CN107168320B - Tour guide service robot - Google Patents
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- CN107168320B CN107168320B CN201710413194.1A CN201710413194A CN107168320B CN 107168320 B CN107168320 B CN 107168320B CN 201710413194 A CN201710413194 A CN 201710413194A CN 107168320 B CN107168320 B CN 107168320B
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a tour guide service robot, which is characterized in that: the head is internally provided with a camera, a positioning module, a signal processing module, a calculating unit, a communication unit and a storage unit; real-time images acquired by the camera are input into a computing unit after being filtered, amplified and AD converted by a signal processing module, and the computing unit is remotely connected with a main server through a communication unit; the chassis comprises an infrared sensor; the method also comprises a route planning method and a people counting method.
Description
Technical Field
The invention relates to the field of service robots, in particular to a tour guide service robot.
Background
The service robot is a young member of the robot family, and can be classified into a professional field service robot and a family (personal) service robot. The current data shows that at least 48 countries in the world are developing robots, of which 25 have been involved in the development of service robots. In japan, north america, and europe, 7 types of service robots amounting to more than 40 have been introduced into experimental and semi-commercial applications to date. In recent years, with the development of social productivity and the improvement of living standard, people have used more and more time for leisure and entertainment, thereby greatly promoting the development of the tourism industry. The traditional tour guide work is completed by manual guidance and manual explanation, and with the increase of manpower and the development of high technology, tour guide robots and self-help tour guide systems gradually appear. The tour guide robot technology mainly focuses on how to make a robot which can move autonomously, is provided with sound production equipment such as a loudspeaker and the like, can freely position and navigate a tour guide scenic spot, and is mainly responsible for guiding visitors to various scenic spots, and explains the scenic spots by adopting pre-set commentary in corresponding scenic spots. The related patents are as follows:
CN 106406319 a proposes an intelligent tour guide robot, which sets a route of a tour guide area based on a GPS positioning map, and performs a tour guide service according to the route.
CN 104298240 a proposes a tour guide robot and a control method thereof, which adopts one of an inductive switch, a microwave inductive switch and an ultrasonic switch to judge the approach and departure of people; in addition, the robot tracks according to color bands of different colors laid on the ground, and provides tourist explanation service.
CN 201310715227.X proposes an intelligent tour guide robot based on vision and WiFi, which has functions of navigation positioning and voice interaction, can realize autonomous control, identifies and explains articles through machine vision in the real-time walking process, and receives and answers relevant questions posed by a tourist through a voice interaction unit.
CN201510757602.6 proposes a personalized robot tour guide and autonomous interpretation method. The method can be applied to a large-scale scenic spot or exhibition hall after deployment, different visiting schemes can be automatically generated according to different requirements of users visiting from the beginning by simply configuring all exhibition points or scenic spots at one time, corresponding visiting routes and the targeted complete explanation of the scenic spots or the exhibition points passed by the routes are included, and in the visiting process, the visiting schemes can be automatically adjusted according to the feedback of audiences in the tour guide process, so that the tour guide system is more universal and can uniformly serve the audiences with different requirements.
At present, some problems of manual tour guide and tour guide robots are that the number of people in a band is large, the people easily wander away, and the number of visitors needs to be counted in real time by tour guide. The age distribution area of the visitors is large, and the tour routes are all consistent, and the proper route cannot be provided according to the specific visitors. In addition, the charging problem of the robot cannot be solved in time due to the long tour route.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for extracting the facial features and the body shapes of the current crowd through a visual sensor, counting the number of visitors in real time and recalling lost visitors; and the tour guide service robots are classified according to the ages and physical conditions of the visitors and provide corresponding suitable tour routes for different types of visitors.
