CN109719741A - A kind of interaction robot method for safe operation - Google Patents

Abstract

The invention discloses a kind of interaction robot method for safe operation, comprising the following steps: step 1: interaction robot enters single hand lock state；Step 2: after interaction robot receives interaction task, perception detects man-machine spatial relationship；Step 3: after interaction robot meets man-machine spatial relationship, being run into step set by interaction task；Interruption detects whether that personnel occur swarms into behavior suddenly using 100ms as interval in interrupt thread；Step 4: then single hand operation of emergency stop when personnel occur and swarming into behavior suddenly；After swarming into behavior releasing suddenly, it is back to single hand lock state, is transferred to step 2；Step 5: interaction task execution finishes, and interaction robot returns back to single hand lock state.It is in the lock state by single hand, only movement manipulation and interrupt thread detect whether that personnel occur swarms into measure suddenly to single hand on limiting object when by executing interaction task, enter family for the more abundant interaction robot of function and provide safety guarantee.

Description

A kind of interaction robot method for safe operation

Technical field

The present invention relates to a kind of interaction robot method for safe operation, be more specifically be related to it is a kind of with visual perception, The method for safe operation that infrared temperature detecting, automatic control technology measure are realized.

Background technique

Interaction robot is the important branch and classification of robot.

Interaction robot is mainly used for interacting in family with old man, juvenile.

As shown in Figure 1, juvenile room is mainly made of tables and chairs, blank, balcony, bookshelf, bed, it is that juvenile is main in family Reading recreating facility.

It when juvenile is alone in room, can do one's assignment on tables and chairs side, drawing can also be write on blank, it can also be in balcony book Frame taking and placing books article tires out, can also take a momentary rest in bed.

When accompanying robot, interaction robot to come into family and especially come into juvenile room, learn jointly together with juvenile, When moving, is movable, getting along, accompanies robot and interact the safe operation pendulum of robot at first.

Desktop machine people as shown in Figure 2, based on chat feature, because being walked without business concern operating a porters' service, more without mechanical arm Dynamic component, therefore, desktop machine people are considered as juvenile safety companion product.

It is as shown in Figure 3 can walking robot, be added to ground-engaging element on the basis of chat feature, can walking robot not Old man and juvenile only can be followed at one's side, can also patrol alone each room items of family and electrical device status, can also remind prompt Old man juvenile carries out action.Can walking robot eventually because do not have mechanical arm, only suggest permission；It does and does not do, holds It goes and does not execute entirely in old man juvenile itself；Just because of do not brandish the arm having an effect, can walking robot be also regarded as company The safety product of old man juvenile.

Interaction robot as shown in Figure 4 includes from top to down head-shield, fuselage, left shoulder decoration arm, right shoulder manipulator Arm, elevating lever, omnidirectional mobile vehicle bottom；Desktop machine people and can walking robot on the basis of, interaction robot it is powerful, Including interacting throwing flying saucer together with juvenile, top table tennis, playing chess, writing explanation etc. on blank；These newly add function Realization be using manipulator cleverness dab hand shown in fig. 5 as execution unit, interaction this core component mechanical arm of robot its The 5kg that is self-possessed loads 1kg, and mechanical arm end further includes Dextrous Hand as shown in Figure 5.Mechanical arm large arm, forearm and Dextrous Hand Five fingers, 14 joints are the mechanical part that can in external fuselage wave movement, when interaction robot and juvenile exist together one A room and interaction robot and juvenile are walked in jointly during family hall, passageway, kitchen, toilet, whether are existed Security risk is one of the focus that parent is concerned about.

Interaction robot behavior action control comprehensively by control host with management, interaction robot be safely operated be one can Technical solution is provided from technical measures approach.

Therefore, interaction robot is how while playing its powerful interaction function, moreover it is possible to provide the whole series and not injure juvenile And the safe operation technical measures of house person, it is problem in the urgent need to address at present.

Summary of the invention

Place in view of above-mentioned deficiencies of the prior art, the present invention relates to a kind of interaction robot method for safe operation, more Body say be related to it is a kind of with vision, infrared temperature detecting, automatic control technology measure method for safe operation.

