Control method of suspension AI interaction robot

Abstract

The invention discloses a control method of a suspension AI interaction robot, and belongs to the field of robots. Comprising the following steps: S1, initializing equipment; s2, judging whether the current wireless connection is a home network or not, and if the current wireless connection is the home network, entering a home mode; if not, entering S3; s3, judging whether the current wireless connection is a company network or not, and if yes, entering a working mode; if not, entering S4; and S4, entering a driving partner mode. The invention has the following beneficial effects: compared with the prior art; firstly, the magnetic suspension robot is provided with a plurality of coil groups, so that the robot can be controlled to suspend, and the robot can also be controlled to swing or rotate, and a vehicle-mounted scene in which various actions interact with people and acceleration and deceleration are frequent in a vehicle-mounted mode can be conveniently provided; and secondly, the magnetic suspension robot can provide various working scenes such as families, work and driving partners, and has good interactivity and playability.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and particularly relates to a control method for a levitating AI interaction robot. Background Art

[0002] Intelligent voice robots such as "Tmall Genie" and "Xiaomi AI Speaker" on the market are widely used by users because they have the function of interacting with users by voice. Nowadays, with the progress of technologies such as sensors, artificial intelligence, and magnetic levitation, magnetic levitation robots that can control the levitation of robots have gradually entered the market.

[0003] For example, a control method and device for a levitating multifunctional vehicle-mounted interaction robot with the application number 202310190701.5 includes: when the intelligent connected vehicle starts, suspending the vehicle-mounted interaction robot in the air, determining whether the current driver is the vehicle owner, and performing facial expression recognition of the vehicle owner for friendly interaction; the vehicle owner issues a voice command to perform voice interaction with the vehicle-mounted interaction robot, and the vehicle-mounted interaction robot faces the vehicle owner directly according to the direction where the vehicle owner is located; obtaining vehicle speed information and adjusting the magnetic levitation force field of the vehicle-mounted interaction robot according to the vehicle speed information to prevent the vehicle-mounted interaction robot from flying out above the magnetic levitation power control module and causing accidental injury.

[0004] Although the vehicle-mounted interaction robot disclosed in the above patent can have a good interaction experience and enhance driving safety, its levitating robot only supports up and down height adjustment and cannot swing, which is not suitable for vehicle-mounted scenarios with frequent acceleration and deceleration. At the same time, existing robots that interact with people generally only collect the user's voice, convert it into text, then request the background through the network, and finally convert the result into voice and play it out. The interaction method is very limited. Summary of the Invention

[0005] To solve the above problems, the primary object of the present invention is to provide a control method for a levitating AI interaction robot, which can control the levitation, swing, and rotation of the robot, and is convenient for application in vehicle-mounted scenarios with frequent acceleration and deceleration.

[0006] The primary object of the present invention is to provide a control method for a levitating AI interaction robot, which can provide multiple working scenarios and has good interactivity and playability.

[0007] To achieve the above object, the technical solution of the present invention is as follows:

[0008] The present invention provides a levitating AI interaction robot, including:

[0009] A robot body;

[0010] A magnetic levitation base;

[0011] The bottom of the robot body has a first magnetic structure, and a second magnetic structure is arranged on the magnetic levitation base. The first magnetic structure and the second magnetic structure are arranged opposite to each other up and down, so that the robot body can lift, swing or rotate relative to the magnetic levitation base.

[0012] Further, the first magnetic structure includes a magnet, and the second magnetic structure includes a first coil group for controlling the suspension of the magnet and a second coil group for controlling the swing or rotation of the magnet. The first coil group and the second coil group are both arranged opposite to the magnet up and down.

[0013] Further, the first coil group includes a plurality of first electromagnetic coils, and the plurality of first electromagnetic coils are arranged directly below the magnet. The second coil group includes a plurality of second electromagnetic coils, and the plurality of second electromagnetic coils are dispersedly arranged below the side of the magnet and surround the plurality of first electromagnetic coils on the outside.

