content onto the spherical shell 100. Thus, the display of user-defined content is realized.

[0040] In some embodiments, the spherical robot further includes: a power module 700, which is disposed inside the spherical shell 100 and is electrically connected to the main control module 300; the power module 700 is used to power the components in the spherical robot and send power supply information (such as remaining power, charging status, etc.) to the main control module 300; the main control module 300 is used to generate power supply display content according to the power supply information and send it to the projection module 200; the projection module 200 is used to project the power supply display content onto the spherical shell 100. Of course, it can be understood that the projection module 200 of this embodiment can also project display content such as weather information, time information, and specified images onto the spherical shell 100.

[0041] The first embodiment of the present application provides a spherical robot, the spherical robot comprising: a translucent spherical shell 100; a projection module 200, which is disposed inside the spherical shell 100 and is used to project corresponding target display content onto the spherical shell 100 in response to a user interaction instruction, so as to display the target display content to the external environment through the spherical shell 100. Therefore, in this embodiment, more complex and more expressive content can be projected onto the spherical shell 100 of the spherical robot through the projection module 200, and the target display content can be displayed to the external environment with the help of the translucent spherical shell 100, so as to improve the interactivity between the spherical robot and the user in terms of human-computer interaction.

[0042] The present application also provides a human-machine interaction method for a spherical robot, referring to Figure 3 , Figure 3 This is a flow chart of an embodiment of the present application human-computer interaction method.

[0043] The human-computer interaction method in this embodiment is applied to the above-mentioned spherical robot, and includes steps S10 to S20: Step S10, in response to the user interaction instruction, obtaining the target display content corresponding to the user interaction instruction; Step S20: projecting the target display content onto the spherical shell of the spherical robot, so as to display the target display content to the external environment through the spherical shell.

[0044] It should be noted that the user interaction instruction may be a control instruction issued by the user, or a control instruction triggered based on a preset interaction rule. The preset interaction rule is a pre-set rule for interacting with the user. For example, when the battery level of the spherical robot is lower than a predetermined battery level threshold, a user interaction instruction for event reminder is triggered. The spherical robot responds to the user interaction instruction and projects the low battery event reminder information onto the spherical shell, so as to display the low battery event to users in the external environment through the spherical shell.

[0045] In addition, it should be noted that there is a corresponding relationship between the target display content and the user interaction instruction, and the target display content is the display content output after executing the user interaction instruction. For example, if the user interaction instruction is to jump to the next page, the target display content is the content of the next page.

[0046] After receiving the user interaction instruction, this embodiment can respond to the user interaction instruction, and after obtaining and executing the user interaction instruction, output the corresponding target display content. Furthermore, this embodiment projects the target display content onto the inner side of the spherical shell of the spherical robot, so as to display the target display content to the external environment through the spherical shell.

[0047] In some embodiments, the step of projecting the target display content onto the spherical shell of the spherical robot in step S20 further includes steps S21-S22: Step S21, obtaining a predetermined anti-distortion parameter, wherein the predetermined anti-distortion parameter is used to correct at least the distortion caused by the curvature of the spherical shell; Step S22: after performing anti-distortion processing on the target display content based on predetermined anti-distortion parameters, projecting the target display content after the anti-distortion processing onto the spherical shell.

[0048] It should be noted that the predetermined anti-distortion parameters at least include a mapping relationship between the pixel points projected under the curvature of the spherical shell from the distorted position to the undistorted position. Of course, since the optical system of the projection module in the spherical robot will also have certain distortion during the projection process, the predetermined anti-distortion parameters may also include a mapping relationship between the pixel points projected under the curvature of the spherical shell and the optical system of the projection module from the distorted position to the undistorted position. Thereby, there is no need to perform anti-distortion processing on the distortion caused by the optical system of the projection module and the distortion caused by the curvature of the spherical shell respectively.

