Robots and methods of interaction

Abstract

The application relates to the technical field of robots, in particular to a robot and an interaction method. The robot comprises a robot body, a first telescopic mechanism, a second telescopic mechanism, a third telescopic mechanism and an interaction mechanism. The first telescopic mechanism comprises a first cylinder and a first rod, the first cylinder is arranged on the robot body, the first rod is accommodated in the first cylinder, and the first rod is used for telescopic movement in a first direction relative to the first cylinder; the second telescopic mechanism comprises a second cylinder and a second rod, the second cylinder is arranged on the first rod, the second rod is accommodated in the second cylinder, and the second rod is used for telescopic movement in a second direction relative to the second cylinder; the third telescopic mechanism comprises a third cylinder and a third rod, the third cylinder is arranged on the second rod, the third rod is accommodated in the third cylinder, and the third rod is used for telescopic movement in a third direction relative to the third cylinder; and the interaction mechanism is arranged on the third rod. The three telescopic mechanisms are simple in structure and can be retracted for storage, which is favorable for reducing the cost of the robot and reducing the volume of the robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot and an interaction method thereon. Background Technology

[0002] A mobile robot is a device that is intelligently controlled to move and perform various tasks. Mobile robots are gradually being applied in the service industry, such as providing delivery services in restaurants, hotels, and office buildings, and delivering packages between buildings.

[0003] When mobile robots provide delivery services, they inevitably need to use elevators, and these robots need to press elevator buttons to ride. Currently, mobile robots typically use robotic arms to press these buttons. These robotic arms consist of multiple joints and fingers, making them complex, costly, and space-consuming. Driving the robotic arm to press the target button also requires complex calculations, consuming a lot of computing power, and placing higher demands on the controller, further increasing costs. Summary of the Invention

[0004] The embodiments of this application aim to provide a robot and an interaction method that can at least improve the problems of high robot cost and large robot size.

[0005] In order to solve the above-mentioned technical problems, the embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a robot, the robot comprising a robot body, a first telescopic mechanism, a second telescopic mechanism, a third telescopic mechanism, and an interaction mechanism. The robot body is used for ground travel; the first telescopic mechanism comprises a first cylinder and a first rod, the first cylinder being disposed on the robot body, the first rod being housed within the first cylinder, and the first rod being used for telescopic movement relative to the first cylinder along a first direction; the second telescopic mechanism comprises a second cylinder and a second rod, the second cylinder being disposed on the first rod, the second rod being housed within the second cylinder, and the second rod being used for telescopic movement relative to the second cylinder along a second direction; the third telescopic mechanism comprises a third cylinder and a third rod, the third cylinder being disposed on the second rod, the third rod being housed within the third cylinder, and the third rod being used for telescopic movement relative to the third cylinder along a third direction; the interaction mechanism is disposed on the third rod, and the interaction mechanism is used for interaction. Wherein, the first direction, the second direction, and the third direction are mutually perpendicular.

[0007] In some embodiments, the robot body is equipped with radar and a first camera.

[0008] In some embodiments, a second camera is provided on the top of the robot body.

[0009] In some embodiments, a third camera is provided on the front side of the robot body, and the third camera is located adjacent to the top of the robot body.

[0010] In some embodiments, the third rod is equipped with a distance sensor.

[0011] In some embodiments, the interaction mechanism includes a base disposed on the third rod; the interaction mechanism further includes a first movable part disposed retractably on the base; a pressure sensor is disposed at the end of the first movable part for detecting the pressure of the first movable part in contact with an external device; a displacement sensor is disposed on the base for detecting the position of the first movable part relative to the base during extension or retraction.

[0012] In some embodiments, the interaction mechanism includes a base disposed on the third rod; the interaction mechanism further includes a second movable part, which is retractably disposed on the base and is used for reciprocating extension and retraction relative to the base. The extension and retraction speed of the second movable part relative to the base is greater than the extension and retraction speed of the first movable part relative to the base.

[0013] In some embodiments, the interaction mechanism further includes a near-field communication module disposed on the third rod.

[0014] In some embodiments, the robot further includes a rotating mechanism comprising a fixed base and a rotating base, the fixed base being disposed on the third rod, the rotating base being rotatably disposed on the fixed base, and the interaction mechanism being disposed on the rotating base.

[0015] Secondly, embodiments of this application provide an interaction method, which involves a robot interacting with a target interactive device as described in any of the preceding claims, the method comprising:

[0016] The robot is then controlled to move to the standing position based on the spatial location of the target interactive device.

[0017] Based on the spatial position of the target interactive device, determine the interactive position along the first direction and the second direction, and control the first telescopic mechanism and the second telescopic mechanism to move the interactive mechanism to the interactive position;

[0018] The third telescopic mechanism is controlled to move the interactive mechanism closer to the target interactive device, and the distance between the interactive mechanism and the target interactive device is a preset distance;

[0019] Obtain the status information of the target interactive device, determine whether the target interactive device is in a triggerable state based on the status information, and control the interactive mechanism to trigger the target interactive device when the target interactive device is in a triggerable state.

[0020] When the target interactive device is successfully triggered, the first telescopic mechanism, the second telescopic mechanism, and the third telescopic mechanism are controlled to retract to their initial state.

[0021] If the target interactive device fails to trigger successfully, then the steps of obtaining the status information of the target interactive device, determining whether the target interactive device is in a triggerable state based on the status information, and subsequent steps are executed.

[0022] In some embodiments, controlling the third telescopic mechanism to move the interactive mechanism closer to the target interactive device, and the distance between the interactive mechanism and the target interactive device being a preset distance, includes:

[0023] The third telescopic mechanism is controlled to gradually extend until the distance between the interactive mechanism and the target interactive device is a preset distance, and it is detected whether the third telescopic mechanism and the interactive mechanism touch an obstacle;

[0024] When the third telescopic mechanism or the interactive mechanism touches an obstacle, the third telescopic mechanism is controlled to stop extending and feedback is sent to the robot.

[0025] In some embodiments, controlling the interaction mechanism to trigger the target interaction device includes:

[0026] The interaction mode is determined according to the type of the target interactive device, and the interaction mode includes press interaction, tap interaction and near field communication interaction.

[0027] When the interaction mode is a press interaction, the first movable part of the interaction mechanism is controlled to extend relative to the base to press the target interaction device;

[0028] When the interaction mode is tapping interaction, the second movable part of the interaction mechanism is controlled to reciprocate and extend relative to the base to tap the target interaction device;

[0029] When the interaction mode is near-field communication interaction, the near-field communication module controlling the interaction mechanism broadcasts a near-field communication signal.

[0030] In some embodiments, the first movable portion of the control mechanism extends relative to the base to press the target interactive device, including:

[0031] The first movable part is controlled to gradually extend relative to the base, and the pressure between the first movable part and the target interactive device is detected. When the pressure is greater than a preset pressure, the first movable part is controlled to retract relative to the base.

[0032] In some embodiments, the first movable portion of the control mechanism extends relative to the base to press the target interactive device, including:

[0033] The first movable part is controlled to gradually extend relative to the base, and the position of the first movable part relative to the base is detected. When the position of the first movable part relative to the base reaches the end of the stroke, the third telescopic mechanism is controlled to move the interaction mechanism closer to the target interaction device until the first movable part contacts the target interaction device. Then, the first movable part is controlled to retract relative to the base, and the third telescopic mechanism is controlled to extend a preset allowable length.

[0034] In some embodiments, the first movable portion of the control mechanism extends relative to the base to press the target interactive device, including:

[0035] The first active part is controlled to gradually extend relative to the base, and it is detected whether the first active part successfully triggers the target interactive device. When the first active part successfully triggers the target interactive device, the first active part is controlled to retract relative to the base.

