CN108981699B - Method for guiding airport line and robot - Google Patents
Method for guiding airport line and robot Download PDFInfo
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- CN108981699B CN108981699B CN201810565101.1A CN201810565101A CN108981699B CN 108981699 B CN108981699 B CN 108981699B CN 201810565101 A CN201810565101 A CN 201810565101A CN 108981699 B CN108981699 B CN 108981699B
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Abstract
The invention provides a method and a robot for airport route guidance, wherein the robot for airport route guidance comprises the following components: the storage module is used for storing an airport service map; the first acquisition module is used for acquiring a request for asking a way and the current position of a user in an airport service range; the route inquiring request is a position searching request for inquiring public service places in the airport service range; the searching module is used for searching a target public service place which can be used by the user according to the airport service map stored by the storage module and the current position and the route asking request which are obtained by the first obtaining module; and the processing module is used for obtaining a corresponding guiding line according to the current position obtained by the first obtaining module and the target public service field obtained by searching by the searching module. The method and the system accurately provide reliable and effective airport route guidance to the user, improve the aim that the user can quickly find the destination in the airport service range and improve the airport service experience.
Description
Technical Field
The invention relates to the field of path navigation, in particular to an airport line guiding method and a robot.
Background
However, as the airport is a large-scale public place, the environment of the airport is very complex, and if the airport is not familiar with the environment or lacks a correct guide route, the people can not only difficultly and easily get lost when trying to quickly reach each public service place in the airport.
With the development of robot technology for airport route guidance, robots already having intelligent airport route guidance in the market are now widely used, and therefore, the need for accurate route guidance for airports by using robots for airport route guidance is increasingly strong. In the airport route guidance in the prior art, after a user needs, a target public service place which is closest to the user and is in an airport service range is recommended to the user, but the target public service place may not be a public service place which can be used by the user in the airport service range.
Disclosure of Invention
The invention aims to provide an airport line guiding method and a robot, which can accurately provide reliable and effective airport line guiding to a user, improve the aim that the user can quickly find a destination in an airport service range and improve the use experience of airport service.
The technical scheme provided by the invention is as follows:
the invention provides a robot for guiding an airport line, which comprises:
the storage module is used for storing an airport service map;
the first acquisition module is used for acquiring a request for asking a way and the current position of a user in an airport service range; the route inquiring request is a position searching request for inquiring public service places in the airport service range;
the searching module is used for searching a target public service place which can be used by the user according to the airport service map stored by the storage module and the current position and the route asking request which are obtained by the first obtaining module;
and the processing module is used for obtaining a corresponding guiding line according to the current position obtained by the first obtaining module and the target public service field obtained by searching by the searching module.
Further, the storage module stores an airport service area map corresponding to the robot which is guided by the airport global map or the airport route;
the searching module comprises:
the judging unit is used for judging whether the robot guided by the airport route is in the airport navigation service area of the robot:
the first searching unit loads an airport service area map corresponding to the robot guided by the airport route in the storage module when the judging unit judges that the robot guided by the airport route is in an airport navigation service area of the first searching unit, and searches a public service place corresponding to the route asking request according to the airport service area map and the current position and the route asking request acquired by the first acquiring module;
the second searching unit is used for loading the airport global map in the storage module when the judging unit judges that the robot guided by the airport route is positioned outside the airport navigation service area of the robot, and searching a public service place corresponding to the route asking request according to the airport global map stored in the storage module and the current position and the route asking request acquired by the first acquiring module;
the confirmation unit is used for confirming that the public service place which belongs to the effective service area of the airport and is searched by the first search unit is the target public service place; or confirming that the public service place which belongs to the effective service area of the airport and is searched by the second searching unit is the target public service place; the airport effective service area is an area where a user can travel from the current location to enjoy airport service.
Further, the confirmation unit includes:
the judging subunit is used for judging whether the public service place which is found by the first searching unit and corresponds to the route asking request belongs to an effective airport service area, and further judging whether the number of the public service places which belong to the effective airport service area is more than one when the public service place which corresponds to the route asking request belongs to the effective airport service area; or, judging whether the public service place corresponding to the route asking request searched by the second searching unit belongs to an effective airport service area, and further judging whether the number of the public service places belonging to the effective airport service area is more than one when the public service place corresponding to the route asking request belongs to the effective airport service area;
a determining subunit, configured to, when the determining subunit determines that the number of public service places belonging to the airport effective service area is greater than one, obtain moving distance values corresponding to the public service places belonging to the airport effective service area and the current position, compare the moving distance values, and select a public service place with the smallest moving distance value as the target public service place;
and the confirming subunit confirms that the public service place which only belongs to the airport effective service area is the target public service place when the judging subunit judges that the number of the public service places which belong to the airport effective service area is equal to one.
Further, the method also comprises the following steps:
the judging module is used for judging whether a road sign is newly added in the airport service range; the signpost comprises a public service location and/or an obstacle;
the second acquisition module is used for acquiring the azimuth information of the road sign when the judgment module judges that the road sign is newly added; the azimuth information comprises coordinate information and direction information;
the updating module is used for marking the corresponding position on the airport service map according to the direction information acquired by the second acquiring module to obtain an updated airport service map;
and the storage module is used for storing the updated airport service map obtained by the updating module.
