Robot interaction method and apparatus, robot, electronic device, and storage medium

Abstract

The application provides a robot interaction method and device, a robot, electronic equipment and a storage medium, and belongs to the technical field of robot control, and comprises the following steps: when the robot is in a first personality mode and is in a non-interaction standby state, the duration of continuous non-interaction is monitored; it is determined that the duration exceeds a preset duration, and the robot is controlled to enter an active cruising mode; the robot is driven to leave the standby position and move in space, and an interaction behavior is initiated when a target object is perceived. The application triggers the mechanism of actively seeking a target and interacting by monitoring the duration of being ignored, breaks the limitation that a traditional robot passively waits for a user to wake up, gives the robot lively and lively personification emotional expression, and significantly improves the initiative of human-computer interaction and the accompanying experience of a user.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a robot interaction method, device, robot, electronic device, and storage medium. Background Technology

[0002] In everyday home or service scenarios, there are clear technical requirements for how robots can present a proactive interactive experience that is lifelike and anthropomorphic.

[0003] To meet these requirements, existing robots typically employ a passively triggered control scheme. Specifically, in standby mode, the robot mainly relies on listening to external input. Only upon receiving a clear wake-up signal from a user's voice or touch can it leave the standby position and initiate interactive behavior towards the target object.

[0004] However, existing interaction solutions heavily rely on explicit external triggers from users. In scenarios where users do not initiate interaction for extended periods, the robot can only remain in a static, non-interactive standby position. Its behavior control is limited to a passive "command-response" mode, unable to autonomously initiate spatial movement and target perception based on its own state evolution. This results in low device utilization and rigid interaction behavior, making it difficult to provide a proactive, companionship experience. Summary of the Invention

[0005] This invention provides a robot interaction method, device, robot, electronic device, and storage medium to address the shortcomings of existing robots that rely excessively on external wake-up commands during interaction, resulting in static standby when there is no user input for a long time and the inability to initiate interaction autonomously based on their own state. The invention enables the robot to automatically trigger a patrol mechanism when it is in a continuous non-interactive state, actively move away from the standby position to move in space, and initiate interaction after sensing the target object, thereby directly improving the initiative and efficiency of the robot's behavior.

[0006] This invention provides a robot interaction method, comprising the following steps: When the robot is in its first personality mode and in a non-interactive standby state, monitor the duration of the robot's continuous non-interactive state. If the duration of continuous non-interaction exceeds a preset duration, control the robot to enter active patrol mode; The active patrol mode is configured to drive the robot away from its current standby position to move in space, and when it senses a target object during the movement, it initiates an interactive behavior with the target object.

[0007] According to a robot interaction method provided by the present invention, the step of determining that the continuous non-interaction duration exceeds a preset duration and controlling the robot to enter an active patrol mode includes: If it is determined that the continuous non-interaction duration exceeds a preset duration, the current battery level of the robot is obtained; Determine whether the current battery level is greater than a preset safe battery level threshold; Once it is determined that the current battery level is greater than the safe battery level threshold, the robot is controlled to enter an active patrol mode.

[0008] According to a robot interaction method provided by the present invention, before monitoring the continuous non-interaction duration of the robot, the method further includes: Receive personality setting instructions for the robot; According to the personality setting instructions, the robot's current operating mode is configured as either the first personality mode or the second personality mode.

[0009] According to a robot interaction method provided by the present invention, when the robot is in a second personality mode, the robot interaction method further includes: In response to a wake-up signal for the robot; Determine whether the wake-up signal contains an activity command; If the activity instruction is included, then the robot is controlled to perform the interactive task corresponding to the activity instruction; If the activity instruction is not included, the robot is controlled to output a preset response message.

[0010] According to a robot interaction method provided by the present invention, when the robot is in a second personality mode, the robot interaction method further includes: Obtain the pre-set activity time points or activity time ranges for the robot; Compare the current system time with the activity time point or the activity time range; If the current system time reaches the activity time point, or the current system time is within the activity time range, control the robot to autonomously wake up and execute a preset interactive activity.

[0011] According to a robot interaction method provided by the present invention, driving the robot to move away from its current standby position for spatial movement includes: Obtain the spatial mapping status of the robot's current environment; The spatial mapping status is determined to be that a valid map exists. Based on the valid map, a patrol route is determined, and the robot is controlled to perform spatial movement based on the patrol route. If the spatial mapping status is determined to be that there is no valid map, the robot's environmental detection sensors are activated, and the robot is controlled to perform spatial movement based on the real-time detection data collected by the environmental detection sensors.

[0012] According to a robot interaction method provided by the present invention, controlling the robot to perform spatial movement based on real-time detection data collected by the environmental detection sensor includes: The robot analyzes the real-time detection data to obtain the location and distance information of obstacles around it. Based on the location information and the distance information, a collision-free safe driving area is determined, and the target's direction of movement is determined from the safe driving area. Based on the distance information, calculate the target's movement speed and single movement distance corresponding to the target's movement direction; The robot is controlled to move in the target direction according to the target speed and the single movement distance.

[0013] According to a robot interaction method provided by the present invention, when a target object is perceived during spatial movement, an interactive behavior is initiated towards the target object, including: Acquire the image features of the target object; Based on the image features, the classification type of the target object is determined; The classification type is determined to be an item, the target object is determined to be a target item, and the robot is controlled to execute a first interaction strategy for the target item. The classification type is determined to be "person", the target object is determined to be the target person, and the robot is controlled to execute a second interaction strategy for the target person.

[0014] According to a robot interaction method provided by the present invention, controlling the robot to execute a first interaction strategy for the target item includes: Based on the image features, obtain the interactive performance instructions corresponding to the target item; Based on the interactive performance instructions, the robot is controlled to output interactive performances for the target item.

[0015] According to a robot interaction method provided by the present invention, controlling the robot to execute a second interaction strategy for the target person includes: Obtain the current hunger status parameters of the robot's built-in virtual pet; Determine whether the current hunger state parameters meet the preset hunger triggering conditions; Once the current hunger state parameters are determined to meet the hunger triggering condition, the robot is controlled to output a feeding interaction request to the target person. If the current hunger state parameters do not meet the hunger triggering condition, the robot is controlled to initiate a voice chat interaction with the target person.

[0016] According to a robot interaction method provided by the present invention, after controlling the robot to output a feeding interaction request to the target person, or actively initiate a voice chat interaction, the robot interaction method further includes: Monitor whether feedback instructions are received from the target person regarding the feeding interaction request or the voice chat interaction; If the feedback instruction is received, control the robot to stop its current spatial movement; Based on the feedback instructions, control the robot to execute the corresponding response action; After the response action is completed, the robot is controlled to enter a non-interactive standby state, and the duration of continuous non-interactive operation is reset to zero to restart the timing.

[0017] According to a robot interaction method provided by the present invention, after determining the target object as the target person, the robot interaction method further includes: When the number of target individuals is determined to be multiple, the identity feature information of each target individual is obtained separately. Based on the identity feature information, query historical interaction records to obtain the interaction priority weights corresponding to each of the target individuals; Based on the interaction priority weight, the main interaction object is determined from the multiple target characters; Accordingly, controlling the robot to execute the second interaction strategy for the target person includes: controlling the robot to execute the second interaction strategy for the main interaction object.

[0018] According to a robot interaction method provided by the present invention, during the process of driving the robot to move away from its current standby position and perform spatial movement, the robot interaction method further includes: The number of times the robot has performed the spatial movement is counted. Determine whether the current number of movements has reached a preset threshold. Determine that the current number of movements has reached the preset number threshold, and obtain preset vivid performance data; While maintaining spatial movement, the robot is controlled to synchronously output the vivid performance data; Alternatively, the robot can be controlled to pause its spatial movement to output the vivid performance data, and then resume its spatial movement after the output is completed. After outputting the vivid performance data, the current number of movements is cleared to zero, and the step of counting the current number of movements performed by the robot in the space is re-executed.

[0019] The present invention also provides a robot interaction device, comprising: An interaction analysis unit is used to monitor the duration of continuous non-interaction of the robot when the robot is in the first personality mode and in a non-interactive standby state. An interactive decision-making unit is used to determine that the continuous non-interaction duration exceeds a preset duration and control the robot to enter an active patrol mode. The active patrol mode is configured to drive the robot away from its current standby position to move in space, and when it senses a target object during the movement, it initiates an interactive behavior with the target object.

