Man-machine interaction method and device, control module, twisting determination module and product

Abstract

The invention is suitable for the technical field of man-machine interaction, and provides a man-machine interaction method and device, a control module, a twisting determination module and a product. The man-machine interaction method provided by the embodiment of the invention is realized by the interaction robot, and when a part of hardware of the interaction robot is twisted by a user, twisting information is determined; determining real-time twisting feedback information according to the twisting information; and outputting the real-time twisting feedback information, wherein the real-time twisting feedback information is used for feeding back the twisting action. When part of hardware of the interactive robot is twisted by a user, the interactive robot may be damaged. When part of hardware of the interactive robot is twisted by a user, the user can know feedback of the interactive robot to the twisting action in real time by outputting the real-time twisting feedback information, for example, the user can be prompted to pause, stop or reduce the twisting action, and the interactive robot is prevented from being damaged.

Description

Technical Field

[0001] This application belongs to the technical field of human-computer interaction, and particularly relates to a human-computer interaction method, device, control module, twisting determination module, and product. Background Art

[0002] An interactive robot can perform human-computer interaction with a user. The interactive robot generally includes a hardware form or a software form. When a hardware-form interactive robot is twisted by a user, it may be damaged. The damaged interactive robot may not only be unable to perform human-computer interaction with the user, but also incur repair costs, thus being unfavorable to the user experience. Summary of the Invention

[0003] Embodiments of this application provide a human-computer interaction method, device, control module, twisting determination module, and product, which can solve the technical problem in the prior art that an interactive robot cannot give feedback on the user's twisting action, resulting in the interactive robot being easily damaged.

[0004] In a first aspect, embodiments of this application provide a human-computer interaction method, which is applied to an interactive robot. The method includes:

[0005] When a part of the hardware of the interactive robot is subjected to a twisting action by a user, determine twisting information;

[0006] Determine real-time twisting feedback information according to the twisting information;

[0007] Output the real-time twisting feedback information, where the real-time twisting feedback information is used to give feedback on the twisting action.

[0008] In a possible implementation manner of the first aspect, the determining real-time twisting feedback information according to the twisting information includes:

[0009] Determine a real-time twisting sensory response according to the twisting angle and the real-time number of twisting rounds;

[0010] Determine real-time twisting feedback information according to the real-time twisting sensory response.

[0011] In a possible implementation manner of the first aspect, the when a part of the hardware of the interactive robot is subjected to a twisting action by a user, determine twisting information, includes:

[0012] When a part of the hardware of the interactive robot undergoes a position change, apply an output torque to return the part of the hardware to its initial position; wherein, the applying the output torque includes: gradually increasing the current to increase the output torque;

[0013] If the current exceeds the first current threshold, determine that a user has performed a twisting action on a part of the interactive robot and determine the twisting information.

[0014] In a possible implementation of the first aspect, the twisting information includes at least any one of the following: twisting angle, real-time number of twisting rounds, twisting speed.

[0015] In a possible implementation of the first aspect, the real-time twisting feedback information includes real-time expression information, and outputting the real-time twisting feedback information includes:

[0016] Controlling a display module of the interactive robot to display the real-time expression information.

[0017] In a possible implementation of the first aspect, the real-time twisting feedback information includes real-time voice information, and outputting the real-time twisting feedback information includes:

[0018] Controlling a sound module of the interactive robot to play the real-time voice information.

[0019] In a second aspect, an embodiment of the present application provides a human-computer interaction method, which is applied to a control module of an interactive robot. The interactive robot further includes a twisting determination module. The method includes:

[0020] Obtain the twisting information transmitted by the twisting determination module, where the twisting determination module is configured to determine the twisting information when a user performs a twisting action on a part of the interactive robot;

[0021] Determine real-time twisting feedback information according to the twisting information;

[0022] Output the real-time twisting feedback information, where the real-time twisting feedback information is used to provide feedback on the twisting action.

[0023] In a third aspect, an embodiment of the present application provides a human-computer interaction method, which is applied to a twisting determination module of an interactive robot. The interactive robot further includes a control module. The method includes:

[0024] When a user performs a twisting action on a part of the interactive robot, determine the twisting information;

[0025] Transmit the twisting information to the control module, where the twisting information is used to determine real-time twisting feedback information, and the real-time twisting feedback information is used to provide feedback on the twisting action.

[0026] In a fourth aspect, an embodiment of the present application provides a human-computer interaction device, which is applied to an interactive robot. The device includes:

[0027] A first determination module, configured to determine twisting information when a user performs a twisting action on a part of the hardware of the interaction robot;

[0028] A second determination module, configured to determine real-time twisting feedback information according to the twisting information;

[0029] A third output module, configured to output the real-time twisting feedback information, where the real-time twisting feedback information is used to provide feedback on the twisting action.

[0030] In a fifth aspect, an embodiment of the present application provides a control module, which is applied to an interaction robot. The interaction robot further includes a twisting determination module. The control module includes:

[0031] A fourth acquisition module, configured to acquire the twisting information transmitted by the twisting determination module, where the twisting determination module is configured to determine the twisting information when a user performs a twisting action on a part of the hardware of the interaction robot;

[0032] A fifth determination module, configured to determine real-time twisting feedback information according to the twisting information;

[0033] A sixth output module, configured to output the real-time twisting feedback information, where the real-time twisting feedback information is used to provide feedback on the twisting action.

[0034] In a sixth aspect, an embodiment of the present application provides a twisting determination module, which is applied to an interaction robot. The interaction robot further includes a control module. The twisting determination module includes:

[0035] A seventh determination module, configured to determine twisting information when a user performs a twisting action on a part of the hardware of the interaction robot;

[0036] An eighth transmission module, configured to transmit the twisting information to the control module. The twisting information is used to determine real-time twisting feedback information, and the real-time twisting feedback information is used to provide feedback on the twisting action.

[0037] In a seventh aspect, an embodiment of the present application provides a computer program product, including a computer program. When the computer program is run, the method according to any one of the first aspect, the second aspect, and the third aspect is executed.

[0038] In an eighth aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method according to any one of the first aspect, the second aspect, and the third aspect is implemented.

[0039] In a ninth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the method according to any one of the first, second, and third aspects described above.