Further, the method also comprises the following steps: the execution module acquires a deployment instruction and advances to a corresponding airport navigation service area according to the deployment instruction; and the server divides the room into a plurality of airport navigation service areas according to the airport service map, and each airport navigation service area is correspondingly provided with a plurality of robots guided by airport lines.
The invention also provides a method for guiding the airport line, which comprises the following steps:
s100, acquiring a request for asking a way and a current position of a user in an airport service range; the route inquiring request is a position searching request for inquiring public service places in the airport service range;
s200, searching a target public service place which can be used by the user according to an airport service map, the current position and the request for asking a way;
s300, obtaining a corresponding guiding line according to the current position and the target public service field.
Further, the S200 includes the steps of:
s210, judging whether the robot guided by the airport route is in the airport navigation service area of the robot: if yes, go to step S220; otherwise, go to step S230;
s220, loading an airport service area map corresponding to the robot guided by the airport route, searching a public service place corresponding to the route asking request according to the airport service area map, the current position and the route asking request, and executing the step S240;
s230, loading an airport global map, searching a public service place corresponding to the route asking request according to the airport global map, the current position and the route asking request, and executing the step S240;
s240, confirming that a public service place belonging to an effective service area of an airport is the target public service place; the airport effective service area is an area where a user can go to enjoy airport service business from the current position;
wherein the airport service map comprises an airport service area map corresponding to the robot of the airport global map or airport route guidance.
Further, the S240 includes the steps of:
s241, judging whether the searched public service place corresponding to the request for asking the way belongs to an effective service area of an airport; if yes, go to step S242;
s242, judging whether the number of public service places belonging to the effective service area of the airport is more than one; if yes, go to step S243; otherwise, go to step S245;
s243, obtaining the moving distance value corresponding to the current position and each public service place belonging to the effective service area of the airport;
s244, comparing all the moving distance values, and selecting the public service place corresponding to the minimum moving distance value as the target public service place;
s245 confirms that the public service place which only belongs to the effective service area of the airport is the target public service place.
Further, the step S300 includes the following steps:
s400, judging whether a road sign is newly added in the airport service range; the signpost comprises a public service location and/or an obstacle; if yes, go to step S500;
s500, acquiring the azimuth information of the road sign; the azimuth information comprises coordinate information and direction information;
s600, marking the corresponding position on the airport service map according to the direction information to obtain an updated airport service map.
Further, the method further includes, after the step S300:
s700, acquiring a deployment instruction, and moving to an airport navigation service area corresponding to the deployment instruction according to the deployment instruction; and the server divides the room into a plurality of airport navigation service areas according to the airport service map, and each airport navigation service area is correspondingly provided with a plurality of robots guided by airport lines.
The method and the robot for airport line guidance provided by the invention can bring at least one of the following beneficial effects:
1) according to the invention, by searching the target public service places which can be used by the user, reliable and effective airport route guidance can be accurately provided for the user, the purpose that the user quickly finds the destination in the airport service range is promoted, and the airport service use experience is promoted.
2) According to the invention, the target public service place is searched according to different airport service maps under different conditions, so that the corresponding target public service place can be quickly and efficiently searched when the robot guided by the airport line is in the airport navigation service area of the robot, and the time for a user to wait for the robot line guidance response of the airport line guidance is reduced.
3) According to the invention, by judging whether the searched public service place is in the effective service area of the airport, the airport public service place which can be moved to and normally provides service can be intelligently and reliably screened out, so that the time waste is reduced, and the airport service use experience of the user is improved.
4) According to the method and the device, the public service place which is closest to the user and belongs to the effective service area of the airport is adaptively screened and recommended to the user as the target public service place, so that the time spent by the user on the public service place of the airport to which the user wants to go can be reduced, and the airport service use experience of the user is improved.
5) The airport service map is updated after the new road sign is added, so that the airport service map can reflect the field situation more comprehensively, accurately and practically, and the effects of eliminating the dead zone of the airport service map and increasing the accuracy of the robot generation guiding line guided by the airport line are achieved.
Drawings
The above features, technical features, advantages and implementations of a method and robot for airport line guidance will be further described in the following detailed description of preferred embodiments in a clearly understandable manner, with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of an embodiment of an airport line guided robot of the present invention;
FIG. 2 is a schematic structural diagram of another embodiment of the robot guided by the airport line of the present invention;
FIG. 3 is a schematic structural diagram of another embodiment of the robot guided by the airport line of the present invention;
FIG. 4 is a schematic structural diagram of another embodiment of the robot guided by the airport line of the present invention;
FIG. 5 is a flow diagram of one embodiment of a method of airport line guidance of the present invention;
FIG. 6 is a flow diagram of another embodiment of a method of airport line guidance of the present invention;
FIG. 7 is a flow chart of another embodiment of a method of airport line guidance of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
A first embodiment of the present invention, as shown in fig. 1, is a robot directed by an airport line, comprising:
a storage module 110 for storing an airport service map;
a first obtaining module 120, configured to obtain a request for asking a route and a current location of a user within an airport service range; the route inquiring request is a position searching request for inquiring public service places in the airport service range;
a searching module 130, configured to search a target public service place available to the user according to the airport service map stored in the storage module 110, the current location obtained by the first obtaining module 120, and the request for asking a way;
the processing module 140 obtains a corresponding guiding line according to the current position obtained by the first obtaining module 120 and the target public service farm obtained by searching by the searching module 130.
