CN110405778A - A kind of robot - Google Patents
A kind of robot Download PDFInfo
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- CN110405778A CN110405778A CN201810404381.8A CN201810404381A CN110405778A CN 110405778 A CN110405778 A CN 110405778A CN 201810404381 A CN201810404381 A CN 201810404381A CN 110405778 A CN110405778 A CN 110405778A
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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
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Artificial Intelligence (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
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- User Interface Of Digital Computer (AREA)
Abstract
The embodiment of the present application provides a kind of robot, including robot body, processor, touch sensing array.Wherein processor is set in the robot body.Touch sensing array is set on the robot body, and multiple touch sensings including being arranged with array manner, and the touch sensing carries out detection to the touch action of user respectively and generates time-series rules as a result, and being sent to the processor.Wherein the touch action is distinguished into different touch types according to the time-series rules result that the touch sensing array exports by the processor, and formulates different response strategies for different touch types.By the above-mentioned means, the application can enrich robot control mode, enhance the interest of robot.
Description
Technical field
This application involves technical field of robot control, more particularly to a kind of robot.
Background technique
Currently, consumer level robot is higher and higher by the ratings in market, in education sector, service field, amusement
The uses such as field are more and more wider, gradually enter into family, school, all kinds of service locations etc..
Robot, toy robot, amusement robot, religion but consumer level robot in the prior art for example accompanies and attends to
It is more single to educate robot et al. control mode, robot interest is not strong.
Summary of the invention
The application can improve the robot interactive of the prior art mainly solving the technical problems that provide a kind of robot
The problems such as mode is single.
In order to solve the above technical problems, it includes robot body, processor, touching that the embodiment of the present application, which provides a kind of robot,
Control sensor array.Wherein processor is set in the robot body.Touch sensing array is set to the robot
On ontology, and multiple touch sensings including being arranged with array manner, the touch sensing is respectively to the touch-control of user
Movement carries out detection and generates time-series rules as a result, and being sent to the processor.Wherein the processor is passed according to the touch-control
The touch action is distinguished into different touch types by the time-series rules result of sensor array output, and is directed to different touch-controls
Type formulates different response strategies.
Compared with prior art, the beneficial effect of the application is: the touching by the way that multiple touch sensing array arrangements are arranged
Control sensor array, user can touch multiple touch sensings, can same or different touch-control time touch-control not
With the touch sensing combination of touch control time, touch sensing array generates time-series rules as a result, due to there are a variety of touch control manners,
A variety of time-series rules can be generated as a result, touch action is distinguished into different touch-control classes according to time-series rules result by processor
Type, different touch types can have multiple control modes, the robot reaction different according to the strong formulation of different touch-controls
Strategy, so enriches the touch type of touch sensing array, to enrich the side of interaction between robot and user
Formula, so that robot is more interesting, more intelligent.
Detailed description of the invention
Fig. 1 is the application robotic embodiment structural schematic diagram；
Fig. 2 is the schematic diagram of the application robotic embodiment circuit structure；
Fig. 3 is the structural schematic diagram of touch sensing array in the application robotic embodiment；
Fig. 4 is the application robotic embodiment first pass schematic diagram；
Fig. 5 is the application robotic embodiment second procedure schematic diagram；
Fig. 6 is the application robotic embodiment third flow diagram.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiment of the application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
In the prior art, single touch sensor is set in robot, and when touching the sensor, robot generates single
One reaction or movement.Slightly more complicated is exactly that touch sensor is arranged in different location, touches the touching of different location
Touching sensor enables to robot to make different reactions, is certainly still machine when touching the touch sensor of a position
Device people realizes a reaction, touches the touch sensor of different location, differential responses are made by robot, that is to say, that the same position
The touch sensor set does not have a variety of touch manners, and robot does not have a variety of reactive modes yet, thus robot
More single with the touch interactive mode of user, the control mode of robot is single, and robot interest is not strong.In order to solve
The above problem, the application provide following examples:
- 4 the application robotic embodiment refering to fig. 1, comprising: robot body 11, processor 12, touch sensing array
13。
In the present embodiment, robot body 11 also refers to robot and contains the part of most of component, such as
Body, frame, structure and inside and outside multiple components comprising robot itself etc., (do not mark) for example including shell further,
For driving the driving assembly (not shown) of robot motion, for so that the mobile moving parts (not marking) of robot such as
Wheel or leg etc., the audio component (not shown) for receiving extraneous voice messaging He making a sound, for showing that image is believed
The display component (not marking) of breath, text information or expression information, for so that robot carries out the execution machine of other movements
Structure (not marking) such as mechanical arm etc., there are also various electronic components, circuit structure, design of part etc..