[0049] Since the present embodiment needs to display the target display content to the user through the inner side of the translucent spherical shell, and the projection area provided by the spherical shell is not a plane, but a curved surface with a certain curvature. Therefore, if the present embodiment directly projects the target display content onto the spherical shell, the target display content on the spherical shell will be distorted when the user observes it in the external environment. Therefore, the present embodiment can obtain a predetermined anti-distortion parameter, wherein the predetermined anti-distortion parameter is used to correct the distortion caused by at least the curvature of the spherical shell; after anti-distortion processing is performed on the target display content based on the predetermined anti-distortion parameter, the anti-distortion processed target display content is projected onto the spherical shell. In this way, the distortion of the projected image caused by the curvature of the spherical shell can be avoided.

[0050] In some embodiments, before step S21, steps A10 to A30 are included: Step A10, projecting a predetermined calibration chart onto the spherical shell, and collecting a calibration projection image of the predetermined calibration chart; Step A20, obtaining the intrinsic parameter matrix of the projection module; Step A30, constructing a mapping relationship of pixel points from distorted positions to undistorted positions as predetermined anti-distortion parameters according to the intrinsic parameter matrix, the projection corner points in the calibrated projection image and the original corner points in the predetermined calibration chart.

[0051] It should be noted that the predetermined calibration chart is a chart pre-set for calibrating an image, such as a checkerboard chart, a dot chart, a symmetrical circle chart, and the like.

[0052] In this embodiment, a predetermined calibration chart can be projected onto the spherical shell, and then the placement position of the external camera can be adjusted so that the optical axis of the external camera is substantially coincident with the optical axis of the optical system of the projection module, wherein the external camera is a camera used to shoot the calibration projection image of the predetermined calibration chart outside the spherical shell. The projected predetermined calibration chart displayed on the surface of the spherical shell is shot from the outside by the external camera to obtain the calibration projection image of the predetermined calibration chart. Then, the intrinsic parameter matrix of the projection module can be obtained, wherein the intrinsic parameter matrix is ​​a matrix including the focal length and optical center of the projection module. Then, according to the intrinsic parameter matrix, the projection corner points in the calibration projection image and the original corner points in the predetermined calibration chart, the projection corner points in the distorted calibration projection image are transformed by inverse distortion, and the mapping relationship of the pixel point from the distorted position to the undistorted position is constructed as the predetermined anti-distortion parameter. Thus, the subsequent image is remapped through the mapping relationship in the predetermined anti-distortion parameter to achieve anti-distortion processing.

[0053] This embodiment projects a predetermined calibration chart onto the spherical shell, collects a calibration projection image of the predetermined calibration chart, obtains an internal parameter matrix of the projection module, and constructs a mapping relationship of pixel points from a distorted position to a non-distorted position as a predetermined anti-distortion parameter based on the internal parameter matrix, the projection corner points in the calibration projection image, and the original corner points in the predetermined calibration chart. Thus, this embodiment uses the predetermined anti-distortion parameter to achieve synchronous processing of the distortion caused by the optical system of the projection module and the distortion caused by the curvature of the spherical shell.

[0054] In some embodiments, before step S20, the human-computer interaction method further includes steps B10 to B20: Step B10, obtaining the internal environment brightness of the spherical robot; Step B20, querying a predetermined light mapping table to obtain the external environment brightness corresponding to the internal environment brightness, and adjusting the projection brightness of the projection module according to the external environment brightness.

[0055] It should be noted that the spherical shell is a fully enclosed sphere, and the internal environment brightness is the environment brightness inside the spherical shell when the external environment light shines on the spherical shell. The external environment brightness is the brightness of the external environment light.

