CN108733059A - A kind of guide method and robot - Google Patents
A kind of guide method and robot Download PDFInfo
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- CN108733059A CN108733059A CN201810569974.XA CN201810569974A CN108733059A CN 108733059 A CN108733059 A CN 108733059A CN 201810569974 A CN201810569974 A CN 201810569974A CN 108733059 A CN108733059 A CN 108733059A
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- 238000000034 method Methods 0.000 title claims abstract description 106
- 230000033001 locomotion Effects 0.000 claims abstract description 71
- 230000008569 process Effects 0.000 claims abstract description 60
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- 238000012545 processing Methods 0.000 claims description 13
- 238000005516 engineering process Methods 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims description 11
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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Abstract
The present invention provides a kind of guide method and robot, and this method is applied to robot, and the robot includes speech processes control system, navigation control system, sensor and the first motion, the method includes：Sensor acquires voice messaging and is sent to speech processes control system；Speech processes control system is identified after receiving voice messaging, if identifying, voice messaging is navigation requests information, and navigation requests information is sent to navigation control system；Navigation control system searches the corresponding destination of destination information, and after finding destination, the first path of destination is gone in planning according to the destination information and pre-stored environmental map carried in navigation requests information from environmental map；Navigation control system controls the first motion and moves to destination according to first path.Navigation control system of the present invention can control the first motion according to first path autokinetic movement to destination, improve the intelligent of robot autonomous guide to visitors.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of guide methods and robot.
Background technology
With the development of modern science and technology, intelligent robot is changing the production of people, life style, is used for guide to visitors
Robot be it is a kind of apply in places such as exhibition center, museums, can be led visitor to different functions according to business demand
Area, and the robot answered and answered a question accordingly.
It is currently used for the robot of guide to visitors at present, needs to realize by specific ancillary equipment, such as track, magnetic stripe
Autonomous positioning and navigation so that the intelligent robot for guide to visitors is low.
Invention content
In view of this, an embodiment of the present invention provides a kind of guide method and robot, for improving robot guide to visitors
It is intelligent.
The first aspect of the embodiment of the present invention provides a kind of guide method, is applied to robot, and the robot includes
Speech processes control system, navigation control system, sensor and the first motion, the guide method include；
The sensor acquires voice messaging, and the voice messaging of acquisition is sent to speech processes control system
System；
The speech processes control system is identified the voice messaging after receiving the voice messaging, if
It identifies that the voice messaging is navigation requests information, then the navigation requests information is sent to the navigation control system；
The navigation control system carries after receiving the navigation requests information according in the navigation requests information
Destination information and pre-stored environmental map, the corresponding mesh of the destination information is searched from the environmental map
Ground, and after finding the destination, the first path of the destination is gone in planning；
The navigation control system controls first motion and moves to the destination according to the first path.
Based in a first aspect, in the first possible implementation, the robot further includes that display plays control system
System；
First motion, which is controlled, in the navigation control system moves to the purpose according to the first path
After ground, further include：
If the sensor detects the destination and is obtained there are the default marker with the presence or absence of default marker
Default label information corresponding with the default marker is taken, and the default label information is sent to the display and plays control
System processed；
The display broadcasting control system is when receiving the default label information, described in display and/or speech play
Default label information.
Based in a first aspect, in second of possible realization method, the robot further includes the second motion；
Further include after the speech processes control system receives the voice messaging：
The speech processes control system determines the sound source position corresponding with the voice messaging, and passes through described second
Motion controls the robot towards direction corresponding with the sound source position.
Based in a first aspect, the second of the first realization method of above-mentioned first aspect or above-mentioned first aspect
Kind of realization method goes to the of the destination in the third possible realization method in navigation control system planning
After one path, further include：
The sensor acquires the traffic information of the first path, and the traffic information of acquisition is sent to described
Navigation control system；
The navigation control system judges that the traffic information whether there is obstacle after receiving the traffic information
Object；If there are barriers in the traffic information, according to the environmental map and destination information, destination is gone in planning
Second path；
The navigation control system controls first motion and moves to the destination according to second path.
