CN108724203A - A kind of exchange method and device - Google Patents
A kind of exchange method and device Download PDFInfo
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- CN108724203A CN108724203A CN201810255051.7A CN201810255051A CN108724203A CN 108724203 A CN108724203 A CN 108724203A CN 201810255051 A CN201810255051 A CN 201810255051A CN 108724203 A CN108724203 A CN 108724203A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- Health & Medical Sciences (AREA)
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Abstract
A kind of exchange method of the application offer and device, the method includes：Determine the interactive object of robot；The registration attribute of the interactive object is obtained, and corresponding interactive strategy is executed according to the registration property control robot of the interactive object.Exchange method provided by the present application executes corresponding interactive strategy by first determining interactive object, further according to the registration attribute of interactive object, automatically switches interactive mode so as to the difference according to personnel identity, preferably meets the use demand of user.
Description
Technical field
This application involves robot interactive technical field, more particularly to a kind of exchange method and device.
Background technology
With the development of artificial intelligence technology, smart machine is applied in people's lives more and more, by with
People carries out the interaction of the information such as voice, word, image, to provide facility for people's lives.
In the prior art, pattern of the smart machine in interactive process is single, can only execute friendship according to preset pattern
Mutually, do not change because of scene or the difference of user identity.So current smart machine is only suitable for for single scene and single
The interaction of user.But when in use, such as in public places, when personnel amount and more identity, smart machine root is needed
Different interactions is executed according to different crowds.
So smart machine how to be allow to automatically switch interactive mode according to the difference of personnel identity, so as to
The use demand for preferably meeting user is the technical issues that need to address.
Invention content
In view of this, the embodiment of the present application provides a kind of exchange method and device, smart machine and computer-readable deposits
Storage media, to solve technological deficiency existing in the prior art.
The embodiment of the present application discloses a kind of exchange method, the method includes：
Determine the interactive object of robot；
The registration attribute of the interactive object is obtained, and is executed according to the registration property control robot of the interactive object
Corresponding interactive strategy.In the schematical embodiment of the application, the interactive object of the determining robot includes：
When there are at least two alternative objects, according to the registration attribute of at least two alternative objects, machine is determined
The interactive object of people.
In the schematical embodiment of the application, according to the registration attribute of at least two alternative objects,
Determine the interactive object of robot, including：
If at least two alternative objects are unregistered object, an alternative objects are randomly choosed as interaction pair
As；
It is registered object by this if an alternative objects at least two alternative objects are registered object
Alternative objects be determined as interactive object；
If at least two alternative objects more than one alternative objects be registered object, will identify at first for
The alternative objects of registered object are determined as interactive object.
In the schematical embodiment of the application, in the registration category according at least two alternative objects
Property before the interactive object for determining robot, further includes：
Determine that at least two alternative objects are identical at a distance from robot.
In the schematical embodiment of the application, the alternative objects are to be less than or equal at a distance from robot
Distance threshold, and the residence time is more than the object of time threshold.
In the schematical embodiment of the application, according to the registration property control robot of the interactive object
Corresponding interactive strategy is executed, including：
In receiving scene, when the interactive object is visitor, if the interactive object is registered object, obtain
The verification information of the interactive object input is verified, and robot is controlled after being verified and is drawn to the interactive object
Neck；
If the interactive object is unregistered object, the verification information for obtaining the interactive object input is verified,
The facial image that the interactive object is obtained after being verified is registered, and control robot is to the friendship after the completion of registration
Mutual object is led.
In the schematical embodiment of the application, if the interactive object is registered object, in control machine
Before device people leads the interactive object, further include：
Determine the object letter in the corresponding object information of verification information log-on message corresponding with the interactive object
Breath is consistent.
In the schematical embodiment of the application, the interactive object is carried out to lead it in control robot
Afterwards, further include：
Obtain and preserve the human body image of the interactive object.
In the schematical embodiment of the application, according to the registration property control robot of the interactive object
Corresponding interactive strategy is executed, including：
In active interaction scenarios, if the interactive object is registered object, handed over according to the history of the interactive object
Mutually order, determines the frequency of occurrence of each interactive command；Select the related content of the highest interactive command of frequency of occurrence as actively
Interaction content；
If the interactive object is unregistered object, preset content is obtained as active interaction content.