[0040] It can be understood that the beneficial effects of the second to ninth aspects described above can be referred to the relevant descriptions in the first aspect, and will not be elaborated here.

[0041] The beneficial effects of the embodiments of the present application compared with the prior art are as follows:

[0042] The human-computer interaction method provided by the embodiment of the present application is implemented by an interaction robot. When a user performs a twisting action on a part of the hardware of the interaction robot, twisting information is determined; according to the twisting information, real-time twisting feedback information is determined; and the real-time twisting feedback information is output, which is used to feedback on the twisting action. Since the interaction robot may be damaged when a user twists a part of its hardware. When a user performs a twisting action on a part of the hardware of the interaction robot, by outputting the real-time twisting feedback information, the user can be enabled to understand in real time the feedback of the interaction robot on the twisting action. For example, the user can be prompted to pause, stop or reduce the twisting action to avoid damaging the interaction robot. In addition, friendly feedback can also be given to the user, thereby enhancing the fun of the interaction experience with the user. On the one hand, the embodiment of the present application reduces the possibility of damage to the interaction robot and reduces the failure rate of the interaction robot; on the other hand, it also makes the interaction experience between the user and the interaction robot more vivid and interesting, making the image of the interaction robot more three-dimensional, cute and interesting. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0044] Figure 1 is a schematic flowchart of a human-computer interaction method provided by an embodiment of the present application;

[0045] Figure 2 is a schematic flowchart of a human-computer interaction method provided by another embodiment of the present application;

[0046] Figure 3 is a schematic flowchart of a human-computer interaction method provided by yet another embodiment of the present application;

[0047] Figure 4It is a schematic flowchart of a human-computer interaction method provided by another embodiment of the present application;

[0048] Figure 5 It is a schematic diagram of the module structure of an interaction robot provided by an application embodiment of the present application;

[0049] Figure 6 It is a schematic diagram of the module structure of an interaction robot provided by another application embodiment of the present application;

[0050] Figure 7 It is a schematic diagram of the structure of a human-computer interaction device provided by an embodiment of the present application;

[0051] Figure 8 It is a schematic diagram of the structure of a control module in an interaction robot provided by an embodiment of the present application;

[0052] Figure 9 It is a schematic diagram of the structure of a twisting determination module in an interaction robot provided by an embodiment of the present application;

[0053] Figure 10 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0054] In the following description, specific details such as specific system architectures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0055] It should be understood that when used in the specification and appended claims of the present application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0056] It should also be understood that the term " / and / or" as used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0057] As used in the specification of this application and the appended claims, the term "if" may be construed, depending on the context, as "when", "once", "in response to determining", or "in response to detecting". Similarly, the phrases "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]".

[0058] In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0059] Reference to "one embodiment" or "some embodiments" or the like described in the specification of this application means that a particular feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "comprising", "including", "having", and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0060] Figure 1 It is a schematic flowchart of a human-computer interaction method provided by an embodiment of this application.

[0061] The embodiments of this application are applied to an interactive robot. The interactive robot in this application includes, but is not limited to, robots used for interacting with users in various application scenarios such as homes, offices, hotels, vehicles, etc. When installed in a vehicle, the interactive robot can be used to achieve human-computer interaction with the users in the vehicle. The interactive robot installed in the vehicle can also be called a smart assistant.

[0062] S11. When a user performs a twisting action on a part of the hardware of the interactive robot, determine the twisting information.

[0063] The part of the hardware of the interactive robot includes, but is not limited to, various hardware parts such as the head, limbs, joints, etc. of the interactive robot. These hardware parts may include firmware programs installed therein. When the hardware is subjected to a twisting action by the user, the firmware program in the hardware can determine the twisting information. Preferably, the part of the hardware of the interactive robot refers to a hardware component having the hardware condition of being rotatable. The part of the hardware of the interactive robot can generate displacement and deformation based on driving devices such as motors, but when it is manually twisted or otherwise operated by the user, it is likely to cause damage to this part of the hardware.

[0064] The twisting information includes, but is not limited to, the twisting angle, the number of twisting rounds, the twisting speed, etc.

[0065] S12. Determine real-time twisting feedback information according to the twisting information.

[0066] The interactive robot can pre-configure the correspondence between the twisting information and the twisting feedback information. Taking the twisting angle as an example of the twisting information. The twisting angle can be the absolute angle representing the current twisting degree, or the cumulative angle representing the total angle of one or more twists. For example, the horizontal twisting angle can be the absolute angle representing the current twisting degree, and the vertical twisting angle can be the cumulative angle representing the total angle of one or more twists. Those skilled in the art should understand that the above methods for taking values of the twisting angle are only examples, and other methods for taking values of the twisting angle not listed also fall within the protection scope of this application.

[0067] Taking the horizontal twisting angle as the absolute angle representing the current twisting degree as an example, the correspondence between the twisting angle and the twisting feedback information can be: For example, when the twisting angle is 10 degrees of horizontal twisting, the twisting feedback information is "Hello". Another example, when the twisting angle is 40 degrees of horizontal twisting, the twisting feedback information is "I'm dizzy". The interactive robot can obtain the real-time twisting feedback information corresponding to the horizontal twisting angle by querying the above correspondence between the twisting angle and the twisting feedback information according to the current horizontal twisting angle.

[0068] Taking the vertical twisting angle as the cumulative angle representing the total angle of one or more twists as an example, the correspondence between the twisting angle and the twisting feedback information can be: For example, when the twisting angle is 5 degrees of cumulative vertical twisting, the twisting feedback information is "Hello". Another example, when the twisting angle is 35 degrees of cumulative vertical twisting, the twisting feedback information is "I'm dizzy". The interactive robot can obtain the cumulative vertical twisting angle based on the vertical twisting angle obtained one or more times, and obtain the real-time twisting feedback information corresponding to the vertical twisting angle by querying the above correspondence between the twisting angle and the twisting feedback information.

[0069] S13. Output the real-time twisting feedback information, and the real-time twisting feedback information is used to give feedback on the twisting action.

[0070] The interactive robot can output real-time twisting feedback information in forms such as voice and text for providing feedback on the user's twisting actions. For example, when the user's twisting action is relatively slight and gentle, the real-time twisting feedback information can be "Hello" to provide a friendly feedback on the user's twisting action. Another example is that when the user's twisting action is relatively violent and may damage the interactive robot, the real-time twisting feedback information can be "I'm dizzy" to prompt the user to pause, stop or reduce the twisting action to avoid damaging the interactive robot.