In order to achieve the above object, this invention takes following technical schemes:

A kind of interaction robot method for safe operation, which comprises the following steps:

Step 1: interaction robot enters single hand lock state；

Step 2: after interaction robot receives interaction task, perception detects man-machine spatial relationship；

Step 3: after interaction robot meets man-machine spatial relationship, being run into step set by interaction task；In timing Break using 100ms as interval, detects whether that personnel occur swarms into behavior suddenly in interrupt thread；

Step 4: then single hand operation of emergency stop when personnel occur and swarming into behavior suddenly；

After swarming into behavior releasing suddenly, it is back to single hand lock state, is transferred to step 2；

Step 5: interaction task execution finishes, and interaction robot returns back to single hand lock state.

Moreover, the step 1 includes following process flow:

(1) control mian engine changeover is felt to head-up carries out Image Acquisition；

(2) control host manipulates elevating lever by drive control device and is in high limit position；

(3) control host manipulates mechanical arm and each joint of Dextrous Hand by mechanical arm controller and dexterous hand controls The angle of lock state.

Moreover, the step 2 includes following process flow:

(1) control host receives the acquisition interaction from time task list, voice input headset, AI Cloud Server approach Task；

(2) control host manipulation omnidirectional mobile vehicle bottom is rotated with 15 degree for interval original place, and from acquired image, judgement is few Whether youngster is in picture；

(3) when juvenile is in image, measurement juvenile with interact distance between robot.

Moreover, the step 3 includes following process flow:

(1) deskmate explanation task setting movement are as follows: juvenile is on the left of interaction robot, and single hand is only to desktop writing counter Operation；

(2) blank explanation task setting movement are as follows: juvenile is in table side chair, and single hand only operates blank；

(3) chess and card play chess task setting movement are as follows: juvenile is in chessboard opposite side, and single hand is when chessboard only deposits chess piece to chess Disk operation；

(4) in the air to white silk task setting movement are as follows: juvenile is in except 2 meters, and interaction robot is rotated in place to support list Hand connects by throwing flying saucer, table tennis, gauze kerchief ball；

(5) stick refers to that object task setting acts are as follows: lock state at single hand when interaction robot ambulation；Interact robot When pausing static, juvenile's handle decorates arm, and single hand holds stick and refers to object.

The advantages and positive effects of the present invention are: desktop and can walking robot be considered as safety product be generally altogether Know.Robot is interacted by keeping the space length between juvenile, is in the lock state by mechanical arm Dextrous Hand, by holding Single hand is only operated and listened on limiting object when row interaction task swarms into the multiple measure restriction machinery such as behavior suddenly Arm Dextrous Hand behavior enters family for the more abundant interaction robot of function and provides safety precautions.

Detailed description of the invention

Fig. 1 is juvenile's room layout schematic diagram of the present invention

Fig. 2 is desktop machine people schematic diagram of the present invention

Fig. 3 is that the present invention can walking robot schematic diagram

Fig. 4 is present invention interaction robotic component composition schematic diagram

Fig. 5 is mechanical arm Dextrous Hand combination diagram of the present invention

Fig. 6 is present invention interaction robot control system composition figure

Fig. 7 is flow chart of steps of the present invention

Fig. 8 is mechanical arm Dextrous Hand lock state schematic diagram of the present invention

Fig. 9 is that deskmate of the present invention explains task schematic diagram

Figure 10 is that blank of the present invention explains task schematic diagram

Figure 11 is that chess and card of the present invention are played chess task schematic diagram

Figure 12 is the present invention in the air to white silk task schematic diagram

Figure 13 is that stick of the present invention refers to object task schematic diagram

In figure: bow vision controller, 13- base arm, 14- large arm, 15- forearm, 16- of the flat vision controller of 8-, 9- is dexterous Hand, 20- head-shield, 21- fuselage, 22- mechanical arm, 23- decoration arm, 24- elevating lever, 25- omnidirectional mobile vehicle bottom, 26- are mechanical Arm controller, 27- dexterity hand controls, 30- desktop writing counter, 33- juvenile, 40- drive control device, 50- infrared measurement of temperature control Device processed, 60- infrared obstacle avoidance controller, 100-AI Cloud Server, 200- control host.