Processor 12 is set in robot body 11.Processor 12 is used to control the running of entire robot, receives phase
Output controls information to control the operation at each position of robot after closing control instruction, and robot is exported according to related control information
Corresponding reaction.
Processor 12 is properly termed as CPU (Central Processing Unit, central processing unit).Processor 12 can
It can be a kind of IC chip, processing capacity, computing capability with logic and/or signal.Processor 12 can also be logical
With processor 12, digital signal processor 12 (DSP), specific integrated circuit (ASIC), ready-made programmable gate array (FPGA) or
Person other programmable logic device, discrete gate or transistor logic, discrete hardware components.General processor 12 can be
Microprocessor 12 or the processor 12 are also possible to any conventional processor 12 etc..
Touch sensing array 13 is set on robot body 11.Such as the receiving part of touch sensing array 13 is set
It is placed in the surface of shell of robot body 11, can be touched by user.Receiving part is the component for acquiring touch signal.
Further, such as the receiving part of touch sensing array 13 is set to the surface of shell of robot body 11, and artificial
Skin covering, so that touch feeling is more preferably, robot has more aesthetic feeling.Touch sensing array 13 is connect with processor 12.
Touch sensing array 13 includes the multiple touch sensings 131 arranged with array manner, and touch sensing 131 is respectively to using
The touch action of person carries out detection and generates time-series rules as a result, and being sent to processor 12.Time-series rules result is, for example, to touch
Different touch sensings 131 have the time difference, have regular hour sequence, not as the prior art so only touch with
No result.In the present embodiment, touch sensing 131 is, for example, capacitance touching control sensor.In the present embodiment, touch-control is dynamic
Work is also possible to touch action, and touch sensing 131 is referred to as touch sensor.
Touch action is distinguished into different by the time-series rules result that processor 12 is exported according to touch sensing array 13
Touch type, and different response strategies is formulated for different touch types.Such as processor 12 to timing testing result into
Row processing identifies that touch action corresponding to time-series rules result obtains corresponding touch type, executes for the touch type
Corresponding response strategy.Such as corresponding response strategy is shown by controlling different components.Specifically, such as user is touching
The binding signal that touch sensing array 13 generates clock signal and touching signals is controlled, is sent to processor 12, processor 12 is right
The binding signal is handled, and identifies touch type corresponding to the binding signal.
In the present embodiment, the touch sensing array 13 arranged by the way that multiple touch sensing arrays 13 are arranged, uses
Person can touch multiple touch sensings 131, touch-control difference touch-control can pass in same or different touch-control time range
131 combination of touch control time range of sensor, touch sensing array 13 generates time-series rules as a result, i.e. there are the lifes of a variety of touch control manners
At multiple time-series rules as a result, touch action is distinguished into different touch types according to time-series rules result by processor 12, system
Fixed different response strategy, so enriches the touch type of touch sensing array 13, to enrich robot and use
Interactive mode between person enriches the control mode of robot, so that robot is more interesting, more intelligent.
Optionally, processor 12 determines the touch-control by touch-control in touch sensing array 13 according to time-series rules result
The quantity of sensor 131, position and by least one of time difference of touch-control or combination, and then touch action is distinguished into
Different touch types.
In the present embodiment, time-series rules result may include by the quantity of the touch sensing 131 of touch-control, position and
At least one of time difference by touch-control or the information such as combination, that is to say, that time-series rules result may include by touch-control
The quantity of touch sensing 131, also may include by the position of the touch sensing 131 of touch-control, can also be by the touch-control of touch-control
The time difference by touch-control of sensor 131, or including above-mentioned any two kinds of combination, such as combination, the number of quantity and time
Amount and the combination of position, the combination of position and time.Or including three kinds of combination, quantity, position and the combination of time.
