KR20180039439A - Guidance robot for airport and method thereof - Google Patents

Abstract

According to one embodiment of the present invention, a guidance robot for an airport comprises: a map management module for storing airport map data; a communication unit for transmitting and receiving the data; an image processor for treating images; an outputting unit for outputting the treated images; and a controller for controlling operation of the guidance robot for an airport. When receiving a request signal for route guidance, the controller calculates a movement route from a current position to a destination, produces route guidance content based on the movement route, and controls the route guidance content to be outputted in accordance with a type of the route guidance content.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a guidance robot for an airport,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot disposed in an airport and a method of operating the same, and more particularly, to an airport guidance robot for providing a hologram image or 3D content, will be.

Recently, the functions of robots are expanding due to the development of deep learning technology, autonomous driving technology, automatic control technology, and Internet of things.

To describe each technique in detail, deep learning is an area of machine learning. Deep learning is a technique that allows a program to make similar judgments about a variety of situations, not by pre-checking conditions and setting commands. Thus, deep learning allows a computer to think similar to a human brain, and enables vast amounts of data analysis.

Autonomous driving is a technique by which a machine can judge itself and move and avoid obstacles. According to the autonomous navigation technology, the robot can recognize the position autonomously through the sensor and can move and avoid obstacles.

The automatic control technology refers to a technology that automatically controls the operation of the machine by feeding back the measured value of the machine condition to the control device. Therefore, it is possible to control the operation without human operation, and to automatically control the target object to be controlled within a target range, that is, to reach the target value.

The Internet of Things is an intelligent technology and service that connects all objects based on the Internet and communicates information between people, things, things and things. Things that are connected to the Internet by the Internet cause autonomous communication by exchanging information without any help from people.

The application fields of robots are generally classified into industrial, medical, space, and submarine applications. For example, in the mechanical processing industry such as automobile production, robots can perform repetitive tasks. In other words, if you teach the work of the human arm only once, many industrial robots that repeat the same operation for a few hours are already in operation.

Recently, interest in 3D image display technology is increasing. As a method for displaying a three-dimensional image, a stereoscopic method is typically used. The stereoscopic method is a method of applying stereoscopic effect using a parallax image of the left eye and right eye, and such a binocular parallax image can be implemented using glasses. The stereoscopic method has a major disadvantage in that glasses must be worn, and a non-eyeglass system in which wear of glasses is not required is being developed. Hologram display technology has been studied as a method for displaying 3D images without glasses.

The hologram display technology records and stores an interference signal obtained by overlapping light reflected from an object with coherent light, and displays the hologram using the interference signal. The hologram display device forms and stores an interference fringe through an interference signal, and restores the interference signal by irradiating reference light to the stored interference fringe, thereby displaying a three-dimensional hologram.

It is an object of the present invention to effectively provide a route guidance service to users at an airport having complicated geographical conditions.

Another object of the present invention is to provide a route image in an actual airport rather than a simple airport map in order to help the understanding of the airport user.

Yet another object of the present invention is to prevent distortion of a video image according to a projection area when a guidance content is projected.

Yet another object of the present invention is to provide the airport guidance robot with the flight related contents in addition to the route guiding function to the airport users.

The airport guidance robot according to the present invention may include an output unit for outputting navigation contents composed of 2D, 3D, and holograms. In addition, it is possible to provide a cooperative service for guiding the user directly to the destination in some cases.

The airport guidance robot according to the present invention can receive real-time CCTV photographed image data. Then, the airport guidance robot can photograph a user by using a camera. The airport guidance robot can provide the guidance service by synthesizing the user image with the real-time CCTV photographed image data.

The airport guidance robot according to the present invention can analyze the spatial structure through the pattern projection process. Then, the guidance contents can be calibrated in accordance with the analyzed spatial structure.

The airport guidance robot according to the present invention may include a barcode reader. The bar code reader can read the flight information through the boarding ticket. The airport guidance robot can receive flight information on the boarding ticket information that is read.

The airport guidance robot according to the present invention can output navigational contents made up of 2D, 3D and hologram, and can provide a traveling service for guiding a user directly to a destination as the case may be. As a result, it is easy for visitors to arrive at destinations with difficult geographical conditions.

The airport guidance robot according to the present invention can provide a route guidance service by synthesizing a user image with real-time CCTV shot image data. As a result, the user's understanding of the route is enhanced rather than simply providing the guidance by the map alone.

The airport guidance robot according to the present invention can calibrate the guidance contents in accordance with the analyzed spatial structure. As a result, it is possible to provide comfortable navigation contents images to users at all times in airports where the space is not constant.

The airborne guide robot according to the present invention can receive flight information of an airplane on which a user is to be boarded through a barcode reader. Then, the guide contents including the flight information can be projected and output in 2D, 3D, hologram, or the like. As a result, airport users can easily check their flight information anywhere in the airport.

1 is a block diagram showing a hardware configuration of an airport robot according to an embodiment of the present invention.
FIG. 2 is a detailed view showing the configuration of a micom and AP of an airport robot according to another embodiment of the present invention.
3 is a view for explaining the structure of an airport robot system according to an embodiment of the present invention.
4 is a view for explaining an example in which a guide robot according to an embodiment of the present invention provides a route guidance service using 2D images.
5 and 6 are views for explaining another example in which the guide robot according to an embodiment of the present invention provides a route guidance service using a hologram image.
7 is a view for explaining an example in which a guide robot according to an embodiment of the present invention provides a route guidance accompanying service.
8 to 11 are diagrams for explaining various embodiments in which a guide robot according to an embodiment of the present invention provides a route guidance service using cctv image data.
FIG. 12 is a view for explaining an example in which a guide robot according to an embodiment of the present invention displays its position through an advertisement image.
13 and 14 are views for explaining an example in which a guide robot according to an embodiment of the present invention senses a surrounding user and automatically provides related contents.
15 and 16 are views for explaining embodiments in which a guide robot according to an embodiment of the present invention provides various guidance services through a boarding ticket scan.
17 to 20 are diagrams for explaining an example in which a guide robot according to an embodiment of the present invention provides a virtual image hologram to airport users.
FIGS. 21 to 23 are diagrams for explaining another example in which a guide robot according to an embodiment of the present invention provides a virtual image hologram to airport users.
24 is a block diagram showing a configuration of an airport guidance robot according to an embodiment of the present invention.

Hereinafter, embodiments related to the present invention will be described in detail with reference to the drawings.

The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

1 is a block diagram showing a hardware configuration of an airport robot according to an embodiment of the present invention.

As shown in FIG. 1, the hardware of the airport robot 100 according to an embodiment of the present invention may be composed of a Micom group and an AP group. The microcomputer 110 may include a microcomputer 110, a power source 120, an obstacle recognition unit 130, and a driving unit 140. The AP group may include an AP 150, a user interface unit 160, an object recognition unit 170, a location recognition unit 180, and a LAN 190. The user interface unit 160 may be referred to as a communication unit.

The microcomputer 110 may manage a driving unit 120 including a battery or the like among the hardware of the airport robot, an obstacle recognizing unit 130 including various sensors, and a driving driving unit 140 including a plurality of motors and wheels .