[0071] The human-computer interaction method provided by the embodiments of this application is implemented by an interactive robot. When a user performs a twisting action on a part of the hardware of the interactive robot, the twisting information is determined; according to the twisting information, the real-time twisting feedback information is determined; and the real-time twisting feedback information is output, where the real-time twisting feedback information is used to provide feedback on the twisting action. Since the interactive robot may be damaged when a part of its hardware is twisted by the user. When a user performs a twisting action on a part of the hardware of the interactive robot, by outputting the real-time twisting feedback information, it can enable the user to understand in real time the feedback of the interactive robot on the twisting action. For example, it can prompt the user to pause, stop or reduce the twisting action to avoid damaging the interactive robot. In addition, it can also provide a friendly feedback to the user, thereby enhancing the interestingness of the interaction experience with the user. On the one hand, the embodiments of this application reduce the possibility of the interactive robot being damaged and reduce the failure rate of the interactive robot; on the other hand, it also makes the interaction experience between the user and the interactive robot more vivid and interesting, making the image of the interactive robot more three-dimensional, cute and interesting.

[0072] In one embodiment, the determining the twisting information when a user performs a twisting action on a part of the hardware of the interactive robot includes:

[0073] When a position change occurs in a part of the hardware of the interactive robot, an output torque is applied to return the part of the hardware to its initial position; wherein, the applying the output torque includes: gradually increasing the current to increase the output torque;

[0074] If the current exceeds the first current threshold, it is determined that a user has performed a twisting action on a part of the hardware of the interactive robot and the twisting information is determined.

[0075] The position of some hardware of the interactive robot (such as at least one of the head, limbs, and joints) can be moved. For example, the range of the position of some hardware of the interactive robot is, for example, -170 degrees to +170 degrees in the horizontal direction and 0 degrees to 40 degrees in the vertical direction. Assuming the initial position is 0 degrees in the horizontal direction and 0 degrees in the vertical direction, when the position of some hardware of the interactive robot changes, that is, when the interactive robot determines that the current position of some hardware is +10 degrees in the horizontal direction, the output torque can be applied to restore some hardware to the initial position. If the current is suddenly increased significantly, the output torque will increase significantly, which may cause some hardware to move in the other direction and deviate from the initial position. For example, the position of some hardware changes from +10 degrees in the horizontal direction to -10 degrees in the horizontal direction.

[0076] Therefore, this application proposes that the way to apply the output torque is to gradually increase the current to increase the output torque.

[0077] In one case, when the position of some hardware of the interactive robot is +10 degrees, start increasing the current to increase the output torque. Suppose 10 mA of current is given first. If the position of some hardware of the interactive robot becomes +9 degrees (moves 1 degree in the direction of the initial position), then maintain 10 mA of current until the position of some hardware of the interactive robot returns to the initial position of 0 degrees. In this case, since the current does not exceed the first current threshold, it can be determined that some hardware of the interactive robot is not being twisted by the user. For example, when the interactive robot is located in a vehicle or other movable scenarios, the position change of some hardware of the interactive robot may be caused by vehicle shaking or other shaking, rather than being caused by the user's twisting action.

[0078] In another case, when the position of some hardware of the interactive robot is +10 degrees, start increasing the current to increase the output torque. Suppose 10 mA of current is given first. If the position of some hardware of the interactive robot remains +10 degrees (indicating that the position has not changed), then continue to gradually increase the current to 20 mA. If the position of some hardware of the interactive robot still remains +10 degrees (indicating that the position has not changed), then continue to increase the current to 30 mA, and so on, until the current is gradually increased beyond the first current threshold. If the position of some hardware of the interactive robot still remains +10 degrees, it is determined that some hardware of the interactive robot is being twisted by the user (the user continuously twists some hardware and does not let go), and the twisting information (including but not limited to the twisting angle, the number of real-time twisting rounds, the twisting speed, etc.) can be determined.

[0079] The processes described in the above two cases are completed within a short period of time, such as within 0.1 second to 0.9 second. The first current threshold can be, for example, 25 milliamperes to 100 milliamperes. Preferably, the first current threshold can be 50 milliamperes. The current and the output torque are usually linearly positively correlated.

[0080] When a part of the hardware of the interactive robot undergoes a position change in this application, an output torque is applied to return the part of the hardware to its initial position; wherein, the application of the output torque includes: gradually increasing the current to increase the output torque; if the current exceeds a first current threshold, it is determined that a part of the hardware of the interactive robot has been subjected to a twisting action by the user and the twisting information is determined. By applying the output torque in a manner of gradually increasing the current to increase the output torque to return a part of the hardware of the interactive robot to its initial position, and determining that a part of the hardware of the interactive robot has been subjected to a twisting action by the user when the current exceeds the first current threshold, it is possible to more accurately identify whether a part of the hardware of the interactive robot has been subjected to a twisting action by the user, avoiding errors caused by misidentification.

[0081] Figure 2 It is a schematic flowchart of a human-computer interaction method provided by another embodiment of this application.

[0082] S21. When a part of the hardware of the interactive robot has been subjected to a twisting action by the user, determine the twisting information, where the twisting information includes the twisting angle and the real-time number of twisting rounds.

[0083] The specific implementation manner of S21 is similar to or close to Figure 1 the specific implementation manner of S11 in

[0084] and will not be elaborated here.

[0085] Among them, one twisting round can be measured by time or other information. For example, one twisting round is measured by the number of twisting actions. The real-time number of twisting rounds refers to the currently accumulated number of twisting rounds.

[0086] Taking the wriggling round measured by time as an example, the time of one wriggling round can be, for example, from 1 minute to 5 minutes. Preferably, the time of one wriggling time round can be, for example, 3 minutes. The interactive robot can start counting the number of wriggling rounds, for example, when the user first performs a wriggling action on a part of the hardware of the interactive robot. For example, when the user first performs a wriggling action on the head of the interactive robot, the interactive robot starts timing. If the user continuously performs a wriggling action on the head of the interactive robot, during the time period corresponding to 0 to 3 minutes, the interactive robot records the real-time number of wriggling rounds as the 1st wriggling round. At the end of 3 minutes, that is, at the end of the 1st wriggling round, if the user still performs a wriggling action on the head of the interactive robot, the interactive robot records the current real-time number of wriggling rounds as the 2nd wriggling time round, and so on. At the end of 3 minutes, that is, at the end of the 1st wriggling round, if the user stops performing a wriggling action on the head of the interactive robot, after a certain period of time, if the user starts performing a wriggling action on the head of the interactive robot again, the timing can be restarted, and the time period corresponding to 0 to 3 minutes can be recorded again as the 1st wriggling round.

