CN106446290A - Method of intelligent robot tour guide - Google Patents
Method of intelligent robot tour guide Download PDFInfo
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- CN106446290A CN106446290A CN201611004729.1A CN201611004729A CN106446290A CN 106446290 A CN106446290 A CN 106446290A CN 201611004729 A CN201611004729 A CN 201611004729A CN 106446290 A CN106446290 A CN 106446290A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
- G06F16/95—Retrieval from the web
- G06F16/953—Querying, e.g. by the use of web search engines
- G06F16/9537—Spatial or temporal dependent retrieval, e.g. spatiotemporal queries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a method of an intelligent robot tour guide. The method comprises the steps of setting a route in a tour guide area based on a GPS positioning map; driving the intelligent robot to conduct a tour guide service according to the set route; obtaining a target object picture in the tour guide area based on a visual tracking method of a structural similarity on the route of the tour guide service; determining whether the target object picture is established with a tour guide explanation scene database or not; when whether the target object picture is established with a tour guide explanation scene database or not is determined, outputting the tour guide explanation scene content based on an outputting unit. According to the intelligent robot tour guide, by planning the tour guide route, self-adaptive matching of the scene content is conducted, precise identification and localization are achieved, and a tour guide trip is satisfied.
Description
Technical field
The present invention relates to intelligent Manufacturing Technology field and in particular to a kind of intelligent robot guide method and intelligent guide
Robot.
Background technology
With the continuous development of scientific and technical constantly progressive and roboticses, intelligent robot has gradually entered into thousand
Ten thousand families, market also occur in that the life that many intelligent robots give people offers convenience and enjoyment, and wherein, interaction robot makees
For one kind of intelligent robot, can be interactive with people, the life giving people, add especially to old man or the life of child
Many enjoyment.
Development with social productive forces and growth in the living standard, the increasing time is used for lying fallow and gives pleasure to by people
Happy, thus having greatly facilitated the development of tourist industry.In recent years, the cultural Mecca such as visit museum, former residences of celebrities becomes a kind of
Fashion, visitor's increasing number.
In order to obtain more preferably visit experience, it usually needs expostor introduces various article, traces to correlation to visitor
History story explained.Because visitor is large number of, need to enter, therefore expostor must complete repeated saying in batches
Solution work, wastes time and manpower, increased job costs.Simultaneously because the memory of human brain is limited, expostor is sometimes not
The problem that complete answer visitor proposes can be understood.
A kind of guidance method of intelligent guide robot is disclosed in CN103699126 in prior art, but this guide
Robot mainly realizes navigator fix according to WIFI, is explained by identifying article, but this guide robot scene mode
It is very limited, because WIFI layout can be related to substantial amounts of site, when it faces large scene pattern, need to put in a large number
Distribution, this is suitable for the application of small-scale scene, the special scenes pattern explanation under the large scene pattern, than
As several scene shops or sight spot interior on a large scale in a scenic spot, it cannot realize precisely identifying and positioning, and realizes adaptive
Answer scene matching.
Content of the invention
The invention provides a kind of method of intelligent robot guide, by planning guide's route, Adaptive matching scene
Content, realizes precisely identifying and positioning, meets guide's trip.
The invention provides a kind of method of intelligent robot guide, including：
Route in guide region is arranged based on GPS location map；
Intelligent robot is driven to carry out guide service according to the route of described setting；
On the route of guide service, the visual tracking method based on structural similarity obtains the target pair in guide region
As picture；
Judge whether described destination object picture is built with guide interpreting scene database；
When judging that described destination object picture is built with guide interpreting scene database, will be led based on voice-output unit
Trip explanation scene content output.
Described driving intelligent robot carries out guide service according to the route of described setting and includes：
Obtain the positional information of intelligent robot based on GPS location map in real time；
Judge whether intelligent robot is on the route of setting based on positional information；
When judging that intelligent robot deviates the route arranging, judge that deviation point and the position of neighbor point on route are closed in time
System, and drive intelligent robot to be moved from deviation point to neighbor point on route.