The power supply unit 120 may include a battery driver 121 and a lithium-ion battery 122. The battery driver 121 can manage the charging and discharging of the lithium-ion battery 122. The lithium-ion battery 122 can supply power for driving the airport robot. The lithium-ion battery 122 can be constructed by connecting two 24V / 102A lithium-ion batteries in parallel.

The obstacle recognizing unit 130 may include an IR remote control receiver 131, a USS 132, a Cliff PSD 133, an ARS 134, a Bumper 135, and an OFS 136. The IR remote control receiving unit 131 may include a sensor for receiving a signal of an IR (infrared) remote control for remotely controlling the airport robot. USS (Ultrasonic sensor) 132 may include a sensor for determining the distance between the obstacle and the airport robot using ultrasonic signals. The Cliff PSD 133 may include sensors for detecting cliffs or cliffs in an airport robot traveling range 360 degrees in all directions. The ARS (Attitude Reference System) 134 may include a sensor capable of detecting the attitude of the airport robot. The ARS 134 may include a sensor consisting of three axes of acceleration and three axes of acceleration for detecting the amount of rotation of the airport robot. The bumper 135 may include a sensor that detects a collision between the airport robot and the obstacle. The sensor included in the bumper 135 can detect a collision between the airport robot and the obstacle in the range of 360 degrees. The OFS (Optical Flow Sensor) 136 may include a sensor for measuring the traveling state of an airport robot and a sensor for measuring the distance traveled by the airport robot on various floor surfaces.

The travel driving unit 140 includes a motor driver 141, a wheel motor 142, a rotation motor 143, a main brush motor 144, a side brush motor 145 and a suction motor 146 . The motor driver 141 may serve to drive a wheel motor, a brush motor, and a suction motor for traveling and cleaning the airport robot. The wheel motor 142 may drive a plurality of wheels for driving the airport robot. The rotation motor 143 may be driven for left-right rotation, up-down rotation of the main body of the airport robot or the head portion of the airport robot, or for turning or rotating the wheels of the airport robot. The main brush motor 144 can drive a brush that scavenges dirt from the airport floor. The side brush motor 145 can drive a brush for sweeping dirt in the area around the outer surface of the airport robot. The suction motor 146 can be driven to suck the dirt on the airport floor.

The AP (Application Processor) 150 can function as a central processing unit for managing the entire system of hardware modules of the airport robot. The AP 150 can drive an application program for traveling and user input / output information to the microcomputer 110 by using position information received through various sensors, thereby driving a motor or the like.

The user interface unit 160 includes a user interface processor 161, an LTE router 162, a WIFI SSID 163, a microphone board 164, a barcode reader 165, a touch monitor 166, And a speaker 167. The user interface processor 161 can control the operation of the user interface unit responsible for user input and output. The LTE router 162 can receive the necessary information from the outside and can perform LTE communication for transmitting information to the user. The WIFI SSID 163 can perform position recognition of a specific object or an airport robot by analyzing the signal strength of WiFi. The microphone board 164 receives a plurality of microphone signals, processes the voice signal into voice data, which is a digital signal, and analyzes the direction of the voice signal and the voice signal. The barcode reader 165 can read the barcode information written in the plurality of tickets used in the airport. The touch monitor 166 may include a touch panel configured to receive user input and a monitor for displaying output information. The speaker 167 can play a role of notifying the user of specific information by voice.

The object recognition unit 170 may include a 2D camera 171, an RGBD camera 172, and a recognition data processing module 173. The 2D camera 171 may be a sensor for recognizing a person or an object based on a two-dimensional image. For detecting a person or object using captured images having depth data obtained from a camera having RGBD sensors or other similar 3D imaging devices as RGBD cameras (Red, Green, Blue, Distance, 172) Sensor. The recognition data processing module 173 can process a signal such as a 2D image / image or 3D image / image obtained from the 2D camera 171 and the RGBD camera 172 to recognize a person or an object.

The position recognition unit 180 may include a stereo board 181, a lidar 182, and a SLAM camera 183. A SLAM camera (Simultaneous Localization And Mapping camera, 183) can implement simultaneous location tracking and mapping techniques. The airport robot can detect the surrounding information by using the SLAM camera 183 and process the obtained information to create a map corresponding to the task execution space and estimate its own absolute position. Light Detection and Ranging (Lidar) 182 is a laser radar, which can be a sensor that irradiates a laser beam and collects and analyzes backscattered light among light absorbed or scattered by an aerosol to perform position recognition. The stereo board 181 processes and processes sensing data collected from the rider 182 and the SLAM camera 183 to manage the data for recognition of the position of an airport robot and recognition of obstacles.

The LAN 190 may communicate with the user input / output related user interface processor 161, the recognition data processing module 173, the stereo board 181 and the AP 150.

FIG. 2 is a detailed view showing the configuration of a micom and AP of an airport robot according to another embodiment of the present invention.

As shown in FIG. 2, the microcomputer 210 and the AP 220 may be implemented in various embodiments to control the recognition and behavior of the airport robot.

As one example, the microcomputer 210 may include a data access service module 215. The data access service module 215 includes a data acquisition module 211, an emergency module 212, a motor driver module 213 and a battery manager module 214, . ≪ / RTI > The data acquisition module 211 can acquire sensed data from a plurality of sensors included in the airport robot and transmit the sensed data to the data access service module 215. The emergency module 212 is a module capable of detecting an abnormal state of the airport robot. When the airport robot performs a predetermined type of action, the emergency module 212 detects that the airport robot has entered an abnormal state . The motor driver module 213 can manage driving control of a wheel, a brush, and a suction motor for driving and cleaning the airport robot. The battery manager module 214 may charge and discharge the lithium-ion battery 122 of FIG. 1 and may transmit the battery state of the airport robot to the data access service module 215.

The AP 220 receives various types of cameras and sensors, user input, etc., and performs recognition and processing to control the operation of the airport robot. The interaction module 221 synthesizes the recognition data received from the recognition data processing module 173 and the user input received from the user interface module 222 to collectively manage software that allows the user and the airport robot to interact with each other Lt; / RTI > The user interface module 222 receives a user's close command such as a display unit 223, a key, a touch screen, a reader, or the like, which is a monitor for present state of the airport robot and operation / Such as a remote control signal for remote control, or a user input received from a user input 224 that receives a user's input signal from a microphone or bar code reader. When at least one user input is received, the user interface module 222 may pass user input information to a state machine module 225. The state management module 225 receiving the user input information can manage the entire state of the airport robot and issue an appropriate command corresponding to the user input. The planning module 226 can determine the start and end points / actions for the specific operation of the airport robot in accordance with the command received from the state management module 225, and calculate the route to which the airport robot should move. The navigation module 227 is responsible for the overall running of the airport robot, and may cause the airport robot to travel according to the travel route calculated by the planning module 226. [ The motion module 228 can perform the operation of the basic airport robot in addition to the traveling.