Specific embodiment

To make the purpose of the present invention, technical solution and effect clearer, clear and definite, right as follows in conjunction with drawings and embodiments The present invention is further described.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to Limit the present invention.

In order to the embodiment of the present invention is described more fully, it is dedicated for title concept of the present invention and is defined and explains:

Single hand: referring to that the mechanical global facility being made of mechanical arm and Dextrous Hand, anima hand are located at mechanical arm end, Mechanical arm is fixedly installed in the right shoulder of fuselage；Each joint of mechanical arm and each joint of Dextrous Hand can be by serial communication approach by controlling Host independent operation processed manipulates single branch finger by control host by sending instructions under serial communication to mechanical arm controller and spirit Dab hand controller is to manipulate each joint.

Man-machine spatial relationship: refer between interaction robot and juvenile distance and juvenile be in interact robot shirtfront, back, The specific orientation of left shoulder, right shoulder.

Single hand lock state: refer to that interaction single hand of robot naturally droops extension until Dextrous Hand protrudes into car body body It is interior.

Interaction task: refer to when the single hand operation of interaction robot or periphery there are personnel, or directly carry out dealing between personnel It is past；It is that independent task mode such as interaction on daytime robot arranges bookshelf with interact task opposition, door is closing, room at this time In be completely nobody.

Fig. 1-Figure 13 is please referred to, a kind of interaction robot method for safe operation, is to interact robotic as shown in Figure 4 Component is carrier, is realized in interaction robot control system as shown in Figure 6.

As shown in figure 4, interaction robot includes head-shield, fuselage and arm, elevating lever, omnidirectional mobile vehicle bottom from top to bottom, Interaction robot total height (contacting to earth position from head-shield top position to omnidirectional mobile vehicle bottom wheel) is in 1: 3 meter, and wherein head-shield 20 is high Degree is 15cm between 16cm, 21 height 50cm of fuselage between 52cm, 24 maximum height of elevating lever be 58cm between 60cm, Minimum altitude is 38cm between 40cm, and 25 height 38cm of omnidirectional mobile vehicle bottom is between 40cm.

Metallo-plastic well type grid hole support frame is laid in head-shield be fixedly mounted vision system, voice input headset and Speech player；Voice input headset is fixed on 20 left and right sides middle part of head-shield；It is just front lower that speech player is fixed on head-shield 20 Portion；Flat vision camera of bowing be installed on head-shield spherical outside surface in fuselage head-shield vertical direction symmetrical center line.

Fuselage 21 refers to two shoulders to column body oval between Liang Ge crotch, and the oval column body of fuselage 21 is interior to lay metallo-plastic well Type grid hole support frame.

Mechanical arm 22 is the arm of four freedom degrees, and the base arm of mechanical arm as shown in Figure 5 is fixedly installed in fuselage On 21 interior metal plastic supporting skeletons.Arm 23 is decorated in the left shoulder one-pass molding of fuselage 21, decorates arm 23 into oblique V-shape； In interaction robot operational process, about 23 arm of decoration need not be bent, left and right need not also rotate.

Head-shield is logical to be located at right above fuselage, is fixed on head-shield well type grid hole support rib by four metallo-plastic one end Frame, the other end are fixed on fuselage well type grid hole support frame；21 bottom surface of fuselage is one-pass molding with a thickness of 50mm to 80mm Full wafer metallo-plastic part, the one-pass molding excavate hole and installation hole location with a thickness of the full wafer metallo-plastic part of 50mm to 80mm Elevating lever 24 is fixedly mounted.

As shown in figure 5, mechanical arm includes base arm 13, large arm 14, forearm 15, end, and Dextrous Hand 16 has five 14 joints of finger；Mechanical arm and Dextrous Hand are integrally connected in end.

Elevating lever is outer bar mechanical part in the hollow cylinder based on electronic silk cylinder technology,

Interior outer bar silk rotation is screwed on rotation or lower rotation, elevating lever is consequently formed by motor driven, motor positive and inverse driving silk Rise or fall.

