CN109015593A - A kind of advertisement robot and its advertisement placement method - Google Patents
A kind of advertisement robot and its advertisement placement method Download PDFInfo
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- CN109015593A CN109015593A CN201811108142.4A CN201811108142A CN109015593A CN 109015593 A CN109015593 A CN 109015593A CN 201811108142 A CN201811108142 A CN 201811108142A CN 109015593 A CN109015593 A CN 109015593A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims description 24
- 230000004888 barrier function Effects 0.000 claims description 19
- 230000007613 environmental effect Effects 0.000 claims description 17
- 230000003993 interaction Effects 0.000 claims description 12
- 238000013500 data storage Methods 0.000 claims description 10
- 230000002452 interceptive effect Effects 0.000 claims description 10
- 230000001815 facial effect Effects 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000006698 induction Effects 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 8
- 230000008859 change Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000047 product Substances 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
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- 239000004973 liquid crystal related substance Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- G09F27/00—Combined visual and audible advertising or displaying, e.g. for public address
Abstract
The invention discloses a kind of advertisement robot and its advertisement placement methods, including robot body, advertisement delivery system is installed, advertisement delivery system includes robot control system, further includes the chassis drive module being electrically connected with robot control system in robot body；Robot trunk bottom is equipped with movable machine people mobile chassis, and mobile underpan is electrically connected chassis drive module, by chassis drive module to change the motion profile of advertisement robot, and controls the start and stop of advertisement robot movement；The front of robot trunk is equipped with body-sensing camera, and body-sensing camera is electrically connected chassis drive module.The present invention provides a kind of advertisement robot and its advertisement placement methods, by increasing movable machine people mobile chassis and body-sensing camera, so that advertisement robot is by induction position of human body to be moved to the big place of flow of the people, and the direction of display screen is adjusted, to enhance the effect of advertisement dispensing.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of advertisement robots and its advertisement placement method.
Background technique
Advertisement is as a kind of publicity mode, to become a kind of maximally efficient ground trade marketing means.By advertisement by product
It publicizes widely, improves the popularity of product, to bring a large amount of profit for enterprise.
But traditional advertiser will be arranged by modes such as billboard, rolling advertisement columns, be mounted on market, subway, station
The more place of equal flows of the people, can only since placement position is fixed although these advertisements can be presented by way of rolling
Content is announced facing one direction, and environment involvement effect is lower, causes the ineffective of advertisement.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of advertisement robot and its advertisement placement method, solves existing
The bad problem of advertising results in technology.
To achieve the above object, the present invention provides technical solution below:
A kind of advertisement robot, including robot body, the robot body include robot trunk；The robot
Robot head is equipped at the top of trunk, the robot head is equipped with the recognition of face for obtaining user's face feature and images
Head；The front of the robot trunk is equipped with body-sensing camera, for obtaining and analyzing the position of human body information in environment；It is described
Robot trunk is equipped with several advertisement screens；The robot trunk bottom is equipped with movable machine people mobile chassis；
Advertisement delivery system is installed, the advertisement delivery system includes for controlling advertisement machine in the robot body
The robot control system of the operation of device people, further includes:
Chassis drive module is electrically connected with the robot control system, body-sensing camera and mobile underpan, is used
In planning robot's mobile chassis motion path and control mobile underpan movement start and stop, to control advertisement robot
It is moved corresponding to the position of human body；
Be electrically connected the data storage module of the face recognition module, for prestored user facial characteristics template and with institute
State the corresponding advertisement page of user's face feature templates；
It is electrically connected the face recognition module of the recognition of face camera, the user's face feature for will acquire and pre-
The user's face feature templates deposited are compared；
The advertisement switching module being electrically connected with the robot control system and advertisement screen, for when user's face feature with
When the user's face feature templates prestored are compared successfully, control advertisement screen is switched to and the user's face feature templates pair
The page answered.
Optionally, the robot trunk is equipped with laser radar, and the laser radar is electrically connected the chassis and drives mould
Block；The laser radar for obtaining first environment information in the operational mode, and chassis drive module is according to the first environment
The a plurality of motion path of information architecture；The first environment information includes the distance for including the position of human body target, orientation, height
Degree, speed；
Ultrasonic sensor is distributed in the robot trunk surrounding and infrared fall preventing falls sensor, the supersonic sensing
Device and infrared fall preventing fall sensor and are electrically connected the chassis drive module, obtain second environment letter for combining in the operational mode
Breath, chassis drive module chooses optimal path from a plurality of motion path according to the second environment information, with avoiding barrier
And prevent advertisement robot from falling；The second environment information includes the orientation and distance for including barrier, step；
The robot trunk is equipped with emergency stop switch, and the emergency stop switch is electrically connected the robot control system.