The embodiment of the present application discloses a kind of interactive device, and described device includes：
Interactive object determining module, the interactive object for determining robot；
Interactive strategy execution module, the registration attribute for obtaining the interactive object, and according to the interactive object
It registers property control robot and executes corresponding interactive strategy.
The embodiment of the present application discloses a kind of smart machine, including memory, processor and storage are on a memory and can
The computer instruction run on a processor, which is characterized in that the processor realizes following steps when executing described instruction：
Determine the interactive object of robot；
The registration attribute of the interactive object is obtained, and is executed according to the registration property control robot of the interactive object
Corresponding interactive strategy.
The embodiment of the present application discloses a kind of computer readable storage medium, is stored with computer instruction, and feature exists
In the step of instruction realizes exchange method as described above when being executed by processor.
Exchange method and device provided by the present application, by first determining interactive object, further according to the registration category of interactive object
Property execute corresponding interactive strategy, automatically switch interactive mode so as to the difference according to personnel identity, preferably meet
The use demand of user.
Description of the drawings
Fig. 1 is the structural schematic diagram of the smart machine of one embodiment of the application；
Fig. 2 is the flow diagram of the exchange method of one embodiment of the application；
Fig. 3 is the flow diagram of the exchange method of one embodiment of the application；
Fig. 4 is the flow diagram of the exchange method of one embodiment of the application；
Fig. 5 is the flow diagram of the exchange method of one embodiment of the application；
Fig. 6 is the structural schematic diagram of the interactive device of one embodiment of the application.
Specific implementation mode
Many details are elaborated in the following description in order to fully understand the application.But the application can be with
Much implement different from other manner described here, those skilled in the art can be without prejudice to the application intension the case where
Under do similar popularization, therefore the application is not limited by following public specific implementation.
In this application, a kind of exchange method and device, smart machine and computer readable storage medium are provided, under
It is described in detail one by one in the embodiment in face.
Fig. 1 is the structure diagram for showing the smart machine 100 according to one embodiment of the application.The smart machine 100
Component includes but not limited to memory 110 and processor 120.Processor 120 is connected with memory 110.
In the present embodiment, smart machine 100 can be smart mobile phone, intelligent vehicle-carried equipment, intelligent wearable device, robot
Deng, and the smart machine 100 may be used the mode being connect with server communication and work, and can also work independently, the application
It is defined not to this.
Although being not shown in Fig. 1, it will be appreciated that smart machine 100 can also include network interface, network interface
Enable smart machine 100 via one or more network communications.The example of these networks includes LAN (LAN), wide area
The combination of the communication network of net (WAN), personal area network (PAN) or such as internet.Network interface may include wired or wireless
One or more of any kind of network interface (for example, network interface card (NIC)), such as IEEE802.11 wireless locals
Net (WLAN) wireless interface, worldwide interoperability for microwave accesses (Wi-MAX) interface, Ethernet interface, universal serial bus (USB) connect
Mouth, cellular network interface, blue tooth interface, near-field communication (NFC) interface, etc..Smart machine can pass through network interface access
The page.
In one embodiment of the application, unshowned other component also may be used in above-mentioned and Fig. 1 of smart machine 100
To be connected to each other, such as pass through bus.It should be appreciated that smart machine structure diagram shown in FIG. 1 is merely for the sake of exemplary
Purpose, rather than to the limitation of the application range.Those skilled in the art can be as needed, increases or replace other component.
Smart machine 100 can be any kind of static or intelligent movable equipment, including mobile computer or mobile intelligence
It can equipment (for example, tablet computer, personal digital assistant, laptop computer, notebook computer, net book etc.), movement
Phone (for example, smart mobile phone), wearable smart machine (for example, smartwatch, intelligent glasses etc.) or other kinds of shifting
Move equipment, or the static smart machine of such as desktop computer or PC.Smart machine 100 can also be mobile or state type
Server.
Wherein, processor 120 can execute the step in method shown in Fig. 2.Fig. 2 is to show to be implemented according to the application one
The schematic flow chart of the page access method of example, including step 201 is to step 202.
Step 201, the interactive object for determining robot.
In this step, there are two types of interactive modes for robot：Passive interactive mode and active interactive mode.
Under passive interactive mode, robot is in standby or off-mode, not initiative recognition object.Only receiving
To after booting triggering command, after robot booting, object can just be identified.
