CN109648561A - Robot interactive method - Google Patents
Robot interactive method Download PDFInfo
- Publication number
- CN109648561A CN109648561A CN201811649844.3A CN201811649844A CN109648561A CN 109648561 A CN109648561 A CN 109648561A CN 201811649844 A CN201811649844 A CN 201811649844A CN 109648561 A CN109648561 A CN 109648561A
- Authority
- CN
- China
- Prior art keywords
- robot
- interactive
- user
- information
- hatchcover
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
Abstract
The present invention provides a kind of robot interactive methods, the robot includes interaction portion and inductor, it is characterized in that, the described method includes: the interactive portion is promoted to the first predeterminated position according to the touching information of acquisition, or the inductor makes the interactive portion be promoted to first predeterminated position according to the induction information detected；The interactive portion overturns predetermined angle in lifting process, to direction of improvement.Robot interactive method according to the present invention makes mobile robot can be according to whether detecting the movement of user or user, and realization predetermined angle rotation while promoting interactive portion makes interactive portion closer to user, consequently facilitating user interacts operation.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of robot interactive method.
Background technique
Extensive use has been obtained in multiple fields in robot interactive method.In some scenes, such as indoor office
Scene, needs robot interactive method to have human-computer interaction function, and this robot usually has the display for human-computer interaction
Screen.However, in order to allow the robot to it is stable moving and executing instruction, the height of robot is often lower.In such case
Under, robot is used between the display screen meeting and user of interaction cause user and robot interactive difficult there are certain distance, use
Family experience is bad.
Summary of the invention
The present invention completes in view of above-mentioned current condition, its purpose is to provide a kind of robot interactive method,
Realize that interaction portion carries out automatic lifting according to the induction to user, the user experience is improved.
To achieve the goals above, embodiment of the present invention provides the following technical solutions:
The present invention provides a kind of robot interactive method, and the robot includes interaction portion and inductor, the method packet
It includes:
The interactive portion is promoted to the first predeterminated position or the inductor according to spy according to the touching information of acquisition
The induction information measured makes the interactive portion be promoted to first predeterminated position；
The interactive portion overturns predetermined angle in lifting process, to direction of improvement.
In this case, mobile robot can be such that interactive portion mentions according to whether detect the movement of user or user
Predetermined angle rotation is realized while liter, makes interactive portion closer to user, consequently facilitating user interacts operation.
Wherein, the method also includes: according to the positive information of user, the robot by movement make the interactive portion
Face to face with the user.Robot can be according to the direction and position that user arrives as a result, and adjustment angle and position make to hand over
Mutual portion face user, interactive portion convenient for the user to operate.
Wherein, the positive information according to user, the robot make the interactive portion and the user by movement
Before face to face the step of, the method also includes:
The robot identifies the positive information of the user by deepness image registration device.In this case, lead to
It crosses depth image registration device (RGBD) to lock the characteristic of user, adjusts position in time convenient for robot.
Wherein, described before the step of interactive portion is promoted to the first predeterminated position according to the touching information of acquisition
Method further include:
User's point touching screen generates the touching information.User is to trigger interaction portion by point touching screen as a result,
It is promoted.
Wherein, the inductor makes the interactive portion be promoted to the described first default position according to the induction information detected
Before the step of setting, the method also includes:
When the inductor executes infrared induction and detects user, the induction information is generated.In this case, machine
Device people can be easier identification user, fast to promote interactive portion.
Wherein, the robot includes receiving cabin and hatchcover, and lifting platform is arranged in the receiving bilge portion, and the method is also wrapped
It includes:
According to the information that user inputs, the hatchcover is opened, and the lifting platform is promoted to the second predeterminated position.Machine as a result,
After device people identifies user instruction, hatchcover is automatically opened, lifting platform automatic lifting, and user is facilitated to be put into article into receiving cabin.
Wherein, the method also includes:
It is instructed according to confirmation, the lifting platform decline, the hatchcover is closed, and the interactive portion is reduced to initial position, institute
It states robot and goes to target area.In this case, after robot loads article, confirmed according to user, it is automatic to reduce
Lifting platform closes hatchcover, withdraws interaction portion and goes to destination.