[0014] Further, several Hall sensors matched with the magnet are also arranged on the magnetic levitation base, and the several Hall sensors are arranged directly below the magnet.

[0015] Further, the Hall sensors are arranged in the middle of the plurality of first electromagnetic coils.

[0016] Further, a wireless charging coil is also arranged on the magnetic levitation base, and a wireless receiving coil matched with the wireless charging coil is also arranged at the bottom of the robot body. The wireless charging coil and the wireless receiving coil are arranged opposite to each other.

[0017] Further, a ring of multi-color atmosphere lights is also arranged on the magnetic levitation base.

[0018] Further, the magnetic levitation base also has a control module, and the Hall sensors, the first coil group, the second coil group, the wireless charging coil, and the multi-color atmosphere lights are all connected to the control module.

[0019] In this application, since the first electromagnetic coil is arranged directly below the magnet, it can generate the same magnetic field as the magnet after being energized. Based on the principle of like poles repelling and opposite poles attracting, when adjusting the current to control the magnetic field strength, the robot body can be pushed up and down to achieve levitation. Since the second electromagnetic coil is arranged diagonally below the magnet, it can generate the same magnetic field as the magnet after being energized. Based on the principle of like poles repelling and opposite poles attracting, by adjusting the magnitude or direction of the current, the magnitude or direction of the magnetic field can be controlled, creating a pushing or pulling effect on the robot body. By cooperating with the first electromagnetic coil, the swinging or rotation of the robot body can be controlled. The Hall sensor can detect the height of each position of the robot body from the magnetic levitation base and transmit the height to the control module. After receiving the height data, the control module adjusts the current of the first electromagnetic coil and the second electromagnetic coil according to user requirements, controls the movement of the robot body, and adjusts the deviation angle. The wireless charging coil can cooperate with the wireless receiving coil to charge the robot body. The multi-color ambient light has various color effects, which can enhance the interactivity.

[0020] Further, the robot body includes a main control module with AI interaction function, a power supply module, a wireless communication module, and a display module. The power supply module, the wireless communication module, and the display module are all connected to the main control module, and the power supply module is connected to the wireless receiving coil. The power supply module enables the robot body to be used independently of the magnetic levitation base. The display module can display various animations or expressions to enhance the interactivity.

[0021] Further, the robot body also includes several microphones. The several microphones are arranged in a horizontal array at a certain angle and are connected to the main control module. By collecting the sound intensity and the time of arrival of the sound of each microphone, the sound source can be judged, and the main control module issues an instruction to the magnetic levitation base to change the magnetic field direction, so that the robot body faces the user for conversation.

[0022] Further, the robot body also includes a radar module. The radar module is connected to the main control module. The radar module uses a millimeter-wave radar and can detect whether a user is approaching. When it detects that a user is approaching, the robot body is activated; otherwise, it is not activated and enters the sleep mode.

[0023] Further, the robot body also includes a motor drive module and robot joints. The robot joints are connected to the main control module through the motor drive module. The robot joints are equivalent to arms and can be controlled through the motor drive module to swing and make actions with different swing angles and frequencies in cooperation with the content of the display module.

[0024] Further, the robot body further includes a camera. There are two cameras, which are respectively arranged on the front and rear sides of the robot body, and can capture images of users. Based on the face recognition method, by comparing with the user information pre-stored in the system, the gender and age of the user can be identified, and then targeted interaction content can be provided.

[0025] Further, the main control module is built-in with a high-computing-power NPU, which can deploy AI models locally on the robot body to identify identities and ages without a network.

[0026] Further, a CAN bus capable of connecting to the in-vehicle infotainment system is also arranged on the magnetic levitation base, which can obtain information such as the speed of the vehicle and display it on the screen. When detecting situations such as vehicle speeding or sudden braking, the driver is prompted. The camera at the rear of the robot can capture the scenery along the way and generate short videos. And in an intelligent vehicle, the air conditioner and windows can be controlled by the robot's voice.