[0087] The interactive robot can pre-configure the correspondence between the wriggling angle, the number of wriggling rounds, and the wriggling feedback information. Among them, the wriggling angle can be the absolute angle number representing the current wriggling degree, or the cumulative angle number representing the total angle of one or more wriggles. For example, the horizontal wriggling angle can be the absolute angle number representing the current wriggling degree, and the vertical wriggling angle can be the cumulative angle number representing the total angle of one or more wriggles. Those skilled in the art should understand that the above methods for taking values of the wriggling angle are only examples, and other methods for taking values of the wriggling angle not listed above also fall within the protection scope of this application.

[0088] Taking the horizontal wriggling angle as the absolute angle number representing the current wriggling degree and the vertical wriggling angle as the cumulative angle number representing the total angle of one or more wriggles as an example, the wriggling angle, the number of wriggling time rounds, and the wriggling feedback information can be, for example, as shown in Table 1 below:

[0089]

[0090]

[0091] Table 1

[0092] In Table 1, the relative torsional angle in the horizontal direction refers to the difference between the current horizontal wriggling angle and the previous horizontal wriggling angle. The wriggling feedback information in Table 1 can be text or the audio corresponding to the above text.

[0093] The interactive robot can obtain the cumulative vertical torsion angle based on the vertical torsion angles obtained one or more times. The interactive robot can determine the real-time torsion feedback information by querying the corresponding relationship between the torsion angle, the number of torsion rounds, and the torsion feedback information as shown in Table 1 above, according to the real-time number of torsion rounds, the horizontal torsion angle (including the absolute angle and the relative torsion angle), and the cumulative vertical torsion angle.

[0094] S23. Output the real-time torsion feedback information, which is used to give feedback on the torsion action.

[0095] The specific implementation manner of S23 is similar to or close to Figure 1 the specific implementation manner of S13 in and will not be elaborated here.

[0096] The human-computer interaction method provided by the embodiments of the present application is implemented by an interactive robot. When a user performs a torsion action on a part of the hardware of the interactive robot, the torsion information is determined; according to the torsion angle and the real-time number of torsion rounds, the real-time torsion feedback information is determined; the real-time torsion feedback information is output, and the real-time torsion feedback information is used to give feedback on the torsion action. Since the interactive robot may be damaged when a part of its hardware is twisted by the user. When the user performs a torsion action on the interactive robot, by counting the number of torsion rounds and outputting the real-time torsion feedback information corresponding to the combination of the torsion angle and the real-time number of torsion rounds, the user can more accurately and real-time understand the feedback of the interactive robot on the torsion action under one or more torsion rounds. For example, it can prompt the user to pause, stop or reduce the torsion action to avoid damaging the interactive robot. In addition, friendly feedback can also be given to the user, thereby enhancing the fun of the interaction experience with the user. On the one hand, the embodiments of the present application reduce the possibility of the interactive robot being damaged and reduce the failure rate of the interactive robot; on the other hand, it also makes the interaction experience between the user and the interactive robot more vivid and interesting, making the image of the interactive robot more three-dimensional, cute and interesting.

[0097] In one embodiment, the determining the real-time torsion feedback information according to the torsion angle and the real-time number of torsion rounds includes:

[0098] Determine the real-time torsion sensory response according to the torsion angle and the real-time number of torsion rounds;

[0099] Determine the real-time torsion feedback information according to the real-time torsion sensory response.

[0100] The interactive robot can pre-configure the correspondence between the twisting angle, the number of twisting rounds, and the twisting sensory response. Among them, the twisting angle can be the absolute angle representing the current twisting degree, or the cumulative angle representing the total angle of one or more twists. For example, the horizontal twisting angle can be the absolute angle representing the current twisting degree, and the vertical twisting angle can be the cumulative angle representing the total angle of one or more twists. Those skilled in the art should understand that the above methods for obtaining the twisting angle are only examples, and other methods for obtaining the twisting angle not listed here also fall within the protection scope of this application.

[0101] Taking the horizontal twisting angle as the absolute angle representing the current twisting degree and the vertical twisting angle as the cumulative angle representing the total angle of one or more twists as an example for illustration, the twisting angle, the number of twisting rounds, and the twisting sensory response can be as shown in Table 2 below:

[0102]

[0103]

[0104] Table 2

[0105] In Table 2, the relative twisting angle in the horizontal direction refers to the difference between the current horizontal twisting angle and the previous horizontal twisting angle. The twisting feedback information in Table 2 can be text or the audio corresponding to the above text.

[0106] The interactive robot can obtain the cumulative vertical twisting angle based on the vertical twisting angle of one or more times. The interactive robot can determine the real-time twisting sensory response by querying the correspondence between the combination of the twisting angle and the number of twisting rounds as shown in Table 2 above according to the real-time number of twisting rounds, the horizontal twisting angle (including the absolute angle and the relative twisting angle), and the cumulative vertical twisting angle.

[0107] The interactive robot can pre-configure the correspondence between the twisting sensory response and the twisting feedback information. The correspondence between the twisting sensory response and the twisting feedback information can be as shown in Table 3 below:

[0108]

[0109] Table 3

[0110] The twisting feedback information in Table 3 can be text or the audio corresponding to the above text.

[0111] The interactive robot can determine the real-time twisting feedback information by querying the correspondence between the twisting sensory response and the twisting feedback information as shown in Table 3 above according to the twisting sensory response.

[0112] The human-computer interaction method provided by the embodiment of the present application determines the real-time twisting sensory response according to the twisting angle and the real-time number of twisting rounds; and determines the real-time twisting feedback information according to the real-time twisting sensory response. By using the twisting sensory response as an intermediate link in the corresponding relationship, the method of configuring the twisting feedback information can be made more flexible, so as to adapt to different requirements in different usage scenarios.

