Perception interaction system of welcome robot

Abstract

The invention discloses a perception interaction system of a welcome robot, and relates to a perception interaction system technology, the interaction system comprises a touch perception system, a voice perception system and a visual perception system; the touch sensing system, the voice sensing system and the visual sensing system are integrated in the welcome robot body; wherein an active communication interaction method and a guided communication interaction method are adopted between the welcome robot body and the user, and the language state, the expression state and the limb state of the user are observed in real time through the visual perception system. According to the perception interaction system of the greeting robot, a tactile perception system, a voice perception system and a visual perception system which are contained in the greeting robot body are used for carrying out touch, language and visual communication interaction with a user, providing an interaction mode corresponding to the user, providing part calibration when the tactile perception system interacts, and providing a visual interaction mode corresponding to the user. And inquiry calibration is provided during interaction of the voice perception system, so that more accurate and smooth service experience is provided.

Description

Technical Field

[0001] This invention relates to the field of perception and interaction system technology, specifically to a perception and interaction system for a welcoming robot. Background Technology

[0002] A welcoming robot is an intelligent device integrating technologies such as voice recognition, autonomous navigation, and facial recognition. It is mainly used in hotels, shopping malls, exhibition halls, and other venues to provide services such as reception, guidance, and information consultation. Its core functions include proactive greeting, route guidance, multilingual explanations, and advertising display. Some high-end models also support emotional interaction, adjusting service strategies based on visitor emotions. Its perception and interaction system is the core technology module of the welcoming robot, mainly involving visual recognition, voice interaction, and modal fusion. Emotional interaction is achieved through multimodal perception and intelligent decision-making systems. The invention disclosed in CN107486863A presents a perception-based method for proactive robot interaction. When a user (person) approaches the robot, the robot instantly senses the change in the environment, confirms the user's presence and location, and interacts with the user according to a pre-defined script. This enables the robot to perceive changes in its surrounding environment and the user, allowing for eye contact interaction between the robot and the user. It transforms traditional passive control into proactive robot interaction, making the robot "smarter" and significantly improving the user experience.

[0003] The invention disclosed in CN120533720A presents an emotional companion robot system and interaction method based on multi-dimensional perception. The decision-making module utilizes an emotional state calculation engine to quantify emotional intensity and combines it with a dynamic knowledge graph to construct a personalized emotional profile for the user, generating a dynamic emotional graph. The execution module achieves human-like emotional expression through bionic facial actuation, compliant joint control, and thermal feedback. The interaction method includes data capture, emotional profile construction, dynamic graph generation, and interaction execution and feedback adjustment, defining an emotional intensity quantification formula and a graph edge weight model.

[0004] However, the aforementioned publicly disclosed robot emotional interaction systems still have the following problems in actual use: they achieve communication and interaction with users through the perception system, but the communication and interaction of such perception systems is too simple, mostly using the voice module for communication and dialogue. Moreover, the language module is difficult to learn autonomously according to the service location, and there is little interaction between the robot and the user in terms of action. It is difficult to arouse the user's interest and desire to interact. At the same time, some elderly and young users have language expression difficulties, and the welcoming robot cannot effectively guide them, thus affecting the intelligent service capabilities and experience.

[0005] Therefore, we propose a perception and interaction system for a welcoming robot to address the aforementioned problems. Summary of the Invention

[0006] The purpose of this invention is to provide a sensory interaction system for a welcoming robot. This addresses the problem that existing sensory systems achieve communication and interaction with users, but such systems are too simplistic, mostly relying on voice modules for dialogue. Furthermore, these language modules struggle to learn autonomously based on the service location, making it difficult to engage in physical interaction with users and thus failing to stimulate user interest and desire for interaction. Additionally, some elderly or young users have language expression difficulties, making it impossible for the welcoming robot to provide effective guidance, thereby affecting the intelligent service capabilities and user experience.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a sensory interaction system for a welcoming robot, the interaction system comprising a tactile sensing system, a voice sensing system, and a visual sensing system; The tactile sensing system, voice sensing system, and visual sensing system are integrated inside the welcoming robot body, enabling tactile, voice, and visual communication and interaction with users. Among them, the welcoming robot interacts with users through two methods: proactive communication and guided communication. During the communication process, the robot uses a visual perception system to observe the user's tone of voice, expression, and body language in real time. The welcoming robot is used in the service area, and the voice perception system collects evaluations of the service area for big data analysis to make improvements.

