CN109015681A - A kind of service humanoid robot - Google Patents
A kind of service humanoid robot Download PDFInfo
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- CN109015681A CN109015681A CN201810961355.5A CN201810961355A CN109015681A CN 109015681 A CN109015681 A CN 109015681A CN 201810961355 A CN201810961355 A CN 201810961355A CN 109015681 A CN109015681 A CN 109015681A
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- robot
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- forecasting
- service
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of service humanoid robots, including Information Acquisition System, drive system, output system, the Information Acquisition System is used to obtain the navigation information of Tour region, the navigation information includes robot real time position, Forecasting of Travel Time result and optimal path, and guide service route is arranged according to robot real time position, Forecasting of Travel Time result and optimal path；The drive system driving robot carries out guide service according to the route of the setting, visual tracking method on the route of guide service based on structural similarity obtains the target object picture in Tour region, judges whether the target object picture is built with guide interpreting scene database；The output system exports guide interpreting scene content when judging that the target object picture is built with guide interpreting scene database.The invention has the benefit that providing a kind of service humanoid robot, robot guide service function is realized.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of service humanoid robot.
Background technique
With the development of countries in the world expanding economy and tourist industry, traditional tour guide is difficult to meet the needs of people, machine
Device people gradually enters into people's lives, provides guide service.
Summary of the invention
In view of the above-mentioned problems, the present invention is intended to provide a kind of service humanoid robot.
The purpose of the present invention is realized using following technical scheme:
A kind of service humanoid robot, including Information Acquisition System, drive system, output system are provided, the information obtains
Take system for obtaining the navigation information of Tour region, the navigation information includes robot real time position, Forecasting of Travel Time
As a result and optimal path, guide service route is arranged according to robot real time position, Forecasting of Travel Time result and optimal path；
The drive system driving robot carries out guide service according to the route of the setting, based on knot on the route of guide service
The visual tracking method of structure similarity obtains the target object picture in Tour region, judge the target object picture whether structure
Have guide interpreting scene database；The output system is judging that the target object picture is built with guide interpreting scene number
When according to library, guide interpreting scene content is exported.
The invention has the benefit that providing a kind of service humanoid robot, it is accurately positioned based on robot, journey time
Prediction and optimal route selection, realize robot guide service function.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is structural schematic diagram of the invention；
Appended drawing reference:
Information Acquisition System 1, drive system 2, output system 3.
Specific embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of service humanoid robot of the present embodiment, including Information Acquisition System 1, drive system 2, output system
System 3, the Information Acquisition System 1 are used to obtain the navigation information of Tour region, and the navigation information includes the real-time position of robot
It sets, Forecasting of Travel Time result and optimal path, is set according to robot real time position, Forecasting of Travel Time result and optimal path
Set guide service route；The drive system 2 drives robot to carry out guide service according to the route of the setting, takes in tour guide
Visual tracking method on the route of business based on structural similarity obtains the target object picture in Tour region, judges the mesh
Whether mark object picture is built with guide interpreting scene database；The output system 3 is judging the target object picture structure
When having guide interpreting scene database, guide interpreting scene content is exported.
A kind of service humanoid robot is present embodiments provided, is accurately positioned based on robot, Forecasting of Travel Time and optimal
Path selection realizes robot guide service function.
Preferably, the Information Acquisition System 1 includes that the first information obtains platform, the second information acquisition platform, third letter
Breath obtains platform, and the first information obtains the exact position that platform is used to determine robot, second information acquisition platform
For predicting journey time, the third information acquisition platform is for determining traveling optimal path.