Optionally, the robot head is equipped with interactive voice microphone group；
The robot control system further includes voice interaction module, and the voice interaction module is electrically connected the robot
Control system and interactive voice microphone group；The voice interaction module is used to obtain phonetic order, and by phonetic order and in advance
The phonetic order template deposited is compared；When comparing successfully, robot control system controls corresponding module and executes accordingly
Operation.
Optionally, power supply is equipped in the robot body；The robot control system is electrically connected a voltage monitoring mould
Block, when whether being lower than preset value for monitoring supply voltage；If so, into charge mode；If it is not, then entering operating mode；
The back side of the robot trunk is equipped with recharging device, and the recharging device is electrically connected the voltage prison
Survey module；The recharging device is for docking charging with the charging pile of peripheral hardware in charging mode；
The back side of the robot trunk is additionally provided with IR evading obstacle sensors and charging camera, the infrared obstacle avoidance sensing
Device and charging camera are electrically connected the chassis drive module；
Under charge mode, the IR evading obstacle sensors and charging camera combine and obtain third environmental information, the bottom
Dish driving module controls machine according to the location information building charging motion path of the third environmental information and the charging pile prestored
Device people's mobile chassis moves to charge position and docks charging with charging pile；The third environmental information include barrier position and
Distance.
Optionally, the advertisement delivery system further includes video calling module, described in the video calling module electrical connection
Robot control system；
The robot head is equipped with touch screen, video telephony camera and video calling microphone, the touch screen, view
Frequency call camera and video calling microphone are electrically connected the video calling module；
The robot head is equipped with the first loudspeaker, and the robot trunk is equipped with the second loudspeaker.
The present invention also provides a kind of advertisement placement methods of advertisement robot, are applied to advertising machine as described above
People, comprising: in the operational mode,
The position of human body information in environment is obtained and analyzes, control mobile underpan is transported corresponding to the position of human body
It is dynamic；
User's face feature is obtained, user's face feature is compared with the user's face feature templates prestored；When than
When to success, advertisement screen switches to the page corresponding with the user's face feature templates.
Optionally, the step: mobile underpan is moved corresponding to the position of human body, comprising:
First environment information is obtained, according to a plurality of motion path of first environment information architecture；The first environment letter
Breath includes distance, orientation, height, the speed for including the position of human body target；
Second environment information is obtained, optimal path is chosen from a plurality of motion path according to the second environment information, with
Avoiding barrier simultaneously prevents advertisement robot from falling；The second environment information include include barrier, step orientation and
Distance.
Optionally, further includes:
In the operational mode, phonetic order is obtained, and phonetic order is compared with the phonetic order template prestored；When
When comparing successfully, robot control system executes corresponding operation by controlling corresponding module.
Optionally, further includes: in the case where filling charge mode, the step of charging；
Described the step of being charged includes:
Whether real-time monitoring supply voltage is lower than preset value, if so, into charge mode；
When entering charge mode, third environmental information is obtained, according to the third environmental information and the charging pile prestored
Location information building charging motion path, control mobile underpan move to charge position and dock charging with charging pile；
The third environmental information includes position and the distance of barrier.
It optionally, further include mode handoff procedures,
The mode handoff procedures include:
Monitor the supply voltage of advertisement robot；
When supply voltage is higher than preset value, control advertisement robot enters operating mode；When supply voltage is lower than default
When value, control advertisement robot enters charge mode.
Compared with prior art, the invention has the following advantages:
The present invention provides a kind of advertisement robot and its advertisement placement methods, mobile by increasing movable machine people
Chassis and body-sensing camera so that advertisement robot passes through induction position of human body to be moved to the big place of flow of the people, and are adjusted
The direction of whole display screen, to enhance the effect of advertisement dispensing.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of advertisement robot provided by the invention；
Fig. 2 is a kind of side structure schematic diagram of advertisement robot provided by the invention；
Fig. 3 is a kind of structure schematic diagram of advertisement robot provided by the invention；
Fig. 4 is the distribution schematic diagram of sensor in a kind of advertisement robot provided by the invention；
Fig. 5 is the structural block diagram of advertisement delivery system in a kind of advertisement robot provided by the invention.