The technical scheme of the invention is as follows:
a tour guide service robot, comprising: the head comprises a head, a trunk and a chassis, wherein a camera, a positioning module, a signal processing module, a calculating unit, a communication unit and a storage unit are arranged in the head; real-time images collected by the camera are input into the computing unit after being filtered, amplified and AD converted by the signal processing module, and the computing unit is remotely connected with a main server through the communication unit; the chassis comprises an infrared sensor; wherein the content of the first and second substances,
the route planning method comprises the following steps: s1, the main server acquires visitor registration information before the beginning of the tour, wherein the visitor registration information comprises a face image, a name, an age, a height, health parameters and a contact way; s2, the main server plans a tour route suitable for the age and the health condition of the tourist for the tourist according to the registration information of the tourist; s3, the computing unit acquires the tourist registration information and the tour route from the main server, and then inputs the tourist registration information and the tour route into the storage unit for temporary storage; s4, the calculating unit outputs a driving signal to the chassis according to the tour route and the current position identified by the positioning module; the computing unit identifies the current physical state of the tourist according to the real-time image input by the camera, replans the tour route in time and changes the destination to the nearest rest place;
the people counting method comprises the following steps: s6, the main server sets a plurality of preset gathering points and area areas on the tour route, and when the positioning module identifies that the service robot travels to the gathering points, the robot is made to roam in the area areas of the gathering points; s7, respectively inputting the real-time image shot by the camera and the infrared image shot by the infrared sensor into the computing unit in the area; s8, the computing unit eliminates a fake human body target which does not accord with the human body temperature from the real-time image frame by frame according to the heat radiation condition in the infrared image; s9, the computing unit extracts characteristic values from the processed real-time images and identifies human body characteristic information such as human faces, heads and shoulders; and S10, the calculating unit adopts a classifier to classify and learn the extracted human body characteristic information, identifies that the information of the tourist is matched with prestored tourist registration information, and counts the number of people who are successfully matched once the matching is successful.
The trunk part is provided with sound equipment and a microphone; the microphone receives voice information of the tourist, the voice information is input into the computing unit to extract questions and instructions, and then audio content fed back by the computing unit is output through the sound equipment.
And when the current position identified by the positioning module is successfully matched with the position of the scenic spot, the computing unit outputs the voice introduction of the current scenic spot through the sound equipment.
The chassis further comprises a movement mechanism, the infrared sensor feeds road condition information in the process of advancing back to the calculation unit, and the movement mechanism drives the roller to act according to the movement control signal output by the calculation unit.
The head part also comprises a display interface used for displaying the current position of the tour guide service robot acquired by the positioning module in real time.
In step S3, the computing unit sends the tour route to the visitor through a short message or an instant message via the communication module.
In the step 9, the computing unit detects the processed real-time image by using a frame difference method, a background difference method or an optical flow method, and extracts human body feature information such as skin color features, morphological features, thermal radiation features, human face features and head and shoulder features.
In the step S10, the moving speed and direction of the single human body are analyzed, and if the moving direction of the single human body guides the crowd moving in one direction at a certain speed, the area of the region preset in the step S6 is adjusted in real time.
The people counting method also comprises a step S11 of correcting the counted people by means of a method of scanning the number of the mobile phone Bluetooth in the area; and defining the visitors who do not acquire the human body characteristic information as the lost personnel.
The people counting method further comprises a step S12 of judging the people gathering state of the current gathering point and calling the lost and scattered people by sending short messages or instant messages.
The invention has the following technical effects:
the invention discloses a tour guide service robot, which is characterized in that: the head is internally provided with a camera, a positioning module, a signal processing module, a calculating unit, a communication unit and a storage unit; real-time images acquired by the camera are input into a computing unit after being filtered, amplified and AD converted by a signal processing module, and the computing unit is remotely connected with a main server through a communication unit; the chassis comprises an infrared sensor; the method also comprises a route planning method and a people counting method.
In the route planning method, the main server can plan a suitable tour route according to tourists of different age groups or health states; during the travel, the tourists are fed back in real time according to specific situations on the route. The current physical state of the tourist is identified in the real-time image input by the camera, the tourist route is re-planned, the destination is changed into the nearest rest place, and effective early warning is carried out on the uncomfortable reaction of the tourist caused by excessive fatigue.
The people counting method identifies tourists in a visual image identification mode, counts the number of the tourists and the gathering state in real time, and reminds lost or scattered tourists by voice or short messages to prevent the tourists from falling behind or losing a queue; the robot moves in a certain area, identifies all successful visitors in the area within the maximum range, and counts the crowd gathering degree in the area. And the false human body target which does not conform to the human body temperature is removed from the real-time image frame by means of the heat radiation condition in the infrared image input by the infrared sensor.
The power supply mode of robot adopts two robots, and the mode of mutual contact charges between them, avoids setting up a plurality of fixed power supply in the route region of touring and charges, not only can nimble quick charge, can also reduce the operation cost.
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FIG. 1 is a block diagram of a sensing system of the present invention
FIG. 2 is a schematic diagram of the steps of the people counting method of the present invention
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.
As shown in fig. 1, the tour guide service robot of the present invention includes a head, a trunk, and a chassis, wherein the head is provided with a camera 1, a positioning module 4, a signal processing module 5, a computing unit 6, a communication unit 7, a storage unit 10, and a display interface 12. The real-time image collected by the camera 1 is filtered, amplified and AD converted by the signal processing module 5, and then is input into the computing unit 6. The computing unit 6 is remotely connected to the host server 11 via the communication unit 7. The current position of the tour guide service robot is obtained in real time through the positioning module 4 and is displayed on the display interface 12 in real time, so that a tourist can know the scenic spots visited and the scenic spots to be visited conveniently.
