CN111982140A - Tour guide method, device and equipment for unmanned tour guide vehicle - Google Patents
Tour guide method, device and equipment for unmanned tour guide vehicle Download PDFInfo
- Publication number
- CN111982140A CN111982140A CN202010760613.0A CN202010760613A CN111982140A CN 111982140 A CN111982140 A CN 111982140A CN 202010760613 A CN202010760613 A CN 202010760613A CN 111982140 A CN111982140 A CN 111982140A
- Authority
- CN
- China
- Prior art keywords
- tour
- unmanned
- guide vehicle
- point
- vehicle
- 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
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/365—Guidance using head up displays or projectors, e.g. virtual vehicles or arrows projected on the windscreen or on the road itself
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/3673—Labelling using text of road map data items, e.g. road names, POI names
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The utility model provides a control method and a device based on an unmanned tour guide vehicle, which relates to the technical field of tour guide, and the method comprises the following steps: acquiring a target navigation route of an area to be visited, wherein the target navigation route comprises at least one visiting point, and each visiting point is provided with corresponding multimedia information; controlling the unmanned tour guide vehicle to run along the target navigation route; and when detecting that the unmanned tour guide vehicle runs to the tour point, controlling a playing device on the unmanned tour guide vehicle to play the multimedia information corresponding to the tour point. The method and the device can effectively improve the playing accuracy of the multimedia information.
Description
Technical Field
The application relates to the technical field of navigation and tour guide, in particular to a control method and device based on an unmanned tour guide vehicle.
Background
Unmanned tour guide vehicles are increasingly used in tourist areas such as scenic spots, airports, museums, etc. as an alternative to tour guide; the unmanned tour guide vehicle can guide the tourists to visit the tour and explain the landscape very conveniently by moving in the tour area. However, there are still some disadvantages of the unmanned tour guide vehicle in the market, for example, when the unmanned tour guide vehicle enters a place with poor signal or the road condition is complicated, the positioning function is often disabled, so that the multimedia information such as audio and video of the scenic spot to be played is not matched with the positioning information, and the problem of disordered or disabled multimedia information playing can occur.
Disclosure of Invention
In order to solve the technical problems, a control method and a control device based on an unmanned tour guide vehicle are provided, and the playing accuracy of multimedia information can be effectively improved.
According to one aspect of the present application, there is provided an unmanned guided vehicle-based control method, comprising: acquiring a target navigation route of an area to be visited, wherein the target navigation route comprises at least one visiting point, and each visiting point is provided with corresponding multimedia information; controlling the unmanned tour guide vehicle to travel along the target navigation route; and when detecting that the unmanned tour guide vehicle runs to the tour point, controlling a playing device on the unmanned tour guide vehicle to play multimedia information corresponding to the tour point.
Further, the step of obtaining the target navigation route of the area to be visited includes: acquiring at least one tour point needing to be guided in a region to be browsed; and determining a target navigation route to the at least one tour point according to a preset route planning algorithm.
Further, the determining a target navigation route to the at least one tour point according to a preset path planning algorithm includes: determining candidate navigation routes according to a preset path planning algorithm; when the candidate navigation route is one, determining the candidate navigation route as a target navigation route; displaying the candidate navigation route on a display screen of the unmanned tour guide vehicle when the candidate navigation route is multiple; and receiving a route selection result sent by a user based on a plurality of candidate navigation routes, and determining a target navigation route according to the route selection result.
Further, the step of controlling the unmanned tour guide vehicle to travel along the target navigation route includes: receiving a driving control instruction of a user, and executing driving control operation based on the driving control instruction; and controlling the unmanned tour guide vehicle to travel along the target navigation route based on the unlocking instruction and/or the travel control operation.
Further, the step of detecting that the unmanned tour guide vehicle travels to the tour point includes: collecting area indication information of the unmanned tour guide vehicle in the running process of the unmanned tour guide vehicle; and determining that the unmanned tour guide vehicle runs to the tour point by comparing the area indication information with the position identification information of the tour point.
Further, the area indication information includes vehicle positioning information, and the position identification information includes a tourist point position area; the step of collecting the area indication information of the unmanned guide vehicle includes: collecting vehicle positioning information of the unmanned tour guide vehicle through positioning equipment; the step of determining that the unmanned guide vehicle travels to the waypoint by comparing the area indication information with the position identification information of the waypoint includes: comparing the vehicle positioning information with a position area of a tourist spot; and when the comparison result shows that the vehicle positioning information is located in the position area of the tourist spot, determining that the unmanned tour guide vehicle runs to the tourist spot.
Further, the area indication information includes a tour route image, and the position identification information includes a marker image of the tour point; the step of collecting the area indication information of the unmanned guide vehicle includes: collecting a tour route image through an image collecting device arranged on the unmanned tour guide vehicle; the step of determining that the unmanned guide vehicle travels to the waypoint by comparing the area indication information with the position identification information of the waypoint includes: comparing the tour route image with the marker image of the tour point, and determining the similarity between the tour image and the marker image of the tour point; and when the similarity reaches a preset similarity threshold value, determining that the unmanned tour guide vehicle runs to the tour point.
Further, the method further comprises: displaying at least one of the vehicle positioning information, the tour point positioning information, the tour image, the landmark image of the tour point, and the multimedia information through a display screen of the unmanned tour vehicle.
Further, the method further comprises: receiving commodity purchasing information of a user, wherein the commodity purchasing information at least comprises: commodity order information and payment information; and controlling the corresponding commodity to be delivered to a preset position based on the commodity purchasing information.
