CN108608436A - A kind of manned market service robot - Google Patents
A kind of manned market service robot Download PDFInfo
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- CN108608436A CN108608436A CN201810403765.8A CN201810403765A CN108608436A CN 108608436 A CN108608436 A CN 108608436A CN 201810403765 A CN201810403765 A CN 201810403765A CN 108608436 A CN108608436 A CN 108608436A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the present application provides a kind of manned market service robot, by interaction module, for showing market guidance information and shopping guidance information to the user to stand in placing part；The parcel shelf of placing part support section for standing user and puts article.Moving assembly, instruction for being sent according to control module carries out corresponding movement, solves current store service robot, since it runs to destination for fixed customer derived from oneself, and during customer purchase, customer cannot be helped to carry thing, customer can not be helped to mitigate the burden of shopping and the technical problem of fatigue.
Description
Technical field
This application involves robotic technology field more particularly to a kind of manned market service robots.
Background technology
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of advance layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.Market refers to the various shops to flock together
The market of composition, the warehouse that area is larger, commodity are more complete.Current market belongs to SHOPPING MALL patterns, that is, purchases
Object center, based on larger retail industry, numerous specialty stores are the polymerization for assisting industry situation and multi-functional commercial service facility to be formed
Body provides the more commodity of client and service.
The mode that present store mostly uses artificial guiding, manually promotes, to the mesh for reaching reception customer, promoting the sale of products
's.There are also some stores to realize the guiding and marketing to consumer using service robot.Present store clothes
Being engaged in, which can be roughly divided into two types for robot, a kind of to be integrally fixed at somewhere, immovable, can be provided to customer simple
It guides；One is transportable, customer can be led to destination.Fixed service robot is by applying interactive voice skill
Art and face recognition technology simultaneously mainly realize the guide to customer by display screen.
It is above-mentioned by manually to the guiding of customer generally by language, it is difficult to it is very intuitive, or even can sometimes be missed
It leads；It is blindly to promote to customer recommendation shopping, the demand to customer has no way of understanding, and easily causes customer's dislike.Manpower is caused to provide
The waste in source influences the earning rate in store.Current store service robot, since it runs to for fixed customer derived from oneself
Destination, and during customer purchase, customer cannot be helped to carry thing, customer can not be helped to mitigate the burden and fatigue of shopping.
Apply for embodiment content
The embodiment of the present application provides a kind of manned market service robot, solves current store service robot,
Since it runs to destination for fixed customer derived from oneself, and during customer purchase, customer cannot be helped to carry thing, it cannot
Customer is enough helped to mitigate the burden of shopping and the technical problem of fatigue.
The embodiment of the present application provides a kind of manned market service robot, including：
Interaction module, glove movement module and control module；
The glove movement module includes placing part and moving assembly, and the control module is assemblied in inside placing part, institute
It states moving assembly and is set to the placing part outer bottom, communicated to connect with the control module；
Interaction module, for showing market guidance information and shopping guidance information to the user to stand in the placing part；
The parcel shelf of the placing part support section, for the user and the storing article of standing.
The moving assembly, the instruction for being sent according to the control module carry out corresponding movement.
Preferably, the control module specifically includes：
Man machine language's interactive module is communicated to connect with module is interacted, for user's language according to the interactive module acquisition
Sound instruction carries out processing and is sent to the correspondence that cloud platform carries out the user by the central processing module of the control module
User's purchase data acquisition of information, and by user's purchase data information be sent to the interactive module carry out voice prompt or
Display.
Preferably, the control module specifically includes：
Face recognition module is communicated to connect with module is interacted, for being schemed according to the user face of the interactive module acquisition
It is carried out described in the correspondence of the user as being identified and being sent to cloud platform by the central processing module of the control module
User's purchase data acquisition of information, and by user's purchase data information be sent to the interactive module carry out voice prompt or
Display.
