CN106774326A - A kind of shopping guide robot and its shopping guide method - Google Patents
A kind of shopping guide robot and its shopping guide method Download PDFInfo
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- CN106774326A CN106774326A CN201611206014.4A CN201611206014A CN106774326A CN 106774326 A CN106774326 A CN 106774326A CN 201611206014 A CN201611206014 A CN 201611206014A CN 106774326 A CN106774326 A CN 106774326A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
A kind of shopping guide robot and its shopping guide method that the present invention is provided, the image of the position and article that gather article by camera sets up article map, pass through speech recognition article in the course of the work, article according to identification finds corresponding Goodsshelves area in article map, and set up motion path, after purpose Goodsshelves area being navigate to according to motion path, corresponding article is shot by camera, recognize corresponding word i.e. trade mark, find the position of corresponding article, people are reduced in the time of market shopping goods, the accuracy of navigation shopping guide is realized；By the unique ID using Bluetooth signal, in the case of realizing the multiple human bodies of the interior appearance of camera of robot or the closer to the distance of part human body, also the target body for treating shopping guide can be recognized, reduce the appearance of interference, realize that shopping guide uniquely changes, accurately and timely, time and muscle power that people consume in shopping center due to finding article are reduced, shopping efficiency is improved.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of shopping guide robot and its shopping guide method.
Background technology
The development of information technology, information technology is widely used in the life style of people and working method.If any
Existing information technology is more effectively utilized, people never have stopping and explore.Robot field is collection computer, machinery, biography
Sense technology, the information processing technology, image procossing and identification technology, language identification and treatment technology, control technology and the communication technology
Deng in the system of one.Existing Player, MOOS, CARMEN, YARP, Orocos, Microsoft RoboticsStudio etc. are operated
System cannot meet the demand of practical application.ROS (RobotOperatingSystem) is that one kind is increased income robot operating system,
Function similar to operating system can be provided, for robot application system provide hardware abstraction, bottom layer driving, message transmission and
Reason, and some auxiliary development instruments are assured, for example, sets up, write and run the program of multi-machine communication system integration.
In places such as large supermarket, supermarket, brand shops, most of customer likes freely choosing, and compares and minds marketing
The marketing activity of personnel, the intervention of robot, the free degree that can not only keep customer to choose, and cause that shopping is happy
The quick degree of shopping can also increased simultaneously.
CN 201410413867.X provide a kind of mobile robot for supermarket shopping guide, it is characterised in that including：Language
Sound identifying system, interaction screen, controller, walking mechanism and shopping basket, described speech recognition system and controller are positioned at the shifting
The bottom of mobile robot shopping basket.Described interaction screen is connected positioned at the front end of shopping basket with shopping basket, and it includes and language
The connected microphone of sound identifying system, loudspeaker and touch screen type word input system, described loudspeaker are located at the movement machine
The bottom of people's shopping basket.Supermarket shopping guide mobile robot has intelligent navigation and positions the function of commodity needed for customer, also
Function is talked with loading function and intelligent interaction.By the hobby of customer can carry out voice transfer simultaneously or touch screen type Chinese and English is defeated
Enter to carry out system operatio to obtain merchandise location information and sales information.But the robot does not have for how to carry out shopping guide
Provide the idiographic flow and method of corresponding shopping guide；The accuracy of shopping guide cannot be predicted.
CN201410003731.1 discloses a kind of shopping guide's robot system and shopping guide robot customer identification Notification Method,
Its system includes：Shopping guide robot and background service terminal, shopping guide machine human organism are provided with control unit, mobile unit, communication
Module and the image unit for gathering image, described control unit are provided with customer's identification module, and customer's identification module is used
Face in image is recognized, and the first signal is sent after judging face for customer, control unit the first signal of reception, and pass through
The communication module sends secondary signal to background service terminal, and the background service terminal receives secondary signal and sends and carries
Awake signal.The purchase guiding system can not realize robot autonomous operation, above be had some limitations in application.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of shopping guide robot and its shopping guide method, and the method is carried
The free degree, accuracy of the Gao Liao robots during shopping guide, are merged and are to improve over time and space and in data
The adaptability and recognition capability of system, save the time for choosing and finding article of customer.