[0036] In some embodiments, controlling the second movable part of the interaction mechanism to reciprocate and extend relative to the base to strike the target interaction device includes:

[0037] Control the second movable part to reciprocate and extend relative to the base, and detect whether the second movable part taps the target interactive device;

[0038] When the second movable part does not strike the target interactive device, the third telescopic mechanism is controlled to move the interactive mechanism closer to the target interactive device until the second movable part strikes the target interactive device.

[0039] The duration of the second active part tapping the target interactive device is detected. When the duration exceeds a preset duration, the second active part is controlled to retract relative to the base.

[0040] In some embodiments, the near-field communication module controlling the interaction mechanism broadcasts near-field communication signals, including:

[0041] The system acquires the geographic location information of the target interactive device, selects the corresponding near-field communication signal from a preset near-field communication signal library based on the geographic location information, and controls the near-field communication module to broadcast the near-field communication signal.

[0042] The robot and interaction method of this application include a robot with telescopic mechanisms that can extend and retract in three different directions. This allows the interaction mechanism to be moved to an interaction position to interact with a target interactive device. The three telescopic mechanisms have a simple structure and can be retracted for storage, which helps to address the problems of high robot cost and large robot size. Furthermore, when moving the interaction mechanism using the three telescopic mechanisms of this application, only the extension length of each telescopic mechanism needs to be calculated, without considering rotation or other factors. This reduces computational complexity, computational power consumption, and the requirements for the controller, thereby reducing costs.

[0043] The above description is merely an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0044] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0045] Figure 1 This is a schematic diagram of the structure of the robot and the target interaction device according to an embodiment of this application;

[0046] Figure 2 This is a schematic diagram of the robot's structure during interaction, according to an embodiment of this application;

[0047] Figure 3 yes Figure 2 A structural diagram of the robot from another perspective;

[0048] Figure 4 This is an exploded view of a portion of the structure of the robot according to an embodiment of this application;

[0049] Figure 5 This is a schematic diagram of the hardware structure of the robot according to an embodiment of this application;

[0050] Figure 6 This is a flowchart of an interaction method provided in an embodiment of this application;

[0051] Figure 7 yes Figure 6 Detailed flowchart of step S120;

[0052] Figure 8 yes Figure 6 Detailed flowchart of step S130;

[0053] Figure 9 yes Figure 6 Detailed flowchart of step S150;

[0054] Figure 10 yes Figure 9 Detailed flowchart of step S153.

[0055] The reference numerals in the detailed embodiments are as follows:

[0056] 100. Robot;

[0057] 1. Robot body; 11. Motion assembly; 12. Functional components; 13. Radar; 14. First camera; 15. Second camera; 16. Third camera;

[0058] 2. First telescopic mechanism; 21. First cylinder; 22. First rod;

[0059] 3. Second telescopic mechanism; 31. Second cylinder; 32. Second rod;

[0060] 4. Third telescopic mechanism; 41. Third cylinder; 42. Third rod; 421. Distance sensor;

[0061] 5. Interaction mechanism; 51. Base; 52. First moving part; 521. Pressure sensor; 522. Displacement sensor; 53. Second moving part; 54. Near-field communication module;

[0062] 6. Rotating mechanism; 61. Fixed base; 62. Rotating base;

[0063] 7. Processor; 8. Memory; 200. Target interactive device;

[0064] X, first direction; Y, second direction; Z, third direction. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. It should be noted that when an element is described as being "fixed" to another element, it can be directly on the other element, or one or more intervening elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intervening elements may exist between them. It should be noted that, unless otherwise specified, the various features in the embodiments of this application can be combined with each other, all within the scope of protection of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different module division or in a different order than that shown in the device schematic diagram or the flowchart.

[0066] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0067] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0068] Example 1

[0069] Figure 1 This is a structural schematic diagram of the robot 100 provided in an embodiment of this application. Please refer to it. Figure 1The robot 100 includes a robot body 1, a first telescopic mechanism 2, a second telescopic mechanism 3, a third telescopic mechanism 4, and an interaction mechanism 5. The robot body 1 is used for ground movement. The first telescopic mechanism 2 is disposed on the robot body 1. The first telescopic mechanism 2, the second telescopic mechanism 3, the third telescopic mechanism 4, and the interaction mechanism 5 are connected sequentially. The first telescopic mechanism 2, the second telescopic mechanism 3, and the third telescopic mechanism 4 are used to telescopically move along a first direction X, a second direction Y, and a third direction Z, respectively, to drive the interaction mechanism 5 to move relative to the robot body 1 along the first direction X, the second direction Y, and the third direction Z. The interaction mechanism 5 is used for interaction. The first direction X, the second direction Y, and the third direction Z are not located on the same plane and are not parallel to each other, thus allowing the interaction mechanism 5 to move relative to the robot body 1 in three-dimensional space, thereby moving the interaction mechanism 5 to any position in three-dimensional space, such as to an interaction position, to interact with the target interaction device 200. The "any position" here refers to any position within the extension range of the first telescopic mechanism 2, the second telescopic mechanism 3, and the third telescopic mechanism 4; the "interactive position" is a position close to the target interactive device 200 but spaced apart from it, usually directly in front of the target interactive device 200.

[0070] In this embodiment, the first direction X, the second direction Y, and the third direction Z are mutually perpendicular, and the first direction X is parallel to the left-right direction of the robot 100, the second direction Y is parallel to the up-down direction of the robot 100, and the third direction Z is parallel to the front-back direction of the robot 100. For ease of description, the first telescopic mechanism 2, the second telescopic mechanism 3, the third telescopic mechanism 4, and the interaction mechanism 5 are collectively referred to as the robotic arm, that is, the robot 100 includes the robot body 1 and the robotic arm.

[0071] For the robot body 1 mentioned above, please refer to Figure 2 and Figure 3 The robot body 1 includes a driving component 11 and a functional component 12. The functional component 12 is disposed on the driving component 11, which is used for support on the ground and for driving, thereby moving the functional component 12 on the ground. The ground here includes not only the earth's surface but also the ground of buildings, such as the ground on the second or third floor of a building, and the ground of an elevator car. The functional component 12 may include storage structures, delivery structures, guiding structures, food delivery mechanisms, and transportation mechanisms, etc., to give the robot 100 different functions.

[0072] In some embodiments, please refer to Figure 3 The robot body 1 is equipped with a radar 13 and a first camera 14. The radar 13 and the first camera 14 are used to perceive the surrounding environment for navigation and obstacle avoidance of the robot 100. Optionally, the radar 13 is a lidar 13. Optionally, the first camera 14 is a depth camera.

[0073] In some embodiments, please refer to Figure 2 and Figure 3 A second camera 15 is mounted on the top of the robot body 1. The top of the robot body 1 is the side of the robot body 1 along the second direction Y. The second camera 15 is used to sense the position of the target interactive device 200 relative to the robot body 1, providing spatial data support for the first telescopic mechanism 2, the second telescopic mechanism 3, and the third telescopic mechanism 4 to move the interactive mechanism 5 to the front of the target interactive device 200. Optionally, the second camera 15 is a depth camera.

[0074] In some embodiments, please refer to Figure 3 A third camera 16 is disposed on the front side of the robot body 1, adjacent to the top of the robot body 1. The front side refers to the side of the robot body 1 along the third direction Z. The third camera 16 is used to sense the state of the target interaction device 200 and the robotic arm. It is understood that the robotic arm is typically mounted on the left and right sides of the robot body 1 and adjacent to the top of the robot body 1, i.e., the first telescopic mechanism 2 is adjacent to the top of the robot body 1. Therefore, the third camera 16's proximity to the robotic arm facilitates its sensing of the state of the robotic arm and the target interaction device 200. Optionally, the third camera 16 is a depth camera.