Specifically, in the present embodiment, the airport service range includes, but is not limited to, an airport parking lot, an airport service lobby, an airport front area, and an airport terminal. Public service places include but are not limited to toilets, restaurants, coffee shops, shops and the like, wherein a request for asking way input by a navigation user can be acquired through an operation panel on a robot guided by an airport route, and when the user inputs the request for asking way by using the operation panel, the position of the robot guided by the airport route can be approximately replaced by the current position of the user; of course, the navigation user may also send a request for asking the route to the wireless communication module of the robot guided by the airport route by using a mobile terminal such as a mobile phone, and the robot guided by the airport route may calculate and obtain the current location of the user within the airport service range by the signal strength of the communication interaction with the mobile terminal of the user. The robot guided by the airport line can find a target public service place which can be used by a user according to the current position, a public service place which the user wants to inquire to find and an airport service map after acquiring a request for asking for the route of the user, wherein the usable target public service place refers to the public service place which can be reached by the user and is not stopped after the user arrives, after finding the target public service place, the robot guided by the airport line obtains a corresponding guide route according to the current position and the target public service place, and the user can move to the target public service place according to the guide route to enjoy corresponding service. According to the invention, by searching the target public service places which can be used by the user, reliable and effective airport route guidance can be accurately provided for the user, the purpose that the user quickly finds the destination in the airport service range is promoted, and the airport service use experience is promoted.
The second embodiment of the present invention is an optimized embodiment of the first embodiment, and as shown in fig. 2, compared with the first embodiment, the present embodiment has the main improvements that:
the storage module 110 is configured to store an airport service area map corresponding to an airport global map or an airport route guidance robot;
the lookup module 130 includes:
the determining unit 131 determines whether the robot guided by the airport route is in its own airport navigation service area:
a first searching unit 132, configured to load an airport service area map corresponding to the robot guided by the airport route in the storage module 110 when the determining unit 131 determines that the robot guided by the airport route is located in an airport navigation service area of the robot, and search a public service place corresponding to the request for asking the route according to the airport service area map, the current position and the request for asking the route acquired by the first acquiring module 120;
a second searching unit 133, configured to, when the determining unit 131 determines that the robot guided by the airport route is outside the airport navigation service area of the robot, load the airport global map in the storage module 110, and search a public service location corresponding to the route request according to the airport global map stored in the storage module 110 and the current position and the route request acquired by the first acquiring module 120;
a confirming unit 134, which confirms that the public service place which belongs to the effective service area of the airport and is searched by the first searching unit 132 is the target public service place; or confirm that a public service place belonging to the effective service area of the airport, which is searched by the second search unit 133, is the target public service place; the airport effective service area is an area where a user can travel from the current location to enjoy airport service.
Specifically, in this embodiment, the first case is that the robot guided by the airport route may be immobilized in the service area corresponding to the robot, and at this time, the robot guided by the airport route may only load the map of the airport service area corresponding to the robot in the local storage area, so that the memory of the robot guided by the airport route can be saved, and the robot guided by the airport route response rate can be increased. The second situation is that the robot guided by the airport route may also have an airport navigation service area to which the robot guided by the airport route belongs, but the robot guided by the airport route can move to the airport navigation service area to which the robot guided by other airport routes belongs, at this time, the robot guided by the airport route needs to judge whether the robot guided by the airport route is in the airport navigation service area to which the robot guided by the airport route belongs, if the robot guided by the airport route is judged to be in the airport navigation service area to which the robot guided by the airport route corresponds, just like the first situation, the map of the airport service area to which the robot guided by the airport route corresponds is loaded, and if the robot guided by the airport route is judged to be out of the airport navigation service area to which the robot guided by the airport route corresponds, the global environment map of the airport, that is the entire airport service area, needs to be loaded, and the stored airport map can be called from the local storage area of the robot guided by the airport route, or the data can be downloaded from a server through a network in real time and then loaded.
