CN108955691A - A kind of moving area calibration-type guide to visitors robot - Google Patents
A kind of moving area calibration-type guide to visitors robot Download PDFInfo
- Publication number
- CN108955691A CN108955691A CN201810871953.3A CN201810871953A CN108955691A CN 108955691 A CN108955691 A CN 108955691A CN 201810871953 A CN201810871953 A CN 201810871953A CN 108955691 A CN108955691 A CN 108955691A
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- robot
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- robot body
- wireless terminal
- bluetooth
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- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 238000003860 storage Methods 0.000 claims abstract description 14
- 238000012806 monitoring device Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 21
- 241001062009 Indigofera Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of moving area calibration-type guide to visitors robots, including robot body and at least one set of wireless terminal；The wireless terminal is provided with bluetooth headset；The robot body includes running gear, navigation positional device, speech sound eeplaining device, bluetooth transmission means and storage device；The wireless terminal and the bluetooth transmission means bluetooth connection；The navigation positional device is used for pre-set navigational route, light emitting module including light emitting control module and on the robot body, the light emitting module is electrically connected with the light emitting control module, the light emitting control module is used to that corresponding region of the light emitting module around the robot body to be driven to carry out light according to the navigation routine and shows；The speech sound eeplaining device is for explaining showpiece；The storage device is for storing showpiece explanation data.This moving area calibration-type guide to visitors robot, can reduce the evacuation of guide to visitors robot, move guide to visitors robot efficiently.
Description
Technical field
The present invention relates to guide to visitors robotic technology field more particularly to a kind of moving area calibration-type guide to visitors robots.
Background technique
Autonomous guide to visitors robot be it is a kind of apply in places such as museums, according to business demand, lead visit personnel to different
Functional areas, and explained and answered a kind of intelligent robot of relevant issues accordingly, it passes through bottom driving mechanism, energy
It is enough to carry out the movement in museum.Currently, guide to visitors robot is to position and avoidance by the sensor of itself, but actually answering
With middle discovery, guide to visitors robot during the motion, if someone on its motion profile, can be according to the feedback of self-sensor device
Information carries out automatic obstacle-avoiding, unpredictable due to Human-to-Machine people's avoidance direction, can avoid to side based on instinct, often out
The evacuation direction of existing people is consistent with guide to visitors robot obstacle-avoiding direction, causes the secondary of guide to visitors machine person to person or repeatedly mutually keeps away
It allows, so that robot needs take more time or select a non-optimal path to reach predeterminable area, or even causes robot
Erroneous judgement has impassable obstacle around thinking, can not reach preset region and spin in situ, influence robot
It operates normally.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is to provide a kind of moving area calibration-type guide to visitors robot, energy
The evacuation for enough reducing guide to visitors robot, moves guide to visitors robot efficiently.
The technical scheme of the present invention is realized as follows:
A kind of moving area calibration-type guide to visitors robot, including robot body and at least one set of wireless terminal；
The wireless terminal is provided with bluetooth headset；
The robot body includes running gear, navigation positional device, speech sound eeplaining device, bluetooth transmission means and deposits
Storage device；
The wireless terminal and the bluetooth transmission means bluetooth connection；
The running gear is used to control the robot body according to the signal of the navigation positional device mobile；
The navigation positional device be used for pre-set navigational route, including light emitting control module and be set to the robot master
Light emitting module on body, the light emitting module are electrically connected with the light emitting control module, and the light emitting control module is used for basis
The navigation routine drives corresponding region of the light emitting module around the robot body to carry out light and shows；
The speech sound eeplaining device is for explaining showpiece；
The storage device is for storing showpiece explanation data.
Preferably, the wireless terminal includes languages selecting module；
The languages selecting module is used to select the languages of the showpiece explanation data for user；
The speech sound eeplaining device is used to transmit corresponding language to bluetooth headset by bluetooth transmission means according to the languages
The showpiece of kind explains voice.
Preferably, the bluetooth transmission means include at least one set of bluetooth module；
The wireless terminal is matched one by one with the bluetooth module and is connect.
Preferably, the speech sound eeplaining device is connect with the navigation positional device；
The navigation positional device navigates to robot body when being moved at showpiece, and the speech sound eeplaining device is from described
Corresponding showpiece explanation data are read in storage device and carry out speech sound eeplaining, and are played out by the bluetooth headset.
Preferably, range unit is provided on the wireless terminal, the robot body is provided with transmitting ranging signals
Device；
The transmitting ranging signals device is for the synchronous signal for sending two kinds of different spread speeds；
Time difference that the range unit is used to be reached according to two kinds of signals and spread speed calculate distance.
Preferably, the robot body is additionally provided with speed control unit；
The speed control unit is used for the running gear according to the distance controlling of wireless terminal and robot body.
