CN106054895A - Intelligent business hall robot and indoor walking deviation automatic correction method thereof - Google Patents
Intelligent business hall robot and indoor walking deviation automatic correction method thereof Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention provides an intelligent business hall robot and an indoor walking deviation automatic correction method. The robot is provided with a speaker, a microphone, a pick-up head, a touch panel, a switch, a TFT screen, driving wheels, an angle sensor, ultrasonic sensors, driven wheels, a battery, motors, a single-chip microcomputer control module, a barrier-avoiding cruise module, a human induction module, a processor module, a constant-current plate and a display screen. Further provided is a method for adjusting deviations in a walking process by use of the intelligent business hall robot through continuous adjustment of the ultrasonic sensors and the angle sensor. The robot provided by the invention can continuously correct the deviations of the robot in a waling line, can also realize such functions as man-machine interaction, face identification work attendance check, buffer storage and the like, corrects the line while walking in the walking process and realizes linear walking.
Description
Technical field
The present invention relates to field in intelligent robotics, be specifically related to a kind of intelligence business hall robot and indoor walking driftage thereof
Auto-correction method.
Background technology
The development of information technology, information technology is widely used in life style and the working method of people.If any
More effectively utilizing existing information technology, people never stop exploring.
Robot field is collection computer, machinery, sensing technology, the information processing technology, image procossing and identification technology, language
Speech identifies with treatment technology, control technology and communication technology etc. in the system of one.The technical staff of every country is endeavouring
In the research of human-computer interaction technology, the most effectively make robot serve life style and the working method of people, all have certainly
Oneself opinion.On the one hand, the human-computer interaction technology of existing robot is all realized by wifi transmission signal, will by panel
The signal instruction remotely received is controlled and implements.Wifi off-line once occur, robot will be in the shape that cannot normally work
How state, ensure that robot normally works, currently without retrieving relevant processing mode.On the other hand, owing to physics is with existing
Real reason, the walking manner of existing robot is it cannot be guaranteed that absolute straight-line travelling；Even if it is relevant that existing robot is equipped with
Detection fault avoidnig device, due to the interference such as running speed of motor, still can not be absolute ensure the absolute parallel of actively wheels, thus
The track route of robot occurs error.
CN201511020279.0 open a kind of robot ac equipment, described ac equipment uses the outward appearance of cartoon figure
Moulding, including being installed on the MCU singlechip controller of cartoon figure's body interior, Android panel, steering wheel and motor；Described
MCU singlechip controller is connected with steering wheel and the motor of robot, for writing servos control instruction and the motor control of robot
System instruction；Described Android panel is used for controlling intelligent sound recognition unit and image identification unit；Described Android panel leads to
Cross serial ports and will reach MCU singlechip controller under control instruction.Described Android panel uses Android system, described intelligent sound
Recognition unit and image identification unit are respectively positioned in Android system, and described intelligent sound recognition unit makes robot ac equipment tool
The standby ability individually exchanged with user speech, and according to special context, make corresponding action and expression；Described image recognition list
Unit, for differentiating the facial characteristics of targeted customer, identifies and follows the trail of customer location, it is achieved robot ac equipment stares at user and sees
Effect experience.Described ac equipment includes that photographic head and mike, described photographic head are installed on the appearance and modeling of cartoon figure
Head；Described mike is connected with described Android panel.Described ac equipment includes wifi module and Android liquid crystal display
Screen, described LCDs is installed on the face of the appearance and modeling of cartoon figure, is used for showing that robot makes and responds with user
Animated face expression；Described wifi module is connected with Android panel, is used for connecting wireless network.This product have voice and
Visual identity function, is had long-distance video voice and consults interactive function, be attached by wireless wifi, but for not having
In the environment of wifi, carry out the exchange way being correlated with, do not propose solution.
CN200910192447.2 discloses the targeting navigation method of a kind of non-360-degree sniffing robot, is to first pass through machine
Device people's alignment system obtains the position of any time robot；Measure obstacle environment information the most in real time；The pure straight line of reselection
Or pure turn to walking manner；When measuring obstacle environment information in real time, it it is the measurement according to the distance measuring sensor in robot
Data, in specific region, analysis robot front, the presence or absence of barrier and distribution situation and path histories situation, be at machine
Five " virtual feelers " are set in the investigative range of the i.e. distance measuring sensor in specific region, people front and detect surrounding barrier
Distribution characteristics, is in two semi-circular shape feeler Dsc in front respectivelysWith Dscb, the narrow and long rectangular feeler Bar of the left and right sidesl
With Barr, and the wide area-type feeler Rng that is made up of rectangle and semicircle of located anteriorly centre position.This invention provides one
Precision height, accurate positioning, setting the goal of non-360-degree sniffing robot for avoidance navigation that can set the goal under circumstances not known are led
Boat method.Barrier that the feeler of this invention can be measured that or run into barrier edge at straight line moving and just start to stop straight
Line is walked, and for the barrier not detected, the most effectively turns to and at the complete straight line moving of indoor realization, does not give
Go out solution.
Summary of the invention
For the deficiencies in the prior art, the present invention provides a kind of intelligence business hall robot and indoor walking driftage thereof automatically
Bearing calibration, constantly can not only correct the route of robot ambulation, moreover it is possible to realize man-machine interaction, recognition of face is examined
The functions such as duty, human perception, buffer-stored.