It is logical different from touch manner (whether touch) single in the prior art and single reactive mode, the present embodiment
It crosses the quantity of combination of touch control sensor array 13, position and determines that touch-control moves by the one or more of the time difference of touch-control
Make, from time, space angularly rich interactive type, to further enrich the interactive mode of robot, enhances robot
Interest, enhance the interactive function of robot.
Refering to fig. 1-4, optional, touch type include at least at least one of pat, tickle and stroke or
Combination.By the way that different touch actions to be divided into different touch types, touch type can correspond at least one reaction plan
Slightly, such as beating movement can correspond to angry strategy, determine that touch type is to clap when processor 12 receives time-series rules result
It moves when making.Corresponding audio-frequency information such as " I am angry " is issued by audio component, and/or is issued and is given birth to by display component
The expression or image of gas, and/or angry posture etc. is made by components such as mechanical arms.Certainly, a kind of touch type is different
Touch-control degree can correspond to a variety of response strategies, such as according to the touch-control degree of touch type, formulate different response strategies.
With continued reference to Fig. 1-5, optionally, when processor 12 determines touch sensing array 13 according to time-series rules result
In the touch sensing 131 that is arranged in the same direction by multiple touch-control, while every time by the quantity of the touch sensing of touch-control 131
Greater than preset amount threshold, and the time difference by touch-control of at least partly adjacent touch sensing 131 is greater than preset the
Touch action is then distinguished into and strokes movement by one time threshold.
In the present embodiment, the touch sensing 131 being arranged in the same direction can be along row setting, wherein equally
It is line direction but the touch sensing 131 for setting of not going together is also to be arranged in the same direction, can be along column direction setting,
Equally it is wherein column direction but the touch sensing 131 of different lines setting and same direction setting, can also be along same
The touch sensing 131 of inclined direction setting, wherein on different parallax but what parallax was parallel to each other is also that same direction is set
It sets.
In the present embodiment, multiple touch-control may include along setting direction unidirectionally multiple touch-control, such as " → " multiple touch-control
Along this direction.Certainly, multiple touch-control also may include along setting direction multiple touch-control back and forth, such asRepeatedly
Touch-control is along direction back and forth.Each touch-control refers to the single of touch-control in one direction.
Refering to Fig. 3, by taking the touch sensing array 13 of 4*4 as an example, including 4 rows, 4 column 16 touch sensings 131 in total,
For line direction, along the touch sensing 131 of line direction setting, including 4 rows.When along unidirectional touch-control wherein a line touch-control
When sensor 131, touch-control refers to 131 touch-control of row touch sensing twice and more than twice so many times.Such as touch-control should
Row touch sensing 131 is three times: C31 → C32 → C33 → C34, C31 → C32 → C33 → C34, C31 → C32 → C33 → C34,
At this time and repeatedly touch-control.Three times in touch-control every time by the touch sensing quantity of touch-control be 4.
If along back and forth (repeatedly) direction touch-control wherein a line touch-control direction sensor 131 when, touch-control can so many times
It once back and forth include primary positive touch-control, primary reversed touching to refer to 131 touch-control of row touch sensing at least once back and forth
Control is equivalent to and comes once, and Hui Yici, total degree is considered twice.Such as the touch-control row touch sensing 131 is primary back and forth: C31
→ C32 → C33 → C34, C34 → C33 → C32 → C31, at this time and multiple touch-control.Every time by the touch sensing number of touch-control
Amount is 4.Certainly, touch-control is not certain appearance in pairs back and forth, such as be can be " return ", the touch-controls such as " back and forth to return "
Mode, such as C31 → C32 → C33 → C34, C34 → C33 → C32 → C31, C31 → C32 → C33 → C34.