Based in a first aspect, the second of the first realization method of above-mentioned first aspect or above-mentioned first aspect
Kind of realization method acquires voice messaging in the 4th kind of possible realization method in the sensor, and by institute's predicate of acquisition
Message breath is sent to before the speech processes control system, further includes：
The environmental information of guide to visitors environment is waited for by sensor acquisition, and the environmental information of acquisition is sent to described lead
Boat control system；
The navigation control system is built after receiving the environmental information, according to instant positioning with map structuring technology
The environmental map is simultaneously stored.
Based in a first aspect, the second of the first realization method of above-mentioned first aspect or above-mentioned first aspect
Kind realization method, in the 5th kind of possible realization method, the speech processes control system is receiving the voice messaging
Afterwards, the voice messaging is identified, including：
The speech processes control system pre-processes the voice messaging after receiving the voice messaging,
And the pretreated voice messaging is identified；Wherein, the pretreatment includes preposition enhanced processing and is filtered.
The second aspect of the embodiment of the present invention provides a kind of robot, the robot include speech processes control system,
Navigation control system, sensor and the first motion：
The sensor is sent to the speech processes for acquiring voice messaging, and by the voice messaging of acquisition
Control system；
The speech processes control system, for after receiving the voice messaging, knowing to the voice messaging
Not, if identifying, the voice messaging is navigation requests information, and the navigation requests information is sent to the Navigation Control
System；
The navigation control system, for after receiving the navigation requests information, according to the navigation requests information
The destination information of middle carrying and pre-stored environmental map, search the destination information pair from the environmental map
The destination answered, and after finding the destination, the first path of the destination is gone in planning, and controls described first
Motion moves to the destination according to the first path.
Based on second aspect, in the first possible implementation, the robot further includes that display plays control system
System；
The navigation control system moves to the purpose in control first motion according to the first path
After ground, the sensor is additionally operable to detect the destination with the presence or absence of default marker, if there are the default marks
Object then obtains default label information corresponding with the default marker, and the default label information is sent to described show
Show broadcasting control system；
The display broadcasting control system, for when receiving the default label information, display and/or speech play
The default label information.
Based on second aspect, in second of possible realization method, the robot further includes the second motion；
The speech processes control system is after receiving the voice messaging, the speech processes control system, also
The robot face is controlled for determining the sound source position corresponding with the voice messaging, and by second motion
To direction corresponding with the sound source position.
The third aspect of the embodiment of the present invention provides a kind of computer readable storage medium, computer readable storage medium
The step of being stored with computer program, the above method realized when above computer program is executed by processor.
Existing advantageous effect is the embodiment of the present invention compared with prior art：In embodiments of the present invention, pass through voice
Control system is handled after receiving the voice messaging, the voice messaging is identified, if identifying the voice letter
Breath is navigation requests information, then the navigation requests information is sent to the navigation control system；The navigation control system
After receiving the navigation requests information, according to the destination information carried in the navigation requests information and prestore
Environmental map, the corresponding destination of the destination information is searched from the environmental map, and finding the purpose
Behind ground, the first path of the destination is gone in planning；The navigation control system controls first motion according to institute
It states first path and moves to the destination.After voice messaging can be identified, believed according to the navigation requests identified
Breath searches destination in the environmental map, and after finding the destination, and planning goes to the first of the destination
Path, navigation control system can control the first motion according to first path autokinetic movement to destination, to improve machine
The autonomous guide to visitors of device people it is intelligent.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment for those of ordinary skill in the art without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow diagram for the guide method that the embodiment of the present invention one provides；
Fig. 2 is the flow diagram of guide method provided by Embodiment 2 of the present invention；
Fig. 3 is the flow diagram for the guide method that the embodiment of the present invention three provides；
Fig. 4 is the structural schematic diagram for the robot that the embodiment of the present invention four provides.
Specific implementation mode
In being described below, for illustration and not for limitation, it is proposed that such as tool of particular system structure, technology etc
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention can also be realized in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in following methods embodiment, respectively
The execution sequence of process should be determined by its function and internal logic, and the implementation process without coping with each embodiment constitutes any limit
It is fixed.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Embodiment one
The guide method that the embodiment of the present invention one provides, the guide method are applied to robot, and the robot includes
Speech processes control system, navigation control system, sensor and the first motion, the guide method include：
Step S101, the sensor acquires voice messaging, and the voice messaging of acquisition is sent to the voice
Handle control system.