The booting triggering command can be diversified forms, such as speech trigger, be triggered manually by power button.It is using
In scene, generally user triggers robot booting, then accordingly, robot should after powering directly will be currently used
Person is determined as interactive object.
So under passive interactive mode, this step 201 includes：Start identification function according to triggering command, then will work as
Before the object that recognizes be determined as interactive object.
Under active interactive mode, robot is in open state always, and knows to the object for meeting identification condition
After not, determine that strategy determines interactive object according to preset object.So under active interactive mode, this step 201 include with
Lower step 2011~2013：
2011, confirm that the number of alternative objects is one or at least two, if an alternative objects, then follow the steps
2012, if at least two alternative objects, then follow the steps 2013.
In the present embodiment, the alternative objects are to be less than or equal to distance threshold at a distance from robot, and the residence time is big
In the object of time threshold.
Wherein, distance threshold and time threshold can be according to actual demand sets itselfs, such as setpoint distance threshold value is 3
Rice, time threshold are 2 seconds.
Wherein it is determined that object can be realized at a distance from robot by the sensor in smart machine 100, such as distance
Sensor, infrared sensor etc..
There is object to be less than or equal to 3 meters at a distance from robot when determining, and the residence time is more than 2 seconds, then it is assumed that the object
Meet identification condition, and the object is identified.
For the action of identification, can be executed by the image acquisition units of robot.
Wherein, image acquisition units can be to be set to one or at least two cameras of smart machine 100.Such as it is logical
One of the head for being set to interactive robot or at least two cameras are crossed to obtain the image of object.
2012, using the alternative objects as the interactive object of robot.
2013, according to the registration attribute of at least two alternative objects, the interactive object of robot is determined.
Referring to Fig. 3, step 2013 includes：
301, judge whether at least two alternative objects are identical at a distance from robot, if it is different, executing step
302, if identical, execute step 303,304 and 305.
In this step, detection alternative objects can be realized at a distance from robot by the range sensor of robot.
302, the alternative objects nearest apart from robot are determined as interactive object.
If 303, at least two alternative objects are unregistered object, an alternative objects are randomly choosed as friendship
Mutual object.
It is registered by this if 304, an alternative objects at least two alternative objects are registered object
The alternative objects of object are determined as interactive object.
If 305, more than one alternative objects are registered object at least two alternative objects, will identify at first
The alternative objects gone out for registered object are determined as interactive object.
Step 202, the registration attribute for obtaining the interactive object, and according to the registration property control machine of the interactive object
Device people executes corresponding interactive strategy.
It should be noted that this step 202 can execute different specific steps according to the difference of scene.Scene has more
Kind, the present embodiment is illustrated for receiving scene and active interaction scenarios.
Referring to Fig. 4, in this step 202, in the case where receiving scene, according to the registration property control robot of the interactive object
Corresponding interactive strategy is executed, including：
401, when the interactive object is visitor, interactive object is judged for registered object or unregistered object, if
The interactive object is registered object, executes step 402, if the interactive object is unregistered object, executes step 406.
Wherein, if robot is stored with the intersection record with the interactive object, it is determined that the interactive object is registered right
As；If robot is not stored with the intersection record of the interactive object, it is determined that the interactive object is unregistered object.
402, the verification information for obtaining the interactive object input is verified, and step 403 is executed after being verified.
403, judge pair in the corresponding object information of verification information log-on message corresponding with the interactive object
Whether image information is consistent, if so, step 404 is executed, if it is not, executing step 405.
404, control robot leads the interactive object.
405, registration is re-started to the interactive object, then controls robot and the interactive object is led.
If 406, the interactive object is unregistered object, the verification information for obtaining the interactive object input is tested
Card, the facial image that the interactive object is obtained after being verified are registered, and control robot is to institute after the completion of registration
Interactive object is stated to be led.
In the present embodiment, lead information that can be " please turn left and walk to the right, be waited into rest area " or " second floor visitor please be go up
People area " etc..
In addition, when display leads information, greeting information can be shown simultaneously.Greeting information includes greeting letter breath,
Such as " you are good, and welcome " or " good afternoon, is very glad and sees you " etc.；Also include actively inquiring interactive information, such as " you
It is good, need to check weather " etc..
Optionally, it in step 404,405 and 406, after control robot leads the interactive object, also wraps
It includes：Obtain and preserve the human body image of the interactive object.