If touch-control refers at least two rows so many times along unidirectionally successively touch-control at least two row touch sensings 131
Every a line touch sensing 131 distinguishes touch-control at least once.Column direction and other directions are similarly.Such as successively according to sequencing
Touch-control two row C31 → C32 → C33 → C34, C41 → C42 → C43 → C44, every row at least touch-control is primary, at this time and repeatedly
Touch-control.Along direction back and forth successively touch-control at least two row touch sensings 131 also similarly, no matter unidirectional touch-control, touch-control repeatedly, as long as
Guarantee that every a line touch sensing 131 is at least primary by touch-control, then it is assumed that be multiple touch-control.Alternatively, for example according to sequencing
Successively C31 → C32 → C33 of touch-control two row, C42 → C43 → C44, are considered as multiple touch-control, and each numerical control quantity is 3
It is a.
Optionally, if touch-control refers to that this is right so many times along unidirectional touch-control at least two row touch sensings 131 simultaneously
Touch-control is twice and more than twice simultaneously at least two row touch sensings 131.Such as simultaneously touch-control two row C31 → C32 → C33 →
C34, C41 → C42 → C43 → C44, while touch-control is twice and more than twice, can be multiple touch-control at this time.It is same along direction repeatedly
When direction touch control a line touch sensing 131 is similarly repeatedly touch-control at least two row touch sensings 131 and above-mentioned edge.Refering to figure
3, in the present embodiment, preset amount threshold is greater than by the quantity of the touch sensing of touch-control 131 every time.Such as the biography of 4*4
Sensor array, for line direction, preset quantity is, for example, 3, therefore 131 device of touch-control a line or multirow touch sensing
When, every a line is greater than 3 by 131 quantity of the touch sensing of touch-control each time, naturally it is also possible to be equal to 3.Column direction or
Other directions are similarly.Preset quantity can be determined with specific reference to situations such as 131 quantity of touch sensing, not limited herein
It is fixed.
Through the example above it is also to be understood that in multiple touch-control, the identical touch-control sensing of the setting direction of each touch-control
Device 131 can be identical touch sensing 131, such as C31 → C32 → C33 → C34, C31 → C32 → C33 → C34.
It is also possible to the identical touch sensing 131 in part, such as C31 → C32 → C33, C32 → C33 → C34.It can also completely not
.
In the present embodiment, the time difference by touch-control of at least partly adjacent touch sensing 131 is greater than preset the
One time threshold.Wherein the time difference of touch-control is referred to two adjacent touch sensings 131 by the time interval of successive touch-control.It is default
First time threshold can be set as the case may be, be not construed as limiting in the present embodiment.
Refering to Fig. 3, by taking the touch sensing array 13 of 4*4 as an example, preset amount threshold is 3, when preset first
Between threshold value be 2S, the sequence of touch-control be C11 → C12 → C13 → C14, C11 → C12 → C13 → C14, and C11, C12, C13,
The touch-control time difference of adjacent touch sensor 131 between C14 is greater than 2S, then the touch action can divide into stroke it is dynamic
Make.In another example touch-control sequence is C11 → C21 → C31, C12 → C22 → C32, C13 → C23 → C33, C14 → C24 → C34,
C11 → C21 → C31, C12 → C22 → C32, C13 → C23 → C33, C14 → C24 → C34, if meeting amount threshold and
The requirement of one time threshold can equally be divided into and stroke movement.
By the above-mentioned means, above-mentioned touch action to be divided into the touch type for stroking movement, so that user is to machine
People make it is daily be easily recognizable as being distinguished strokes movement when stroking, stroke touch type and daily stroke difference
Less, the learning cost of user can be reduced, so that user is easy to operate, so that robot is more intelligent, closer to
Life.
With continued reference to Fig. 1-5, optionally, when processor 12 determines touch sensing array 13 according to time-series rules result
In the touch sensing 131 that is arranged in the same direction by multiple touch-control, while every time by the quantity of the touch sensing of touch-control 131
Less than preset amount threshold, and the time difference by touch-control of at least partly adjacent touch sensing 131 is greater than preset the
Touch action is then distinguished into the movement that tickles by two time thresholds.
Wherein, multiple touch-control is referred to above-mentioned elaboration.