Preferably, the control module specifically includes：
Independent navigation module is communicated to connect with the moving assembly, the selected quotient for being sent according to central processing module
Product navigation instruction or siting navigation instruction and built-in product locations data and market map carry out route planning, and send
Route guidance instructs to the moving assembly and carries out robot autonomous movement.
Preferably, the control module specifically includes：
Obstacle avoidance module of walking when being moved for the moving assembly, obtains extremely in real time with moving assembly communication connection
The feedback information of few 3 sensors, which calculate, determines whether that avoidance is handled, and avoidance instruction is sent to the moving assembly
Carry out avoidance movement.
Preferably, the control module specifically includes：
Automatic charging module, for when robot electric quantity is less than setting value, passing through the central processing of the control module
Module sends charging instruction and carries out being moved to charging pile route planning processing to the independent navigation module so that the mobile mould
Mobile robot is organized to the charging pile.
Preferably, the control module specifically includes：
Remote assistance module, with the customer mobile terminal communicate to connect, for send impaired report information to remote back-office at
Reason.
Preferably, independent navigation module specifically includes：Visual sensor and nonvisual sensor.
Preferably, the interactive module specifically includes：Column and display screen；
The moving assembly specifically includes：Active wheels and driven wheels；
The glove front edge of board in robot direction of advance is uprightly arranged in the column, is equipped in the upper end of the column described
Display screen；
The placing part bottom front in robot direction of advance, the active wheels setting is arranged in the driven wheels
In the placing part bottom rear end of robot direction of retreat.
Preferably, the parcel shelf is provided with baffle in the rear end of robot direction of retreat.
As can be seen from the above technical solutions, the embodiment of the present application has the following advantages：
The embodiment of the present application provides a kind of manned market service robot, by interaction module, for showing that market is drawn
It leads information and guidance information of doing shopping is to the user to stand in placing part；The parcel shelf of placing part support section is used for standing user
And put article.Moving assembly, the instruction for being sent according to control module carry out corresponding movement, solve current store
Service robot since it runs to destination for fixed customer derived from oneself, and during customer purchase, cannot help customer
Thing is carried, customer can not be helped to mitigate the burden of shopping and the technical problem of fatigue.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of one embodiment of manned market service robot in the embodiment of the present application；
Fig. 2 is a kind of function structure schematic diagram of the control module of manned market service robot in the embodiment of the present application；
Fig. 3 be a kind of one embodiment of manned market service robot in the embodiment of the present application man machine language's interaction and
Face identification functions implementation process schematic diagram.
It illustrates：1- columns, 2- display screens, 3- placing parts, 4- wheels, 5- baffles.
Specific implementation mode
The embodiment of the present application provides a kind of manned market service robot, solves current store service robot,
Since it runs to destination for fixed customer derived from oneself, and during customer purchase, customer cannot be helped to carry thing, it cannot
Customer is enough helped to mitigate the burden of shopping and the technical problem of fatigue.
To enable the application embodiment purpose, feature, advantage of the embodiment of the present application more apparent and understandable, below
The attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application will be combined to be clearly and completely described, shown
So, the embodiments described below are only the embodiment of the present application a part of the embodiment, and not all embodiment.Based on this Shen
Embodiment that please be in embodiment, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment belongs to the range of the embodiment of the present application protection.
Referring to Fig. 1, a kind of one embodiment of manned market service robot provided by the embodiments of the present application includes：
Interaction module, glove movement module and control module；
Glove movement module includes placing part 3 and moving assembly, and control module is assemblied in inside placing part, and moving assembly is set
It is placed in 3 outer bottom of placing part, with control module communication connection；
Interaction module, for showing market guidance information and shopping guidance information to the user to stand in placing part 3；
The parcel shelf of 3 support section of placing part for standing user and puts article.
Moving assembly, the instruction for being sent according to control module carry out corresponding movement.