In addition, the airport robot according to another embodiment of the present invention may include a position recognition unit 230. [ The position recognition unit 230 may include a relative position recognition unit 231 and an absolute position recognition unit 234. [ The relative position recognition unit 231 can calculate the amount of movement of the airport robot for a predetermined period of time by correcting the amount of movement of the airport robot through the RGM mono sensor 232 and recognize the current environment of the airport robot through the LiDAR 233 can do. The absolute position recognition unit 234 may include a Wifi SSID 235 and a UWB 236. [ The Wifi SSID 235 is a UWB sensor module for recognizing the absolute position of the airport robot, and is a WIFI module for estimating the current position by detecting the Wifi SSID. The Wifi SSID 235 can recognize the position of the airport robot by analyzing the signal strength of the Wifi. The UWB 236 can calculate the distance between the transmitter and the receiver and sense the absolute position of the airport robot.

In addition, the airport robot according to another embodiment of the present invention may include a map management module 240. The map management module 240 may include a grid module 241, a path planning module 242, and a map partitioning module 243. The grid module 241 can manage a grid-shaped map generated by the airport robot through the SLAM camera, or map data of the surrounding environment for the position recognition input to the airport robot in advance. The path planning module 242 can take charge of the travel path calculation of the airport robots in the map division for cooperation among the plurality of airport robots. In addition, the path planning module 242 can calculate a traveling route through which the airport robot should move in an environment where one airport robot operates. The map division module 243 can calculate the area to be managed by the plurality of airport robots in real time.

The data sensed and calculated from the position recognition unit 230 and the map management module 240 may be transmitted to the state management module 225 again. The state management module 225 can command the planning module 226 to control the operation of the airport robot based on the data sensed and calculated from the position recognition module 230 and the map management module 240. [

3 is a view for explaining a structure of an airport robot system according to an embodiment of the present invention.

The airport robot system according to an embodiment of the present invention may include a mobile terminal 310, a server 320, an airport robot 300, and a camera 330.

The mobile terminal 310 can transmit and receive data to and from the server 320 in the airport. For example, the mobile terminal 310 may receive airport-related data such as flight time schedules, airport maps, and the like from the server 320. The user can obtain the necessary information from the server 320 through the mobile terminal 310 and obtain it. In addition, the mobile terminal 310 can transmit data such as a photograph, a moving picture, a message, and the like to the server 320. For example, the user may request the cleaning of a corresponding area by sending a photograph of a missing person to the server 320, receiving a photograph of the missing person, photographing a photograph of the area requiring cleaning in the airport, and transmitting the photograph to the server 320.

In addition, the mobile terminal 310 can exchange data with the airport robot 300.

For example, the mobile terminal 310 may transmit a signal for calling the airport robot 300, a signal for requesting to perform a specific operation or an information request signal to the airport robot 300. The airport robot 300 may move to the position of the mobile terminal 310 or perform an operation corresponding to the command signal in response to the paging signal received from the mobile terminal 310. [ Or the airport robot 300 may transmit the data corresponding to the information request signal to the mobile terminal 310 of each user.

Next, the airport robot 300 can perform patrol, guidance, cleaning, disinfection, and transportation within the airport.

The airport robot 300 can transmit / receive signals to / from the mobile terminal 310 or the server 320. For example, the airport robot 300 can transmit and receive signals including the server 320 and the information on the situation in the airport. In addition, the airport robot 300 can receive image information of each area of the airport from the camera 330 in the airport. Therefore, the airport robot 300 can monitor the status of the airport by synthesizing the image information captured by the airport robot 300 and the image information received from the camera 330.

The airport robot 300 can receive commands directly from the user. For example, it is possible to directly receive a command from a user through an input or a voice input touching a display unit provided in the airport robot 300. The airport robot 300 may perform operations such as patrol, guidance, and cleaning according to a command received from the user, the mobile terminal 310, or the server 320 and the like.

Next, the server 320 can receive information from the mobile terminal 310, the airport robot 300, and the camera 330. The server 320 may collectively store and manage the information received from the respective devices. The server 320 may transmit the stored information to the mobile terminal 310 or the airport robot 300. In addition, the server 320 may transmit a command signal to each of a plurality of airport robots 300 disposed at an airport.

The camera 330 may include a camera installed in the airport. For example, the camera 330 may include a plurality of closed circuit television (CCTV) cameras installed in an airport, an infrared heat sensing camera, and the like. The camera 330 may transmit the photographed image to the server 320 or the airport robot 300.

4 is a view for explaining an example in which a guide robot according to an embodiment of the present invention provides a route guidance service using 2D images.

The airport guidance robot 400 according to an embodiment of the present invention can provide a route guidance service while circulating within a certain area in an airport. In addition, the guide robot 400 can provide the guidance service from the current position to the destination requested by the user 410. [ Also, the guide robot 400 can provide the route guidance service from the current position to the destination requested by the user 410 through the voice output method. In addition, the guide robot 400 can provide the route guidance service from the current location to the destination requested by the user 410 through the 2D image 420 output method such as photograph, picture, and text.

For example, as shown in FIG. 4, the user 410 may request the guidance robot 400 for a guidance service. The guide robot 400 can output the 2D image 420 to the user 410 with information on the direction and distance from the current position to the destination. In addition, the guidance robot 400 can project the 2D image 420 for the guidance service to the airport floor. Further, the guidance robot 400 can project the text data together with the 2D image 420 indicating the direction similar to the navigation for the vehicle. In addition, the guide robot 400 may project the movement path sequentially from the current position to the destination requested by the user 410 at a time interval to the 2D image 420. [ When there are a plurality of movement paths from the current position to the destination requested by the user 410, the guide robot 400 sequentially outputs the plurality of movement paths at intervals of time through the 2D image 420, Can be provided.

5 and 6 are views for explaining another example in which the guide robot according to an embodiment of the present invention provides a route guidance service using a hologram image.

The airport guidance robot 500 according to an embodiment of the present invention can provide a route guidance service while traveling in a certain area in an airport. In addition, the guide robot 500 can provide the guidance service from the current position to the destination requested by the user 510. Also, the guide robot 500 can provide the route guidance service from the current position to the destination requested by the user 510 through the voice output method. 5, the guide robot 500 can provide a route guidance service from a current location to a destination requested by the user 510 through a 2D image output method such as photograph, picture, and text. In addition, the guide robot 500 may output the map image 520 similar to the navigation for the vehicle to provide the user with the guidance service.

For example, as shown in FIG. 5, the user 510 may request the guidance robot 500 for a guidance service. Then, the guide robot 500 may output the map image 520 including the movement path from the current position to the destination to the user 510. In addition, the guide robot 400 can project the map image 520 for the route guidance service to the airport floor. Also, the guide robot 400 may display various movement route information such as the shortest distance route and the minimum time route on the map image 520, similar to navigation for a vehicle. In addition, the guide robot 500 can project the movement path sequentially from the current position to the destination requested by the user 510 at a time interval to the map image 520. [ Also, the guide robot 500 can output a map of the 3D image as well as a map of the 2D image. The 3D image map output by the guide robot 500 may be a hologram or a 3D content.