The first information obtains platform and includes the first locating platform, the second locating platform and third locating platform, described
First locating platform determines the initial position of robot by pseudorange, and second locating platform is for determining that pseudorange measuring and calculating misses
Difference, the third locating platform determine the exact position of robot based on robot initial position and pseudorange measuring and calculating error；
First locating platform determines the rough location of robot by pseudorange, specifically:
Beidou navigation satellite system receiver is mounted in robot, determines robot initial position:
In formula, c indicates the light velocity, diPseudorange of the expression robot to i-th of satellite, i=1,2,3,4, (x, y, z) is indicated
Robot rough location, (xi, yi, zi) indicate i-th of satellite position, CAiIndicate that the clock deviation amendment of i-th of satellite, t expression connect
The clock deviation of receipts machine；
Second locating platform is for determining that pseudorange calculates error, specifically:
Beidou navigation satellite system receiver is separately mounted to two base stations A and B, it is known that the physical location difference of two base stations
For (X1, Y1, Z1)、(X2, Y2, Z2), the position of two base stations determined according to pseudorange measure formula is respectively (X3, Y3, Z3)、
(X4, Y4, Z4), determine that pseudorange calculates error by following formula:
In formula, HQ1Indicate that pseudorange calculates error；
The third locating platform determines the exact position of robot based on robot initial position and pseudorange measuring and calculating error,
Specifically:
Determine the exact position HQ (x of robot0, y0, z0): HQ=HQ1+ (x, y, z)；
In formula, HQ indicates the exact position of robot；
This preferred embodiment first information obtains platform and determines pseudo range measurement error by the way that two base stations are arranged, and improves
Robot localization precision is laid a good foundation for subsequent robot's navigation；
Preferably, second information acquisition platform includes predicting platform and Evaluation Platform, and the predicting platform is for obtaining
Forecasting of Travel Time is taken as a result, the Evaluation Platform is for evaluating prediction result；
The predicting platform is used to obtain Forecasting of Travel Time as a result, specifically assuming that one day with identical historical trend
In each section in the identical period have identical journey time, journey time is predicted: GWI, m(n)=PL ×
GW′I, m+(1-PL)GWI, m(o) -0.1, GWI, m(n) show section i in the Forecasting of Travel Time value that time interval is m, GWI, m(o) table
Show section i in the history journey time numerical value that time interval is m, GW 'I, mIndicate section i in the nearest row that time interval is m
Journey time numerical value, PL indicate smoothing factor, PL ∈ (0,1)；
The Evaluation Platform is for evaluating prediction result, specifically:
Calculate the dilution of precision of Forecasting of Travel Time result:
In formula, y1Indicate Forecasting of Travel Time value, y2Indicate that journey time measured value, DG indicate Forecasting of Travel Time knot
The dilution of precision of fruit；The dilution of precision of the Forecasting of Travel Time result is bigger, indicates that Forecasting of Travel Time is more accurate；
The second information acquisition platform of this preferred embodiment predicts journey time by history journey time, realizes
The prediction and assessment of journey time, ensure that the accuracy of prediction, lay a good foundation for subsequent robot's navigation.
Preferably, the third information acquisition platform includes that platform is chosen in road network Modeling Platform and path, and the road network is built
Mould platform chooses platform and is based on traffic network model selection optimal path for establishing traffic network model, the path；
The road network Modeling Platform is for establishing traffic network model, specifically:
Indicate that traffic network, node indicate the crossing in road network with non-directed graph, the side between node indicates the road in road network
Section determines the weight of every road in road network in the following ways:
It is calculate by the following formula the section factor in each section:
In formula, KWiIndicate the section factor in i-th of section, a1Indicate that the maximum robot of section unit time passes through
Number, a2The number of traffic accident, a occur in 1 year for expression section3Indicate pavement behavior quantized value, a3=3, road surface is pitch, a3
=2, road surface is cement, a3=1, road surface is soil property, a4Indicate section billing unit mileage charge；
Corresponding weight is determined according to the section factor in each section by following formula:
In formula, fiIndicate the length in i-th of section, n indicates the quantity in section in road network, UAiIndicate i-th of section
Weight；
The path chooses platform and is based on traffic network model selection optimal path, specifically:
The smallest section of total weight is chosen as optimal path.
During this preferred embodiment third information acquisition platform determines section weight, the passage in section has been fully considered
Ability, accident occurrence frequency, pavement behavior and charge situation, have obtained accurate section weight, ensure that path most preferably
It takes.
Guide service is carried out using present invention service humanoid robot, 5 Tour regions is chosen and is tested, respectively traveled
Region 1, Tour region 2, Tour region 3, Tour region 4, Tour region 5 count user satisfaction and tour guide's cost,
Compared with manpower, tour guide is compared, and generation has the beneficial effect that shown in table:
| User satisfaction improves | Cost of conducting a sightseeing tour reduces | |
| Tour region 1 | 29% | 27% |
| Tour region 2 | 27% | 26% |
| Tour region 3 | 26% | 26% |
| Tour region 4 | 25% | 24% |
| Tour region 5 | 24% | 22% |
Through the above description of the embodiments, those skilled in the art can be understood that it should be appreciated that can
To realize the embodiments described herein with hardware, software, firmware, middleware, code or its any appropriate combination.For hardware
It realizes, processor can be realized in one or more the following units: specific integrated circuit (ASIC), digital signal processor
(DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), processing
Device, controller, microcontroller, microprocessor, other electronic units designed for realizing functions described herein or combinations thereof.
For software implementations, some or all of embodiment process can instruct relevant hardware to complete by computer program.
When realization, above procedure can be stored in computer-readable medium or as the one or more on computer-readable medium
Instruction or code are transmitted.Computer-readable medium includes computer storage media and communication media, wherein communication media packet
It includes convenient for from a place to any medium of another place transmission computer program.Storage medium can be computer can
Any usable medium of access.Computer-readable medium can include but is not limited to RAM, ROM, EEPROM, CD-ROM or other
Optical disc storage, magnetic disk storage medium or other magnetic storage apparatus or can be used in carry or store have instruction or data
The desired program code of structure type simultaneously can be by any other medium of computer access.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (9)
1. a kind of service humanoid robot, which is characterized in that including Information Acquisition System, drive system, output system, the information
Acquisition system is used to obtain the navigation information of Tour region, and the navigation information includes that robot real time position, journey time are pre-
Result and optimal path are surveyed, guide service road is arranged according to robot real time position, Forecasting of Travel Time result and optimal path
Line；The drive system driving robot carries out guide service, the base on the route of guide service according to the route of the setting
The target object picture in Tour region is obtained in the visual tracking method of structural similarity, judges that the target object picture is
It is no to be built with guide interpreting scene database；The output system is judging that the target object picture is built with guide interpreting field
When scape database, guide interpreting scene content is exported.