In any case, the robot guided by the airport route can search the public service place corresponding to the request for asking way according to the current position, the request for asking way and the airport service map (including the airport global map or the airport service area map corresponding to the robot guided by the airport route), after the public service place is searched, whether the public service place belongs to the effective airport service area needs to be judged, the effective airport service area is the area where the user can go to enjoy the airport service business from the current position, namely, whether the searched public service place can go to the airport service place is judged, and the airport service business of the public service place is in a normal state after the user arrives at the public service place, but not in a suspended service state caused by faults or other factors, such as operation of a station 1A in a certain airport, when the station B of the station 1 is closed and transformed, the station A of the station 1 belongs to the effective service area of the airport, and the station B of the station 1 does not belong to the effective service area of the airport. Only if the public service place searched in this way meets the target public service place which can be used by the user, the problem that the user can not go to the public service place which is displayed for the user, or the problem that the user can not enjoy the service and returns to waste the user time due to the fact that the service is suspended in the public service place even if the user can go to the public service place, or the problem that the user wastes the user time due to the fact that the user repeatedly performs security inspection in an airport can not occur.
If the public service place is not in the effective service area of the airport, switching another public service place for judgment; if the public service place is in the airport effective service area, recording the public service place and then in the airport effective service area, switching another public service place to continuously judge until all the public service places corresponding to the route asking request searched according to the airport service map, the current position and the route asking request are judged one by one, and after the corresponding judgment result is obtained, confirming that any one public service place belonging to the airport effective service area is the target public service place. The invention searches the target public service place according to different airport service maps under different conditions, can quickly and efficiently search the corresponding target public service place when the robot guided by the airport line is in the airport navigation service area of the robot, and reduces the time for the robot line guidance response of airport line guidance of users and the like. In addition, whether the searched public service place is in the airport effective service area or not is judged, the airport public service place which can be screened out intelligently and reliably and can be used for users to go to and normally provide services is avoided, the situation that the users cannot go to and need to screen by themselves is avoided, the self-screening time of the users is reduced, the situation that the users have to inquire again to obtain route guidance even if the users can go to but suspend to provide the services is avoided, the time waste of invalid actions and inquiry again is reduced, and the airport service use experience of the users is improved.
A third embodiment of the present invention is an optimized embodiment of the second embodiment, and as shown in fig. 3, compared with the second embodiment, the present embodiment has the main improvement that the confirming unit 134 includes:
a determining subunit 1341, configured to determine whether the public service location corresponding to the route query found by the first searching unit belongs to an airport effective service area, and when the public service location corresponding to the route query belongs to the airport effective service area, further determine whether the number of the public service locations belonging to the airport effective service area is greater than one; or, judging whether the public service place corresponding to the route asking request searched by the second searching unit belongs to an effective airport service area, and further judging whether the number of the public service places belonging to the effective airport service area is more than one when the public service place corresponding to the route asking request belongs to the effective airport service area;
a confirmation subunit 1342, when the judgment subunit 1341 judges that the number of the public service places belonging to the airport effective service area is greater than one, acquiring the moving distance value corresponding to the current position and each public service place belonging to the airport effective service area, comparing the moving distance values, and selecting the public service place corresponding to the smallest moving distance value as the target public service place;
the confirming subunit 1342, when the judging subunit 1341 judges that the number of public service places belonging to the airport effective service area is equal to one, confirms that the public service place uniquely belonging to the airport effective service area is the target public service place.
Specifically, in this embodiment, it is possible that the robot guided by the airport route finds that there is only one public service area or a plurality of public service areas (two or more) in the effective service area of the airport, and when the number of the public service areas in the effective service area of the airport is one, the robot guided by the airport route directly confirms that the public service area is the target public service area, and when there are a plurality of public service areas in the effective service area of the airport, it is necessary to perform further intelligent screening, that is, directly comparing the current location and current location of the user with the public service area in each public service area in the effective service area of the airport, and the public service area in the effective service area of the airport closest to the current location of the user is the target public service area, so that, the nearest guiding line can be directly displayed to the user under the condition that the user has various choices, so that the user can conveniently arrive at the target public service area within the shortest time to enjoy the service, and the airport service using experience of the user is further improved. For example, different area divisions are provided in an airport terminal, since a user is not familiar with the area of public service equipment in an airport, at this time, the user can inquire where a tea room is located through a robot guided by an airport line, when the robot guided by the airport line answers a request of the user for finding the tea room, according to the current position of the user, a place which can be reached practically is recommended intelligently, for example, the place where the tea room is located is inquired in an airport area (such as a terminal hall) after security check, only the tea room in the airport area after security check can be recommended, but not the tea room which is closest to the user and possibly located in the airport area before security check (such as an airport hall), because the user may need to go to the tea room in the airport area before security check, the user needs to perform security check again when boarding, and when the user needs to find a toilet to solve a personal problem after enjoying the tea room service, the user can also inquire where the toilet is through the robot guided by the airport route, and the robot guided by the airport route can intelligently and flexibly recommend the reachable toilet with the service state nearest to the user being normal (not in the state of maintenance and the like) to the user according to the current position of the user and the current service conditions of all toilets. Due to the regional administrative limitation in the indoor public environment, the public service place closest to the user is adaptively screened as the target public service place to be recommended to the user through the screening principle, so that the time spent by the user on the airport public service place to which the user wants to go can be reduced, and the airport service use experience of the user is improved.
