CN103163885A - Autonomous guided system of tour guide robot - Google Patents
Autonomous guided system of tour guide robot Download PDFInfo
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- CN103163885A CN103163885A CN2013100604863A CN201310060486A CN103163885A CN 103163885 A CN103163885 A CN 103163885A CN 2013100604863 A CN2013100604863 A CN 2013100604863A CN 201310060486 A CN201310060486 A CN 201310060486A CN 103163885 A CN103163885 A CN 103163885A
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Abstract
The invention discloses an autonomous guided system of a tour guide robot. The autonomous guided system of the tour guide robot comprises a power management module, a controller, a human-computer interface module, a walk drive module, a barrier detecting module, a voice module and a charging docking device, wherein the human-computer interface module is used for carrying out status display and interface operation, the walk drive module is used for carrying out free movements, the barrier detecting module is used for detecting barriers so that the robot can avoid being collided, the voice module is used for playing voice and recognizing voice commands, and the charging docking device is used for being in charging connection with a charging device. The human-computer interface module, the walk drive module, the voice module and the charging docking device are connected with the controller. The autonomous guided system of the tour guide robot further comprises a path recognition module and a node recognition module, wherein the path recognition module is used for recognizing working paths, and is connected with the controller. The node recognizing module is used for recognizing working places, and is connected with the controller. The path recognizing module is designed to be a camera module or a metal wire recognizing module. The node recognizing module is designed to be a magnetic induction recognition device or an infrared recognition device.
Description
Technical field
The present invention relates to a kind of autonomous navigation system of guide robot, belong to the mobile robot technology field.
Background technology
For places such as museum, science and technology center, exhibition centers, the content of showing is general professional all very strong, if not explanation, common visitor can only have a glance at.But the flow of the people of these local every days is all very large, and limited narrator can not bear so large workload.Therefore people consider to adopt guide robot to complete such work.But mobile robot's technical merit can't solve the self-align problem of robot fully at present, that is to say that robot can't fully accurately determine own position in working environment, can't face dynamic, complicated working environment simultaneously.Therefore the functional localization of present guide robot is also lower, can only realize limited work, mainly is arranged on the entry position of venue, bears the welcome and introduces the task that venue distributes.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of autonomous navigation system of guide robot, be provided with the Path Recognition module of operating path identification and the node recognition module of work place identification, robot can advance along setting path, arrives node location and just explains and introduce.
The technical solution adopted for the present invention to solve the technical problems is:
the autonomous navigation system of guide robot, comprise the power management module that stabilized power source is provided, the controller that focuses on, carry out the human-computer interface module of state demonstration and interface operation, the walking driver module that moves freely, carry out the detection of obstacles module of detection of obstacles to avoid colliding, carry out the voice module of speech play and phonetic order identification, and the charging docking facilities that charges and be connected with charging device, described human-computer interface module, the walking driver module, voice module is connected with described controller with the docking facilities that is connected, also comprise the Path Recognition module of carrying out operating path identification, described Path Recognition module is connected with described controller, carry out the node recognition module of work place identification, described node recognition module is connected with described controller.
Described Path Recognition module is set to camara module, identifiably the figure of face or color.
Described Path Recognition module is set to the plain conductor identification module, can identify to be embedded in ground plain conductor.
Described node recognition module arranges the magnetic induction recognition device, and magnet is adopted in identification, the node diagnostic that magnet steel and magnetic stripe arrange.
Described node recognition module arranges infrared identification device, the node diagnostic that identification adopts infrared ray to arrange.
Beneficial effect of the present invention is mainly manifested in: 1, can identify operating path and working node, complete smoothly guide's task; 2, less demanding to system performance, feasibility is high.