[0020] The present invention also provides a robot, comprising: Machine body; A memory, located within the machine body, is used to store computer programs; A controller, located within the machine body and communicatively connected to the memory, is used to execute a computer program stored in the memory to implement the steps of any of the robot interaction methods described above.

[0021] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the robot interaction methods described above.

[0022] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the robot interaction method as described above.

[0023] The robot interaction method, device, robot, electronic device, and storage medium provided by this invention trigger an active search for and interaction mechanism by monitoring the duration of neglect. This breaks the limitation of traditional robots passively waiting for users to wake them up, endows the robot with vivid and lively anthropomorphic emotional expression, and significantly improves the initiative of human-computer interaction and the user's companionship experience. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is one of the flowcharts illustrating the robot interaction method provided by the present invention.

[0026] Figure 2 This is the second flowchart of the robot interaction method provided by the present invention.

[0027] Figure 3 This is the third flowchart of the robot interaction method provided by the present invention.

[0028] Figure 4 This is a flowchart illustrating the response to a wake-up signal in the second personality mode provided by the present invention.

[0029] Figure 5 This is a schematic diagram of the process for autonomous awakening in the second personality mode provided by the present invention.

[0030] Figure 6 This is one of the process diagrams for driving a robot to move in space provided by the present invention.

[0031] Figure 7 This is the second schematic diagram of the process for driving a robot to move in space, provided by the present invention.

[0032] Figure 8 This is a flowchart illustrating the process of initiating interactive behavior to a target object, provided by the present invention.

[0033] Figure 9 This is one of the flowcharts illustrating the execution of the second interaction strategy provided by the present invention.

[0034] Figure 10 This is the second flowchart illustrating the execution of the second interaction strategy provided by the present invention.

[0035] Figure 11 This is a flowchart illustrating the process of determining the main interaction object provided by the present invention.

[0036] Figure 12 This is a flowchart illustrating the output of vivid representation data provided by the present invention.

[0037] Figure 13 This is a schematic diagram of the robot interaction device provided by the present invention.

[0038] Figure 14 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0040] It should be noted that, in the description of this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] The terms "first," "second," etc., used in this invention are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more.

[0042] With the evolution of technology, robots with autonomous walking capabilities have emerged on the market. They can map and move indoors, greatly expanding the physical boundaries of interaction compared to traditional desktop fixed devices.

[0043] However, existing robots with walking capabilities still suffer from significant control deficiencies in practical applications. Specifically, without user intervention, these robots typically remain in a fixed location, such as their charging dock, in a silent standby state. Since charging docks are often located in relatively secluded or hidden corners in the home, this control logic, heavily reliant on external commands for activation, makes the robot easily forgotten and only awakened when the user accidentally remembers and actively interacts with it. This passive and rigid operating mode results in a severely low daily usage rate, hindering its ability to truly fulfill its value as a proactive companion.

[0044] Taking child companion robots as an example, in the current field of intelligent interactive devices, these typically refer to intelligent interactive devices designed specifically for children of a certain age group, such as children aged 0-12. These robots usually integrate underlying hardware architectures such as artificial intelligence voice recognition modules, sensor modules, and cameras, aiming to provide emotional companionship, educational guidance, and safety monitoring through functions such as voice dialogue, facial expression interaction, motion sensing, and content playback. Their core application value lies in alleviating users' loneliness, stimulating learning interest, and assisting in habit formation, thus serving as an effective technological supplement to family companionship.

[0045] To address the technical problem of robots being idle for extended periods in remote corners and having low utilization rates due to a lack of spontaneous behavior, embodiments of the present invention provide a robot interaction method, device, robot, electronic device, and storage medium. In the following detailed embodiments, for ease of understanding and explanation, the robots involved are all illustrated using child companion robots as an example. However, it should be clarified that this setting is merely a feasible descriptive embodiment and should not be considered as a specific limitation on the scope of protection of the present invention. The method provided by the present invention is also applicable to various intelligent entities with autonomous mobility, such as intelligent pet robots and home butler robots.

[0046] Furthermore, before detailing the relevant processes of the robot interaction method provided in the embodiments of the present invention, it should be noted that the robot interaction method provided in the embodiments of the present invention can be executed by various electronic devices with data computing and instruction scheduling capabilities, such as the main control board, microprocessor, central processing unit (CPU) configured inside the robot body, or a cloud-coordinated robot control system. For the sake of brevity and coherence, in the following specific embodiments, the control system or simply the system will be used as the executing entity of the interaction method.

[0047] Figure 1 This is one of the flowcharts illustrating the robot interaction method provided by the present invention, such as... Figure 1 As shown, including but not limited to the following steps: Step 1: When the robot is in the first personality mode and in a non-interactive standby state, monitor the duration of the robot's continuous non-interactive state.

[0048] In practice, the first personality mode can be a predefined behavioral tendency configuration within the system, primarily used to characterize the child companion robot as possessing relatively lively, proactive, and exploratory anthropomorphic extroverted behavioral traits. When the system loads the configuration parameters corresponding to this behavioral tendency configuration, it determines that the robot is currently in the first personality mode.

[0049] Non-interactive standby mode refers to a state where the robot is not currently exchanging information effectively with any external environment or child user, and remains in a fixed position in a low-level dormant or static state, such as being charged on a charging dock or resting in a corner. For example, if the robot's microphone array does not receive any valid wake-up word input, is not triggered to interact by physical touch sensors, and is not in the process of performing a specific playback or follow task, then the robot can be determined to be in a non-interactive standby mode.

[0050] In non-interactive standby mode, the system monitors the robot's continuous non-interactive duration in the background. There are several feasible implementation methods for this monitoring. For example, an independent hardware timer module can be activated within the system to accumulate the time from the moment the robot returns to standby mode; alternatively, the absolute timestamp of the last interactive action completely ending can be obtained from the system log, and the difference between that timestamp and the current real-time timestamp can be calculated in the background; alternatively, a periodic interrupt counter at the software level can be used to accumulate the duration data. This embodiment does not strictly limit this approach.

[0051] Step 2: If the duration of continuous non-interaction exceeds a preset duration, control the robot to enter active patrol mode.

[0052] In this embodiment, the robot will continuously determine whether the obtained continuous non-interaction duration exceeds the preset duration. If it is determined that the continuous non-interaction duration exceeds the preset duration, the robot will be controlled to enter the active patrol mode. If it is determined that the preset duration has not been exceeded, the robot will be controlled to continue to maintain the non-interactive standby state and return to step 1 to continue monitoring the continuous non-interaction duration of the robot.

[0053] In step 2, the preset duration can be a time threshold set internally by the system to trigger the robot's behavior state transition. The specific value of the preset duration can be obtained through various means: it can be a default experience value fixed by the factory system, such as setting it to 2 hours of idle time; it can also be a value that parents can customize and input according to the child's actual daily routine through a parent's mobile application (APP) bound to the robot and send to the control system; or it can be an adaptive time threshold dynamically generated by the control system based on the child's historical active time period through an algorithm, etc. This embodiment does not impose strict limitations on this.

[0054] When the continuous non-interaction timer in the background does not reach the preset duration, it means that the current idle time is still within a reasonable range. The control system does not perform any additional actions but maintains the robot's silent state and continues to perform cyclical monitoring. However, when the continuous non-interaction time exceeds the preset duration, it means that the robot has been in a state of prolonged neglect. At this point, the underlying control logic of the system changes, triggering an internal wake-up command and controlling the robot to enter an active patrol mode. The active patrol mode can refer to the comprehensive operational control logic that allows the robot to transition from a passive listening state to an active spatial exploration and person-finding state.

[0055] Specifically, the active patrol mode can be configured to: drive the robot to move away from its current standby position to move in space, and when it senses a target object during the spatial movement, initiate an interactive behavior with the target object.

[0056] The current standby location is usually the robot's charging dock or a secluded corner indoors. The control system can drive it away and move through space in several ways: it can issue random exploration commands to the chassis drive module, allowing it to roam freely within the current drivable indoor area without a fixed trajectory; or it can call upon a pre-built indoor environment map to navigate to pre-defined hotspots, such as the living room play area or children's room, where the target object is likely to be active.

[0057] During spatial movement, the control system can synchronously activate the robot's peripheral environment perception module. The peripheral environment perception module can perceive target objects by activating a visual camera to capture real-time images and using image recognition algorithms to lock onto the outline of a child or pet in front; it can also scan for dynamic obstacles in the environment using infrared sensors or radar; or it can listen to characteristic sounds in the environment using sound source localization technology, etc. This embodiment does not impose strict limitations on these methods.

