CN111815844A - Intelligent machine tour guide and control method, control device and storage medium thereof - Google Patents
Intelligent machine tour guide and control method, control device and storage medium thereof Download PDFInfo
- Publication number
- CN111815844A CN111815844A CN202010713069.4A CN202010713069A CN111815844A CN 111815844 A CN111815844 A CN 111815844A CN 202010713069 A CN202010713069 A CN 202010713069A CN 111815844 A CN111815844 A CN 111815844A
- Authority
- CN
- China
- Prior art keywords
- intelligent machine
- tour guide
- tourist
- machine tour
- sound source
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C11/00—Arrangements, systems or apparatus for checking, e.g. the occurrence of a condition, not provided for elsewhere
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Navigation (AREA)
Abstract
The application is suitable for the technical field of intelligent machine tour guide, and provides an intelligent machine tour guide and a control method, a control device and a storage medium thereof, which comprise: collecting a sound signal for waking up the intelligent machine tour guide; acquiring the direction of a sound source emitting the sound signal relative to the intelligent machine tour guide according to the sound signal; if the direction of the sound source relative to the intelligent machine tour guide is within a preset direction range, acquiring images of the area where the tourists are located; acquiring the distance between the tourist and the intelligent machine tour guide according to the image of the area where the tourist is located; and if the distance between the tourist and the intelligent machine tour guide is within the preset distance range, controlling the intelligent machine tour guide to provide explanation service for the tourist. This application accessible intelligent machine tour guide provides explanation service for the visitor, practices thrift the human cost, reduces the energy consumption, experiences for the visitor provides comparatively humanized visit.
Description
Technical Field
The application belongs to the technical field of intelligent machine tour guides, and particularly relates to an intelligent machine tour guide and a control method, a control device and a storage medium thereof.
Background
Most tourists usually need explanation service when visiting places such as museums, ocean halls, cultural shows to obtain more comfortable touring experience.
The current explanation service mainly comprises two modes of manual explanation and machine scrolling playing explanation. Although manual explanation can bring good touring experience to tourists, the problems of high labor cost, incapability of meeting the requirements of the number of manual exponents and the like exist; although the machine rolling playing explanation can save the labor cost, the energy consumption is high, and tourists often cannot obtain the humanized touring experience.
Disclosure of Invention
The application provides an intelligent machine tour guide and a control method, a control device and a storage medium thereof, which are used for providing explanation service for tourists through the intelligent machine tour guide, saving the labor cost, reducing the energy consumption and providing humanized tour experience for the tourists.
In a first aspect, an embodiment of the present application provides a control method for intelligent machine tour guide, where the control method includes:
collecting a sound signal for waking up the intelligent machine tour guide;
acquiring the position of a sound source emitting the sound signal relative to the intelligent machine tour guide according to the sound signal;
if the direction of the sound source relative to the intelligent machine tour guide is within a preset direction range, acquiring an image of an area where the tourist is located;
acquiring the distance between the tourist and the intelligent machine tour guide according to the image of the area where the tourist is located;
and if the distance between the tourist and the intelligent machine tour guide is within the preset distance range, controlling the intelligent machine tour guide to provide explanation service for the tourist.
In a second aspect, an embodiment of the present application provides a control device for guiding an intelligent machine, where the control device includes:
the voice acquisition module is used for acquiring a voice signal for awakening the intelligent machine tour guide;
the direction obtaining module is used for obtaining the direction of a sound source emitting the sound signal relative to the intelligent machine guide according to the sound signal;
the image acquisition module is used for acquiring images of the area where the tourist is located if the position of the sound source relative to the intelligent machine tour guide is within a preset position range;
the distance acquisition module is used for acquiring the distance between the tourist and the intelligent machine tour guide according to the image of the area where the tourist is located;
and the machine control module is used for controlling the intelligent machine tour guide to provide explanation service for the tourist if the distance between the tourist and the intelligent machine tour guide is within the preset distance range.
In a third aspect, an embodiment of the present application provides an intelligent machine guide, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the control method according to the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the control method according to the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when running on an intelligent machine guide, causes the intelligent machine guide to perform the steps of the control method according to the first aspect.