The hologram is a recording of the phase change of the light reflected from the surface of the object in the form of a fringe pattern. Conventional analog type holograms generate hologram images by projecting light from a laser onto an object and then interfering with an object wave incident on the hologram storage medium and a reference wave incident directly onto the hologram storage medium, And recording on the medium. In order to reproduce the recorded hologram information, the reference wave used in the hologram recording process is incident in the same direction to cause the diffraction, and the same hologram image as the object is reproduced at the position where the original object was located. On the other hand, in the case of generating a digital hologram, the principle of generating the hologram fringe pattern due to the interference between the object wave and the reference wave to the object is computed through computer modeling. The digital hologram method can be reproduced by computer calculation to generate a new digital hologram image, and the size and viewing angle of the reproduced hologram image can be improved by visualizing the digital hologram data by the projection method instead of the optical hologram display method .

Therefore, in order to provide a route guidance service having a better visual effect, the guide robot according to an embodiment of the present invention can output the above-described hologram, hologram image, hologram image, or 3D content.

Also. The guide robot 500 according to the embodiment of the present invention can provide the guidance service while the user is stationary at the predetermined position while performing the interaction with the user 510. [ Meanwhile, the guide robot 600 according to another embodiment of the present invention can provide the guidance service while traveling to the destination requested by the user 610 in order to increase the convenience of the user 610. That is, the guide robot 600 according to another embodiment of the present invention not only displays the movement route to the hologram map 620, but also guides the user 610 to the destination while actually moving according to the movement route have.

7 is a view for explaining an example in which a guide robot according to an embodiment of the present invention provides a route guidance accompanying service.

The airport guidance robot 700 according to an embodiment of the present invention can provide a route guidance service while traveling through a certain area in an airport. In addition, the guide robot 700 can provide the guidance service from the current position to the destination requested by the user 710. [ Also, the guide robot 700 can provide the route guidance service from the current position to the destination requested by the user 710 through the voice output method. 5, the guide robot 700 provides the guidance service from the current position to the destination requested by the user 710 through the 2D image 721, 722 output method such as photograph, picture, and text . In addition, the guide robot 700 can output the 2D images 721 and 722 of photographs, pictures, texts and the like, and can provide a guidance service for guiding the user 710 directly to the destination.

For example, as shown in Fig. 7, the user 710 may request the guidance robot 700 to request the guidance service. Then, the guide robot 700 can output to the airport floor a 2D image 721 that guides the user 710 on the movement path from the current position to the destination. In addition, the guide robot 700 may output the 2D images 721 and 722 sequentially from the current position to the destination requested by the user 710 at a time interval. In addition, the guide robot 700 can direct the user 710 to the destination simultaneously with outputting the 2D images 721 and 722. [ In this case, the guide robot 700 can be controlled to detect a distance between the user 710 and the guide robot 700 in real time and maintain a constant distance. Further, when the distance between the user 710 and the guide robot 700 is more than a predetermined distance, the guide robot 700 can stop the road guide companion service.

8 to 11 are diagrams for explaining various embodiments in which a guide robot according to an embodiment of the present invention provides a route guidance service using cctv image data.

As shown in FIG. 8, a plurality of CCTVs 811, 812 and 813 may be randomly arranged in an airport. The plurality of CCTVs 811, 812 and 813 can photograph the situation in the airport in real time. The plurality of CCTVs 811, 812 and 813 can transmit real-time image data to the server. The plurality of CCTVs 811, 812 and 813 can transmit real-time photographic image data to at least one or more airport robots 801, 802, 803, 804, 805 and 806. At least one or more of the airport robots 801, 802, 803, 804, 805, and 806 may provide various services to airport users using the image data received from the CCTV.

For example, as shown in FIG. 9, the user 910 may request the guidance robot 900 to provide guidance to a specific destination. The guide robot 900 receiving the route guidance service request from the user 910 can calculate the movement route from the current position to the destination. Then, the guide robot 900 can search at least one CCTV for photographing the calculated movement route. The guide robot 900 can request real-time image data to at least one CCTV according to the search result. Alternatively, the guide robot 900 may request the server to provide real-time image data for shooting the calculated travel route. The guide robot 900 can receive real-time image data from at least one CCTV or server. The guide robot 900 can photograph an image of the user 910 to be added to the received image data. Then, the guide robot 900 can mix the images of the user 910 and the moving route with real-time image data. The guide robot 900 can project the mixed image data 920 on the floor. Or the guide robot 900 may project the mixed image data 920 into the air using a hologram content output method. Further, the airport robot 900 may highlight 925 the mixed image data so that the user 910 can easily recognize the mixed image data.

In addition, the airport robot 900 may output the advertisement image 930 to the display unit while projecting the mixed image data 920 in the form of a 2D or 3D image. 10, the airport robot 900 transmits the predetermined advertisement image 930 or the advertisement image to the display unit of the guide robot 900 while outputting the mixed image data 920 to the floor or the air. Output.

11, the airport robot 900 may project the advertisement image 930 in the form of a 2D image on the airport floor, or in the form of a 3D image in the air. Also, the airport robot 900 can output the mixed image data 920 to the first area of the display unit. Further, the airport robot 900 may highlight 925 the mixed image data so that the user 910 can easily recognize the mixed image data. Also. The airport robot 900 may output the guidance message 940 for the route guidance service to the second area of the display unit. Accordingly, the airport robot 900 can simultaneously output the mixed video data 920 and the guide message 940 to the display unit, thereby providing the contents so that the user can understand the navigation information more easily.

FIG. 12 is a view for explaining an example in which a guide robot according to an embodiment of the present invention displays its position through an advertisement image.

As shown in FIG. 12, the guide robots 1201 and 1202 according to an embodiment of the present invention can project at least one or more advertisement images 1211 and 1212 received from a server into the air in the form of 3D contents. Therefore, users in the airport can easily recognize that the airport robot is the guide robot through the advertisement images 1211 and 1212 projected in the air. Therefore, the users in the airport can easily grasp the position of the guide robot through the advertisement images 1211 and 1212 projected in the air. In addition, the advertisement images 1211 and 1212 may be updated every predetermined period in the server and transmitted to the guide robots 1201 and 1202. [ By designing as shown in FIG. 12, there is a technical effect that convenience for users who want to receive a route guidance service is increased.

13 and 14 are views for explaining an example in which a guide robot according to an embodiment of the present invention senses a surrounding user and automatically provides related contents.

The guide robot according to an embodiment of the present invention can take an image of a user within a predetermined range. The guide robot can estimate the gender and age information of the user through comparing the photographed image with data in the database. In addition, the guide robot can store various contents information matching gender and various ages in the database. Further, the guide robot can receive various contents according to the user's sex and age from the server. If the user detects that the user exists within a predetermined range for a predetermined time or longer, the guidance robot can output the related content to the airport floor as a 2D image or output it as a 3D image to the public.

