CN106272431A - A kind of intelligence man-machine interaction method - Google Patents
A kind of intelligence man-machine interaction method Download PDFInfo
- Publication number
- CN106272431A CN106272431A CN201610840207.9A CN201610840207A CN106272431A CN 106272431 A CN106272431 A CN 106272431A CN 201610840207 A CN201610840207 A CN 201610840207A CN 106272431 A CN106272431 A CN 106272431A
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- CN
- China
- Prior art keywords
- barrier
- voice message
- robot
- midway
- ahead
- 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.)
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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 invention discloses a kind of intelligence man-machine interaction method, comprise the steps of: open robot and wander around function, and whether have barrier before detecting in real time；When robot detects and above has barrier, can go to back to barrier voice message, then go ahead about 30cm voice message, if midway does not has barrier, rotate just to this barrier voice message, restart to identify；If robot runs into barrier in midway, and recognize new barrier on the left side or the right, then toward turning right or 30 degree also voice messages of turning left；If turning right or still running into new barrier in turn-left process, then repeat above action, this action is done the most in triplicate.The present invention moves robot and not merely can make barrier in wandering around and dodging, it is possible to actively carry out interaction with barrier, and mobile robot can be pursued by user, and mobile robot then can imitate behavior of men, makes series reaction, interactive by force.
Description
Technical field
The present invention relates to a kind of interactive approach, specifically a kind of intelligence man-machine interaction method.
Background technology
The most mobile robot only possesses simple barrier avoiding function, dodges quiet, dynamic barrier, ensures the road selected
Footpath has safety, optimization property, actively will not carry out interaction with barrier (people), move the traditional barrier avoiding function of robot excessively
Mechanization, does not possess the ability interactive with barrier (people), lacks motility.
Summary of the invention
It is an object of the invention to provide a kind of intelligence man-machine interaction method, with asking of solving to propose in above-mentioned background technology
Topic.
For achieving the above object, the present invention provides following technical scheme:
A kind of intelligence man-machine interaction method, comprises the steps of: opens robot and wanders around function, and detects in real time
The most whether there is barrier；When robot detects and above has barrier, can go to back to barrier voice message, then
Go ahead about 30cm voice message, if midway does not has barrier, rotate just to this barrier voice message, again open
Begin to identify；If robot runs into barrier in midway, and recognize new barrier on the left side or the right, then toward turning right or
Turn left 30 degree and voice messages；If turning right or still running into new barrier in turn-left process, then repeat above action, this action is done
The most in triplicate.If right-hand rotation or midway of turning left do not have barrier, go ahead about 20cm voice message, if passed by before this
Journey runs into barrier then stop, then rotating just to initial obstacle thing voice message；If said process rotates 3 times 30
Degree all runs into barrier, then last rotate just to initial obstacle thing slack, and carries out voice message；Before waiting always
Barrier removes, go ahead about 30cm voice message the most again；If not recognizing barrier, again during last rotation
Start above-mentioned flow process.
As the further scheme of the present invention: when robot detects and above has barrier, can go to back to barrier
And voice message: " I dodge ", " I hides ", " I turns ", " I dodges, and does not chase after me ", " I walks for then go ahead about 30cm voice message
", if midway does not has barrier, rotate just to this barrier voice message " I returns again ", restart to identify.
As the present invention further scheme: if robot runs into barrier in midway, and recognize new obstacle
Thing is on the left side or the right, then toward turning right or turn left 30 degree and voice message: " I dodges again "；If turning right or turn-left process is still met
To new barrier, then repeating above action, this action is done the most in triplicate；If right-hand rotation or midway of turning left do not have barrier,
Go ahead about 20cm voice message " I walks ", if running into barrier during walking before this, stopping, just then rotating
To initial obstacle thing voice message " I returns again ".
Compared with prior art, the invention has the beneficial effects as follows: the present invention moves robot in wandering around not merely
Can make barrier (people) and dodging, it is possible to actively carry out interaction with barrier (people), mobile robot can be chased after by user
Catching up with, mobile robot then can imitate behavior of men, makes series reaction, interactive by force.