From the above, when the sound signal for waking up the intelligent machine tour guide is collected, the direction of the sound source sending the sound signal relative to the intelligent machine tour guide can be obtained according to the collected sound signal, the image of the region where the tourist is located is collected when the direction of the sound source relative to the intelligent machine tour guide is within the preset direction range, the distance between the tourist and the intelligent machine tour guide is obtained according to the image of the region where the tourist is located, and the intelligent machine tour guide is controlled to provide the explanation service for the tourist when the distance between the tourist and the intelligent machine tour guide is within the preset distance range, namely, when the distance between the tourist and the intelligent machine tour guide is within the preset distance range, the intelligent machine tour guide is controlled to provide the explanation service for the tourist, so that the humanized tour experience can be provided for the tourist, the manual explanation personnel is not needed, and the labor cost is saved, compared with the machine rolling playing, the intelligent machine tour guide has the advantages that the energy consumption is low, and the energy consumption is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart illustrating an implementation of a control method for intelligent machine tour guide according to an embodiment of the present application;
FIG. 2a is a circuit diagram of the connection between the PS terminal PMOD connector and the ZYNQ processor; FIG. 2b is a circuit diagram of a voice acquisition module; FIG. 2c is a schematic illustration of three sets of microphone sound source locations; FIG. 2d is a schematic view of an image acquisition system; FIG. 2e is a schematic illustration of binocular camera positioning;
fig. 3 is a schematic flow chart illustrating an implementation of a control method for intelligent machine tour guide provided in the second embodiment of the present application;
fig. 4 is a schematic structural diagram of a control device for an intelligent machine tour guide provided in the third embodiment of the present application;
fig. 5 is a schematic structural diagram of an intelligent machine tour guide provided in the fourth embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation to the implementation process of this embodiment.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Referring to fig. 1, which is a schematic view illustrating an implementation flow of a control method for an intelligent machine tour guide provided in an embodiment of the present application, where the control method is applied to the intelligent machine tour guide, as shown in the figure, the control method may include the following steps:
The sound signal collected in the step 101 is used for waking up the intelligent machine tour guide, and after the intelligent machine tour guide is waken up, the sound source can be positioned according to the collected sound signal, so that the intelligent machine tour guide can provide explanation service for the tourist conveniently. The intelligent machine tour guide can be equipment capable of providing explanation services for tourists, can be fixed on the ground near exhibits, and can also be additionally provided with a motion base to form a movable intelligent machine tour guide.
Optionally, the user may set a sound signal for waking up the smart machine guide according to actual needs, for example, the guest may wake up the smart machine guide by clapping hands or uttering words such as "guide" by voice.
The intelligent machine tour guide usually comprises three working modes, which are respectively a standby mode, a guiding mode and an explanation mode, before the intelligent machine tour guide is awakened, the intelligent machine tour guide is usually in the standby mode, the intelligent machine tour guide can collect sound signals of the surrounding environment in real time, and send the collected sound signals to a central processing module of the intelligent machine tour guide, the central processing module judges whether a tourist sends out the sound signals for awakening the intelligent machine tour guide, if the sound signals for awakening the intelligent machine tour guide are collected, the intelligent machine tour guide enters the guiding mode, the tourist is guided to a preset explanation area and then is switched to the explanation mode, the intelligent machine tour guide provides explanation service for the tourist in the explanation mode, and if the sound signals for awakening the intelligent machine tour guide are not collected, the intelligent machine tour guide continues to be in standby. The guidance mode may be a mode for guiding the tourist to a predetermined explanation area, where the predetermined explanation area is a preset explanation area, and when the tourist is located in the explanation area, the intelligent machine guide provides an explanation service for the tourist. It should be noted that, when the intelligent machine tour guide is in the standby mode, the energy consumption is low, and the energy consumption of the intelligent machine tour guide can be reduced.
And 102, acquiring the direction of a sound source emitting the sound signal relative to the intelligent machine tour guide according to the sound signal.
In the embodiment of the application, the intelligent machine guide can position the sound source emitting the sound signal according to the collected sound signal for awakening the intelligent machine guide, and the direction of the sound source relative to the intelligent machine guide is obtained. The direction of the sound source relative to the intelligent machine guide can be the direction of the sound source relative to the intelligent machine guide, and whether the sound source is located right ahead of the intelligent machine guide can be judged based on the direction of the sound source relative to the intelligent machine guide.
Optionally, the collecting the sound signal for waking up the smart machine tour guide comprises:
collecting sound signals for waking up the intelligent machine tour guide through a voice collection module array;
accordingly, acquiring the azimuth information of the sound source emitting the sound signal relative to the intelligent machine tour guide according to the sound signal comprises:
acquiring time difference of sound acquired by each voice acquisition module in the voice acquisition module array;
and calculating the direction of the sound source relative to the intelligent machine guide according to the time difference of the sound signals acquired by the voice acquisition modules.
The voice acquisition module array can be at least two groups of microphones with higher sensitivity, and the at least two groups of microphones with higher sensitivity are arranged along a straight line at equal intervals. For example, the voice acquisition module array adopts three groups of microphones with higher sensitivity, and the microphones are arranged along a straight line at equal intervals.