For example, as shown in FIG. 13A, the guide robot 1300 can detect in real time whether or not the user 1310 enters the predetermined range. When the guide robot 1300 detects that the user 1310 enters the predetermined range, the guide robot 1300 can take an image of the user 1310. [ Then, the guide robot 1300 can estimate that the sex of the user 1310 is male and the age is in the mid-forties through the process of comparing the image of the user 1310 with the person data in the database. And the guide robot 1300 may have news or newspaper content data matched with men in their mid-forties in the database. Also, the guide robot 1300 can receive news or newspaper contents from a server that a male in his mid-40s may be interested in. When the user 1310 detects that the user 1310 exists within a predetermined range for a predetermined time or longer, the guide robot 1300 may output a news or newspaper content image 1315. At this time, the news or newspaper content image 1315 may be a 2D image or a 3D image such as a hologram.

14 (a), the guide robot 1300 can detect in real time whether or not the user 1320 enters the predetermined range. The guide robot 1300 can take an image of the user 1320 when it detects that the user 1320 enters the predetermined range. The guidance robot 1300 can estimate that the user of the user 1320 is a male and a preschool child through a process of comparing the image of the user 1320 with the image data in the database. The guide robot 1300 may have animation content data matching the preschool boy in the database. Also, the guide robot 1300 can receive animation contents from a server that a preschool boy may be interested in. If the user 1320 detects that the user 1320 exists within a predetermined range for a predetermined time or more, the guide robot 1300 may output the animation content image 1325. At this time, the animation content image 1325 may be a 2D image or a 3D image such as a hologram.

15 and 16 are views for explaining embodiments in which a guide robot according to an embodiment of the present invention provides various guidance services through a boarding ticket scan.

The guidance robot according to an embodiment of the present invention can perform an interaction with a user. The user can request information about the boarding ticket of the guide robot from the guide robot. The user can request related information from the guide robot through the barcode written on his boarding ticket. The guide robot, which receives the request for related information from the user, can acquire the user's flight information through the bar code. The guide robot that has acquired the user's flight information can output guide contents including information on the aircraft type information, flight boarding gate information, flight path, and the like. The guiding content can be a 2D image or a 3D image such as a hologram.

For example, as shown in Fig. 15, the user 1510 may provide the guide robot 1500 with the barcode described in his boarding ticket 1515. [ The guide robot 1500 can read the bar code described in the boarding ticket 1515. [ The guide robot 1500 that has read the bar code described in the boarding ticket 1515 of the user 1510 can receive the related flight information from the server. Related flight information may include flight model information, boarding information, and flight path information. The guide robot 1500 may output the first guidance content image 1520 including the aircraft type and the flight time information on which the user 15010 is boarding. Then, the guide robot 1500 may output the second guidance content image 1530 including the boarding gate information and boarding time information on which the user 1510 boarded the airplane. At this time, the second guidance content image 1530 may be the current real-time boarding gate peripheral image acquired from the CCTV or the like.

Also, as shown in FIG. 16, the guide robot 1500 may output the third guidance content image 1530 including the flight path information of the airplane on which the user 1510 is boarding. In this case, the third guidance content image 1540 may be a 2D image or a 3D image such as a hologram.

17 to 20 are diagrams for explaining an example in which a guide robot according to an embodiment of the present invention provides a virtual image hologram to airport users.

The guidance robot according to an embodiment of the present invention may include an advertisement device 1700 that provides advertisement contents to airport users. The advertising device 1700 of the guide robot 1720 according to an embodiment of the present invention will be described with reference to Figs. And an image acquisition unit 1710 for acquiring an image of an airport user. An airport visitor according to an embodiment of the present invention may be a person watching the goods 1750 disposed inside the show window 1740. [ The image acquiring unit 1710 according to an embodiment of the present invention may include an apparatus for acquiring images by photographing objects such as a camera and a camcorder. It may also include a device for sensing the movement of an airport user, such as a Kinect.

The image acquisition unit 1710 according to the embodiment of the present invention may photograph images of the surroundings of the airport user and the airport user together. In this case, the guide robot 1720 may remove only the image of the audience by removing the image around the viewer from the photographed images. Also, the guide robot 1720 may generate an avatar based on the image of the airport user among the images acquired by the image acquisition unit 1710. At this time, the avatar generated by the guide robot 1720 may be similar to that of the airport user.

According to another embodiment of the present invention, the image acquiring unit 1710 may photograph only the image of the airport user using the control module installed in the image acquiring unit 1710. The image acquiring unit 1710 according to the embodiment of the present invention may be arranged to acquire a stereoscopic image of an airport user. The image acquisition unit 1710 may be disposed inside the show window 1740 or outside the show window 1740. [ Some may be placed in the show window 1740, and some may be placed outside the show window 1740.

When there are a plurality of image acquiring units 1710, each image acquiring unit 1710 can acquire images photographed at different angles with respect to airport users. In this case, the guide robot 1720 may generate a stereoscopic image based on images taken at different angles. 17 to 18 illustrate two image acquiring units 1710, but the present invention is not limited thereto. The present invention is applicable even when there are fewer or more than two image acquiring units 1710.

17 to 18, the image acquiring unit 1710 is disposed below the display unit 1740 and above the display unit 1740, but the present invention is not limited thereto. The present invention can be applied to a case where the image acquiring unit 1710 is disposed at a different position.

The advertising device 1700 of the guide robot 1720 according to an embodiment of the present invention can adjust the acquired image to fit the arranged article 1750 and generate a hologram based on the adjusted image. The guidance robot 1720 according to the embodiment of the present invention controls the overall operation of the advertisement device 1700. [ Also, the guide robot 1720 can adjust the size, position, or ratio of the acquired image in accordance with the placed product 1750. The guide robot 1720 can also generate a hologram based on the adjusted image. At this time, the guide robot 1720 can adjust the acquired image based on the information of the placed article 1750 previously stored in the storage unit (not shown). The information of the placed goods 1750 may include at least any one of the size of the placed goods, the position where the goods are disposed, the arrangement form of the goods, and the type of the goods. This will be described in more detail as follows.

According to the embodiment of the present invention, the guide robot 1720 can adjust the size of the image for the acquired airport user so as to match the arranged goods 1750. For example, if the deployed article 1750 is a small size and the airport user wears a large size of clothes, the guide robot 1720 displays the image of the acquired airport user The size of the article 1750 can be reduced to fit the arranged article 1750. In addition, when the arranged article 1750 is a large size clothes and the airport user wears a small size clothes, the guide robot 1720 displays the image of the obtained audience The size of the item 1750 can be increased to fit the arranged article 1750. Here, the guide robot 1720 adjusts the size of the image, which means adjusting the size of the airport user in the image and adjusting the ratio of the airport user in the image to the product 1750. In this case, the guide robot 1720 can adjust the size of the acquired image based on the information about the size of the previously stored placed product 1750.

When the acquired image is directly converted into a hologram and projected, the guided robot 1720 may adjust the acquired image to fit the arranged article 1750 because the arranged article 1750 and the arranged article 1750 may not match with each other have.

Also, the guide robot 1720 can adjust the image of the acquired airport user in accordance with the arrangement form of the arranged goods 1750.

