Robot awakening method and device based on tactile perception

Abstract

The embodiment of the invention discloses a robot awakening method and device based on tactile perception, the method and device are applied to a robot, the robot comprises sensors deployed in a plurality of contact areas, and the method comprises the steps that tactile perception signals collected by the sensors are acquired; performing effective judgment on the tactile sensing signal to determine whether the tactile sensing signal is an effective signal; if yes, in response to the effective signal, executing a robot awakening operation so as to realize multi-modal interaction experience between the robot and the user; the method has the advantages that the method is convenient and rapid, signals can be rapidly transmitted to the robot control end, then the robot is started and awakened, and follow-up multi-mode interaction experience is achieved; compared with traditional modes such as voice awakening, the awakening mode is simplified to a certain extent by awakening the robot through tactile perception, and the defects that in the prior art, the robot is easily interfered by the external environment and is difficult to accurately trigger are overcome.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot awakening method and device based on tactile perception. Background Art

[0002] At present, there are various ways and methods for waking up robots. In the face of the wake-up needs in the field of humanoid robot interaction, the current methods such as voice or vision are relatively limited. Especially in scenes with large traffic and noisy environments such as exhibition halls and exhibitions, the above methods will frequently trigger multiple rounds of wake-up in the external environment, which is easily disturbed by the external environment and difficult to be accurately triggered, thus greatly reducing the interaction effect and interaction experience. Summary of the invention

[0003] In view of the technical defects mentioned in the background technology, an object of the embodiments of the present invention is to provide a robot awakening method and device based on tactile perception.

[0004] To achieve the above objectives, in a first aspect, an embodiment of the present invention provides a robot awakening method based on tactile perception, which is applied to a robot, wherein the robot includes sensors deployed in multiple contact areas, and the method includes:

[0005] Acquiring tactile perception signals collected by the sensor;

[0006] Performing effective judgment on the tactile perception signal to determine whether it is a valid signal;

[0007] If so, in response to the valid signal, a robot wake-up operation is performed to achieve a multimodal interactive experience between the robot and the user.

[0008] As a preferred implementation of the present application, the method further includes:

[0009] Before judging the tactile perception signal, the tactile perception signal is also converted to obtain signal data;

[0010] Then make effective judgments on the converted signal data.

[0011] As a preferred implementation of the present application, the sensor is a temperature and pressure sensor, which is deployed on the surface or inside the robot to collect trigger pressure and temperature data as the tactile perception signal.

[0012] As a preferred implementation of the present application, the determining whether it is a valid signal specifically includes:

[0013] Determine whether trigger pressure and temperature data are received;

[0014] If yes, determining whether the temperature data is within a preset limited trigger range;

[0015] If so, it is determined whether the trigger time meets the set threshold; if so, the current corresponding tactile perception signal is determined to be the valid signal.

[0016] As a preferred implementation of the present application, the multimodal interactive experience includes providing a multimodal user experience of expressions, eyes, voice and actions.

[0017] In a second aspect, an embodiment of the present invention further provides a robot awakening device based on tactile perception, which is applied to a robot, wherein the robot includes sensors deployed in multiple contact areas, and the device includes:

[0018] A collection module, used to obtain the tactile perception signal collected by the sensor;

[0019] A judgment module, used for making a valid judgment on the tactile perception signal to determine whether it is a valid signal;

[0020] The processing module is used to execute a robot wake-up operation in response to the effective signal to achieve a multi-modal interaction experience between the robot and the user.

[0021] The technical solution provided by the embodiment of the present invention is convenient and fast, and can quickly and rapidly transmit signals to the robot control end, thereby starting to wake up the robot and realizing subsequent multimodal interactive experience; compared with traditional voice wake-up methods, waking up the robot through tactile perception simplifies the wake-up method to a certain extent, and overcomes the defects of the prior art that it is easily disturbed by the external environment and difficult to be accurately triggered; at the same time,

[0022] During the touch process, the robot wake-up operation is performed only based on valid signals, thereby achieving an autonomous and controllable effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation of the present invention or the technical solution in the prior art, the drawings required for use in the specific implementation or the description of the prior art are briefly introduced below.

[0024] Figure 1 is a flow chart of a robot awakening method based on tactile perception provided by an embodiment of the present invention;

[0025] Figure 2 It is a schematic diagram of an effective judgment provided by an embodiment of the present invention;

[0026] Figure 3 It is a principle block diagram of a robot awakening device based on tactile perception provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so as to describe the embodiments of the present application described herein.

[0029] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0030] Throughout the specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment of the present invention. Therefore, the phrases "in one embodiment," "in an embodiment," "an example," or "an example" appearing in various places throughout the specification do not necessarily all refer to the same embodiment or example. Furthermore, particular features, structures, or characteristics may be combined in one or more embodiments or examples in any appropriate combinations and / or subcombinations.