It is to be understood that the human body image referred in the present embodiment,
Referring to Fig. 5, in this step 202, under active interaction scenarios, according to the registration property control machine of the interactive object
Device people executes corresponding interactive strategy, including：
501, interactive object is judged for registered object or unregistered object, if registered object, executes step
502, if unregistered object, execute step 503.
502, according to the history interactive command of the interactive object, the frequency of occurrence of each interactive command is determined；Selection occurs
The related content of the highest interactive command of the frequency is as active interaction content.
Wherein, the active interaction content includes：Weather information, news information, music information or information of taking pictures.
503, preset content is obtained as active interaction content.
In a specific example, by taking interactive robot as an example, registered user Xiao Zhang often chats with robot
It.Total 20 times interaction contents records actively initiated of Xiao Zhang are inquired by robot, wherein total 9 inquiries weather, broadcast for 3 times new
It hears, broadcasts for 6 times, take pictures for 2 times.The weight of this four interaction contents is respectively：Weather 45%, news 15%, music 30% are clapped
According to 10%.When user Xiao Zhang interacts with robot again, interaction content record is inquired by robot, is handed over carrying out actively inquiry
When mutual content, robot can be inquired preferentially：" hello by Xiao Zhang, needs the weather for checking tomorrow ".
Certainly, dawn known to those skilled in the art, above-mentioned steps 501~503 are only a tool of the present embodiment
The exemplary scheme of body is not limited in said program in actual use, other can determine active interaction content priority
Method also within the scope of protection of this application, such as actively inquire in the content of interactive command, the interested content of user by record
Account for the proportion of sum.
Exchange method provided by the present application, by first determining interactive object, further according to the registration property control of interactive object
Robot executes corresponding interactive strategy, automatically switches interactive mode so as to the difference according to personnel identity, preferably
Meet the use demand of user.
Below by taking interactive robot as an example, the technical solution of the application is described further, following examples
In not detailed content, may refer to the particular content of exchange method above-mentioned.By taking active interactive mode as an example, the interactive mode
Robot executes following step 1~9：
Step 1, robot identify alternative objects.
It should be noted that robot needs to be in open state always, the unit of the completion identification maneuver of robot needs
Always in running order, such as video camera, range sensor etc..
Step 2, robot determine that the alternative objects are interactive object in the case where the alternative objects of identification are one.
Step 3, robot determine that described at least two is alternative right in the case where the alternative objects of identification are at least two
As identical at a distance from robot, step 4, step 5 and step 6 are then executed.
If step 4, at least two alternative objects are unregistered object, an alternative objects conduct is randomly choosed
Interactive object.
It is to have noted by this if an alternative objects in step 5, at least two alternative objects are registered object
The alternative objects of volume object are determined as interactive object.
If more than one alternative objects are registered object in step 6, at least two alternative objects, will know at first
The alternative objects not gone out for registered object are determined as interactive object.
Step 7, the registration attribute for obtaining the interactive object, then execute step 8 and step 9.
If step 8, the interactive object are registered object, according to the history interactive command of the interactive object, determine
The frequency of occurrence of each interactive command selects the related content of the highest interactive command of frequency of occurrence as active interaction content.
If step 9, the interactive object are unregistered object, preset content is obtained as active interaction content.
The above-mentioned particular content for exchange method disclosed in the embodiment of the present application.The embodiment of the present application also discloses a kind of friendship
Mutual device.It should be noted that the technical solution of the interactive device and the technical solution of above-mentioned exchange method belong to same structure
Think, the detail content that the technical solution of interactive device is not described in detail may refer to the technical solution of above-mentioned exchange method
Description.
Referring to Fig. 6, the embodiment of the present application discloses a kind of interactive device, is used for smart machine, and device includes：
Interactive object determining module 601, the interactive object for determining robot；
Interactive strategy execution module 602, the registration attribute for obtaining the interactive object, and according to the interactive object
Registration property control robot execute corresponding interactive strategy.
In the present embodiment, interactive object determining module 601 determines that the interactive object of robot includes：
When there are at least two alternative objects, interactive object determining module 601 is according at least two alternative objects
Registration attribute, determine the interactive object of robot.
In the present embodiment, alternative objects are to be less than or equal to distance threshold at a distance from robot, and when the residence time is more than
Between threshold value object.