A fourth embodiment of the present invention is a preferred embodiment of the first to third embodiments, and as shown in fig. 4, compared with the first to third embodiments, the present embodiment is mainly improved in that the fourth embodiment includes:
the execution module 180 acquires a deployment instruction, and moves to the airport navigation service area corresponding to the deployment instruction according to the deployment instruction; the server divides the room into a plurality of airport navigation service areas according to the airport service map, and each airport navigation service area is correspondingly provided with a plurality of robots guided by airport lines;
the judging module 150 judges whether a road sign is newly added in the airport service range; the signpost comprises a public service location and/or an obstacle;
a second obtaining module 160, configured to obtain the direction information of the landmark when the judging module 150 judges that the landmark is newly added; the azimuth information comprises coordinate information and direction information;
the updating module 170, which marks the corresponding position on the airport service map according to the direction information acquired by the second acquiring module 160 to obtain an updated airport service map;
the storage module 110 stores the updated airport service map obtained by the updating module 170.
Specifically, in this embodiment, in all the embodiments described above, before the robot for airport route guidance performs route guidance, it is necessary to divide the airport service map into a plurality of airport navigation service areas, at least one or more robots for airport route guidance are required to provide route guidance service for users in each airport navigation service area, each robot for movable airport route guidance in an idle state receives a deployment instruction generated by the server, and goes to the corresponding airport navigation service area according to the deployment instruction, so that when the number of users in a certain airport navigation service area increases rapidly, it can be ensured that a plurality of robots for movable airport route guidance are flexibly deployed to the airport navigation service area according to real-time scheduling of the server, and the working strength of the robot or customer service personnel for fixed route guidance in the airport navigation service area is reduced, effectively reducing the queuing waiting time of the user. When one or more of a new public service place and an obstacle is/are newly added in an indoor public environment, in order to maintain the reliability of the route guidance of the robot for airport route guidance in the indoor environment, the robot for airport route guidance needs to acquire the azimuth information (coordinate information and direction information) of each newly added road sign and update and replace an airport service map according to the azimuth information, so that the airport service map can reflect the field situation more comprehensively, accurately and practically, eliminate the dead zone of the airport service map and increase the accuracy of the route guidance generated by the robot for airport route guidance.
In a fifth embodiment of the present invention, a method for airport line guidance, as shown in fig. 5, includes:
s100, acquiring a request for asking a way and a current position of a user in an airport service range; the route inquiring request is a position searching request for inquiring public service places in the airport service range;
s200, searching a target public service place which can be used by the user according to an airport service map, the current position and the request for asking a way;
s300, obtaining a corresponding guiding line according to the current position and the target public service field.
Specifically, in the present embodiment, the airport service range includes, but is not limited to, an airport parking lot, an airport service lobby, an airport front area, and an airport terminal. Public service places include but are not limited to toilets, restaurants, coffee shops, shops and the like, wherein a request for asking way input by a navigation user can be acquired through an operation panel on a robot guided by an airport route, and when the user inputs the request for asking way by using the operation panel, the position of the robot guided by the airport route can be approximately replaced by the current position of the user; of course, the navigation user may also send a request for asking the route to the wireless communication module of the robot guided by the airport route by using a mobile terminal such as a mobile phone, and the robot guided by the airport route may calculate and obtain the current location of the user within the airport service range by the signal strength of the communication interaction with the mobile terminal of the user. The robot guided by the airport line can find a target public service place which can be used by a user according to the current position, a public service place which the user wants to inquire to find and an airport service map after acquiring a request for asking for the route of the user, wherein the usable target public service place refers to the public service place which can be reached by the user and is not stopped after the user arrives, after finding the target public service place, the robot guided by the airport line obtains a corresponding guide route according to the current position and the target public service place, and the user can move to the target public service place according to the guide route to enjoy corresponding service. According to the invention, by searching the target public service places which can be used by the user, reliable and effective airport route guidance can be accurately provided for the user, the purpose that the user quickly finds the destination in the airport service range is promoted, and the airport service use experience is promoted.
A sixth embodiment of the present invention is an optimized embodiment of the fifth embodiment, and as shown in fig. 6, the main improvement is that S200, searching for a target public service location available to the user according to an airport service map, the current location, and the request for asking a way, includes:
s210, judging whether the robot guided by the airport route is in the airport navigation service area of the robot: if yes, go to step S220; otherwise, go to step S230;
s220, loading an airport service area map corresponding to the robot guided by the airport route, searching a public service place corresponding to the route asking request according to the airport service area map, the current position and the route asking request, and executing the step S240;
s230, loading an airport global map, searching a public service place corresponding to the route asking request according to the airport global map, the current position and the route asking request, and executing the step S240;
s240, confirming that a public service place belonging to an effective service area of an airport is the target public service place; the airport effective service area is an area where a user can go to enjoy airport service business from the current position;
specifically, in this embodiment, the first case is that the robot guided by the airport route may be immobilized in the service area corresponding to the robot, and at this time, the robot guided by the airport route may only load the map of the airport service area corresponding to the robot in the local storage area, so that the memory of the robot guided by the airport route can be saved, and the robot guided by the airport route response rate can be increased. The second situation is that the robot guided by the airport route may also have an airport navigation service area to which the robot guided by the airport route belongs, but the robot guided by the airport route can move to the airport navigation service area to which the robot guided by other airport routes belongs, at this time, the robot guided by the airport route needs to judge whether the robot guided by the airport route is in the airport navigation service area to which the robot guided by the airport route belongs, if the robot guided by the airport route is judged to be in the airport navigation service area to which the robot guided by the airport route corresponds, just like the first situation, the map of the airport service area to which the robot guided by the airport route corresponds is loaded, and if the robot guided by the airport route is judged to be out of the airport navigation service area to which the robot guided by the airport route corresponds, the global environment map of the airport, that is the entire airport service area, needs to be loaded, and the stored airport map can be called from the local storage area of the robot guided by the airport route, or the data can be downloaded from a server through a network in real time and then loaded.