Accompanying drawing explanation
Fig. 1 is the flow chart of intelligence man-machine interaction method.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Refer to Fig. 1, in the embodiment of the present invention, a kind of intelligence man-machine interaction method, comprise the steps of: open robot
Wander around function, and whether has barrier before detecting in real time；When robot detects and above has barrier, can go to
Back to barrier voice message, then go ahead about 30cm voice message, if midway does not has barrier, it is the most right to rotate
This barrier voice message, restart to identify；If robot runs into barrier in midway, and recognizes new barrier
On the left side or the right, then toward turning right or turn left 30 degree and voice message；If turning right or turn-left process still runs into new obstacle
Thing, then repeat above action, and this action is done the most in triplicate.If right-hand rotation or midway of turning left do not have barrier, go ahead about
20cm voice message, if running into barrier during walking before this, stop, and then rotates just to initial obstacle thing language
Sound is pointed out；If said process rotates 3 times 30 degree all run into barrier, then last rotate just to initial obstacle thing stopping not
Dynamic, and carry out voice message；Wait that above barrier removes, go ahead the most again about 30cm voice message always；If
Do not recognize barrier during rear rotation and then restart above-mentioned flow process；When robot detects and above has barrier, can turn
To back to barrier voice message: " I dodges ", " I hides ", " I turns ", " I dodges, and does not chase after me ", then go ahead about 30cm also
Voice message " I walks ", if midway does not has barrier, rotates just to this barrier voice message " I returns again ",
Restart to identify；If robot runs into barrier in midway, and recognize new barrier on the left side or the right, the most past
Turn right or turn left 30 degree and voice message: " I dodges again "；If turn right or turn-left process in still run into new barrier, then repeat with
Upper action, this action is done the most in triplicate；If right-hand rotation or midway of turning left do not have barrier, go ahead about 20cm voice message
" I walks ", if running into barrier during walking before this, stops, and then rotates just to initial obstacle thing voice message
" I returns again ".
The operation principle of the present invention is: 1. robot opens and wanders around function, and whether has barrier before detecting in real time
Hinder thing (people)
2., when robot detects and above has barrier (people), can go to back to barrier voice message: " I
Dodge ", " I hides ", " I turns ", " I dodges, and does not chase after me ", then go ahead about 30cm voice message " I walks ", if midway does not has
There is barrier then to rotate just to this barrier (people) voice message " I returns again ", restart to identify.
If 3. robot runs into barrier (people) in midway, and it is (or right on the left side to recognize new barrier (people)
Limit), then toward (left-hand rotation) 30 degree the voice message of turning right: " I dodges again "；New barrier is still run into during (left-hand rotation) if turning right
(people), then repeat above action, and this action is done the most in triplicate.If turned right, (left-hand rotation) midway does not has barrier (people), forward
Walk about 20cm voice message " I walks " etc., if running into barrier (people) during walking before this, stopping, then rotating
Just to initial obstacle thing (people) voice message " I returns again ".
If 4 upper during rotate 3 times 30 degree all run into barrier (people), then finally rotate just to initial obstacle thing
(people) is the most slack, and " I gives up, and haves a bone in one's leg, and ", " is caught by you, and you win, and ", " haves a bone in one's leg, and goes further in voice message
Just hit wall ", " to be dead tired, do not run "；Wait that above barrier (people) removes, go ahead the most again about 30cm voice always
Prompting " chasing after me ".
If not recognizing barrier (people) during last rotation, restart whole flow process.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of the spirit or essential attributes of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matter
From the point of view of which point, all should regard embodiment as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all by fall in the implication of equivalency and scope of claim
Change is included in the present invention.Should not be considered as limiting involved claim by any reference in claim.
Although moreover, it will be appreciated that this specification is been described by according to embodiment, but the most each embodiment only wraps
Containing an independent technical scheme, this narrating mode of description is only that for clarity sake those skilled in the art should
Description can also be formed those skilled in the art through appropriately combined as an entirety, the technical scheme in each embodiment
May be appreciated other embodiments.
Claims (3)
1. an intelligent man-machine interaction method, it is characterised in that comprise the steps of: open robot and wander around function, and
Whether barrier is had before detecting in real time；When robot detects and above has barrier, can go to back to barrier language
Sound is pointed out, then go ahead about 30cm voice message, if midway does not has barrier, rotates just to this barrier voice
Prompting, restarts to identify；If robot runs into barrier in midway, and recognizes new barrier on the left side or the right side
Limit, then toward turning right or turn left 30 degree and voice message；If turning right or turn-left process still runs into new barrier, then repeat above
Action, this action is done the most in triplicate, does not has barrier if turning right or turning left halfway, go ahead about 20cm voice message,
If running into barrier during walking before this, stopping, then rotating just to initial obstacle thing voice message；If it is above-mentioned
During rotate 3 times 30 degree all run into barrier, then last rotation is just to initial obstacle thing slack, and lang sound of going forward side by side carries
Show；Wait that above barrier removes, go ahead the most again about 30cm voice message always；If do not identified during last rotation
Above-mentioned flow process is then restarted to barrier.