The present invention for achieving the above object, by the following technical solutions: a kind of intelligence business hall robot, including robot
Head, body and base, described head is flexibly connected with described body, and described body is fixing with described base to be connected；Described head
Portion is provided with loudspeaker, TFT screen, mike and photographic head, and described body is internally provided with processor module and constant current plate；Described body
External body is provided with display screen, touch panel, avoidance cruise module and human body induction module；Described touch panel is pasted onto display
Screen surfaces；Described display screen is connected with constant current plate；Described TFT screen, constant current plate, loudspeaker, mike, photographic head, display screen, touch
Panel, avoidance cruise module are all connected with processor module with human body induction module；Described base exterior be provided with drivewheel, from
Driving wheel, switch, angular transducer and ultrasonic sensor；Described chassis interior is provided with battery, motor and Single-chip Controlling mould
Block；Described motor, ultrasonic sensor are all connected with single chip control module with angular transducer；Described processor module and list
Sheet machine control module is connected by serial ports；Described battery is connected with single chip control module.
Described processor module include power conversion unit, wifi unit, memory element, universal input output pin and
USB interface.
It is single that described single chip control module includes that power conversion unit, the first signal detection converter unit and motor drive
Unit.
Described avoidance cruise module includes radar detedtor and secondary signal detection converter unit.
Described human body induction module includes pyroelectric infrared sensor and the 3rd signal detection converter unit.
Left side, middle part and the right side of described base lower front part are respectively equipped with ultrasonic sensor.Described three directions
Ultrasonic sensor can correct the route that robot advances comprehensively and effectively.
Described drivewheel, motor and driven pulley all have two, and described left side drivewheel is connected with left motor, described right side
Drivewheel is connected with right motor, and described driven pulley is positioned on rear side of drivewheel.
The head of described robot, body and base imitate height and the Proportionality design of 1.7 meters of people.
Described base is additionally provided with wifi unit alarm, electricity alarm and charging port.
Described wifi unit siren is reported to the police in the case of wifi disappears；Described memory element is led to for buffer-stored
Cross data and the information of storage robot interior pre-stored that offline cache technology prestrain mode obtains.
Described mike is used for phonetic entry；Loudspeaker are used for voice output；Processor module is used by mike and loudspeaker
In interacting confirmation with user, the external audio obtaining mike is predetermined with in processor die block system after processing
Justice instructs comparison, identifies and carries out corresponding simple reply by loudspeaker according to scene；Described processor module passes through robot
Loudspeaker realize reporting the salutatory that sets the most in the memory unit.Said process realizes man-machine interaction.
Described TFT screen, in interactive process, suitably gives expression and replys so that man-machine interaction more hommization.
Described touch panel is for accepting the input of touch operation at user.
Described constant current plate is for lighting the backlight of display screen.
Described photographic head carries out recognition of face and takes pictures, and after being confirmed by man-machine interaction, is passed by the facial image identified
It is passed to processor module；Processor module is for calling the recognizer of the human face characteristic point of storage in memory element, the most right
The facial image of photographic head shooting carries out pretreatment operation, carries out mating and identifying, be confirmed whether to belong to and store after pretreatment
Information；If this facial image non-memory information, carry out after man-machine interaction pointing out typing, and be recorded in memory element also
Add up.
It is further preferred that described processor module calls the recognizer of human face characteristic point, photographic head is shot simultaneously
Facial image carry out pretreatment operation, to the light compensation of facial image, greyscale transformation, histogram equalization, normalization, several
What corrects, filters and sharpens, and extracts facial image eigenvalue, finally carries out coupling and the identification of facial image, be confirmed whether
Belong to the information stored；If this facial image non-memory information, man-machine interaction carries out pointing out typing, and is recorded in storage
In unit and add up.
Human body/animal information that described human body induction module measuring robots runs in the process of walking by the 3rd letter
Number detection converter unit be transferred to processor module.
In the process of walking, the pyroelectric infrared sensor in human body induction module detects relevant people in described robot
Body information is also transferred to processor module, processor module judge the distance of human body and robot whether with processor module inside
The distance setting storage is consistent, it is judged that before whether human body has arrived at robot；When human body reaches before robot, loudspeaker are reported early
The salutatory set in processor module, after human body clicking operation touch panel and perform man-machine interaction, loudspeaker simultaneously
Prompting will carry out photographic head shooting, and after man-machine interaction confirms, photographic head shoots, and is deposited with being stored in by the face of shooting
In storage unit, the information of face is checked, and the time that will appear from and number of times record are in the memory unit；If the face occurred is
Stranger, this information memory cell not in the presence of, loudspeaker carry out pointing out typing, and are recorded in memory element and unite
Meter；The relevant information of record is transmitted to relevant computer or cell-phone customer terminal depositing by memory element by wifi unit
Storage.Said process realizes business hall robot and carries out the purpose of work attendance.
People/the animal of described pyroelectric infrared sensor detection periphery, relies on radar detedtor detection people around/dynamic simultaneously
The particular location of thing and shape size, coordinate the relevant information presenting people/animal that the photo of camera collection is complete, robot
Perception by the people/animal to periphery, it is achieved robot has the function of perception.
Described electricity alarm for robot electric quantity deficiency time, remind user charge in time, it is to avoid robot due to
Electricity is not enough and the situation of power-off occurs；Charging port can realize to power source charges.
Described wifi unit siren is occurring that wifi unit cannot be reported to the police in the case of connecting, simultaneous processor mould
The data of block calculating storaging unit buffer-stored, the working time that loudspeaker are possible after reporting robot suspension, deposit relative recording
Storage is in the memory unit；In the case of wifi unit connects, the record in memory element is transferred to computer or cell phone customer
End stores.
Described mike is that voice interaction module is indispensable as phonetic entry instrument, loudspeaker as voice output instrument
Part；Obtaining external audio by mike, processor module sets front end-speech according to the mute time in voice data
Point and rear sound end, be separated out a voice data, data be uploaded to related voice platform, the textual data after being converted
According to；The text data obtained is resolved to character string, filters out predefined instruction comparison in useless analysis result and system, will
Useful data is packaged into format, utilizes loudspeaker to perform corresponding operating；Processor module uses speech cloud quickly to identify
And respond, quick associated application scene, obtain semantic ability and set up the language model of personalized entry customization, Continuous optimization is known
Other effect, improves the personalized entry recognition accuracy of user, according to the analysis that processor module is relevant, simply gives correspondence
Reply, effectively carry out the situation of man-machine interaction.