In above-mentioned figure: 10, robot body；11, robot head；111, touch screen；112, the first loudspeaker；113, it monitors
Camera；114, interactive voice microphone group；115, recognition of face camera；116, video calling mould group；12, robot body
It is dry；121, advertisement screen；122, body-sensing camera；123, laser radar；124, ultrasonic sensor；125, infrared fall preventing falls sensing
Device；126, IR evading obstacle sensors；127, maintenance window；128, emergency stop switch；129, recharging device；1210, the second loudspeaker
?；13, mobile underpan；20, robot control system；201, advertisement switching module；202, chassis drive module；203,
Face recognition module；204, voltage monitoring module；205, video calling module；206, voice interaction module；207, data storage
Module.
Specific embodiment
To enable the purpose of the present invention, feature, advantage more obvious and understandable, implement below in conjunction with the present invention
Attached drawing in example, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that reality disclosed below
Applying example is only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
Fig. 1 shows a kind of positive structure schematic of advertisement robot provided by the invention referring to FIG. 1 to FIG. 4, figure
2 show a kind of side structure schematic diagram of advertisement robot provided by the invention, and Fig. 3 shows provided by the invention a kind of wide
The structure schematic diagram of robot is accused, the distribution that Fig. 4 shows sensor in a kind of advertisement robot provided by the invention is shown
It is intended to.
A kind of advertisement robot, including robot body 10, the robot body 10 include robot trunk 12, robot
Trunk 12 is equipped with several advertisement screens 121.Wherein, advertisement screen 121 is equipped with three pieces, and three pieces of advertisement screens 121 are distributed in robot body
Dry 12 front and two sides, increases the dispensing area of advertisement, enhances the dispensing effect of advertisement.Robot trunk 12
The back side is equipped with maintenance window 127, can be realized the operation such as daily debugging, maintenance by the maintenance window 127.
The top of robot trunk 12 is equipped with robot head 11, and robot head 11 is equipped with a touch screen 111, touch screen
111 electrical connection robot control systems 20.Touch screen 111 supports three kinds of display patterns, the first is MIPI output vision signal
It is performed image display to 10.1 cun of MIPI screens, and I2C interface touch screen is cooperated to carry out touch control operation, second is to pass through LVDS
It is shown to directly drive large scale LVDS liquid crystal display, the third is to drive HDMI screen to show by HDMI and USB interface is cooperated to touch
It touches screen and carries out touch control operation.The touch screen 111 also supports three tunnel usb expansions, 5,000,000 pixel camera head video callings, more simultaneously
The functions such as the output of road serial ports and 2.4G and 5G double frequency WIFI network.
Robot head 11 is additionally provided with monitoring camera 113 and recognition of face camera 115；Monitoring camera 113 is electrically connected
External central control system is connect, for realizing monitoring function；Recognition of face camera 115 is for obtaining user's face feature.
In addition, robot head 11 is equipped with the first loudspeaker 112, robot trunk 12 is equipped with the second loudspeaker 1210.In this hair
In one of embodiment of bright embodiment, the first loudspeaker 112 are high-pitched speaker, and the second loudspeaker 1210 are woofer, high
Woofer combines, and improves the acoustical quality of advertisement dispensing.Loudspeaker used by first loudspeaker 112 and the second loudspeaker 1210
Type can be matched freely according to demand.
The bottom of robot trunk 12 is equipped with mobile underpan 13, which is universal wheel or shoe
Band, it is mobile for realizing the realization of robot body 10.
Fig. 1 to Fig. 5 is please referred to, Fig. 5 shows advertisement delivery system in a kind of advertisement robot provided by the invention
Structural block diagram.
Advertisement delivery system includes robot control system 20, further includes the advertisement being electrically connected with robot control system 20
Switching module 201, chassis drive module 202, face recognition module 203, voltage monitoring module 204, video calling module 205,
Voice interaction module 206 and data storage module 207.By the way that multiple functional modules are concentrated on the advertisement robot, with
Improve the functionality and practicability of the advertisement robot.
Wherein, advertisement screen 121 is electrically connected advertisement switching module 201, controls advertisement screen 121 by advertisement switching module 201
Switch the page, realizes that the rolling of advertisement is launched.In the present embodiment, advertisement screen 121 is equipped with three pieces, and three pieces of advertisement screens 121 are distributed
In the front and two sides of robot trunk 12, the dispensing area of advertisement is increased, enhances the dispensing effect of advertisement.