[0027] The present invention provides a control method for a levitating AI interaction robot, including the steps of:

[0028] S1: Device initialization;

[0029] S2: Determine whether the current wireless connection is a home network. If it is a home network, enter the home mode; if not, enter S3;

[0030] S3: Determine whether the current wireless connection is a company network. If it is, enter the work mode; if not, enter S4;

[0031] S4: Enter the driving companion mode.

[0032] Further, in S1, peripherals such as the screen, speaker, microphone array, camera, radar sensor, motor, and wireless communication module are initialized.

[0033] Further, the home mode of S2 includes:

[0034] S21: The screen can display information such as the temperature and humidity at home, outdoor weather information, and various dynamic expressions;

[0035] S22: Determine whether the microphone array detects sound. If it does, determine the sound intensity and sound source captured;

[0036] S23: Send an instruction to the magnetic levitation base to rotate the robot to face the sound source;

[0037] S24: The camera starts for face recognition;

[0038] S25: Perform mode switching according to the user's age. If the user is an elderly person, appropriately increase the speaker volume and set the voice package to Mandarin; if the user is a teenager, set the voice package to a child's voice and display an animated character on the screen.

[0039] S26: Determine whether a wake word is detected. If detected, call the large model algorithm to interact with the person and output through the speaker; if not detected, enter the interaction mode.

[0040] Furthermore, the working mode of S3 includes:

[0041] S31: Reduce the speaker volume to avoid disturbing others.

[0042] S32: Turn on the front camera to obtain the user's status

[0043] S33: Display today's to-do list on the screen;

[0044] S34: Determine whether the user has been sitting for more than 1 hour. If so, the screen will remind the user to take a break;

[0045] S35: Determine whether it is time for periodic interaction. If so, enter the interaction mode;

[0046] Furthermore, the driving companion mode of S4 includes:

[0047] S41: Connect to the vehicle expansion module to obtain vehicle information;

[0048] S42: Turn on the front camera to obtain the driver's status;

[0049] S43: Turn on the rear camera to record the scene outside the window;

[0050] S44: Display driving information such as vehicle speed and driving duration on the screen;

[0051] S45: Determine whether the current speed exceeds the speed limit. If so, give a voice reminder of speeding;

[0052] S46: Determine whether the driver is in a state of fatigue driving or distraction. If so, give a voice reminder to the driver to focus on driving or take a break as soon as possible;

[0053] S47: Determine whether a voice command for the driver to control the vehicle is received. If so, control the vehicle through the expansion module (such as adjusting the air temperature, opening the window, etc.).

[0054] Furthermore, the interaction mode in steps S2 and S3 includes:

[0055] S51: Initialize the sensor, RGB LED, wireless power supply unit, and wireless communication module;

[0056] S52: Turn on the first coil group in the inner circle, adjust the current to generate magnetic force, and push the robot to float upward;

[0057] S53: Determine whether the values of all Hall sensors are close. If they are close, maintain the current of the first coil group to keep the robot horizontal; if they are not close, adjust the current of the corresponding second coil group in the outer circle according to the data of the Hall sensors, and maintain the current of the first coil group to keep the robot horizontal;

[0058] S54: Determine whether the floating height of the robot meets the setting. If it meets the setting, maintain the current of the first coil group; if it is lower than the setting, increase the current of the first coil group to make the robot rise; if it is higher than the setting, decrease the current of the first coil group to make the robot descend;

[0059] S55: The wireless module waits in a loop to receive instructions from the robot. Determine whether an instruction to swing the robot is received. If so, adjust the current of the second electromagnetic coils on the left and right sides of the second coil group according to the instruction to control the robot to swing;

[0060] S56: Determine whether an instruction to rotate the robot is received. If so, adjust the current of the second electromagnetic coils in the second coil group in sequence according to the instruction to tow the robot to rotate to a predetermined position.