Referring to FIG. 18, for example, when the placed merchandise 1750 is clothes and is arranged in the shape of a person running, the guide robot 1720 adjusts the shape of the acquired image to a shape in which a person runs. At this time, the guide robot 1720 may separate the image of the acquired airport user into individual body parts such as head, leg, and arm, and recombine the separated images into a form in which the separated images are running. In this case, the guiding robot 1720 can adjust the acquired image based on the information on the arrangement form of the stored placement commodities 1750.

In addition, if the placed merchandise 1750 is a handbag, the image of the acquired airport user may be adjusted to hold the handbag. In this case, the guide robot 1720 can adjust the acquired image based on the information on the arrangement position and the product type of the stored placement article 1750. Also in this case, the guide robot 1720 may separate the images of the obtained airport guests into individual body parts such as the head, legs, and arms, and recombine the separated images into the form of holding the handbag.

In addition, if the deployed product 1750 is a backpack, the image of the acquired airport user may be adjusted to the form of wearing a backpack. In this case, the guide robot 1720 can adjust the acquired image on the basis of the information on the arrangement position and the product type of the stored placement article 1750. Also in this case, the guide robot 1720 may separate the image of the acquired airport user into individual body parts such as the head, legs and arms, and recombine the separated images into a form wearing a backpack.

The wearing mode of the article to be recombined by the guide robot 1720 may be preset or may be based on a typical wearing style of the corresponding article.

The hologram is projected on the display unit 1745 so that the advertisement apparatus 1700 can recognize that the user is actually wearing the article 1750 to the airport user It can give a visual effect.

The advertisement device 1700 according to an exemplary embodiment of the present invention may further include a projection unit 1730 that projects the hologram on one side of the display unit 1740. The projection unit 1730 according to the embodiment of the present invention may include a projector capable of projecting a hologram.

The projection unit 1730 may project the hologram to the back surface of the display unit 1745. [ However, the present invention can be applied to a case where the projection unit 1730 projects a hologram to the front surface of the display unit 1745. [

The advertising device 1700 of the guide robot according to an embodiment of the present invention may further include a display unit 1745 displaying a hologram. The display portion 1745 according to the embodiment of the present invention is formed by coating a transparent film of a transparent material on one side of the transparent window of the show window 1740, and may be a Holo Screen.

A holographic screen can be a screen that is a completely transparent film-type screen, and a 3D hologram image and a screen on which a clear image is displayed on a transparent screen by illuminating the movie.

Since the display portion 1745 has a transparent window coated on the transparent window of the show window 1740, the display portion 1745 can perform the same function as another transparent window of the show window 1740 during the daytime. On the other hand, at night, the projection unit 1730 projects the hologram to the display unit 1745, and allows the display unit 1745 to display the hologram. That is, one side of the display window 1740 to which the transparent film is attached may serve as a display device at night. With this configuration, the present invention can use the show window 1740 as the display unit 1745 without any additional installation.

FIG. 20 is a flowchart illustrating a method of advertising a guide robot using an advertisement device according to an embodiment of the present invention. Referring to FIG.

Referring to FIG. 20, an advertisement method according to an embodiment of the present invention will be described. In operation S2010, an image acquisition unit 1710 acquires an image of an airport user watching a merchandise disposed in a shop window 1740. In this process, the guide robot 1720 may extract an image of the airport user from the image photographed by the image acquisition unit 1710. Also, the avatar for the airport user may be extracted from the image photographed by the image acquisition unit 1710.

Thereafter, the guide robot 1720 adjusts the acquired image according to the placed product, and generates a hologram based on the adjusted image (S2020). The guide robot 1720 can adjust the size, position, ratio, or arrangement of images obtained in accordance with the arranged goods 1750. The guide robot 1720 can also generate a hologram based on the adjusted image. Thereafter, the projection unit 1730 can project the hologram to the display unit 1745 (S2030).

FIGS. 21 to 23 are diagrams for explaining another example in which a guide robot according to an embodiment of the present invention provides a virtual image hologram to airport users.

21 to 23, the guide robot 2100 according to an embodiment of the present invention provides a virtual molding service to airport users to experience images of various office workers related to airplanes such as flight attendants and captains have.

The 3D hologram virtual image providing guidance robot 2100 according to the embodiment of the present invention includes an image sensor module 2110, an input / output device 2120, a main controller 2130, a template DB 2140 for each molding part, A virtual molded display device 2150, and a virtual molding machine main body 2160. [

The image sensor module 2110 includes a plurality of image sensors 2111 that are spaced apart from each other. The image sensor module 2110 captures the user's face from each image sensor 2111 to obtain stereoscopic image information of the user's face. Such an image sensor module 2110 can reduce cost by replacing an expensive 3D measuring device such as a stereo camera.

21, the image sensor module 2110 of the guide robot 100 according to the embodiment of the present invention includes a front image sensor 2111, a guide robot 2100, A left side image sensor 2111 disposed on the left side wall 2161 of the guide robot 2100 and a right side image sensor 2111 disposed on the right side wall 2161 of the guide robot 2100. In addition, the image sensor 2111 of the guide robot 2100 according to the embodiment of the present invention may be formed in the shape of a rod-shaped prism arranged horizontally and fixed at a predetermined height.

Here, the guide robot 2100 includes an image sensor module 2110, an input / output device 2120, a main controller 2130, a template DB 2140 for each molding part, and a virtual molding display device 2150, 2100 extend the side wall 2161 to both sides.

The input / output device 2120 provides a contents library item for virtual molding to the user, and receives a selection item selected by the user from the virtual molding contents library item. The input / output device 2120 according to the embodiment of the present invention is a touch screen 2121 in which a virtual molding content library item is output and a selection item of a virtual forming content library is inputted by a user's touch. The main controller 2130 is connected to the image sensor module 2110, the input / output device 2120, the template part DB 2140 for each molding part, and the virtual molding display device 2150 so that the virtual molding is performed and managed. The main controller 2130 receives the stereoscopic image information of the user's face from the image sensor module 2110 and receives the selection items of the virtual molding contents library from the input / output device 2120, The virtual molding shape information of the user face to which the selection item of the virtual molding contents library is applied is calculated.

The main controller 2130 of the guide robot 2100 according to the embodiment of the present invention may include a face recognition unit 2131, a 3D modeling unit 2132, and a virtual forming unit 2133. [ The face recognizing unit 2131 is a unit for recognizing the user face from the stereoscopic image information of the user face input from the image sensor module 2110 and extracting the face shape information of the user, and has a recognition algorithm for this. In particular, the face recognition unit 2131 according to the embodiment of the present invention extracts the face region where the user's face is located through the face region extraction algorithm, extracts the center point of the face region through the center point extraction algorithm, The contour of the face area is extracted. The face recognition unit 2131 extracts the depth information of the face region through the depth information extraction algorithm and stores the extracted depth information into the depth image. The face recognition unit 2131 extracts the depth image from the front face image information, the left face image information, The corresponding three depth images can be stored.