In this embodiment of the present application, a central processing module in an intelligent machine guide may be designed by using an xilinix series Field Programmable Gate Array (FPGA) development board, and in an implementation manner of sound source positioning, a voice acquisition module Array may be connected to a PS-end I/O port of the FPGA development board, and a time difference between sound signals acquired by each voice acquisition module in the voice acquisition module Array and used for waking up the intelligent machine guide is read. The PS-side I/O port may be connected to the ZYNQ processor through a 12-pin PMOD connector, as shown in fig. 2a, a circuit diagram of the PS-side PMOD connector and the ZYNQ processor is shown, as shown in fig. 2b, a circuit diagram of the voice acquisition module is shown, and signals acquired by the high-sensitivity microphone array are amplified by the amplifier circuit, converted into digital signals by the analog-to-digital converter, and then transmitted to the ZYNQ processor through the PMOD connector.
The main purpose of sound source localization is to calculate the position of the sound source relative to the voice collection module array and the distance between the sound source and the voice collection module array, and to take the voice collection module array as three sets of microphones with higher sensitivity as an example, the principle of sound source localization algorithm is introduced, as shown in fig. 2c, the schematic diagram of sound source localization of three sets of microphones is shown, and the microphone M at the middle position is used0For the origin, a microphone array coordinate system is established, as shown in FIG. 2c, microphone M0,M1,M2Respectively is (x)0,y0)，(x1,y1) And (x)2,y2) The microphones are equally spaced on the x-axis by a distance l. The rectangular coordinate of the sound source S is (x)s,ys) The polar coordinates are (Rcos θ, Rsin θ).
Assuming a sound velocity c, the sound source arrives at the microphone M0,M1,M2Respectively at a time of τ0，τ1，τ2Time difference τ01＝τ1-τ0,τ02＝τ2-τ0，τ12＝τ2-τ1According to the geometrical relationship:
finishing to obtain:
and calculating to obtain:
and R is the distance from the sound source to the origin of the microphone array coordinate system Oxy.
Further, by the cosine theorem:
(R+cτ02)2＝l2+R2-2lRcosθ
obtaining:
from the above equation the orientation of the sound source relative to the microphone can be determined.
It should be noted that, because:
cosθ＝cos(2π-θ)
therefore, the theta value determined by the algorithm has multiple solutions, and the position of the sound source cannot be uniquely determined, so that the intelligent machine guide can be placed close to the wall in practical application, the sound source can be only positioned in the first quadrant or the second quadrant, and the multiple solutions are changed into the unique solution.
And 103, if the direction of the sound source relative to the intelligent machine tour guide is within a preset direction range, acquiring an image of an area where the tourist is located.
The preset azimuth range can be right ahead of the intelligent machine tour guide; images of the area where the guest is located may be captured by a camera device, including but not limited to a binocular camera.
Optionally, if the direction of the sound source relative to the intelligent machine tour guide is within a preset direction range, the acquiring the image of the area where the tourist is located includes:
if the direction of the sound source relative to the intelligent machine tour guide is within a preset direction range, acquiring an image of an area where a tourist closest to the intelligent machine tour guide is located within the preset direction range;
or if the direction of the sound source relative to the intelligent machine tour guide is within a preset direction range, acquiring the distance between the sound source and the intelligent machine tour guide;
and acquiring images of the area where the tourist is located within a target distance range, wherein the target distance range is determined according to the distance between the sound source and the intelligent machine tour guide.
When the image of the area where the tourist is located is collected through the camera device, the tourist to be shot can be determined through two modes, namely a mode I: taking the tourist nearest to the intelligent machine guide within a preset azimuth range as the tourist to be shot, and acquiring an image of an area where the tourist is located through shooting; the second method comprises the following steps: and determining a target distance range according to the distance between the sound source and the intelligent machine tour guide, taking the tourists within the target distance range as the tourists to be shot, and acquiring images of the area where the tourists are located through the camera device. Wherein the minimum value of the target distance range is smaller than the distance between the sound source and the intelligent machine guide, and the maximum value of the target distance range is larger than the distance between the sound source and the intelligent machine guide, for example, the distance between the sound source and the intelligent machine guide is 1 meter, and then the target distance range may be 0.9 meter to 1.2 meters.
Optionally, the embodiment of the present application further includes:
if the position of the sound source relative to the intelligent machine tour guide is not within the preset position range, starting the cradle head;
drive camera device through the cloud platform and turn to the sound source to make the sound source in predetermineeing the position scope for the position of intelligent machine guide.