[0008] Preferably, the welcoming robot body includes a tactile perception system in conjunction with a visual perception system. The visual perception system analyzes normal touches and accidental touches caused by scratches or bumps, and centrally analyzes the movement of people caused by scratches or bumps to improve learning and reduce accidental touches.

[0009] Preferably, the tactile sensing system includes head sensing, body sensing, and limb sensing, and the head sensing, body sensing, and limb sensing are all used to display the interactive tactile sensing area through high brightness feedback, and different interactions are realized for the distinguished head sensing, body sensing, and limb sensing.

[0010] Preferably, the tactile sensing system includes active touch and guided touch. The active touch interacts with the user through head, body, and limb perception. Touches from different parts of the body are analyzed by an analysis unit and interact with the user in conjunction with motion feedback and voice feedback.

[0011] Preferably, the tactile perception system includes a guided touch that first activates head perception, body perception, and limb perception to provide high-brightness feedback. The high-brightness feedback, in conjunction with the voice perception system, guides the user's interaction with the tactile perception system. After the touch, feedback is sent to the analysis unit to form a closed loop of active and guided interaction.

[0012] Preferably, the welcoming robot body includes a voice perception system in conjunction with a visual perception system. The voice perception system collects user dialogues in the environment and gathers evaluations and suggestions about the service venue from abnormal dialogues. Furthermore, the collected dialogues are used for service improvement through big data analysis.

[0013] Preferably, the voice perception system works in conjunction with the visual perception system to collect normal conversations between the user and the welcoming robot. These normal conversations include both proactive and guided conversations. The proactive conversations are analyzed by a big data analysis unit to examine the user's language, tone, and emotions, and are combined with action and voice feedback to achieve interaction with the user.

[0014] Preferably, the voice perception system includes guided dialogue for selecting frequently used dialogue options in the service area, and actively inquires about the dialogue options from the user through the voice perception system. Then, the user's language, tone and emotion are analyzed again by the big data analysis unit, and interaction with the user is achieved in conjunction with action feedback and voice feedback, forming a closed loop of active dialogue and guided dialogue in the voice perception system.

[0015] Preferably, the visual perception system included in the welcoming robot body is used to visually observe the user's facial expressions, and the visual perception system observes the user's tactile and voice perception, so as to cooperate with the tactile perception system and the voice perception system to improve a more accurate and smooth service experience.

[0016] Preferably, when the visual perception system is used in conjunction with the tactile perception system, the interaction of head perception, body perception, and limb sensation is calibrated by touch. When the visual perception system is used in conjunction with the voice perception system, the inquiry in normal conversation is calibrated, thereby improving the intelligent service capabilities of the welcoming robot in the service venue.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The sensory interaction system of this welcoming robot, through the tactile sensing system, voice sensing system, and visual sensing system contained within the welcoming robot body, enables tactile, verbal, and visual communication and interaction with users, providing corresponding interaction modes. It provides part calibration during tactile sensing system interaction and inquiry calibration during voice sensing system interaction, in order to provide a more accurate and smooth service experience. The specific details are as follows: 1. The welcoming robot includes a tactile perception system. The tactile interaction feedback area is always lit. The tactile perception system is divided into head perception, body perception, and limb perception areas. First, the visual perception system observes the user's touch state through the visual module. When it is observed that the user accidentally touches the welcoming robot by rubbing against it, the analysis unit analyzes the flow of people in the area and then improves learning to reduce accidental touches.

[0018] Furthermore, active touch utilizes the user's head, body, and limb sensing capabilities, analyzing touches from different areas through an analysis unit, and interacting with the user through motion and voice feedback. Guided touch, on the other hand, uses a voice sensing system to inform the user of the functions of head, body, and limb sensing, and provides feedback through high-brightness areas, thereby guiding the user to engage in tactile interaction.

[0019] 2. The voice perception system is divided into normal dialogue and erroneous dialogue. It collects evaluations and suggestions about service locations from erroneous dialogues and uses big data analysis to improve services. During normal dialogue interaction, the guided dialogue first selects the most frequently used dialogue options of the voice perception system in the service location to provide users with the most effective inquiry options. Proactive dialogue collects user inquiries, analyzes user language, tone of voice, and emotions, and combines this with action and voice feedback to achieve interaction with the user, controlling the limbs of the welcoming robot to move, thereby realizing human-like interactive actions such as guidance, affirmation, and negation.