The 3D modeling unit 2132 is a unit for 3D modeling the user's face from the face shape information of the user recognized and extracted from the face recognition unit 2131, and has a 3D modeling algorithm for this. In particular, the 3D modeling unit 2132 according to the embodiment of the present invention generates 3D mesh data from the depth image of the user's face, performs 3D matching on the 3D mesh data using the contour information of the user's face area, After correcting the user's face 3D model generated by 3D matching, a texture image of the corrected user's face 3D model can be generated and mapped. The virtual forming unit 2133 is a unit for calculating the virtual molding shape information of the user's face by modifying the 3D modeled user's face according to the selection item of the virtual forming content library input from the input / output device 2120, Algorithm. Here, the main controller 2130 according to the embodiment of the present invention allows the virtual molding shape information of the user's face to be calculated as the stereoscopic image information of the 3D hologram.

The template-based template DB 2140 is a database in which a virtual molding content library is stored and managed. The template DB 2140 for each formed part according to the embodiment of the present invention includes a human information management DB 2141, a facial profile information management DB 2142, a model part DB 2143 for each molding part, a metadata DB 2144 for each model, , And a site-specific shape metadata DB 2145. [ The human information management DB 2141 is a DB in which personal information of a user performing virtual formation is stored and managed. The face contour information management DB 2142 is a DB in which the face contour information of the user calculated by the main controller 2130 is stored and managed from the stereoscopic image information of the user's face acquired by the image sensor module 2110. The model DB 2143 for each molding site is a DB in which information on a plurality of models provided for each face region is stored and managed. The per-model metadata DB 2144 is a DB in which metadata including face shape information is stored and managed for each model. The site-specific shape metadata DB 2145 is a database in which the shape metadata including the face region deformation information applied to the shaping of each face portion is stored and managed for each site to be formed.

Accordingly, the virtual molding contents library stored and managed in the template DB 2140 for each molding part includes the face contour information of the user, the model information for each part, the metadata for each model, and the molding metadata for each part. The virtual molded display device 2150 is connected to the main controller 2130 to output virtual molding shape information of the user's face. Here, as the virtual molded display device 2150 according to the embodiment of the present invention, a 3D hologram output device 2151 is used. The 3D hologram output device 2151 of the guide robot 2100 for providing such a virtual forming service is connected to the main controller 2130 as shown in FIG. 21, and is connected to an image projector 5111, And a half mirror 512 installed at an angle to the upper side of the image projection screen 511 and projecting from the image projection screen 5111 to the image projection screen 5111, The 3D virtual image of the user's face is formed as a stereoscopic image of the 3D hologram.

Accordingly, in the case of using such a virtual molding service, as shown in FIG. 22, the airport user can be provided with the 3D image of the crew image on which his / her face is clothed.

24 is a block diagram showing a configuration of an airport guidance robot according to an embodiment of the present invention.

The airborne guide robot according to one embodiment of the present invention described in Figs. 4 to 23 can be simplified as shown in Fig. 24, in which the block diagram shown in Figs. 1 and 2 is shown.

The airport guidance robot 2400 according to an embodiment of the present invention may include a map management module 2410 for storing the airport map data. The airport guidance robot 2400 may include a communication unit 2430 for transmitting and receiving data. And the airport guidance robot 2400 may include an image processor 2440 for processing images. The airport guidance robot 2400 may include an output unit 2460 for outputting the processed image. The airport guidance robot 2400 may include a control unit 2480. [ The control unit 2480 may receive the route guidance request signal. Then, the control unit 2480 can calculate the movement route from the current position to the destination. Then, the control unit 2480 can generate the route guidance content based on the movement route. The control unit 2480 may control to output the navigation contents according to the type of the navigation contents. The airport guidance robot 2400 may further include a touch monitor 2470. And a route guidance request signal may be received via the touch monitor 2470. [ And the route guidance request signal may include destination information. The airport guidance robot 2400 may further include a position recognition unit 2420. The location recognition unit 2420 may include LiDAR and Wi-Fi modules. The control unit 2480 can detect the current position of the airport guidance robot 2400 through the position recognition unit 2420. [ The control unit 2480 can calculate the movement route using the detected current position information and the destination information. The type of the guidance content may include at least one of a 2D navigation image, a 2D navigation image, a 3D navigation image, a 3D navigation image, and a hologram navigation. The control unit 2480 can control the 2D navigation image, the 2D navigation image, the 3D navigation image, and the 3D navigation image to be output on the inner wall surface of the airport. Then, the control unit 2480 can control to output the hologram navigation on the space. The output section 2460 includes a projection section for projecting an image or a pattern,

And a projection adjusting unit for adjusting the position of the projection unit. The control unit 2480 can project a predetermined pattern toward a space for projecting the guidance contents. The control unit 2480 can analyze the structure of the space based on the projected pattern. The control unit 2480 can acquire at least one projection area based on the structure of the analyzed space. The control unit 2480 can detect a change in the shape of the pattern projected from the projection unit. The control unit 2480 can determine that the area where the shape change of the pattern is sensed is an inappropriate area for projection. The control unit 2480 can determine that the region where the shape change of the pattern is not detected is an appropriate region for projection. The airport guidance robot 2400 may further include a camera for photographing the surrounding space image. Then, the control unit 2480 can analyze the structure of the surrounding space based on the captured surrounding spatial image. The projection unit can further project a guideline for correcting the guidance contents. The camera 2450 can further photograph the projected guideline. The control unit 2480 can generate a calibration image based on a result of comparing the projected guide line with the photographed guide line. In addition, the controller 2480 may control to process the route guidance content together with the calibration image when projecting the route guidance content. The communication unit 2430 can receive the CCTV photographed image data for photographing the moving route. Then, the control unit 2480 can generate the route guidance content using the CCTV shot image data. The airport guidance robot 2400 may further include a camera 2450 for photographing a user who has input the route guidance request signal. Then, the control unit 2480 can add the photographed user image to the CCTV photographed image data to generate the guiding content.

15. A computer-readable storage medium having computer-executable instructions for execution by a processing system, the computer-executable instructions for providing route guidance content comprising instructions for receiving a route guidance request signal, Instructions for generating a route guidance content based on the movement route, and instructions for outputting the route guidance content according to the type of the route guidance content. The computer-executable instructions may further include instructions for detecting the current location and instructions for calculating the travel route using the detected current location information and the destination information. The type of the navigation contents may be at least one of a 2D navigation image, a 2D navigation image, a 3D navigation image, a 3D navigation image, and a hologram navigation. The computer-executable instructions comprising instructions for projecting a predetermined pattern toward a space to project the navigation content, instructions for analyzing the structure of the space based on the projected pattern, And acquiring at least one or more projection areas based on the at least one projection area. Wherein the computer-executable instructions cause the computer to execute the steps of: detecting a shape change of a projected pattern; determining an area in which a shape change of the pattern is sensed as an inappropriate region for projection; And judges to be an appropriate region to be described below.