In this application embodiment, if the position of sound source for intelligent machine tour guide is not in predetermineeing the position scope, then central processing unit can send the rotation instruction to the cloud platform, and the cloud platform drives camera device after receiving this rotation instruction and rotates for camera device turns to the sound source, ensures that the position of sound source for intelligent machine tour guide is in predetermineeing the position scope. The direction of the sound source relative to the intelligent machine guide can also be understood as the direction of the sound source relative to the camera device on the intelligent machine guide. The above-mentioned pan/tilt head includes, but is not limited to, a two-degree-of-freedom pan/tilt head.
The camera device and the holder can form an image acquisition system, the camera device is fixedly connected to the holder, the camera device mainly finishes acquisition of images of the area where the tourist is located, the acquired images are sent to the central processing module, the tourist is identified by the central processing module, and the distance between the tourist and the intelligent machine tour guide is calculated. As shown in the figure
And 2d is a schematic diagram of an image acquisition system, wherein the image acquisition system comprises a binocular camera and a two-degree-of-freedom holder.
And 104, acquiring the distance between the tourist and the intelligent machine tour guide according to the image of the area where the tourist is located.
In the embodiment of the application, when the image of the area where the tourist is located is acquired, the tourist can be separated from the background by using a target recognition technology (such as a face recognition algorithm), and the tourist is continuously positioned in real time by using the binocular camera, so that the tourist is guided by an intelligent machine to enter the preset explanation area conveniently.
The binocular camera is used for positioning the tourist mainly by measuring the position of the tourist (namely the distance between the tourist and the intelligent machine tour guide) by utilizing the aberration between images formed by the left camera and the right camera of the binocular camera, the principle of positioning the binocular camera is shown in figure 2e, and c in figure 2e1Is the optical center of the left camera c2The right camera optical center is the distance d between the optical centers of the two cameras, the midpoint of the connecting line of the two optical centers is taken as the origin, the right direction of the connecting line of the two optical centers is the x axis, and the vertical bisector of the connecting line of the optical centers is the y axis. The focal lengths of the two cameras are f, the coordinates of the points to be measured are p (x, y), and the image of the p points on the imaging plane of the left camera is p1(x1,y1) The image formed on the imaging plane of the right camera is p2(x2,y2). It is obvious that
Then there are:
further, it is possible to obtain:
the abscissa of the point p can be calculated in the same way:
the obtained (x, y) is the position of the tourist in the coordinate system. The position of the tourist in the coordinate system is the distance between the tourist and the intelligent machine tour guide.
And 105, if the distance between the tourist and the intelligent machine tour guide is within the preset distance range, controlling the intelligent machine tour guide to provide explanation service for the tourist.
In the embodiment of the application, if the distance between the tourist and the intelligent machine tour guide is within the preset distance range, the tourist is determined to be in the preset explanation area, the intelligent machine tour guide automatically switches to an explanation mode, and the voice broadcasting module is used for providing explanation services for the tourist.
Optionally, the embodiment of the present application further includes:
and if the distance between the tourist and the intelligent machine tour guide is not within the preset distance range, sending corresponding prompt information, wherein the prompt information is used for prompting the tourist to move so that the distance between the tourist after moving and the intelligent machine tour guide is within the preset distance range.
In the embodiment of the application, if the distance between the tourist and the intelligent machine tour guide is not within the preset distance range, the tourist is determined not to be in the preset explanation area, and at the moment, the central processing module can control the voice broadcast module to send different prompt messages by using different volumes according to the distance between the tourist and the intelligent machine tour guide, for example, when the distance between the tourist and the intelligent machine tour guide is greater than the maximum value of the preset distance range, the voice broadcast module is controlled to send first prompt messages by using the first volume; when the distance between the tourist and the intelligent machine tour guide is smaller than the minimum value of the preset distance range, controlling the voice broadcast module to send out second prompt information by using second volume; the first volume is larger than the second volume, the first prompt message is used for prompting the tourist to approach the intelligent machine for guiding (for example, prompting to approach some), the second prompt message is used for prompting the tourist to move away from the intelligent machine for guiding (for example, prompting to back and keep distance), and the tourist can be prompted to move by sending the first prompt message and the second prompt message, so that the moved tourist is located in the preset explanation area.
Optionally, controlling the intelligent machine tour guide to provide explanation services for the guest includes:
and when the intelligent machine tour guide is detected to be connected with the portable equipment, the explanation content is sent to the portable equipment.
Wherein, portable equipment can refer to portable and can receive the equipment of explanation content, and portable equipment for example is bluetooth headset, and when the environment is noisy, the bluetooth headset that the visitor wore can be connected through the bluetooth to intelligent machine tour guide, directly sends the explanation content to the bluetooth headset that the visitor wore, guarantees that the visitor can be clear hear the commentary on classics.