As shown in Fig. 2, control module specifically includes：
Man machine language's interactive module is communicated to connect with module is interacted, for being referred to according to the user speech of interaction module acquisition
It enables and carries out processing and be sent to correspondence user's purchase data that cloud platform carries out user by controlling the central processing module of module
Acquisition of information, and user's purchase data information is sent to interactive module and carries out voice prompt or display.
Face recognition module, with interact module communication connection, for according to interaction module acquisition user's face image into
Row identification is simultaneously sent to correspondence user's purchase data information that cloud platform carries out user by controlling the central processing module of module
It obtains, and user's purchase data information is sent to interactive module and carries out voice prompt or display.
It should be noted that as shown in figure 3, man machine language's interactive module and face recognition module：After robot starts, take the photograph
As head can first be started to work, recognition of face, if the user was marked, robot are carried out to the user entered in coverage
It can identify user's (and calling the purchaser record of the user, hobby analysis), if be not marked, be led according to age-sex
Go out suitable Recommendations.At this moment, interactive voice can not carry out, after user has said specific wake-up word to robot, machine
Device people, which assembles, is waken up microphone array, and microphone array can start to acquire voice data.Robot handle collects later
Voice data with mav formats upload to cloud platform carry out speech recognition, cloud platform processing after, return to corresponding text message and arrive
Robot.Robot by the mode interface of the suitable store scene of speech text uploading information data to cloud platform semantics recognition,
And then find out associated degree highest most matched sentence as answer (if the user was marked, during matched,
Those labeled information can be called according to demand.), it will finally answer text and send back robot.Last robot passes through language
Voice output is realized in sound synthesis, completes interaction.Wherein, microphone array ensure under this noisy environment in store robot to
The high quality of family audio obtains, and ensures the accuracy of speech recognition and the high quality experience sense of interactive voice.
Independent navigation module, communicates to connect with moving assembly, and the selected commodity for being sent according to central processing module are led
Boat instruction or siting navigation instruction and built-in product locations data and market map carry out route planning, and send route
Navigation instruction to moving assembly carries out robot autonomous movement.Including：Selected commodity navigation and siting navigation.System of robot
System is built-in with store product locations data and store map.Robot is adopted by the robot SLAM algorithms based on laser radar
Take vision and nonvisual sensor (robot system framework uses multi-level sensor data fusion, including：Laser radar,
IMU, encoder, RGBD, UWB, ultrasonic wave, infrared distance measurement etc.) integrated navigation mode, make robot just by the autonomous shifting of point-to-point
Dynamic function, system need to only tell robot target place, robot can cook up reach target location most have a path, and from
Master is moved to target location.Independent navigation module calls edge in store in path planning process, by central data processing module
Way camera data judge that people's quantity, programme path allow robot to avoid congestion people using face recognition module function
Group.
Obstacle avoidance module of walking when being moved for moving assembly, obtains at least three biography in real time with moving assembly communication connection
The feedback information of sensor, which calculate, determines whether that avoidance is handled, and avoidance instruction is sent to moving assembly and carries out avoidance shifting
It is dynamic.When robot ambulation, by multi-level sensor, (robot system framework uses multi-level sensor data fusion, packet
It includes：The multiple sensors such as laser radar, IMU, encoder, RGBD, UWB, ultrasonic wave, infrared distance measurement provide precisely for robot
Environment sensing information) perception environment arrived to avoid obstacle.
Automatic charging module, for when robot electric quantity is less than setting value, passing through the central processing module of control module
It sends charging instruction to carry out being moved to charging pile route planning processing to independent navigation module so that mobile module mobile robot
To charging pile.When electricity is less than setting value, robot can automatic programme path return to charging pile and charge automatically.When full of
After electricity, working condition is entered back into.
Remote assistance module is communicated to connect with customer mobile terminal, and remote back-office processing is given for sending impaired report information.When
When robot encounters the problem of not handling, backstage can be connected to and handled by staff.Client can pass through mobile phone app, meter
Calculation machine app and pad app, is connect by wifi or mobile communication wireless network with robot.