In embodiments of the present invention, the voice messaging of above-mentioned acquisition can be the sound of speaking for acquiring speaker, Huo Zheqi
The sound of its type, above-mentioned speaker can be the user or other users for needing to provide that guide to visitors business helps.The sensor
Including but not limited to speech transducer, navigation sensor, visual sensor and displacement sensor etc..It can be adopted by speech transducer
Collect the voice messaging of user, and the voice messaging of acquisition is sent to the speech processes control system.
In one embodiment, above-mentioned speech transducer can be multiple speech transducer compositions.In order to more effective
Voice messaging is acquired, the arrangement modes of above-mentioned multiple speech transducers can be that the angle between each speech transducer is identical
Arrangement mode, or can be the identical arrangement mode of the distance between each speech transducer, this is not limited.
Step S102, the speech processes control system after receiving the voice messaging, to the voice messaging into
Row identification, if identifying, the voice messaging is navigation requests information, and the navigation requests information is sent to the navigation
Control system.
In embodiments of the present invention, in above-mentioned speech processes control system after receiving the voice messaging, due to
In voice messaging, including very abundant characteristic parameter, different feature vectors characterize different physics and acoustics meaning.
Feature extraction can be carried out to the voice messaging by speech processes control system, and be identified.Speech recognition skill can be passed through
Processing is identified to voice messaging in art.If identifying, the voice messaging is navigation requests information, by the navigation requests
Information is sent to the navigation control system.
In one embodiment, above-mentioned speech processes control system is after receiving the voice messaging, to the voice
Information is pre-processed, and the pretreated voice messaging is identified；Wherein, the pretreatment includes preposition amplification
It handles and is filtered.In the voice messaging for collecting user, can (i.e. pre-processing) first be pre-processed to voice messaging,
Above-mentioned pretreatment includes but not limited to be to the preposition enhanced processing of voice messaging progress, filtering noise reduction process and echo cancellor etc.
Reason.Processing is identified to pretreated voice messaging by speech recognition technology again after being pre-processed to voice messaging.
Step S103, the navigation control system is after receiving the navigation requests information, according to the navigation requests
The destination information and pre-stored environmental map carried in information searches the destination letter from the environmental map
Corresponding destination is ceased, and after finding the destination, the first path of the destination is gone in planning.
In embodiments of the present invention, destination information is contained in above-mentioned navigation requests information, with prestoring environment
The corresponding destination of above destination information is found in the communication identifier list of figure, if after finding the destination, basis
The destination goes to the first path of the destination in the planning of the position of environmental map.
In one embodiment, planning goes to the first path of the destination can (such as heredity of passage path planning algorithm
Algorithm) plan that first path or other path planning algorithms carry out planning first path, such as neural network algorithm, simulation
Annealing and greedy algorithm etc..
In one embodiment, above-mentioned pre-stored environmental map can pass through biography before above-mentioned steps S101
Sensor acquires the environmental information for waiting for guide to visitors environment, and the environmental information of acquisition is sent to the navigation control system；Institute
Navigation control system is stated after receiving the environmental information, according to instant positioning and map structuring (Simultaneous
Localization and Mapping, SLAM) the technology structure environmental map, the environmental map is stored to described and is led
In control system of navigating.Above-mentioned SLAM technologies can be known or complete in part in robot under the conditions of self-position is uncertain
It is self-positioning according to location estimation and the progress of sensor detection data when being moved in unknown environment, while can constructing environment map.
In one embodiment, above-mentioned pre-stored environmental map can be built during robot persistent movement
Vertical global coordinate system, and the location information of the characteristic information of target object during the motion and target object is associated
Store constructing environment map.Assuming that robot moves in waiting for guide to visitors environment, such as wait for that guide to visitors environment can be exhibition pipe, exhibition
There is N number of target object in pipe, the target object can be show piece and barrier (such as billboard or wall), in robot
During movement, current environmental information is obtained by sensor, to environmental information according to the characteristic information of target object into
Row analysis, and according to the position of target object described in the location position of itself of robot at this time.In robot persistent movement process
In, establish global coordinate system, and by the location information of the characteristic information of target object during the motion and target object into
Row associated storage, so as to constructing environment map.