[0075] In this embodiment, the target interactive device 200 is described using a button panel, a card reader, and a door panel as examples. In other embodiments, the target interactive device 200 may also be a device with buttons, a card reader module, or a tapable area, and this application does not impose any limitations on this.

[0076] When the target interactive device 200 is a button panel, the third camera 16 can sense whether the interactive mechanism 5 is facing the button panel, whether the interactive mechanism 5 is facing the target button on the button panel, and whether each button on the button panel can be triggered and its triggered state. For example, if a button is damaged or missing, it cannot be triggered; if the button's indicator light is on, the button has been triggered.

[0077] When the target interactive device 200 is a card reader, the third camera 16 can sense whether the interactive mechanism 5 is facing the card reader, whether the interactive mechanism 5 is facing the card reader's swiping area, and whether the card reader can be triggered and its triggering status. For example, if the card reader's fault light is on, it cannot be triggered; the fault light usually emits a yellow light. For example, after interacting with the card reader, the card reader's indicator light will light up; usually, a green indicator light indicates a successful card swipe, and a red indicator light indicates a failed card swipe.

[0078] When the target interactive device 200 is a door panel, the third camera 16 can sense whether the interactive mechanism 5 is facing the door panel and whether the interactive mechanism 5 is facing the knockable area of ​​the door panel. For example, when the interactive mechanism 5 is facing the door handle or the glass on the door, the interactive mechanism 5 is not facing the knockable area of ​​the door panel, and the position of the interactive mechanism 5 relative to the door panel needs to be changed.

[0079] For the first telescopic mechanism 2 mentioned above, please refer to Figure 2 and Figure 3 The first telescopic mechanism 2 includes a first cylinder 21 and a first rod 22. The first cylinder 21 is disposed on the robot body 1. The first rod 22 is housed in the first cylinder 21 and is used for telescopic movement relative to the first cylinder 21 along a first direction X. The telescopic movement of the first telescopic mechanism 2 is realized through the telescopic movement of the first rod 22 relative to the first cylinder 21, and the left-right movement interaction mechanism 5 is realized. Optionally, the first cylinder 21 is disposed on the left or right side of the robot body 1.

[0080] Similarly, please refer to Figure 2 and Figure 3 The second telescopic mechanism 3 includes a second cylinder 31 and a second rod 32. The second cylinder 31 is disposed on the first rod 22, and the second rod 32 is housed within the second cylinder 31. The second rod 32 is used for telescopic movement relative to the second cylinder 31 along a second direction Y. The third telescopic mechanism 4 includes a third cylinder 41 and a third rod 42. The third cylinder 41 is disposed on the second rod 32, and the third rod 42 is housed within the third cylinder 41. The third rod 42 is used for telescopic movement relative to the third cylinder 41 along a third direction Z. The telescopic movement of the second telescopic mechanism 3 is achieved through the telescopic movement of the second rod 32 relative to the second cylinder 31, and the up-and-down movement interaction mechanism 5 is realized. The telescopic movement of the third telescopic mechanism 4 is achieved through the telescopic movement of the third rod 42 relative to the third cylinder 41, and the forward-and-backward movement interaction mechanism 5 is realized. It can be understood that the interaction mechanism 5 is disposed on the third rod 42.

[0081] The telescopic movements of the first telescopic mechanism 2, the second telescopic mechanism 3, and the third telescopic mechanism 4 can be driven by an electric cylinder or a pneumatic cylinder, or by a screw structure. For example, an electric cylinder is installed in the first cylinder 21, and the output shaft of the electric cylinder is connected to the first rod 22, thereby driving the first rod 22 to telescopically move relative to the first cylinder 21.

[0082] It should be noted that the robotic arm of a traditional robot 100 typically has a structure similar to a human arm to mimic human interaction with the target interactive device 200. However, such robotic arms include multiple joints and fingers, resulting in a complex structure and high cost. Furthermore, these robotic arms occupy a significant amount of space, increasing the size of the robot 100 and making its appearance somewhat obtrusive. In addition, due to the complex structure and numerous joints of the robotic arm, driving it to interact with the target interactive device 200 requires complex calculations, consuming substantial computing power and placing higher demands on the controller, further increasing costs.

[0083] However, in this embodiment, the first rod 22 can be housed in the first cylinder 21, the second rod 32 can be housed in the second cylinder 31, and the third rod 42 can be housed in the third cylinder 41, which helps to improve the problem of the large size of the robot 100. Optionally, the first cylinder 21 is at least partially disposed inside the robot body 1, so that the first rod 22 can be housed inside the robot body 1, and the second telescopic mechanism 3 and the third telescopic mechanism 4 can abut against the side wall of the robot body 1 to further reduce the apparent volume of the robotic arm when stored, improve the problem of the robotic arm being too obtrusive on the robot body 1, and at the same time reduce the size of the robot 100.

[0084] Furthermore, the simple structure of the three telescopic mechanisms helps to address the high cost of Robot 100. When implementing the mobile interaction mechanism 5 using the three telescopic mechanisms, only the telescopic length of each mechanism needs to be calculated, without considering rotation or other factors. This reduces computational complexity, computational power consumption, and the requirements for the controller, thereby lowering costs.

[0085] In some embodiments, please refer to Figure 4 The third lever 42 is equipped with a distance sensor 421. The distance sensor 421 is used to detect the distance between the third lever 42 and the target interactive device 200, improving the problem of the third lever 42 striking the target interactive device 200, and facilitating the control of the distance between the interactive mechanism 5 and the target interactive device 200, thereby increasing the success rate of the interactive mechanism 5 interacting with the target interactive device 200. Optionally, the distance sensor 421 is an ultrasonic sensor or a laser sensor.

[0086] For the above-mentioned interactive mechanism 5, please refer to Figure 4 The interaction mechanism 5 includes a base 51, which is disposed on the third rod 42. The interaction mechanism 5 also includes a first movable part 52 and / or a second movable part 53. The first movable part 52 is retractably disposed on the base 51, and the second movable part 53 is retractably disposed on the base 51. The second movable part 53 is used for reciprocating extension and retraction relative to the base 51. The first movable part 52 is used to perform a pressing operation, and the second movable part 53 is used to perform a tapping operation. Optionally, the first movable part 52 and / or the second movable part 53 are cylindrical.

[0087] Further, please refer to Figure 4 A pressure sensor 521 is provided at the end of the first movable part 52. The pressure sensor 521 is used to detect the pressure of the first movable part 52 in contact with an external device. The external device can be the target interactive device 200, such as a button. The pressure when the first movable part 52 is pressed can be detected to avoid damaging the button. Optionally, the pressure sensor 521 is a ceramic pressure sensor. Optionally, the first movable part 52 is made of an elastic material, such as rubber, which helps to reduce damage to the target interactive device 200.

[0088] Further, please refer to Figure 4 The base 51 is equipped with a displacement sensor 522, which is used to detect the position of the first movable part 52 relative to the base 51 during extension and retraction. This can detect whether the first movable part 52 has moved to the end of its stroke relative to the base 51, thus mitigating the problem of damage to the interaction mechanism 5 caused by the first movable part 52 moving beyond its stroke relative to the base 51. Optionally, the displacement sensor 522 can be a potentiometer-type displacement sensor, an inductive displacement sensor, or a capacitive displacement sensor.

[0089] In some other embodiments, the displacement sensor 522 is a position sensor, such as a contact sensor. When the first movable part 52 moves relative to the base 51 to the end of its travel, the first movable part 52 contacts and triggers the contact sensor. It is understood that there are two end points of the travel; either two contact sensors can be configured to detect them separately, or one contact sensor can be configured to detect both end points simultaneously.