Elevating lever runs on highest and minimum two extreme positions, and elevating lever height is 60cm when high limit position, most Elevating lever height is 40cm when low extreme position.

Omnidirectional mobile vehicle bottom 25 includes car body, four Mecanum wheels, drive control devices；It is fixed in the car body Installation control host, power-supply system, lifting motor, vehicle bottom chassis.

For Mecanum radius of wheel between 4cm to 6cm, four Mecanum wheels are fixedly installed in vehicle bottom chassis respectively On.

Drive control device configures four driving motors, and driving motor is through shaft in conjunction with Mecanum wheel；

Drive control device setting rotating forward, reversion, power supply, four output lines connect with elevating lever motor.

Six face cuboid upper side of car body excavates rectangle hole, and the rectangle hole is grown in 16cm to 20cm, width In 3cm to 5cm.

As shown in fig. 6, interaction robot sensing and control system composition are as follows:

8 infrared temperature probes and infrared measurement of temperature controller are laid in 21 right and left shoulders of fuselage and front and back chest position, The infrared temperature probe detection range is in -10 degree Celsius to 80 degree, and center measuring point is spent at 35 degree -37 Celsius, along left shoulder, the right side Shoulder, shirtfront, each two of metathorax Lateral fuselage surface installation.At omnidirectional mobile vehicle bottom, 25 car body upper side is along leading flank, rear side An IR evading obstacle sensors are laid according to 15 degree of intervals in face, left side, right side, and it is red that entire car body lays 24 switching modes Outer obstacle avoidance sensor, IR evading obstacle sensors vision area range are along 15 degree of IR evading obstacle sensors center line left and right sides, 1 meter of radius Sector；Unobstructed output is low level, blocks output high level within the scope of vision area.

Control host is Industry Control mainboard, including multiple communication ports, multiple network ports, voice input and output Port；It operates under real-time multi-task operating system environment.By communication port, control host and tool arm controller, Dexterous hand controls, infrared measurement of temperature controller, infrared obstacle avoidance controller, drive control device, flat vision controller and vertical view feel control Device connection processed, the voice input/output port by controlling host inputs headset with voice, speech player is connect.

It interacts robot and headset, flat vertical view feel, infrared measurement of temperature module, infrared obstacle avoidance module perception periphery is inputted by voice Environment, or be uploaded to AI Cloud Server or by control host process, sent instructions under to mechanical arm controller, dexterous manual control To drive vehicle bottom mobile or lifting, driving is single only to be made manually for device processed, drive control device；Task object is interacted to realize.

A kind of interaction robot method for safe operation, as shown in fig. 7, comprises following steps:

Step 1: interaction robot enters single hand lock state；

This step includes following treatment process:

(3) control host 200 switches to head-up feel and carries out Image Acquisition；

(4) control host 200 manipulates elevating lever by drive control device and is in high limit position；

(3) control host 200 is by mechanical arm controller and dexterous hand controls manipulates mechanical arm and Dextrous Hand is each The angle of joint locking state.

Wherein, control host 200 issues rotating forward instruction to drive control device, is in upper limit (UL) position to manipulate elevating lever It sets, disconnected automatically by limit switch and stops lifting motor operation.

J1 indicates base arm, and J2 indicates large arm, and J3 indicates that forearm, J4 indicate end；L1, L2 indicate thumb；L3, L4, L5 indicates index finger；L6, L7, L8 indicate middle finger；L9, L10, L11 indicate little finger of toe, L12, L13, the L14 instruction third finger.

Each joint of mechanical arm rotary motion within the specified range, J1 along XY horizontal plane X number axis -135 spend to 135 degree it Between,

J2 is counterclockwise between 0 degree to 85 degree along XZ vertical plane Z number axis,

J3 is spent along XZ vertical plane X number axis counterclockwise -10 between 95 degree,

J4 is spent along XZ vertical plane X number axis -150 between 150 degree；

And each joint specified range of Dextrous Hand are as follows:

L1 is between 0 degree to 90 degree of number axis of XZ vertical plane Z, between 0 degree to 90 degree of X number axis；

L3, L6, L9, L12 are between 0 degree to 70 degree of number axis of XZ vertical plane Z；

L2, L4, L5, L7, L8, L10, L11L13, L14 are between 0 degree to 110 degree of number axis of XZ vertical plane Z；

J1 is set as 0 degree, J2 is 85 degree, and J3 is 90 degree, and J4 is 0 degree；

L1 is set along Z number axis as 0 degree, is 90 degree along X number axis；

L3, L6, L9, L12, L2, L4, L5, L7, L8, L10, L11L13, L14 are 0 degree along XZ vertical plane Z number axis.