Movement tickle for stroking movement, each 131 quantity of touch sensing by touch-control for the movement that tickles is small
In preset amount threshold, while again smaller than each 131 quantity of touch sensing by touch-control for stroking movement.
In the present embodiment, for the movement that tickles, it is also desirable at least partly adjacent touch sensing 131 by touch-control
Time difference is greater than preset second time threshold.In the present embodiment, optionally, preset second time threshold can be less than
Preset first time threshold, further for tickling, at least partly adjacent touch sensing 131 by touch-control
Time difference is greater than preset second time threshold and is less than preset first time threshold.
Refering to Fig. 3, by taking the touch sensing array 13 of 4*4 as an example, preset amount threshold is 3, when preset second
Between threshold value be 1S, the sequence of touch-control is C12 → C13, C12 → C13, and multiple touch-control, and by the touch-control time difference between C12, C13
Greater than 1S, then the touch action can divide into the movement that tickles.In another example touch-control sequence is C12 → C13, C22 → C23, C12
→ C13, C22 → C23, and multiple touch-control can equally be divided into and scratch if meeting the requirement of amount threshold and time threshold
Itch movement.In another example C12 → C13, C13 → C12, C12 → C13, C13 → C12, touch-control repeatedly, and C12, C13 by touch-control when
Between difference be greater than 1S, then the touch action can divide into the movement that tickles.
Similarly, the movement that tickles is distinguished through the above way to tickle for stroking movement and act the number of each touch-control
Amount, which is less than, strokes movement, so that the movement that tickles reduces the learning cost of user closer to the movement that tickles in real life,
The interest of abundant robot.
With continued reference to Fig. 1-4, optionally, sensed when processor 12 is determined according to time-series rules result by the touch-control of touch-control
The quantity of device 131 is greater than preset amount threshold, and the time difference by touch-control of adjacent touch sensing 131 is respectively less than and presets
First time threshold or second time threshold, then by touch action be distinguished into beating movement.
Optionally, preset second time threshold is less than preset first time threshold, for the adjacent of beating movement
Time difference of touch-control of touch sensing 131 be respectively less than preset second time threshold.
In the present embodiment, beating movement can consider close to the multiple touch sensings 131 of touch-control simultaneously, but actually
Different touch-control tactility apparatus are still that there are the time differences by the time of touch-control.
Refering to Fig. 3, by taking the touch sensing array 13 of 4*4 as an example, preset amount threshold is 3, preset time threshold
Value is 1S, is C11, C12, C13, C14, and the adjacent touch between C11, C12, C13, C14 by the touch sensing 13 of touch-control
Sensor 131 is less than 1S by touch-control time inequality, then the touch action can divide into beating movement.Such as by touch-control
C11, C12, C13, C21, C22, C23, C31, C32, C33, the touch-control time difference between adjacent touch sensing 131 are less than
1S, then the touch action is to divide into beating movement.
In the present embodiment, beating is acted, preset quantity threshold is greater than by the quantity of the touch sensing 131 of touch-control
Value, can refer to and be greater than preset amount threshold by the quantity of the touch sensing of touch-control 131 when each beating.Adjacent touching
The touch-control time difference of control sensor 131 is respectively less than preset time threshold, is so divided into beating movement.Certainly, into one
Step ground is sensed by the touch sensing of touch-control 131 and the latest by the touch-control of touch-control earliest in the touch sensing 131 by touch-control
Device 131 is less than the such as preset second time threshold of preset time threshold by touch-control time interval.
Optionally, processor 12 further formulates different reaction plans according to the various durations of same touch type
Slightly.
Such as movement is stroked, the time repeatedly stroked is longer, and the duration for stroking movement is longer, it is believed that strokes
Double, processor 12 formulates different response strategies according to the different duration.For example it strokes movement and continues 3 points
Clock, processor 12 formulates the response strategy of " cleverness ", by each component output action of robot body 11, expression, voice etc.,
Such as smile expression, soft music or relevant voice messaging, if stroking movement continues 5 minutes, processor 12 is formulated
The response strategy of " dreamland ", control robot body 11 enter the similar states such as " suspend mode " or " sleep ", pass through robot sheet
Each component of body 11 exports corresponding information, such as the expression of eyes closed, movement yawned etc..