[0020] 3. During interactive operations, the visual perception system observes the user's facial expressions and demeanor, controls the switching between the tactile and voice perception systems, and provides corresponding interaction modes. When interacting with the tactile system, it provides part calibration, and when interacting with the voice perception system, it provides query calibration, in order to provide a more accurate and smooth service experience. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall process of the welcoming robot body of the present invention; Figure 2 This is a flowchart illustrating the tactile sensing system of the present invention. Figure 3 This is a flowchart illustrating the voice perception system of the present invention. Figure 4 This is a flowchart illustrating the visual perception system of the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figures 1-4 The present invention provides the following technical solution: Example 1: To address the problems of existing welcoming robot bodies in perception and interaction, this example discloses the following technical solution: a perception and interaction system for a welcoming robot, comprising a tactile perception system, a voice perception system, and a visual perception system; wherein, the welcoming robot body and the user employ two methods of proactive and guided communication and interaction, and during the communication and interaction process, the visual perception system observes the user's tone of voice, expression, and body language in real time; the welcoming robot body is applied to service venues, and the voice perception system collects evaluations of the service venues for big data analysis and improvement.

[0024] The tactile perception system, voice perception system, and visual perception system are integrated inside the welcoming robot body, enabling tactile, voice, and visual communication and interaction with users. The tactile perception system in the welcoming robot body works in conjunction with the visual perception system. The visual perception system analyzes normal touches and accidental touches caused by scratches or bumps, and centrally analyzes the movement of people caused by accidental touches to improve learning and reduce accidental touches. The tactile perception system includes head perception, body perception, and limb perception. Head perception, body perception, and limb perception are all displayed through high-brightness feedback to display the interactive tactile perception area, and different interactions are implemented for the different head perception, body perception, and limb perception.

[0025] The tactile sensing system includes active touch and guided touch. Active touch interacts with the user through head, body, and limb perception, and the touches from different parts are analyzed by the analysis unit, and interact with the user in conjunction with motion feedback and voice feedback. The guided touch in the tactile sensing system first mobilizes head, body, and limb perception to provide high-brightness feedback, and the high-brightness feedback, together with the voice perception system, guides the user's interaction with the tactile sensing system. After the touch, feedback is sent to the analysis unit to form a closed loop of active and guided touch.

[0026] like Figure 1-2As shown, the welcoming robot performs interactive service operations in designated service areas. The high-brightness feedback area of ​​the tactile perception system is always lit. When a user touches the head, body, and limb perception areas, the visual perception system first observes the user's touch state through the visual module. When it is observed that the user accidentally touches the welcoming robot, the analysis unit analyzes the flow of people in the area to improve learning and reduce accidental touches.

[0027] Furthermore, when the visual perception system observes that the user is in a normal touch state, it divides the user's touch into active touch and guided touch. Active touch interacts through the user's head perception, body perception, and limb perception. Touches from different parts are analyzed by the analysis unit and interact with the user in conjunction with motion feedback and voice feedback. Guided touch, on the other hand, informs the user of the functions of head perception, body perception, and limb perception through the voice perception system and provides feedback with a high-brightness area, thereby guiding the user to perform tactile interaction.

[0028] When the above embodiments are applied to real-world scenarios, the head sensing area included in the tactile sensing system is equipped with a highly sensitive pressure sensor array on the head of the welcoming robot. When a user gently touches different areas of the robot's head, the sensors can accurately capture the location, force, and duration of the touch. For example, if a user touches the robot's forehead, it may indicate an initial exploration of the robot's functions; touching the ears may indicate an attempt to understand the robot's hearing-related abilities.

[0029] The tactile sensing system includes a limb sensing area, where the welcoming robot's limbs, such as joints, can also be equipped with tactile sensors. When a user touches the robot's arm or leg joints, the sensors can sense the impact of the touch on the robot's movement. For example, if a user gently pushes the robot's arm, the sensors can detect the direction and force of the push, and the robot can make corresponding adjustments based on this information, such as slightly shaking its arm to respond to the user's touch.

[0030] The tactile sensing system includes a body sensing area where the robot's body surface is covered with flexible tactile sensors that can sense the user's limb contact from all angles. Whether the user gently pats the robot's body or touches it with their palm over a large area, the sensors can accurately record information such as the area of ​​the touch and the pressure distribution. For example, if the user gently pats the robot's back, the sensors can recognize this action and transmit it to the analysis unit.