Description of drawings
Fig. 1 is the work schematic diagram of the autonomous navigation system of guide robot;
Fig. 2 is the system chart of the autonomous navigation system of guide robot.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
with reference to Fig. 1-2, the autonomous navigation system of guide robot, comprise the power management module 3 that stabilized power source is provided, the controller 2 that focuses on, carry out the human-computer interface module 4 of state demonstration and interface operation, the walking driver module 5 that moves freely, carry out the detection of obstacles module 6 of detection of obstacles to avoid colliding, carry out the voice module 9 of speech play and phonetic order identification, and the charging docking facilities 10 that charges and be connected with charging device, described human-computer interface module 4, walking driver module 5, voice module 9 is connected with described controller 2 with the docking facilities 10 that is connected.
Described controller 2 has computing, controls function, and inner setting program storer and data-carrier store can be placed the program of writing in advance.
Described power management module 3 comprises rechargeable battery, for system provides voltage-stabilized source, also is responsible for carrying out Charge Management, namely detects in real time cell voltage, if undertension notifies described controller 2 to charge immediately; In charging process, the control of charging of described power management module 3 is responsible for controlling charging current and charging finishes judgement.
Described human-computer interface module 4 is responsible for carrying out the input of state demonstration and user instruction, input equipment can be set, such as keyboard, touch-screen; Output device can arrange LCD display, hummer, LED lamp.
Described walking driver module 5 is used for controlling sense of rotation and the rotational speed of left drive motor and right drive motor.Described left drive motor and right drive motor drive two driving wheel rotations, move with any track thereby drive described guide robot 1.
Described detection of obstacles module 6 is responsible for the barrier situation of testing environment, is used for the path planning of described guide robot 1 and keeps away barrier.Described detection of obstacles module 6 can adopt ultrasonic sensor to form supersonic barrier detection apparatus, also can adopt infrared distance sensor to form infrared barrier detection apparatus, perhaps adopts two kinds of sensors to make up.
Described voice module 9 arranges voice synthetic module and sound identification module, and described voice synthetic module is used for generating the speech sound eeplaining content relevant to contents of the exhibition, and described sound identification module is used for carrying out the identification of simple speech instruction.
Described charging docking facilities 10 is used for after described rechargeable battery is used up, the equipment that is connected with the external charging power supply.
Also comprise the Path Recognition module 7 of carrying out operating path identification, described Path Recognition module 7 is connected with described controller 2.Due to the prior art level, can't realize described guide robot 1 independent navigation in complexity, dynamic environment, therefore need to fixing operating path be set to described guide robot 1.
Can lay rubber strip or the strap of constant color, also can spray, be coated with the band shape paint of constant color, form fixed mode colour band, thereby determine the operating path of described guide robot 1.Therefore, described Path Recognition module 7 is set to camara module, identifiably the figure of face or color.Described camara module is taken the image on ground, and processes, and extracts colour band wherein, the position according to colour band in image and angle, and described guide robot 1 is adjusted the direction of travel of oneself.
Also can lay plain conductor on ground, with the operating path of plain conductor as described guide robot 1.Therefore described Path Recognition module 7 is set to the plain conductor identification module, can identify and be embedded in ground plain conductor.Described guide robot 1 is adjusted the direction of travel of oneself according to the output data of described plain conductor identification module.
Also comprise the node recognition module 8 of carrying out work place identification, described node recognition module 8 is connected with described controller 2.Described working node namely refers to the place that the described guide robot 1 of needs stops and carries out on-the-spot explanation or introduce.In order to allow described guide robot 1 position of each working node on operating path be detected, characteristic indication need to be set on working node.
Can on described working node, magnet be set, magnet steel or magnetic stripe are as characteristic indication, and therefore described node recognition module 8 is set to the magnetic induction recognition device.When the described guide robot 1 described working node of process, described node recognition module 8 output useful signals are given described controller 2.
Also can infrared launcher be set as characteristic indication on described working node, therefore described node recognition module 8 is set to infrared identification device.When the described guide robot 1 described working node of process, described node recognition module 8 output useful signals are given described controller 2.