The embodiment of the application controls the intelligent machine tour guide to provide explanation service for the tourist when the distance between the tourist and the intelligent machine tour guide is within the preset distance range, so that the tourist can be provided with humanized tour experience, an artificial interpreter is not needed, the labor cost is saved, the intelligent machine tour guide is compared with machine rolling playing, the energy consumption of the intelligent machine tour guide is low, and the energy consumption is reduced.
Referring to fig. 3, it is a schematic view of an implementation flow of a control method for an intelligent machine tour guide provided in the second embodiment of the present application, where the control method is applied to an intelligent machine tour guide, and as shown in the figure, the control method may include the following steps:
The step is the same as step 101, and reference may be made to the related description of step 101, which is not described herein again.
And 302, acquiring the direction of a sound source emitting the sound signal relative to the intelligent machine tour guide according to the sound signal.
The step is the same as step 102, and reference may be made to the related description of step 102, which is not repeated herein.
The step is the same as step 103, and reference may be made to the related description of step 103, which is not described herein again.
And step 304, acquiring the distance between the tourist and the intelligent machine tour guide according to the image of the area where the tourist is located.
The step is the same as step 104, and reference may be made to the related description of step 104, which is not described herein again.
And 305, if the distance between the tourist and the intelligent machine tour guide is within a preset distance range, controlling the intelligent machine tour guide to provide explanation service for the tourist, driving the camera device to rotate through the holder based on the explanation content, so that the camera device turns to a corresponding object area, identifying a target object from the object area, starting the lighting device, and irradiating a light beam emitted by the lighting device onto the target object.
In this application embodiment, when the visitor is located predetermined explanation region, intelligent machine tour guide when providing explanation service for the visitor, can be based on the explanation content, drive camera device through the cloud platform and rotate, so that camera device turns to the region of corresponding object place, and based on the model of the target object that corresponds with explanation content of prestoring, discern the target object in the region from the object place, after discerning the target object, intelligent machine tour guide opens the lighting device that self carried, shine the target object on the light beam that will send, thereby illuminate the target object, provide more clear sight seeing and hearing vision and more humanized tour experience for the visitor. The lighting device may be any device capable of emitting a light beam, such as a spotlight.
It should be noted that, the lighting device may also be fixedly connected to the pan/tilt head, and irradiate onto a corresponding target object (for example, an exhibit) in the intelligent machine tour guide explaining process.
In an application scenario:
the tourist awakens up intelligent machine tour guide through clapping hands or saying modes such as specific word of awakening up by exhibit, stands before the exhibit under the guide of intelligent machine tour guide, and intelligent machine tour guide begins to provide explanation service for the tourist, opens the spotlight at the explanation in-process and illuminates the exhibit that is explaining now, provides more clear impression for the tourist, and the explanation finishes, and the tourist walks to next exhibition district, and intelligent machine tour guide gets into standby state.
In another application scenario:
the tourist can obtain some information about the organisms such as the fish of interest after watching the explanation video in the gymnasium through reading the show tablet, but can't discern the organism of oneself interest from the organism of a great variety usually before large-scale aquarium, the tourist only needs to awaken the intelligent machine guide this moment, stand in the best position of viewing and admiring under the guide of intelligent machine guide, the intelligent machine guide can follow the automatic identification in the aquarium and trail the target organism that will explain promptly in real time this moment, open the spotlight when playing the explanation, shine the light beam to the target organism that is explaining accurately, make the tourist can find the target organism in the present explanation fast from the aquarium when hearing the explanation, the explanation finishes, the intelligent machine guide enters standby state.
The embodiment of the application is through providing explanation service for the visitor at intelligent machine tour guide, based on the explanation content, from the object regional identification target object to after the target object is identified, open the lighting device that self carried, can with the light beam that sends shine on the target object, illuminate the target object, thereby experience with more humanized tourism for the visitor provides more clear sight and sight.
Fig. 4 is a schematic diagram of a control device for guiding an intelligent machine according to a third embodiment of the present application, and for convenience of description, only the portions related to the third embodiment of the present application are shown.
The control device includes:
the voice acquisition module 41 is used for acquiring a voice signal for waking up the intelligent machine tour guide;
the direction acquiring module 42 is used for acquiring the direction of a sound source emitting the sound signal relative to the intelligent machine tour guide according to the sound signal;
the image acquisition module 43 is configured to acquire an image of an area where the tourist is located if the direction of the sound source relative to the intelligent machine tour guide is within a preset direction range;
the distance acquisition module 44 is used for acquiring the distance between the tourist and the intelligent machine tour guide according to the image of the area where the tourist is located;
and the machine control module 45 is used for controlling the intelligent machine tour guide to provide explanation service for the tourist if the distance between the tourist and the intelligent machine tour guide is within a preset distance range.