As shown in figure 8, so far, 14 joints of the Dextrous Hand the five fingers, which are vertically closed up, to be entirely located in the vertical facial plane of XZ, it is mechanical 85 degree of arm large arm naturally droop, and forearm is then 90 degree sufficiently sagging.

Sequence of movement are as follows: first step manipulation 14 joints of Dextrous Hand are vertically closed up,

Second step is that 90 degree of forearm of manipulation is sagging,

Third step be manipulation large arm be changed into from 0 degree 85 degree it is sagging.

Single hand removes six face cuboid upper side rectangle hole step of car body:

It keeps 14 joints of forearm and Dextrous Hand not change, only manipulates large-arm joint by 85 degree and slowly return back to 45 degree.

Step 2: after interaction robot receives interaction task, perception detects man-machine spatial relationship；

This step includes following treatment process:

(2) control host receives the acquisition interaction from time task list, voice input headset, AI Cloud Server approach Task；

(2) control host manipulation omnidirectional mobile vehicle bottom is rotated with 15 degree for interval original place, and from acquired image, judgement is few Whether youngster is in picture；

(3) when juvenile is in image, measurement juvenile with interact distance between robot；

Wherein, interaction robot does not have liquid crystal display man-machine interface, does not have key indicator lamp man-machine interface yet；It is holding Such as mutual throwing flying saucer during row interaction task, interacts robotic vision system perception flying saucer running track and judge juvenile institute Locate spacing orientation；However receive an assignment open task when, interact robot storage time task list, control host circulation looks into The time task list is ask to open or terminate interaction task；As 7: 30 played doing mathematics operation at night, time restriction is at 40 points Clock.During interacting task execution, another interaction task can be switched to from an interaction task, such as juvenile's arithmetic operation Smoothly complete, away from doing between Chineselanguage homework there are also 15 minutes, each other can speech exchange interaction solicit it is whether movable once or under Five chesses of disk；At this point, control host listens to the content from voice input headset to obtain interaction task；In hall study bedroom Parent can inquire between interaction robot and juvenile and interact Task Progress, Jia Changke by smart phone APP interactive interface It proposing to accelerate interaction task progress or switches the instruction of interaction task, the instruction issued from APP is audited through AI Cloud Server and is filtered, In terms of interaction robot angle, interaction task is from AI Cloud Server.

Under original state, interaction robot is in bookshelf corner or bed Jiao Qiang side of the juvenile room far from desktop；Interactive machine Single hand lock state of device people is stationary state, and juvenile does one's assignment in room desktop chair, mounts the throne along rest, bookshelf taking and placing books In data behavior, interaction robot does not constitute task interference on juvenile and influences.

Under normal circumstances, the interaction flat vision camera fixed-focus of robot is in bedroom door and desktop seat area, to detect Juvenile is listened to enter bedroom.

Step 3: after interaction robot meets man-machine spatial relationship, being run into step set by interaction task；In timing Break using 100ms as interval, detects whether that personnel occur swarms into behavior suddenly in interrupt thread；

This step includes following treatment process:

(3) deskmate explanation task setting movement are as follows: juvenile is on the left of interaction robot, and single hand is only to desktop writing counter Operation；

(4) blank explanation task setting movement are as follows: juvenile is in table side chair, and single hand only operates blank；

(3) chess and card play chess task setting movement are as follows: juvenile is in chessboard opposite side, and single hand is when chessboard only deposits chess piece to chess Disk operation；

(4) in the air to white silk task setting movement are as follows: juvenile is in except 2 meters, and interaction robot is rotated in place to support list Hand connects by throwing flying saucer, table tennis, gauze kerchief ball；

(5) stick refers to that object task setting acts are as follows: lock state at single hand when interaction robot ambulation；Interact robot When pausing static, juvenile's handle decorates arm, and single hand holds stick and refers to object.