Described photographic head is used for carrying out recognition of face and taking pictures, and the facial image of identification is transferred to processor module, logical
Cross processor module and call the recognizer of human face characteristic point, picture is carried out pretreatment operation, the light to facial image simultaneously
Line compensation, greyscale transformation, histogram equalization, normalization, geometric correction, filter and sharpening etc..Special extracting facial image
Value indicative, its characteristic component generally includes the Euclidean distance between characteristic point, curvature and angle etc..Finally carry out the coupling of facial image
With identification, existing face characteristic is compared with the skin detection obtained, according to the similarity degree body to face
Part information judges, effectively realizes the attendance checking function of business hall robot.
Described wifi unit, effectively realizes transmission and the preservation of data；Wifi unit alarm can remind use in time
Person completes to work accordingly or preserve as early as possible；Memory element passes through offline cache technology, OPENCV visual identity embedding, language
The modes such as sound instruction control, data prestrain, it is ensured that even if robot also can normally use after suspension；By to processing procedure
In relevant information store.Information and data are processed by processor module, and equipment is sent dependent instruction, and process sets
Communications, data storage and algorithm etc. between standby and hardware.
Described avoidance cruise module is used for the barrier in measuring robots walking process in the range of certain distance D；Pass through
Radar detector detection barrier and distance D of robot；Secondary signal detection change unit, for turning data D of detection
Change and be transported to processor module.Distance value A presetting to signal and memory element is compared by processor module: if D is more than
A, represents that robot can walk on；If D is less than or equal to A, processor module transmits a signal to single chip control module,
The electric-motor drive unit of single chip control module drives the driven by motor drivewheel of base to turn to avoidance.
Single chip control module, ultrasonic sensor and the angular transducer on the described base movement line to robot
It is corrected, there is the function of the walking driftage of automatic correction machine device people, walking limit, limit corrector, it is achieved linear rows completely
Walk.Single chip control module, ultrasonic sensor and angular transducer on base combines avoidance cruise module to robot
Course is planned, it is achieved robot automatic corner and straight line moving.
A kind of intelligence business hall robot of the present invention to indoor walking driftage from the method for dynamic(al) correction, described base
On single chip control module, ultrasonic sensor and angular transducer combine the avoidance cruise module course to robot
Plan, it is achieved robot automatic corner and linear correction walking；Single chip control module on base, ultrasonic sensor
With angular transducer, the movement line of robot carried out drift correction, walking limit, robot limit corrector, it is achieved the most straight
Line is walked.
Described robot is in indoor walking process, and ultrasonic sensor is found range, by measured robot base with
The range data of indoor wall is analyzed, and single chip control module judges whether the walking path of robot is driftage occur；
Receiving the instruction of single chip control module, angular transducer exports the base anglec of rotation to single chip control module, and ultrasound wave passes
Sensor is found range, single chip control module analytic angle and the range data of ultrasound wave output, drives driven by motor drivewheel
Adjust angle and circuit, by constantly adjust angle and circuit to robot ambulation from dynamic(al) correction, it is achieved straight line moving.
Described a kind of intelligence business hall robot to indoor walking driftage from the method for dynamic(al) correction, described robot calibration
Specifically comprising the following steps that of walking
1) during robot ambulation, acquisition robot is moved at indoor certain distance by robot radar detedtor
The barrier of D, distance value A presetting to signal and memory element is compared by processor module: if D is more than A, represent machine
People can walk on；If D is less than or equal to A, processor module transmits a signal to single chip control module, Single-chip Controlling
The electric-motor drive unit of module drives the driven by motor drivewheel of base to turn to avoidance；
2) during robot ambulation, the ultrasonic sensor bottom robot is found range, to robot chamber expert
The left side in the front in the path walked, centre and right side are tested, and whether the direction of travel described in mensuration is straight line, single-chip microcomputer control
The range data that ultrasonic sensor is measured by molding block is analyzed, it is judged that the walking path situation of robot；If it is ultrasonic
When the distance in three directions of wave sensor detection occurs inconsistent, data are analyzed by single chip control module, indicated angle
The angle that base is rotated by degree sensor sends to single chip control module, and single chip control module analytic angle and ultrasound wave pass
The range data of sensor output, drives the drivewheel of its corresponding side of driven by motor of certain side to adjust angle and circuit, by not
Robot ambulation driftage route is carried out from dynamic(al) correction by disconnected adjustment angle and circuit, it is achieved robot is at indoor straight line moving.
Described a kind of intelligence business hall robot to indoor walking driftage from the method for dynamic(al) correction, described step 2) in super
The information measured is exported to single chip control module by sonic sensor, and three ultrasonic sensors are surveyed by single chip control module
Distance value to robot base with indoor wall is compared, and described left side distance is d1, the right distance is d2 and middle spacing
From for d3；Meansigma methods d of described d1, d2 and d3, described d Yu d1, the difference of d2 and d3 are respectively dr1, dr2, dr3, described difference
Value is respectively a1, a2 and a3 with the ratio of d；When a1, a2 and a3 are respectively less than 10%, it is judged that robot ambulation is straight line, keep
Motor continues to run with, and the drivewheel of its corresponding side of each driven by motor runs, it is achieved robot straight line moving；As a1, a2 and
When a3 having a value more than 10%, it is judged that driftage, one of selection situations below: situation 1 occurs in robot ambulation) occur that a1 is big
In 10%, representing that deviation occurs in the left side of only robot ambulation, single chip control module is by angle and ultrasonic sensor
After the information analysis measured transmission, on the left of the driven by motor in left side, drivewheel carries out the rotation of certain angle, the motor on right side
Quit work, it is achieved robot turns right；Situation 2) occur that a3 is more than 10%, represent that the right of only robot ambulation occurs partially
Difference, after single chip control module is by the information analysis measuring angle and ultrasonic sensor transmission, the motor belt motor on right side
The drivewheel on dynamic right side carries out the rotation of certain angle, and the motor in left side quits work, it is achieved robot turns left.