The present invention to achieve the above object, using following technical scheme：The present invention provides a kind of shopping guide robot
Shopping guide method, detailed process is as follows：
S01：Speech-input instructions are obtained, and semantics recognition is carried out according to phonetic order, the result that will be recognized is included aobvious
Display screen, if it is not, then instruction is re-entered in prompting；
S02：Whether interactive voice, recognition result is correct, if it is not, then returning to S01；
S03：Goodsshelves area is marked in the map that ROS systems are pre-stored；Enter with Goodsshelves area in robot present position
Row path planning；
S04：Interactive voice, it is determined that starting walking；If it is not, then returning to S01；
S05：Robot ambulation, people follows；
S06：In walking process, keep and the safe distance between people；
S07：Mark Goodsshelves area is reached, camera is taken pictures, and Text region or image recognition article are carried out to photo；
S08：Identification is completed, and interactive voice completes instruction；If it is not, then returning to S01；
S09：Terminate.
Further, in the S01, voice is input into by using person in microphone or mobile terminal, and central processing unit connects
Corresponding phonetic order is received, semantics recognition is carried out to voice, after the completion of identification, will prestored in the result of identification and central processing unit
The information of the article of storage is matched, and the match is successful, and recognition result is included in display screen；If it is not, then language is re-entered in prompting
Sound.
Further, the speech recognition flies SDK (Software Development Kit, i.e. software using University of Science and Technology's news
Development kit) interactive voice is carried out, SDK is transmitted to server, service after the phonetic order of input is changed into text instruction
Device obtains the product data stored with server background after the Item Information in text instruction and is matched, after obtaining matching result
Generation recognition result, and formation sequence operational order.
Further, in the S03, central processing unit according to identification result, in ROS systems be pre-stored article ground
Figure is matched, and marks Goodsshelves area, such as fresh area or snacks area etc. after the completion of matching in article map；According to robot
Coordinate of coordinate and Goodsshelves area of the residing particular location in article map in article map, robot central processing unit
Path planning is carried out, and route is shown in display screen.
Further, the method for building up of the article map is as follows：ROS operating systems are installed in robot main frame, are utilized
The data genaration two dimension cloud data of camera collection, and carry out local optimum using gmapping frameworks and particle filter algorithm
Set up two dimensional navigation map；Or artificial drafting two dimensional navigation map, and two dimensional navigation map is imported into the ROS in micromainframe
In operating system, finally two dimensional navigation map is stored to server background.
Further, in the process of walking, ultrasonic sensor detects barrier to the S05, then restart planning
Route, and voice message " having obstacle, if path planning again ", user confirms, if it is not, then robot is waited until obstacle
Thing is not in test scope.
Further, the S05, during following, if user's tracking loses target, robot calculates bluetooth hair
The distance and orientation of signal location and the people of emitter transmitting position in itself；Robot is moved or turned to toward signal location, determines people
The position or orientation of body；Arrive at, whether interactive voice continues follows, if it is not, then robot terminates shopping guide.
Further, in the S06, speed is followed with PID controller control robot；Judge robot and follow
Whether the distance of human body is safe distance, if exceeding safe distance, is accelerated；If being less than safe distance, slow down.
Further, in the S07, image recognition refers to that the image of the article in the photo for shooting camera exists
OpenCV is first processed into black and white, and then using feature modeling, the border in deduced image obtains corresponding point after being calculated
Cloud data, it is determined that corresponding characteristic point, characteristic point is matched with the characteristic point of the article after speech recognition, by result aobvious
Exported in display screen.