[0031] It should be noted that, unless otherwise specified, the technical terms in this embodiment have the common meanings understood in the relevant technical field.

[0032] Please refer to Figure 1 An embodiment of the present invention provides a robot awakening method based on tactile perception, which is applied to a robot, wherein the robot includes sensors deployed in multiple contact areas, and the method includes:

[0033] S101, acquiring a tactile perception signal collected by a sensor;

[0034] S102, performing a validity judgment on the tactile perception signal to determine whether it is a valid signal;

[0035] S103: If yes, in response to the valid signal, a robot wake-up operation is performed to achieve a multi-modal interactive experience between the robot and the user.

[0036] In this embodiment, the robot is illustrated by a humanoid robot, but this is not a limitation. The robot itself is deployed with a corresponding robot system; the contact area is the contact area commonly used by the user, such as the palm, shoulder, torso and other areas.

[0037] The multimodal interaction experience includes providing a multimodal user experience of expressions, eyes, voice and actions; that is, after being triggered, the multimodal interaction with the user is realized based on the user intention inferred by the robot system through the large model; for example, matching actions and expressions to realize real-time linkage interaction of the robot's voice, actions and expressions.

[0038] In this embodiment, in order to better reflect the characteristics of human touch, the sensor adopts a temperature and pressure sensor, which is deployed on the surface or inside of the robot to collect trigger pressure and temperature data as the tactile perception signal.

[0039] When applied, the selected temperature and pressure sensors include corresponding temperature sensors and pressure sensors. The greater the pressure, the smaller the resistance. These sensors can be easily integrated with the robot. By arranging multiple temperature and pressure sensors on the surface or inside of the robot, arranging them in the user's commonly used contact area, and then transmitting the output of the sensor to the outside, it is used to monitor the changes in pressure and temperature in real time.

[0040] At the same time, when acquiring, the corresponding time data is also recorded synchronously; and

[0041] Before judging the tactile perception signal, the tactile perception signal is also converted to obtain signal data;

[0042] Then make effective judgments on the converted signal data. For example, convert the analog signal into a digital signal, so that it has strong anti-interference ability, is not easily affected by the environment, and has good stability.

[0043] When applied, the determination of whether it is a valid signal specifically includes:

[0044] Determine whether trigger pressure and temperature data are received;

[0045] If yes, determining whether the temperature data is within a preset limited trigger range;

[0046] If so, it is determined whether the trigger time meets the set threshold; if so, the current corresponding tactile perception signal is determined to be the valid signal.

[0047] Reference Figure 2 , when an effective pressure signal is detected in a certain area, this process involves a limited trigger range of temperature (whether it is human body temperature), and the trigger pressure is felt, as well as the effective continuous trigger time (i.e. Figure 2The temperature and pressure control time in the process), if these three conditions are met, the corresponding wake-up operation can be performed to wake up the robot system and start multi-modal interaction of voice, face and action; thus, through these restrictions, it can be ensured that only the corresponding valid touch behavior is recorded to avoid wake-up by mistake;

[0048] That is, when a pressure signal is detected in a certain area, it is determined whether it is within the temperature range corresponding to the human body and whether the duration is met. Only when both conditions are met can it be considered valid information, thereby avoiding false triggering and non-human triggering.

[0049] The above solution is convenient and fast, and can quickly transmit signals to the robot control end, thereby starting to wake up the robot and realizing subsequent multimodal interactive experience; compared with traditional voice wake-up methods, waking up the robot through tactile perception simplifies the wake-up method to a certain extent, and overcomes the defects of the existing technology that it is easily affected by the external environment and difficult to be accurately triggered; at the same time, during the touch process, the robot wake-up operation is only performed based on the effective signal, thereby achieving an autonomous and controllable effect.

[0050] Reference Figure 3 Based on the same inventive concept, an embodiment of the present invention further provides a robot awakening device based on tactile perception, which is applied to a robot, wherein the robot includes sensors deployed in multiple contact areas, and the device includes:

[0051] A collection module, used to obtain the tactile perception signal collected by the sensor;

[0052] A judgment module, used for making a valid judgment on the tactile perception signal to determine whether it is a valid signal;

[0053] The processing module is used to execute a robot wake-up operation in response to the effective signal to achieve a multi-modal interaction experience between the robot and the user.

[0054] Furthermore, the sensor is a temperature and pressure sensor, which is deployed on the surface or inside of the robot to collect trigger pressure and temperature data as the tactile perception signal.

[0055] In this embodiment, the judgment module is also used for:

[0056] Before judging the tactile perception signal, the tactile perception signal is also converted to obtain signal data;

[0057] Then make effective judgments on the converted signal data.

[0058] During implementation, in order to avoid false triggering and improve the accuracy of trigger identification, the determination of whether it is a valid signal specifically includes:

[0059] Determine whether trigger pressure and temperature data are received;

[0060] If yes, determining whether the temperature data is within a preset limited trigger range;

[0061] If so, it is determined whether the trigger time meets the set threshold; if so, the current corresponding tactile perception signal is determined to be the valid signal.