[0031] The tactile sensing system integrates touch information. The analysis unit receives data from head, drive, and limb sensory sensors and integrates this scattered information. For example, when a user touches the robot's head and arm simultaneously, the analysis unit can comprehensively determine the user's touch intention, which may be to engage in a closer interaction with the welcoming robot. Based on the integrated touch information, the analysis unit uses preset algorithms and models to recognize the intention. Through data training, the analysis unit can determine whether the user's touch indicates friendliness, inquiries about information, or other intentions. For example, continuously and rapidly touching multiple parts of the welcoming robot's body may indicate that the user wants to attract the robot's attention and obtain more information.

[0032] Furthermore, when the tactile sensing system is triggered by a person, it can provide corresponding feedback with actions. Based on the results of the analysis unit, the welcoming robot will make corresponding action feedback; if the user touches its head in a friendly manner, it may nod slightly and turn its eyes to look at the user to express friendliness and attention; if the user pushes the limb area forcefully, it may gently swing its arm to indicate that it should not use too much force.

[0033] High-brightness head feedback: The welcoming robot's head is equipped with an adjustable brightness indicator light. When the guided touch function is activated, the head indicator light will flash at a high brightness to attract the user's attention. For example, in crowded places, the high-brightness indicator light makes it easier for users to find the robot and pay attention to its guidance.

[0034] High-brightness feedback on body parts: The body and other parts of the welcoming robot are also equipped with light-emitting devices. When guided to touch, these light-emitting devices will light up, prompting users to touch these parts to interact. For example, the light-emitting device on the robot's chest will light up, guiding users to touch the chest to obtain specific information.

[0035] High-brightness feedback of limbs: High-brightness display modules are set in specific areas of the robot's limbs; when it is necessary to guide the user to touch a certain part of the body, the high-brightness display module in the corresponding area will light up, forming a clear visual guidance. For example, if you want the user to touch the robot's chest to activate a certain function, the high-brightness display module in the chest area will flash.

[0036] At the same time, the tactile sensing system and the voice sensing system work together. While providing high-brightness feedback, the voice sensing system will issue clear voice prompts to guide users to interact with the touch. For example, the robot may say, "Please touch the area on my head that is lit up, and I will introduce you to more exciting content." Through dual guidance of voice and vision, the robot enhances users' enthusiasm for interaction.

[0037] Closed-loop formation: Through the alternation of active touch and guided touch, as well as the analysis and feedback after each touch, a complete closed-loop interaction process is formed; the welcoming robot body continuously adjusts the guidance strategy and feedback content according to the user's touch behavior, and the user gradually becomes familiar with the touch interaction method in the interaction with the welcoming robot body, achieving more efficient and natural interaction.

[0038] Example 2: To address the problems in perception and interaction of existing welcoming robot bodies, this example discloses the following technical solution: The welcoming robot body includes a voice perception system in conjunction with a visual perception system. The voice perception system collects user dialogues in the environment and gathers evaluations and suggestions about the service location from abnormal dialogues. The collected dialogues are then analyzed using big data to improve services. The voice perception system, in conjunction with the visual perception system, collects normal dialogues between users and the welcoming robot body. These normal dialogues include proactive dialogues and guided dialogues. Proactive dialogues are analyzed by a big data analysis unit, which analyzes the user's language, tone, and emotions. This is combined with action feedback and voice feedback to achieve interaction with the user.

[0039] The voice perception system includes guided dialogue to select frequently used dialogue options in service locations. The system then proactively asks users for these dialogue options, which are then analyzed by a big data analysis unit to assess the user's language, tone, and emotions. This, combined with action and voice feedback, enables interaction with the user, forming a closed loop of proactive and guided dialogue within the voice perception system.

[0040] like Figure 3 As shown, the voice perception system distinguishes between normal dialogue and erroneous dialogue. It collects evaluations and suggestions about the service venue from erroneous dialogues and uses big data analysis to improve services. In normal dialogue interaction, it is divided into proactive dialogue and guided dialogue. Guided dialogue first selects the most effective inquiry options from the voice perception system of the service venue. Proactive dialogue collects user inquiries, analyzes the user's language, tone, and emotions through the big data analysis unit, and uses action feedback and voice feedback to achieve interaction with the user. At the same time, action feedback is achieved by the voice control system sending voice commands to move the limbs of the welcoming robot, thereby realizing human-like interactive actions such as guidance, affirmation, and negation.