Wherein, as shown in figure 9, juvenile 33 is on the left of desk, robot is interacted on the right side of desk.Deskmate explanation task refers to The guidance of interaction robot instructs juvenile to do one's assignment to preview, and interaction single hand of robot is write on A4 paper and corresponding to play voice literary Part；At this point, putting desktop writing counter 30 on desktop, A4 paper is placed in desktop writing counter 30 and writes on bottom plate.Interact robot list It only loses no time manually two to three strokes of degree per second character, interaction single hand actuating range of robot is desktop writing counter.Language Sound plays and single hand when not writing, and single hand end is placed in end edge under desktop writing counter A4 paper blank space or desktop writing counter At.

As shown in Figure 10, juvenile 33 is sitting in alone on the chair of desk side, interacts robot standing blank side.Blank is apart from book At least 1.5 meters or more of table, license juvenile is along long edge mobile chair of desk.Interaction robot list is only lost no time degree per second character manually Two to three strokes, interaction single hand actuating range of robot be blank.Voice plays and single hand when not writing, it is single only Hand end is placed in blank blank space or blank lower end edge.

As shown in figure 11, chess and card play chess task refer to juvenile with interact robot and play chess five chesses, chessboard places book On table or on small tea table.

In 0.5 meter per second of speed for interacting the mobile camber line in single hand end of robot, when juvenile plays chess, robot list is interacted Hand end is placed in this side right corner edge of chessboard；It interacts robotic vision system and detects chessboard surface, this is played chess as juvenile Complete and after chessboard withdraw the arm finger, interaction robotic vision system detect that chessboard surface only exists chessman go Son, interaction single hand of robot execute this and fall chess；Single hand, which falls chess crown and leaves chessboard surface, returns to this side right corner side of chessboard Edge.

As shown in figure 12, in the air to practice task refer to interaction robot and juvenile between in bedroom mutual throwing flying saucer, To top table tennis, mutually throw gauze kerchief ball；It interacts robotic vision system detection juvenile orientation and calculates the distance between juvenile；When mutual When distance exceeds 2 meters between mobile robot and juvenile, this in the air can start white silk task.Interact robot omnidirectional mobile vehicle bottom Can 360 degree rotated in place with 1 degree for interval, interaction robot determine the accessible blocking in rotary course of institute standing place；One Denier is being in the air entirely no longer mobile until this is in the air to white silk task to robot in white silk task, is interacted after determining standing place Terminate；License interaction robot connects flying saucer, connects table tennis, connects unsuccessfully leave flying saucer, table tennis, gauze kerchief ball of gauze kerchief ball and land naturally On interaction robot periphery, interaction robot, which is transferred to, picks up flying saucer, table tennis, gauze kerchief ball process, reopens and appoints in the air to white silk Business, interaction robot do not execute successfully to rob the behavior for connecing flying saucer, table tennis, gauze kerchief ball and shift position.

As shown in figure 13, stick refers to that object task refers to that interaction robot ambulation indicates article, stick light with stick at home Beam is lighted in article center of gravity.

Stick refer to object article can bedroom, corridor, toilet, kitchen, parlor everywhere, interaction robot ambulation arrive at object During grade is set, lock state at single hand, juvenile obligates with nothing between robot is interacted at this time；When interaction robot Stick is opened when pausing static when referring to object, whether handle decorates arm to detection juvenile first, wait juvenile's handle decoration arm at After function, single hand just refers to that object operates into holding stick.