In any case, the robot guided by the airport route can search the public service place corresponding to the request for asking way according to the current position, the request for asking way and the airport service map (including the airport global map or the airport service area map corresponding to the robot guided by the airport route), and after the public service place is found, it needs to judge whether the public service place belongs to the effective airport service area, which is the area where the user can go to enjoy the airport service business from the current position, i.e. whether the found public service place can be reached by the user, and the airport service business of the public service place is in a normal state after the user reaches the public service place, rather than a suspended service state caused by faults or other factors, such as the operation of a building a of station 1 in an airport, when the station B of the station 1 is closed and transformed, the station A of the station 1 belongs to the effective service area of the airport, and the station B of the station 1 does not belong to the effective service area of the airport. Only if the public service place searched in this way meets the target public service place which can be used by the user, the problem that the user can not go to the public service place which is displayed for the user, or the problem that the user can not enjoy the service and returns to waste the user time due to the fact that the service is suspended in the public service place even if the user can go to the public service place, or the problem that the user wastes the user time due to the fact that the user repeatedly performs security inspection in an airport can not occur.
If the public service place is not in the effective service area of the airport, switching another public service place to continue judging; if the public service place is in the airport effective service area, recording the public service place in the airport effective service area, switching another public service place to continue judging until all the public service places corresponding to the route asking request searched according to the airport service map, the current position and the route asking request are judged one by one, and after correspondingly obtaining a judgment result, confirming that any one public service place belonging to the airport effective service area is a target public service place. The invention searches the target public service place according to different airport service maps under different conditions, can quickly and efficiently search the corresponding target public service place when the robot guided by the airport line is in the airport navigation service area of the robot, and reduces the time for the robot line guidance response of airport line guidance of users and the like. In addition, whether the searched public service place is in the airport effective service area or not is judged, the airport public service place which can be screened out intelligently and reliably and can be used for users to go to and normally provide services is avoided, the situation that the users cannot go to and need to screen by themselves is avoided, the self-screening time of the users is reduced, the situation that the users have to inquire again to obtain route guidance even if the users can go to but suspend to provide the services is avoided, the time waste of invalid actions and inquiry again is reduced, and the airport service use experience of the users is improved.
A seventh embodiment of the present invention is an optimized embodiment of the sixth embodiment, and as shown in fig. 7, compared with the sixth embodiment, the present embodiment is mainly improved in that the step S240 of confirming that a public service place belonging to an airport effective service area is the target public service place specifically includes the steps of:
s241, judging whether the searched public service place corresponding to the request for asking the way belongs to an effective service area of an airport; if yes, go to step S242;
s242, judging whether the number of public service places belonging to the effective service area of the airport is more than one; if yes, go to step S243; otherwise, go to step S245;
s243, obtaining the moving distance value corresponding to the current position and each public service place belonging to the effective service area of the airport;
s244, comparing all the moving distance values, and selecting the public service place corresponding to the minimum moving distance value as the target public service place;
s245 confirms that the public service place which only belongs to the effective service area of the airport is the target public service place.
Specifically, in this embodiment, it is possible that the robot guided by the airport route finds that there is only one public service area or a plurality of public service areas (two or more) in the effective service area of the airport, and when the number of the public service areas in the effective service area of the airport is one, the robot guided by the airport route directly confirms that the public service area is the target public service area, and when there are a plurality of public service areas in the effective service area of the airport, it is necessary to perform further intelligent screening, that is, directly comparing the current location and current location of the user with the public service area in each public service area in the effective service area of the airport, and the public service area in the effective service area of the airport closest to the current location of the user is the target public service area, so that, the nearest guiding line can be directly displayed to the user under the condition that the user has various choices, so that the user can conveniently arrive at the target public service area within the shortest time to enjoy the service, and the airport service using experience of the user is further improved. For example, different area divisions are provided in an airport terminal, since a user is not familiar with the area of public service equipment in an airport, at this time, the user can inquire where a tea room is located through a robot guided by an airport line, when the robot guided by the airport line answers a request of the user for finding the tea room, according to the current position of the user, a place which can be reached practically is recommended intelligently, for example, the place where the tea room is located is inquired in an airport area (such as a terminal hall) after security check, only the tea room in the airport area after security check can be recommended, but not the tea room which is closest to the user and possibly located in the airport area before security check (such as an airport hall), because the user goes to the tea room in the airport area before security check, the user needs to perform security check again when boarding, and when the user needs to find a toilet to solve personal problems after enjoying the tea room service, the user can also inquire where the toilet is through the robot guided by the airport route, and the robot guided by the airport route can intelligently and flexibly recommend the reachable toilet with the service state nearest to the user being normal (not in the state of maintenance and the like) to the user according to the current position of the user and the current service conditions of all toilets. Due to the regional administrative limitation in the indoor public environment, the public service place closest to the user is adaptively screened as the target public service place to be recommended to the user through the screening principle, so that the time spent by the user on the airport public service place to which the user wants to go can be reduced, and the airport service use experience of the user is improved.