Further, in the S07, Text region refers to that the word in the photo for shooting camera is first located in OpenCV
Black and white is managed into, then using feature modeling, the border of word, is put cloud number accordingly in deduced image after being calculated
According to it is determined that corresponding characteristic point, characteristic point is matched with the characteristic point of the word after speech recognition；Needed for confirmation user
The article wanted, result is exported in display screen.
Further, the Text region is template matching method or geometrical feature extraction method.
Further, in the S08, after the completion of identification, robot voice is reported shopping guide and is completed, if carry out next
Business.
A kind of shopping guide robot, the robot includes central processing unit, chassis, fuselage cradle, deep vision camera, red
Outer sensor, Bluetooth Receiver, display screen, radar and voice interaction module, set motion control mould on the robot chassis
Block；
The deep vision camera, infrared sensor, Bluetooth Receiver, display screen, radar, motion control unit, language
Sound interactive module is connected with central processing unit；
The motion-control module, including microcontroller, driving wheel, universal wheel and motor；The driving wheel and motor are equal
It is connected with microcontroller；
The voice interaction module includes speech processing module, loudspeaker, microphone and volume adjustment device；
The robot is also connected with background service terminal；
The robot also includes control panel and call button；The control panel is used for man-machine interaction；The calling
Button is used for customer call supermarket service personnel；The robot is communicated by wireless network with background service terminal；
The deep vision camera, for the image of photographic subjects article；The infrared sensor is used to aid in detecting
Position of human body；The radar, the real-time range for detecting target body and robot；The microcontroller receives center treatment
The concrete signal of device, and the direction of motion of driving wheel or universal wheel is converted a signal into, transport speed of motor etc.；The voice
Interactive module is used for exchanging for robot and target body；The central processing unit, receives the signal of each accessory, and is converted
It is corresponding signal, sends related order etc..Further include warning device, the warning device and central processing unit phase
Even, warning device, in robot failure alarm prompting.
Further, the infrared sensor is arranged on robot head.
Robot builds the article map of navigation in ROS systems by the autonomous article map for building using camera,
After the article by semantics recognition correlation, position and zone routing planning are carried out, and realize the shopping guide that walks, reduce calculating
Amount, identification article and its position accuracy is high, quick, independence strong, noise also keeps certain stability.
Beneficial effects of the present invention：
A kind of shopping guide robot and its shopping guide method that the present invention is provided, position and the article of article are gathered by camera
Image set up article map, in the course of the work after speech recognition by semantics recognition article, the article according to identification is in thing
Corresponding Goodsshelves area is found in product map, and sets up motion path, after navigating to purpose Goodsshelves area according to motion path, led to
Cross camera and shoot corresponding article, recognize that corresponding word is trade mark, find the position of corresponding article, reduce people in business
The time of field shopping goods, realize the accuracy of navigation shopping guide；By the unique ID using Bluetooth signal, taking the photograph for robot is realized
As occur in head multiple human bodies or part human body it is closer to the distance in the case of, can also recognize the target body for treating shopping guide, reduce
The appearance of interference, realizes that shopping guide uniquely changes, accurately and timely.
Wherein, it is autonomous to build article map, the identification of voice, image, word is carried out using ROS systems, the winged system of news, subtract
Amount of calculation is lacked, recognition accuracy is high, quick, independence strong, and noise also keeps certain stability；
Central processing unit realizes in real time the walking states of planning robot and position in time by the analysis to data；It is main
It is dynamic to realize finding the target body for treating shopping guide, it is self-service to realize barrier avoiding function；
The free degree, accuracy of the robot during shopping guide are the method increase, over time and space and in data
Merged to improve the adaptability and recognition capability of system, so as to realize the self-service shopping guide of robot, high working efficiency, cost
Low, accurate positioning, practicality and reliability are high, and operand is few, reduce people and are consumed due to finding article in shopping center
Time and muscle power, improve shopping efficiency.