Wherein, described to be instructed according to confirmation, the lifting platform decline, the hatchcover is closed, and the interactive portion is reduced to just
Beginning position, the robot go to target area, specifically include:
User inputs the confirmation instruction to the interactive portion, or sends the confirmation instruction to institute by mobile terminal
State robot.User can according to need as a result, and different modes is selected to complete the confirmation of article placement.
Wherein, described to be instructed according to confirmation, the lifting platform decline, the hatchcover is closed, and the interactive portion is reduced to just
Beginning position, the robot go to target area, specifically further include:
If the hatchcover can not close, the hatchcover is restored to the position after opening, and the robot issues prompt information.
In this case, user can know that robot completes delivery movement, need to reappose or terminate and place article to receipts
Hold cabin.
Wherein, the prompt information passes through the signal lamp in the robot, the interactive portion, mobile terminal
At least one of issue.User can make further operating according to prompt information as a result,.
Provided robot interactive method according to the present invention, can according to whether detect the movement of user or user,
So that interactive portion is realized predetermined angle rotation while promotion, makes interactive portion closer to user, consequently facilitating user interacts
Operation.
Detailed description of the invention
Fig. 1 shows the stereochemical structure signal of the robot of robot interactive method involved in embodiments of the present invention
Figure；
Fig. 2 shows the flow diagrams of robot interactive method involved in embodiments of the present invention；
Fig. 3 shows the flow diagram of another kind robot interactive method involved in embodiments of the present invention；
Fig. 4 shows the flow diagram of another kind robot interactive method involved in embodiments of the present invention；
Fig. 5 shows the flow diagram of another kind robot interactive method involved in embodiments of the present invention；
Fig. 6 is shown under the interaction mode of the robot of robot interactive method involved in embodiments of the present invention
Schematic perspective view；
Fig. 7 shows the flow diagram of another kind robot interactive method involved in embodiments of the present invention；
Fig. 8 shows the flow diagram of another kind robot interactive method involved in embodiments of the present invention；
Fig. 9 shows the flow diagram of another kind robot interactive method involved in embodiments of the present invention.
Specific embodiment
Hereinafter, explaining the preferred embodiment of the present invention in detail with reference to attached drawing.In the following description, for identical
Component assign identical symbol, the repetitive description thereof will be omitted.Scheme in addition, attached drawing is only schematical, the mutual ruler of component
Very little shape of ratio or component etc. can be with actual difference.
Fig. 1 shows the schematic perspective view of robot 1 according to the present invention.Robot 1 includes 10 He of interaction portion
Inductor 20.
The present invention provides a kind of robot interactive method.Method includes:
201, interaction portion is promoted to the first predeterminated position or inductor according to the touching information of acquisition according to detecting
Induction information, so that interactive portion is promoted to the first predeterminated position.Interaction portion overturns preset angle in lifting process, to direction of improvement
Degree.
In this case, mobile robot can be such that interactive portion mentions according to whether detect the movement of user or user
Predetermined angle rotation is realized while liter, makes interactive portion closer to user, consequently facilitating user interacts operation.
It promotes certain altitude specifically, the first predeterminated position can be interactive portion 10 and overturns the position after predetermined angle
It sets.The first elevating mechanism (not shown) is fixed in interaction portion 10.First elevating mechanism is for promoting interactive portion 10.
In some instances, as shown in Figure 1, interaction portion 10 may include close to 1 bottom of robot first end 12 and with
The opposite second end 13 of first end 12.First elevating mechanism promotes 10 to the first predeterminated position of interaction portion, what first end 12 was promoted
Height is greater than the height that second end 13 is promoted.In this case, interaction portion 10 may be implemented to overturn to its direction of improvement default
Angle.
It is in some instances, as shown in Fig. 2, specific after step 201 further include:
202, according to the positive information of user, robot makes interactive portion and user face to face by mobile.
As a result, robot can direction according to user and position, adjust the angle and position, make interactive portion's face user,
Interactive portion convenient for the user to operate.
Specifically, the positive information of user can be the face information of user.The positive information of user is also possible to use
Family lower part of the body characteristic information.
In some instances, as shown in figure 3, according to the positive information of user, robot makes interactive portion and use by mobile
Family face to face the step of before, the method also includes:
203, robot identifies the positive information of user by deepness image registration device.