Step S104, the navigation control system control first motion and move to institute according to the first path
State destination.
In embodiments of the present invention, navigation control system plans the first path for going to the destination in step s 103
Afterwards, first motion is controlled by navigation control system and moves to the destination according to the first path.And
During movement, the parameters of ambient enviroment in motion process can be acquired in real time by navigation sensor, and will collect
The parameters of the ambient enviroment be back to above-mentioned navigation control system in real time and carry out analyzing processing.Navigation control system will
Foundation of the parameters of ambient enviroment as robot motion direction and path in above-mentioned acquisition motion process.
In one embodiment, above-mentioned robot further includes the second motion, is connect in above-mentioned speech processes control system
Receiving the voice messaging further includes later：The speech processes control system determines the source of sound corresponding with the voice messaging
Position, and the robot is controlled towards direction corresponding with the sound source position by second motion.Determine with
The corresponding sound source position of the voice messaging can be based on delay inequality (Time Delay of Arrival, TDOA) algorithm
Sound source position is determined, alternatively, may be based on Beam-former (Beam forming), being based on high resolution remote sensing data (High
Resolution) scheduling algorithm determines sound source position.After determining the position of source of sound, the second movement can be passed through according to the position of source of sound
Machine control robot body or head just facing towards the direction of source of sound.
In one embodiment, however, it is determined that the position of source of sound can control the not in pre-determined distance according to the position of source of sound
Two fitness machines and above-mentioned first motion make robot motion to the distance of the source of sound within a preset range and described in control
The body of robot or head just facing towards the direction of sound source.
In one embodiment, if receive voice messaging, the voice messaging is identified using speech recognition technology, if
The voice messaging is the default wake-up signal of the robot, then controls the side that the robot turns to the sound source position
To.If the voice messaging is not the default wake-up signal of the robot, the robot does not make action.It is called out as default
Awake signal can be " navigating robot " or other default wake-up signals, can need to set according to user in practical applications,
This is not limited.
In one embodiment, the sensor further includes other aiding sensors such as sonac, infrared sensor
Deng the effect for assisting safely prevents that safety accident occurs under specific condition.
It can be seen that in embodiments of the present invention, by speech processes control system after receiving the voice messaging,
The voice messaging is identified, if identifying, the voice messaging is navigation requests information, and the navigation requests are believed
Breath is sent to the navigation control system；The navigation control system is after receiving the navigation requests information, according to described
The destination information and pre-stored environmental map carried in navigation requests information, from the environmental map described in lookup
The corresponding destination of destination information, and after finding the destination, the first path of the destination is gone in planning；Institute
It states navigation control system control first motion and moves to the destination according to the first path.Due to can be to language
After message breath is identified, destination is searched in the environmental map according to the navigation requests information identified, and searching
To after the destination, planning goes to the first path of the destination, navigation control system that the first motion can control to press
According to first path autokinetic movement to destination, to improve the intelligent of robot autonomous guide to visitors.
Embodiment two
Guide method provided by Embodiment 2 of the present invention is described below, the guide method is applied to robot,
The embodiment of the present invention two realizes that, with one same or analogous place of above-described embodiment, for details, reference can be made to implementations based on embodiment one
The associated description of example one, details are not described herein again.The robot further includes display broadcasting control system in the present embodiment；Such as figure
Shown in 2, the present embodiment further includes after step s 104：
Step S201, the sensor detects the destination and whether there is default marker, if there are the pre- biddings
Know object, then obtain default label information corresponding with the default marker, and described in the default label information is sent to
Show broadcasting control system.