In the present embodiment, interactive object determining module 601 is determined according to the registration attribute of at least two alternative objects
The interactive object of robot, including：
If at least two alternative objects are unregistered object, the random selection of interactive object determining module 601 one
A alternative objects are as interactive object；
If an alternative objects at least two alternative objects are registered object, interactive object determining module
This is determined as interactive object by 601 for the alternative objects of registered object；
If more than one alternative objects are registered object at least two alternative objects, interactive object determines mould
Block 601 will identify that the alternative objects for registered object are determined as interactive object at first.
In the present embodiment, in receiving scene, interactive strategy execution module 602 is according to the registration attribute of the interactive object
It controls robot and executes corresponding interactive strategy, including：
When the interactive object is visitor, if the interactive object is registered object, interactive strategy execution module
602 verification informations for obtaining the interactive object input are verified, and robot is controlled after being verified to the interaction pair
As being led；
If the interactive object is unregistered object, interactive strategy execution module 602 obtains the interactive object input
Verification information verified, the facial image that the interactive object is obtained after being verified is registered, registration complete
Control robot leads the interactive object afterwards.
Optionally, if the interactive object is registered object, robot is controlled to institute in interactive strategy execution module 602
It states before interactive object led, further includes：
Interactive strategy execution module 602 determines that the corresponding object information of the verification information is corresponding with the interactive object
Object information in log-on message is consistent.
Optionally, it after the control of interactive strategy execution module 602 robot leads the interactive object, also wraps
It includes：Interactive strategy execution module 602 obtains and preserves the human body image of the interactive object.
In the present embodiment, in active interaction scenarios, interactive strategy execution module 602 is according to the registration of the interactive object
Property control robot executes corresponding interactive strategy, including：
If the interactive object is registered object, interactive strategy execution module 602 is according to the history of the interactive object
Interactive command determines the frequency of occurrence of each interactive command, selects the related content of the highest interactive command of frequency of occurrence as master
Dynamic interaction content；
If the interactive object is unregistered object, interactive strategy execution module 602 obtains preset content as actively friendship
Mutual content.
Interactive device provided by the present application, by first determining interactive object, further according to the registration property control of interactive object
Robot executes corresponding interactive strategy, automatically switches interactive mode so as to the difference according to personnel identity, preferably
Meet the use demand of user.
One embodiment of the application also provides a kind of computer readable storage medium, is stored with computer instruction, the instruction
The step of exchange method as previously described is realized when being executed by processor.
A kind of exemplary scheme of above-mentioned computer readable storage medium for the present embodiment.It should be noted that this is deposited
The technical solution of storage media and the technical solution of above-mentioned exchange method belong to same design, and the technical solution of storage medium is not detailed
The detail content carefully described may refer to the description of the technical solution of above-mentioned exchange method.
The computer instruction includes computer program code, the computer program code can be source code form,
Object identification code form, executable file or certain intermediate forms etc..The computer-readable medium may include：Institute can be carried
State any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disc, CD, the computer storage of computer program code
Device, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory),
Electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer-readable medium include it is interior
Increase and decrease appropriate can be carried out according to legislation in jurisdiction and the requirement of patent practice by holding, such as in certain jurisdictions of courts
Area, according to legislation and patent practice, computer-readable medium does not include electric carrier signal and telecommunication signal.
It should be noted that for each method embodiment above-mentioned, describe, therefore it is all expressed as a series of for simplicity
Combination of actions, but those skilled in the art should understand that, the application is not limited by the described action sequence because
According to the application, certain steps may be used other sequences or be carried out at the same time.Secondly, those skilled in the art should also know
It knows, embodiment described in this description belongs to preferred embodiment, and involved action and module might not all be this Shens
It please be necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
The application preferred embodiment disclosed above is only intended to help to illustrate the application.There is no detailed for alternative embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably explain the application
Principle and practical application, to enable skilled artisan to be best understood by and utilize the application.The application is only
It is limited by claims and its full scope and equivalent.
Claims (10)
1. a kind of exchange method, which is characterized in that the method includes：
Determine the interactive object of robot；
The registration attribute of the interactive object is obtained, and correspondence is executed according to the registration property control robot of the interactive object
Interactive strategy.