In this case, the characteristic of user is locked by deepness image registration device (RGBD), is convenient for
Robot adjusts position in time.
Specifically, deepness image registration device (RGBD) can be used for carrying out under Face datection or user user
The detection of body feature.After robot recognizes user by RGBD, robot carries out shift position, makes the front in interactive portion and user
Relatively.In some instances, face can be made to be held in interactive 10 middle part of portion.
In the present embodiment, as shown in Figure 1, interaction portion 10 may include touch screen 11.
In some instances, as shown in figure 4, interaction portion is promoted to the first predeterminated position according to the touching information of acquisition
(402) before the step of, the method also includes:
401, user's point touching screen generates touching information.
User is the promotion for triggering interaction portion by point touching screen as a result,.
In some instances, as shown in figure 5, inductor is according to the induction information detected, interactive portion is made to be promoted to first
Before the step of predeterminated position (502), the method also includes:
501, when inductor executes infrared induction and detects user, induction information is generated.
In this case, robot can be easier identification user, fast to promote interactive portion.
Specifically, inductor 20 can be infrared sensor.Inductor 20 can sense the arm or use of user
The body at family.In some instances, by starting arm in the direction Back stroke of 20 face of inductor, inductor 30 can be generated user
Induction information.
In the present embodiment, as shown in fig. 6, robot 1 includes receiving cabin 50 and hatchcover 40.The bottom in the receiving cabin 50
Lifting platform 51 is arranged in portion.
In some instances, as shown in fig. 7, after step 201, specifically further include:
204, the information inputted according to user, hatchcover are opened, and lifting platform is promoted to the second predeterminated position.
As a result, after robot identification user instruction, hatchcover is automatically opened, and lifting platform automatic lifting facilitates user to receiving
Article is put into cabin.
Specifically, user can pass through 11 validation information of touch screen.In some instances, verification information can be
The identity information of user.After robot identifies verification information, hatchcover is automatically opened, lifting platform automatic lifting.In some examples
In, user can also send information to robot by mobile terminal, and control hatchcover is opened.
In some instances, hatchcover can be opened prior to lifting platform enhancing action.In some instances, hatchcover is opened and is risen
Drop platform promotion can carry out simultaneously.Hatchcover opens the movement promoted with lifting platform and does not collide or interfere.
In some instances, the second predeterminated position, which can be, promotes the preceding position improved relative to lifting platform 51.Some
In example, the second predeterminated position can be located at the middle part in receiving cabin 50.In some instances, the second predeterminated position is also possible to position
Opening in the close receiving cabin 50 in top in receiving cabin 50.
In some instances, as shown in figure 8, after step 201, step 204, specifically further include:
205, it is instructed according to confirmation, lifting platform decline, hatchcover is closed, and interaction portion is reduced to initial position, and robot is gone to
Target area.
In this case, after robot loads article, confirmed according to user, reduce lifting platform automatically, close cabin
Lid withdraws interaction portion and goes to destination.
Specifically, needing to interact confirmation with robot after article is placed on lifting platform by user, confirm complete
It is placed at article.Robot is instructed according to the confirmation of user, executes next task.
In some instances, as shown in figure 9, described instruct according to confirmation, the lifting platform decline, the hatchcover is closed,
Before the step of interactive portion is reduced to initial position, and the robot goes to target area, specifically further include:
206, user instructs to interaction portion input validation, or sends the confirmation instruction to the machine by mobile terminal
Device people.
User can according to need as a result, and different modes is selected to complete the confirmation of article placement.
In some instances, described to be instructed according to confirmation, the lifting platform decline, the hatchcover is closed, the interactive portion
It is reduced to initial position, the robot goes to target area, specifically further include:
If 207, hatchcover can not close, hatchcover is restored to the position after opening, and robot issues prompt information.
In this case, user can know that robot completes delivery movement, need to reappose or terminate placement
Article to receiving cabin.
Specifically, prompt information can be the alarm signal or fault-signal that robot is sent to user, prompt to use
Family need to carry out reapposing article or take out article.After user reapposes article, step 205 is continued to execute.
In some instances, prompt information is by the signal lamp that is located in robot, interaction portion, in mobile terminal
At least one issues.
User can make further operating according to prompt information as a result,.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modification, equivalent replacement and improvement etc., should be included in the protection model of the technical solution within the spiritual and principle of mode
Within enclosing.