[0113] In one embodiment, the real-time twisting feedback information includes real-time expression information, and the output of the real-time twisting feedback information includes:

[0114] Controlling the display module of the interaction robot to display the real-time expression information.

[0115] The interaction robot may include a display module. The display module may be, for example, a display screen for displaying real-time expression information.

[0116] Herein, the real-time expression information includes, but is not limited to, graphical expression information corresponding to emotions such as happy, dizzy, annoyed, sad, etc. The interaction robot may transmit the real-time expression information to the display module and control the display module to display the received real-time expression information. Correspondingly, the display module receives the real-time expression information. Subsequently, the display module displays the real-time expression information.

[0117] The human-computer interaction method provided by the embodiment of the present application can enable the user to directly see the feedback of the interaction robot to the twisting action through the real-time expression information displayed by the display module by controlling the display module to display the real-time expression information. On the one hand, the embodiment of the present application makes the visual interaction experience provided by the interaction robot to the user more vivid and interesting, making the image of the interaction robot more three-dimensional, cute, and interesting; on the other hand, it also reduces the possibility of the interaction robot being damaged and reduces the failure rate of the interaction robot.

[0118] In one embodiment, the real-time twisting feedback information includes real-time voice information, and the output of the real-time twisting feedback information includes:

[0119] Controlling the audio module of the interaction robot to play the real-time voice information.

[0120] The control module of the interaction robot may transmit the real-time voice information to the audio module and control the audio module to play the received real-time voice information.

[0121] The human-computer interaction method provided by the embodiment of the present application can enable a user to directly hear the feedback of the interaction robot on the twisting action through the real-time voice information played by the audio module. On the one hand, the embodiment of the present application makes the auditory interaction experience provided by the interaction robot to the user more vivid and interesting, making the image of the interaction robot more three-dimensional, cute and interesting; on the other hand, it also reduces the possibility of the interaction robot being damaged and reduces the failure rate of the interaction robot.

[0122] Figure 3 It is a schematic flowchart of the human-computer interaction method provided by another embodiment of the present application.

[0123] The human-computer interaction method provided by the embodiment of the present application is applied to the control module of the interaction robot, and the interaction robot further includes a twisting determination module.

[0124] In a vehicle usage scenario, the interaction robot in the vehicle realizes human-computer interaction with the user in the vehicle. The interaction robot in the vehicle may include a twisting determination module and a control module.

[0125] Among them, the twisting determination module of the interaction robot is used to determine the twisting information. For example, when the hands or head of the interaction robot are twisted, the twisting determination module can determine the twisting information when a part of the hardware of the interaction robot is subjected to a twisting action by the user.

[0126] In one embodiment, the twisting determination module may be integrated into a surface interaction module. The surface interaction module refers to the part where the user can perceive and realize interaction through vision, hearing, etc. The surface interaction module may be, for example, an anthropomorphic intelligent assistant installed on the front row center console of the vehicle. The control module of the interaction robot refers to the part that realizes control according to various received information. The control module may be set in the vehicle head unit. When the control module is set in the vehicle head unit, the control module and the surface interaction module can realize data transmission through the data bus connecting the vehicle head unit and the intelligent assistant.

[0127] S31, obtain the twisting information transmitted by the twisting determination module, where the twisting determination module is used to determine the twisting information when a part of the hardware of the interaction robot is subjected to a twisting action by the user.

[0128] The control module and the twisting determination module in the interaction robot can transmit data such as twisting information through various communication methods such as wired and wireless.

[0129] When the interactive robot is installed in a vehicle, the control module and the twisting determination module in the interactive robot can transmit data such as twisting information through the physical data bus commonly used in vehicles. Among them, the physical data bus can be, for example, a Controller Area Network (CAN for short).

[0130] When a user performs a twisting action on some hardware of the interactive robot, the twisting determination module can determine the corresponding twisting information. The twisting information includes, for example, but is not limited to: twisting angle, real-time number of twisting rounds, twisting speed, etc.

[0131] S32. Determine real-time twisting feedback information according to the twisting information.

[0132] The interactive robot can pre-configure the correspondence between the twisting information and the twisting feedback information. Taking the twisting angle as the twisting information as an example, the twisting angle can be the absolute angle representing the current twisting degree, or the cumulative angle representing the total angle of one or more twists. For example, the horizontal twisting angle can be the absolute angle representing the current twisting degree, and the vertical twisting angle can be the cumulative angle representing the total angle of one or more twists. Those skilled in the art should understand that the above methods for taking values of the twisting angle are only examples, and other methods for taking values of the twisting angle not listed also fall within the protection scope of this application.

[0133] Taking the horizontal twisting angle as the absolute angle representing the current twisting degree as an example, the correspondence between the twisting angle and the twisting feedback information can be: for example, when the twisting angle is 10 degrees of horizontal twisting, the twisting feedback information is "Hello". Another example is that when the twisting angle is 40 degrees of horizontal twisting, the twisting feedback information is "I'm dizzy". The control module in the interactive robot can obtain the real-time twisting feedback information corresponding to the horizontal twisting angle by querying the aforementioned correspondence between the twisting angle and the twisting feedback information according to the currently obtained horizontal twisting angle transmitted by the twisting determination module.

[0134] Taking the vertical twisting angle as the cumulative angle representing the total angle of one or more twists as an example, the correspondence between the twisting angle and the twisting feedback information can be: for example, when the twisting angle is 5 degrees of cumulative vertical twisting, the twisting feedback information is "Hello". Another example is that when the twisting angle is 35 degrees of cumulative vertical twisting, the twisting feedback information is "I'm dizzy". The control module in the interactive robot can obtain the cumulative vertical twisting angle according to the vertical twisting angle transmitted by the twisting determination module obtained one or more times, and obtain the real-time twisting feedback information corresponding to the vertical twisting angle by querying the aforementioned correspondence between the twisting angle and the twisting feedback information.

[0135] S33, output the real-time twisting feedback information for providing feedback on the twisting action.

[0136] The control module in the interactive robot can output the real-time twisting feedback information in forms such as voice and text to provide feedback on the user's twisting action. For example, when the user's twisting action is relatively gentle, the real-time twisting feedback information can be "Hello" to provide a friendly feedback on the user's twisting action. Another example is that when the user's twisting action is relatively violent and may damage the interactive robot, the real-time twisting feedback information can be "I'm dizzy" to prompt the user to pause, stop or reduce the twisting action to avoid damaging the interactive robot.