[0090] In some embodiments, the extension and retraction speed of the second movable part 53 relative to the base 51 is greater than the extension and retraction speed of the first movable part 52 relative to the base 51. The larger extension and retraction speed of the second movable part 53 relative to the base 51 is beneficial for quickly striking the target interactive device 200; the slower extension and retraction speed of the first movable part 52 relative to the base 51 helps to mitigate the problem of the first movable part 52 damaging the button upon impact. Optionally, the first movable part 52 is driven by a servo electric cylinder to more precisely control the extension and retraction speed and position of the first movable part 52 relative to the base 51. Optionally, the second movable part 53 is driven by a motor, for example, a motor connected to the second movable part 53 via a rocker arm, the motor driving the rocker arm to reciprocate, thereby causing the second movable part 53 to reciprocate and extend relative to the base 51. Optionally, the second movable part 53 is made of an elastic material, such as rubber, which helps to reduce damage to the target interactive device 200 when it is quickly struck.

[0091] In some embodiments, please refer to Figure 4The interaction mechanism 5 also includes a near-field communication module 54, which is located on the third pole 42. The near-field communication module 54 is a short-range contactless wireless communication device, such as an NFC transmitting coil, which can swipe a card at a card reader, such as a card reader at a turnstile, an access control point, or an elevator, to obtain access permission.

[0092] In some embodiments, please refer to Figure 4 The robot 100 also includes a rotating mechanism 6, which includes a fixed base 61 and a rotating base 62. The fixed base 61 is disposed on the third rod 42, and the rotating base 62 is rotatably disposed on the fixed base 61. The interaction mechanism 5 is disposed on the rotating base 62. The rotating mechanism 6 can rotate the interaction mechanism 5 so that either the first movable part 52 or the second movable part 53 of the interaction mechanism 5 points towards the target interaction device 200. For example, when it is necessary to press the target interaction device 200, the rotating base 62 rotates relative to the fixed base 61 so that the first movable part 52 points towards the target interaction device 200 to facilitate the pressing operation; when it is necessary to tap the target interaction device 200, the rotating base 62 rotates relative to the fixed base 61 so that the second movable part 53 points towards the target interaction device 200 to facilitate the tapping operation. When near-field communication with the target interactive device 200 is required, the interactive mechanism 5 can be rotated so that both the first movable part 52 and the second movable part 53 are spaced apart from the target interactive device 200. This improves the interference problem between the first movable part 52 and the second movable part 53 and the target interactive device 200 when the third rod 42 extends relative to the third cylinder 41, allowing the near-field communication module 54 to have a closer distance to the target interactive device 200 for normal communication. Optionally, the first movable part 52 and the second movable part 53 are respectively disposed on opposite sides of the base 51.

[0093] For the aforementioned mounting bracket 61, please refer to Figure 4 The fixed base 61 is disc-shaped and is connected to the shaft hole of the rotating base 62 to rotatably connect the fixed base 61 and the rotating base 62. Optionally, the rotation of the rotating base 62 relative to the fixed base 61 can be achieved by a motor, such as a servo motor, to precisely control the angle of rotation of the rotating base 62 relative to the fixed base 61.

[0094] For the aforementioned rotary seat 62, please refer to Figure 4 The rotating seat 62 is in the shape of a rectangular frame, with the base 51 located inside the rotating seat 62. Both sides of the rotating seat 62 have openings for the first movable part 52 and the second movable part 53 to extend out, respectively.

[0095] Figure 5 This is a schematic diagram of the hardware structure of the robot 100 according to an embodiment of this application, as shown below. Figure 5As shown, the robot 100 also includes at least one processor 7 and a memory 8 communicatively connected to the at least one processor 7. The memory 8 is communicatively connected to the at least one processor 7, and the processor 7 and the memory 8 can be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0096] The memory 8 stores instructions that can be executed by at least one processor 7, which enables the at least one processor 7 to perform the interactive method of the method embodiment.

[0097] The memory 8, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the interaction method in the embodiments of this application. The processor 7 executes various functional applications and data processing of the terminal device by running the non-volatile software programs, instructions, and modules stored in the memory 8, thereby implementing the interaction method of the method embodiment.

[0098] The robot 100 in this embodiment includes a telescopic mechanism that can extend and retract in three different directions. The interaction mechanism 5 is moved to the interaction position by the telescopic movement of the three telescopic mechanisms to interact with the target interaction device 200. The three telescopic mechanisms have a simple structure and can be retracted for storage, which helps to improve the problems of high cost and large size of the robot 100.

[0099] Example 2

[0100] Please see Figure 6 This application provides an interaction method for interacting with a target interaction device 200 based on the robot 100 described above. The method includes:

[0101] S110: Determine the standing position based on the spatial position of the target interactive device 200, and control the robot 100 to move to the standing position.

[0102] The standing position is a location that is relatively close to and spaced apart from the target interactive device 200 in the horizontal direction. For example, the horizontal distance between the standing position and the target interactive device 200 is 36cm. When the robot 100 moves to the standing position, the robot body 1 is 36cm away from the target interactive device 200, giving the robot 100 sufficient room to move and interact with the target interactive device 200. The horizontal distance between the standing position and the target interactive device 200 can also be other distances, such as 20cm, 30cm, or 40cm, etc., which is not limited in this application.

[0103] S120: Determine the interaction position along the first direction X and the second direction Y based on the spatial position of the target interactive device 200, and control the first telescopic mechanism 2 and the second telescopic mechanism 3 to move the interactive mechanism 5 to the interaction position.

[0104] In this embodiment, the example is taken where the robot 100 moves to a standing position, facing the target interactive device 200, with the first direction X parallel to the left-right direction of the robot 100, the second direction Y parallel to the up-down direction of the robot 100, and the third direction Z parallel to the front-back direction of the robot 100. In other embodiments, the angle of the robot 100 relative to the target interactive device 200, and the relationship between the first direction X, the second direction Y, the third direction Z, and the robot 100's own orientation, can be adaptively adjusted, and will not be elaborated here.

[0105] The interaction position is located directly in front of the target interaction device 200, that is, when viewed along the third direction Z, the interaction position and the target interaction device 200 are at least partially overlapped. Thus, when the interaction mechanism 5 moves to the interaction position, the interaction mechanism 5 is facing the target interaction device 200, which makes it easier for the interaction mechanism 5 to move closer to the target interaction device 200 along the third direction Z.

[0106] Specifically, the interaction position along the first direction X and the second direction Y is determined based on the spatial position of the target interaction device 200, that is, the position of the interaction position relative to the robot body 1 in the left-right and up-down directions is determined. In this way, the interaction mechanism 5 can be moved relative to the robot body 1 in the left-right and up-down directions by the first telescopic mechanism 2 and the second telescopic mechanism 3 respectively, thereby moving the interaction mechanism 5 to face the target interaction device 200.

[0107] It is understandable that when the first telescopic mechanism 2 and the second telescopic mechanism 3 extend, the first telescopic mechanism 2, the second telescopic mechanism 3, the third telescopic mechanism 4, and the interaction mechanism 5 may come into contact with other obstacles. To improve this issue, please refer to [link to relevant documentation]. Figure 7 Step S120 includes:

[0108] S121: Control the first telescopic mechanism 2 and the second telescopic mechanism 3 to gradually extend until the interactive mechanism 5 moves to the interactive position, and detect whether the first telescopic mechanism 2, the second telescopic mechanism 3, the third telescopic mechanism 4 and the interactive mechanism 5 touch the obstacle.