[0058] Once the control system successfully locks onto the target object through the sensing module, it will halt the current roaming movement and control the robot to initiate interactive behavior towards the target object. This interactive behavior can be implemented in multiple modes, such as: actively playing nursery rhymes or greetings through the voice broadcast module, such as "Come and play with me!"; performing anthropomorphic actions through mechanical joints, such as spinning or approaching; or displaying vivid dynamic expressions on the facial screen, thereby actively attracting the target object's attention.

[0059] The technical solution provided by this invention continuously monitors the robot's non-interactive duration under the configuration of a first personality mode. When the non-interactive duration exceeds a set threshold, the robot is actively driven to leave its remote charging dock or standby position to explore and find target objects in the indoor environment for interaction. This breaks the traditional robot's defect of needing explicit wake-up by the user to break out of its static state. The robot can spontaneously find interaction objects based on its idle time, fundamentally solving the technical problem of robots being easily forgotten in corners and resulting in low usage. This significantly improves the robot's behavioral initiative and companionship value in the home setting.

[0060] Figure 2 This is the second flowchart illustrating the robot interaction method provided by the present invention, as shown below. Figure 2 As shown, based on the above embodiments, determining that the continuous non-interaction duration exceeds a preset duration and controlling the robot to enter the active patrol mode may specifically include, but is not limited to, the following steps: First, if it is determined that the continuous non-interaction duration exceeds a preset duration, the current battery level of the robot is obtained.

[0061] When the control system determines that the robot's non-interactive waiting time has exceeded the preset duration, it will first obtain the robot's current battery level before actually issuing the command to move the chassis. The current battery level is used to characterize the remaining available power of the robot's internal battery, such as a lithium-ion battery pack. There are various ways to obtain the current battery level. For example, it can directly read the hardware register data of the Battery Management System (BMS) through the underlying communication interface to obtain the accurate remaining battery percentage or real-time available capacity; it can also obtain the current output voltage of the battery through a hardware-level voltage sampling circuit and estimate it in combination with a preset discharge curve algorithm; it can also directly call the system power status parameters broadcast by the underlying operating system (such as Android or ROS system), etc. This embodiment does not strictly limit these methods.

[0062] Further, it is determined whether the current battery level is greater than a preset safe battery level threshold.

[0063] After acquiring real-time current battery data, the control system further compares it with a preset safe battery threshold. The safe battery threshold is a pre-set energy protection warning line, its core purpose being to ensure the robot has sufficient physical power to support a complete exploration outside the charging dock and subsequent return trip. There are several feasible implementation methods for setting the safe battery threshold: it can be a fixed empirical parameter set at the factory, such as a default setting of 20% or 30% of the total internal battery capacity; it can also be a value set based on the user's home size, such as a higher setting of 40% of the total internal battery capacity for large homes and 20% for small homes; or it can even be a floating battery reference value dynamically calculated based on the average battery consumption of previous patrols.

[0064] Finally, once it is determined that the current battery level is greater than the safe battery level threshold, the robot is controlled to enter active patrol mode.

[0065] If, after comparison, it is determined that the current battery level is greater than the preset safe battery threshold, it indicates that the robot currently has sufficient battery life. At this point, the control system will officially issue the patrol command, controlling the robot to enter active patrol mode and drive it away from its current standby position to find a target object and initiate interaction.

[0066] Conversely, if the current battery level is determined to be less than or equal to the aforementioned safe battery level threshold, it indicates that the robot's remaining battery power is insufficient to support its safe departure, spatial movement, and subsequent possible interactive actions. In this case, even if the continuous non-interaction duration has met the timeout trigger condition, the control system will control the robot to continue in a non-interactive standby state, for example, continuing to rest safely on the charging dock to replenish its power, and then return to continue executing the monitoring logic. Simultaneously, this embodiment can also output a low battery warning message via voice or screen to avoid performing blind movement actions.

[0067] This invention introduces a pre-emptive power verification mechanism before the robot is scheduled to trigger active patrol mode after a non-interaction timeout. Only when the robot's current power level is confirmed to be greater than the safe power threshold is it allowed to leave the standby position. This objectively avoids the situation where the robot forcibly initiates spatial movement in a low power state, which could lead to unexpected power outages and shutdowns due to complete power depletion during patrol or interaction. This ensures the robot's continuous safety during spatial movement and avoids situations where users need to manually move the robot back to its charging station due to power failure. This effectively improves the stability and self-protection capabilities of the device.

[0068] Figure 3 This is the third flowchart illustrating the robot interaction method provided by the present invention, as shown below. Figure 3 As shown, this embodiment further includes the following steps before monitoring the continuous non-interaction duration of the robot: Receive personality setting instructions for the robot; According to the personality setting instructions, the robot's current operating mode is configured as either the first personality mode or the second personality mode.

[0069] Specifically, personality setting instructions can be control signals used to globally set the robot's behavioral tendencies and underlying operating logic. There are several feasible implementation methods for receiving personality setting instructions. For example, they can receive network configuration messages sent by associated mobile applications or cloud servers through a built-in wireless communication module, such as Wi-Fi or Bluetooth; they can also acquire user voice setting instructions, such as "Please keep quiet," through a microphone array on the robot itself, and extract the instruction content using a voice semantic parsing algorithm; or they can directly generate the personality setting instruction locally by detecting user touch input from physical buttons or touchscreens on the robot itself.

[0070] After receiving the aforementioned personality setting instructions, the control system will parse the personality setting instructions, extract the corresponding personality configuration identifier, and then modify the underlying behavioral parameters of the system to determine and configure the robot's current operating mode as either the first personality mode or the second personality mode.

[0071] The first personality mode corresponds to an extroverted and lively behavioral tendency. As shown in the previous embodiment, when the control system is configured with the first personality mode, it will execute the control logic of monitoring the duration of continuous non-interaction and driving the robot into the active patrol mode. The second personality mode corresponds to an introverted and quiet behavioral tendency. In this second personality mode, the robot's underlying spatial movement scheduling logic will be changed. It will not automatically trigger the patrol action of leaving the standby position in the non-interactive state, but will adopt other control mechanisms that are adapted to it.

[0072] Combination Figure 3 As shown, when the control system configures the operating mode to the first personality mode according to the personality setting instruction, it enters the subsequent steps of monitoring the continuous non-interactive duration of the robot when it is in a non-interactive standby state. These steps will not be described in detail here.

[0073] Before performing specific timeout monitoring and patrol control, this invention incorporates a method for receiving personality setting instructions and configuring operating modes. This means that by parsing personality setting instructions, the robot's operating mode can be configured differently between a first personality mode and a second personality mode. This changes the limitation of the robot's single and fixed behavioral logic, and enables switching between a control mode that triggers active spatial patrol and a control mode that does not actively perform spatial patrol, thus meeting the interactive control needs under different usage environments or user preferences.

[0074] Figure 4 This is a flowchart illustrating the response to a wake-up signal in the second personality mode provided by the present invention, as shown below. Figure 4 As shown, when the control system configures the robot's current operating mode to the second personality mode according to the personality setting instruction, the method may include the following steps: First, in response to a wake-up signal for the robot.

[0075] In the second personality mode, the robot will not automatically trigger the chassis to actively patrol the space due to timeout in the standby state. Instead, it will passively listen for and respond to external wake-up signals.

[0076] There are several feasible ways to trigger the wake-up signal. For example, the robot's microphone array can collect ambient audio and generate a voice wake-up signal when it matches a preset wake-up word, such as "Xiaoming Xiaoming". Alternatively, the robot's capacitive touch sensor can detect a user's patting or stroking action and generate a physical trigger signal. Or, the robot can receive a remote wake-up data packet from an associated mobile application via a wireless communication module. This embodiment does not specifically limit the specific methods used.

[0077] Upon detecting any of the above types of wake-up signals, the control system immediately switches the robot from a low-power standby state to an active state ready to receive instructions.

[0078] Furthermore, the control system will determine whether the wake-up signal contains an activity command.

[0079] After successfully responding to the wake-up signal, the control system will parse the data packet or accompanying audio stream carried by the wake-up signal to determine whether it contains an activity command.

[0080] Activity instructions can be explicit control commands that require the robot to perform specific actions, play content, or perform specific functions. In one specific implementation, if the wake-up signal is voice input, the control system can use Natural Language Processing (NLP) algorithms to perform semantic analysis on the voice text, extracting whether there are words or syntactic structures with clear action intentions, such as "play nursery rhymes," "follow me," or "go to the living room." If the wake-up signal is a network data packet, the system directly analyzes whether the payload of the network data packet contains a specific task instruction code. If the wake-up signal is physical touch, the system can make a judgment based on the preset interactive gestures of the touch, such as a long press indicating a specific follow instruction, and a short press only indicating wake-up.