About movement and the beating movement of tickling, the different duration, processor 12 is also according to the different duration
Formulate different response strategies.
It certainly in other embodiments can also include other touch types, such as push action.Processor 12 according to when
Sequence testing result, which is determined, is greater than preset amount threshold by the quantity of the touch sensing 131 of touch-control, and is passed by the touch-control of touch-control
Sensor 131, which is constantly in, is greater than regular hour such as preset first time threshold by touch-control state, similar to being pressed on touch-control
On sensor array 13, then touch action is distinguished into push action.
In the present embodiment, if processor 12 can not be determined as determining touch type according to time-series rules result, processing
Device 12 may determine that the touch action is invalid touch type, and processor 12 can formulate corresponding response strategy, such as export
Sound, movement and/or expression etc. inform user, and touch-control is invalid.Response strategy can not certainly be formulated.
By formulating different response strategies according to the various durations of different touch types, can further enrich
The interaction scenarios of robot increase the interest of robot, so that robot is more intelligent.
Refering to fig. 1-6, optionally, robot further comprises image capture device 14, and image capture device 14 is used for
Image Acquisition is carried out to user, processor 12 carries out individual area to user according to 14 acquired image of image capture device
Point, and different response strategies is formulated for the same touch type of different users.
In the present embodiment, image capture device 14 can be camera.Such as robot includes that (figure is not for memory
Show), image capture device 14 connects processor 12 and memory.Image capture device 14 can carry out image to user and adopt
Collection, can be real-time acquisition, is also possible to be acquired under the instruction of processor 12.The figure collected of image capture device 14
As being stored in memory, processor 12 handles image, such as feature identification processing, such as recognition of face, into one
Step carries out individual differentiation to different users, in order to which the same touch type to different users formulates different reaction plans
Slightly, so that robot is more intelligent, interaction scenarios are richer.
Such as in one family, child and the time that robot is played are long, and the time of parent and robot interactive is short, then machine
Device people can distinguish child and parent by acquiring the image information of child and parent respectively, in child couple
Robot tickle when acting, and processor 12 can be happily according to the response strategy for the movement output that tickles, for example exports and " cough up
Creakily creak creak " is laughed, or the modes such as dance for joy, when be parent robot tickle act when, processor 12
It can be and fear according to the response strategy for the movement output that tickles, for example export movement of escaping, driving wheel is far from user etc..Also
It is that processor 12 formulates different response strategies for the same touch action of different users.
Further, processor 12 is that user distributes degree of a knowing well parameter, further according to user and robot
Interactive process changes degree of knowing well parameter, and formulates different reaction plans for same touch type according to different degree of knowing well parameters
Slightly.
For example, 14 acquired image of image capture device is stored in memory, user's image library is formed, when
When image capture device 14 collects the image information of user, processor 12 schemes the image information of the user and user
As library compares, if existing image information, further recording interactive process changes degree of knowing well parameter, for example increases ripe
Knowledge and magnanimity parameter.Image information as the user is not present in user's image library, then increase newly the image information of the user into
User's image library, therewith recording interactive process.Such as degree of knowing well parameter being determined according to interaction time, interaction when
Between can time and again be superimposed, the interaction time being superimposed the long, and degree of knowing well parameter is bigger, and the interaction time the short, degree of knowing well parameter
It is smaller.For example, the interaction time of child and robot is greater than the interaction time of parent and robot, then machine in one family
Degree of the knowing well parameter that the artificial child of device adds up is bigger than degree of the knowing well parameter added up for parent.
Certainly, robot can also preset user, and degree of the knowing well parameter for presetting user is maximum, such as is adopted by image
Collection equipment 14 is taken pictures upload, can also be uploaded in robot by other external equipments such as mobile phone, for example, memory or
Server etc..Non-default user is acquired using the above method by vision facilities.
The present embodiment is directed to same touch-control according to different degree of knowing well parameters by distributing degree of knowing well parameter for user
Type formulates different response strategies, so that the interaction between robot and user is more humanized, more intelligent.