[0041] When the above embodiments are applied to real-world scenarios, the voice perception system is divided into: dialogue option preset and filtering. In the service locations of the welcoming robot, through preliminary research and analysis, high-frequency dialogue options are determined. For example, in a hotel scenario, high-frequency dialogue options may include "check-in", "inquire about hotel facilities", "reservation of restaurants", "taxi service", etc.; in a shopping mall scenario, they may be "store navigation", "event inquiries", "member services", "rest area guidance", etc. These dialogue options are pre-stored in the robot's voice interaction database and are classified and prioritized according to the characteristics of different service locations.

[0042] Meanwhile, the voice perception system will proactively initiate inquiries to users based on preset rules and scenarios. When a user enters a certain area of ​​the service area, the robot detects the user's voice or proximity signal through the voice recognition module and immediately initiates guided dialogue; for example, in a hotel lobby, the robot will say in a friendly and enthusiastic voice: "Welcome to our hotel! Do you need to check in or inquire about other services?" Through proactive inquiry, the robot guides the user into the interactive process.

[0043] Furthermore, in addition to language content, the speech perception system uses intonation and sentiment analysis to determine a user's emotional state by analyzing features such as tone, speed, and volume. For example, a user's rapid tone and high volume may indicate anxiety or dissatisfaction, while a calm tone and moderate speed may indicate relaxation and satisfaction. Based on different emotional states, the robot adjusts its response and tone. For instance, for anxious users, the robot will respond faster and use more concise and direct language; for satisfied users, the robot will communicate with a more friendly and enthusiastic tone.

[0044] Example 3: To address the problems of existing welcoming robot bodies in perception and interaction, this example discloses the following technical solution: The welcoming robot body includes a visual perception system for visually observing user expressions, and the visual perception system observes the user's tactile and voice perception, so as to cooperate with the tactile and voice perception systems to improve a more accurate and smooth service experience; when the visual perception system cooperates with the tactile perception system, it performs part touch calibration for head perception, body perception, and limb sensation interactions, and when the visual perception system cooperates with the voice perception system, it calibrates normal conversational inquiries, thereby improving the intelligent service capabilities of the welcoming robot body in service venues.

[0045] like Figure 4As shown, the visual perception system is based on the interaction of the tactile perception system and the voice perception system. During the interactive operation of the welcoming robot, the visual perception system observes the user's facial expressions and demeanor, thereby controlling the tactile perception system and the voice perception system of the welcoming robot to switch modes and provide corresponding interaction modes for users of different ages and emotions. When interacting with the tactile perception system, it provides part calibration, and when interacting with the voice perception system, it provides inquiry calibration, so as to provide a more accurate and smooth service experience.

[0046] When the above embodiments are applied to real-world scenarios, the visual perception system can be multiple high-definition cameras installed on the welcoming robot body, distributed at different positions on the head of the welcoming robot body; for example, a main camera is set in the center of the forehead of the welcoming robot body to fully capture the user's frontal expressions; an auxiliary camera is set near each of the ears on both sides of the welcoming robot body to expand the field of view and ensure that the changes in the user's side expressions can be captured, avoiding the omission of key facial expression information due to angle issues.

[0047] To recognize user facial expressions, an advanced deep learning facial expression recognition algorithm is used to analyze images captured by the camera in real time. This algorithm has been trained on a large number of different facial expression samples and can accurately identify basic facial expressions such as joy, anger, sorrow, and happiness, as well as more subtle facial expression changes, such as widening eyes when surprised or frowning when confused. At the same time, the algorithm can also take into account the impact of environmental factors such as lighting and occlusion on facial expression recognition, and make corresponding optimizations and corrections to improve the accuracy and stability of facial expression recognition.

[0048] Furthermore, the identified facial expression data will be stored to establish a user facial expression database. By analyzing facial expression data from different users in different scenarios, the potential relationship between user facial expressions and service needs can be explored. For example, if the analysis finds that a user shows a surprised expression when seeing a certain display area, it may mean that the display content has aroused the user's interest, and more detailed information can be provided to the user based on this type of expression.

[0049] Dialogue calibration in conjunction with the voice perception system: When a user engages in voice dialogue with the welcoming robot, the visual perception system observes the user's lip movements, facial expressions, and body language; it compares and analyzes these with the voice content recognized by the voice perception system to calibrate the dialogue; for example, when a user says "I want to go to a certain place," but their lip movements and facial expressions indicate that they may be hesitant or uncertain, the visual perception system will relay this information to the robot, which can then further inquire whether the user needs more detailed route guidance or has other needs, making the dialogue more accurate and fluent.