[0137] The human-computer interaction method provided by the embodiments of this application is implemented by the control module in the interactive robot. By obtaining the twisting information transmitted by the twisting determination module, where the twisting determination module is used to determine the twisting information when a user performs a twisting action on a part of the hardware of the interactive robot; according to the twisting information, determine and output the real-time twisting feedback information, and provide feedback on the twisting action through the real-time twisting feedback information. When the embodiments of this application are applied to a vehicle usage scenario, since the interactive robot may be damaged when a user twists a part of its hardware. When a user performs a twisting action on a part of the hardware of the interactive robot, by outputting the real-time twisting feedback information, it can enable the user to understand the feedback of the interactive robot on the twisting action in real time. For example, it can prompt the user to pause, stop or reduce the twisting action to avoid damaging the interactive robot. In addition, it can also provide a friendly feedback to the user, thereby enhancing the fun of the interaction experience with the user. On the one hand, the embodiments of this application reduce the possibility of the interactive robot being damaged and reduce the failure rate of the interactive robot; on the other hand, it also makes the interaction experience between the user and the interactive robot more vivid and interesting, making the image of the interactive robot more three-dimensional, cute and interesting.

[0138] Figure 4 It is a schematic flowchart of the human-computer interaction method provided by another embodiment of this application.

[0139] The human-computer interaction method provided by the embodiments of this application is applied to the twisting determination module of the interactive robot, and the interactive robot further includes a control module.

[0140] S41, when a user performs a twisting action on a part of the hardware of the interactive robot, determine the twisting information.

[0141] The parts of the hardware of the interactive robot include but are not limited to various hardware parts such as the head, limbs, and joints of the interactive robot. These hardware may include firmware programs installed therein. When the hardware is subjected to a twisting action by the user, the firmware program in the hardware can determine the twisting information.

[0142] S432, transmit the twisting information to the control module, where the twisting information is used to determine real-time twisting feedback information for providing feedback on the twisting action.

[0143] In an interactive robot, the control module and the twisting determination module can transmit data such as twisting information through various communication means such as wired and wireless.

[0144] When the interactive robot is installed in a vehicle, the control module and the twisting determination module in the interactive robot can transmit data such as twisting information through an entity data bus commonly used in vehicles. Among them, the entity data bus can be, for example, a Controller Area Network bus (abbreviated as CAN).

[0145] The twisting determination module can be, for example, the firmware of the interactive robot. The firmware can set a certain bit in the alarm signal to 1 and transmit the alarm signal and the twisting information to the control module.

[0146] The specific implementation manner for the control module to determine the real-time twisting feedback information according to the twisting information is similar or close to Figure 1 、 Figure 2 the specific implementation manner described in the embodiments and will not be elaborated here.

[0147] The human-computer interaction method provided by the embodiments of the present application is implemented by the twisting determination module in the interactive robot. When a user performs a twisting action on a part of the hardware of the interactive robot, the twisting determination module determines and transmits the twisting information to the control module. The twisting information is used to determine real-time twisting feedback information for providing feedback on the twisting action. When the embodiments of the present application are applied to a vehicle usage scenario, since the interactive robot may be damaged when a user twists a part of the hardware of the interactive robot. When the user performs a twisting action on the interactive robot, the twisting information is determined by the twisting determination module so that the control module outputs real-time twisting feedback information, which enables the user to understand the feedback of the interactive robot on the twisting action in real time. For example, the user can be prompted to pause, stop or reduce the twisting action to avoid damaging the interactive robot. In addition, friendly feedback can also be provided to the user, thereby enhancing the fun of the interaction experience with the user. On the one hand, the embodiments of the present application reduce the possibility of the interactive robot being damaged and reduce the failure rate of the interactive robot; on the other hand, they also make the interaction experience between the user and the interactive robot more vivid and interesting, making the image of the interactive robot more three-dimensional, cute and interesting.

[0148] In one embodiment, when a user performs a twisting action on a part of the hardware of the interactive robot, determining the twisting information includes:

[0149] When a position change occurs in a part of the interaction robot's hardware, an output torque is applied to return the part of the hardware to its initial position; wherein, the applying of the output torque includes: gradually increasing the current to increase the output torque;

[0150] If the current exceeds a first current threshold, it is determined that a user has performed a twisting action on a part of the interaction robot's hardware and twisting information is determined.

[0151] In this application, when a position change occurs in a part of the interaction robot's hardware, an output torque is applied to return the part of the hardware to its initial position; wherein, the applying of the output torque includes: gradually increasing the current to increase the output torque; if the current exceeds a first current threshold, it is determined that a user has performed a twisting action on a part of the interaction robot's hardware and twisting information is determined. By applying the output torque in a way of gradually increasing the current to increase the output torque to return a part of the interaction robot's hardware to its initial position, and determining that a user has performed a twisting action on a part of the interaction robot's hardware when the current exceeds the first current threshold, it is possible to more accurately identify whether a user has performed a twisting action on a part of the interaction robot's hardware, avoiding errors caused by misidentification.

[0152] Figure 5 It is a schematic diagram of the module structure of an interaction robot provided by an application embodiment of this application.

[0153] The human-computer interaction method provided by an embodiment of this application is applied to an interaction robot. The interaction robot includes a twisting determination module 51 and a control module 52. The twisting determination module 51 and the control module 52 can perform data transmission through a vehicle infotainment system bus (Info can) and a private bus (privat can). The control module 52 can include a real-time operating system 521 and an Android system 522. The real-time operating system 521 can be, for example, QNX Neutrino Real-Time OperatingSystem (abbreviated as QNX). The real-time operating system 521 can include a service component 5211. The Android system 522 can include application components. The application components can include an action / expression priority policy component 5221, a robot idle mode 5222, and a text-to-speech service component 5223. Among them, the action / expression priority policy component 5221 is used for the processing policy of multiple action / expression requests. For example, the action / expression in the third round can interrupt the action / expression in the second round. Conversely, if the action / expression in the second round cannot interrupt the action / expression in the third round, the action / expression in the second round is discarded. The robot idle mode 5222 indicates that the interaction robot is in an idle mode and is not processing application matters such as music and navigation. The text-to-speech service component 5223 is used to convert text information into speech and output it.