Display module：Robotic asssembly can show store Quick Response Code above and recommend purchase commodity there are one display screen
Picture in kind.
Central data processing module：Robot itself is equipped with microcomputer, can handle most basic data.Other work(
The realization of energy is all that initial data is uploaded to cloud platform by robot, is handled in cloud platform.Both robot had been alleviated certainly
The burden of body improves the performance of robot again.
Energy supply control module：The energy is provided for robot all parts to support.
Service information management module：The purchaser record and hobby of system meeting automatic storage user is to cloud database, under
It is secondary to same user service when data basis is provided.Even if being not uniform machinery people, it can also obtain beyond the clouds and use family letter instead
Breath realizes the shared of data.
As shown in Figure 1, interaction module specifically includes：Column and display screen；
Moving assembly specifically includes：Active wheels and driven wheels；
The glove front edge of board in robot direction of advance is uprightly arranged in column, and display screen is equipped in the upper end of the column；
The placing part bottom front in robot direction of advance is arranged in driven wheels, and active wheels setting is retreated in robot
The placing part bottom rear end in direction.
Parcel shelf is provided with baffle in the rear end of robot direction of retreat.
1 top of column is equipped with camera and microphone array, can acquire user's face image and audio, to realize people
Face identifies and basis is carried out in human-computer interaction.And to display screen 2 to assemble place.When robot movement speed is very fast, user
Column can be held to keep balancing.1. display screen 2 can provide route map instruction to the user in the case of customer requirement, know
The place that pipeline robot takes to oneself prevents from causing sense of discomfort.2. providing store public platform Quick Response Code, preferential activity is provided
Information attracts user, keeps user here.3. commodity purchasing advisory information is provided with graphic form, to user with direct feel.Glove
Portion 3 is equipped with control module and battery.Control module can realize independent navigation and real-time obstacle, and user is brought to specified ground
Point.Control the work of other each modules of module control robot.Battery provides energy for robot.Wheel 4 realizes robot
Mobile and steering.Two wheels close to column 1 are front-wheel, are driven wheel, are trailing wheel far from column 1, are driving wheel.Baffle
5, when commodity are put on bottom 3 by user, it can prevent commodity from falling.
The embodiment of the present application provides a kind of manned market service robot, by interaction module, for showing that market is drawn
It leads information and guidance information of doing shopping is to the user to stand in placing part；The parcel shelf of placing part support section is used for standing user
And put article.Moving assembly, the instruction for being sent according to control module carry out corresponding movement, solve current store
Service robot since it runs to destination for fixed customer derived from oneself, and during customer purchase, cannot help customer
Thing is carried, customer can not be helped to mitigate the burden of shopping and the technical problem of fatigue.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the embodiment of the present application can be integrated in a processing unit,
Can also be that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned collection
At unit both may be used hardware form realize, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, the technical solution of the embodiment of the present application
Substantially all or part of the part that contributes to existing technology or the technical solution can be with software product in other words
Form embody, which is stored in a storage medium, including some instructions use so that one
Computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment of the embodiment of the present application
The all or part of step of the method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. it is various
The medium of program code can be stored.
The above, above example are only to illustrate the technical solution of the embodiment of the present application, rather than its limitations；Although
The embodiment of the present application is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its
Still can be with technical scheme described in the above embodiments is modified, or which part technical characteristic is equal
It replaces；And these modifications or replacements, each embodiment technology of the embodiment of the present application that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (10)
1. a kind of manned market service robot, which is characterized in that including：
Interaction module, glove movement module and control module；
The glove movement module includes placing part and moving assembly, and the control module is assemblied in inside placing part, the shifting
Dynamic component is set to the placing part outer bottom, is communicated to connect with the control module；
Interaction module, for showing market guidance information and shopping guidance information to the user to stand in the placing part；
The parcel shelf of the placing part support section, for the user and the storing article of standing.
The moving assembly, the instruction for being sent according to the control module carry out corresponding movement.