2. exchange method according to claim 1, which is characterized in that the interactive object of the determining robot includes：
When there are at least two alternative objects, according to the registration attribute of at least two alternative objects, robot is determined
Interactive object.
3. exchange method according to claim 2, which is characterized in that according to the registration category of at least two alternative objects
Property, determine the interactive object of robot, including：
If at least two alternative objects are unregistered object, one alternative objects of random selection are as interactive object；
It is the standby of registered object by this if an alternative objects at least two alternative objects are registered object
Object is selected to be determined as interactive object；
If more than one alternative objects are registered object at least two alternative objects, will identify at first to have noted
The alternative objects of volume object are determined as interactive object.
4. exchange method according to claim 2, which is characterized in that in the registration according at least two alternative objects
Attribute before the interactive object for determining robot, further includes：
Determine that at least two alternative objects are identical at a distance from robot.
5. exchange method according to claim 2, which is characterized in that the alternative objects are to be less than at a distance from robot
Equal to distance threshold, and the residence time is more than the object of time threshold.
6. exchange method according to claim 1, which is characterized in that according to the registration property control machine of the interactive object
Device people executes corresponding interactive strategy, including：
In receiving scene, when the interactive object is visitor, if the interactive object is registered object, described in acquisition
The verification information of interactive object input is verified, and robot is controlled after being verified and is led to the interactive object；
If the interactive object is unregistered object, the verification information for obtaining the interactive object input is verified, and is being tested
Card obtains interactive object facial image after passing through is registered, and control robot is to the interaction pair after the completion of registration
As being led.
7. exchange method according to claim 1, which is characterized in that
Corresponding interactive strategy is executed according to the registration property control robot of the interactive object, including：
In active interaction scenarios, if the interactive object is registered object, is interacted and ordered according to the history of the interactive object
It enables, determines the frequency of occurrence of each interactive command；Select the related content of the highest interactive command of frequency of occurrence as active interaction
Content；
If the interactive object is unregistered object, preset content is obtained as active interaction content.
8. a kind of interactive device, which is characterized in that described device includes：
Interactive object determining module, the interactive object for determining robot；
Interactive strategy execution module, the registration attribute for obtaining the interactive object, and according to the registration of the interactive object
Property control robot executes corresponding interactive strategy.
9. a kind of smart machine, including memory, processor and storage are on a memory and the calculating that can run on a processor
Machine instructs, which is characterized in that the processor realizes following steps when executing described instruction：
Determine the interactive object of robot；
The registration attribute of the interactive object is obtained, and correspondence is executed according to the registration property control robot of the interactive object
Interactive strategy.
10. a kind of computer readable storage medium, is stored with computer instruction, which is characterized in that the instruction is held by processor
The step of exchange method described in claim 1-7 any one is realized when row.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154048A (en) * | 2019-02-21 | 2019-08-23 | 北京格元智博科技有限公司 | Control method, control device and the robot of robot |
| CN114603559A (en) * | 2019-01-04 | 2022-06-10 | 上海阿科伯特机器人有限公司 | Control method and device for mobile robot, mobile robot and storage medium |
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| CN102500113A (en) * | 2011-11-11 | 2012-06-20 | 山东科技大学 | Comprehensive greeting robot based on smart phone interaction |
| CN105653037A (en) * | 2015-12-31 | 2016-06-08 | 张小花 | Interactive system and method based on behavior analysis |
| CN105868827A (en) * | 2016-03-25 | 2016-08-17 | 北京光年无限科技有限公司 | Multi-mode interaction method for intelligent robot, and intelligent robot |
| CN106096576A (en) * | 2016-06-27 | 2016-11-09 | 陈包容 | A kind of Intelligent Service method of robot |
| CN107562201A (en) * | 2017-09-08 | 2018-01-09 | 网易（杭州）网络有限公司 | Orient exchange method, device, electronic equipment and storage medium |
| CN107682368A (en) * | 2017-11-16 | 2018-02-09 | 江苏通付盾科技有限公司 | Verification method, client, server and system based on interactive operation |
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| CN114603559A (en) * | 2019-01-04 | 2022-06-10 | 上海阿科伯特机器人有限公司 | Control method and device for mobile robot, mobile robot and storage medium |
| CN110154048A (en) * | 2019-02-21 | 2019-08-23 | 北京格元智博科技有限公司 | Control method, control device and the robot of robot |
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