[0081] Finally, if the wake-up signal is determined to contain the activity instruction, the control system will control the robot to perform the interactive task corresponding to the activity instruction.

[0082] Specifically, if the wake-up signal is determined to contain a clear activity command after analysis, the control system will directly mobilize the robot's hardware resources and software processes to execute the interactive task corresponding to that activity command. For example, if the analyzed activity command is to play a specific story, the controller will call the audio decoding module and speaker to perform the audio playback task; if the activity command is a movement command, the controller will schedule the chassis drive motor and navigation algorithm to control the robot to move to the designated target location.

[0083] Conversely, if the activity instruction is not included, the robot is controlled to output a preset response message.

[0084] Combination Figure 4 As shown, if the wake-up signal is merely a simple wake-up action, such as the user simply uttering the robot's wake word or briefly pressing a touch button on the robot without issuing any subsequent substantive instructions—that is, if it is determined not to contain the aforementioned activity command—the control system will control the robot to output preset response information. This preset response information is used to provide feedback to the user that the robot has been successfully woken up and is in a listening state.

[0085] In practice, the response information can be a short prompt tone or standard script output by the voice module, such as playing "I am here, please give me instructions", or a dynamic icon that is listening displayed on the face screen, or the ring-shaped LED indicator array on the device.

[0086] This invention, through a second personality mode, performs in-depth analysis of the received wake-up signal to distinguish between simple wake-up and wake-up with a substantial task. When no specific instruction is included, only a basic response is provided, while when an instruction is included, the task is executed directly. This avoids blindly executing preset actions or getting stuck in processing wait when only a single wake-up signal is received, enabling the robot to accurately and quickly respond to the user's interaction needs while remaining quiet and not disturbing the user.

[0087] Figure 5 This is a schematic diagram of the process of autonomous awakening in the second personality mode provided by the present invention, such as... Figure 5 As shown, when the control system configures the robot's current operating mode to the second personality mode, the robot interaction method provided in this embodiment may further include: Obtain the pre-set activity time points or activity time ranges for the robot; Compare the current system time with the activity time point or the activity time range; If the current system time reaches the activity time point, or the current system time is within the activity time range, control the robot to autonomously wake up and execute a preset interactive activity.

[0088] In the second personality mode, although the robot will not perform extended active patrols based on non-interaction duration, in order to meet the companionship needs under specific daily routines, this embodiment will maintain a time-dimensional triggering mechanism.

[0089] Specifically, the activity time point mentioned above can refer to a precise trigger time, such as the set morning wake-up time of "7:00 am" or the evening bedtime reminder time of "21:00 pm". The activity time range can be a continuous period of time with a start and end time, such as the children's afternoon playtime period of "16:00-17:00".

[0090] The two time parameters, namely the activity time point or the activity time range, can be obtained by reading the local configuration table stored in the internal memory, or by receiving the scheduled task remotely issued by the parents through the wireless communication module using the mobile application, or by extracting the user's high-frequency active time period through independent analysis based on the historical interaction logs in the recent period. This embodiment does not make specific limitations on this.

[0091] After obtaining the aforementioned time parameters, the control system can continuously acquire the robot's current local real-time clock time as the current system time by running a timer or time interrupt service in the background, or by directly acquiring the current system time through a network time synchronization protocol. Subsequently, the obtained current system time is compared with preset time parameters such as activity time points or activity time ranges to determine whether the set activity time point has been reached or the agreed activity time range has been reached.

[0092] If, after comparison, it is determined that the current system time precisely matches the set activity time point, or falls within the set activity time range, then the current silent standby state is interrupted, the relevant hardware modules of the robot are actively woken up, and the robot is controlled to execute the preset interactive activities bound to that time point.

[0093] The preset interactive activities can be pre-set. For example, when it is time to wake up in the morning, the interactive activity could be to control the speaker to play a gentle good morning nursery rhyme and display an animation of the sun rising on the screen; when it is time for the afternoon school dismissal, the interactive activity could be to drive the robot away from the charging dock and perform a welcome home dance in the living room area.

[0094] Conversely, if the comparison result indicates that the current system time has not reached the corresponding activity time point and is not within the activity time range, the control system will not trigger any additional actions. Instead, the robot will remain in a silent standby state and continue to cycle through the aforementioned time comparison steps.

[0095] This invention introduces a timed wake-up mechanism based on preset time points or time ranges in the second personality mode, enabling the robot to leave standby mode and perform corresponding interactive activities even when the quiet configuration of the timed active patrol is disabled. This balances the dual needs of not disturbing users in daily life and providing timed companionship at critical moments, further improving the flexibility of the robot's control strategy in home scenarios.

[0096] Figure 6 This is one of the process diagrams for driving a robot to move in space provided by the present invention, such as... Figure 6 As shown, when the robot is in active patrol mode, driving the robot to move away from its current standby position for spatial movement can include the following methods: Obtain the spatial mapping status of the robot's current environment; The spatial mapping status is determined to be that a valid map exists. Based on the valid map, a patrol route is determined, and the robot is controlled to perform spatial movement based on the patrol route. If the spatial mapping status is determined to be that there is no valid map, the robot's environmental detection sensors are activated, and the robot is controlled to perform spatial movement based on the real-time detection data collected by the environmental detection sensors.

[0097] In practice, when the robot is about to perform active spatial movement, the control system will first perform a self-check on the spatial mapping status of its current environment.

[0098] Spatial mapping status indicates whether the robot's internal storage system has built, downloaded, saved, or updated navigation map data that matches the current indoor environment. The control system can determine the spatial mapping status by directly querying the internal navigation storage module and reading the integrity check flag or version number of the map data file; alternatively, it can activate localization algorithms, such as Simultaneous Localization and Mapping (SLAM), to collect a small number of current environmental features and match them with feature points from historical local maps, using the matching confidence level to evaluate the spatial mapping status. Additionally, it can send network requests to the associated cloud server to verify whether a usable cloud-downloaded map exists in the current Wi-Fi environment, thus determining whether the internal storage system contains the latest navigation map data.

[0099] After obtaining the spatial mapping status, the control system will further determine whether the status meets the conditions for the existence of a valid map. A valid map does not simply mean that the navigation map data exists, but rather that the navigation map data has a complete coordinate system, clear obstacle boundaries, and can support the current path planning calculations.

[0100] If, after evaluation, it is determined that a valid map of the current environment exists in the internal storage system, such as if the robot has already completed global mapping in the home environment, then a global path planning algorithm (such as Dijkstra's algorithm) can be directly invoked to control the robot to determine a patrol route based on the valid map, and then control the robot to perform spatial movement based on the patrol route.

[0101] In practice, the control system can select hotspots in the home environment, such as the center of the living room or the children's room, as waypoints within the effective free-roaming area of ​​the map, generating one or more continuous patrol routes. Subsequently, the coordinate sequence of this patrol route is sent to the motion control module of the robot chassis, driving the robot to perform global navigation based on the coordinate sequence. This spatial movement control method avoids the robot repeatedly entering dead ends or spinning in circles within extremely small areas.

[0102] Conversely, if the system determines that it is booting up in a new environment for the first time, the navigation map data is corrupted, or the environment has changed drastically, resulting in the absence of a valid map, the control system needs to adopt a degraded control strategy. For example, it might activate the environmental detection sensors mounted on the robot. These sensors could include LiDAR, RGB-D depth cameras, ultrasonic ranging arrays, and infrared anti-fall sensors. In this state, the control system can navigate independently of pre-set global coordinates, instead relying on real-time reading of point cloud data or ranging values ​​sampled at high frequencies by the sensors. It can then employ reactive local obstacle avoidance navigation. Throughout this navigation process, it can detect the physical boundaries ahead and around the robot in real time, turning when encountering obstacles, and performing dynamic, random, autonomous roaming in unknown physical spaces.

[0103] This invention provides a solution for obtaining a spatial map of the current environment before driving the robot to move in space. If a valid map exists, the robot can use global data to plan an efficient roaming route. If a valid map is lacking, the robot can call the configured sensors to detect data in real time to ensure safe autonomous roaming. This allows the robot to adapt to various complex indoor spaces, from unfamiliar to familiar, avoiding the inability to leave the standby position or collision deadlock during movement due to the lack of a map, thus ensuring the robot's environmental adaptability during autonomous roaming.