Claims (10)
1. a kind of robot interactive method, the robot includes interaction portion and inductor, which is characterized in that
The described method includes:
The interactive portion is promoted to the first predeterminated position or the inductor according to the touching information of acquisition according to detecting
Induction information, so that the interactive portion is promoted to first predeterminated position；
The interactive portion overturns predetermined angle in lifting process, to direction of improvement.
2. robot interactive method as described in claim 1, which is characterized in that the method also includes: just according to user
Face information, the robot make the interactive portion and the user face to face by mobile.
3. robot interactive method as claimed in claim 2, which is characterized in that the positive information according to user, it is described
Robot by it is mobile make the interactive portion and the user face to face the step of before, the method also includes:
The robot identifies the positive information of the user by deepness image registration device.
4. robot interactive method as described in claim 1, which is characterized in that the interactive portion is according to the touching information of acquisition
And before the step of being promoted to the first predeterminated position, the method also includes:
User's point touching screen generates the touching information.
5. robot interactive method as described in claim 1, which is characterized in that the inductor is believed according to the induction detected
Before the step of ceasing, the interactive portion made to be promoted to first predeterminated position, the method also includes:
When the inductor executes infrared induction and detects user, the induction information is generated.
6. robot interactive method as described in claim 1, which is characterized in that the robot includes accommodating cabin and hatchcover,
Lifting platform is arranged in the receiving bilge portion, the method also includes:
According to the information that user inputs, the hatchcover is opened, and the lifting platform is promoted to the second predeterminated position.
7. robot interactive method as claimed in claim 6, which is characterized in that the method also includes:
It is instructed according to confirmation, the lifting platform decline, the hatchcover is closed, and the interactive portion is reduced to initial position, the machine
Device people goes to target area.
8. robot interactive method as claimed in claim 7, which is characterized in that described to be instructed according to confirmation, the lifting platform
Decline, the hatchcover are closed, and the interactive portion is reduced to initial position, and the robot goes to target area, specifically includes:
User inputs the confirmation instruction to the interactive portion, or sends the confirmation instruction to the machine by mobile terminal
Device people.
9. robot interactive method as claimed in claim 7, which is characterized in that described to be instructed according to confirmation, the lifting platform
Decline, the hatchcover are closed, and the interactive portion is reduced to initial position, and the robot goes to target area, specifically further include:
If the hatchcover can not close, the hatchcover is restored to the position after opening, and the robot issues prompt information.
10. robot interactive method as claimed in claim 9, which is characterized in that the prompt information is by being located at the machine
At least one of signal lamp, the interactive portion, mobile terminal on device people issue.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811649844.3A CN109648561A (en) | 2018-12-30 | 2018-12-30 | Robot interactive method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811649844.3A CN109648561A (en) | 2018-12-30 | 2018-12-30 | Robot interactive method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109648561A true CN109648561A (en) | 2019-04-19 |
Family
ID=66118651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811649844.3A Pending CN109648561A (en) | 2018-12-30 | 2018-12-30 | Robot interactive method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109648561A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750158A (en) * | 2022-04-28 | 2022-07-15 | 上海擎朗智能科技有限公司 | Robot working method, robot and storage medium |
| CN114888822A (en) * | 2022-04-28 | 2022-08-12 | 上海擎朗智能科技有限公司 | Service robot |
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| CN108638088A (en) * | 2018-07-06 | 2018-10-12 | 杭州国辰机器人科技有限公司 | Mobile service robot of independently selling goods |
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| US20100185326A1 (en) * | 2009-01-22 | 2010-07-22 | Samsung Electronics Co., Ltd. | Robot |
| WO2011059298A2 (en) * | 2009-11-16 | 2011-05-19 | (주) 퓨처로봇 | Intelligent display apparatus |
| CN105082103A (en) * | 2015-09-16 | 2015-11-25 | 彭倍 | Indoor movable robot |
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| CN114750158A (en) * | 2022-04-28 | 2022-07-15 | 上海擎朗智能科技有限公司 | Robot working method, robot and storage medium |
| CN114888822A (en) * | 2022-04-28 | 2022-08-12 | 上海擎朗智能科技有限公司 | Service robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190419 |
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