Mobile underpan 13 is electrically connected chassis drive module 202, by chassis drive module 202 to change the machine
The motion profile of people's mobile chassis 13, and control the start and stop of the movement of mobile underpan 13.
Wherein, the front of robot trunk 12 is equipped with body-sensing camera 122, and body-sensing camera 122 is electrically connected chassis driving
Module 202；Human body is incuded in sphere of action by body-sensing camera 122, to obtain and analyze the letter of the position of human body in environment
Breath；And driven by chassis drive module 202, control mobile underpan 13 is mobile towards the people body position, and makes display screen
Always human body is faced.By the way that body-sensing camera 122 is arranged, enable advertisement robot by induction position of human body to be moved to people
The big place of flow, and the direction of display screen is adjusted, to enhance the effect of advertisement dispensing.
The front of robot trunk 12 is additionally provided with laser radar 123, and laser radar 123 is electrically connected chassis drive module 202；
The induction of laser radar 123 obtains first environment information, which includes target range, orientation, height, speed, appearance
The parameters such as state and shape, chassis drive module 202 is according to a plurality of motion path of first environment information architecture.Due to the laser thunder
Induction range up to 123 is wider, therefore range involved in the first environment information is larger, thus 202 energy of chassis drive module
Enough according to first environment information obtained to construct the more comprehensive a plurality of motion path in current environment.
In addition, ultrasonic sensor 124 is distributed in the surrounding of robot trunk 12, the front of robot trunk 12 is equipped with red
Outer dropproof sensor 125.In the present embodiment, there are four ultrasonic sensor 124 is set, before being distributed in robot trunk 12
On face, back, left side and right side.
The ultrasonic sensor 124 and infrared fall preventing fall sensor 125 and are electrically connected chassis drive module 202.By this
Whether there are obstacles in the induction short range of ultrasonic sensor 124, and falls sensor 125 by infrared fall preventing and incude extensively
Accusing whether there is step in front of robot, the association that ultrasonic sensor 124 and infrared fall preventing fall sensor 125 obtains
To second environment information.Specifically, which includes the orientation and distance for including barrier, step.It drives on chassis
Dynamic model block 202 selects optimal movement path according to second environment information from the above-mentioned a plurality of motion path obtained, to hide barrier
Hinder object and prevents advertisement robot from falling.
Wherein, the folder formed between 12 front of robot trunk and three of the side ultrasonic sensors 124
Angle is 40 °, thus, the barrier in front of main 10 front of sniffing robot ontology of ultrasonic sensor 124 and side.This is red
There are three outer dropproof sensor 125 is set, two of them infrared fall preventing is fallen before sensor 125 is set to robot trunk 12
Face, another infrared fall preventing fall sensor 125 and are set to behind robot trunk 12, are located at robot body 10 with detection
The step of front and back.
In the present embodiment, robot trunk 12 is equipped with emergency stop switch 128, and emergency stop switch 128 is electrically connected welding robot control
System 20 processed, in case of emergency advertisement robot being made to stop operating.
Robot head 11 is equipped with recognition of face camera 115, and recognition of face camera 115 is electrically connected face recognition module
203, face recognition module 203 and data storage module 207.
Recognition of face camera 115 user and reads user's face feature for identification, and face recognition module 203 will be read
To user's face feature be compared with the user's face feature templates being pre-stored in data storage module 207；When compare at
When function, robot control system 20 controls advertisement screen 121 by advertisement switching module 201 and switches the page, makes in advertisement screen 121
Ad content matches with user.
It is combined by recognition of face camera 115 with face recognition module 203, data storage can be stored in for realizing
User in storing module 207 is pointedly to launch advertisement.For example, when identifying the user by recognition of face camera 115
When for women, then advertisement is switched to the advertisement of skin care item, cosmetics or dress ornament classification by advertisement switching module 201；When logical
Cross recognition of face camera 115 identify the user be male when, then advertisement is switched to by vapour by advertisement switching module 201
The advertisement of the classifications such as vehicle, game machine.By pointedly launching advertisement to different user, big degree it can stimulate consumer's
The desire for consumer goods effectively enhances the dispensing effect of advertisement.
The back side of robot trunk 12 is equipped with automatic charge device 129, and automatic charge device 129 is electrically connected voltage monitoring mould
Block 204, for being docked with external charging pile, to realize recharging function.