[0104] Figure 7 This is the second schematic diagram of the process for driving a robot to move in space provided by the present invention, as shown below. Figure 7 As shown, based on the above embodiments, if it is determined that there is no valid map in the internal storage system, controlling the robot to perform the spatial movement based on the real-time detection data collected by the environmental detection sensor may specifically include the following steps: Step 11: Analyze the real-time detection data to obtain the location and distance information of obstacles around the robot.

[0105] Real-time detection data mainly consists of raw data streams generated by environmental sensors during high-frequency scanning of the environment, such as two-dimensional or three-dimensional point cloud data and depth image arrays. After acquiring this real-time detection data, this embodiment can call some built-in data optimization algorithms to perform data filtering, noise reduction, and feature extraction. Through analysis, the position information and corresponding distance information of surrounding obstacles, such as furniture edges, walls, and toys left on the ground, relative to the robot's local coordinate system can be accurately extracted. For example, the azimuth angle of the obstacle is 30 degrees directly in front of the robot, 90 degrees to the left, etc., and the physical distance between the obstacle and the center or edge of the robot.

[0106] Step 12: Based on the location information and the distance information, determine a collision-free safe driving area, and determine the target movement direction from the safe driving area.

[0107] After acquiring the distribution characteristics of surrounding obstacles, the controller system can eliminate spatial orientations that are less than the preset safety collision avoidance threshold, thereby extracting a continuous free space in the robot's local environment that allows the chassis size to pass smoothly. This free space is the collision-free safe driving area.

[0108] After determining the safe driving area, the next target movement direction can be further determined from it. For example, a random direction can be selected within the allowable sector angle of the safe driving area to achieve random indoor roaming; local path optimization rules can be used to automatically calculate and select the direction of the center opening farthest from the obstacle as the target movement direction; edge-following logic can also be set to select a smooth direction along the wall outline for cruising, etc.

[0109] Step 13: Based on the distance information, calculate the target movement speed and single movement distance corresponding to the target movement direction.

[0110] Furthermore, to ensure the robot's safety during mapless navigation and to simulate realistic exploration behavior, this embodiment dynamically calculates the underlying dynamic parameters—namely, the target's velocity and the distance traveled in a single movement—after determining the target's direction of motion, based on the specific distance information in that direction. In practice, linear mapping or piecewise function algorithms can be used for this calculation.

[0111] In one alternative implementation, if the distance in front of the target in the direction of movement is large, such as detecting an open area more than 2 meters ahead, a higher target speed is calculated and a longer single movement distance is assigned.

[0112] Conversely, if it is determined that the space ahead is narrow and the distance is short, the robot's target movement speed will be reduced accordingly and the single movement distance will be shortened so that it can stop in time before approaching the obstacle and carry out the next round of detection planning.

[0113] Step 14: Control the robot to move in the target direction according to the target speed and the single movement distance.

[0114] Finally, the control system can encapsulate the calculated speed, distance, and direction parameters into chassis motion control commands, and send them to the robot's chassis motor drive module via the internal communication bus.

[0115] After receiving the command, the chassis motor drive module controls the drive wheels to move in the target direction at the specified target speed until the cumulative mileage reaches the set single movement distance. After completing this local movement trajectory, it will return to read and parse the latest real-time detection data. By continuously repeating the above steps, a continuous and safe indoor autonomous patrol route is pieced together in an environment without effective maps.

[0116] This invention extracts the position and distance features of obstacles by analyzing environmental detection data in real time, and then dynamically calculates the safe driving area without collision, the direction of movement, and the matching speed and single driving distance. This effectively avoids the risk of collision and fall or getting stuck in place caused by the robot blindly moving in a scenario without an effective map, enabling the robot to autonomously, smoothly and safely conduct spatial patrol and exploration in a new indoor environment.

[0117] Figure 8 This is a flowchart illustrating the process of initiating an interactive action on a target object, as provided by the present invention. Figure 8 As shown, when the robot is in active patrol mode and senses a target object, it initiates an interactive behavior towards the target object, which may specifically include the following implementation steps: Acquire the image features of the target object; Based on the image features, the classification type of the target object is determined; The classification type is determined to be an item, the target object is determined to be a target item, and the robot is controlled to execute a first interaction strategy for the target item. The classification type is determined to be "person", the target object is determined to be the target person, and the robot is controlled to execute a second interaction strategy for the target person.

[0118] As a feasible embodiment, during the robot's spatial movement, once the environmental detection module detects the presence of a physical entity within a preset range, the control system immediately activates the visual acquisition module located at the front end of the robot. This visual acquisition module can be a monocular high-definition RGB camera, a binocular stereo vision sensor, or an RGB-D depth camera with depth detection capabilities, etc.

[0119] The control system uses the aforementioned visual acquisition module to capture single-frame images or record continuous short video streams of the locked entity area. Then, it calls the underlying image processing algorithm to perform preprocessing such as grayscale conversion, edge detection, or contour cropping, thereby extracting image features containing target shape, color texture, and even key points of the human skeleton.

[0120] After obtaining structured image features, this embodiment can input them into a pre-trained classification model for feature matching and recognition analysis. For example, a pre-trained lightweight convolutional neural network model can be run directly on a local hardware accelerator to quickly output category labels containing confidence scores. Alternatively, if network bandwidth allows, the image features after feature dimensionality reduction can be uploaded to a cloud server to utilize cloud computing power for high-precision comparison and then transmit the classification results back. Through deep analysis, the target object can be accurately classified into a preset type, such as a person, a specific item (toy, furniture, etc.), or an animal.

[0121] Furthermore, if the analysis determines that the current image features belong to a static, inanimate object in the environment, such as children's scattered building blocks, picture books, or water cups and fruits in the home, then the target object can be accurately marked as the target item, and the first interaction strategy for the target item can be quickly loaded.

[0122] The core of the first interaction strategy lies in simulating the exploration behavior of anthropomorphic or anthropomorphic (such as virtual pets). In specific implementation, the first interaction strategy can be to control the chassis to slowly approach the target object and output dynamic micro-expressions representing observation or curiosity on the facial screen; or it can call a speech synthesis engine to output corresponding vivid voice broadcasts based on the specific object recognition results, such as "Hey, I found a red apple" or "Who threw this toy away?", thereby achieving targeted interactive performance on target objects randomly identified during the parade.

[0123] Another possibility is that if the recognition result of the above image features belongs to human contours or facial features, and the target object is classified as a person, such as a family member or child, the control system will mark the target object as the target person and directly switch to the second interaction strategy specifically for people.

[0124] Compared to the initial curiosity and exploration of objects, the second interaction strategy is generally set to focus more on emotional communication and deep social companionship. In practice, the robot's body or gimbal can be controlled to turn so that the camera and screen are facing the target person, and it can proactively output enthusiastic voice greetings, such as "Finally found you, play with me for a while," or perform a happy robotic arm swinging motion, in order to quickly establish a two-way interactive connection between the human and the machine.

[0125] This invention, by introducing image feature acquisition and visual classification recognition after locking onto the target object, can quickly distinguish whether the object encountered ahead is an inanimate static object or a person with social needs. This allows for the construction of differentiated interaction methods for entities of different natures. Based on this, differentiated interaction strategies such as curiosity exploration or social interaction can be automatically issued. This enables the robot's interactive feedback during autonomous navigation to completely move away from monotonous mechanical triggers, thereby giving the robot the intelligent interaction capability to dynamically adapt to different target objects in the environment. This greatly enhances the rationality and anthropomorphic vividness of human-computer interaction scenarios.

[0126] Based on the above embodiments, as an optional embodiment, when the robot determines that the entity in front of it is a static object during its patrol, controlling the robot to execute a first interaction strategy for the target object may specifically include: Based on the image features, obtain the interactive performance instructions corresponding to the target item; Based on the interactive performance instructions, the robot is controlled to output interactive performances for the target item.

[0127] Specifically, when the control system identifies the target object as an inanimate object, such as scattered building blocks, a picture book on the ground, a table leg, or fruit, through visual classification, it will not simply regard it as a physical obstacle that needs to be avoided, but will further generate specific interaction logic based on the extracted image features.

[0128] Assuming the identified target item is an apple, the item category label can be extracted from the image features and matched in a local pre-built interaction mapping database to retrieve specific interactive behavior instructions associated with the apple item category.

[0129] As an alternative implementation, a personalized script instruction highly correlated with the object characteristics of an apple can also be generated in real time through a large language model or cloud server, combining color or shape attributes in image features.