[0109] Both the first telescopic mechanism 2 and the second telescopic mechanism 3 are driven by motors or electric cylinders. By detecting the current when the motor or electric cylinder is working, the change in resistance during operation can be calculated. If the resistance suddenly increases, it is determined that the first telescopic mechanism 2, the second telescopic mechanism 3, the third telescopic mechanism 4, or the interactive mechanism 5 has touched an obstacle. Alternatively, the second camera 15 of the robot 100 can be used to determine whether the first telescopic mechanism 2, the second telescopic mechanism 3, the third telescopic mechanism 4, or the interactive mechanism 5 has touched an obstacle.

[0110] S122: When the first telescopic mechanism 2, the second telescopic mechanism 3, the third telescopic mechanism 4 or the interactive mechanism 5 touches an obstacle, control the first telescopic mechanism 2 and the second telescopic mechanism 3 to stop extending and feed back to the robot 100.

[0111] When an obstacle is detected, the first telescopic mechanism 2 and the second telescopic mechanism 3 are immediately controlled to stop extending. This improves the problem of the collision accident escalating when the first telescopic mechanism 2, the second telescopic mechanism 3, the third telescopic mechanism 4 or the interaction mechanism 5 touches the obstacle and the first telescopic mechanism 2 and the second telescopic mechanism 3 continue to extend. This helps protect the safety of surrounding personnel and the robot 100 itself.

[0112] When an obstacle is detected, feedback is also sent to the robot body 1. The robot body 1 can use the camera and / or radar 13 to analyze the possible collision, determine whether the collision has occurred and whether anyone has been injured, and then determine whether the robot 100 should continue to execute step S122 or stop and wait for manual instructions.

[0113] S130: Control the third telescopic mechanism 4 to move the interactive mechanism 5 closer to the target interactive device 200, and the distance between the interactive mechanism 5 and the target interactive device 200 is a preset distance.

[0114] The interaction mechanism 5 is moved forward relative to the robot body 1 by controlling the third telescopic mechanism 4, i.e., towards the target interaction device 200. When the distance between the interaction mechanism 5 and the target interaction device 200 is a preset distance, the third telescopic mechanism 4 stops extending, thereby controlling the distance between the interaction mechanism 5 and the target interaction device 200 to the preset distance. The preset distance can be 1cm, 2cm, 3cm, etc., and needs to be determined according to the telescopic stroke of the first movable part 52 and the second movable part 53 relative to the base 51, so that the first movable part 52 and the second movable part 53 can contact the target interaction device 200, and the parts of the interaction mechanism 5 other than the first movable part 52 and the second movable part 53 will not collide with the target interaction device 200.

[0115] Understandably, when the third telescopic mechanism 4 extends, the third rod 42 and the interaction mechanism 5 may come into contact with other obstacles. To improve this issue, please refer to [link / reference needed]. Figure 8 Step S130 includes:

[0116] S131: Control the third telescopic mechanism 4 to gradually extend until the distance between the interactive mechanism 5 and the target interactive device 200 is a preset distance, and detect whether the third telescopic mechanism 4 and the interactive mechanism 5 have touched an obstacle.

[0117] The third telescopic mechanism 4 is driven by a motor or electric cylinder. By detecting the current when the motor or electric cylinder is working, the change in resistance during operation can be calculated. If the resistance suddenly increases, it is determined that the third telescopic mechanism 4 or the interactive mechanism 5 has touched an obstacle. Alternatively, the second camera 15 of the robot 100 can be used to determine whether the third telescopic mechanism 4 or the interactive mechanism 5 has touched an obstacle.

[0118] S132: When the third telescopic mechanism 4 or the interactive mechanism 5 touches an obstacle, control the third telescopic mechanism 4 to stop extending and provide feedback to the robot 100.

[0119] When an obstacle is detected, the third telescopic mechanism 4 is immediately controlled to stop extending. This improves the problem of the collision accident escalating when the third telescopic mechanism 4 or the interaction mechanism 5 touches an obstacle and the third telescopic mechanism 4 continues to extend. This helps protect the safety of surrounding personnel and the robot 100 itself.

[0120] When an obstacle is detected, feedback is also sent to the robot body 1. The robot body 1 can use the camera and / or radar 13 to analyze the possible collision, determine whether the collision has occurred and whether anyone has been injured, and then determine whether the robot 100 should continue to execute step S132 or stop and wait for manual instructions.

[0121] S140: Obtain the status information of the target interactive device 200, and determine whether the target interactive device 200 is in a triggerable state based on the status information.

[0122] The status information is the current status of the target interactive device 200, such as a digital photo obtained by taking a picture of the target interactive device 200, or data information obtained by the radar 13 scanning the target interactive device 200.

[0123] Taking digital photos as an example, when the target interactive device 200 is a button panel, analysis of the digital photo can reveal information such as the number, distribution, damage, and triggering status of the buttons on the button panel. When the target interactive device 200 is a card reader, analysis of the digital photo can reveal information such as whether the power indicator and fault indicator of the card reader are lit, and whether the card reader is damaged. When the target interactive device 200 is a door panel, analysis of the digital photo can reveal information such as whether the door panel has been opened and the material of the door panel. Specifically, when the target interactive device 200 is a button panel, if a button is lit, it is determined that the button has been triggered; if a button is off, it is determined that the button has not been triggered.

[0124] The triggerable state is a state that is expected to be triggered by the target interactive device 200 after the interactive mechanism 5 interacts with the target interactive device 200.

[0125] For example, when the target interactive device 200 is a button panel, it detects whether the target button on the button panel exists, whether it is damaged, and whether it has been triggered. If the target button exists, is not damaged, and has not been triggered, the button panel is in a triggerable state; otherwise, it is in an untriggerable state.

[0126] When the target interactive device 200 is a card reader, the system checks whether the power indicator light and fault light of the card reader are on, and whether the card reader is damaged. If the power indicator light is on, the fault light is not off, and the card reader is not damaged, the card reader is in a triggerable state. Otherwise, it is in a non-triggerable state.

[0127] When the target interactive device 200 is a door panel, it detects whether the door panel is open and whether the door panel is made of a fragile or easily deformable material, such as glass or metal. If the door panel is not open and is not made of a fragile or easily deformable material, then the door panel is in a triggerable state; otherwise, it is in a non-triggerable state.

[0128] When the target interactive device 200 is in a triggerable state, step S150 and subsequent steps are executed; when the target interactive device 200 is in a non-triggerable state, step S170 is executed.

[0129] When the target interactive device 200 is in an untriggerable state, in addition to executing step S170, the information that the target interactive device 200 is in an untriggerable state is also fed back to the robot body 1. The robot body 1 can use the camera and / or radar 13 to analyze the target interactive device 200, determine whether the target interactive device 200 can be triggered by other means, and then determine whether the robot 100 should re-execute the interaction method or stop and wait for manual instructions.

[0130] For example, when the target interactive device 200 has both a button panel and a card reader, if it is determined that the button panel cannot be triggered, the target interactive device 200 can be triggered through the card reader. When the target interactive device 200 is a button panel inside an elevator car, if it is determined that the button panel cannot be triggered, another elevator car can be used. When the target interactive device 200 is a card reader, if it is determined that the card reader cannot be triggered, another card reader can be used to trigger it.

[0131] S150: Control interaction mechanism 5 triggers target interaction device 200, please refer to Figure 9 Step S150 includes:

[0132] S151: Determine the interaction mode based on the type of the target interactive device 200. The interaction mode includes press interaction, tap interaction and near field communication interaction.

[0133] In this embodiment, the target interactive device 200 is described using press interaction type, tap interaction type, and near-field communication interaction type as examples. In other embodiments, the target interactive device 200 may also be of mobile network interaction type, radio frequency identification interaction type, etc., and this application does not limit it.