Power supply is equipped in robot body 10, which is electrically connected with voltage monitoring module 204, the voltage monitoring module
204 for monitoring the voltage of power supply.
In addition, the back side of robot trunk 12 is additionally provided with IR evading obstacle sensors 126 and charging camera, infrared obstacle avoidance is passed
Sensor 126 and charging camera are electrically connected chassis drive module 202, obtain third environment letter for combining in charging mode
Breath.Wherein, whether for monitoring robot ontology 10 with charging pile collision, the camera that charges is used for IR evading obstacle sensors 126
Position charging pile；IR evading obstacle sensors 126 and charging camera cooperation, for realizing automatic charge device 129 and charging pile
Docking.Chassis drive module 202 is moved according to the third environmental information and the location information building charging of the charging pile prestored
Path, control mobile underpan 13 moves to charge position, and charging is docked with charging pile.Wherein, the third environmental information
Position and distance including barrier.
When voltage monitoring module 204 monitors the voltage of power supply lower than preset value, robot control system 20 passes through bottom
Dish driving module 202 returns to advertisement robot at charging pile, and docks automatic charge device 129 with charging pile, to realize
Charging to power supply.
It is filled by the electricity of power supply in 204 real-time monitoring robot body 10 of voltage monitoring module, and by automatic charging
129 are set with the cooperation of charging pile to realize charge function, to extend the cruise duration of the advertisement robot, it is ensured that advertisement
Launch effect.
Robot head 11 is additionally provided with video calling mould group 116, and video calling mould group 116 is electrically connected video calling module
205 and touch screen 111；Video calling mould group 116 includes video telephony camera and video calling microphone.Pass through video calling
Mould group 116 and touch screen 111, can be realized video calling whenever necessary；For example, being needed when user has intention purchase product
To shopping guide seek advice from product information when, can by video calling module 205 and shopping guide's wiring, and pass through video calling mould group 116 with
And touch screen 111 realizes video and phonetic function.
Robot head 11 is equipped with interactive voice microphone group 114, and interactive voice microphone group 114 is electrically connected interactive voice
Module 206.Wherein, which includes 6 microphones.Interactive voice microphone group 114 is for obtaining language
Sound instruction, voice interaction module 206 reads phonetic order, analyzes it processing and identification, and makes answer, answers result and passes through
First loudspeaker 112 and the second loudspeaker 1210 are broadcasted.
In addition, the voice interaction module 206 goes back voice command recognition, and by phonetic order and it is pre-stored in data storage module
Phonetic order template in 207 is compared；When comparing successfully, robot control system 20 is held by controlling corresponding module
Row corresponding operation.For example, robot control system 20 can be driven by chassis when user provides voice command " starting to go on patrol "
Dynamic model block 202 controls mobile underpan 13 and is gone on patrol by the route of advance planning.
Based on the above embodiment, the embodiment of the invention provides a kind of advertisement placement methods of advertisement robot, comprising:
Whether S1, real-time monitoring supply voltage are lower than preset value；If so, control advertisement robot enters charge mode；If
No, control advertisement robot enters operating mode.
In the step, supply voltage is obtained by voltage monitoring module 204.
S2, in the operational mode, obtains and analyzes the position of human body information in environment, and control advertisement robot corresponds to institute
State position of human body movement.
Wherein, step: advertisement robot is moved corresponding to the position of human body, comprising:
S201, first environment information is obtained, according to a plurality of motion path of first environment information architecture；
S202, second environment information is obtained, optimal path is chosen from a plurality of motion path according to second environment information, with
Avoiding barrier simultaneously prevents advertisement robot from falling.
In the step, by being set to the positive body-sensing camera 122 of robot trunk 12 to obtain the human body in environment
Location information analyzes human body location information through chassis drive module 202, and controls advertisement robot and transport towards the people body position
It is dynamic.
During advertisement robot movement, first environment information is obtained by the induction of laser radar 123, first ring
Border information includes the parameters such as target range, orientation, height, speed, posture and shape, and chassis drive module 202 is according to first
Environmental information constructs motion path；By the way that whether there are obstacles in the ultrasonic sensor 124 induction short range, and
Sensor 125 is fallen by infrared fall preventing to incude in front of advertisement robot with the presence or absence of step, ultrasonic sensor 124 and infrared fall preventing
The association for falling sensor 125 obtains second environment information, and chassis drive module 202 is according to second environment acquisition of information
Optimal movement path with avoiding barrier and prevents advertisement robot from falling.