[0154] S51. When a user performs a twisting action on a part of the interactive robot, the twisting determination module 51 determines the twisting angle.

[0155] S52. The twisting determination module 51 transmits the twisting angle to the control module. The twisting angle is used to determine real-time twisting feedback information, and the real-time twisting feedback information is used to provide feedback on the twisting action. Correspondingly, the control module 52 obtains the twisting angle transmitted by the twisting determination module 51.

[0156] The service component 5211 in the control module 52 monitors the communication data on the CAN bus in real time. When it detects that the signal representing the horizontal twisting angle or the vertical twisting angle in a specific message on the CAN bus changes, and detects that a certain bit in the alarm signal is set to 1, the service component 5211 communicates through the network interface (socket) to transmit the twisting angle of the interactive robot and the alarm signal to the application component.

[0157] S53. The control module 52 determines real-time twisting feedback information according to the twisting angle.

[0158] S55. The control module 52 outputs real-time twisting feedback information, and the real-time twisting feedback information is used to provide feedback on the twisting action.

[0159] The specific implementation manners of S51 to S55 are similar to or close to those in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and will not be elaborated here.

[0160] Figure 6 is a schematic diagram of the module structure of an interactive robot provided by another application embodiment of the present application.

[0161] The human-computer interaction method provided by the embodiment of the present application is applied to an interaction robot. The interaction robot includes a torsion determination module 61 and a control module 62. The torsion determination module 61 and the control module 62 can perform data transmission through a private bus (privatcan). The control module 62 may include a virtual switch 621 and an Android system 622. The virtual switch 621 is used to convert can signals into Ethernet signals. The virtual switch 621 may include a signal conversion component 6211. The signal conversion component 6211 is used to convert signals between the can bus and the network bus. The Android system 622 may include a service component 6221, an expression engine 6222, and a text-to-speech service component 6223. Among them, the service component 6221 is an intermediate service running on the Android system, which provides a communication service bridge for upper-layer applications (apps) and the remote signal conversion component 6211. The expression engine 6222 is an application (app) running on the Android system. The robot idle mode 62221 indicates that the interaction robot is in an idle mode and is not processing application matters such as music and navigation. The text-to-speech service component 6223 is used to convert text information into speech and output it.

[0162] S61. When a user performs a torsion action on a part of the hardware of the interaction robot, the torsion determination module 61 determines the torsion angle.

[0163] S62. The torsion determination module 61 transmits the torsion angle to the control module. The torsion angle is used to determine real-time torsion feedback information, and the real-time torsion feedback information is used to provide feedback on the torsion action. Accordingly, the control module 62 obtains the torsion angle transmitted by the torsion determination module 61.

[0164] The signal conversion component 6211 in the control module 62 monitors the message data on the can bus in real time. When it detects that the signal representing the horizontal torsion angle or the vertical torsion angle in a specific message on the can bus changes and detects that a certain bit in the alarm signal is set to 1, the signal conversion component 6211 transmits the message data to the service component 6221 through Ethernet. The service component 6221 receives the message data and parses to obtain the alarm signal and the torsion angle of the interaction robot therein.

[0165] S63. The control module 62 determines real-time torsion feedback information according to the torsion angle;

[0166] S64. The control module 62 outputs real-time torsion feedback information, and the real-time torsion feedback information is used to provide feedback on the torsion action.

[0167] The specific implementation manners of S61 to S64 are the same as Figure 1 , Figure 2 ,Figure 3 , Figure 4 The specific implementation manners in

[0168] Figure 7 are similar or close to those in the foregoing, and will not be elaborated herein.

[0169] Fig. is a schematic structural diagram of a human-computer interaction device provided by an embodiment of the present application.

[0170] The device 7 is applied to an interactive robot. The device 7 includes:

[0171] A first determination module 71, configured to determine twisting information when a user performs a twisting action on a part of the hardware of the interactive robot;

[0172] A second determination module 72, configured to determine real-time twisting feedback information according to the twisting information;

[0173] Another embodiment of the present invention discloses the device 7. On the basis of the foregoing Figure 7 corresponding embodiment, the second determination module 72 is configured to:

[0174] Determine real-time twisting feedback information according to the twisting angle and the real-time twisting round number.

[0175] Another embodiment of the present invention discloses the device 7. On the basis of the foregoing Figure 7 corresponding embodiment, the second determination module 72 is configured to:

[0176] Determine a real-time twisting sensory response according to the twisting angle and the real-time twisting round number;

[0177] Determine real-time twisting feedback information according to the real-time twisting sensory response.

[0178] Another embodiment of the present invention discloses the device 7. On the basis of the foregoing Figure 7 corresponding embodiment, the real-time twisting feedback information includes real-time expression information, and the third output module 73 is configured to:

[0179] Control a display module of the interactive robot to display the real-time expression information.

[0180] Another embodiment of the present invention discloses the device 7. On the basis of the foregoing Figure 7 corresponding embodiment, the real-time twisting feedback information includes real-time voice information, and the third output module 73 is configured to:

[0181] Control an audio module of the interactive robot to play the real-time voice information.

[0182] Figure 8 It is a schematic structural diagram of a control module in an interaction robot provided by an embodiment of the present application.

[0183] The control module 8 is applied to an interaction robot, and the interaction robot further includes a twisting determination module.

[0184] The control module 8 includes:

[0185] A fourth acquisition module 81, configured to acquire the twisting information transmitted by the twisting determination module, where the twisting determination module is configured to determine the twisting information when a user performs a twisting action on a part of the interaction robot;

[0186] A fifth determination module 82, configured to determine real-time twisting feedback information according to the twisting information;

[0187] A sixth output module 83, configured to output the real-time twisting feedback information, and the real-time twisting feedback information is used to provide feedback on the twisting action.

[0188] Another embodiment of the present invention discloses the control module 8. On the basis of the above Figure 8 corresponding embodiment, the fifth determination module 82 is further configured to:

[0189] Determine real-time twisting feedback information according to the twisting angle and the real-time number of twisting rounds.