Preferably, the speed control unit is specifically used for:
Preset the first safe distance and the second safe distance, when wireless terminal at a distance from robot body less than
When one safe distance, running gear is controlled according to normal speed guide to visitors；
When wireless terminal is greater than the first safe distance less than the second safe distance at a distance from robot body, control row
Walking apparatus guide to visitors speed reduces；
When wireless terminal is greater than the second safe distance at a distance from robot body, control running gear stops guide to visitors.
Preferably, the wireless terminal includes Bluetooth signal monitoring device；
The Bluetooth signal monitoring device is used to monitor the bluetooth connection signal of wireless terminal Yu the robot body, when
When monitoring that Bluetooth signal interrupts, warned by bluetooth headset to user.
Moving area calibration-type guide to visitors robot proposed by the present invention, after navigation positional device pre-set navigational route,
Light is carried out by corresponding region of the light emitting module around robot body according to navigation routine when guide to visitors robot motion to show
Show, so intuitively show the direction of motion of guide to visitors robot and movement tendency very much, so that people can be accurate
Guide to visitors robot is avoided, people is avoided and guide to visitors robot collides fortuitous event, enable guide to visitors robot more
Efficiently moved.
Detailed description of the invention
Fig. 1 is the structural block diagram for the moving area calibration-type guide to visitors robot that the embodiment of the present invention proposes.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the embodiment of the present invention proposes a kind of moving area calibration-type guide to visitors robot, including robot sheet
Body 1 and at least one set of wireless terminal 2；
The wireless terminal 2 is provided with bluetooth headset；
The robot body 1 includes running gear 101, navigation positional device 102, speech sound eeplaining device 103, bluetooth biography
Defeated device 104 and storage device 105；
The wireless terminal 2 and 104 bluetooth connection of bluetooth transmission means；
The running gear 101 is used to control the robot body 1 according to the signal of the navigation positional device 102 and move
It is dynamic；
The navigation positional device 102 be used for pre-set navigational route, including light emitting control module and be set to the machine
Light emitting module on human agent, the light emitting module are electrically connected with the light emitting control module, and the light emitting control module is used for
According to the navigation routine, drives corresponding region of the light emitting module around the robot body 1 to carry out light and show；
The speech sound eeplaining device 103 is for explaining showpiece；
The storage device 105 is for storing showpiece explanation data.
As it can be seen that the moving area calibration-type guide to visitors robot that the embodiment of the present invention proposes, default by navigation positional device
After navigation routine, corresponding region of the light emitting module around robot body is passed through according to navigation routine when guide to visitors robot motion
It carries out light to show, so intuitively show the direction of motion of guide to visitors robot and movement tendency very much, thus people
Accurately guide to visitors robot can be avoided, avoid people and guide to visitors robot collides fortuitous event, make Audio Guide
Device people can more efficiently move.
In a preferred embodiment of the invention, the wireless terminal includes languages selecting module；
The languages selecting module is used to select the languages of the showpiece explanation data for user；
The speech sound eeplaining device is used to transmit corresponding language to bluetooth headset by bluetooth transmission means according to the languages
The showpiece of kind explains voice.
Specifically, can be filled in advance in storage due to that may have the visitor using different language in a team
The guide to visitors voice for setting middle storage different language is said by languages selecting module by bluetooth and voice after user completes to select
Device connection is solved, control speech sound eeplaining device explains corresponding showpiece and explains voice.
In a preferred embodiment of the invention, the bluetooth transmission means include at least one set of bluetooth module；
The wireless terminal is matched one by one with the bluetooth module and is connect.
In the present embodiment, due to the requirement of Bluetooth transmission protocol, most of Bluetooth transmission equipment is all one-to-one transmission, by
Yu tour guide team be typically all more people together, therefore multiple groups bluetooth module can be set in bluetooth transmission means, multiple groups indigo plant
Tooth module is separately connected corresponding wireless terminal；I.e. each wireless terminal is separately connected different bluetooth modules, matches one by one.
In a preferred embodiment of the invention, the speech sound eeplaining device is connect with the navigation positional device；
The navigation positional device navigates to robot body when being moved at showpiece, and the speech sound eeplaining device is from described
Corresponding showpiece explanation data are read in storage device and carry out speech sound eeplaining, and are played out by the bluetooth headset.
In the present embodiment, RFID reader can be set by the way that RFID tag is arranged at showpiece, in navigation positional device,
When robot body is moved at showpiece, reach the reading/writing distance of RFID, completes the positioning of robot body, speech sound eeplaining dress
It sets and reads corresponding showpiece explanation data progress speech sound eeplaining from the storage device, and broadcast by the bluetooth headset
It puts.