An eighth embodiment of the present invention is an optimized embodiment of the fifth embodiment, and is mainly improved by including: the step S300 of obtaining the corresponding guidance line according to the current location and the target public service farm includes:
s400, judging whether a road sign is newly added in the airport service range; the signpost comprises a public service location and/or an obstacle; if yes, go to step S500;
s500, acquiring the azimuth information of the road sign; the azimuth information comprises coordinate information and direction information;
s600, marking a corresponding position on the airport service map according to the direction information to obtain an updated airport service map;
specifically, in this embodiment, in all the embodiments described above, when one or more of a new public service place and an obstacle is newly added in an indoor public environment, in order to maintain the reliability of the route guidance of the robot for airport route guidance in the indoor environment, the robot for airport route guidance needs to acquire the direction information (coordinate information and direction information) of each newly added route sign, and update and replace the airport service map according to the direction information, so that the airport service map can reflect the situation in the field more comprehensively, accurately and in detail, eliminate the dead zone of the airport service map, and increase the accuracy of the route guidance generated by the robot for airport route guidance.
A ninth embodiment of the present invention is an optimized embodiment of the fifth to eighth embodiments, and compared with the fifth to eighth embodiments, the present embodiment has the main improvement that after obtaining the corresponding guiding line according to the current location and the target public service yard, the S300 further includes:
s700, acquiring a deployment instruction, and moving to an airport navigation service area corresponding to the deployment instruction according to the deployment instruction; and the server divides the room into a plurality of airport navigation service areas according to the airport service map, and each airport navigation service area is correspondingly provided with a plurality of robots guided by airport lines.
Specifically, in this embodiment, in all the embodiments described above, before the robot for airport route guidance performs route guidance, it is necessary to divide the airport service map into a plurality of airport navigation service areas, at least one or more robots for airport route guidance are required to provide route guidance service for users in each airport navigation service area, each robot for movable airport route guidance in an idle state receives a deployment instruction generated by the server, and goes to the corresponding airport navigation service area according to the deployment instruction, so that when the number of users in a certain airport navigation service area increases rapidly, it can be ensured that a plurality of robots for movable airport route guidance are flexibly deployed to the airport navigation service area according to real-time scheduling of the server, and the working strength of the robot or customer service personnel for fixed route guidance in the airport navigation service area is reduced, effectively reducing the queuing waiting time of the user.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A robot directed by an airport line, comprising:
the storage module is used for storing an airport service map;
the first acquisition module is used for acquiring a request for asking a way and the current position of a user in an airport service range; the route inquiring request is a position searching request for inquiring public service places in the airport service range;
the searching module is used for searching a target public service place which can be used by the user according to the airport service map stored by the storage module and the current position and the route asking request which are obtained by the first obtaining module; the usable target public service place refers to a public service place which can be reached by a user and is not stopped after the user arrives;
the processing module is used for obtaining a corresponding guiding line according to the current position obtained by the first obtaining module and the target public service field obtained by searching by the searching module;
the storage module is used for storing an airport global map or an airport service area map corresponding to the robot guided by the airport route;
the searching module comprises:
the judging unit is used for judging whether the robot guided by the airport route is in the airport navigation service area of the robot:
the first searching unit is used for loading an airport service area map corresponding to the robot guided by the airport route in the storage module when the judging unit judges that the robot guided by the airport route is in an airport navigation service area of the robot, and searching a public service place corresponding to the route asking request according to the airport service area map and the current position and the route asking request acquired by the first acquiring module;
the second searching unit is used for loading the airport global map in the storage module when the judging unit judges that the robot guided by the airport route is positioned outside the airport navigation service area of the robot, and searching a public service place corresponding to the route asking request according to the airport global map stored in the storage module and the current position and the route asking request acquired by the first acquiring module;
the confirmation unit is used for confirming that the public service place which belongs to the effective service area of the airport and is searched by the first search unit is the target public service place; or confirming that the public service place which belongs to the effective service area of the airport and is searched by the second searching unit is the target public service place; the airport effective service area is an area where a user can travel from the current location to enjoy airport service.