Described visual tracking method on the route of guide service based on structural similarity obtains the mesh in guide region
Mark object picture includes：
Using approximate location in this two field picture for the Kalman filter prediction destination object；
It is iterated searching for using the structural similarity of candidate target and template target, determine destination object in this two field picture
In position；
Using the similarity value of candidate target and template target, adaptive modulation Kalman filter parameter.
Methods described also includes：
Build the guide interpreting scene of each target scene in guide region；
Build the destination object picture corresponding to each target scene；
Destination object picture is set up with guide interpreting scene and associates matching relationship.
Methods described also includes：
Surrounding population density is sensed based on infrared inductor, when sensing that surrounding population density is more than first threshold, carries
Volume value in high voice-output unit；Or when should arrive surrounding population density less than Second Threshold, reduce voice output list
Volume value in unit.
Described first threshold is identical with Second Threshold or different.
Described driving intelligent robot carries out guide service according to the route of described setting and includes：
Mated with the section object of the vector quantization on map by GPS flight path, searched out intelligent robot current line
The road sailed, and by current for intelligent robot GPS location spot projection on route.
In the present invention, the route in guide region is set based on GPS location map, such that it is able to the route according to setting
Carry out guide service, during guide service, view-based access control model tracking can be with quick lock in destination object picture, thus base
Parse associated contextual data in destination object picture, reach Adaptive matching process, make whole guide service more square
Just realization service in large scene sight spot, has reached Adaptive matching, has made whole guide service more intelligent, save people
Power and material resources, decrease the focus arrangement of large scene regional environment.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the method flow diagram of the intelligent robot guide in the embodiment of the present invention；
Fig. 2 is the intelligent guide robot architecture's schematic diagram in the embodiment of the present invention；
Fig. 3 is the drive module structural representation in the embodiment of the present invention；
Fig. 4 is the visual tracking modular structure schematic diagram in the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Accordingly, Fig. 1 show in the embodiment of the present invention intelligent robot guide method flow diagram, specifically include as
Lower step：
S101, the route being arranged based on GPS location map in guide region；
In specific implementation process, the ultimate principle of GPS positioning technology is to be determined using general range finding intersection in surveying
The method of point position, existing GPS positioning technology is widely used in vehicle mounted guidance, its can with vehicle-mounted on map realize joining
Put, after setting route, complete corresponding path planning, realize guidance path process.In implementation path navigation procedure, its
Mated with the section object of the vector quantization on map by GPS flight path, searched out the road of intelligent robot current driving,
And by current for intelligent robot GPS location spot projection on route, so can realize intelligent robot on electronic chart
The process of coupling, makes intelligent robot be unlikely to and deviates map route in positioning because of position error, make car by projection
Location data only remains radial component in vehicle advance route for the GPS error, thus reaching the purpose improving positioning precision.
S102, driving intelligent robot carry out guide service according to the route of described setting；
The positional information of intelligent robot in specific implementation process, is obtained in real time based on GPS location map；Based on position letter
Breath judges whether intelligent robot is on the route of setting；When judging that intelligent robot deviates the route arranging, sentence in time
The position relationship of neighbor point in disconnected deviation point and route, and drive intelligent robot to be moved from deviation point to neighbor point on route.
Mesh in S103, the visual tracking method acquisition guide region based on structural similarity on the route of guide service
Mark object picture；
In specific implementation process, using approximate location in this two field picture for the Kalman filter prediction destination object；Profit
It is iterated searching for the structural similarity of candidate target and template target, determine position in this two field picture for the destination object；
Using the similarity value of candidate target and template target, adaptive modulation Kalman filter parameter.
In specific implementation process, it passes through to construct the motor system model of destination object picture, based on Kalman filter
Prediction obtains the predicted position of target in this frame further, and carries out Kalman filter observation more according to this frame tracking result
Newly；And calculate moving direction in whole destination object picture motor process, calculate optimum moving step length；Calculate final
The structural similarity value of candidate target and template target, calculates the covariance of Kalman filter noise matrix, thus completing whole
Individual visual tracking, finally locks a destination object picture.