[0134] The target interactive device 200 is a press-to-interaction type, meaning it has a button that can be activated by pressing the button. For a press-to-interaction type target interactive device 200, the interaction mode is determined to be press-to-interaction.

[0135] The target interactive device 200 is a tap-based interactive device, meaning it can be triggered by tapping. For a target interactive device 200 with a tap-based interactive type, the interaction mode is determined to be tap-based.

[0136] The target interactive device 200 is a near-field communication (NFC) interactive device, meaning it can be triggered by transmitting a NFC signal. For the NFC-interactive target interactive device 200, the interaction mode is determined to be NFC-interactive.

[0137] When the interaction mode is press interaction, execute step S152; when the interaction mode is tap interaction, execute step S153; when the interaction mode is near field communication interaction, execute step S154.

[0138] S152: The first active part 52 of the control interaction mechanism 5 extends relative to the base 51 to press the target interaction device 200.

[0139] The target interactive device 200 typically has multiple buttons. Pressing the target interactive device 200 actually presses one or more target buttons on the target interactive device 200. When multiple target buttons are pressed, the first movable part 52 presses the target buttons one by one in a preset order. During the process of the interactive mechanism 5 pressing the target buttons, the first telescopic mechanism 2 and the second telescopic mechanism 3 need to adjust the position of the interactive mechanism 5 along the first direction X and the second direction Y so that the first movable part 52 is directly facing the target button.

[0140] It is understandable that before the first movable part 52 of the control interaction mechanism 5 extends relative to the base 51, the rotation mechanism 6 is first controlled to drive the interaction mechanism 5 to rotate relative to the third rod 42, so that the first movable part 52 of the interaction mechanism 5 points to the target interaction device 200.

[0141] When the first movable part 52 extends relative to the base 51 to press the target interactive device 200, excessive pressure may occur on the target interactive device 200, potentially damaging the target interactive device 200 and the interactive mechanism 5. To mitigate this problem, step S152 includes:

[0142] S1521: Control the first movable part 52 to gradually extend relative to the base 51, and detect the pressure between the first movable part 52 and the target interactive device 200. When the pressure is greater than the preset pressure, control the first movable part 52 to retract relative to the base 51.

[0143] A pressure sensor 521 is provided at the end of the first movable part 52. When the first movable part 52 contacts the target interactive device 200, the pressure sensor 521 can detect the pressure between the first movable part 52 and the target interactive device 200. In some other embodiments, the pressure between the first movable part 52 and the target interactive device 200 can be calculated by detecting the operating current of the motor or electric cylinder that drives the first movable part 52.

[0144] The preset pressure can be 0.5N, 1N, 2N, etc., and can be adjusted according to the trigger pressure of the button. For example, it can be two or three times the average trigger pressure of buttons on the market.

[0145] When the pressure between the first active part 52 and the target interactive device 200 exceeds a preset pressure, the button may malfunction, or the button may have been triggered but the first active part 52 continues to press the button; it is also possible that the first active part 52 is not pressing the button correctly, for example, pressing the panel of the button panel. By controlling the retraction of the first active part 52 relative to the base 51, the problem of the first active part 52 damaging the button and the panel can be improved. Furthermore, the reaction force of the target interactive device 200 on the second active part 53 may also cause damage to the interactive mechanism 5, thus the problem of damage to the interactive mechanism 5 can also be improved. Through the above methods, the problem of excessive pressure from the first active part 52 on the target interactive device 200, leading to damage to the target interactive device 200 and the interactive mechanism 5, can be improved.

[0146] When the first movable part 52 extends relative to the base 51 to press the target interactive device 200, there may be a situation where the first movable part 52 cannot contact the target interactive device 200, resulting in the interactive structure failing to trigger the target interactive device 200. To improve this problem, step S152 includes:

[0147] S1522: Control the first movable part 52 to gradually extend relative to the base 51, and detect the position of the first movable part 52 relative to the base 51. When the position of the first movable part 52 relative to the base 51 reaches the end of the stroke, control the third telescopic mechanism 4 to move the interactive mechanism 5 closer to the target interactive device 200 until the first movable part 52 contacts the target interactive device 200. Then control the first movable part 52 to retract relative to the base 51, and control the third telescopic mechanism 4 to extend a preset allowable length.

[0148] When the first movable part 52 reaches the end of its travel relative to the base 51, the first movable part 52 can no longer extend relative to the base 51. If the first movable part 52 still cannot contact the target interactive device 200 at this time, the interactive mechanism 5 cannot perform a pressing operation on the target interactive device 200.

[0149] At this time, the third telescopic mechanism 4 is controlled to move the interactive mechanism 5 closer to the target interactive device 200 until the first movable part 52 contacts the target interactive device 200. This ensures that the first movable part 52 can contact the target interactive device 200, so that the first movable part 52 can press the target interactive device 200 subsequently. Whether the first movable part 52 has contacted the target interactive device 200 can be determined by the pressure sensor 521 at the end of the first movable part 52. For example, if the pressure sensor 521 detects a sudden change in pressure to a positive value or a sudden increase, it is determined that the first movable part 52 has contacted the target interactive device 200.

[0150] Since the first movable part 52 can only contact the target interactive device 200 at the end of its travel, it still cannot properly press and trigger the target interactive device 200. Therefore, the first movable part 52 is controlled to retract relative to the base 51, and the third telescopic mechanism 4 is controlled to extend by a preset allowable length. This preset allowable length is greater than the travel distance the first movable part 52 has traveled from the moment it begins to press the target interactive device 200 until it is triggered. This improves the problem that the target interactive device 200 cannot be triggered even when the first movable part 52 reaches the end of its travel distance relative to the base 51. The preset allowable length can be 1cm, 2cm, 3cm, etc., and is not limited here.

[0151] After the first active part 52 presses and triggers the target interactive device 200, if the target interactive device 200 is pressed continuously, it may trigger another triggering effect of the target interactive device 200. For example, in the button panel of an elevator car, pressing and holding an already triggered button can cancel the button; some buttons, if pressed for a long time, such as more than 5 seconds, may trigger an alarm system. To improve this problem, step S152 includes:

[0152] S1523: Control the first active part 52 to gradually extend relative to the base 51, and detect whether the first active part 52 successfully triggers the target interactive device 200. When the first active part 52 successfully triggers the target interactive device 200, control the first active part 52 to retract relative to the base 51.

[0153] To determine whether the first active part 52 has triggered the target interactive device 200, refer to step S160 below. Alternatively, this can be achieved using a pressure sensor 521 at the end of the first active part 52. For example, buttons typically have pressure feedback; when a button is pressed, the pressure gradually increases, then suddenly decreases and then suddenly increases again, indicating the button has been pressed to the bottom; or the pressure gradually increases and then suddenly increases, indicating the button has been pressed to the bottom. By utilizing this characteristic of the button and combining it with the pressure value detected by the pressure sensor 521, it can be determined whether the button has been successfully pressed, i.e., whether the target interactive device 200 has been successfully triggered.

[0154] S153: The second active part 53 of the control interaction mechanism 5 reciprocates and extends relative to the base 51 to strike the target interaction device 200.

[0155] The second movable part 53 reciprocates relative to the base 51, causing it to continuously tap the target interactive device 200 to trigger it. Triggering the target interactive device 200 only requires the second movable part 53 to tap the target interactive device 200. The tapping interval can mimic the knocking interval of a person knocking on a door, such as 0.3s, 0.5s, 0.8s, etc., and is not limited here. The number of taps or the duration of tapping can also mimic the knocking duration and number of times a person knocks on a door, such as 3, 6, 9 taps, etc., and a knocking duration of 1s, 2s, 3s, etc., and is not limited here.