In sum, the invention provides a kind of autonomous navigation system of guide robot, be provided with the Path Recognition module of carrying out operating path identification and the node recognition module of work place identification, robot can advance along setting operating path, arrives node location and just explains and introduce.Therefore, this system can reliably realize the identification of operating path and working node, completes smoothly guide's task, and less demanding to system performance, and feasibility is high, and cost is low.
Claims (5)
1. the autonomous navigation system of guide robot, comprise the power management module that stabilized power source is provided, the controller that focuses on, carry out the human-computer interface module of state demonstration and interface operation, the walking driver module that moves freely, carry out the detection of obstacles module of detection of obstacles to avoid colliding, carry out the voice module of speech play and phonetic order identification, and the charging docking facilities that charges and be connected with charging device, described human-computer interface module, the walking driver module, voice module is connected with described controller with the docking facilities that is connected, it is characterized in that: also comprise the Path Recognition module of carrying out operating path identification, described Path Recognition module is connected with described controller, carry out the node recognition module of work place identification, described node recognition module is connected with described controller.
2. the autonomous navigation system of guide robot as claimed in claim 1, it is characterized in that: described Path Recognition module is set to camara module, identifiably the figure of face or color.
3. the autonomous navigation system of guide robot as claimed in claim 1, it is characterized in that: described Path Recognition module is set to the plain conductor identification module, can identify and be embedded in ground plain conductor.
4. the autonomous navigation system of guide robot as claimed in claim 1 is characterized in that: described node recognition module, the magnetic induction recognition device is set, and magnet is adopted in identification, the node diagnostic that magnet steel or magnetic stripe arrange.
5. the autonomous navigation system of guide robot as claimed in claim 1 is characterized in that: described node recognition module arranges infrared identification device, the node diagnostic that identification adopts infrared ray to arrange.
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| CN2013100604863A CN103163885A (en) | 2013-02-27 | 2013-02-27 | Autonomous guided system of tour guide robot |
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| CN2013100604863A CN103163885A (en) | 2013-02-27 | 2013-02-27 | Autonomous guided system of tour guide robot |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645733A (en) * | 2013-12-02 | 2014-03-19 | 江苏建威电子科技有限公司 | A robot automatically finding a charging station and a system and method for automatically finding a charging station thereof |
| CN103699126A (en) * | 2013-12-23 | 2014-04-02 | 中国矿业大学 | Intelligent tour guide robot |
| CN103760866A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Tourist guide service robot |
| CN104298240A (en) * | 2014-10-22 | 2015-01-21 | 湖南格兰博智能科技有限责任公司 | Guiding robot and control method thereof |
| CN104407545A (en) * | 2014-11-19 | 2015-03-11 | 济南大学 | Intelligent scenic region service robot |
| CN105717919A (en) * | 2016-01-16 | 2016-06-29 | 深圳先进技术研究院 | Scenic-spot guiding and rescuing system based on airship |
| CN105955252A (en) * | 2016-04-12 | 2016-09-21 | 江苏理工学院 | Intelligent voice tour guide robot and path optimizing method thereof |