[0061] The beneficial effects of the present invention are: compared with the prior art;

[0062] First of all, the maglev robot of the present application can not only control the suspension of the robot, but also control the swing or rotation of the robot by setting multiple coil groups, which is convenient for application in vehicle-mounted scenarios with frequent acceleration and deceleration.

[0063] Secondly, the maglev robot of the present application can provide multiple working scenarios such as home, work, and driving companion, and has good interactivity and playability. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 is the module framework diagram of the robot body.

[0065] Figure 2 is the structural schematic diagram of the maglev base.

[0066] Figure 3 is the flowchart of the control method.

[0067] Figure 4 is Figure 3 the partial enlarged view at A in

[0068] Figure 5 is Figure 3 the partial enlarged view at B in

[0069] Figure 6 is Figure 3 The partial enlarged view at position C in

[0070] Figure 7 is Figure 3 The partial enlarged view at position D in

[0071] Figure 8 The flowchart of the interaction mode

[0072] In the figure: 10, magnetic levitation base; 20, second magnetic structure; 201, first coil group; 202, second coil group; 30, Hall sensor; 40, wireless charging coil; 50, atmosphere light; 60, control module Specific implementation manners

[0073] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention

[0074] To achieve the above objectives, the technical solution of the present invention is as follows

[0075] Refer to Figure 1-2 As shown, this embodiment provides a levitating AI interaction robot, including

[0076] The robot body

[0077] The magnetic levitation base 10

[0078] The bottom of the robot body has a first magnetic structure, and a second magnetic structure 20 is arranged on the magnetic levitation base 10. The first magnetic structure and the second magnetic structure 20 are arranged opposite to each other up and down, so that the robot body can move up and down, swing or rotate relative to the magnetic levitation base 10

[0079] Furthermore, the first magnetic structure includes a magnet, and the second magnetic structure 20 includes a first coil group 201 for controlling the levitation of the magnet and a second coil group 202 for controlling the swing or rotation of the magnet. The first coil group 201 and the second coil group 202 are both arranged opposite to the magnet up and down

[0080] Furthermore, the first coil group 201 includes four first electromagnetic coils a, b, c, d. A plurality of the first electromagnetic coils are arranged directly below the magnet. The second coil group 202 includes four second electromagnetic coils A, B, C, D. A plurality of the second electromagnetic coils are dispersedly arranged below the side of the magnet and surround the outside of the four first electromagnetic coils

[0081] Further, several Hall sensors 30 are also provided on the magnetic levitation base 10 and are matched with the magnet. The several Hall sensors 30 are arranged directly below the magnet.

[0082] Further, the Hall sensors 30 are arranged in the middle of the plurality of first electromagnetic coils.

[0083] Further, a wireless charging coil 40 is also provided on the magnetic levitation base 10, and a wireless receiving coil matched with the wireless charging coil 40 is provided at the bottom of the robot body. The wireless charging coil 40 and the wireless receiving coil are arranged opposite to each other.

[0084] Further, a ring of multi-color atmosphere lights 50 is also provided on the magnetic levitation base 10.

[0085] Further, the magnetic levitation base 10 further has a control module 60. The Hall sensors 30, the first coil group 201, the second coil group 202, the wireless charging coil 40, and the multi-color atmosphere lights 50 are all connected to the control module 60.

[0086] In this application, since the first electromagnetic coil is arranged directly below the magnet, it can generate the same magnetic field as the magnet after being energized. Based on the principle of like poles repelling and opposite poles attracting, when adjusting the current to control the magnetic field size, the robot body can be pushed up and down to perform levitation; since the second electromagnetic coil is arranged diagonally below the magnet, it can generate the same magnetic field as the magnet after being energized. Based on the principle of like poles repelling and opposite poles attracting, by adjusting the current size or direction, the size or direction of the magnetic field can be controlled, forming a pushing or pulling effect on the robot body. By cooperating with the first electromagnetic coil, the robot body can be controlled to swing or rotate. The Hall sensors 30 can detect the height of each position of the robot body from the magnetic levitation base 10 and transmit the height to the control module 60. After receiving the height data, the control module 60 adjusts the current of the first electromagnetic coil and the second electromagnetic coil according to user requirements, controls the movement of the robot body, and adjusts the deviation angle. The wireless charging coil 40 can cooperate with the wireless receiving coil to charge the robot body. The multi-color atmosphere lights 50 have a variety of color effects and can enhance the interactivity.