Specific embodiment
With specific embodiment, the present invention is further illustrated below, but the present invention is not limited by following embodiments.
Embodiment 1
The present invention provides a kind of shopping guide method of shopping guide robot, and detailed process is as follows：
S01：Speech-input instructions are obtained, and semantics recognition is carried out according to phonetic order, the result that will be recognized is included aobvious
Display screen, if it is not, then instruction is re-entered in prompting；
S02：Whether interactive voice, recognition result is correct, if it is not, then returning to S01；
S03：Goodsshelves area is marked in the map that ROS systems are pre-stored；Enter with Goodsshelves area in robot present position
Row path planning；
S04：Interactive voice, it is determined that starting walking；If it is not, then returning to S01；
S05：Robot ambulation, people follows；
S06：In walking process, keep and the safe distance between people；
S07：Mark Goodsshelves area is reached, camera is taken pictures, and Text region or image recognition article are carried out to photo；
S08：Identification is completed, and interactive voice completes instruction；If it is not, then returning to S01；
S09：Terminate.
In the S01, voice is input into by using person in microphone or mobile terminal, and central processing unit receives corresponding language
Sound is instructed, and semantics recognition is carried out to voice, after the completion of identification, the article being pre-stored in the result and central processing unit that will recognize
Information is matched, and the match is successful, and recognition result is included in display screen；If it is not, then voice is re-entered in prompting.
The speech recognition flies SDK (Software Development Kit, i.e. SDK using University of Science and Technology's news
Bag) interactive voice is carried out, SDK is transmitted to server after the phonetic order of input is changed into text instruction, and server obtains text
The product data stored with server background after Item Information in this instruction is matched, and identification is generated after obtaining matching result
And formation sequence operational order as a result,.
In the S02, whether robot voice output recognition result is correct, after confirming through user, completes voice article
Identification.
In the S03, central processing unit is carried out according to the result of identification, the article map to being pre-stored in ROS systems
Match somebody with somebody, mark Goodsshelves area, such as fresh area or snacks area etc. after the completion of matching in article map；Tool according to residing for robot
Coordinate of coordinate and Goodsshelves area of the body position in article map in article map, robot central processing unit carries out path
Planning, plans a nearest route, and route is shown in display screen.
The method for building up of the article map is as follows：ROS operating systems are installed in robot main frame, are gathered using camera
Data genaration two dimension cloud data, and carry out local optimum using gmapping frameworks and particle filter algorithm and set up two dimension leading
Boat map；Or artificial drafting two dimensional navigation map, and two dimensional navigation map is imported into the ROS operating systems in micromainframe
In, finally two dimensional navigation map is stored to server background.
In the S04, robot loudspeaker are reported, if start walking, and after confirming through user, starting row is planned until then
Path.
In the process of walking, ultrasonic sensor detects barrier to the S05, then restart programme path, and language
Sound prompting " has obstacle, if path planning again ", and user confirms, if it is not, then robot is waited until barrier is not being surveyed
In the range of examination.
Further, the S05, during following, if user's tracking loses target, robot calculates bluetooth hair
The distance and orientation of signal location and the people of emitter transmitting position in itself；Robot is moved or turned to toward signal location, determines people
The position or orientation of body；Arrive at, whether interactive voice continues follows, if it is not, then robot terminates shopping guide.
Further, in the S06, speed is followed with PID controller control robot；Judge robot with followed by
With the distance of human body whether be safe distance, if exceeding safe distance, accelerate；If being less than safe distance, slow down.
Further, in the S07, first the word in image is identified, is directly carried out after the result for being matched
Next step；If word None- identified or without word, image recognition is carried out.
Further, in the S07, image recognition refers to that the image of the article in the photo for shooting camera exists
OpenCV is first processed into black and white, and then using feature modeling, the border in deduced image obtains corresponding point after being calculated
Cloud data, it is determined that corresponding characteristic point, characteristic point is matched with the characteristic point of the article after speech recognition.