[0062] It should be noted that for more specific descriptions of the functions and workflow of the device embodiment, please refer to the aforementioned method embodiment part, which will not be repeated here.

[0063] The technical solution of the embodiment of the present invention also has the following advantages:

[0064] 1. Convenient and fast: Through simple temperature and pressure sensing, the signal can be quickly transmitted to the robot control end, thereby starting to wake up the robot and realizing subsequent multimodal interactive experience.

[0065] 2. Functional innovation: Compared with traditional voice wake-up methods, the new tactile perception wake-up robot has simplified the wake-up method to a certain extent, making the robot's functions more complete.

[0066] 3. Accurate and efficient: In large-scale exhibitions, exhibition halls and other places, the on-site environment is extremely complex. Using voice and visual methods to trigger wake-up may not be able to accurately identify and hit key information to a certain extent. The use of touch greatly improves efficiency.

[0067] 4. Autonomous control: Sensors are arranged at multiple common contact positions inside the robot. During the touch process, only effective touch signal feedback is conveyed to the robot system, thereby achieving autonomous control.

[0068] Accordingly, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, a robot wake-up method based on tactile perception is implemented.

[0069] The computer-readable storage medium may be an internal storage unit of the aforementioned device, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the device. The computer-readable storage medium is used to store the computer program and other programs and data required by the device. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.

[0070] In several embodiments provided in the present application, it should be understood that the disclosed device and method can also be implemented in other ways. The device embodiment described above is only schematic, for example, each box in the flow chart or block diagram can represent a module, a program segment or a part of the 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 box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes 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 box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0071] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. When in use, each module only collects and stores user information with the full authorization of the user and in compliance with relevant laws and regulations, and protects the security and privacy of user data, and unauthorized access is strictly prohibited; data processing will be carried out within the scope prescribed by law and shall not exceed the purpose and scope authorized by the user; at the same time, users enjoy relevant rights such as access, correction, deletion, restriction of processing, and rejection of their personal data; and strictly abide by applicable laws and regulations and conduct compliance reviews.

[0072] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0073] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A robot awakening method based on tactile perception, characterized in that: Applied to a robot, the robot includes sensors deployed in multiple contact areas, and the method includes: Acquiring tactile perception signals collected by the sensor; Performing effective judgment on the tactile perception signal to determine whether it is a valid signal; If so, in response to the valid signal, a robot wake-up operation is performed to achieve a multimodal interactive experience between the robot and the user.

2. A robot awakening method based on tactile perception as claimed in claim 1, characterized in that: The method further comprises: Before judging the tactile perception signal, the tactile perception signal is also converted to obtain signal data; Then make effective judgments on the converted signal data.

3. A robot awakening method based on tactile perception as claimed in claim 2, characterized in that: The sensor is a temperature and pressure sensor, which is deployed on the surface or inside of the robot and is used to collect trigger pressure and temperature data as the tactile perception signal.

4. A robot awakening method based on tactile perception as claimed in claim 3, characterized in that: The determining whether it is a valid signal specifically includes: Determine whether trigger pressure and temperature data are received; If yes, determining whether the temperature data is within a preset limited trigger range; If so, it is determined whether the trigger time meets the set threshold; if so, the current corresponding tactile perception signal is determined to be the valid signal.

5. A robot awakening method based on tactile perception as claimed in claim 3, characterized in that: The multimodal interactive experience includes providing a multimodal user experience of expressions, eyes, voice and actions.

6. A robot awakening device based on tactile perception, characterized in that: Applied to a robot, the robot includes sensors deployed in multiple contact areas, and the device includes: A collection module, used to obtain the tactile perception signal collected by the sensor; A judgment module, used for making a valid judgment on the tactile perception signal to determine whether it is a valid signal; The processing module is used to execute a robot wake-up operation in response to the effective signal to achieve a multi-modal interaction experience between the robot and the user.

7. A robot awakening device based on tactile perception as claimed in claim 6, characterized in that: The judging module is also used for: Before judging the tactile perception signal, the tactile perception signal is also converted to obtain signal data; Then make effective judgments on the converted signal data.

8. The robot awakening device based on tactile perception as claimed in claim 7, characterized in that: The sensor is a temperature and pressure sensor, which is deployed on the surface or inside of the robot and is used to collect trigger pressure and temperature data as the tactile perception signal.

9. A robot awakening device based on tactile perception as claimed in claim 8, characterized in that: The determining whether it is a valid signal specifically includes: Determine whether trigger pressure and temperature data are received; If yes, determining whether the temperature data is within a preset limited trigger range; If so, it is determined whether the trigger time meets the set threshold; if so, the current corresponding tactile perception signal is determined to be the valid signal.

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