The trunk part is provided with sound equipment 8 and a microphone 9, the microphone 9 is used for receiving voice information of the tourist, inputting the voice information into the calculation unit 6 to extract problems and instructions, and then outputting audio content fed back by the calculation unit 6 to the tourist through the sound equipment 8 to realize man-machine interaction. When the current position identified by the positioning module 4 is successfully matched with the position of the scenic spot, the voice introduction of the current scenic spot is output through the sound equipment 8.
The chassis is arranged at the bottom of the tour guide service robot and comprises an infrared sensor 2 and a movement mechanism 3, the infrared sensor 2 feeds road condition information during traveling back to the calculation unit 6, and the movement mechanism 3 drives the roller to act according to a movement control signal output by the calculation unit 6, so that the movement of the whole tour guide service robot is realized. The robot is provided with the portable power source, and the robot can be charged quickly in a contact mode according to the electric quantity condition of the robot. Avoid setting up a plurality of fixed power supply in the route region of touring and charge, not only can nimble quick charge, can also reduce the operation cost.
The route planning method comprises the following steps:
s1, the main server 11 obtains the registration information of the tourist before the tourist starts, the registration information of the tourist includes the face image, the name, the age, the height, the health parameter, and the contact information;
s2, the main server 11 plans a tour route suitable for the age and health condition of the tourist according to the registration information of the tourist; the elderly, children or disabled people set roads with relatively flat ground and relatively short routes and routes with low walking speed; other young healthy people set a tour route which is rugged in road surface, relatively long in route and high in walking speed;
s3, the calculating unit 6 obtains the tourist registration information and the tour route from the main server 11 through the communication unit 7, then inputs the tourist registration information and the tour route into the storage unit 10 for temporary storage, and sends the tour route to the tourist through short message or instant communication through the communication module 7;
s4, the calculating unit 6 outputs a driving signal to the chassis according to the tour route by combining the current position identified by the positioning module 4;
and S5, sending reminding information to the tourist through the sound equipment 8 according to the actual road condition in the traveling process.
In step S4, the computing unit 6 identifies the current physical state of the tourist according to the real-time image input by the camera 1, and if the tourist has uncomfortable features such as frequent sweat wiping action, slow pace, shaking body, etc., the tourist can re-plan the tour route in time to change the destination to the nearest resting place. If the facial expression of the tourist is pleasant, the visual sensor detects that the pace of the tourist is light and fast, the auditory sensor detects that the language and the laughter of the tourist are more, the voice sensor sends out prompt to prompt the tourist whether to continue the tour or not in time, and the audio equipment 8 interacts with the tourist in a music or voice mode.
In step S5, the reminding information includes, for example, the road surface is relatively wet, the nearby gravels are more, and the tourist is informed to slow down the pace; and informing the tourist of the current weather condition, the place of taking shelter from rain and the like in real time.
As shown in fig. 2, the people counting method of the present invention includes the following steps:
s6, the main server 11 sets a plurality of preset gathering points and area areas on the tour route, and when the positioning module 4 identifies that the service robot travels to the preset gathering points, the service robot is enabled to roam in the area areas of the gathering points;
s7, respectively inputting the real-time image shot by the camera 1 and the infrared image shot by the infrared sensor 2 into the calculation unit 6 in a preset area;
s8, removing pseudo human body targets which do not accord with the human body temperature from the real-time image frame by frame in the computing unit 6 according to the heat radiation condition in the infrared image;
s9, performing face feature detection and human body form detection containing characteristic values such as skin color features, form features, heat radiation features and head and shoulder features on the processed real-time image frame by using a frame difference method, a background difference method or an optical flow method and the like, and extracting human body feature information such as faces, heads and shoulders;
s10, the calculation unit 6 adopts an SVM classifier to classify and learn the extracted human body characteristic information, identifies that the information of the tourist is matched with prestored tourist registration information, and counts the number of people who are successfully matched once the matching is successful;
s11, correcting the counted number of people by means of a mobile phone signal scanning technology, such as scanning the number of mobile phone Bluetooth in the area; defining the tourists who do not acquire the human body characteristic information as the losers;
s12, adjusting the position of the robot in real time, and monitoring features such as human faces or human head and shoulders to the maximum extent in a preset area;
and S13, judging the gathering state of the people at the current gathering point, and calling the lost people by sending short messages or instant messages to prevent the tourists from falling behind or losing.
In step S10, the moving speed and direction of the single human body are analyzed, and if the moving direction of the single human body guides the crowd moving in one direction at a constant speed, the area of the region preset in step S6 is corrected.