Further, in the S07, Text region refers to that the word in the photo for shooting camera is first located in OpenCV
Black and white is managed into, then using feature modeling, the border of word, is put cloud number accordingly in deduced image after being calculated
According to it is determined that corresponding characteristic point, characteristic point is matched with the characteristic point of the word after speech recognition；Needed for confirmation user
The article wanted, result is exported in display screen.
Further, the Text region is template matching method or geometrical feature extraction method.The geometrical feature extraction method
Refer to the extraction that the photo that camera shoots is carried out word, extract some geometric properties of word, such as end points of word, bifurcated
Line segment, the closed circuit of all directions such as point, jog and level, vertical, inclination etc., position and phase according to these features
Mutual relation carries out logical combination judgement, obtains recognition result.
Further, in the S08, after the completion of identification, robot voice is reported shopping guide and is completed, if carry out next
Business.
A kind of shopping guide robot, the robot includes central processing unit, chassis, fuselage cradle, deep vision camera, red
Outer sensor, Bluetooth Receiver, display screen, radar and voice interaction module, set motion control mould on the robot chassis
Block；
The deep vision camera, infrared sensor, Bluetooth Receiver, display screen, radar, motion control unit, language
Sound interactive module is connected with central processing unit；
The motion-control module, including microcontroller, driving wheel, universal wheel and motor；The driving wheel and motor are equal
It is connected with microcontroller；
The voice interaction module includes speech processing module, loudspeaker, microphone and volume adjustment device；
The robot is also connected with background service terminal；
The robot also includes control panel and call button；The control panel is used for man-machine interaction；The calling
Button is used for customer call supermarket service personnel；The robot is communicated by wireless network with background service terminal；
The deep vision camera, for the image of photographic subjects article；The infrared sensor is used to aid in detecting
Position of human body；The radar, the real-time range for detecting target body and robot；The microcontroller receives center treatment
The concrete signal of device, and the direction of motion of driving wheel or universal wheel is converted a signal into, transport speed of motor etc.；The voice
Interactive module is used for exchanging for robot and target body；The central processing unit, receives the signal of each accessory, and is converted
It is corresponding signal, sends related order etc..Further include warning device, the warning device and central processing unit phase
Even, warning device, in robot failure alarm prompting.
Further, the infrared sensor is arranged on robot head.
Interaction scenario of the background service terminal energy in detail between recorder people and user, when occurring unexpected,
Backstage personnel can timely be processed.
The robot builds the article of navigation in ROS systems by the autonomous article map for building using camera
Map, after the article by semantics recognition correlation, carries out position and zone routing planning, and realizes the shopping guide that walks, and reduces
Amount of calculation, identification article and its position accuracy is high, quick, independence strong, noise also keeps certain stability；
Calculated using ROS system datas, can strengthen sports independence, reduce the complexity of computing, plan shopping guide
Movement locus it is simple, motion control is also simpler.
By the unique ID using Bluetooth signal, realize occurring in the camera of robot multiple human bodies or part human body
In the case of closer to the distance, the target body for treating shopping guide can be also recognized, reduce the appearance of interference, realize that shopping guide uniquely changes, accurately
In time.
Further, the free degree, accuracy of the robot during shopping guide are the method increase, over time and space
And merged in data to improve the adaptability and article of system and the recognition capability of semanteme, so as to realize robot autonomous leading
Purchase, high working efficiency, low cost, accurate positioning, practicality and reliability be high, and operand is few, reduce people shopping center by
In the time and muscle power finding article and consume, shopping efficiency is improved.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of shopping guide method of shopping guide robot, it is characterised in that the detailed process of the method is as follows：
S01：Speech-input instructions are obtained, and semantics recognition are carried out according to phonetic order, the result that will be recognized is included in display screen,
If it is not, then instruction is re-entered in prompting；
S02：Whether interactive voice, recognition result is correct, if it is not, then returning to S01；
S03：Goodsshelves area is marked in the map that ROS systems are pre-stored；Enter walking along the street in robot present position and Goodsshelves area
Plan in footpath；
S04：Interactive voice, it is determined that starting walking；If it is not, then returning to S01；
S05：Robot ambulation, people follows；
S06：In walking process, keep and the safe distance between people；
S07：Mark Goodsshelves area is reached, camera is taken pictures, and Text region or image recognition article are carried out to photo；
S08：Identification is completed, and interactive voice completes instruction；If it is not, then returning to S01；
S09：Terminate.