Intelligence man-machine interaction method the most according to claim 1, it is characterised in that above have obstacle when robot detects
During thing, can go to back to barrier voice message: " I dodges ", " I hides ", " I turns ", " I dodges, and does not chase after me ", then go ahead
About 30cm voice message " I walks ", if midway does not has barrier, rotate just to this barrier voice message " I again
Return ", restart to identify.
Intelligence man-machine interaction method the most according to claim 1, it is characterised in that if robot runs into obstacle in midway
Thing, and recognize new barrier on the left side or the right, then toward turning right or 30 degree also voice messages of turning left: " I dodges again "；If
Turning right or still run into new barrier in turn-left process, then repeating above action, this action is done the most in triplicate；If turn right or
Turning left halfway and do not have barrier, go ahead about 20cm voice message " I walks ", if running into obstacle during walking before this
Thing then stops, and then rotates just to initial obstacle thing voice message " I returns again ".
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610840207.9A CN106272431A (en) | 2016-09-21 | 2016-09-21 | A kind of intelligence man-machine interaction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610840207.9A CN106272431A (en) | 2016-09-21 | 2016-09-21 | A kind of intelligence man-machine interaction method |
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| CN106272431A true CN106272431A (en) | 2017-01-04 |
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| CN201610840207.9A Pending CN106272431A (en) | 2016-09-21 | 2016-09-21 | A kind of intelligence man-machine interaction method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109521927A (en) * | 2017-09-20 | 2019-03-26 | 阿里巴巴集团控股有限公司 | Robot interactive approach and equipment |
| CN112327847A (en) * | 2020-11-04 | 2021-02-05 | 北京石头世纪科技股份有限公司 | Method, device, medium and electronic equipment for bypassing object |
| WO2022127439A1 (en) * | 2020-12-17 | 2022-06-23 | 深圳市普渡科技有限公司 | Robot obstacle avoidance processing method and apparatus, device, and computer readable storage medium |
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| US5083968A (en) * | 1988-11-29 | 1992-01-28 | Hart Frank J | Interactive toy |
| WO2002066131A1 (en) * | 2001-02-16 | 2002-08-29 | Groupe Berchet | Interactive mobile figure that straightens up spontaneously |
| CN1723064A (en) * | 2001-10-31 | 2006-01-18 | 麦特尔公司 | Master and slave toy vehicle pair |
| US20080311821A1 (en) * | 2007-06-12 | 2008-12-18 | Yu-Min Hu | Remote control chasing toy |
| US20100041517A1 (en) * | 2007-04-30 | 2010-02-18 | Nike, Inc. | Adaptive Training System With Aerial Mobility System |
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2016
- 2016-09-21 CN CN201610840207.9A patent/CN106272431A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5083968A (en) * | 1988-11-29 | 1992-01-28 | Hart Frank J | Interactive toy |
| WO2002066131A1 (en) * | 2001-02-16 | 2002-08-29 | Groupe Berchet | Interactive mobile figure that straightens up spontaneously |
| CN1723064A (en) * | 2001-10-31 | 2006-01-18 | 麦特尔公司 | Master and slave toy vehicle pair |
| US20100041517A1 (en) * | 2007-04-30 | 2010-02-18 | Nike, Inc. | Adaptive Training System With Aerial Mobility System |
| US20080311821A1 (en) * | 2007-06-12 | 2008-12-18 | Yu-Min Hu | Remote control chasing toy |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109521927A (en) * | 2017-09-20 | 2019-03-26 | 阿里巴巴集团控股有限公司 | Robot interactive approach and equipment |
| CN112327847A (en) * | 2020-11-04 | 2021-02-05 | 北京石头世纪科技股份有限公司 | Method, device, medium and electronic equipment for bypassing object |
| WO2022127439A1 (en) * | 2020-12-17 | 2022-06-23 | 深圳市普渡科技有限公司 | Robot obstacle avoidance processing method and apparatus, device, and computer readable storage medium |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190617 Address after: 518000 Guangdong 28, Shenzhen, Futian District, Huafu street, No. 5001 Huanggang Road, Shenzhen Industrial upper city (two phase of the Southern District) Applicant after: Shenzhen Sanbao innovation and intelligence Co., Ltd. Address before: 518055 20, Times Technology Building, 7028 Shennan Road, Futian District, Shenzhen, Guangdong. Applicant before: Qihan Technology Co., Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |