CN115026812A

CN115026812A - Non-contact control method and device for robot, robot and storage medium

Info

Publication number: CN115026812A
Application number: CN202210574343.3A
Authority: CN
Inventors: 王毅
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2022-05-25
Filing date: 2022-05-25
Publication date: 2022-09-09

Abstract

The embodiment of the application discloses a non-contact control method and a non-contact control device for a robot, the robot and a computer readable storage medium, wherein the method comprises the following steps: acquiring a first hand waving signal acquired by a first gesture recognition module; acquiring a second waving signal acquired by a second gesture recognition module; determining the time interval of the acquisition time of the first hand waving signal and the second hand waving signal; if the time interval falls into a preset interval, determining that the first waving signal and the second waving signal are effective waving signals, and responding to the effective waving signals to switch from a first state to a second state; when the first state is a pause state, the second state is an operation state; when the first state is the running state, the second state is the pause state. This application embodiment is through setting up two gesture recognition module to judge that the interval of waving the hand signal that two gesture recognition module gathered falls into and predetermines the interval, and then confirm and wave whether effective when the hand, reduced the false triggering misidentification, the control accuracy is higher.

Description

Non-contact control method and device for robot, robot and storage medium

Technical Field

The present application relates to the field of robotics, and in particular, to a non-contact control method and apparatus for a robot, and a computer-readable storage medium.

Background

With the continuous development of the robot technology, the application of the robot is more and more extensive.

Currently, the user can control the robot to move or pause by waving the hand signal. However, the robot easily recognizes the motion without waving intention as waving motion by mistake, and further causes false triggering, and the control accuracy is low.

Disclosure of Invention

The embodiment of the application provides a non-contact control method and device for a robot, the robot and a computer readable storage medium, which can solve the problem that false triggering is easy to occur when the robot is controlled through a hand waving motion in the prior art.

In a first aspect, an embodiment of the present application provides a non-contact control method for a robot, including:

acquiring a first hand waving signal acquired by a first gesture recognition module;

acquiring a second hand waving signal acquired by a second gesture recognition module;

determining a time interval between the acquisition time of the first hand waving signal and the acquisition time of the second hand waving signal;

if the time interval falls into a preset interval, determining that the first waving signal and the second waving signal are effective waving signals, and responding to the effective waving signals to switch from a first state to a second state;

when the first state is a pause state, the second state is an operation state; when the first state is the running state, the second state is the pause state.

It is from top to bottom apparent, this application embodiment is through setting up two gesture recognition modules to judge whether the interval of waving the hand signal that two gesture recognition modules gathered falls into and predetermines the interval, and then confirm whether to wave the hand when the time is effective, reduced the action recognition that will not have the hand intention and become the possibility of waving the hand action, and then reduced the false triggering misidentification, the control rate of accuracy is higher.

In some possible implementations of the first aspect, the method further comprises:

and if the time interval does not fall into the preset interval, determining that the first hand waving signal and the second hand waving signal are invalid hand waving signals, and refusing to respond to the hand waving signals.

In some possible implementations of the first aspect, a distance between the first gesture recognition module and the second gesture recognition module is greater than a preset distance threshold.

In this implementation, by making the distance between the two gesture recognition modules greater than a certain threshold, false triggering and false recognition can be further reduced.

In some possible implementations of the first aspect, when the time interval does not fall within the preset interval, the method further includes: and sending a control instruction to the prompting device, wherein the control instruction is used for instructing the prompting device to execute a prompting operation, and the prompting operation is used for prompting to re-input a hand waving signal. Therefore, the user can know that the hand waving signal input fails through the prompt operation, and the user experience can be improved.

In some possible implementations of the first aspect, when the time interval does not fall within the preset interval, the method further includes:

sending a voice output instruction to the voice device, wherein the voice output instruction is used for indicating the voice device to output prompt voice, and the prompt voice is used for prompting whether to switch the state;

acquiring a confirmation voice input by a user aiming at the prompt voice;

in response to the confirmation speech, switching from the first state to the second state.

In this implementation manner, considering that when the secondary hand waving is a hand waving motion really intended by the user, but the robot is identified as an invalid hand waving signal for some reasons, the robot further confirms the real intention of the user through voice prompt when determining that the collected hand waving signal is an invalid hand waving signal, and if the acquired real intention of the user is state switching, the state switching is continued, so that the control flexibility and accuracy of the robot are improved.

In some possible implementations of the first aspect, after determining that the first hand-waving signal and the second hand-waving signal are valid hand-waving signals, before switching from the first state to the second state in response to the valid hand-waving signals, the method further includes:

acquiring a detection result of a detection module, wherein the detection module is used for detecting whether the robot is in a fault state;

if the detection result is that the robot is in a fault state, refusing to respond to the effective hand waving signal;

and if the detection result is that the robot is in a non-fault state, switching to a step of responding to the effective hand waving signal and switching from the first state to the second state.

When the robot is in a fault state, if the state is switched in response to the hand waving signal, an accident may occur. In the implementation mode, before the effective waving signal is responded, whether the robot is in a fault state or not is judged, so that the safety of the robot is improved.

In a second aspect, an embodiment of the present application provides a non-contact control device for a robot, including:

the hand waving signal acquisition module is used for acquiring a first hand waving signal acquired by the first gesture recognition module and acquiring a second hand waving signal acquired by the second gesture recognition module;

the determining module is used for determining a time interval between the acquisition time of the first hand waving signal and the acquisition time of the second hand waving signal;

the state switching module is used for determining that the first hand waving signal and the second hand waving signal are effective hand waving signals if the time interval falls into a preset interval, and switching from the first state to the second state in response to the effective hand waving signals;

In some possible implementations of the second aspect, the apparatus further comprises:

and the response rejection module is used for determining that the first waving signal and the second waving signal are invalid waving signals if the time interval does not fall into the preset interval, and rejecting to respond to the waving signals.

In a third aspect, embodiments of the present application provide a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method according to any one of the above first aspects when executing the computer program.

In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program is executed by a processor to implement the method according to any one of the above first aspects.

In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on an electronic device, causes the robot to perform the method of any one of the first aspect.

It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic block diagram of a flow chart of a non-contact control method for a robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic block diagram of a system of a robot provided in an embodiment of the present application;

fig. 3 is a schematic view illustrating switching of an operation state of a robot according to an embodiment of the present disclosure;

fig. 4 is a schematic block diagram of a structure of a non-contact control device of a robot according to an embodiment of the present disclosure;

fig. 5 is a block diagram schematically illustrating a structure of a robot according to an embodiment of the present disclosure.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

At present, the robot only has one gesture recognition module, waves the hand signal through this gesture recognition module collection to wave hand action recognition based on what gather waves the hand signal. However, when the robot has only one gesture recognition module, false triggering and false recognition are easy to occur.

For example, in the catering industry scenario, catering robots may be classified into welcome robots, meal delivery robots, and return robots according to function. Wherein, the dish returning robot is used for recovering the dinner plate and other articles. When the robot returns the dish, the staff stretches the hand to take the dish in the process of collecting the dish, if the staff is just in the collection range of the infrared gesture recognition module at the moment, the infrared gesture recognition module can shield the infrared ray due to the hand of the user, and then collects corresponding signals. When the tray returning robot receives the signal fed back by the infrared gesture recognition module, the action of stretching the hand and holding the tray by the user is recognized as a hand waving action by mistake, and the running state is switched in response to the hand waving action. However, the motion of stretching the hand to hold the dish is not a waving motion, and the real intention of the user is not to control the dish returning robot to switch the states.

In order to solve the above problem, an embodiment of the present application provides a non-contact control scheme for a robot, where the scheme is to set two gesture recognition modules, and determine whether a hand waving signal is effective according to hand waving signals collected by the two gesture recognition modules, so as to reduce false recognition and false triggering.

Referring to fig. 1, a schematic flow chart of a method for controlling a robot in a non-contact manner according to an embodiment of the present disclosure may include the following steps:

s101, the robot acquires a first hand waving signal acquired by the first hand gesture recognition module and acquires a second hand waving signal acquired by the second hand gesture recognition module.

The gesture recognition module is used for carrying out signal acquisition according to hand waving motions made by a user so as to obtain the hand waving signals. In a specific application, the gesture recognition module may be an infrared gesture recognition module, and at this time, the infrared gesture recognition module may include an infrared emitter, an infrared sensor, and the like.

The first gesture recognition module and the second gesture recognition module are respectively connected with a processing module of the robot. For example, referring to a schematic block diagram of a system of a robot provided in the embodiment of the present application shown in fig. 2, both the first infrared gesture recognition module and the second infrared gesture recognition module are connected to a system bus, and communicate with the processing module through the system bus, and transmit the acquired hand waving signal to the processing module.

It should be noted that the acquisition ranges of the two gesture recognition modules are not completely overlapped, and the acquisition ranges of the two gesture recognition modules are larger than that of one gesture recognition module. If the user performs the motion with the hand-waving intention, the motion should cover the acquisition ranges of the two gesture recognition modules, so that for some motions with the real hand-waving intention, signals are acquired by both gesture recognition modules. If a user does a certain action without waving the hand, the action often cannot cover the acquisition range of the two gesture recognition modules, so that for the action, signals cannot be acquired by the two gesture recognition modules or signals are acquired by only one gesture recognition module. Based on this, only when two gesture recognition modules all gathered waving hand signal, the robot just carried out the judgement on next step, can reduce the false triggering effectively.

For example, in the process of collecting the dishes by the dish returning robot, when the staff stretches out and holds the dishes, the dish-swinging robot has no hand-swinging intention, that is, the user does not want to perform the hand-swinging action. If only one infrared gesture recognition module is arranged, when a user stretches out to hold a plate, the infrared ray of one infrared gesture recognition module is just shielded, so that the infrared gesture recognition module can collect signals, and further, the false recognition and the false triggering are caused. However, if two infrared gesture recognition modules are arranged, even if one infrared gesture recognition module collects the hand waving signal, the hand waving signal is not collected by the other infrared gesture recognition module because the motion of stretching the hand to hold the plate does not fall into the collection range of the other infrared gesture recognition module, and the hand waving signal is not collected by the other infrared gesture recognition module, so that the motion of stretching the hand to hold the plate can not be recognized by mistake as the hand waving motion, and the false recognition and the false triggering are reduced.

It should be noted that, in step S101, both gesture recognition modules acquire hand-waving signals, but the two hand-waving signals may or may not be signals acquired for the same hand-waving motion. If the two waving signals are not signals collected for the same waving action and are invalid waving signals, the robot does not respond to the waving signals to switch states; if the signals are collected aiming at the same hand waving action, the two hand waving signals are effective hand waving signals, and the robot needs to respond to the hand waving signals to carry out state switching.

In order to determine whether the two hand waving signals are the same hand waving motion, it is necessary to determine the time interval between the two hand waving signals. It can be understood that the hand-waving motion is that the hand moves from point a to point B, and this motion process needs to take a certain time, so that the same hand-waving motion continuously triggers two gesture recognition modules, and there is necessarily a time difference between signals collected by the two gesture recognition modules. However, the time difference needs to be within a reasonable range, and the time difference is not triggered by the same hand-waving motion when the time difference is too large or too small.

If the time interval falls into a preset interval, the two hand waving signals are signals collected aiming at the same hand waving action, namely the same hand waving action continuously triggers the two gesture recognition modules; on the contrary, if the hand swing signals do not fall into the preset interval, the two hand swing signals are not the signals collected aiming at the same hand swing motion.

That is to say, the embodiment of the application ensures that the action with the real hand waving intention is accurately recognized by arranging the two gesture recognition modules, and reduces the false recognition and false triggering; in one embodiment, the magnitude of the time interval between the two hand waving signals is determined to ensure that the two hand waving signals are directed to the same hand waving motion as much as possible, thereby further reducing false recognition and false triggering.

And in practical application, two gesture recognition modules can not necessarily both gather and wave the hand signal, and at this moment, when confirming whether for effectively waving the hand signal, if only a gesture recognition module gathers and waves the hand signal, then can judge that should wave the hand signal and wave the hand signal for invalid.

That is to say, if two gesture recognition modules are provided, if only one gesture recognition module collects a hand waving signal, it may be determined that the hand waving signal is an invalid hand waving signal; if two gesture recognition modules all gather and wave the hand signal, further judge two collection time intervals of waving the hand signal, whether fall into according to time interval and predetermine the interval, judge and wave the hand signal and whether effective.

Step S102, the robot determines the time interval between the acquisition time of the first waving signal and the acquisition time of the second waving signal.