In embodiments of the present invention, judge whether robot arrives at by the navigation control system, if reaching
Destination, or within the scope of the pre-determined distance of destination, then start sensor and detect the destination with the presence or absence of default
Marker, it is described to detect whether that there is default marker be that scanning whether there is the default marks such as bar code or Quick Response Code
Object.Such as technology scanning can be identified with the presence or absence of default marker according to radio frequency identification by sensor.Marker is preset if existing,
It then obtains and presets the corresponding default label information of marker, the default label information can be stored in advance in the correlation of robot
In memory or the default label can also be to be stored in default marker.Server can certainly be stored in
In, sensor is obtained according to default marker and server communication connection to be believed with the default mark without corresponding default label
It ceases, and the default label information is sent to the display broadcasting control system of robot.
Step S202, the display broadcasting control system is when receiving the default label information, display and/or voice
Play the default label information.
In embodiments of the present invention, the display broadcasting control system can lead to when receiving the default label information
It crosses display broadcasting control system generation visual information to be shown, or carries out speech play by way of speech sound eeplaining.
It is of course also possible to be played simultaneously by visual information and voice.Above-mentioned default identification information can be in a kind of application scenarios
It is the recommended information prestored about target object in destination or destination.
It can be seen that in embodiments of the present invention, the sensor detects the destination and whether there is default marker,
If there are the default marker, default label information corresponding with the default marker is obtained, and by the pre- bidding
Label information is sent to the display broadcasting control system；The display broadcasting control system is receiving the default label information
When, display and/or speech play described in preset label information.Marker, and display and/or speech play are preset due to detectable
Default label information corresponding with the default marker.Pre- bidding is shown and/or played after robot to destination can be achieved
Information is signed, the intelligent of robot guide to visitors is further improved.
Embodiment three
The guide method provided below the embodiment of the present invention three is described, and the guide method is applied to robot,
The embodiment of the present invention three is based on embodiment one or embodiment two is realized, same or analogous with above-described embodiment one and embodiment two
Place, for details, reference can be made to embodiment one or the associated descriptions of embodiment two, and details are not described herein again.As shown in figure 3, the present embodiment exists
Further include after the first path that the destination is gone in the planning of above-mentioned navigation control system in step S104：
Step S301, the sensor acquire the traffic information of the first path, and by the traffic information of acquisition
It is sent to the navigation control system.
In embodiments of the present invention, above-mentioned first motion is controlled according to the first via in above-mentioned navigation control system
During diameter moves to above destination, since true environment is the environment in a dynamic and time-varying, if robot is in root
When being moved according to first path, people or other uncertain barriers of walking can be encountered in first path.Therefore in control
State during the first motion moves to above destination according to the first path, acquired in real time using sensor described in
The traffic information of first path can such as acquire the environment according to surrounding in first path motion process in real time by visual sensor
Information, according to the traffic information for acquiring first path in the environmental information around in motion process, and by the road conditions of acquisition
Information is sent to the navigation control system.
Whether step S302, the navigation control system judge the traffic information after receiving the traffic information
There are barriers；If there are barrier in the traffic information, according in the environmental map and destination information, before planning
Toward the second path of destination.
In embodiments of the present invention, above-mentioned navigation control system is after receiving the traffic information, if judging the road
There are barriers for condition information, then according to the destination information found in the environmental map, planning goes to the second of destination
Path.Wherein, second path is the path different from the first path.
In one embodiment, above-mentioned planning go to the destination the second path can passage path planning algorithm (such as
Genetic algorithm) planning the second path or other path planning algorithms carry out planning the second path, such as neural network algorithm,
Simulated annealing and greedy algorithm etc..
Step S303, the navigation control system control first motion and move to institute according to second path
State destination.
It in embodiments of the present invention, can Navigation Control after the second path of the destination is gone in step S302 planning
System controls first motion and moves to the destination according to second path.It, can and during movement
It acquires the parameters of ambient enviroment in motion process in real time by navigation sensor, and each of the ambient enviroment will be collected
Item parameter is back to above-mentioned navigation control system and carries out analyzing processing in real time.Navigation control system will be in above-mentioned acquisition motion process
Foundation of the parameters of ambient enviroment as robot motion direction and path.