Optionally, the image acquisition module 43 is specifically configured to:
if the direction of the sound source relative to the intelligent machine tour guide is within a preset direction range, acquiring an image of an area where a tourist closest to the intelligent machine tour guide is located within the preset direction range;
or if the direction of the sound source relative to the intelligent machine tour guide is within a preset direction range, acquiring the distance between the sound source and the intelligent machine tour guide;
and acquiring images of the area where the tourist is located within a target distance range, wherein the target distance range is determined according to the distance between the sound source and the intelligent machine tour guide.
Optionally, the control device further comprises:
the holder starting module is used for starting the holder if the position of the sound source relative to the intelligent machine guide is not within the preset position range;
the camera shooting rotation module is used for driving the camera shooting device to turn to a sound source through the holder, so that the sound source is in a preset azimuth range relative to the azimuth of the intelligent machine guide.
Optionally, the control device further comprises:
and the information prompting module is used for sending corresponding prompting information if the distance between the tourist and the intelligent machine tour guide is not within the preset distance range, and the prompting information is used for prompting the tourist to move so that the distance between the moved tourist and the intelligent machine tour guide is within the preset distance range.
Optionally, the machine control module 45 is further configured to:
based on the explanation content, the camera shooting device is driven to rotate through the holder, so that the camera shooting device is turned to the area where the corresponding object is located;
identifying a target object from an area where the object is located;
and starting the lighting device, and irradiating the light beam emitted by the lighting device onto the target object.
Optionally, the machine control module 45 is specifically configured to:
and when the intelligent machine tour guide is detected to be connected with the portable equipment, the explanation content is sent to the portable equipment.
Optionally, the voice collecting module 41 is specifically configured to:
collecting sound signals for waking up the intelligent machine tour guide through a voice collection module array;
accordingly, the orientation acquisition module 42 is specifically configured to:
acquiring time difference of sound signals acquired by each voice acquisition module in the voice acquisition module array;
and calculating the direction of the sound source relative to the intelligent machine guide according to the time difference of the sound signals acquired by the voice acquisition modules.
The control device provided in the embodiment of the present application can be applied to the first method embodiment and the second method embodiment, and for details, reference is made to the description of the first method embodiment and the second method embodiment, and details are not repeated herein.
Fig. 5 is a schematic view of an intelligent machine tour guide provided in the fourth embodiment of the present application. As shown in fig. 5, the intelligent machine guide 5 of this embodiment includes: one or more processors 50 (only one of which is shown), a memory 51, and a computer program 52 stored in the memory 51 and executable on the processors 50. The steps in the various control method embodiments described above are implemented when the processor 50 executes the computer program 52.
The intelligent machine tour guide may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of the intelligent machine guide 5 and does not constitute a limitation of the intelligent machine guide 5 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the intelligent machine guide may also include input output devices, network access devices, buses, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 51 may be an internal storage unit of the intelligent machine guide 5, such as a hard disk or a memory of the intelligent machine guide 5. The memory 51 may also be an external storage device of the Smart machine guide 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the Smart machine guide 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the intelligent machine guide 5. The memory 51 is used for storing the computer program and other programs and data required for the intelligent machine tour guide. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned apparatus may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/intelligent machine guide and method may be implemented in other ways. For example, the above-described device/intelligent machine tour guide embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
When the computer program product runs on an intelligent machine guide, the steps in the method embodiments can be realized when the intelligent machine guide is executed.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A control method for intelligent machine tour guide is characterized by comprising the following steps:
collecting a sound signal for waking up the intelligent machine tour guide;
acquiring the position of a sound source emitting the sound signal relative to the intelligent machine tour guide according to the sound signal;
if the direction of the sound source relative to the intelligent machine tour guide is within a preset direction range, acquiring an image of an area where the tourist is located;
acquiring the distance between the tourist and the intelligent machine tour guide according to the image of the area where the tourist is located;
and if the distance between the tourist and the intelligent machine tour guide is within the preset distance range, controlling the intelligent machine tour guide to provide explanation service for the tourist.
2. The control method according to claim 1, wherein if the direction of the sound source relative to the intelligent machine tour guide is within a preset direction range, the capturing the image of the area where the guest is located comprises:
if the direction of the sound source relative to the intelligent machine tour guide is within the preset direction range, acquiring an image of an area where a visitor closest to the intelligent machine tour guide is located within the preset direction range;
or if the direction of the sound source relative to the intelligent machine guide is within the preset direction range, acquiring the distance between the sound source and the intelligent machine guide;
and acquiring an image of an area where the tourist is located within a target distance range, wherein the target distance range is determined according to the distance between the sound source and the intelligent machine tour guide.
3. The control method according to claim 1, characterized by further comprising:
if the position of the sound source relative to the intelligent machine tour guide is not within the preset position range, starting the cradle head;
the cloud deck drives the camera device to turn to the sound source, so that the sound source is in the preset azimuth range relative to the azimuth of the intelligent machine tour guide.