Step S103, judging whether the time interval falls into a preset interval by the robot; if the time interval falls into the preset interval, determining that the first hand waving signal and the second hand waving signal are effective hand waving signals, and entering step S104; if the time interval does not fall within the preset interval, the first waving signal and the second waving signal are determined to be invalid waving signals, and the process proceeds to step S105.

Illustratively, considering the detection time of the gesture recognition module and the time consumed by the hand movement during the hand waving motion, the preset interval is 1ms to 500ms, that is, the interval between two hand waving signals is 1ms to 500ms, and then the hand waving is considered to be a valid hand waving.

In an embodiment, in order to avoid that the motion without waving intention falls into the collection ranges of the two gesture recognition modules at the same time, the distance between the two gesture recognition modules may be reasonably set so that the collection ranges of the two gesture recognition modules do not intersect or are separated by a certain distance, thereby further reducing false recognition and false triggering. At this time, the distance between the first gesture recognition module and the second gesture recognition module may be greater than a preset distance threshold. In this way, by making the distance between the two gesture recognition modules larger than a certain threshold, false triggering can be further reduced. The preset distance threshold value can be set according to the actual application requirements, for example, the time consumed by hand movement during hand waving action and other factors can be comprehensively considered, and the preset distance threshold value can be reasonably determined.

Step S104, the robot responds to the effective hand waving signal and is switched from a first state to a second state; when the first state is a pause state, the second state is an operation state; when the first state is the running state, the second state is the pause state.

And step S105, the robot refuses to respond to the hand waving signal and keeps the current state.

It can be understood that when the waving signal is effective, the robot performs state switching; when the hand waving signal is invalid, the current state is continuously kept. For example, referring to the robot operation state switching diagram provided in the embodiment of the present application shown in fig. 3, the robot switches between the pause state and the continuous operation state, and when it is determined that the hand waving signal is valid, the robot switches from the current state to another state.

It should be further noted that when the method is applied to a catering dish returning robot scene, not only can false triggering and false recognition be reduced, but also dish returning efficiency can be improved.

Specifically, currently, during the disk-returning process of the disk-returning robot, a user needs to manually contact the disk-returning robot to control the pause and the start of the disk-returning robot. However, in the disc retrieving process, the user may not conveniently physically contact the disc retrieving robot, for example, the user holds things with hands or has dirty hands, so that the user may not conveniently control the disc retrieving robot, and the disc retrieving efficiency may be reduced.

In the process of collecting the dishes, in order to put the tableware on the dining table into the bearing mechanism of the dish returning robot, the dish returning robot is firstly stopped beside the dining table, then the dinner plate and other objects on the dining table are manually collected and put into the bearing mechanism. The staff carelessly dirties the hands during the process of collecting the dinner plate. If the disk returning robot does not support the non-contact control scheme provided by the embodiment of the application, in order to prevent the robot from being contaminated, a worker needs to wash and clean hands first and then physically contact the disk returning robot to control the disk returning robot to switch the running state. However, if a hand washing step is required for each table to be picked up, this may seriously reduce the efficiency of tray return. Certainly, the staff can also directly and physically contact the tray returning robot when hands are dirty, but the tray returning robot is dirty, certain loss exists in the tray returning robot, and the tray returning efficiency is low. Even if the hands of the workers are holding articles, the disc returning robot is inconvenient to physically contact, and the disc returning efficiency is low.

In the embodiment of the application, the infrared gesture recognition module is integrated on the disk returning robot, so that even if the hands of a user are dirty, the hand waving action can be directly performed on the disk returning robot in the collection range of the infrared gesture recognition module at intervals. The disc returning robot collects gesture signals through the infrared gesture recognition module, when the gesture signals are determined to be effective hand waving signals, state switching is conducted, and the current state, namely the pause state, is switched to the running state. Therefore, after the staff collects and processes the objects such as a dinner plate and the like, even if hands are dirty, the hand waving action can be used for controlling the tray returning robot to be switched to the running state from the pause state, so that the tray returning robot can return trays or run to the next table, and the tray returning efficiency is higher.

Similarly, when the disk returning robot runs to the next dining table, the staff can control the disk returning robot to be switched to the pause state from the running state through the hand waving action, so that the disk returning robot stops beside the dining table.

It is thus clear that this application embodiment is through setting up two gesture recognition modules to judge whether the interval of waving the hand signal that two gesture recognition modules gathered falls into preset interval, and then confirm when waving the hand again whether effective, reduced the action recognition that will not wave the hand intention become the possibility of waving the hand action, and then reduced the false triggering misidentification, the control accuracy is higher.