The airport guidance robot 2400 according to another embodiment of the present invention may include a camera 2450. [ The airport guidance robot 2400 may include a sensor 2490 for sensing an object within the range. The airport guidance robot 2400 may include a communication unit 2430 that receives data from the server. The airport guidance robot 2400 may include an image processor 2440 for processing images. The airport guidance robot 2400 may include an output unit 2460 for outputting the processed image. The airport guidance robot 2400 may include a control unit 2480. [ The sensor 2490 can sense the user within a predetermined range. The camera 2450 can take a picture of the user. The control unit 2480 can determine the user age through the image of the photographed user. The control unit 2480 may receive the multimedia content mapped to the determined user age. The control unit 2480 can control to output the received multimedia contents. If the determined user age is 30 years or older, the multimedia content may be news content. If the determined age of the user is 10 years or less, the multimedia content may be animated content.

The airport guidance robot 2400 according to another embodiment of the present invention may include a barcode reader 2495. [ The airport guidance robot 2400 may include a communication unit 2430 for receiving data from the server. And the airport guidance robot 2400 may include an image processor 2440 for processing images. The airport guidance robot 2400 may include an output unit 2460 for outputting the processed image. The airport guidance robot 2400 may include a control unit 2480. [ The barcode reader 2495 can read the boarding ticket information. The communication unit 2430 can receive the flight data mapped to the boarding ticket information based on the read information. Then, the control unit 2480 can control to generate and output the flight guidance contents by processing the updated flight data. The flight guide contents may include information of the aircraft type, total flight time information, flight boarding gate information, flight time information, and flight path information.

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). The computer may also include an AP 150 of an airport robot. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

Claims (20)

A guide robot for an airport, comprising:
A map management module for storing airport map data;
A communication unit for transmitting and receiving data;
An image processor for processing the image;
An output unit outputting the processed image; And
And a control unit for controlling the operation of the airport guidance robot,
Wherein,
When receiving the route guidance request signal,
Calculating travel paths from a current location to a destination, generating route guidance content based on the travel route, and controlling the route guidance content to be output according to the type of the route guidance content,
Airport guidance robot.
The method according to claim 1,
Wherein the airport guidance robot further comprises a touch monitor,
The route guidance request signal is received through the touch monitor,
The route guidance request signal includes destination information,
Airport guidance robot.
3. The method of claim 2,
The airport guidance robot further includes a position recognition unit,
Wherein the location recognition unit includes an LiDAR and a Wi-Fi module,
Wherein,
Detecting the current position of the airport guidance robot through the position recognition unit,
Calculating the movement route using the detected current position information and the destination information,
Airport guidance robot.
The method according to claim 1,
The type of the navigation contents includes at least one of a 2D navigation image, a 2D navigation image, a 3D navigation image, a 3D navigation image, and a hologram navigation,
Wherein,
The 2D navigation image, the 2D navigation image, the 3D navigation image, and the 3D navigation image are output on the inner wall surface of the airport,
And the hologram navigation is controlled so as to be output in space,
Airport guidance robot.
The method according to claim 1,
The output
A projection part for projecting an image or a pattern; And
The projection adjusting unit adjusts the position of the projection unit.
Lt; / RTI >
Wherein,
Projecting a predetermined pattern toward a space to project the guidance content, analyzing the structure of the space based on the projected pattern, and acquiring at least one projection area based on the structure of the analyzed space,
Airport guidance robot.
6. The method of claim 5,
Wherein,
A region in which a shape change of the pattern is sensed is determined to be an inappropriate region to be projected and a region in which a shape change of the pattern is not sensed is determined to be an appropriate region for projection ,
Airport guidance robot.
6. The method of claim 5,
Further comprising a camera for photographing an ambient space image in which the airport guidance robot is located,
Wherein the control unit analyzes the structure of the surrounding space based on the photographed surrounding spatial image,
Airport guidance robot.
8. The method of claim 7,
The projection unit further projects a guideline for guiding content correction,
The camera further photographs the projected guideline,
Wherein,
Generating a calibration image based on a result of comparing the projected guideline and the photographed guideline, and controlling the projection and processing of the guiding content together with the calibration image when projecting the guiding content,
Airport guidance robot.
The method according to claim 1,
Receiving the CCTV photographed image data for photographing the moving route through the communication unit,
Generating guidance contents using the CCTV photographed image data;
Airport guidance robot.
11. The method of claim 10,
Wherein the airport guidance robot further includes a camera for photographing a user who has input the route guidance request signal,
Wherein the control unit adds the photographed user image to the CCTV photographed image data to generate the guiding content,
Airport guidance robot.
18. A computer-readable storage medium comprising computer-executable instructions for execution by a processing system,
The computer-executable instructions for providing route guidance content,
Instructions for receiving a route guidance request signal;
Instructions for calculating a travel path from a current location to a destination;
Instructions for generating route guidance content based on the movement route; And
And outputting the navigation contents according to the type of the navigation contents.
Computer-readable storage medium.
12. The method of claim 11,
Instructions for detecting the current location; And
Further comprising instructions for calculating the movement path using the detected current position information and the destination information,
Computer-readable storage medium.
12. The method of claim 11,
Wherein the type of the navigation contents is at least one of a 2D navigation image, a 2D navigation image, a 3D navigation image, a 3D navigation image, and a hologram navigation,
Computer-readable storage medium.
12. The method of claim 11,
Instructions for projecting a predetermined pattern toward a space for projecting the guiding content;
Instructions for analyzing the structure of the space based on the projected pattern; And
Further comprising instructions for obtaining at least one projection area based on the structure of the analyzed space.
Computer-readable storage medium.
15. The method of claim 14,
Instructions for sensing a shape change of the projected pattern; And
Further comprising instructions for determining an area in which a shape change of the pattern is sensed as an inappropriate region for projection and an area in which a shape change of the pattern is not sensed as an appropriate area for projection,
Computer-readable storage medium.
A guide robot for an airport, comprising:
camera;
A sensor for sensing objects within the range;
A communication unit for receiving data from a server;
An image processor for processing the image;
An output unit outputting the processed image; And
And a control unit for controlling the operation of the airport guidance robot,
When the user is detected within a predetermined range from the sensor, the camera photographs the user,
Wherein the control unit determines the user age through an image of the photographed user, receives the multimedia content mapped to the determined user age, and controls the output of the received multimedia content,
Airport guidance robot.
17. The method of claim 16,
If the determined age of the user is 30 years old or older,
Wherein the multimedia content includes news content,
Airport guidance robot.
17. The method of claim 16,
If the determined age of the user is 10 years or less,
Wherein the multimedia content includes animation content,
Airport guidance robot.
A guide robot for an airport, comprising:
Barcode reader;
A communication unit for receiving data from a server;
An image processor for processing the image;
An output unit outputting the processed image; And
And a control unit for controlling the operation of the airport guidance robot,
The barcode reader reads the boarding ticket information,
Wherein the communication unit receives the flight data mapped to the boarding ticket information based on the read information,
Wherein the control unit processes the received flight data to generate and output flight guide contents,
Airport guidance robot.
20. The method of claim 19,
The flight guide contents may include at least one of the type information of the airplane, the total flight time information, the boarding gate information, the flight time information,
Airport guidance robot.

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