[0156] When tapping the target interactive device 200, you can also pause appropriately, such as tapping for 1 second and then pausing for 3 seconds, to reduce the discomfort caused by the tapping sound to people around you.

[0157] It is understandable that before the second movable part 53 of the control interaction mechanism 5 extends relative to the base 51, the rotation mechanism 6 is first controlled to drive the interaction mechanism 5 to rotate relative to the third rod 42, so that the first movable part 53 of the interaction mechanism 5 points to the target interaction device 200.

[0158] During the reciprocating extension and retraction of the second movable part 53 relative to the base 51, there may be instances where the second movable part 53 fails to contact the target interactive device 200, resulting in unsuccessful tapping of the target interactive device 200. To improve this issue, please refer to [link to relevant documentation]. Figure 10 Step S153 includes:

[0159] S1531: Control the second movable part 53 to reciprocate and extend relative to the base 51, and detect whether the second movable part 53 strikes the target interactive device 200.

[0160] To detect whether the second active unit 53 has struck the target interactive device 200, ambient sound can be collected via a microphone. If the sound of a tapping sound corresponds to the expected tapping sound of the second active unit 53 striking the target interactive device 200, then it is determined that the second active unit 53 has struck the target interactive device 200. The expected tapping sound of the second active unit 53 striking the target interactive device 200 refers to the expected tapping sound based on the extension / retraction frequency of the second active unit 53. For example, if the extension / retraction frequency of the second active unit 53 is three times per second, then the expected tapping sound is three times per second, in order to filter out other ambient tapping sounds and reduce false alarms.

[0161] When no tapping of the second active part 53 onto the target interactive device 200 is detected, step S1532 is executed; when tapping of the second active part 53 onto the target interactive device 200 is detected, step S1533 is executed.

[0162] S1532: Control the third telescopic mechanism 4 to move the interactive mechanism 5 closer to the target interactive device 200 until the second movable part 53 strikes the target interactive device 200.

[0163] The third telescopic mechanism 4 is controlled to gradually extend, and it is detected whether the second movable part 53 strikes the target interactive device 200. If it strikes the target interactive device 200, the third telescopic mechanism 4 is controlled to stop extending. At this time, the second movable part 53 strikes the target interactive device 200 by reciprocating telescopic motion relative to the base 51.

[0164] S1533: Detect the duration for which the second active part 53 taps the target interactive device 200. If the duration exceeds a preset duration, control the second active part 53 to retract relative to the base 51.

[0165] The preset duration is the preset duration for the second active part 53 to tap the target interactive device 200. For example, if the preset duration is 1 second, then after the second active part 53 taps the target interactive device 200 for 1 second, the second active part 53 retracts relative to the base 51 to control the duration for which the second active part 53 taps the target interactive device 200.

[0166] When the second active part 53 initially fails to tap the target interactive device 200, but then taps the target interactive device 200 through step S1532, the duration of the second active part 53 tapping the target interactive device 200 is taken from the time point when the second active part 53 first taps the target interactive device 200. That is, the duration of the reciprocating extension and retraction motion of the second active part 53 relative to the base 51 is longer than the preset duration, which helps to improve the problem of the short tapping duration of the second active part 53 on the target interactive device 200.

[0167] S154: The near-field communication module 54 of the control interaction mechanism 5 broadcasts near-field communication signals.

[0168] The robot 100's storage device stores near-field communication (NFC) signals. The processor 7 processes these NFC signals and broadcasts them via the NFC module 54. When the target interaction device 200 senses the NFC signal and it is a valid NFC signal, the target interaction device 200 automatically triggers the broadcast. It is understood that the NFC signals stored in the storage device and the NFC signals broadcast by the NFC module 54 differ in form, but the information they represent is the same or corresponding.

[0169] A valid near-field communication signal refers to a near-field communication signal that can trigger the target interactive device 200. For example, the target interactive device 200 may have a list of information pre-loaded, where each item corresponds to at least one near-field communication signal. The target interactive device 200 compares the sensed near-field communication signal with the list information. If the near-field communication signal matches any item in the list information, it is determined to be a valid near-field communication signal. If the near-field communication signal does not match any item in the list, it is not a valid near-field communication signal.

[0170] It is understood that there are usually multiple target interactive devices 200, and the valid near-field communication signals of target interactive devices 200 in different geographical locations are different. Therefore, near-field communication cannot trigger multiple target interactive devices 200 in different geographical locations. To improve this problem, step S154 includes:

[0171] S1541: Obtain the geographical location information of the target interactive device 200, select the corresponding near-field communication signal from the preset near-field communication signal library according to the geographical location information, and control the near-field communication module 54 to broadcast the near-field communication signal.

[0172] The geographic location information of the target interactive device 200, such as block name, street name, building number, floor number, and house number. Different target interactive devices 200 have different geographic location information, which can be used to distinguish each target interactive device 200.

[0173] The near-field communication signal library includes multiple geographic location information and multiple near-field communication signals, each near-field communication signal corresponding to a geographic location information. When it is necessary to trigger the target interactive device 200 through the near-field communication module 54, the corresponding near-field communication signal can be selected from the near-field communication signal library by obtaining the geographic location information of the target interactive device 200, thereby triggering the corresponding target interactive device 200. Therefore, the near-field communication module 54 can trigger multiple target interactive devices 200 in different geographic locations, enhancing the functionality of the interactive mechanism 5.

[0174] S160: Determine whether the target interactive device 200 has been successfully triggered.

[0175] A digital photo is taken of the target interactive device 200, and the digital photo is analyzed to determine whether the target interactive device 200 has been successfully triggered.

[0176] When the target interactive device 200 is a button panel, analysis of the digital photo can determine whether the target button on the button panel was successfully triggered. For example, if the target button is lit up, it is determined that the target button on the button panel was successfully triggered; if the target button is off, it is determined that the target button on the button panel was not successfully triggered.

[0177] Digital photographs can also include images of displays. For example, if the button panel is inside an elevator car, the floor indicator display can be photographed. By analyzing the floor indicator display in the digital photograph, the current upward or downward state of the elevator car can be determined, and thus whether the target button in the elevator car was successfully triggered. For instance, if robot 100 needs to go upward in the elevator, if the floor indicator display shows an upward state, the target button is considered to have been successfully triggered; if the floor indicator display shows a downward state or is stopped at the current floor, the target button is considered to have been unsuccessfully triggered.

[0178] When the target interactive device 200 is a card reader, the success of the card reader activation can be determined by analyzing the digital photo. For example, if the card reader indicator light is on and displays green, the card reader activation is considered successful; if the card reader indicator light is on and displays red or the card reader indicator light is off, the card reader activation is considered unsuccessful.

[0179] If the target interactive device 200 is successfully triggered, step S170 is executed; if the target interactive device 200 is not successfully triggered, step S140 and subsequent steps are executed.

[0180] S170: Control the first telescopic mechanism 2, the second telescopic mechanism 3 and the third telescopic mechanism 4 to retract to the initial state.

[0181] The first telescopic mechanism 2, the second telescopic mechanism 3, and the third telescopic mechanism 4 can retract simultaneously or sequentially. Specifically, the third telescopic mechanism 4 can retract first. When the third telescopic mechanism 4 has retracted to half its total retraction stroke, the first telescopic mechanism 2 and the second telescopic mechanism 3 then begin to retract. This helps mitigate the problem of the third telescopic mechanism 4 and the interaction mechanism 5 colliding with the target interactive device 200 along the first X and second Y directions. For example, if the target interactive device 200 has a recess, and the interaction mechanism 5 extends into the recess to interact with the target interactive device 200, if the first telescopic mechanism 2 and the second telescopic mechanism 3 begin to retract before the interaction mechanism 5 leaves the recess, the interaction mechanism 5 is very likely to collide with the inner wall of the recess, causing damage to the interaction mechanism 5 and the target interactive device 200. By controlling the third telescopic mechanism 4 to retract first, the problem of the third telescopic mechanism 4 and the interaction mechanism 5 colliding with the target interactive device 200 along the first X and second Y directions can be mitigated.