Single chip control module, ultrasonic sensor and the angular transducer on the described base movement line to robot
It is corrected, there is the function of the walking driftage of automatic correction machine device people, walking limit, limit corrector, it is achieved linear rows completely
Walk.Single chip control module, ultrasonic sensor and angular transducer on base combines avoidance cruise module to robot
Course is planned, it is achieved robot automatic corner and straight line moving.
In the avoidance cruise module of the present invention, the environment of periphery is detected by radar detedtor, traveling road of making rational planning for
Line；The movement line of robot is entered by single chip control module, ultrasonic sensor and angular transducer on base of the present invention
Row correction, has the function of the walking driftage of automatic correction machine device people, walking limit, limit corrector, it is achieved straight line moving completely.
Beneficial effects of the present invention:
The intelligent business hall robot that the present invention provides, wherein,
The present invention provides a kind of intelligence business hall robot, utilize ergonomic theory rational deployment loudspeaker, mike,
TFT screen, photographic head, apery height size, drivewheel and driven pulley drive, and realize functions such as keeping straight on, turn to and fall back easily；Institute
State the single chip control module on base, ultrasonic sensor and angular transducer to combine avoidance cruise module and be capable of automatically
The course of correction robot, is corrected route driftage；Global design uses modular construction, each modular construction
The function that complete independently is relevant, it is allowed to robot realizes right angle and rotates, transducer sensitivity can independent regulation automatically, be suitable for ring
Border and illumination condition；Wifi unit siren can alarm wifi unit connection status in time, disconnect at wifi unit
In the case of can work on a period of time；Human body induction module detects relevant human body information and is transferred to processor module,
Robot carries out work attendance registration by photographic head and processor module to user；Use loudspeaker, mike and processor module
Realize man-machine interacting activity；Described processor module can effectively process work attendance and interworking, single chip control module energy
Driftage and route correction are walked by effectively handling machine People's Bank of China, use the processor of two disparate modules, it is possible to quickly realize relevant
Function, two different processors, heat radiation dispersion is fast, and raising processes the efficiency of data and increases the service life；Electricity alarm,
User can be reminded to charge in time；Charging port can realize to power source charges.The present invention provides a kind of intelligence business hall machine
The walking driftage of people indoor is from the method for dynamic(al) correction, and base arranges motor, drivewheel and driven pulley and drives, and realizes easily keeping straight on, turning
To with the function such as fall back；Being capable of the course of automatic correction machine device people, global design uses modular construction, Mei Gemo
The function that blocking structure complete independently is relevant, it is allowed to robot realizes right angle and rotates, transducer sensitivity can independent regulation automatically.
Accompanying drawing explanation
Fig. 1 is the structural representation of the intelligent business hall robot of the present invention；
Fig. 2 is the structural representation of the intelligent business hall robot interior connection of the present invention；
Fig. 3 is the schematic diagram of the walking automatic correction work principle of driftage of the intelligent business hall robot of the present invention；
Fig. 4 is indoor walking driftage simply the showing from dynamic(al) correction route of the intelligent business hall robotic embodiment of the present invention
It is intended to.
In figure:
Head 1, body 2, base 3, loudspeaker 4, mike 5, photographic head 6, touch panel 7, switch 8, TFT screen
9, drivewheel 10, angular transducer 11, ultrasonic sensor 12, driven pulley 13, battery 14, motor 15, single-chip microcomputer control
Molding block 16, avoidance cruise module 17, human body induction module 18, processor module 19, constant current plate 20 and display screen 21；
Robot dotted line is walked or is turned；
The safe distance D of avoidance cruise module detection, left side distance d1, the right distance d2, intermediate distance d3.
Detailed description of the invention
With specific embodiment, the present invention is further illustrated below, but the present invention is not limited by following embodiment.
Embodiment 1
Seeing Fig. 1～4, the present invention provides a kind of intelligence business hall robot, including robot head 1, body 2 and base
3, described head 1 is flexibly connected with described body 2, and described body 2 is fixing with described base 3 to be connected；Described head 1 is provided with loudspeaker
4, TFT screen 9, mike 5 and photographic head 6, described body 2 is internally provided with processor module 19 and constant current plate 20；Described body
Body 2 is outside is provided with display screen 21, touch panel 7, avoidance cruise module 17 and human body induction module 18；Described touch panel 7
It is pasted onto display screen 21 surface；Described display screen 21 is connected with constant current plate 20；Described TFT screen 9, constant current plate 20, loudspeaker 4, Mike
Wind 5, photographic head 6, display screen 9, touch panel 7, avoidance cruise module 17 and human body induction module 18 all with processor module 19
It is connected；Described base 3 is outside is provided with drivewheel 10, driven pulley 13, switch 8, angular transducer 11 and ultrasonic sensor 12；
Described base 3 is internally provided with battery 14, motor 15 and single chip control module 16；Described motor 15, ultrasonic sensor 12
All it is connected with single chip control module 16 with angular transducer 11；Described processor module 19 passes through with single chip control module 16
Serial ports is connected；Described battery 14 is connected with single chip control module 16.
Described processor module 19 include power conversion unit, wifi unit, memory element, universal input output pin and
USB interface.