[0056] In this embodiment, the internal environment brightness of the spherical robot can be collected by a light sensor. It can be understood that in order to ensure the accuracy of the internal environment brightness, before collecting the internal environment brightness of the spherical robot, if there is a light-emitting component inside the spherical shell of the spherical robot, the light-emitting component is controlled to turn off the light to avoid the light of the light-emitting component affecting the accuracy of the internal environment brightness. Since the transmittance of the spherical shell is its fixed attribute, the present embodiment can construct a predetermined light mapping table in advance to describe the corresponding relationship between the external environment brightness and the internal environment brightness. Then, after obtaining the internal environment brightness, the present embodiment can query the predetermined light mapping table to obtain the external environment brightness corresponding to the internal environment brightness, and adjust the projection brightness of the projection module according to the external environment brightness, so that the target display content projected by the projection module can be more clearly displayed to the user under the external environment light. Among them, the external environment brightness is positively correlated with the projection brightness of the projection module. Further, since the external environment light is not necessarily uniformly distributed, the internal environment brightness in this embodiment can be the environment brightness of the projection area of ​​the projection module inside the spherical shell, so that the projection brightness of the projection module is more adapted to the external environment light of the projection area. Therefore, this embodiment can still accurately identify the lighting conditions of the external environment even with the obstruction of the spherical shell.

[0057] The first embodiment of the human-computer interaction method of the present application obtains the target display content corresponding to the user interaction instruction by responding to the user interaction instruction, and then projects the target display content onto the spherical shell of the spherical robot, so as to display the target display content to the external environment through the spherical shell. Therefore, this embodiment can project more complex and expressive content onto the spherical shell of the spherical robot by projection, and display the target display content to the external environment with the help of the translucent spherical shell, so as to improve the interactivity between the spherical robot and the user in terms of human-computer interaction.

[0058] Based on the first embodiment of the human-computer interaction method of this application, in the second embodiment of the human-computer interaction method of this application, the same or similar contents as those in the first embodiment of the human-computer interaction method can be referred to the above introduction, and will not be repeated in the following. Figure 5 Before step S20, the human-computer interaction method further includes steps C10 to C30: Step C10, obtaining inertia information of the spherical robot during the interaction process; Step C20, identifying the motion posture of the spherical robot according to the inertial information; Step C30: determining a user interaction action according to the motion posture, and taking a control instruction corresponding to the user interaction action as a user interaction instruction.

[0059] It should be noted that the inertial information may include linear acceleration on three vertical axes (usually X, Y, and Z axes) and angular velocity around the three vertical axes. Of course, it may also include linear velocity and Euler angle information calculated based on the linear angular velocity and angular velocity.

[0060] In this embodiment, the inertial information of the spherical robot during the interaction process can be collected by an inertial sensor. Then, the motion posture of the spherical robot can be identified based on the inertial information. And according to the motion posture, the user interaction action (such as throwing, turning, waving to the left, waving to the right, etc.) and the control instructions corresponding to the user interaction action (such as waking up, sleeping, switching, turning pages, etc. as user interaction instructions) can be determined. In this embodiment, a corresponding relationship between the motion posture of the spherical robot and the user interaction action can be established, so that after the motion posture of the spherical robot is identified according to the inertial information, the corresponding user interaction action can be determined according to the motion posture. For example, when it is detected that the motion posture of the spherical robot is accelerating from static to the left and then decelerating until static, the corresponding user interaction action is waving to the left. Therefore, in this embodiment, the user can directly interact with the spherical robot to realize the input of the user interaction instruction, which effectively improves the interactivity of the spherical robot.

[0061] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, wherein the computer-readable program instructions are used to execute the human-computer interaction method in the above-mentioned embodiment.

[0062] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0063] The computer-readable storage medium may be contained in the spherical robot; or may exist independently without being assembled into the spherical robot.

[0064] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the spherical robot, the spherical robot: responds to a user interaction instruction, obtains the target display content corresponding to the user interaction instruction; projects the target display content onto the spherical shell of the spherical robot, so as to display the target display content to the external environment through the spherical shell.

[0065] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0066] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0067] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0068] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned human-computer interaction method, and can solve the technical problem that the existing spherical robot has poor interactivity in human-computer interaction. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the human-computer interaction method provided by the above-mentioned embodiment, and will not be repeated here.

[0069] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned human-computer interaction method when executed by a processor.