[0182] When the first telescopic mechanism 2, the second telescopic mechanism 3, and the third telescopic mechanism 4 are retracted to their initial state, they are in a retracted state, which helps to improve the problem of robot 100 colliding with obstacles during its movement and enhances the robot 100's passability.

[0183] The interaction method of this application embodiment can control the robot 100 to interact with the target interaction device 200. During the interaction, the interaction mechanism 5 is moved to the front of the target interaction device 200 through three telescopic mechanisms, and the interaction mechanism 5 can then complete the interaction with the target interaction device 200. Therefore, only the telescopic length of each telescopic mechanism needs to be calculated, which can reduce computational complexity, reduce computing power consumption, and reduce the requirements for the controller, thereby reducing costs.

[0184] Example 3

[0185] This application provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform an interactive method in the method embodiment, for example, to execute... Figure 6 The method steps S110 to S170.

[0186] Example 4

[0187] This application provides a non-volatile computer-readable storage medium storing computer-executable instructions. These instructions are used to cause a computer to execute the interactive method in the method embodiment, for example, to execute... Figure 6 The method steps S110 to S170.

[0188] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software and a general-purpose hardware platform, or of course, using hardware. Those skilled in the art will understand that all or part of the processes in the embodiments can be implemented using hardware related to computer program instructions. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of each method. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

Claims

1. A robot, characterized in that, include: The robot body, used for moving on the ground; A first telescopic mechanism includes a first cylinder and a first rod. The first cylinder is disposed on the robot body, and the first rod is housed in the first cylinder. The first rod is used to telescopically move relative to the first cylinder along a first direction. The second telescopic mechanism includes a second cylinder and a second rod. The second cylinder is disposed on the first rod, and the second rod is housed in the second cylinder. The second rod is used to telescopically move relative to the second cylinder in a second direction. The third telescopic mechanism includes a third cylinder and a third rod. The third cylinder is disposed on the second rod, and the third rod is housed in the third cylinder. The third rod is used to telescopically move relative to the third cylinder in a third direction. An interactive mechanism for interaction is provided. The interactive mechanism includes a base, a first movable part, a second movable part, and a near-field communication module. The base is disposed on the third rod. The first movable part is retractably disposed on the base. A pressure sensor is disposed at the end of the first movable part for detecting the pressure of the first movable part in contact with an external device. A displacement sensor is disposed on the base for detecting the position of the first movable part relative to the base during extension and retraction. The second movable part is retractably disposed on the base for reciprocating extension and retraction relative to the base. The near-field communication module is disposed on the third rod; wherein the extension and retraction speed of the second movable part relative to the base is greater than the extension and retraction speed of the first movable part relative to the base; A rotating mechanism includes a fixed base and a rotating base. The fixed base is disposed on the third rod, and the rotating base is rotatably disposed on the fixed base. The interactive mechanism is disposed on the rotating base. The rotating base is in the shape of a rectangular frame, and the base is disposed inside the rotating base. Both sides of the rotating base have openings to allow the first movable part and the second movable part to extend out, respectively. Wherein, the first direction, the second direction, and the third direction are perpendicular to each other.

2. The robot according to claim 1, characterized in that, The robot body is equipped with radar and a first camera; and / or, A second camera is mounted on the top of the robot body; and / or, A third camera is provided on the front side of the robot body, and the third camera is positioned adjacent to the top of the robot body; and / or, The third rod is equipped with a distance measuring sensor.

3. An interaction method, based on the robot as described in any one of claims 1 to 2 interacting with a target interactive device, characterized in that, The method includes: The robot is then controlled to move to the standing position based on the spatial location of the target interactive device. Based on the spatial position of the target interactive device, determine the interactive position along the first direction and the second direction, and control the first telescopic mechanism and the second telescopic mechanism to move the interactive mechanism to the interactive position; The third telescopic mechanism is controlled to move the interactive mechanism closer to the target interactive device, and the distance between the interactive mechanism and the target interactive device is a preset distance; Obtain the status information of the target interactive device, determine whether the target interactive device is in a triggerable state based on the status information, and control the interactive mechanism to trigger the target interactive device when the target interactive device is in a triggerable state. When the target interactive device is successfully triggered, the first telescopic mechanism, the second telescopic mechanism, and the third telescopic mechanism are controlled to retract to their initial state. If the target interactive device fails to trigger successfully, then the steps of obtaining the status information of the target interactive device, determining whether the target interactive device is in a triggerable state based on the status information, and subsequent steps are executed.

4. The interaction method according to claim 3, characterized in that, The control of the third telescopic mechanism to move the interactive mechanism closer to the target interactive device, wherein the distance between the interactive mechanism and the target interactive device is a preset distance, includes: The third telescopic mechanism is controlled to gradually extend until the distance between the interactive mechanism and the target interactive device is a preset distance, and it is detected whether the third telescopic mechanism and the interactive mechanism touch an obstacle; When the third telescopic mechanism or the interactive mechanism touches an obstacle, the third telescopic mechanism is controlled to stop extending and feedback is sent to the robot.

5. The interaction method according to claim 3, characterized in that, The control of the interaction mechanism to trigger the target interaction device includes: The interaction mode is determined according to the type of the target interactive device, and the interaction mode includes press interaction, tap interaction and near field communication interaction. When the interaction mode is a press interaction, the first movable part of the interaction mechanism is controlled to extend relative to the base to press the target interaction device; When the interaction mode is tapping interaction, the second movable part of the interaction mechanism is controlled to reciprocate and extend relative to the base to tap the target interaction device; When the interaction mode is near-field communication interaction, the near-field communication module controlling the interaction mechanism broadcasts a near-field communication signal.

6. The interaction method according to claim 5, characterized in that, The first movable part of the control mechanism extends relative to the base to press the target interactive device, including: The first movable part is controlled to gradually extend relative to the base, and the pressure between the first movable part and the target interactive device is detected. When the pressure is greater than a preset pressure, the first movable part is controlled to retract relative to the base; and / or, The system controls the first movable part to gradually extend relative to the base, and detects the position of the first movable part relative to the base. When the extended position of the first movable part relative to the base reaches the end of its travel, the system controls the third telescopic mechanism to move the interactive mechanism closer to the target interactive device until the first movable part contacts the target interactive device. Then, the system controls the first movable part to retract relative to the base, and controls the third telescopic mechanism to extend a preset allowable length; and / or, The first active part is controlled to gradually extend relative to the base, and it is detected whether the first active part successfully triggers the target interactive device. When the first active part successfully triggers the target interactive device, the first active part is controlled to retract relative to the base.

7. The interaction method according to claim 5, characterized in that, The second movable part of the control mechanism reciprocates and extends relative to the base to strike the target interactive device, including: Control the second movable part to reciprocate and extend relative to the base, and detect whether the second movable part taps the target interactive device; When the second movable part does not strike the target interactive device, the third telescopic mechanism is controlled to move the interactive mechanism closer to the target interactive device until the second movable part strikes the target interactive device. The duration of the second active part tapping the target interactive device is detected. When the duration exceeds a preset duration, the second active part is controlled to retract relative to the base.

8. The interaction method according to claim 5, characterized in that, The near-field communication module controlling the interaction mechanism broadcasts near-field communication signals, including: The system acquires the geographic location information of the target interactive device, selects the corresponding near-field communication signal from a preset near-field communication signal library based on the geographic location information, and controls the near-field communication module to broadcast the near-field communication signal.

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