It is single that described single chip control module 16 includes that power conversion unit, the first signal detection converter unit and motor drive
Unit.
Described avoidance cruise module 17 includes radar detedtor and secondary signal detection converter unit.
Described human body induction module 18 includes pyroelectric infrared sensor and the 3rd signal detection converter unit.
Left side, middle part and the right side of described base 3 lower front part are respectively equipped with ultrasonic sensor 12.Described three directions
Ultrasonic sensor 12 can correct comprehensively and effectively robot advance route.
Described drivewheel 10, motor 15 and driven pulley 13 all have two, and described left side drivewheel is connected with left motor, institute
Stating right side drivewheel to be connected with right motor, described driven pulley 13 is positioned on rear side of drivewheel 10.
The head 1 of described robot, body 2 and base 3 imitate height and the Proportionality design of 1.7 meters of people.
Described base 3 is additionally provided with wifi unit alarm, electricity alarm and charging port.
Described wifi unit siren is reported to the police in the case of wifi disappears；Described memory element is led to for buffer-stored
Cross data and the information of storage robot interior pre-stored that offline cache technology prestrain mode obtains.
Described mike 5 is for phonetic entry；Loudspeaker 4 are for voice output；Processor module 19 is by mike 5 and loudspeaker
4 for interacting confirmation with user, the external audio obtaining mike 5 after processing with processor module 19 is
Predefined instruction comparison in system, identify and carry out corresponding simple reply by loudspeaker 4 according to scene；Described processor module 19
Realized by the loudspeaker 4 of robot reporting the salutatory set the most in the memory unit.Said process realizes man-machine interaction.
Described TFT screen 9, in interactive process, suitably gives expression and replys so that man-machine interaction more hommization.
Described touch panel 7 is for accepting the input of touch operation at user.
Described constant current plate 20 is for lighting the backlight of display screen 21.
Described photographic head 6 carries out recognition of face and takes pictures, and after being confirmed by man-machine interaction, is passed by the facial image identified
It is passed to processor module 19；Processor module 19 is for calling the recognizer of the human face characteristic point of storage in memory element, same
Time to photographic head shooting facial image carry out pretreatment operation, carry out after pretreatment mating and identifying, be confirmed whether to belong to
The information of storage；If this facial image non-memory information, carry out after man-machine interaction pointing out typing, and be recorded in memory element
In and add up.
It is further preferred that described processor module 19 calls the recognizer of human face characteristic point, photographic head 6 is clapped simultaneously
The facial image taken the photograph carries out pretreatment operation, to the light compensation of facial image, greyscale transformation, histogram equalization, normalization,
Geometric correction, filtering and sharpen, extract facial image eigenvalue, finally carry out coupling and the identification of facial image, confirmation is
No belong to the information stored；If this facial image non-memory information, man-machine interaction carries out pointing out typing, and is recorded in depositing
In storage unit and add up.
Human body/animal information that described human body induction module 18 measuring robots runs in the process of walking by the 3rd
Signal detection converter unit is transferred to processor module 19.
In the process of walking, the pyroelectric infrared sensor in human body induction module 15 detects relevant in described robot
Human body information is also transferred to processor module 19, processor module 19 judge the distance of human body and robot whether with processor die
The distance of block 19 inner setting storage is consistent, it is judged that before whether human body has arrived at robot；When human body reaches before robot, loudspeaker
4 report the salutatory set in processor module 19 already, after human body clicking operation touch panel 7 and perform man-machine friendship
Mutually, loudspeaker 4 prompting simultaneously will carry out photographic head 6 and shoot, and after man-machine interaction confirms, photographic head 6 shoots, by shooting
Face and the information storing face in the memory unit are checked, and the time that will appear from and number of times record are in the memory unit；
If the face occurred is stranger, this information memory cell not in the presence of, loudspeaker 4 carry out pointing out typing, and are recorded in depositing
In storage unit and add up；Memory element the relevant information of record is transmitted to relevant computer by wifi unit or
Cell-phone customer terminal stores.Said process realizes business hall robot and carries out the purpose of work attendance.
People/the animal of described pyroelectric infrared sensor detection periphery, relies on radar detedtor detection people around/dynamic simultaneously
The particular location of thing and shape size, coordinate the relevant information presenting people/animal that the photo of photographic head 6 collection is complete, machine
People is by the perception of the people/animal to periphery, it is achieved robot has the function of perception.
Described electricity alarm for robot electric quantity deficiency time, remind user charge in time, it is to avoid robot due to
Electricity is not enough and the situation of power-off occurs；Charging port can realize to power source charges.
Described wifi unit siren is occurring that wifi unit cannot be reported to the police in the case of connecting, simultaneous processor mould
The data of block calculating storaging unit buffer-stored, the working time that loudspeaker 4 are possible after reporting robot suspension, deposit relative recording
Storage is in the memory unit；In the case of wifi unit connects, the record in memory element is transferred to computer or cell phone customer
End stores.
Described mike 5 is that voice interaction module is indispensable as phonetic entry instrument, loudspeaker 4 as voice output instrument
Few part；Obtaining external audio by mike 5, processor module 19 sets front language according to the mute time in voice data
Voice endpoint and rear sound end, be separated out a voice data, data be uploaded to related voice platform, the literary composition after being converted
Notebook data；The text data obtained is resolved to character string, filter out useless analysis result, with predefined instruction ratio in system
Right, useful data is packaged into format, utilizes loudspeaker 4 to perform corresponding operating；Processor module 19 uses speech cloud
Quickly identify and respond that quick associated application scene obtains semantic ability and sets up the language model of personalized entry customization, holding
Continuous Statistical error effect, improves the personalized entry recognition accuracy of user, according to the relevant analysis of processor module 19, simply
Give correspondence reply, effectively carry out the situation of man-machine interaction.