2. a kind of shopping guide method of shopping guide robot according to claim 1, it is characterised in that in the S01, voice leads to
Cross user to be input into microphone or mobile terminal, central processing unit receives corresponding phonetic order, and semantic knowledge is carried out to voice
Not, after the completion of identification, the result of identification is matched with the information of the article being pre-stored in central processing unit, the match is successful,
Recognition result is included in display screen；If it is not, then voice is re-entered in prompting.
3. the shopping guide method of a kind of shopping guide robot according to claim 1, it is characterised in that the speech recognition is used
News fly SDK carries out interactive voice, and SDK is transmitted to server after the phonetic order of input is changed into text instruction, and server is obtained
Take the product data stored with server background after the Item Information in text instruction to be matched, generated after obtaining matching result
Recognition result, and formation sequence operational order.
4. the shopping guide method of a kind of shopping guide robot according to claim 1, it is characterised in that in the S03, centre
According to the result of identification, the article map to being pre-stored in ROS systems is matched reason device, after the completion of matching in article map
Mark Goodsshelves area；The coordinate and Goodsshelves area of particular location according to residing for robot in article map are in article map
Coordinate, robot central processing unit carries out path planning, and route is shown in display screen.
5. the shopping guide method of a kind of shopping guide robot according to claim 1, it is characterised in that the article map is built
Cube method is as follows：ROS operating systems are installed in robot main frame, the data genaration two dimension cloud data gathered using camera,
And carry out local optimum using gmapping frameworks and particle filter algorithm and set up two dimensional navigation map；Or artificial two dimension of drawing is led
In boat map, and the ROS operating systems that two dimensional navigation map is imported into micromainframe, finally two dimensional navigation map is stored
To server background.
6. the shopping guide method of a kind of shopping guide robot according to claim 1, it is characterised in that the S05 is expert at and passes by
Cheng Zhong, ultrasonic sensor detects barrier, then restart programme path, and voice message " has obstacle, if advise again
Draw path ", user confirms, if it is not, then robot is waited until barrier is not in test scope.
7. a kind of shopping guide method of shopping guide robot according to claim 1, it is characterised in that the S05, was following
Cheng Zhong, if user's tracking loses target, robot calculates the signal location of bluetooth transmitters transmitting and people position in itself
Distance and orientation；Robot is moved or turned to toward signal location, determines the position or orientation of human body；Arrive at, voice is handed over
Mutually whether continue to follow, if it is not, then robot terminates shopping guide.
8. the shopping guide method of a kind of shopping guide robot according to claim 1, it is characterised in that in the S06, use PID
Controller control robot follows speed；Whether the distance for judging robot and human body is safe distance, if beyond safety away from
From then accelerating；If being less than safe distance, slow down.
9. a kind of shopping guide method of shopping guide robot according to claim 1, it is characterised in that in the S07, word is known
Other or image recognition refers to that word or article in the photo for shooting camera are first processed into black and white in OpenCV, is then adopted
With feature modeling, the border of word or article in deduced image obtains corresponding cloud data, it is determined that accordingly after being calculated
Characteristic point, characteristic point is matched with word or the characteristic point of article after speech recognition；After image recognition success, by result
Exported in display screen.