Optionally, robot includes the multiple touch sensing arrays 13 for being set to different location, and processor 12 is directed to
The touch sensing array 13 of different location received same touch type formulate different response strategies.
In the prior art, touch type is not present, only whether touch-control, similar 0,1 switch, the touch-control of one position of touch-control
Response strategy after sensor only one, the response strategy of different location is not identical, and in the present embodiment, same position
The touch type of touch sensing array 13 is different, then the response strategy of robot is different, the touch sensing battle array of different location
When column 13 receive same touch type, the response strategy of robot is also different, such extreme enrichment interaction field of robot
Scape and interest solve in the prior art the problems such as interactive mode is single, and interest is low.
In conclusion the touch sensing array 13 arranged by the way that multiple touch sensings 131 are arranged, user can touch
Multiple touch sensings 131 are touched, it can be in same or different 131 combination of touch control of touch-control time touch-control difference touch sensing
Time, touch sensing array 13 generate time-series rules as a result, processor 12 distinguishes touch action according to time-series rules result
At different touch types, different response strategies is formulated, the touch type of touch sensing array 13 is so enriched, thus
The interactive mode between robot and user is enriched, so that robot is more interesting, more intelligent.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field similarly includes in the scope of patent protection of the application.
Claims (10)
1. a kind of robot characterized by comprising
Robot body；
Processor is set in the robot body；
Touch sensing array is set on the robot body, and multiple touch-controls including being arranged with array manner sense
Device, the touch sensing carry out detection to the touch action of user respectively and generate time-series rules as a result, and being sent to described
Processor；
Wherein, the processor distinguishes the touch action according to the time-series rules result that the touch sensing array exports
Different response strategies is formulated at different touch types, and for different touch types.
2. robot according to claim 1, it is characterised in that: the processor is determined according to the time-series rules result
The quantity of the touch sensing by touch-control in the touch sensing array, position and by the time difference of touch-control
At least one or combination, and then the touch action is distinguished into different touch types.
3. robot according to claim 1, it is characterised in that: the touch type include at least pat, tickle and
It at least one of strokes or combination.
4. robot according to claim 3, it is characterised in that: when the processor is true according to the time-series rules result
The touch sensing being arranged in the same direction in the fixed touch sensing array is by multiple touch-control, while every time by touch-control
The quantity of the touch sensing be greater than preset amount threshold, and at least partly adjacent touch sensing is touched
The time difference of control is greater than preset first time threshold, then is distinguished into the touch action and strokes movement.
5. robot according to claim 3, it is characterised in that: when the processor is true according to the time-series rules result
The touch sensing being arranged in the same direction in the fixed touch sensing array is by multiple touch-control, while every time by touch-control
The quantity of the touch sensing be less than preset amount threshold, and at least partly adjacent touch sensing is touched
The time difference of control is greater than preset second time threshold, then the touch action is distinguished into the movement that tickles.
6. robot according to claim 3, it is characterised in that: when the processor is true according to the time-series rules result
The quantity of the fixed touch sensing by touch-control is greater than preset amount threshold, and the adjacent touch sensing is touched
The time difference of control is respectively less than preset first time threshold or preset second time threshold, then distinguishes the touch action
Heterodyne moves work.
7. robot according to claim 1, it is characterised in that: the processor is further according to same touch type
Various durations formulate different response strategies.
8. robot according to claim 1, it is characterised in that: the robot further comprises image capture device,
Described image acquires equipment and is used to carry out user Image Acquisition, and the processor acquires equipment according to described image and acquired
Image individual differentiation is carried out to the user, and formulate different reactions for the same touch type of different users
Strategy.
9. robot according to claim 8, it is characterised in that: the processor is that the user distributes a degree of knowing well
Parameter, further according to the interactive process of the user and the robot change described in degree of knowing well, and according to different institutes
It states known degree and formulates different response strategies for same touch type.
10. robot according to claim 1, it is characterised in that: the robot includes be set to different location more
A touch sensing array, the touch sensing array received same touching of the processor for different location
Control type formulates different response strategies.
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| CN201810404381.8A CN110405778B (en) | 2018-04-28 | 2018-04-28 | Robot |
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