It can be seen that in embodiments of the present invention, the traffic information of the first path is acquired by sensor, and will adopt
The traffic information of collection is sent to the navigation control system.The navigation control system is receiving the traffic information
Afterwards, judge the traffic information whether there are obstacles；If there are barriers in the traffic information, according to the environment
The second path of destination is gone in figure and destination information, planning.The navigation control system controls first motion
The destination is moved to according to second path.It may be implemented in navigation control system and control the first motion according to first
During autonomous path moves to destination, encountering barrier, the second path avoiding obstacles of planning move to purpose automatically
Ground further improves the intelligent of robot autonomous guide to visitors.
Example IV
A kind of robot provided in an embodiment of the present invention, as shown in figure 4, the robot 400 in the embodiment of the present invention includes：
Speech processes control system 401, navigation control system 402, sensor 403 and the first motion 404：
Sensor 403 is sent to the speech processes control for acquiring voice messaging, and by the voice messaging of acquisition
System processed；
Speech processes control system 401, for after receiving the voice messaging, knowing to the voice messaging
Not, if identifying, the voice messaging is navigation requests information, and the navigation requests information is sent to the Navigation Control
System；
In one embodiment, above-mentioned speech processes control system 401 is specifically used for：Receiving the voice messaging
Afterwards, the voice messaging is pre-processed, and the pretreated voice messaging is identified；Wherein, the pre- place
Reason includes preposition enhanced processing and is filtered.
Navigation control system 402, for after receiving the navigation requests information, according in the navigation requests information
The destination information of carrying and pre-stored environmental map are searched the destination information from the environmental map and are corresponded to
Destination, and after finding the destination, the first path of the destination is gone in planning, and controls first fortune
Motivation structure 404 moves to the destination according to the first path.
In one embodiment, above-mentioned robot further includes display broadcasting control system 405；Navigation control system 402 exists
It controls after first motion moves to the destination according to the first path, sensor 403 is additionally operable to detect
The destination whether there is default marker, if there are the default marker, obtain corresponding with the default marker
Default label information, and the default label information is sent to the display broadcasting control system；Display plays control system
System 405, for when receiving the default label information, label information to be preset described in display and/or speech play.
In one embodiment, further include the second motion 406 in above-mentioned robot；The speech processes control system
401 after receiving the voice messaging, the speech processes control system 401, is additionally operable to determine and the voice messaging
Corresponding sound source position, and by second motion 406 control the robot towards with the sound source position pair
The direction answered.
In one embodiment, after the first path of the destination is gone in the planning of above-mentioned navigation control system 402,
Sensor 403 is additionally operable to acquire the traffic information of the first path, and the traffic information of acquisition is sent to described lead
Boat control system；Navigation control system 402 is additionally operable to after receiving the traffic information, whether judges the traffic information
There are barriers；If there are barriers in the traffic information, according to the environmental map and destination information, planning is gone to
Second path of destination, and control first motion and move to the destination according to second path.
In one embodiment, in the sensor 403 for acquiring voice messaging, and by the voice messaging of acquisition
It is sent to before the speech processes control system, sensor 403, is additionally operable to the environmental information that acquisition waits for guide to visitors environment, and will
The environmental information of acquisition is sent to the navigation control system；Navigation control system 402 is additionally operable to receiving the ring
After the information of border, the environmental map is built with map structuring technology according to instant positioning and is stored.
In embodiments of the present invention, with three same or analogous place of above-described embodiment one, embodiment two and embodiment,
For details, reference can be made to embodiment one, the associated descriptions of embodiment two or embodiment three, and details are not described herein again.
It can be seen that in embodiments of the present invention, by speech processes control system after receiving the voice messaging,
The voice messaging is identified, if identifying, the voice messaging is navigation requests information, and the navigation requests are believed
Breath is sent to the navigation control system；The navigation control system is after receiving the navigation requests information, according to described
The destination information and pre-stored environmental map carried in navigation requests information, from the environmental map described in lookup
The corresponding destination of destination information, and after finding the destination, the first path of the destination is gone in planning；Institute
It states navigation control system control first motion and moves to the destination according to the first path.Due to can be to language
After message breath is identified, destination is searched in the environmental map according to the navigation requests information identified, and searching
To after the destination, planning goes to the first path of the destination, navigation control system that the first motion can control to press
According to first path autokinetic movement to destination, to improve the intelligent of robot autonomous guide to visitors.