Step 4: then single hand operation of emergency stop when personnel occur and swarming into behavior suddenly；

After swarming into behavior releasing suddenly, it is back to single hand lock state, is transferred to S2；

Wherein, interaction robot configures infrared temperature probe in fuselage both shoulders and front and back chest, in car body upper end surrounding Configure IR evading obstacle sensors；About 1 meter from the ground of infrared temperature probe, about 0.5 meter from the ground of IR evading obstacle sensors；Bedroom Fitment article is fixed to put installation, interacts in robot ambulation and IR evading obstacle sensors occurs down to high level mutation table There is obstacle in bright corresponding orientation, and when interaction robot is fixed, IR evading obstacle sensors are then right youngster down to high level mutation Show to have and swarms into behavior appearance suddenly.Infrared temperature probe detects that body temperature sensing region occurs transformation and then shows juvenile Current man-machine spatial relationship will be changed by leaving chair.

Step 5: interaction task execution finishes, and interaction robot returns back to single hand lock state.

Wherein, single gymnadenia conopsea with interact robot interaction task be five, be respectively deskmate explanation task, blank explanation Task, chess and card play chess task, refer to object task to practicing task, stick in the air；Do not need single gymnadenia conopsea with interact robot interaction Task includes that observation juvenile writes operation, chat of telling a story, and is strolled in family, and such interaction task can be named as single hand locking shape It is interacted under state；In addition, there is also the task such as daytimes that interaction robot completes alone to arrange bookshelf data alone in bedroom.It is each mutual Conversion must be returned to single hand lock state first between dynamic task, thus be controlled comprehensively by control host and management function Robot is interacted, juvenile is under safety measure always during interacting task execution.

Although preferred implementation of the invention is described above in conjunction with attached drawing, the invention is not limited to above-mentioned Specific embodiment, above-mentioned specific embodiment be only illustrate, be not restrictive, the ordinary skill of this field Personnel are under inspiration of the invention, without breaking away from the scope protected by the purposes and claims of the present invention, can also do Many forms out, these all fall within the protection scope of the present invention.

Claims (4)

1. a kind of interaction robot method for safe operation, which comprises the following steps:

Step 1: interaction robot enters single hand lock state；

Step 2: after interaction robot receives interaction task, perception detects man-machine spatial relationship；

Step 3: after interaction robot meets man-machine spatial relationship, being run into step set by interaction task；Interruption with 100ms is interval, detects whether that personnel occur swarms into behavior suddenly in interrupt thread；

Step 4: then single hand operation of emergency stop when personnel occur and swarming into behavior suddenly；

After swarming into behavior releasing suddenly, it is back to single hand lock state, is transferred to step 2；

Step 5: interaction task execution finishes, and interaction robot returns back to single hand lock state.

2. interacting robot method for safe operation according to claim 1, which is characterized in that the step 1 includes following place Manage process:

(1) control mian engine changeover is felt to head-up carries out Image Acquisition；

(2) control host manipulates elevating lever by drive control device and is in high limit position；

(3) control host manipulates mechanical arm and each joint locking of Dextrous Hand by mechanical arm controller and dexterous hand controls The angle of state.

3. interacting robot method for safe operation according to claim 1, which is characterized in that the step 2 includes following place Manage process:

(1) control host receives to appoint from the acquisition interaction of time task list, voice input headset, AI Cloud Server approach Business；

(2) control host manipulation omnidirectional mobile vehicle bottom is rotated with 15 degree for interval original place, from acquired image, judges that juvenile is It is no in picture；

(3) when juvenile is in image, measurement juvenile with interact distance between robot.

4. interacting robot method for safe operation according to claim 1, which is characterized in that the step 3 includes following place Manage process:

(1) deskmate explanation task setting movement are as follows: juvenile is on the left of interaction robot, and single hand only grasps desktop writing counter Make；

(2) blank explanation task setting movement are as follows: juvenile is in table side chair, and single hand only operates blank；

(3) chess and card are played chess task setting movement are as follows: juvenile be in chessboard opposite side, and single hand is when chessboard only deposits chess piece to chessboard behaviour Make；

(4) in the air to white silk task setting movement are as follows: juvenile is in except 2 meters, and interaction robot is rotated in place to support single hand It connects and takes throwing flying saucer, table tennis, gauze kerchief ball；

(5) stick refers to that object task setting acts are as follows: lock state at single hand when interaction robot ambulation；Robot is interacted to pause When static, juvenile's handle decorates arm, and single hand holds stick and refers to object.