[0130] Optionally, for unknown items that cannot be accurately categorized, a default general interactive expression command representing doubt or exploration can be assigned.

[0131] After successfully parsing or acquiring the corresponding interactive performance instructions, this embodiment will schedule the various underlying execution modules of the robot body to output multimodal interactive performances for the target object. Here, interactive performances can refer to the spontaneous behavior of the robot simulating a living entity, such as a pet or child, when encountering a specific still object. For example, if the target object is identified as a picture book, the control system can control the chassis to move closer to the picture book, display a dynamic expression of someone wearing a magnifying glass and carefully observing it on the facial screen, and play the voice message "Wow, there's an interesting book here, I really want to read it."

[0132] For example, if the target item is identified as an unknown and novel object, the robot can be controlled to circle around the item and scan it, such as simulating the sniffing action of a pet, and emit similar questioning electronic sound effects.

[0133] This invention extracts image features of target objects to dynamically match and output corresponding interactive responses, giving the robot the ability to generate curiosity and interactive feedback towards static, inanimate objects in the home environment. This allows the robot to no longer rigidly execute cold, impersonal path avoidance during its patrols without finding the target person, but to simulate the lively behavior of a real pet or child walking around, stopping, looking around, and exploring the surrounding objects. This greatly enriches the fun and anthropomorphism of environmental exploration and further deepens the lifelike experience of the device in the lively personality mode.

[0134] Figure 9 This is one of the flowcharts illustrating the execution of the second interaction strategy provided by the present invention, such as... Figure 9 As shown, after determining the classification type as "person," the control of the robot to execute a second interaction strategy targeting the target person may specifically include: Obtain the current hunger status parameters of the robot's built-in virtual pet; Determine whether the current hunger state parameters meet the preset hunger triggering conditions; Once the current hunger state parameters are determined to meet the hunger triggering condition, the robot is controlled to output a feeding interaction request to the target person. If the current hunger state parameters do not meet the hunger triggering condition, the robot is controlled to initiate a voice chat interaction with the target person.

[0135] In practice, to enhance the fun of the children's companion robot, this embodiment will install an electronic pet training program inside the robot, that is, a built-in virtual pet.

[0136] The current hunger status parameter refers to a numerical identifier used in an electronic pet training program to characterize the virtual pet's satiety level or energy reserves. The current hunger status parameter can be determined by directly reading the energy variable value that linearly decays over time during the background training process, or by calculating a dynamic satiety percentage based on the user's historical feeding frequency and food types, or by directly obtaining linked virtual parameters that are tied to the robot's actual remaining battery power. This embodiment does not specifically limit this method.

[0137] After obtaining real-time hunger status parameters, they can be logically compared with the system's preset hunger trigger conditions. Hunger trigger conditions can be a fixed numerical threshold, such as setting a condition to be met when the satiety level is below 30%; they can also be a state enumeration label, such as the parameter state dropping from healthy to hungry; or they can be trigger conditions that are dynamically adjusted in combination with the current time period, such as appropriately increasing the hunger trigger threshold parameter when it is close to children's mealtime to create a resonance in the scene, etc.

[0138] If, after comparison, it is determined that the built-in virtual pet has reached the hunger threshold, a specific task instruction will be generated to control the robot to send a feeding interaction request to the target person in front of it. This feeding interaction request can be displayed in a multimodal manner: for example, the robot's facial screen can display a vivid animation of the virtual pet drooling or holding an empty bowl, while simultaneously using a speech synthesis module to output a coquettish prompt, such as "My tummy is hungry, please feed me something delicious," or even control the robot's robotic arm to make gestures as if begging for food. Through these multimodal displays, users can be guided to complete the feeding interaction by clicking the screen, displaying a specific physical card, or responding with voice.

[0139] If, after comparison, it is determined that the current hunger status parameters of the built-in virtual pet have not triggered the hunger condition (i.e., the built-in virtual pet is well-fed or healthy), the control system skips the nurturing interaction logic and instead controls the robot to directly initiate regular social communication with the target person, that is, to proactively initiate a voice chat interaction. In specific implementation, the controller can use a microphone and speaker array, combined with a built-in dialogue tree or natural language model, to output open-ended conversational phrases, such as "Did you have a good day at school?" or "Let's play a guessing game together," thereby guiding the target person into a multi-round emotional companionship scenario.

[0140] This invention innovatively introduces the state parameters of a built-in virtual pet as the basis for logical branches during social interactions with a target person. It deeply integrates the electronic nurturing game in the virtual space with the physical patrol and person-finding in the physical space. When the virtual pet is hungry, it actively asks for food, and when it is full, it initiates companionship and chat. This differentiated interaction method based on the autonomous evolution of state parameters accurately targets the psychological characteristics of children who love to take care of pets, significantly enhances the fun of human-computer interaction, and further strengthens the emotional companionship value of the robot.

[0141] Figure 10 This is the second flowchart illustrating the execution of the second interaction strategy provided by the present invention, as shown below. Figure 10 As shown, after controlling the robot to output a feeding interaction request to the target person, the robot interaction method provided in this embodiment may further include the following steps: Monitor whether feedback instructions are received from the target person regarding the feeding interaction request or the voice chat interaction; If the feedback instruction is received, control the robot to stop its current spatial movement; Based on the feedback instructions, control the robot to execute the corresponding response action; After the response action is completed, the robot is controlled to enter a non-interactive standby state, and the duration of continuous non-interactive operation is reset to zero to restart the timing.

[0142] In practice, when the robot sends a feeding request or initiates a voice chat, the control system opens a time window (e.g., waits 10 seconds) to continuously listen for and obtain feedback from the target person. This feedback can be a voice response captured by the microphone array, such as "Here's an apple for you," or it can be detected by the physical touch sensor on the robot's body, such as the target person touching the robot's head. Alternatively, it can be detected by the front-facing camera scanning and recognizing a physical recognition card with a specific food pattern shown to it by a child. It can also be a virtual feeding data package sent by the parent through a linked mobile application.

[0143] Combination Figure 10 As shown, if no valid feedback is detected within the set waiting time window—for example, if a child is engrossed in watching TV and ignores the robot, or the target person has turned and left—it means that the interaction attempt to approach or ask for food has failed to establish a two-way connection. In this case, to prevent the robot from remaining stationary and in a waiting state, the control system will issue a recovery command, controlling the robot to continue its current spatial movement. This involves restarting the chassis drive module, allowing the robot to continue exploring the indoor environment to find the next potential target.

[0144] Conversely, if a feedback command is successfully received during the waiting period, it indicates that the target person has been successfully attracted and engaged in the interaction. At this point, the control system will immediately send a stop command to the chassis, controlling the robot to halt its current spatial movement and bring it to a stable stop in front of the target person, ensuring the safety of subsequent interactions and maintaining visual focus. Subsequently, the received feedback command will be parsed, and the robot will execute the corresponding response action based on the feedback command.

[0145] For example, if the received feedback instruction is a hamburger card shown by a child, the corresponding response could be to play a vivid animation of a virtual pet eating a hamburger on the screen, simultaneously increase the built-in virtual pet's satiety parameter, and play a thank-you voice message "That's delicious, thank you" through the speaker.

[0146] For example, if the feedback command is a physical touch, the response could be to display a happy, squinting expression on the screen, accompanied by a mechanical swaying motion. If the feedback command is a voice chat reply, the corresponding response could be to call a large language model to generate and output the audio for the next round of dialogue, thus initiating multiple rounds of voice interaction.

[0147] Once the aforementioned feeding or chat responses are fully executed, marking the end of the lifecycle of this proactively initiated interactive event, the control system will gradually shut down the high-power sensing and computing modules, controlling the robot to enter a non-interactive standby state.

[0148] In practice, the robot can directly enter a dormant state at its current location or automatically navigate back to the charging dock using its internal map for recharging. Meanwhile, to maintain the rationality of its behavioral logic, the controller will reset the continuous non-interaction time to zero and restart the timing process, clearing the previously accumulated neglected time and resuming background monitoring from scratch.

[0149] The robot interaction method provided in this invention not only ensures that users receive positive emotional value feedback after successful proactive interaction, but also ensures that the robot will not frequently and excessively disturb users in a short period of time by resetting the timer. This achieves a perfect balance between initiative and restraint, and enhances the real companionship experience in the home setting.