Above-mentioned robot 400 may include, but be not limited only to, and speech processes control system 401, passes navigation control system 402
Sensor 403, the first motion 404, display broadcasting control system 405 and the second motion 406.Those skilled in the art can
To understand, Fig. 4 is only the example of robot 400, does not constitute the restriction to robot 400, may include more than illustrating
Or less component, certain components or different components are either combined, such as above-mentioned robot 400 can also include processing
Device, memory, input-output equipment, network access equipment, bus etc..
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
Its general processor, digital signal processor (Digital Signal Processor, DSP), application-specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng.
Above-mentioned memory can be the internal storage unit of robot 400, such as the hard disk or memory of robot 400.On
State the External memory equipment that memory can also be above-mentioned robot 400, such as the plug-in type being equipped in above-mentioned robot 400 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, above-mentioned memory can also both include the internal storage unit of above-mentioned robot 400 or wrap
Include External memory equipment.Above-mentioned memory be used to store other programs needed for computer program and above-mentioned robot 400 and
Data.Above-mentioned memory can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned
The division progress of robot, can be as needed and by above-mentioned function distribution by different functions for example, in practical application
System, functional unit, module complete, i.e., by the internal structure of above-mentioned apparatus be divided into different function systems, functional unit or
Module, to complete all or part of the functions described above.Each function system, functional unit, module in embodiment can be with
It is integrated in a processing unit, can also be that each system physically exists alone, it can also two or more system collection
At in a unit, the form that hardware had both may be used in above-mentioned integrated system is realized, SFU software functional unit can also be used
Form realize.In addition, the specific name of each function system is also only to facilitate mutually differentiation, is not intended to limit this application
Protection domain.The specific work process of system, unit, module in above-mentioned robot can refer in preceding method embodiment
Corresponding process, details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may realize that lists described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, depends on the specific application and design constraint of technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed robot and guide method can pass through
Other modes are realized.Another point, shown or discussed mutual coupling or direct-coupling or communication connection can be
By some interfaces, the INDIRECT COUPLING or communication connection of device or unit can be electrical, machinery or other forms.
The above-mentioned function system illustrated as separating component or unit may or may not be physically separated,
The component shown as unit may or may not be physical unit, you can be located at a place, or can also
It is distributed in multiple network element.Some or all of unit therein can be selected according to the actual needs to realize the present invention
The purpose of example scheme.
In addition, each function system or functional unit in each embodiment of the present invention can be integrated in a processing unit
In, can also be that each unit physically exists alone, it can also be during two or more units be integrated in one unit.It is above-mentioned
The form that hardware had both may be used in integrated unit is realized, can also be realized in the form of SFU software functional unit.
If above-mentioned integrated system or unit are realized in the form of software function system or unit and as independent productions
Product are sold or in use, can be stored in a computer read/write memory medium.Based on this understanding, the present invention realizes
All or part of flow in above-described embodiment method can also instruct relevant hardware to complete by computer program,
Above-mentioned computer program can be stored in a computer readable storage medium, the computer program when being executed by processor,
The step of above-mentioned each embodiment of the method can be achieved.Wherein, above computer program includes computer program code, above-mentioned calculating
Machine program code can be source code form, object identification code form, executable file or certain intermediate forms etc..Above computer
Readable medium may include：Any entity or device, recording medium, USB flash disk, the movement of above computer program code can be carried
Hard disk, magnetic disc, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory
(RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It needs to illustrate
It is that the content that above computer readable medium includes can be fitted according to legislation in jurisdiction and the requirement of patent practice
When increase and decrease, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier wave
Signal and telecommunication signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to aforementioned reality
Applying example, invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each
Technical solution recorded in embodiment is modified or equivalent replacement of some of the technical features；And these are changed
Or replace, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of guide method is applied to robot, which is characterized in that the robot includes speech processes control system, leads
Boat control system, sensor and the first motion, the guide method include：
The sensor acquires voice messaging, and the voice messaging of acquisition is sent to the speech processes control system；
The speech processes control system is identified the voice messaging after receiving the voice messaging, if identification
It is navigation requests information to go out the voice messaging, then the navigation requests information is sent to the navigation control system；
The navigation control system is after receiving the navigation requests information, according to the mesh carried in the navigation requests information
Ground information and pre-stored environmental map, the corresponding purpose of the destination information is searched from the environmental map
Ground, and after finding the destination, the first path of the destination is gone in planning；
The navigation control system controls first motion and moves to the destination according to the first path.