[0087] Further, the robot body includes a main control module with AI interaction function, a power supply module, a wireless communication module, and a display module. The power supply module, the wireless communication module, and the display module are all connected to the main control module, and the power supply module is connected to the wireless receiving coil. The power supply module enables the robot body to be used independently of the magnetic levitation base 10, and the display module can display various animations or expressions to enhance the interactivity.

[0088] Further, the robot body further includes several microphones. The several microphones are arranged in a horizontal array at a certain angle and are connected to the main control module. By collecting the sound intensity and the time of arrival of the sound of each microphone, the sound source is judged, and an instruction is sent to the magnetic levitation base 10 through the main control module to change the magnetic field direction, so that the robot body faces the user for conversation.

[0089] Further, the robot body further includes a radar module. The radar module is connected to the main control module. The radar module uses a millimeter-wave radar and can detect whether a user is approaching. When it detects that a user is approaching, the robot body is activated; otherwise, it is not activated and enters the sleep mode.

[0090] Further, the robot body further includes a motor drive module and robot joints. The robot joints are connected to the main control module through the motor drive module. The robot joints are equivalent to arms and are controlled through the motor drive module and can swing, making actions with different swing angles and frequencies in cooperation with the content of the display module.

[0091] Further, the robot body further includes cameras. There are two cameras, and the two cameras are respectively arranged on the front and rear sides of the robot body and can capture images of the user. Based on the face recognition method, by comparing with the user information pre-stored in the system, the gender and age of the user are identified, and then targeted interaction content is provided.

[0092] Further, the main control module is built-in with a high-computing-power NPU, and an AI model can be deployed locally on the robot body to identify identity and age in the absence of a network.

[0093] Further, a CAN bus capable of connecting to an in-vehicle infotainment system is also provided on the magnetic levitation base, and information such as the speed of the vehicle can be obtained and displayed on the screen. When detecting situations such as vehicle speeding and emergency braking, the driver is prompted. The camera at the rear of the robot can capture the scenery along the way and generate short videos, and on an intelligent vehicle, the air conditioner and windows can be controlled through the robot's voice.

[0094] See Figure 3-8 , this embodiment also provides a control method for a levitating AI interaction robot, including the steps:

[0095] S1: Device initialization;

[0096] S2: Judge whether the current wireless connection is a home network. If it is a home network, enter the home mode; if not, enter S3;

[0097] S3: Judge whether the current wireless connection is a company network. If it is, enter the work mode; if not, enter S4;

[0098] S4: Enter the driving companion mode.

[0099] Further, in S1, peripherals such as the screen, speaker, microphone array, camera, radar sensor, motor, and wireless communication module are initialized.

[0100] Further, the home mode of S2 includes:

[0101] S21: The screen can display information such as the temperature and humidity at home, outdoor weather information, and various dynamic expressions.

[0102] S22: Determine whether the microphone array detects sound. If it does, determine the captured sound intensity and sound source.

[0103] S23: Send an instruction to the magnetic levitation base 10 to turn the robot to face the sound source.

[0104] S24: The camera starts for face recognition.

[0105] S25: Perform mode switching according to the age of the user. If the user is an elderly person, appropriately increase the speaker volume and set the voice package to Mandarin. If the user is a teenager, set the voice package to a child's voice and display an animated character on the screen.

[0106] S26: Determine whether a wake-up word is detected. If it is, call the large model algorithm to interact with the user and output through the speaker. If not, enter the interaction mode.

[0107] Further, the working mode of S3 includes:

[0108] S31: Reduce the speaker volume to avoid disturbing others.

[0109] S32: Turn on the front camera to obtain the user's status.