[0150] Figure 11 This is a flowchart illustrating the process of determining the main interaction object provided by the present invention, such as... Figure 11 As shown, after identifying the target object as the target person, considering that in real family environments there are often multiple family members simultaneously within the robot's field of vision, the robot interaction method provided in this embodiment may further include the following process: When the number of target individuals is determined to be multiple, the identity feature information of each target individual is obtained separately. Based on the identity feature information, query historical interaction records to obtain the interaction priority weights corresponding to each of the target individuals; Based on the interaction priority weight, the main interaction object is determined from the multiple target characters; Accordingly, controlling the robot to execute the second interaction strategy for the target person includes: controlling the robot to execute the second interaction strategy for the main interaction object.

[0151] In practice, once the visual acquisition module or perception module extracts human features, it can use target detection algorithms (such as the YOLO series algorithms) or human skeleton point recognition algorithms to analyze the number of human contours or face bounding boxes in the current perceived image or perception range.

[0152] If analysis determines that there is only one target person within the current perception range, such as when only a child is playing alone in the living room, then that target person is directly set as the main interaction object by default, and a second interaction strategy is triggered for that main interaction object.

[0153] If analysis determines that two or more target individuals are detected simultaneously within the current perception range, such as a parent and a child sitting together on a sofa, then a deeper level of identity recognition logic will be activated to obtain the identity feature information of each target individual in the image.

[0154] One of the following methods can be used to obtain identity information: call a face recognition algorithm to extract the facial feature vectors of each target person; or, obtain conversation sounds in the environment through a microphone array and use a voiceprint recognition algorithm to separate and extract the voiceprint features of different people; or, obtain their physical identity by detecting the specific Bluetooth Media Access Control Address (MAC) or Radio Frequency Identification Tag (RFID) sent by the target person's exclusive smart device, such as a children's watch.

[0155] After successfully extracting the identity features of each target individual, they can be compared and matched with a pre-registered family member identity database in a local or cloud database to query the corresponding historical interaction records. Interaction priority weight refers to a quantitative indicator used to measure which user the robot should respond to first in a multi-target concurrent scenario. This interaction priority weight can be calculated either statically by parents via a mobile app, such as assigning the highest priority weight to children's facial features, followed by parents, and lowest to visitors; or dynamically based on historical interaction records, such as automatically assigning a higher interaction priority weight to the identity feature corresponding to that voiceprint feature if a statistical algorithm finds that the robot has interacted with a certain voiceprint feature most frequently and for the longest duration in the past week.

[0156] After obtaining the interaction priority weights of each target person, these interaction priority weights are numerically sorted, and the target person with the highest interaction priority weight can be selected as the main interaction object for this interaction. In some optional embodiments, if two target persons have the same interaction priority weight, spatial distance information can be further combined to determine the target person who is closer to the robot's physical location as the main interaction object.

[0157] After identifying the primary interaction target, this embodiment will schedule the chassis motors or head gimbal to precisely align the robot's front screen or main camera with that target, exclusively executing a second interaction strategy for that target. For example, it might ignore the parents nearby and go directly to the child, who has a higher interaction priority, and output a personalized, affectionate voice message or initiate a feeding request.

[0158] The technical solution provided by this invention, by extracting identity features and combining them with historical interaction weights, can accurately select the core object that truly needs companionship as the main interaction object in complex environments where multiple family members exist simultaneously. This effectively avoids events such as repeated shifts in visual focus, chaotic interaction logic, or incorrectly initiating low-quality interactions with non-target objects in multi-person scenarios, significantly improving the accuracy of target selection and the personalized focus of companionship services.

[0159] Figure 12 This is a flowchart illustrating the output of vivid representation data provided by the present invention, such as... Figure 12 As shown, during the process of driving the robot away from its current standby position for spatial movement, in order to prevent the robot from behaving too mechanically during patrolling, the following interactive behaviors can be interspersed: The number of times the robot has performed the spatial movement is counted. Determine whether the current number of movements has reached a preset threshold. Determine that the current number of movements has reached the preset number threshold, and obtain preset vivid performance data; While maintaining spatial movement, the robot is controlled to synchronously output the vivid performance data; Alternatively, the robot can be controlled to pause its spatial movement to output the vivid performance data, and then resume its spatial movement after the output is completed. After outputting the vivid performance data, the current number of movements is cleared to zero, and the step of counting the current number of movements performed by the robot in the space is re-executed.

[0160] In practice, when the robot is autonomously navigating, a counter can be maintained in the background to track its movement and accumulate the number of movements in real time. The number of movements here refers to the accumulation of discrete motion segments completed by the robot during spatial movement.

[0161] A single movement can be defined as completing a local path planning journey from the starting point to the destination, or as encountering an obstacle and successfully completing an obstacle avoidance and steering maneuver in a map-free detection mode. The threshold for the number of movements is a pre-set criterion for triggering additional behaviors. It can be a factory-fixed integer, such as 5 movements or 10 obstacle avoidances, or it can be a randomly generated value within a preset range (such as 3-8 movements) using a random function to increase unpredictability.

[0162] If, after comparison, it is determined that the current number of movements has not reached the threshold, no additional actions will be triggered, and the robot will continue to perform the current spatial movement, allowing it to continue patrolling indoors.

[0163] When the number of current movements reaches the set threshold, it means that the robot has been continuously performing spatial movements for a relatively long period of time. At this point, preset vividness data can be retrieved from local storage or a cloud-based resource library.

[0164] Optionally, the vivid representation data can be a multimodal dataset used to simulate spontaneous behavioral characteristics of humans or pets, capable of showcasing the robot's lively and agile personality. For example, it could be an audio file containing "humming a tune," a dynamic animation file showing "looking around" or "stretching" on the screen, or a motor control script that drives the robot's robotic arm and chassis to perform "happy swaying" or "spinning around," etc.

[0165] After acquiring the vivid performance data, the control system will invoke the relevant hardware to execute the performance. To adapt to different scenarios and performance content, this embodiment provides two optional output execution methods: As a first alternative implementation, the robot is controlled to pause spatial movement to output animated data, and then resumes spatial movement after the output is complete. In this implementation, the control system first sends a braking command to the chassis, causing the robot to stop in place, simulating a scenario where a real pet gets tired and stops to rest or is suddenly attracted by something. Then, while stationary, the screen, speakers, and mechanical joints are used to output the aforementioned animated data, such as stretching and yawning. When the lifecycle of this animated performance has completely ended, the control system reactivates the chassis drive, resuming the interrupted spatial movement.

[0166] As a second alternative implementation, the robot is controlled to output animated performance data simultaneously while maintaining spatial movement. In this implementation, the current chassis movement process does not need to be interrupted; instead, animated performances are superimposed and executed as the robot moves forward. For example, while the robot is maintaining its forward movement, a happy expression is displayed on the screen, a cheerful whistle sounds from the speakers, and the chassis may even mimic a hopping motion in an "S" shaped pattern, thus achieving the effect of simultaneous movement and performance.

[0167] Whether using paused output or synchronous output, after the vivid performance data is triggered or executed, the control system will reset the current number of movements counted in the background to zero to reset the counting cycle, so that the robot can start accumulating the number of movements again in the next spatial movement, thereby ensuring that this vivid performance can be triggered periodically and in stages during the long patrol process.

[0168] This invention introduces a triggering mechanism based on the number of movements during the robot's spatial movement process, periodically interspersing or superimposing vivid performance data during the monotonous movement process, giving the robot life characteristics like a real pet or child when it is wandering around, significantly improving the robot's performance tension and anthropomorphism in the home environment, and bringing users a more natural emotional companionship.

[0169] Figure 13 This is a schematic diagram of the robot interaction device provided by the present invention, as shown below. Figure 13 As shown, the present invention also provides a robot interaction device, which mainly includes, but is not limited to: The interaction analysis unit 101 is used to monitor the duration of continuous non-interaction of the robot when the robot is in the first personality mode and in a non-interactive standby state. The interactive decision unit 102 is used to determine that the continuous non-interaction duration exceeds a preset duration and control the robot to enter an active patrol mode. The active patrol mode is configured to drive the robot away from its current standby position to move in space, and when it senses a target object during the movement, it initiates an interactive behavior with the target object.

[0170] It should be noted that the robot interaction device provided by the present invention can execute the robot interaction method described in any of the above embodiments during specific operation, which will not be elaborated in this embodiment.

[0171] The present invention also provides a robot, including but not limited to: Machine body; A memory, located within the machine body, is used to store computer programs; A controller is disposed within the machine body and is communicatively connected to the memory. The controller is used to execute a computer program stored in the memory to implement the steps of the robot interaction method as described in any of the above embodiments.