In a preferred embodiment of the invention, range unit, the robot sheet are provided on the wireless terminal
Body is provided with transmitting ranging signals device；
The transmitting ranging signals device is for the synchronous signal for sending two kinds of different spread speeds；
Time difference that the range unit is used to be reached according to two kinds of signals and spread speed calculate distance.
In the present embodiment, wireless terminal is measured at a distance from robot body by range unit, can determine visitor
At a distance from guide to visitors robot, so as to according to the walking of visitor and the distance controlling robot body of guide to visitors robot speed
Degree prevents visitor and visits team to disconnect.
Specifically, range unit etc. is used for robot measurement main body at a distance from wireless terminal, at present generally by various
The algorithm of node locating is positioned, and sends two kinds of different spread speeds by the way that transmitting ranging signals device is synchronous in the application
Signal；Time difference that range unit is reached according to two kinds of signals and spread speed calculate distance, it is possible to reduce indoor each dress
The influence set, it is more accurate to position.
In a preferred embodiment of the invention, the robot body is additionally provided with speed control unit；
The speed control unit is used for the running gear according to the distance controlling of wireless terminal and robot body.
The speed control unit is specifically used for:
Preset the first safe distance and the second safe distance, when wireless terminal at a distance from robot body less than
When one safe distance, running gear is controlled according to normal speed guide to visitors；
When wireless terminal is greater than the first safe distance less than the second safe distance at a distance from robot body, control row
Walking apparatus guide to visitors speed reduces；
When wireless terminal is greater than the second safe distance at a distance from robot body, control running gear stops guide to visitors.
In the present embodiment, by the way that different safe distances is arranged, the movement speed of robot body can control.
For example, the first safe distance of setting is 10m, and the second safe distance is 20m, and robot is according to preset route
When carrying out guide to visitors explanation, if detecting that whole wireless terminals all within 10m, just carry out guide to visitors according to pre-set velocity；If
Wireless terminal has been detected in 10-20m, movement speed will be reduced and wait wireless terminal close to resume speed again within 10m；
If detecting that the distance of wireless terminal is greater than 20m after reducing speed movement, robot body will be controlled and stop movement, waited
The personnel that fall behind rejoin one's unit.
Meanwhile when there is wireless terminal to be greater than safe distance at a distance from robot body, it can also be sent out to wireless terminal
Prompting message is sent, it is reminded to rejoin one's unit rapidly.
In a preferred embodiment of the invention, the wireless terminal includes Bluetooth signal monitoring device；
The Bluetooth signal monitoring device is used to monitor the bluetooth connection signal of wireless terminal Yu the robot body, when
When monitoring that Bluetooth signal interrupts, warned by bluetooth headset to user.
Since Bluetooth transmission is apart from restricted, when user distance robot body farther out when, bluetooth connection will disconnect,
Or when scene shielding is stronger, bluetooth also be will disconnect；It can be warned at this time by earphone to user, prevent user from falling behind.
Moving area calibration-type guide to visitors robot proposed by the present invention, positioning navigation device preset navigation routine, machine
Light is carried out by corresponding region of the light emitting module around robot body according to navigation routine when device human agent moves to show,
The direction of motion of guide to visitors robot and movement tendency are intuitively shown very much in this way；Robot body is in running gear
It is mobile according to route under driving, when being moved at corresponding showpiece, showpiece can be explained, visitor passes through bluetooth ear
Machine receives explanation audio；Visitor can select the explanation audio of different language according to their needs simultaneously；Robot body is real
When the acquisition and range information of wireless terminal, if detect whole wireless terminals all within the first safe distance, just according to
Pre-set velocity carries out guide to visitors；If having detected that wireless terminal, will within the second safe distance other than the first safe distance
Reducing movement speed waits wireless terminal close to resume speed again within the first safe distance；If examined after reducing speed movement
The distance for measuring wireless terminal is greater than the second safe distance, will control robot body and stop movement, the personnel that fall behind is waited to return
Team.
In conclusion following effect at least may be implemented in the embodiment of the present invention:
In embodiments of the present invention, after by navigation positional device pre-set navigational route, when guide to visitors robot motion according to
Navigation routine carries out light by corresponding region of the light emitting module around robot body and shows, in this way by guide to visitors robot
The direction of motion and movement tendency are intuitively shown very much, so that people can accurately avoid guide to visitors robot,
It avoids people and guide to visitors robot collides fortuitous event, guide to visitors robot is enable more efficiently to be moved.
In embodiments of the present invention, wireless terminal is measured at a distance from robot body by range unit, can determined
Visitor is at a distance from guide to visitors robot, so as to according to the distance controlling robot body's of visitor and guide to visitors robot
The speed of travel prevents visitor and visits team to disconnect.
Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (8)
1. a kind of moving area calibration-type guide to visitors robot, which is characterized in that wireless eventually including robot body and at least one set
End；
The wireless terminal is provided with bluetooth headset；
The robot body includes running gear, navigation positional device, speech sound eeplaining device, bluetooth transmission means and storage dress
It sets；
The wireless terminal and the bluetooth transmission means bluetooth connection；
The running gear is used to control the robot body according to the signal of the navigation positional device mobile；
The navigation positional device be used for pre-set navigational route, including light emitting control module and be set to the robot body on
Light emitting module, the light emitting module is electrically connected with the light emitting control module, and the light emitting control module is used for according to
Navigation routine drives corresponding region of the light emitting module around the robot body to carry out light and shows；
The speech sound eeplaining device is for explaining showpiece；
The storage device is for storing showpiece explanation data.
2. moving area calibration-type guide to visitors robot as described in claim 1, which is characterized in that the wireless terminal includes language
Kind selecting module；
The languages selecting module is used to select the languages of the showpiece explanation data for user；
The speech sound eeplaining device is used to transmit corresponding languages to bluetooth headset by bluetooth transmission means according to the languages
Showpiece explains voice.
3. moving area calibration-type guide to visitors robot as described in claim 1, which is characterized in that the bluetooth transmission means packet
Include at least one set of bluetooth module；
The wireless terminal is matched one by one with the bluetooth module and is connect.
4. moving area calibration-type guide to visitors robot as described in claim 1, which is characterized in that the speech sound eeplaining device with
The navigation positional device connection；
The navigation positional device navigates to robot body when being moved at showpiece, and the speech sound eeplaining device is from the storage
Corresponding showpiece explanation data are read in device and carry out speech sound eeplaining, and are played out by the bluetooth headset.
5. moving area calibration-type guide to visitors robot as described in claim 1, which is characterized in that be arranged on the wireless terminal
There is range unit, the robot body is provided with transmitting ranging signals device；
The transmitting ranging signals device is for the synchronous signal for sending two kinds of different spread speeds；
Time difference that the range unit is used to be reached according to two kinds of signals and spread speed calculate distance.
6. moving area calibration-type guide to visitors robot as claimed in claim 5, which is characterized in that the robot body also sets
It is equipped with speed control unit；
The speed control unit is used for the running gear according to the distance controlling of wireless terminal and robot body.
7. moving area calibration-type guide to visitors robot as claimed in claim 6, which is characterized in that the speed control unit tool
Body is used for:
The first safe distance and the second safe distance are preset, when wireless terminal is pacified at a distance from robot body less than first
When full distance, running gear is controlled according to normal speed guide to visitors；
When wireless terminal is greater than the first safe distance less than the second safe distance at a distance from robot body, control walking dress
Set the reduction of guide to visitors speed；
When wireless terminal is greater than the second safe distance at a distance from robot body, control running gear stops guide to visitors.
8. such as the described in any item moving area calibration-type guide to visitors robots of claim 1-7, which is characterized in that the wireless end
End includes Bluetooth signal monitoring device；
The Bluetooth signal monitoring device is used to monitor the bluetooth connection signal of wireless terminal Yu the robot body, works as monitoring
When being interrupted to Bluetooth signal, warned by bluetooth headset to user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810871953.3A CN108955691A (en) | 2018-08-02 | 2018-08-02 | A kind of moving area calibration-type guide to visitors robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810871953.3A CN108955691A (en) | 2018-08-02 | 2018-08-02 | A kind of moving area calibration-type guide to visitors robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108955691A true CN108955691A (en) | 2018-12-07 |
Family
ID=64467169
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810871953.3A Withdrawn CN108955691A (en) | 2018-08-02 | 2018-08-02 | A kind of moving area calibration-type guide to visitors robot |
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| Country | Link |
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| CN (1) | CN108955691A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986977A (en) * | 2019-11-21 | 2020-04-10 | 新石器慧通（北京）科技有限公司 | Movable unmanned carrier for navigation, navigation method and unmanned vehicle |
| CN111524264A (en) * | 2020-03-25 | 2020-08-11 | 中国一冶集团有限公司 | Project display system with voice self-help explanation function and project display method |
| CN112423283A (en) * | 2020-11-20 | 2021-02-26 | 上海物骐微电子有限公司 | Self-service tour guide system and method based on Bluetooth headset |
-
2018
- 2018-08-02 CN CN201810871953.3A patent/CN108955691A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986977A (en) * | 2019-11-21 | 2020-04-10 | 新石器慧通（北京）科技有限公司 | Movable unmanned carrier for navigation, navigation method and unmanned vehicle |
| CN111524264A (en) * | 2020-03-25 | 2020-08-11 | 中国一冶集团有限公司 | Project display system with voice self-help explanation function and project display method |
| CN112423283A (en) * | 2020-11-20 | 2021-02-26 | 上海物骐微电子有限公司 | Self-service tour guide system and method based on Bluetooth headset |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181207 |