4. The control method according to claim 1, characterized by further comprising:
and if the distance between the tourist and the intelligent machine tour guide is not within the preset distance range, sending corresponding prompt information, wherein the prompt information is used for prompting the tourist to move, so that the distance between the tourist and the intelligent machine tour guide after moving is within the preset distance range.
5. The control method of claim 1, when controlling the intelligent machine tour guide to provide an explanation service for the guest, further comprising:
based on the explanation content, driving the camera device to rotate through the holder so as to enable the camera device to turn to the area where the corresponding object is located;
identifying a target object from the area where the object is located;
and starting an illuminating device, and irradiating the light beam emitted by the illuminating device onto the target object.
6. The method of controlling as set forth in claim 1, wherein the controlling the intelligent machine tour guide to provide an explanation service for the guest includes:
and when detecting that the intelligent machine tour guide is connected with the portable equipment, transmitting the explanation content to the portable equipment.
7. The control method of any one of claims 1 to 6, wherein the collecting the sound signal for waking up the smart machine tour guide comprises:
collecting sound signals for waking up the intelligent machine tour guide through a voice collection module array;
accordingly, acquiring, according to the sound signal, the orientation of the sound source emitting the sound signal relative to the intelligent machine tour guide comprises:
acquiring time difference of the sound signals acquired by each voice acquisition module in the voice acquisition module array;
and calculating the position of the sound source relative to the intelligent machine guide according to the time difference of the sound signals acquired by the voice acquisition modules.
8. A control device for intelligent machine tour guide, the control device comprising:
the voice acquisition module is used for acquiring a voice signal for awakening the intelligent machine tour guide;
the direction obtaining module is used for obtaining the direction of a sound source emitting the sound signal relative to the intelligent machine guide according to the sound signal;
the image acquisition module is used for acquiring images of the area where the tourist is located if the position of the sound source relative to the intelligent machine tour guide is within a preset position range;
the distance acquisition module is used for acquiring the distance between the tourist and the intelligent machine tour guide according to the image of the area where the tourist is located;
and the machine control module is used for controlling the intelligent machine tour guide to provide explanation service for the tourist if the distance between the tourist and the intelligent machine tour guide is within the preset distance range.
9. An intelligent machine tour guide comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the control method according to any of claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010713069.4A CN111815844A (en) | 2020-07-22 | 2020-07-22 | Intelligent machine tour guide and control method, control device and storage medium thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010713069.4A CN111815844A (en) | 2020-07-22 | 2020-07-22 | Intelligent machine tour guide and control method, control device and storage medium thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111815844A true CN111815844A (en) | 2020-10-23 |
Family
ID=72862061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010713069.4A Pending CN111815844A (en) | 2020-07-22 | 2020-07-22 | Intelligent machine tour guide and control method, control device and storage medium thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111815844A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113301505A (en) * | 2021-05-23 | 2021-08-24 | 杭州翔毅科技有限公司 | Artificial intelligence-based tourism management method |
| CN113573290A (en) * | 2021-07-15 | 2021-10-29 | 深圳市星科启电子商务有限公司 | Scenic spot information interaction method and scenic spot service system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1748302A2 (en) * | 2005-07-26 | 2007-01-31 | Samsung Electronics Co., Ltd. | Location recognition system using stereophonic sound, transmitter and receiver therein, and method thereof |
| CN101110613A (en) * | 2006-07-18 | 2008-01-23 | 深圳职业技术学院 | Wireless tour guide device |
| CN201273999Y (en) * | 2008-08-29 | 2009-07-15 | 湖南工程学院 | Tourist guidance robot based on image processing |
| CN101697605A (en) * | 2009-10-23 | 2010-04-21 | 中兴通讯股份有限公司 | Self-help guide navigation terminal cluster guide system and method |
| CN103268124A (en) * | 2013-04-22 | 2013-08-28 | 天津市亚安科技股份有限公司 | Method for controlling cradle head motion and cradle head |