[0172] Figure 14 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 14 As shown, the electronic device may include: a processor 1410, a communications interface 1420, a memory 1430, and a communication bus 1440, wherein the processor 1410, the communications interface 1420, and the memory 1430 communicate with each other through the communication bus 1440. The processor 1410 can call logical instructions in the memory 1430 to execute a robot interaction method, which includes: when the robot is in a first personality mode and in a non-interactive standby state, monitoring the continuous non-interactive duration of the robot; determining that the continuous non-interactive duration exceeds a preset duration, controlling the robot to enter an active patrol mode; the active patrol mode is configured to: drive the robot to leave the current standby position for spatial movement, and when a target object is perceived during the spatial movement, initiate an interactive behavior with the target object.

[0173] Furthermore, the logical instructions in the aforementioned memory 1430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0174] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, and when the program instructions are executed by the computer, the computer is able to execute the robot interaction method provided in the above embodiments, the method including: when the robot is in a first personality mode and in a non-interactive standby state, monitoring the continuous non-interactive duration of the robot; determining that the continuous non-interactive duration exceeds a preset duration, controlling the robot to enter an active patrol mode; the active patrol mode is configured to: drive the robot to leave the current standby position for spatial movement, and when a target object is perceived during the spatial movement, initiate an interactive behavior to the target object.

[0175] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the robot interaction method provided in the above embodiments. The method includes: when the robot is in a first personality mode and in a non-interactive standby state, monitoring the duration of continuous non-interaction of the robot; determining that the duration of continuous non-interaction exceeds a preset duration, controlling the robot to enter an active patrol mode; the active patrol mode is configured to: drive the robot to leave the current standby position for spatial movement, and when a target object is perceived during the spatial movement, initiate an interactive behavior with the target object.

[0176] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0177] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0178] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot interaction method, characterized in that, include: When the robot is in its first personality mode and in a non-interactive standby state, monitor the duration of the robot's continuous non-interactive state. If the duration of continuous non-interaction exceeds a preset duration, control the robot to enter active patrol mode; The active patrol mode is configured to drive the robot away from its current standby position to move in space, and when it senses a target object during the movement, it initiates an interactive behavior with the target object.

2. The robot interaction method according to claim 1, characterized in that, The step of determining that the continuous non-interaction duration exceeds a preset duration and controlling the robot to enter an active patrol mode includes: If it is determined that the continuous non-interaction duration exceeds a preset duration, the current battery level of the robot is obtained; Determine whether the current battery level is greater than a preset safe battery level threshold; Once it is determined that the current battery level is greater than the safe battery level threshold, the robot is controlled to enter an active patrol mode.

3. The robot interaction method according to claim 1 or 2, characterized in that, Prior to monitoring the robot's continuous non-interactive duration, the following is also included: Receive personality setting instructions for the robot; According to the personality setting instructions, the robot's current operating mode is configured as either the first personality mode or the second personality mode.

4. The robot interaction method according to claim 3, characterized in that, When the robot is in the second personality mode, the robot interaction method further includes: In response to a wake-up signal for the robot; Determine whether the wake-up signal contains an activity command; If the activity instruction is included, then the robot is controlled to perform the interactive task corresponding to the activity instruction; If the activity instruction is not included, the robot is controlled to output a preset response message.

5. The robot interaction method according to claim 3, characterized in that, When the robot is in the second personality mode, the robot interaction method further includes: Obtain the pre-set activity time points or activity time ranges for the robot; Compare the current system time with the activity time point or the activity time range; If the current system time reaches the activity time point, or the current system time is within the activity time range, control the robot to autonomously wake up and execute a preset interactive activity.

6. The robot interaction method according to claim 1, characterized in that, The process of driving the robot to move away from its current standby position and perform spatial movement includes: Obtain the spatial mapping status of the robot's current environment; The spatial mapping status is determined to be that a valid map exists. Based on the valid map, a patrol route is determined, and the robot is controlled to perform spatial movement based on the patrol route. If the spatial mapping status is determined to be that there is no valid map, the robot's environmental detection sensors are activated, and the robot is controlled to perform spatial movement based on the real-time detection data collected by the environmental detection sensors.

7. The robot interaction method according to claim 6, characterized in that, The control of the robot to perform spatial movement based on real-time detection data collected by the environmental detection sensors includes: The robot analyzes the real-time detection data to obtain the location and distance information of obstacles around it. Based on the location information and the distance information, a collision-free safe driving area is determined, and the target's direction of movement is determined from the safe driving area. Based on the distance information, calculate the target's movement speed and single movement distance corresponding to the target's movement direction; The robot is controlled to move in the target direction according to the target speed and the single movement distance.

8. The robot interaction method according to claim 1, characterized in that, When a target object is detected during spatial movement, an interactive action is initiated towards the target object, including: Acquire the image features of the target object; Based on the image features, the classification type of the target object is determined; The classification type is determined to be an item, the target object is determined to be a target item, and the robot is controlled to execute a first interaction strategy for the target item. The classification type is determined to be "person", the target object is determined to be the target person, and the robot is controlled to execute a second interaction strategy for the target person.

9. The robot interaction method according to claim 8, characterized in that, The control of the robot to execute a first interaction strategy for the target item includes: Based on the image features, obtain the interactive performance instructions corresponding to the target item; Based on the interactive performance instructions, the robot is controlled to output interactive performances for the target item.

10. The robot interaction method according to claim 8, characterized in that, The control of the robot to execute the second interaction strategy for the target person includes: Obtain the current hunger status parameters of the robot's built-in virtual pet; Determine whether the current hunger state parameters meet the preset hunger triggering conditions; Once the current hunger state parameters are determined to meet the hunger triggering condition, the robot is controlled to output a feeding interaction request to the target person. If the current hunger state parameters do not meet the hunger triggering condition, the robot is controlled to initiate a voice chat interaction with the target person.

11. The robot interaction method according to claim 10, characterized in that, After the robot is controlled to send a feeding interaction request to the target person, or to actively initiate a voice chat interaction, the robot interaction method further includes: Monitor whether feedback instructions are received from the target person regarding the feeding interaction request or the voice chat interaction; If the feedback instruction is received, control the robot to stop its current spatial movement; Based on the feedback instructions, control the robot to execute the corresponding response action; After the response action is completed, the robot is controlled to enter a non-interactive standby state, and the duration of continuous non-interactive operation is reset to zero to restart the timing.

12. The robot interaction method according to claim 8, characterized in that, After identifying the target object as the target person, the robot interaction method further includes: When the number of target individuals is determined to be multiple, the identity feature information of each target individual is obtained separately. Based on the identity feature information, query historical interaction records to obtain the interaction priority weights corresponding to each of the target individuals; Based on the interaction priority weight, the main interaction object is determined from the multiple target characters; Accordingly, controlling the robot to execute the second interaction strategy for the target person includes: controlling the robot to execute the second interaction strategy for the main interaction object.

13. The robot interaction method according to claim 1, characterized in that, During the process of driving the robot to move away from its current standby position and perform spatial movement, the robot interaction method further includes: The number of times the robot has performed the spatial movement is counted. Determine whether the current number of movements has reached a preset threshold. Determine that the current number of movements has reached the preset number threshold, and obtain preset vivid performance data; While maintaining spatial movement, the robot is controlled to synchronously output the vivid performance data; Alternatively, the robot can be controlled to pause its spatial movement to output the vivid performance data, and then resume its spatial movement after the output is completed. After outputting the vivid performance data, the current number of movements is cleared to zero, and the step of counting the current number of movements performed by the robot in the space is re-executed.

14. A robot interaction device, characterized in that, include: An interaction analysis unit is used to monitor the duration of continuous non-interaction of the robot when the robot is in the first personality mode and in a non-interactive standby state. An interactive decision-making unit is used to determine that the continuous non-interaction duration exceeds a preset duration and control the robot to enter an active patrol mode. The active patrol mode is configured to drive the robot away from its current standby position to move in space, and when it senses a target object during the movement, it initiates an interactive behavior with the target object.

15. A robot, characterized in that, include: Machine body; A memory, located within the machine body, is used to store computer programs; A controller, disposed within the machine body and communicatively connected to the memory, is used to execute a computer program stored in the memory to implement the steps of the robot interaction method as described in any one of claims 1 to 13.

16. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the robot interaction method as described in any one of claims 1 to 13.

17. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the robot interaction method as described in any one of claims 1 to 13.

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