Wherein, the induction range of the laser radar 123 is wider, therefore range involved in the first environment information is larger,
To which chassis drive module 202 can construct in current environment more comprehensively according to first environment information obtained
Motion path.
S3, in the operational mode obtains user's face feature, by user's face feature and the user's face character modules that prestore
Plate is compared；When comparing successfully, advertisement screen switches to the page corresponding with the user's face feature templates.
In the step, user is identified by recognition of face camera 115 and reads its user's face feature, recognition of face
Module 203 carries out the user's face feature read with the user's face feature templates being pre-stored in data storage module 207
It compares；When comparing successfully, robot control system 20 controls advertisement screen 121 by advertisement switching module 201 and switches the page, makes
Ad content in advertisement screen 121 matches with user.
S4, in the operational mode obtains phonetic order, and phonetic order is compared with phonetic order template；When than
When to success, robot control system executes corresponding operation by controlling corresponding module.
In this step, phonetic order is obtained by interactive voice microphone group 114, voice interaction module 206 reads language
Processing and identification are analyzed it in sound instruction, and make answers, answer result pass through the first loudspeaker 112 and the second loudspeaker 1210 into
Row casting.
In addition, the voice interaction module 206 goes back voice command recognition, and by phonetic order and it is stored in data storage module
Phonetic order template in 207 is compared；When comparing successfully, robot control system 20 is held by controlling corresponding module
Row corresponding operation.For example, robot control system 20 can be driven by chassis when user provides voice command " starting to go on patrol "
Dynamic model block 202 controls advertisement robot and is gone on patrol by the route of advance planning.
S5, when entering charge mode, third environmental information is obtained, according to third environmental information and the charging pile that prestores
Location information building charging motion path, control advertisement robot move to charge position and dock charging with charging pile；Third ring
Border information includes position and the distance of barrier.
In the step, whether bumped against with charging pile by 126 monitoring robot ontology 10 of IR evading obstacle sensors, and pass through
The camera that charges positions charging pile；IR evading obstacle sensors 126 and charging camera cooperation, to realize automatic charge device 129
Charging is docked with charging pile.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of advertisement robot, including robot body, which is characterized in that the robot body includes robot trunk；
Robot head is equipped at the top of the robot trunk, the robot head is equipped with the face for obtaining user's face feature
Identify camera；The front of the robot trunk is equipped with body-sensing camera, for obtaining and analyzing the position of human body in environment
Information；The robot trunk is equipped with several advertisement screens；The robot trunk bottom is mobile equipped with movable machine people
Chassis；
Advertisement delivery system is installed, the advertisement delivery system includes for controlling advertisement robot in the robot body
Operation robot control system, further includes:
Chassis drive module is electrically connected, for advising with the robot control system, body-sensing camera and mobile underpan
It draws the motion path of mobile underpan and controls the start and stop of mobile underpan movement, it is corresponding to control advertisement robot
It is moved in the position of human body；
Be electrically connected the data storage module of the face recognition module, for prestored user facial characteristics template and with the use
The corresponding advertisement page of family facial characteristics template；
Be electrically connected the face recognition module of the recognition of face camera, user's face feature for will acquire with prestore
User's face feature templates are compared；
The advertisement switching module being electrically connected with the robot control system and advertisement screen, for working as user's face feature and prestoring
User's face feature templates when being compared successfully, control advertisement screen switches to corresponding with the user's face feature templates
The page.
2. advertisement robot according to claim 1, which is characterized in that the robot trunk is equipped with laser radar,
The laser radar is electrically connected the chassis drive module；The laser radar for obtaining first environment letter in the operational mode
Breath, chassis drive module is according to a plurality of motion path of first environment information architecture；The first environment information includes
Distance, orientation, height, the speed of the position of human body target；
Ultrasonic sensor is distributed in the robot trunk surrounding and infrared fall preventing falls sensor, the ultrasonic sensor and
Infrared fall preventing falls sensor and is electrically connected the chassis drive module, obtains second environment information for combining in the operational mode,
Chassis drive module chooses optimal path from a plurality of motion path according to the second environment information, with avoiding barrier and prevents
Only advertisement robot falls；The second environment information includes the orientation and distance for including barrier, step；
The robot trunk is equipped with emergency stop switch, and the emergency stop switch is electrically connected the robot control system.