In some embodiments, when the time interval of the hand waving signals collected by the two gesture recognition modules does not fall into the preset interval, the robot may further send a control instruction to the prompting device to control the prompting device to execute a prompting operation through the control instruction, where the prompting operation is used to prompt to re-input the hand waving signal. Thus, the user can know the input failure of the hand waving signal through the prompt operation, and the user experience can be improved.

The prompting device may be integrated on the robot, for example, the prompting device is a voice device integrated on the robot, the prompting operation is a voice prompt, the robot outputs a prompting voice "please re-input the waving signal" through the voice device, and the like.

In other embodiments, when the time interval of the hand waving signals acquired by the two gesture recognition modules does not fall into the preset interval, it is considered that when the hand waving is the hand waving action of the real intention of the user, but the robot is identified as an invalid hand waving signal due to some reasons, the robot further confirms the real intention of the user through voice prompt when determining that the acquired hand waving signal is the invalid hand waving signal, and if the acquired real intention of the user is state switching, the state switching is continued, so that the control flexibility and accuracy of the robot are improved.

Therefore, when the robot determines that the time interval does not fall into the preset interval, the robot can send a voice output instruction to the voice device so that the voice device outputs a prompt voice in response to the voice output instruction, and the prompt voice is used for prompting whether to perform state switching. For example, the prompt voice is "please confirm whether to perform a state switch". The user can confirm the prompt voice, and if the user wants to switch the state, the user inputs a voice "yes" to the robot, and if the user does not want to switch the state, the user inputs a voice "no" to the robot. The robot switches from the first state to the second state in response to the confirmation voice if the confirmation voice of the user for the prompt voice input is acquired, for example, the confirmation voice is "yes".

The robot may for some reason be in a faulty state. When the robot is in a fault state, it will be in a pause state. At this time, if the user wants to control the robot to switch from the suspended state to the operating state by the hand-waving motion, an accident may occur, and the safety is poor.

In order to improve the safety of the robot, after the robot determines that the hand waving signal is a valid hand waving signal, the robot firstly acquires the detection result of the detection module to determine whether the robot is in a fault state currently. The detection module is used for detecting whether the robot is in a fault state, and the detection result of the detection module can represent whether the robot is in the fault state; if the detection result indicates that the robot is in a fault state, refusing to respond to the effective hand waving signal; and if the detection result indicates that the robot is in a non-fault state, entering a step of responding to a valid hand waving signal and switching from a first state to a second state.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Fig. 4 is a block diagram of a non-contact control device of a robot according to an embodiment of the present disclosure, where only relevant parts of the non-contact control device are shown for convenience of description.

Referring to fig. 4, the apparatus includes:

a hand waving signal acquiring module 41, configured to acquire a first hand waving signal acquired by the first gesture recognition module and acquire a second hand waving signal acquired by the second gesture recognition module;

a determining module 42 for determining a time interval between the acquisition time of the first waving signal and the acquisition time of the second waving signal;

a state switching module 43, configured to determine that the first waving signal and the second waving signal are valid waving signals if the time interval falls into a preset interval, and switch from the first state to the second state in response to the valid waving signals;

In some possible implementations, the apparatus further includes:

and the response rejection module is used for determining that the first hand waving signal and the second hand waving signal are invalid hand waving signals if the time interval does not fall into the preset interval, and rejecting the response to the hand waving signals.

In some possible implementations, the distance between the first gesture recognition module and the second gesture recognition module is greater than a preset distance threshold.

In some possible implementations, when the time interval does not fall within the preset interval, the apparatus further includes:

and the execution module is used for sending a control instruction to the prompting device, wherein the control instruction is used for indicating the prompting device to execute a prompting operation, and the prompting operation is used for prompting to re-input the waving signal.

the prompting module is used for sending a voice output instruction to the voice device, wherein the voice output instruction is used for indicating the voice device to output prompting voice, and the prompting voice is used for prompting whether to switch the state;

the voice acquisition module is used for acquiring confirmation voice of a user for prompting voice input;

and the voice switching module is used for responding to the confirmed voice and switching from the first state to the second state.