Described photographic head 6 is used for carrying out recognition of face and taking pictures, and the facial image of identification is transferred to processor module 19,
Called the recognizer of human face characteristic point by processor module 19, picture is carried out pretreatment operation, to facial image simultaneously
Light compensation, greyscale transformation, histogram equalization, normalization, geometric correction, filter and sharpening etc..Extracting face figure
As eigenvalue, its characteristic component generally includes the Euclidean distance between characteristic point, curvature and angle etc..Finally carry out facial image
Coupling and identification, compare existing face characteristic with the skin detection obtained, according to similarity degree to face
Identity information judge, effectively realize the attendance checking function of business hall robot.
Described wifi unit, effectively realizes transmission and the preservation of data；Wifi unit alarm can remind use in time
Person completes to work accordingly or preserve as early as possible；Memory element passes through offline cache technology, OPENCV visual identity embedding, language
The modes such as sound instruction control, data prestrain, it is ensured that even if robot also can normally use after suspension；By to processing procedure
In relevant information store.Information and data are processed by processor module 19, and equipment is sent dependent instruction, process
Communications, data storage and algorithm etc. between equipment and hardware.
Described avoidance cruise module 17 is used for the barrier in measuring robots walking process in the range of certain distance D；Logical
Cross distance D of radar detector detection barrier and robot；Secondary signal detection change unit, for data D by detection
Conversion is transported to processor module.Distance value A presetting to signal and memory element is compared by processor module 17: if D
More than A, represent that robot can walk on；If D is less than or equal to A, processor module 17 transmits a signal to single-chip microcomputer control
Molding block 16, the electric-motor drive unit of single chip control module 16 drives the motor 15 of base to drive drivewheel 10 to turn to avoidance.
Single chip control module 16, ultrasonic sensor 12 and angular transducer 11 on described base 3 are to robot
Movement line is corrected, and has the function of the walking driftage of automatic correction machine device people, walking limit, limit corrector, it is achieved completely
Straight line moving.Single chip control module 16, ultrasonic sensor 12 and angular transducer 11 on base combines avoidance cruise mould
The course of robot is planned by block 17, it is achieved robot automatic corner and straight line moving.
A kind of intelligence business hall robot of the present invention to indoor walking driftage from the method for dynamic(al) correction, described base
Single chip control module 16, ultrasonic sensor 12 and angular transducer 11 on 3 combine avoidance cruise module 17 to robot
Course plan, it is achieved robot automatic corner and linear correction walking；Single chip control module on base 3
16, ultrasonic sensor 12 and angular transducer 11 carry out drift correction, walking limit, robot limit to the movement line of robot
Corrector, it is achieved straight line moving completely.
Described robot is in indoor walking process, and ultrasonic sensor 12 is found range, by measured robot base
Being analyzed with the range data of indoor wall, single chip control module 16 judges the walking path situation of robot；Receive list
The instruction of sheet machine control module 16, angular transducer 11 exports base 3 anglec of rotation, ultrasound wave biography to single chip control module 16
Sensor 12 is found range, single chip control module 16 analytic angle and the range data of ultrasound wave output, drives motor 15 to drive
Drivewheel 10 adjusts angle and circuit, by constantly adjust angle and circuit to robot ambulation from dynamic(al) correction, it is achieved straight
Line is walked.
Described a kind of intelligence business hall robot to indoor walking driftage from the method for dynamic(al) correction, described robot calibration
Specifically comprising the following steps that of walking
1) during robot ambulation, acquisition robot is moved at indoor certain distance by robot radar detedtor
The barrier of D, distance value A presetting to signal and memory element is compared by processor module 19: if D is more than A, represent machine
Device people can walk on；If D is less than or equal to A, processor module 19 transmits a signal to single chip control module 16, monolithic
The electric-motor drive unit of machine control module 16 drives the motor 15 of base 3 to drive drivewheel 10 to turn to avoidance；
2) during robot ambulation, the ultrasonic sensor 12 bottom robot is found range, in robot chamber
The left side in front, centre and the right side in the path of walking are tested, and whether the direction of travel described in mensuration is straight line, single-chip microcomputer
The range data that ultrasonic sensor 12 is measured is analyzed by control module 16, it is judged that the walking path situation of robot；
If the distance in three directions of ultrasonic sensor 12 detection occurs inconsistent, data are carried out point by single chip control module 16
Analysis, the angle that base 3 is rotated by instruction angular transducer 11 sends to single chip control module 16, single chip control module 16 points
Analysis angle and the range data of ultrasonic sensor 12 output, drive the drivewheel of its corresponding side of driven by motor of certain side to adjust
Angle and circuit, carried out from dynamic(al) correction robot ambulation driftage route by constantly adjusting angle and circuit, it is achieved machine
People is at indoor straight line moving.
Described a kind of intelligence business hall robot to indoor walking driftage from the method for dynamic(al) correction, step 2) described in super
The information measured is exported to single chip control module 16 by sonic sensor 12, and three ultrasound wave are passed by single chip control module 16
Sensor 12 measures the distance value of robot base 3 and indoor wall and compares, and described left side distance is d1, the right distance is d2
It is d3 with intermediate distance；Meansigma methods d of described d1, d2 and d3, described d Yu d1, the difference of d2 and d3 be respectively dr1, dr2,
Dr3, described difference is respectively a1, a2 and a3 with the ratio of d；When a1, a2 and a3 are respectively less than 10%, it is judged that robot ambulation is
Straight line, keeps motor 15 to continue to run with, and the drivewheel of its corresponding side of each driven by motor runs, it is achieved robot linear rows
Walk；When a1, a2 and a3 there being a value more than 10%, it is judged that driftage, one of selection situations below: feelings occurs in robot ambulation
Condition 1) occur that a1 is more than 10%, represent that deviation occurs in the left side of only robot ambulation, single chip control module 16 is by angle
After the information analysis measured with ultrasonic sensor 12 transmission, on the left of the driven by motor in left side, drivewheel carries out certain angle
Rotating, the motor on right side quits work, it is achieved robot turns right；2) occur that a3 is more than 10%, represent only robot ambulation
The right deviation occurs, single chip control module 16 is by the information analysis measuring angle and ultrasonic sensor 12 and transmits
After, the drivewheel on the right side of the driven by motor on right side carries out the rotation of certain angle, and the motor in left side quits work, it is achieved robot
Turn left.