S104, judge whether described destination object picture is built with guide interpreting scene database, if being built with guide
Explanation scene database, then enter S105, otherwise continues S103；
In being embodied as, build the guide interpreting scene of each target scene in guide region first, that is, be directed to each mesh
The specified point of mark scene or visual effect point set up corresponding guide interpreting model of place；Build corresponding to each target scene
Destination object picture, that is, provide specified point or visual effect point as destination object picture；By destination object picture with lead
Trip explanation scene sets up association matching relationship.
By above matching relationship, when identifying destination object picture, can with Rapid matching go out with respect to guide say
Solution scene,
S105, when judging that described destination object picture is built with guide interpreting scene database, based on voice output list
Guide interpreting scene content is exported by unit.
In specific implementation process, it is also based on infrared inductor sensing surrounding population density, is sensing surrounding population
When density is more than first threshold, improve the volume value in voice-output unit；Or surrounding population density should be arrived and be less than second
During threshold value, reduce the volume value in voice-output unit.This first threshold can be identical or different from Second Threshold, such as people
Population density 10 people is a grade, carries out the control output of volume, when more than 10 people, improves volume value, during low mistake 10 people, fall
Bass value, thus meeting the volume output of different scenes, also can meet corresponding effect when guarantee crowd is noisy.
As can be seen here, the route in guide region is set based on GPS location map, such that it is able to enter according to the route of setting
Row guide service, during guide service, view-based access control model tracking can be with quick lock in destination object picture, thus being based on
Destination object picture parses associated contextual data, reaches Adaptive matching process, makes whole guide service convenient
In large scene sight spot realize service, reached Adaptive matching, made whole guide service more intelligent, save manpower
And material resources, decrease the focus arrangement of large scene regional environment.
Accordingly, Fig. 2 also show the intelligent guide robot architecture's schematic diagram in the embodiment of the present invention, including：
Mapping module, for arranging the route in guide region based on GPS location map；
Drive module, for driving intelligent robot to carry out guide service according to the route of described setting；
Visual tracking module, obtains for the visual tracking method based on structural similarity on the route of guide service and leads
Destination object picture in trip region；
Judge module, for judging whether described destination object picture is built with guide interpreting scene database；
Scene output module, for when judging that described destination object picture is built with guide interpreting scene database, base
In voice-output unit, guide interpreting scene content is exported.
Specifically, Fig. 3 shows the drive module structural representation in the embodiment of the present invention, and this drive module includes：
Positioning unit, for obtaining the positional information of intelligent robot in real time based on GPS location map；
Based on positional information, judging unit, for judging whether intelligent robot is in the route of setting；
Correct unit, for when judging that intelligent robot deviates the route arranging, judging in time on deviation point and route
The position relationship of neighbor point, and drive intelligent robot to be moved from deviation point to neighbor point on route.
Specifically, Fig. 4 shows the visual tracking modular structure schematic diagram in the embodiment of the present invention, this visual tracking module
Including：
Predicting unit, for the approximate location in this two field picture using Kalman filter prediction destination object；
Search unit, for being iterated searching for using the structural similarity of candidate target and template target, determines target
Position in this two field picture for the object；
Metric element, for the similarity value using candidate target and template target, adaptive modulation Kalman filter
Ripple device parameter.
Specifically, this intelligent guide robot also includes：
Scenario building module, for building the guide interpreting scene of each target scene in guide region；Build each mesh
Destination object picture corresponding to mark scene；Destination object picture is set up with guide interpreting scene and associates matching relationship.
Specifically, this intelligent guide robot also includes：
Infrared induction module, for sensing surrounding population density based on infrared inductor；
Volume control module, for when sensing that surrounding population density is more than first threshold, improving voice-output unit
In volume value；Or when should arrive surrounding population density less than Second Threshold, reduce the volume value in voice-output unit.