It should be noted that the above-mentioned embodiments enable a person skilled in the art to more fully understand the invention, without restricting it in any way. Therefore, although the present invention has been described in detail with reference to the drawings and examples, it will be understood by those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A tour guide service robot, comprising: the head comprises a head, a trunk and a chassis, wherein a camera, a positioning module, a signal processing module, a calculating unit, a communication unit and a storage unit are arranged in the head; real-time images collected by the camera are input into the computing unit after being filtered, amplified and AD converted by the signal processing module, and the computing unit is remotely connected with a main server through the communication unit; the chassis comprises an infrared sensor;
the route planning method comprises the following steps:
s1, the main server acquires visitor registration information before the beginning of the tour, wherein the visitor registration information comprises a face image, a name, an age, a height, health parameters and a contact way;
s2, the main server plans a tour route suitable for the age and the health condition of the tourist for the tourist according to the registration information of the tourist;
s3, the computing unit acquires the tourist registration information and the tour route from the main server, and then inputs the tourist registration information and the tour route into the storage unit for temporary storage;
s4, the calculating unit outputs a driving signal to the chassis according to the tour route and the current position identified by the positioning module; the computing unit identifies the current physical state of the tourist according to the real-time image input by the camera, replans the tour route in time and changes the destination to the nearest rest place;
the people counting method comprises the following steps:
s6, the main server sets a plurality of preset gathering points and area areas on the tour route, and when the positioning module identifies that the service robot travels to the gathering points, the robot is made to roam in the area areas of the gathering points;
s7, respectively inputting the real-time image shot by the camera and the infrared image shot by the infrared sensor into the computing unit in the area;
s8, the computing unit eliminates a fake human body target which does not accord with the human body temperature from the real-time image frame by frame according to the heat radiation condition in the infrared image;
s9, the computing unit carries out face detection and human body shape detection on the processed real-time image to identify human body characteristic information;
and S10, the calculating unit adopts a classifier to classify and learn the extracted human body characteristic information, identifies that the information of the tourist is matched with prestored tourist registration information, and counts the number of people who are successfully matched once the matching is successful.
2. A tour guide service robot as recited in claim 1, wherein: the trunk part is provided with sound equipment and a microphone; the microphone receives voice information of the tourist, the voice information is input into the computing unit to extract questions and instructions, and then audio content fed back by the computing unit is output through the sound equipment.
3. A tour guide service robot as recited in claim 2, wherein: and when the current position identified by the positioning module is successfully matched with the position of the scenic spot, the computing unit outputs the voice introduction of the current scenic spot through the sound equipment.
4. A tour guide service robot as recited in claim 1, wherein: the chassis further comprises a movement mechanism, the infrared sensor feeds road condition information in the process of advancing back to the calculation unit, and the movement mechanism drives the roller to act according to the movement control signal output by the calculation unit.
5. A tour guide service robot as recited in claim 1, wherein: the head part also comprises a display interface used for displaying the current position of the tour guide service robot acquired by the positioning module in real time.
6. A tour guide service robot as recited in claim 1, wherein: in step S3, the computing unit sends the tour route to the visitor through a short message or an instant message via the communication module.
7. A tour guide service robot as recited in claim 1, wherein: in S9, the computing unit detects the processed real-time image by frame difference method, background difference method, or optical flow method, and extracts skin color feature, morphological feature, thermal radiation feature, face feature, and head-shoulder feature information.
8. A tour guide service robot as recited in claim 1, wherein: in the step S10, the moving speed and direction of the single human body are analyzed, and if the moving direction of the single human body guides the crowd moving in one direction at a certain speed, the area of the region preset in the step S6 is adjusted in real time.
9. A tour guide service robot according to claim 1, 7 or 8, wherein: the people counting method also comprises a step S11 of correcting the counted people by means of a method of scanning the number of the mobile phone Bluetooth in the area; and defining the visitors who do not acquire the human body characteristic information as the lost personnel.
10. A tour guide service robot as recited in claim 9, wherein: the people counting method further comprises a step S12 of judging the people gathering state of the current gathering point and calling the lost and scattered people by sending short messages or instant messages.
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| CN108153169A (en) * | 2017-12-07 | 2018-06-12 | 北京康力优蓝机器人科技有限公司 | Guide to visitors mode switching method, system and guide to visitors robot |
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| CN113485374A (en) * | 2021-08-13 | 2021-10-08 | 南京科技职业学院 | Self-help tour guide robot |
| CN113807585B (en) * | 2021-09-18 | 2024-04-30 | 北京声智科技有限公司 | Tour path recommending method and device and related equipment |
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