[0190] Another embodiment of the present invention discloses the control module 8. On the basis of the above Figure 8 corresponding embodiment, the fifth determination module 82 is configured to:

[0191] Determine a real-time twisting sensory response according to the twisting angle and the real-time number of twisting rounds;

[0192] Determine real-time twisting feedback information according to the real-time twisting sensory response.

[0193] Another embodiment of the present invention discloses the control module 8. On the basis of the above Figure 8 corresponding embodiment, the real-time twisting feedback information includes real-time expression information, and the sixth output module 83 is configured to:

[0194] Control the display module of the interaction robot to display the real-time expression information.

[0195] Another embodiment of the present invention discloses the control module 8. On the basis of the above Figure 8 corresponding embodiment, the real-time twisting feedback information includes real-time voice information, and the sixth output module 83 is configured to:

[0196] Control the audio module of the interactive robot to play the real-time voice information.

[0197] Figure 9 It is a schematic structural diagram of the twisting determination module in the interactive robot provided by an embodiment of the present application.

[0198] The twisting determination module 9 is applied to the interactive robot, and the interactive robot further includes a control module.

[0199] The twisting determination module 9 includes:

[0200] The seventh determination module 91 is configured to determine twisting information when a user performs a twisting action on a part of the hardware of the interactive robot;

[0201] The eighth transmission module 92 is configured to transmit the twisting information to the control module, and the twisting information is used to determine real-time twisting feedback information, and the real-time twisting feedback information is used to feedback on the twisting action.

[0202] Another embodiment of the present invention discloses the twisting determination module 9. Based on the above Figure 9 corresponding embodiment, the seventh determination module 91 is configured to:

[0203] When a position change occurs in a part of the hardware of the interactive robot, apply an output torque to return the part of the hardware to the initial position; wherein, the applying of the output torque includes: gradually increasing the current to increase the output torque;

[0204] If the current exceeds the first current threshold, determine that a user has performed a twisting action on a part of the hardware of the interactive robot and determine the twisting information.

[0205] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units, due to being based on the same concept as the method embodiment of the present application, for their specific functions and the technical effects brought, please refer to the method embodiment part specifically, and will not be elaborated here.

[0206] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0207] An embodiment of this application also provides an electronic device, such as Figure 10 shown. The electronic device 10 includes: at least one processor 100, a memory 101, and a computer program 102 stored in the memory 101 and executable on the at least one processor 100. When the processor 100 executes the computer program 102, the steps in any of the foregoing method embodiments are implemented.

[0208] An embodiment of this application also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

[0209] An embodiment of this application provides a computer program product including a computer program, and when the computer program is run, the foregoing method embodiments are executed.

[0210] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of this application, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the photographing device / electronic device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0211] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0212] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed in this document can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0213] In the embodiments provided in this application, it should be understood that the disclosed device / electronic device and method can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in an electrical, mechanical or other forms.

[0214] The unit described as a separating component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed over multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0215] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A human-computer interaction method, characterized in that: The method is applied to an interactive robot, and the method comprises: When a user performs a twisting motion on a portion of the hardware of the interactive robot, determining twisting information; Determining real-time twisting feedback information according to the twisting information; The real-time twisting feedback information is output, and the real-time twisting feedback information is used to provide feedback on the twisting action.

2. The method according to claim 1, characterized in that Determining the real-time twisting feedback information according to the twisting information includes: Determining a real-time twisting sensation response according to the twisting information; According to the real-time twisting feeling response, real-time twisting feedback information is determined.

3. The method according to claim 1, characterized in that When a user performs a twisting action on a portion of the hardware of the interactive robot, determining the twisting information includes: When the position of part of the hardware of the interactive robot changes, an output torque is applied to return the part of the hardware to an initial position; wherein applying the output torque includes: gradually increasing the current to increase the output torque; If the current exceeds a first current threshold, it is determined that a portion of the hardware of the interactive robot is twisted by the user and twisting information is determined.

4. The method according to claim 1, characterized in that The twisting information includes at least any one of the following: twisting angle, real-time twisting round number, and twisting speed.

5. A human-computer interaction method, characterized in that: The method is applied to a control module of an interactive robot, wherein the interactive robot further comprises a twist determination module, and the method comprises: Acquiring twisting information transmitted by the twisting determination module, wherein the twisting determination module is used to determine the twisting information when a part of the hardware of the interactive robot is twisted by a user; Determining real-time twisting feedback information according to the twisting information; The real-time twisting feedback information is output, and the real-time twisting feedback information is used to provide feedback on the twisting action.

6. A human-computer interaction method, characterized in that: The method is applied to a twist determination module of an interactive robot, the interactive robot further comprising a control module, and the method comprises: When a user performs a twisting motion on a portion of the hardware of the interactive robot, determining twisting information; The twisting information is transmitted to the control module, and the twisting information is used to determine real-time twisting feedback information, and the real-time twisting feedback information is used to provide feedback on the twisting action.

7. A human-computer interaction device, characterized in that: The device is applied to an interactive robot, and comprises: A first determining module, configured to determine twisting information when a user performs a twisting action on a portion of the hardware of the interactive robot; A second determining module is used to determine real-time twisting feedback information according to the twisting information; The third output module is used to output the real-time twisting feedback information, and the real-time twisting feedback information is used to provide feedback on the twisting action.

8. A control module, characterized in that: The control module is applied to an interactive robot, and the interactive robot further includes a twisting determination module. The control module includes: a fourth acquisition module, configured to acquire the twisting information transmitted by the twisting determination module, wherein the twisting determination module is configured to determine the twisting information when a user performs a twisting action on a portion of the hardware of the interactive robot; A fifth determining module, configured to determine real-time twisting feedback information according to the twisting information; The sixth output module is used to output the real-time twisting feedback information, and the real-time twisting feedback information is used to provide feedback on the twisting action.

9. A twist determination module, characterized in that: The twist determination module is applied to an interactive robot, the interactive robot further comprising a control module, and the twist determination module comprises: a seventh determination module, configured to determine twisting information when a user performs a twisting action on a portion of the hardware of the interactive robot; An eighth transmission module is used to transmit the twisting information to the control module, the twisting information is used to determine real-time twisting feedback information, and the real-time twisting feedback information is used to provide feedback on the twisting action.

10. A computer program product, characterized in that The invention comprises a computer program, which, when being executed, enables the method according to any one of claims 1 to 6 to be performed.

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