| CN105468679A (en) * | 2015-11-13 | 2016-04-06 | 中国人民解放军国防科学技术大学 | Tourism information processing and plan providing method |
| CN107204162A (en) * | 2017-06-01 | 2017-09-26 | 广西昌成科技有限公司 | A kind of unmanned guide system and data processing method |
| CN107608352A (en) * | 2017-09-19 | 2018-01-19 | 宁波美健机器人有限公司 | A kind of guide robot |
| CN109108934A (en) * | 2018-09-30 | 2019-01-01 | 华南理工大学 | A kind of tourist guide service robot and its guide service method based on Mecanum wheel |
| CN109307856A (en) * | 2017-07-27 | 2019-02-05 | 深圳市冠旭电子股份有限公司 | A kind of sterically defined exchange method of robot and device |
| CN111239689A (en) * | 2020-02-28 | 2020-06-05 | 广东美的厨房电器制造有限公司 | Sound wave positioning method of mobile robot, sound wave receiving device and robot system |
-
2020
- 2020-07-22 CN CN202010713069.4A patent/CN111815844A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1748302A2 (en) * | 2005-07-26 | 2007-01-31 | Samsung Electronics Co., Ltd. | Location recognition system using stereophonic sound, transmitter and receiver therein, and method thereof |
| CN101110613A (en) * | 2006-07-18 | 2008-01-23 | 深圳职业技术学院 | Wireless tour guide device |
| CN201273999Y (en) * | 2008-08-29 | 2009-07-15 | 湖南工程学院 | Tourist guidance robot based on image processing |
| CN101697605A (en) * | 2009-10-23 | 2010-04-21 | 中兴通讯股份有限公司 | Self-help guide navigation terminal cluster guide system and method |
| CN103268124A (en) * | 2013-04-22 | 2013-08-28 | 天津市亚安科技股份有限公司 | Method for controlling cradle head motion and cradle head |
| CN105468679A (en) * | 2015-11-13 | 2016-04-06 | 中国人民解放军国防科学技术大学 | Tourism information processing and plan providing method |
| CN107204162A (en) * | 2017-06-01 | 2017-09-26 | 广西昌成科技有限公司 | A kind of unmanned guide system and data processing method |
| CN109307856A (en) * | 2017-07-27 | 2019-02-05 | 深圳市冠旭电子股份有限公司 | A kind of sterically defined exchange method of robot and device |
| CN107608352A (en) * | 2017-09-19 | 2018-01-19 | 宁波美健机器人有限公司 | A kind of guide robot |
| CN109108934A (en) * | 2018-09-30 | 2019-01-01 | 华南理工大学 | A kind of tourist guide service robot and its guide service method based on Mecanum wheel |
| CN111239689A (en) * | 2020-02-28 | 2020-06-05 | 广东美的厨房电器制造有限公司 | Sound wave positioning method of mobile robot, sound wave receiving device and robot system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113301505A (en) * | 2021-05-23 | 2021-08-24 | 杭州翔毅科技有限公司 | Artificial intelligence-based tourism management method |
| CN113573290A (en) * | 2021-07-15 | 2021-10-29 | 深圳市星科启电子商务有限公司 | Scenic spot information interaction method and scenic spot service system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200045241A1 (en) | System and method for acquiring virtual and augmented reality scenes by a user | |
| CN111126182B (en) | Lane line detection method, lane line detection device, electronic device, and storage medium | |
| US8335349B2 (en) | Method and apparatus for three-dimensional tracking of infra-red beacons | |
| WO2020224479A1 (en) | Method and apparatus for acquiring positions of target, and computer device and storage medium | |
| CN101267501B (en) | Image information processing apparatus | |
| US9292086B2 (en) | Correlating pupil position to gaze location within a scene | |
| EP4105889A1 (en) | Augmented reality processing method and apparatus, storage medium, and electronic device | |
| DE60143626D1 (en) | OBJECT TRACKING SYSTEM WITH MULTIPLE CAMERAS | |
| CN112270754B (en) | Local grid map construction method and device, readable medium and electronic equipment | |
| CN107027014A (en) | A kind of intelligent optical projection system of trend and its method | |
| US8948451B2 (en) | Information presentation device, information presentation method, information presentation system, information registration device, information registration method, information registration system, and program | |
| CN111815844A (en) | Intelligent machine tour guide and control method, control device and storage medium thereof | |
| CN107920263A (en) | Volume adjusting method and device | |
| CN107193380B (en) | High-precision virtual reality positioning system | |
| CN103763470A (en) | Portable scene shooting device | |
| CN108983147A (en) | A kind of indoor locating system and method based on mobile terminal | |
| CN102509529B (en) | Self-service tour guide method | |
| US11875080B2 (en) | Object sharing method and apparatus | |
| EP3863275B1 (en) | System and method for smart image-capturing | |
| Liarokapis et al. | Exploring urban environments using virtual and augmented reality | |
| CN108875005B (en) | Tourist preference learning system and method based on touring behavior | |
| RU176382U1 (en) | INFORMATION GATHERING UNIT FOR A JOINT REALITY DEVICE | |
| CN107683604A (en) | Generating means | |
| CN102238320A (en) | Shooting device and shooting method thereof | |
| CN111982293A (en) | Body temperature measuring method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20201023 |
|
| WD01 | Invention patent application deemed withdrawn after publication |