In some possible implementations, the apparatus further includes:

the fault state processing module is used for acquiring the detection result of the detection module, and the detection module is used for detecting whether the robot is in a fault state; if the detection result is that the robot is in a fault state, refusing to respond to the effective hand waving signal; and if the detection result is that the robot is in a non-fault state, switching to a step of responding to the effective hand waving signal and switching from the first state to the second state.

It should be noted that, for the contents of information interaction, execution process, and the like between the above devices/units, specific functions and technical effects brought by the method embodiments based on the same concept can be specifically referred to a method embodiment part, and details are not described herein again.

Fig. 5 is a schematic structural diagram of a robot according to an embodiment of the present application. As shown in fig. 5, the robot 5 of this embodiment includes: at least one processor 50 (only one shown in fig. 5), a memory 51, a computer program 52 being stored in the memory 51 and being executable on the at least one processor 50, the steps of any of the above-mentioned embodiments of the object tracking method being performed when the computer program 52 is executed by the processor 50.

The robot may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of the robot 5, and does not constitute a limitation of the robot 5, and may include more or less components than those shown, or some of the components may be combined, or different components may be included, such as input and output devices, network access devices, and the like.

In an embodiment, the robot may be integrated with a gesture recognition module, which may be specifically an infrared gesture recognition module. In one embodiment, the robot integrates two gesture recognition modules, both of which are communicatively coupled to the processor 50. It can be understood that the principles of hand-waving gesture recognition and infrared gesture recognition are well known to those skilled in the art, and are not described in detail herein.

The Processor 50 may be a Central Processing Unit (CPU), and the Processor 50 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 51 may in some embodiments be an internal storage unit of the robot 5, such as a hard disk or a memory of the robot 5. The memory 51 may also be an external storage device of the robot 5 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the robot 5. In an embodiment, the memory 51 may also comprise both an internal memory unit and an external memory device of the robot 5. The memory 51 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer programs. The memory 51 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

An embodiment of the present application further provides a robot, including: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.

The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.

The embodiments of the present application provide a computer program product, which when running on a robot, enables an electronic device to implement the steps in the above method embodiments when executed.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-drive, a removable hard drive, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus, electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A non-contact control method of a robot, comprising:

determining a time interval between the acquisition time of the first swing signal and the acquisition time of the second swing signal;

if the time interval falls into a preset interval, determining that the first hand waving signal and the second hand waving signal are effective hand waving signals, and responding to the effective hand waving signals to switch from a first state to a second state;

when the first state is a pause state, the second state is an operation state; and when the first state is the running state, the second state is the pause state.

2. The method of claim 1, wherein the method further comprises:

3. The method of claim 1, wherein a distance between the first gesture recognition module and the second gesture recognition module is greater than a preset distance threshold.

4. The method of claim 1, wherein when the time interval does not fall within the preset interval, the method further comprises:

and sending a control instruction to a prompting device, wherein the control instruction is used for instructing the prompting device to execute a prompting operation, and the prompting operation is used for prompting to re-input a hand waving signal.

5. The method of claim 1, wherein when the time interval does not fall within the preset interval, the method further comprises:

sending a voice output instruction to a voice device, wherein the voice output instruction is used for instructing the voice device to output a prompt voice, and the prompt voice is used for prompting whether to switch states;

acquiring confirmation voice input by the user aiming at the prompt voice;

switching from the first state to the second state in response to the confirmation speech.

6. The method of any of claims 1-5, wherein after the determining that the first wave signal and the second wave signal are valid wave signals, the method further comprises, prior to the switching from a first state to a second state in response to the valid wave signal:

and if the detection result is that the robot is in a non-fault state, switching to the step of responding to the effective hand waving signal and switching from the first state to the second state.

7. A non-contact control device for a robot, comprising:

a determining module for determining a time interval between the acquisition time of the first waving signal and the acquisition time of the second waving signal;

the state switching module is used for determining that the first waving signal and the second waving signal are effective waving signals if the time interval falls into a preset interval, and switching from a first state to a second state in response to the effective waving signals;

8. The apparatus of claim 7, wherein the apparatus further comprises:

and the response rejection module is used for determining that the first hand waving signal and the second hand waving signal are invalid hand waving signals and rejecting to respond to the hand waving signals if the time interval does not fall into the preset interval.

9. A robot comprising a memory, a processor and a computer program stored by the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 6 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.