Single chip control module 16, ultrasonic sensor 12 and the angular transducer 11 fortune to robot on described base
Moving-wire road is corrected, and has the function of the walking driftage of automatic correction machine device people, walking limit, limit corrector, it is achieved the most straight
Line is walked.Single chip control module 16, ultrasonic sensor 12 and angular transducer 11 on base combine avoidance cruise module
The course of 17 pairs of robots is planned, it is achieved robot automatic corner and straight line moving.
In this walking process, the ratio a value on limit, left, center, right three is basic to drive drivewheel 10 to ensure by motor 15
Consistent or maintenance a value is less than 10%, constantly corrects the direction of robot ambulation, it is achieved straight line moving completely, in walking process,
If barrier occurs, turned to by the testing result of obstacle cruise module 17.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (9)
1. an intelligent business hall robot, it is characterised in that include robot head, body and base, described head and institute
Stating body to be flexibly connected, described body is fixing with described base to be connected；Described head is provided with loudspeaker, TFT screen, mike and takes the photograph
As head, described body is internally provided with processor module and constant current plate；Be provided with outside described body display screen, touch panel,
Avoidance cruise module and human body induction module；Described touch panel is pasted onto display screen surface；Described display screen and constant current plate phase
Even；Described TFT screen, constant current plate, loudspeaker, mike, photographic head, display screen, touch panel, avoidance cruise module and human body sensing
Module is all connected with processor module；Described base exterior is provided with drivewheel, driven pulley, switch, angular transducer and ultrasonic
Wave sensor；Described chassis interior is provided with battery, motor and single chip control module；Described motor, ultrasonic sensor and
Angular transducer is all connected with single chip control module；Described processor module is connected by serial ports with single chip control module；
Described battery is connected with single chip control module.
A kind of intelligence business hall robot the most according to claim 1, it is characterised in that described processor module includes electricity
Source converter unit, wifi unit, memory element, universal input output pin and USB interface；
The data that described memory element is obtained by offline cache technology prestrain mode for buffer-stored and storage robot
The information of internal pre-stored；
Described wifi unit, for effectively realizing transmission and the preservation of data；
Described processor module, for processing information and data, sends dependent instruction, processing equipment and hardware to equipment
Between communications, data storage and algorithm；
Described single chip control module includes power conversion unit, the first signal detection converter unit and electric-motor drive unit.
A kind of intelligence business hall robot the most according to claim 2, it is characterised in that described avoidance cruise module includes
Radar detedtor and secondary signal detection converter unit；
Described human body induction module includes pyroelectric infrared sensor and the 3rd signal detection converter unit；
Human body/animal information that described human body induction module measuring robots runs in the process of walking is also examined by the 3rd signal
Survey converter unit and be transferred to processor module；
People/the animal of described pyroelectric infrared sensor detection periphery, relies on radar detedtor detection people around/animal simultaneously
Particular location and shape size, coordinate the relevant information presenting people/animal that the photo of camera collection is complete, and robot passes through
Perception to the people/animal of periphery, it is achieved robot has the function of perception；
In the process of walking, the pyroelectric infrared sensor in human body induction module detects relevant human body letter in described robot
Cease and be transferred to processor module, processor module judge the distance of human body and robot whether with processor module inner setting
The distance of storage is consistent, it is judged that before whether human body has arrived at robot；When human body reaches before robot, loudspeaker are reported and are existed already
The salutatory set in processor module, after human body clicking operation touch panel and perform man-machine interaction, loudspeaker prompting simultaneously
Will carry out photographic head shooting, after man-machine interaction confirms, photographic head shoots, and with being stored in, the face of shooting is stored list
In unit, the information of face is checked, and the time that will appear from and number of times record are in the memory unit；If the face occurred is strange
People, this information memory cell not in the presence of, loudspeaker carry out pointing out typing, and are recorded in memory element and add up；
The relevant information of record is transmitted to relevant computer or cell-phone customer terminal storing by memory element by wifi unit；
Described avoidance cruise module is used for the barrier in measuring robots walking process in the range of certain distance D；Pass through radar
Detector detection barrier and distance D of robot；Secondary signal detection change unit, for by defeated for the data D conversion of detection
Deliver to processor module；Distance value A presetting to signal and memory element is compared by processor module: if D is more than A, table
Show that robot can walk on；If D is less than or equal to A, processor module transmits a signal to single chip control module, monolithic
The electric-motor drive unit of machine control module drives the driven by motor drivewheel of base to turn to avoidance.
A kind of intelligence business hall robot the most according to claim 2, it is characterised in that described mike is defeated for voice
Enter；Loudspeaker are used for voice output；Processor module is used for interacting confirmation with user, to Mike by mike and loudspeaker
Wind obtain external audio process after with predefined instruction comparison in processor die block system, identify and pass through loudspeaker according to
Scene carries out corresponding simple reply；Described processor module realizes reporting the most in the memory unit by the loudspeaker of robot
The salutatory set；
Described TFT screen, in interactive process, suitably gives expression and replys so that man-machine interaction more hommization；
Described photographic head carries out recognition of face and takes pictures, and after being confirmed by man-machine interaction, is transferred to by the facial image of identification
Processor module；Processor module is for calling the recognizer of the human face characteristic point of storage in memory element, simultaneously to shooting
The facial image of head shooting carries out pretreatment operation, carries out mating and identifying, be confirmed whether to belong to the letter stored after pretreatment
Breath；If this facial image non-memory information, carry out after man-machine interaction pointing out typing, and be recorded in memory element and carry out
Statistics.