3. advertisement robot according to claim 1, which is characterized in that the robot head is equipped with interactive voice Mike
Wind group；
The robot control system further includes voice interaction module, and the voice interaction module is electrically connected the robot control
System and interactive voice microphone group；The voice interaction module for obtaining phonetic order, and by phonetic order with prestore
Phonetic order template is compared；When comparing successfully, robot control system controls corresponding module and executes corresponding operation.
4. advertisement robot according to claim 2, which is characterized in that be equipped with power supply in the robot body；It is described
Robot control system is electrically connected a voltage monitoring module, for monitoring supply voltage；
Whether real-time monitoring supply voltage is lower than preset value；If so, into charge mode；If it is not, then entering operating mode；
The back side of the robot trunk is equipped with recharging device, and the recharging device is electrically connected the voltage monitoring mould
Block；The recharging device is for docking charging with the charging pile of peripheral hardware in charging mode；
The back side of the robot trunk be additionally provided with IR evading obstacle sensors and charging camera, the IR evading obstacle sensors and
The camera that charges is electrically connected the chassis drive module；
Under charge mode, the IR evading obstacle sensors and charging camera combine and obtain third environmental information, and the chassis is driven
Dynamic model root tuber controls robot according to the location information building charging motion path of the third environmental information and the charging pile prestored
Mobile chassis moves to charge position and docks charging with charging pile；The third environmental information include barrier position and away from
From.
5. advertisement robot according to claim 1, which is characterized in that the advertisement delivery system further includes video calling
Module, the video calling module are electrically connected the robot control system；
The robot head is equipped with touch screen, video telephony camera and video calling microphone, and the touch screen, video are logical
Words camera and video calling microphone are electrically connected the video calling module；
The robot head is equipped with the first loudspeaker, and the robot trunk is equipped with the second loudspeaker.
6. a kind of advertisement placement method of advertisement robot, which is characterized in that applied to the advertisement as described in claim 1 to 5
Robot, comprising: in the operational mode,
The position of human body information in environment is obtained and analyzes, control mobile underpan is moved corresponding to the position of human body；
User's face feature is obtained, user's face feature is compared with the user's face feature templates prestored；When compare at
When function, advertisement screen switches to the page corresponding with the user's face feature templates.
7. advertisement placement method according to claim 6, which is characterized in that the step: make mobile underpan pair
The movement of position of human body described in Ying Yu, comprising:
First environment information is obtained, according to a plurality of motion path of first environment information architecture；The first environment packet
Include distance, orientation, height, speed including the position of human body target；
Second environment information is obtained, optimal path is chosen from a plurality of motion path according to the second environment information, to hide
Barrier simultaneously prevents advertisement robot from falling；The second environment information includes the orientation and distance for including barrier, step.
8. advertisement placement method according to claim 6, which is characterized in that further include:
In the operational mode, phonetic order is obtained, and phonetic order is compared with the phonetic order template prestored；Work as comparison
When success, robot control system executes corresponding operation by controlling corresponding module.
9. advertisement placement method according to claim 6, which is characterized in that further include: in the case where filling charge mode, filled
The step of electricity；
Described the step of being charged includes:
Whether real-time monitoring supply voltage is lower than preset value, if so, into charge mode；
When entering charge mode, third environmental information is obtained, according to the position of the third environmental information and the charging pile prestored
Information architecture charging motion path is set, control mobile underpan moves to charge position and docks charging with charging pile；It is described
Third environmental information includes position and the distance of barrier.
10. advertisement placement method according to claim 6, which is characterized in that it further include mode handoff procedures,
The mode handoff procedures include:
Monitor the supply voltage of advertisement robot；
When supply voltage is higher than preset value, control advertisement robot enters operating mode；When supply voltage is lower than preset value,
Control advertisement robot enters charge mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811108142.4A CN109015593A (en) | 2018-09-21 | 2018-09-21 | A kind of advertisement robot and its advertisement placement method |
| PCT/CN2019/092896 WO2020057214A1 (en) | 2018-09-21 | 2019-06-26 | Advertisement robot and advertisement delivery method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811108142.4A CN109015593A (en) | 2018-09-21 | 2018-09-21 | A kind of advertisement robot and its advertisement placement method |
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| CN109015593A true CN109015593A (en) | 2018-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811108142.4A Pending CN109015593A (en) | 2018-09-21 | 2018-09-21 | A kind of advertisement robot and its advertisement placement method |
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