2. manned market service robot according to claim 1, which is characterized in that the control module specifically includes：
Man machine language's interactive module is communicated to connect with module is interacted, for being referred to according to the user speech of the interactive module acquisition
It enables and carries out processing and the correspondence user that cloud platform carries out the user is sent to by the central processing module of the control module
Purchase data acquisition of information, and user's purchase data information is sent to the interactive module progress voice prompt or is shown
Show.
3. manned market service robot according to claim 1, which is characterized in that the control module specifically includes：
Face recognition module, and interacts module communication connection, for according to user's face image of the interactive module acquisition into
Row identification is simultaneously sent to the correspondence user that cloud platform carries out the user by the central processing module of the control module
Purchase data acquisition of information, and user's purchase data information is sent to the interactive module progress voice prompt or is shown
Show.
4. manned market service robot according to claim 1, which is characterized in that the control module specifically includes：
Independent navigation module, communicates to connect with the moving assembly, and the selected commodity for being sent according to central processing module are led
Boat instruction or siting navigation instruction and built-in product locations data and market map carry out route planning, and send route
Navigation instruction to the moving assembly carries out robot autonomous movement.
5. manned market service robot according to claim 1, which is characterized in that the control module specifically includes：
Obstacle avoidance module of walking when being moved for the moving assembly, obtains at least 3 in real time with moving assembly communication connection
The feedback information of a sensor, which calculate, determines whether that avoidance is handled, and avoidance instruction is sent to the moving assembly and is carried out
Avoidance moves.
6. manned market service robot according to claim 4, which is characterized in that the control module specifically includes：
Automatic charging module, for when robot electric quantity is less than setting value, passing through the central processing module of the control module
It sends charging instruction to carry out being moved to charging pile route planning processing to the independent navigation module so that the mobile module moves
Mobile robot is to the charging pile.
7. manned market service robot according to claim 4, which is characterized in that the control module specifically includes：
Remote assistance module is communicated to connect with the customer mobile terminal, and remote back-office processing is given for sending impaired report information.
8. manned market service robot according to claim 4, which is characterized in that independent navigation module specifically includes：
Visual sensor and nonvisual sensor.
9. manned market service robot as claimed in any of claims 1 to 8, which is characterized in that the interaction
Module specifically includes：Column and display screen；
The moving assembly specifically includes：Active wheels and driven wheels；
The glove front edge of board in robot direction of advance is uprightly arranged in the column, and the display is equipped in the upper end of the column
Screen；
The placing part bottom front in robot direction of advance is arranged in the driven wheels, and the active wheels are arranged in machine
The placing part bottom rear end of device people's direction of retreat.
10. manned market service robot according to claim 1, which is characterized in that the parcel shelf is after robot
The rear end for moving back direction is provided with baffle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810403765.8A CN108608436A (en) | 2018-04-28 | 2018-04-28 | A kind of manned market service robot |
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| CN201810403765.8A CN108608436A (en) | 2018-04-28 | 2018-04-28 | A kind of manned market service robot |
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| CN110587627A (en) * | 2019-09-30 | 2019-12-20 | 深圳市银星智能科技股份有限公司 | Airport service robot and robot management system |
| CN111325906A (en) * | 2018-12-14 | 2020-06-23 | 黎越智能技术研究（广州）有限公司 | Intelligent cigarette experience house |
| CN112286209A (en) * | 2020-11-19 | 2021-01-29 | 深圳壹智云科技有限公司 | Man-machine interaction method and system of mobile robot |
| CN112621787A (en) * | 2021-01-19 | 2021-04-09 | 吕鑑珠 | Wireless remote control humanoid robot for business propaganda entertainment |
| CN113273499A (en) * | 2021-05-28 | 2021-08-20 | 广东广兴牧业机械设备有限公司 | Intelligent dung cleaning robot in hog house and control system thereof |
| CN113362709A (en) * | 2021-05-31 | 2021-09-07 | 南京信息工程大学 | Mobile robot type sign system |
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