[0050] By combining user facial expressions and body language captured by the visual perception system, the voice perception system can be assisted in recognizing user emotions. While voice alone may not be able to fully and accurately convey a user's emotions, visual information can provide an important supplement. For example, if a user speaks calmly but their facial expression shows anxiety, the visual perception system can convey this emotional information to the robot, allowing the robot to respond more gently and patiently, providing more considerate service and enhancing the user's emotional experience.

[0051] By deeply integrating information from visual, tactile, and voice perception systems, a multimodal interaction mode is formed. By comprehensively analyzing data from these three perception methods, the robot can more fully and accurately understand the user's intentions and needs. For example, when a user touches a part of the robot's body and simultaneously speaks to inquire about relevant information, the robot combines the visual observation of the touch location, the tactile perception of the touch intensity, and the voice content to quickly and accurately respond, providing a more intelligent and efficient service.

[0052] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A perception and interaction system for a welcoming robot, characterized in that, Interactive systems include tactile sensing systems, voice sensing systems, and visual sensing systems; The tactile sensing system, voice sensing system, and visual sensing system are integrated inside the welcoming robot body, enabling tactile, voice, and visual communication and interaction with users. Among them, the welcoming robot interacts with users through two methods: proactive communication and guided communication. During the communication process, the robot uses a visual perception system to observe the user's tone of voice, expression, and body language in real time. The welcoming robot is used in the service area, and the voice perception system collects evaluations of the service area for big data analysis to make improvements.

2. The perception and interaction system of a welcoming robot according to claim 1, characterized in that: The welcoming robot body includes a tactile perception system in conjunction with a visual perception system. The visual perception system analyzes normal touches and accidental touches by people, and centrally analyzes the movement of people who accidentally touch, and learns to improve and reduce accidental touches.

3. The perception and interaction system of a welcoming robot according to claim 2, characterized in that: The tactile sensing system includes head sensing, body sensing, and limb sensing. Head sensing, body sensing, and limb sensing are all displayed through high-brightness feedback to show the interactive tactile sensing areas, and different interactions are achieved for the different head sensing, body sensing, and limb sensing.

4. The perception and interaction system of a welcoming robot according to claim 3, characterized in that: The tactile sensing system includes active touch and guided touch. Active touch interacts with the user through head, body, and limb perception. Touches from different parts of the body are analyzed by an analysis unit and interact with the user in conjunction with motion feedback and voice feedback.

5. The perception and interaction system of a welcoming robot according to claim 4, characterized in that: The tactile perception system includes a guided touch that first activates head perception, body perception, and limb perception to provide high-brightness feedback. This high-brightness feedback, combined with the voice perception system, guides the user's interaction with the tactile perception system. After the touch, feedback is sent to the analysis unit to form a closed loop of active and guided interaction.

6. The perception and interaction system of a welcoming robot according to claim 1, characterized in that: The welcoming robot body includes a voice perception system in conjunction with a visual perception system. The voice perception system collects user dialogues in the environment and gathers evaluations and suggestions about the service venue from abnormal dialogues. Furthermore, the collected dialogues are analyzed using big data to improve the service.

7. The perception and interaction system of a welcoming robot according to claim 6, characterized in that: The voice perception system, in conjunction with the visual perception system, collects normal conversations between the user and the welcoming robot. These normal conversations include both proactive and guided dialogues. Proactive dialogues utilize a big data analysis unit to analyze the user's language, tone, and emotions, and are combined with action and voice feedback to enable interaction with the user.

8. The perception and interaction system of a welcoming robot according to claim 7, characterized in that: The voice perception system includes guided dialogue for selecting frequently used dialogue options in the service area. The system actively asks users for these dialogue options, and then analyzes the user's language, tone, and emotions through a big data analysis unit. Combined with action feedback and voice feedback, it achieves interaction with the user, forming a closed loop of active and guided dialogue in the voice perception system.

9. The perception and interaction system of a welcoming robot according to claim 1, characterized in that: The welcoming robot includes a visual perception system for visually observing user expressions. The visual perception system also observes the user's tactile and voice perception, in order to work with the tactile and voice perception systems to improve a more accurate and smooth service experience.

10. The perception and interaction system of a welcoming robot according to claim 9, characterized in that: When the visual perception system is combined with the tactile perception system, it calibrates the interaction of head perception, body perception, and limb sensation by touch. When the visual perception system is combined with the voice perception system, it calibrates the inquiry of normal conversation, thereby improving the intelligent service capabilities of the welcoming robot in the service venue.

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