2. service humanoid robot according to claim 1, which is characterized in that the Information Acquisition System includes the first information
Platform, the second information acquisition platform, third information acquisition platform are obtained, the first information obtains platform for determining robot
Exact position, second information acquisition platform for predicting journey time, use by the third information acquisition platform
Optimal path is travelled in determining.
3. service humanoid robot according to claim 2, which is characterized in that it includes first that the first information, which obtains platform,
Locating platform, the second locating platform and third locating platform, first locating platform determine the initial of robot by pseudorange
Position, for second locating platform for determining that pseudorange calculates error, the third locating platform is based on robot initial position
The exact position of robot is determined with pseudorange measuring and calculating error.
4. service humanoid robot according to claim 3, which is characterized in that first locating platform is determined by pseudorange
The rough location of robot, specifically:
Beidou navigation satellite system receiver is mounted in robot, determines robot initial position:
In formula, c indicates the light velocity, diPseudorange of the expression robot to i-th of satellite, i=1,2,3,4, (x, y, z) indicates machine
People's rough location, (xi, yi, zi) indicate i-th of satellite position, CAiIndicate the clock deviation amendment of i-th of satellite, t indicates receiver
Clock deviation.
5. service humanoid robot according to claim 4, which is characterized in that second locating platform is for determining pseudorange
Calculate error, specifically:
Beidou navigation satellite system receiver is separately mounted to two base stations A and B, it is known that the physical location of two base stations is respectively
(X1, Y1, Z1)、(X2, Y2, Z2), the position of two base stations determined according to pseudorange measure formula is respectively (X3, Y3, Z3)、
(X4, Y4, Z4), determine that pseudorange calculates error by following formula:
In formula, HQ1Indicate that pseudorange calculates error.
6. service humanoid robot according to claim 5, which is characterized in that at the beginning of the third locating platform is based on robot
Beginning position and pseudorange measuring and calculating error determine the exact position of robot, specifically:
Determine the exact position HQ (x of robot0, y0, z0): HQ=HQ1+ (x, y, z)；
In formula, HQ indicates the exact position of robot.
7. service humanoid robot according to claim 6, which is characterized in that second information acquisition platform includes prediction
Platform and Evaluation Platform, the predicting platform is for obtaining Forecasting of Travel Time as a result, the Evaluation Platform is used to tie prediction
Fruit is evaluated.
8. service humanoid robot according to claim 7, which is characterized in that the predicting platform is for obtaining journey time
Prediction result specifically assumes that in one with identical historical trend day that there is identical stroke in each section in the identical period
Time predicts journey time: GWi,m(n)=PL × GW 'i,m+(1-PL)GWi,m(o) -0.1, GWi,m(n) show that section i exists
Time interval is the Forecasting of Travel Time value of m, GWi,m(o) history journey time numerical value of the section i in time interval for m is indicated,
GW′i,mSection i is indicated in the nearest journey time numerical value that time interval is m, PL indicates smoothing factor, PL ∈ (0,1).
9. service humanoid robot according to claim 8, which is characterized in that the Evaluation Platform be used for prediction result into
Row evaluation, specifically:
Calculate the dilution of precision of Forecasting of Travel Time result:
In formula, y1Indicate Forecasting of Travel Time value, y2Indicate that journey time measured value, DG indicate Forecasting of Travel Time result
Dilution of precision；The dilution of precision of the Forecasting of Travel Time result is bigger, indicates that Forecasting of Travel Time is more accurate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810961355.5A CN109015681A (en) | 2018-08-22 | 2018-08-22 | A kind of service humanoid robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810961355.5A CN109015681A (en) | 2018-08-22 | 2018-08-22 | A kind of service humanoid robot |
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| Publication Number | Publication Date |
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| CN109015681A true CN109015681A (en) | 2018-12-18 |
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| CN201810961355.5A Withdrawn CN109015681A (en) | 2018-08-22 | 2018-08-22 | A kind of service humanoid robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114611810A (en) * | 2022-03-18 | 2022-06-10 | 北京金石视觉数字科技有限公司 | Artificial intelligence-based intelligent museum navigation route analysis method and AI analysis system |
-
2018
- 2018-08-22 CN CN201810961355.5A patent/CN109015681A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114611810A (en) * | 2022-03-18 | 2022-06-10 | 北京金石视觉数字科技有限公司 | Artificial intelligence-based intelligent museum navigation route analysis method and AI analysis system |
| CN114611810B (en) * | 2022-03-18 | 2022-10-21 | 北京金石视觉数字科技有限公司 | Artificial intelligence-based intelligent museum navigation route analysis method and AI analysis system |
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