A kind of intelligence business hall robot the most according to claim 1 a, it is characterised in that left side for described base lower front part
Side, middle part and right side are respectively equipped with ultrasonic sensor；Described drivewheel, motor and driven pulley all have two, described left side master
Driving wheel is connected with left motor, and described right side drivewheel is connected with right motor, and described driven pulley is positioned on rear side of drivewheel；
The movement line of robot is carried out by single chip control module, ultrasonic sensor and the angular transducer on described base
Correction, has the function of the walking driftage of automatic correction machine device people, walking limit, limit corrector, it is achieved straight line moving completely；The end
Single chip control module, ultrasonic sensor and angular transducer on seat combines the avoidance cruise module traveling road to robot
Line is planned, it is achieved robot automatic corner and straight line moving.
A kind of intelligence business hall robot the most according to claim 1, it is characterised in that described base is additionally provided with wifi
Unit alarm, electricity alarm and charging port；
Described wifi unit siren is reported to the police in the case of wifi disappears, and wifi unit alarm can remind user in time
Complete as early as possible to work accordingly or preserve；Described electricity alarm for robot electric quantity deficiency time, remind user and
Time charging, it is to avoid there is the situation of power-off owing to electricity is not enough in robot；Charging port can realize to power source charges.
7. intelligence business hall robot described in any one of claim 1～6 to indoor walking driftage from the method for dynamic(al) correction,
It is characterized in that, single chip control module, ultrasonic sensor and the angular transducer on described base combines avoidance cruise mould
The course of robot is planned by block, it is achieved robot automatic corner and linear correction walking；Single-chip microcomputer on base
Control module, ultrasonic sensor and angular transducer carry out drift correction, robot limit walking to the movement line of robot
Limit corrector, it is achieved straight line moving completely；
Described robot is in indoor walking process, and ultrasonic sensor is found range, by measured robot base with indoor
The range data of metope is analyzed, and single chip control module judges whether the walking path of robot is driftage occur；Receive
The instruction of single chip control module, angular transducer exports the base anglec of rotation, ultrasonic sensor to single chip control module
Find range, single chip control module analytic angle and the range data of ultrasound wave output, drive driven by motor drivewheel to adjust
Angle and circuit, by constantly adjust angle and circuit to robot ambulation from dynamic(al) correction, it is achieved straight line moving.
A kind of intelligence business hall robot the most according to claim 7 to indoor walking driftage from the method for dynamic(al) correction, its
It is characterised by, specifically comprising the following steps that of described robot calibration walking
Step 1) during robot ambulation, move acquisition robot at indoor certain distance by robot radar detedtor
The barrier of D, distance value A presetting to signal and memory element is compared by processor module: if D is more than A, represent machine
People can walk on；If D is less than or equal to A, processor module transmits a signal to single chip control module, Single-chip Controlling
The electric-motor drive unit of module drives the driven by motor drivewheel of base to turn to avoidance；
Step 2) during robot ambulation, the ultrasonic sensor bottom robot is found range, to robot chamber expert
The left side in the front in the path walked, centre and right side are tested, and whether the direction of travel described in mensuration is straight line, single-chip microcomputer control
The range data that ultrasonic sensor is measured by molding block is analyzed, it is judged that the walking path situation of robot；If it is ultrasonic
When the distance in three directions of wave sensor detection occurs inconsistent, data are analyzed by single chip control module, indicated angle
The angle that base is rotated by degree sensor sends to single chip control module, and single chip control module analytic angle and ultrasound wave pass
The range data of sensor output, drives the drivewheel of its corresponding side of driven by motor of certain side to adjust angle and circuit, by not
Robot ambulation driftage route is carried out from dynamic(al) correction by disconnected adjustment angle and circuit, it is achieved robot is at indoor straight line moving.
A kind of intelligence business hall robot the most according to claim 8 to indoor walking driftage from the method for dynamic(al) correction, its
Be characterised by, described step 2) in ultrasonic sensor the information measured is exported to single chip control module, Single-chip Controlling
Three ultrasonic sensors are measured the distance value of robot base and indoor wall and compare by module, and described left side distance is
D1, the right distance are d2 and intermediate distance is d3；Meansigma methods d of described d1, d2 and d3, described d with d1, the difference of d2 and d3 are divided
Not Wei dr1, dr2, dr3, the ratio of described difference and d is respectively a1, a2 and a3；When a1, a2 and a3 are respectively less than 10%, it is judged that
Robot ambulation is straight line, keeps motor to continue to run with, and the drivewheel of its corresponding side of each driven by motor runs, it is achieved machine
People's straight line moving；When a1, a2 and a3 there being a value more than 10%, it is judged that driftage occurs in robot ambulation, selects following feelings
One of condition: situation 1) occur that a1 is more than 10%, represent that the left side of only robot ambulation occurs that deviation, single chip control module are passed through
After the information analysis measuring angle and ultrasonic sensor transmission, on the left of the driven by motor in left side, drivewheel carries out certain angle
The rotation of degree, the motor on right side quits work, it is achieved robot turns right；Situation 2) occur that a3 is more than 10%, represent only machine
There is deviation in the right of device people walking, and single chip control module is by the information analysis that measures angle and ultrasonic sensor also
After transmission, the drivewheel on the right side of the driven by motor on right side carries out the rotation of certain angle, and the motor in left side quits work, it is achieved machine
Device people turn left.
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