[0070] The computer program product provided by the present application can solve the technical problem that the existing spherical robot has poor interactivity in human-computer interaction. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the human-computer interaction method provided by the above embodiment, which will not be repeated here.

[0071] The above are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A spherical robot, characterized in that: The spherical robot comprises: a translucent spherical shell; The projection module is arranged inside the spherical shell, and is used for projecting corresponding target display content onto the spherical shell in response to user interaction instructions, so as to display the target display content to the external environment through the spherical shell.

2. The spherical robot according to claim 1, characterized in that: The spherical robot further comprises a main control module, which is arranged inside the spherical shell and is electrically connected to the projection module; The main control module is used to perform anti-distortion processing on the target display content based on predetermined anti-distortion parameters and send the anti-distortion processed target display content to the projection module, wherein the predetermined anti-distortion parameters are used to correct at least the distortion caused by the curvature of the spherical shell.

3. The spherical robot according to claim 2, characterized in that: The spherical robot further comprises a light sensor, which is arranged inside the spherical shell and electrically connected to the main control module; the collection end of the light sensor points to the projection area of ​​the projection module; The light sensor is used to collect the internal environment brightness of the spherical robot and send the internal environment brightness to the main control module; The main control module is used to query a predetermined light mapping table to obtain the external environment brightness corresponding to the internal environment brightness, and adjust the projection brightness of the projection module according to the external environment brightness.

4. The spherical robot according to claim 2, characterized in that: The spherical robot further comprises an inertial sensor, which is arranged inside the spherical shell and is electrically connected to the main control module; The inertial sensor is used to collect inertial information of the spherical robot during the interaction process and send the inertial information to the main control module; The main control module is used to identify the motion posture of the spherical robot according to the inertial information, and determine the user interaction action and the user interaction instruction corresponding to the user interaction action according to the motion posture.

5. A human-computer interaction method, characterized in that: Applied to the spherical robot according to any one of claims 1 to 4, the human-computer interaction method comprises: In response to a user interaction instruction, acquiring target display content corresponding to the user interaction instruction; The target display content is projected onto the spherical shell of the spherical robot, so as to display the target display content to the external environment through the spherical shell.

6. The human-computer interaction method according to claim 5, characterized in that: The step of projecting the target display content onto the spherical shell of the spherical robot comprises: Acquiring predetermined anti-distortion parameters, wherein the predetermined anti-distortion parameters are used to correct distortion caused by at least the curvature of the spherical shell; After performing anti-distortion processing on the target display content based on the predetermined anti-distortion parameters, the target display content after the anti-distortion processing is projected onto the spherical shell.

7. The human-computer interaction method according to claim 6, characterized in that: Before the step of obtaining the predetermined anti-distortion parameters, the method includes: Projecting a predetermined calibration chart onto the spherical shell, and acquiring a calibration projection image of the predetermined calibration chart; Obtaining an intrinsic parameter matrix of the projection module; According to the intrinsic parameter matrix, the projection corner points in the calibrated projection image and the original corner points in the predetermined calibration chart, a mapping relationship of pixel points from distorted positions to undistorted positions is constructed as predetermined anti-distortion parameters.

8. The human-computer interaction method according to claim 5, characterized in that: Before the step of projecting the target display content onto the spherical shell of the spherical robot, the human-computer interaction method further includes: Acquire the internal environment brightness of the spherical robot; A predetermined illumination mapping table is queried to obtain the external environment brightness corresponding to the internal environment brightness, and the projection brightness of the projection module is adjusted according to the external environment brightness.

9. The human-computer interaction method according to any one of claims 5 to 8, characterized in that: Before the step of acquiring the target display content corresponding to the user interaction instruction in response to the user interaction instruction, the human-computer interaction method further includes: Acquiring inertial information of the spherical robot during the interaction; According to the inertial information, identifying the motion posture of the spherical robot; A user interaction action is determined according to the motion posture, and a control instruction corresponding to the user interaction action is used as a user interaction instruction.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the human-computer interaction method according to any one of claims 5 to 9 are implemented.

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