2. The airport route guidance robot of claim 1, wherein said confirmation unit comprises:
the judging subunit is used for judging whether the public service place which is found by the first searching unit and corresponds to the route asking request belongs to an effective airport service area, and further judging whether the number of the public service places which belong to the effective airport service area is more than one when the public service place which corresponds to the route asking request belongs to the effective airport service area; or, judging whether the public service place corresponding to the route asking request searched by the second searching unit belongs to an effective airport service area, and further judging whether the number of the public service places belonging to the effective airport service area is more than one when the public service place corresponding to the route asking request belongs to the effective airport service area;
a determining subunit, configured to, when the determining subunit determines that the number of the public service places belonging to the airport effective service area is greater than one, obtain moving distance values corresponding to the current position and the public service places belonging to the airport effective service area, compare the moving distance values, and select the public service place corresponding to the smallest moving distance value as the target public service place;
and the confirming subunit confirms that the public service place which only belongs to the airport effective service area is the target public service place when the judging subunit judges that the number of the public service places which belong to the airport effective service area is equal to one.
3. The airport route guidance robot of claim 1, further comprising:
the judging module is used for judging whether a road sign is newly added in the airport service range; the signpost comprises a public service location and/or an obstacle;
the second acquisition module is used for acquiring the azimuth information of the road sign when the judgment module judges that the road sign is newly added; the azimuth information comprises coordinate information and direction information;
the updating module is used for marking the corresponding position on the airport service map according to the direction information acquired by the second acquiring module to obtain an updated airport service map;
and the storage module is used for storing the updated airport service map obtained by the updating module.
4. A robot of an airport route guide of any of claims 1-3, further comprising: the execution module acquires a deployment instruction and advances to a corresponding airport navigation service area according to the deployment instruction; and the server divides the room into a plurality of airport navigation service areas according to the airport service map, and each airport navigation service area is correspondingly provided with a plurality of robots guided by airport lines.
5. A method of airport line guidance, comprising the steps of:
s100, acquiring a request for asking a way and a current position of a user in an airport service range; the route inquiring request is a position searching request for inquiring public service places in the airport service range;
s200, searching a target public service place which can be used by the user according to an airport service map, the current position and the request for asking a way; the usable target public service place refers to a public service place which can be reached by a user and is not stopped after the user arrives;
the S200 includes the steps of:
s210, judging whether the robot guided by the airport route is in the airport navigation service area of the robot: if yes, go to step S220; otherwise, go to step S230;
s220, loading an airport service area map corresponding to the robot guided by the airport route, searching a public service place corresponding to the route asking request according to the airport service area map, the current position and the route asking request, and executing the step S240;
s230, loading an airport global map, searching a public service place corresponding to the route asking request according to the airport global map, the current position and the route asking request, and executing the step S240;
s240, confirming that a public service place belonging to an effective service area of an airport is the target public service place; the airport effective service area is an area where a user can go to enjoy airport service business from the current position;
the airport service map comprises an airport service area map corresponding to the robot of the airport global map or airport route guide;
s300, obtaining a corresponding guiding line according to the current position and the target public service field.
6. The method of airport route guidance of claim 5, wherein said S240 comprises the steps of:
s241, judging whether the searched public service place corresponding to the request for asking the way belongs to an effective service area of an airport; if yes, go to step S242;
s242, judging whether the number of public service places belonging to the effective service area of the airport is more than one; if yes, go to step S243; otherwise, go to step S245;
s243, obtaining the moving distance value corresponding to the current position and each public service place belonging to the effective service area of the airport;
s244, comparing all the moving distance values, and selecting the public service place corresponding to the minimum moving distance value as the target public service place;
s245 confirms that the public service place which only belongs to the effective service area of the airport is the target public service place.
7. The method of airport route guidance of claim 5, wherein said S300 is followed by the steps of:
s400, judging whether a road sign is newly added in the airport service range; the signpost comprises a public service location and/or an obstacle; if yes, go to step S500;
s500, acquiring the azimuth information of the road sign; the azimuth information comprises coordinate information and direction information;
s600, marking the corresponding position on the airport service map according to the direction information to obtain an updated airport service map.
8. The method of airport route guidance of any of claims 5-7, further comprising the step after S300 of:
s700, acquiring a deployment instruction, and moving to an airport navigation service area corresponding to the deployment instruction according to the deployment instruction; and the server divides the room into a plurality of airport navigation service areas according to the airport service map, and each airport navigation service area is correspondingly provided with a plurality of robots guided by airport lines.
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| CN110660311B (en) * | 2019-08-23 | 2022-03-01 | 北京农业信息技术研究中心 | Intelligent exhibit demonstration robot system |
| CN110926476B (en) * | 2019-12-04 | 2023-09-01 | 三星电子（中国）研发中心 | Accompanying service method and device for intelligent robot |
| 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 |
| CN114518115B (en) * | 2022-02-17 | 2023-10-27 | 安徽理工大学 | Navigation system based on big data deep learning |
| CN115709468A (en) * | 2022-11-16 | 2023-02-24 | 京东方科技集团股份有限公司 | Guide control method and device, electronic equipment and readable storage medium |
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