10. a kind of shopping guide shopping guide robot, it is characterised in that the robot includes central processing unit, chassis, fuselage cradle, depth
Degree vision camera, infrared sensor, Bluetooth Receiver, display screen, radar and voice interaction module, on the robot chassis
Motion-control module is set；
The deep vision camera, infrared sensor, Bluetooth Receiver, display screen, radar, motion control unit, voice are handed over
Mutual module is connected with central processing unit；
The motion-control module, including microcontroller, driving wheel, universal wheel and motor；The driving wheel and motor with it is micro-
Controller is connected；
The voice interaction module includes speech processing module, loudspeaker, microphone and volume adjustment device；
The robot is also connected with background service terminal；
The robot also includes control panel and call button；The robot is entered by wireless network with background service terminal
Row communication；
The infrared sensor is arranged on robot head.
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN108282747A (en) * | 2017-12-28 | 2018-07-13 | 惠州Tcl移动通信有限公司 | A kind of air navigation aid, system and storage device based on bluetooth grid protocols |
| CN108282747B (en) * | 2017-12-28 | 2020-12-25 | 惠州Tcl移动通信有限公司 | Navigation method, system and storage device based on Bluetooth grid protocol |
| CN108196548A (en) * | 2018-01-08 | 2018-06-22 | 四川文理学院 | A kind of robot controller based on Arduino language and path following algorithm |
| CN108445881A (en) * | 2018-03-16 | 2018-08-24 | 上海乐愚智能科技有限公司 | People's method and robot are looked for by a kind of robot |
| CN108563241A (en) * | 2018-03-30 | 2018-09-21 | 哈尔滨理工大学 | A kind of shared based on embedded vision module independently follows carrying apparatus |
| CN108592936A (en) * | 2018-04-13 | 2018-09-28 | 北京海风智能科技有限责任公司 | A kind of service robot and its interactive voice air navigation aid based on ROS |
| CN108646742A (en) * | 2018-05-31 | 2018-10-12 | 杭州纳戒科技有限公司 | Self-help shopping travel unit and self-help shopping system |
| CN108789436A (en) * | 2018-06-15 | 2018-11-13 | 重庆优豆商贸有限公司 | Intelligent assistance formula shopping robot |
| CN110659848A (en) * | 2018-06-28 | 2020-01-07 | 北京京东尚科信息技术有限公司 | Method and system for monitoring object |
| CN108748218A (en) * | 2018-08-27 | 2018-11-06 | 浙江华嘉驰智能科技有限公司 | New retail intelligent shopping guide robot and shopping guide method based on machine vision Yu AR technologies |
| CN109375614A (en) * | 2018-08-29 | 2019-02-22 | 上海常仁信息科技有限公司 | A kind of locating and tracking system based on robot |
| CN109448047A (en) * | 2018-09-18 | 2019-03-08 | 北京无线体育俱乐部有限公司 | Shelf are distributed drawing generating method, information acquisition method, apparatus and system |
| CN109844674A (en) * | 2018-10-15 | 2019-06-04 | 灵动科技（北京）有限公司 | Merchandising machine people and operation method with controllable video camera and indicator |
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| CN111189452A (en) * | 2019-12-30 | 2020-05-22 | 深圳优地科技有限公司 | Robot navigation leading method, robot and storage medium |
| CN111210061A (en) * | 2019-12-31 | 2020-05-29 | 咪咕文化科技有限公司 | Guidance method, apparatus, system, and computer-readable storage medium |
| CN111331614A (en) * | 2020-03-19 | 2020-06-26 | 上海陆根智能传感技术有限公司 | Robot based on artificial intelligence |
| CN113703332A (en) * | 2021-08-27 | 2021-11-26 | 广东启智创新教育科技有限公司 | Interactive control system of educational toy and toy |
| CN113703332B (en) * | 2021-08-27 | 2022-11-22 | 广东启智创新教育科技有限公司 | Interactive control system of educational toy and toy |
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