To sum up, the route in guide region is set based on GPS location map, such that it is able to be led according to the route of setting
Trip service, during guide service, view-based access control model tracking can be with quick lock in destination object picture, thus being based on target
Object picture parses associated contextual data, reaches Adaptive matching process, make whole guide service convenient
Realize service in large scene sight spot, reached Adaptive matching, made whole guide service more intelligent, save manpower and thing
Power, decreases the focus arrangement of large scene regional environment.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
Completed with the hardware instructing correlation by program, this program can be stored in computer-readable recording medium, storage is situated between
Matter can include：Read only memory (ROM, Read Only Memory), random access memory (RAM, Random Access
Memory), disk or CD etc..
The method of the intelligent robot the guide above embodiment of the present invention being provided is described in detail, and herein should
With specific case, the principle of the present invention and embodiment are set forth, the explanation of above example is only intended to help reason
The solution method of the present invention and its core concept；Simultaneously for one of ordinary skill in the art, according to the thought of the present invention,
All will change in specific embodiment and range of application, in sum, this specification content should not be construed as to this
Bright restriction.
Claims (7)
1. a kind of method of intelligent robot guide is it is characterised in that include：
Route in guide region is arranged based on GPS location map；
Intelligent robot is driven to carry out guide service according to the route of described setting；
On the route of guide service, the visual tracking method based on structural similarity obtains the destination object figure in guide region
Piece；
Judge whether described destination object picture is built with guide interpreting scene database；
When judging that described destination object picture is built with guide interpreting scene database, based on voice-output unit, guide is said
Solution scene content output.
2. intelligent robot as claimed in claim 1 guide method it is characterised in that described driving intelligent robot according to
The route of described setting carries out guide service and includes：
Obtain the positional information of intelligent robot based on GPS location map in real time；
Judge whether intelligent robot is on the route of setting based on positional information；
When judging that intelligent robot deviates the route arranging, judge the position relationship of deviation point and neighbor point on route in time,
And drive intelligent robot to be moved from deviation point to neighbor point on route.
3. intelligent robot as claimed in claim 1 guide method it is characterised in that described on the route of guide service
The destination object picture that visual tracking method based on structural similarity obtains in guide region includes：
Using approximate location in this two field picture for the Kalman filter prediction destination object；
It is iterated searching for using the structural similarity of candidate target and template target, determine destination object in this two field picture
Position；
Using the similarity value of candidate target and template target, adaptive modulation Kalman filter parameter.
4. the method for the intelligent robot guide as described in any one of claims 1 to 3 is it is characterised in that methods described is also wrapped
Include：
Build the guide interpreting scene of each target scene in guide region；
Build the destination object picture corresponding to each target scene；
Destination object picture is set up with guide interpreting scene and associates matching relationship.
5. the method for intelligent robot guide as claimed in claim 4 is it is characterised in that methods described also includes：
Surrounding population density is sensed based on infrared inductor, when sensing that surrounding population density is more than first threshold, improves language
Volume value in sound output unit；Or when should arrive surrounding population density less than Second Threshold, reduce in voice-output unit
Volume value.
6. the method for intelligent robot as claimed in claim 5 guide is it is characterised in that described first threshold and Second Threshold
Identical or different.
7. intelligent robot as claimed in claim 6 guide method it is characterised in that described driving intelligent robot according to
The route of described setting carries out guide service and includes：
Mated with the section object of the vector quantization on map by GPS flight path, searched out intelligent robot current driving
Road, and by current for intelligent robot GPS location spot projection on route.
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| CN108958247A (en) * | 2018-07-02 | 2018-12-07 | 深圳市益鑫智能科技有限公司 | A kind of guided robot |
| CN109241339A (en) * | 2018-08-28 | 2019-01-18 | 三星电子（中国）研发中心 | A kind of music recommended method and device |
| CN109822581A (en) * | 2018-12-08 | 2019-05-31 | 浙江国自机器人技术有限公司 | Guide method for computer room robot |
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