[0110] S33: The screen displays today's to-do list.

[0111] S34: Determine whether the user has been sitting for more than 1 hour. If so, the screen will remind the user to take a break.

[0112] S35: Determine whether it is time for periodic interaction. If so, enter the interaction mode.

[0113] Further, the driving companion mode of S4 includes:

[0114] S41: Connect to the vehicle expansion module to obtain vehicle information.

[0115] S42: Turn on the front camera to obtain the driver's status.

[0116] S43: Turn on the rear camera and record the scene outside the window;

[0117] S44: Display driving information such as vehicle speed and driving duration on the screen;

[0118] S45: Determine whether the current speed exceeds the speed limit. If so, give a voice reminder of speeding;

[0119] S46: Determine whether the driver is in a state of fatigue driving or distraction. If so, give a voice reminder to the driver to focus on driving or take a rest as soon as possible;

[0120] S47: Determine whether a voice command for the driver to control the vehicle is received. If so, control the vehicle through the expansion module (such as adjusting the air temperature, opening the window, etc.).

[0121] Further, referring to Figure 8 , the interaction modes in steps S2 and S3 include:

[0122] S51: Initialize the sensor, RGB LED, wireless power supply unit, and wireless communication module;

[0123] S52: Turn on the first inner coil group 201, adjust the current to generate magnetic force, and push the robot to float upward;

[0124] S53: Determine whether the values of all Hall sensors 30 are close. If so, keep the current of the first coil group 201 to keep the robot horizontal; if not, adjust the current of the corresponding second outer coil group 202 according to the data of the Hall sensors 30 and keep the current of the first coil group 201 to keep the robot horizontal;

[0125] S54: Determine whether the floating height of the robot meets the setting. If so, keep the current of the first coil group 201; if it is lower than the setting, increase the current of the first coil group 201 to make the robot rise; if it is higher than the setting, decrease the current of the first coil group 201 to make the robot descend;

[0126] S55: The wireless module loops and waits to receive instructions from the robot. Determine whether an instruction to swing the robot is received. If so, adjust the current of the second electromagnetic coils on the left and right sides of the second coil group 202 according to the instruction to control the robot to swing;

[0127] S56: Determine whether an instruction to rotate the robot is received. If so, adjust the current of the second electromagnetic coils in the second coil group 202 in sequence according to the instruction to tow the robot to rotate to a predetermined position.

[0128] The levitating AI interaction robot of this embodiment has the following advantages:

[0129] 1. There are multiple scenario working modes including family mode, work mode, child companion, elderly companion, driving companion, etc., which are highly interactive and interesting;

[0130] 2. Greatly improved the interactivity and playability of the machine;

[0131] 3. It can distinguish users and customize interactive content according to different users;

[0132] 4. It has a built-in high-computing NPU and can be used offline.

[0133] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control method for a floating AI interaction robot, characterized in that, Including the steps: S1: Device initialization; S2: Determine whether the current wireless connection is a home network. If it is a home network, enter the home mode; if not, enter S3; S3: Determine whether the current wireless connection is a company network. If it is, enter the work mode; if not, enter S4; S4: Enter the driving companion mode.

2. The control method of a floating AI interaction robot according to claim 1, characterized in that The home mode of S2 includes: S21: The screen can display the home temperature, humidity, outdoor weather information, and various dynamic expressions; S22: Determine whether the microphone array detects sound. If it does, determine the captured sound intensity and sound source; S23: Send an instruction to the magnetic levitation base to turn the robot towards the sound source; S24: The camera starts for face recognition; S25: Perform mode switching according to the different ages of the user. If the user is an elderly person, appropriately increase the speaker volume and set the voice package to Mandarin; if the user is a teenager, set the voice package to children's voices and display animated characters on the screen; S26: Determine whether the wake-up word is detected. If it is detected, call the large model algorithm to interact with the user and output through the speaker; if not, enter the interaction mode.