| CN104298234B (en) * | 2013-11-13 | 2017-02-08 | 沈阳新松机器人自动化股份有限公司 | Dual-booting robot self-charging method |
| CN106406319A (en) * | 2016-11-11 | 2017-02-15 | 华南智能机器人创新研究院 | Smart guiding robot |
| CN106446290A (en) * | 2016-11-11 | 2017-02-22 | 华南智能机器人创新研究院 | Method of intelligent robot tour guide |
| CN106681322A (en) * | 2016-12-21 | 2017-05-17 | 华东师范大学 | Ground autonomous mobile robot safety navigation method based on formal description |
| CN108733059A (en) * | 2018-06-05 | 2018-11-02 | 湖南荣乐科技有限公司 | A kind of guide method and robot |
| CN110142773A (en) * | 2019-05-16 | 2019-08-20 | 浙江大学 | A kind of museum's safety protection robot and the method for detection and specification uncivil behavior |
| CN113031588A (en) * | 2021-02-02 | 2021-06-25 | 广东柔乐电器有限公司 | Robot navigation system for shopping mall |
| CN113515122A (en) * | 2021-06-24 | 2021-10-19 | 深圳市普渡科技有限公司 | Robot, robot welcome path planning method and device and readable storage medium |
| CN113851064A (en) * | 2021-09-28 | 2021-12-28 | 湖北聚游科技有限公司 | Electronic navigation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104298234B (en) * | 2013-11-13 | 2017-02-08 | 沈阳新松机器人自动化股份有限公司 | Dual-booting robot self-charging method |
| CN103645733B (en) * | 2013-12-02 | 2014-08-13 | 江苏建威电子科技有限公司 | A robot automatically finding a charging station and a system and method for automatically finding a charging station thereof |
| CN103645733A (en) * | 2013-12-02 | 2014-03-19 | 江苏建威电子科技有限公司 | A robot automatically finding a charging station and a system and method for automatically finding a charging station thereof |
| CN103699126A (en) * | 2013-12-23 | 2014-04-02 | 中国矿业大学 | Intelligent tour guide robot |
| CN103699126B (en) * | 2013-12-23 | 2016-09-28 | 中国矿业大学 | The guidance method of intelligent guide robot |
| CN103760866A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Tourist guide service robot |
| CN104298240A (en) * | 2014-10-22 | 2015-01-21 | 湖南格兰博智能科技有限责任公司 | Guiding robot and control method thereof |
| CN104407545B (en) * | 2014-11-19 | 2017-06-23 | 济南大学 | A kind of scenic spot intellect service robot |
| CN104407545A (en) * | 2014-11-19 | 2015-03-11 | 济南大学 | Intelligent scenic region service robot |
| CN105717919A (en) * | 2016-01-16 | 2016-06-29 | 深圳先进技术研究院 | Scenic-spot guiding and rescuing system based on airship |
| CN105717919B (en) * | 2016-01-16 | 2018-09-28 | 深圳先进技术研究院 | A kind of scenic spot tour guide's salvage system based on dirigible |
| CN105955252A (en) * | 2016-04-12 | 2016-09-21 | 江苏理工学院 | Intelligent voice tour guide robot and path optimizing method thereof |
| CN106406319A (en) * | 2016-11-11 | 2017-02-15 | 华南智能机器人创新研究院 | Smart guiding robot |
| CN106446290A (en) * | 2016-11-11 | 2017-02-22 | 华南智能机器人创新研究院 | Method of intelligent robot tour guide |
| CN106681322A (en) * | 2016-12-21 | 2017-05-17 | 华东师范大学 | Ground autonomous mobile robot safety navigation method based on formal description |
| CN106681322B (en) * | 2016-12-21 | 2020-03-13 | 华东师范大学 | Ground autonomous mobile robot safety navigation method based on formal description |
| CN108733059A (en) * | 2018-06-05 | 2018-11-02 | 湖南荣乐科技有限公司 | A kind of guide method and robot |
| CN110142773A (en) * | 2019-05-16 | 2019-08-20 | 浙江大学 | A kind of museum's safety protection robot and the method for detection and specification uncivil behavior |
| CN113031588A (en) * | 2021-02-02 | 2021-06-25 | 广东柔乐电器有限公司 | Robot navigation system for shopping mall |
| CN113031588B (en) * | 2021-02-02 | 2023-11-07 | 广东柔乐电器有限公司 | Mall robot navigation system |
| CN113515122A (en) * | 2021-06-24 | 2021-10-19 | 深圳市普渡科技有限公司 | Robot, robot welcome path planning method and device and readable storage medium |
| CN113851064A (en) * | 2021-09-28 | 2021-12-28 | 湖北聚游科技有限公司 | Electronic navigation system |
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Application publication date: 20130619 |