2. guide method as described in claim 1, which is characterized in that the robot further includes display broadcasting control system；
The navigation control system control first motion according to the first path move to the destination it
Afterwards, further include：
The sensor detects the destination and whether there is default marker, if there are the default marker, obtain with
The corresponding default label information of the default marker, and the default label information is sent to the display and plays control system
System；
The display broadcasting control system is preset when receiving the default label information described in display and/or speech play
Label information.
3. guide method as described in claim 1, which is characterized in that the robot further includes the second motion；
Further include after the speech processes control system receives the voice messaging：
The speech processes control system determines the sound source position corresponding with the voice messaging, and is moved by described second
Robot described in mechanism controls is towards direction corresponding with the sound source position.
4. guide method as described in any one of claims 1 to 3, which is characterized in that before navigation control system planning
Toward after the first path of the destination, further include：
The sensor acquires the traffic information of the first path, and the traffic information of acquisition is sent to the navigation
Control system；
The navigation control system judges the traffic information whether there are obstacles after receiving the traffic information；If
There are barriers in the traffic information, then according to the environmental map and destination information, planning goes to the second of destination
Path；
The navigation control system controls first motion and moves to the destination according to second path.
5. guide method as described in any one of claims 1 to 3, which is characterized in that voice messaging is acquired in the sensor,
And before the voice messaging of acquisition is sent to the speech processes control system, further include：
The environmental information of guide to visitors environment is waited for by sensor acquisition, and the environmental information of acquisition is sent to the navigation and is controlled
System processed；
The navigation control system is after receiving the environmental information, according to instant positioning and map structuring technology structure
Environmental map is simultaneously stored.
6. guide method as described in any one of claims 1 to 3, which is characterized in that the speech processes control system is connecing
After receiving the voice messaging, the voice messaging is identified, including：
The speech processes control system pre-processes the voice messaging, and right after receiving the voice messaging
The pretreated voice messaging is identified；Wherein, the pretreatment includes preposition enhanced processing and is filtered.
7. a kind of robot, which is characterized in that the robot includes speech processes control system, navigation control system, sensing
Device and the first motion：
The voice messaging of acquisition for acquiring voice messaging, and is sent to the speech processes and controlled by the sensor
System；
The speech processes control system, for after receiving the voice messaging, the voice messaging to be identified, if
It identifies that the voice messaging is navigation requests information, then the navigation requests information is sent to the navigation control system；
The navigation control system, for after receiving the navigation requests information, being taken according in the navigation requests information
The destination information of band and pre-stored environmental map, it is corresponding to search the destination information from the environmental map
Destination, and after finding the destination, the first path of the destination is gone in planning, and control first movement
Mechanism moves to the destination according to the first path.
8. robot as claimed in claim 7, which is characterized in that the robot further includes display broadcasting control system；
The navigation control system control first motion according to the first path move to the destination it
Afterwards：
The sensor is additionally operable to detect the destination with the presence or absence of default marker, if there are the default marker,
Default label information corresponding with the default marker is obtained, and the default label information is sent to the display broadcasting
Control system；
The display broadcasting control system, for when receiving the default label information, described in display and/or speech play
Default label information.
9. robot as claimed in claim 7, which is characterized in that the robot further includes the second motion；
The speech processes control system is after receiving the voice messaging：
The speech processes control system is additionally operable to determine the sound source position corresponding with the voice messaging, and by described
Second motion controls the robot towards direction corresponding with the sound source position.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, feature to exist
In when the computer program is executed by processor the step of any one of such as claim 1 to 6 of realization the method.
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| CN201810569974.XA CN108733059A (en) | 2018-06-05 | 2018-06-05 | A kind of guide method and robot |
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| CN201810569974.XA CN108733059A (en) | 2018-06-05 | 2018-06-05 | A kind of guide method and robot |
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Application publication date: 20181102 |