3. The control method of a floating AI interaction robot according to claim 1, characterized in that, The work mode of S3 includes: S31: Reduce the speaker volume to avoid disturbing other people; S32: Turn on the front camera to obtain the user's status S33: The screen displays today's to-do list; S34: Determine whether the user has been sitting for more than 1 hour. If so, the screen reminds the user to take a break; S35: Determine whether it is time for periodic interaction. If so, enter the interaction mode; 4. The control method of a floating AI interaction robot according to claim 1, characterized in that, The driving companion mode of S4 includes: S41: Connect to the vehicle expansion module to obtain vehicle information; S42: Turn on the front camera to obtain the driver's status; S43: Turn on the rear camera to record the scene outside the window; S44: The screen displays driving information; S45: Determine whether the current speed exceeds the speed limit. If so, give a voice reminder of speeding; S46: Determine whether the driver is in a state of fatigue driving or distraction. If so, give a voice reminder to the driver to focus on driving or take a rest as soon as possible; S47: Determine whether a voice command for the driver to control the vehicle is received. If so, control the vehicle through the expansion module.

5. The control method of a floating AI interaction robot according to claim 2 or 3, characterized in that, The interaction mode in steps S2 and S3 includes: S51: Initialize the sensor, RGB LED, wireless power supply unit, and wireless communication module; S52: Turn on the first inner coil group, adjust the current to generate magnetic force, and push the robot to float; S53: Determine whether the values of all Hall sensors are close. If they are close, maintain the current of the first coil group to keep the robot horizontal; if not, adjust the current of the corresponding second outer coil group according to the data of the Hall sensors and maintain the current of the first coil group to keep the robot horizontal; S54: Determine whether the floating height of the robot meets the setting. If it meets, maintain the current of the first coil group; if it is lower than the setting, increase the current of the first coil group to make the robot rise; if it is higher than the setting, decrease the current of the first coil group to make the robot descend; S55: The wireless module loops and waits to receive instructions from the robot, determines whether an instruction to swing the robot is received. If so, according to the instruction, it adjusts the current of the second electromagnetic coils on the left and right sides of the second coil group to control the robot to swing. S56: Determines whether an instruction to rotate the robot is received. If so, according to the instruction, it sequentially adjusts the current of the second electromagnetic coils in the second coil group to tow the robot to rotate to a predetermined position.

6. The control method of a suspended AI interaction robot according to claim 1, characterized in that, The levitating AI interaction robot includes: A robot body; A magnetic levitation base; The bottom of the robot body has a first magnetic structure, and a second magnetic structure is provided on the magnetic levitation base. The first magnetic structure and the second magnetic structure are arranged opposite to each other vertically, so that the robot body can lift, swing or rotate relative to the magnetic levitation base.

7. The control method of a floating AI interaction robot according to claim 6, characterized in that, The first magnetic structure includes a magnet, and the second magnetic structure includes a first coil group for controlling the magnet to levitate and a second coil group for controlling the magnet to swing or rotate. The first coil group and the second coil group are both arranged opposite to the magnet vertically.

8. The control method of a suspended AI interaction robot according to claim 7, characterized in that, The first coil group includes a plurality of first electromagnetic coils, and the plurality of first electromagnetic coils are arranged directly below the magnet. The second coil group includes a plurality of second electromagnetic coils, and the plurality of second electromagnetic coils are dispersedly arranged below the side of the magnet and surround the outside of the plurality of first electromagnetic coils.

9. The control method of a suspended AI interaction robot according to claim 8, characterized in that, Several Hall sensors that cooperate with the magnet are further provided on the magnetic levitation base. The several Hall sensors are arranged directly below the magnet, and the Hall sensors are arranged in the middle of the plurality of first electromagnetic coils.

10. The control method of a suspended AI interaction robot according to claim 6, characterized in that, A wireless charging coil is further provided on the magnetic levitation base, and a wireless receiving coil that cooperates with the wireless charging coil is further provided at the bottom of the robot body. The wireless charging coil and the wireless receiving coil are arranged opposite to each other.

Images