According to another aspect of the present application, there is provided an unmanned guided vehicle-based control apparatus comprising: the route acquisition module is used for acquiring a target navigation route of an area to be visited, the target navigation route comprises at least one visiting point, and each visiting point is provided with corresponding multimedia information; the driving control module is used for controlling the unmanned tour guide vehicle to drive along the target navigation route; and the multimedia playing module is used for controlling a playing device on the unmanned tour guide vehicle to play multimedia information corresponding to the tour point when the unmanned tour guide vehicle is detected to travel to the tour point.
According to another aspect of the present application, there is provided an unmanned guide vehicle having the above-described unmanned guide vehicle-based control apparatus disposed thereon.
The invention provides a control method and a device based on an unmanned tour guide vehicle, which can firstly obtain a target navigation route of an area to be visited, wherein the target navigation route comprises at least one tour point, and each tour point is provided with corresponding multimedia information; and then controlling the unmanned tour guide vehicle to run along the target navigation route, and controlling a playing device on the unmanned tour guide vehicle to play multimedia information corresponding to the tour point when detecting that the unmanned tour guide vehicle runs to the tour point. According to the method and the device, the unmanned tour guide vehicle is controlled to run according to the target navigation route, the route complexity can be reduced, and the interference of the running route on vehicle positioning is reduced, so that whether the unmanned tour guide vehicle runs to the tour point or not can be detected more accurately, the problems that the played multimedia information is not matched with the tour point actually reached, the multimedia information is played in a mess or is invalid are solved better, and the playing accuracy of the multimedia information is also effectively improved.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic flow chart of an unmanned vehicle-based control method according to an exemplary embodiment of the present application.
Fig. 2 is a block diagram of a control device based on an unmanned vehicle according to an exemplary embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Considering that the existing unmanned tour guide vehicle used as a tour guide substitute tool often has a positioning function failure, so that the multimedia information of the scenic spot to be played is not matched with the positioning information; in order to solve the problem, the embodiments of the present disclosure provide a control method and device based on an unmanned tour guide vehicle, and the technology can be applied to the fields of navigation and tour guide of robots, unmanned planes, unmanned vehicles and other devices.
The embodiment provides a control method based on an unmanned guide vehicle, which can be executed by the unmanned guide vehicle; in a specific application scenario, the method may be performed by a tour guide control device of the unmanned tour guide vehicle, the tour guide control device may be disposed inside the unmanned tour guide vehicle, such as a tour guide controller inside a body of the unmanned tour guide vehicle, and further, the tour guide control device may be a separate control device that can control the unmanned tour guide vehicle, such as a tour guide controller externally disposed on the unmanned tour guide vehicle.
Referring to a flow chart of a control method based on an unmanned tour guide vehicle shown in fig. 1, the method specifically comprises the following steps:
step S102, a target navigation route of an area to be visited is obtained, the target navigation route comprises at least one visiting point, and each visiting point is provided with corresponding multimedia information.
Generally, within a region to be visited, a plurality of points to be visited with relative independence, completeness and aesthetic characteristics are divided according to factors such as scene characteristics, region size and the like. In the embodiment, multimedia information in the form of audio, video and the like of each tour point can be recorded in advance, and the multimedia information and the corresponding tour points are bound one by one; the tour point and multimedia information with the unique binding relationship are then stored in the memory of the unmanned vehicle.
The target navigation route may be a preset fixed navigation route corresponding to the tour point, or may be an optimal navigation route planned based on the tour point.
And step S104, controlling the unmanned tour guide vehicle to run along the target navigation route.
In this embodiment, there are various control manners for the unmanned vehicle, such as setting at least one unmanned vehicle in a region to be visited, where each unmanned vehicle corresponds to a target navigation route, and when the unmanned vehicle is started to start working, the unmanned vehicle can travel along the corresponding target navigation route. Alternatively, the instruction can be initiated by the user, so that the unmanned tour guide vehicle is controlled to run along the target navigation route.
And S106, when detecting that the unmanned tour guide vehicle runs to the tour point, controlling a playing device on the unmanned tour guide vehicle to play the multimedia information corresponding to the tour point. The multimedia information includes, for example: text, image, audio, video and the like, and based on different forms of multimedia information, the playing device can be a display screen and an audio, video player and the like.
And in the process that the unmanned tour guide vehicle runs along the target navigation route, detecting whether the unmanned tour guide vehicle runs to the tour point or not in real time, determining the arrived tour point when the unmanned tour guide vehicle is detected to run to the tour point, and controlling a playing device on the unmanned tour guide vehicle to play multimedia information corresponding to the tour point.
The invention provides a control method based on an unmanned tour guide vehicle, which can firstly acquire a target navigation route of an area to be visited, wherein the target navigation route comprises at least one tour point, and each tour point is provided with corresponding multimedia information; and then controlling the unmanned tour guide vehicle to run along the target navigation route, and controlling a playing device on the unmanned tour guide vehicle to play multimedia information corresponding to the tour point when detecting that the unmanned tour guide vehicle runs to the tour point. According to the method and the device, the unmanned tour guide vehicle is controlled to run according to the target navigation route, the route complexity can be reduced, and the interference of the running route on vehicle positioning is reduced, so that whether the unmanned tour guide vehicle runs to the tour point or not can be detected more accurately, the problems that the played multimedia information is not matched with the tour point actually reached, the multimedia information is played in a mess or is invalid are solved better, and the playing accuracy of the multimedia information is also effectively improved.
For the step S102, the embodiment provides a manner of obtaining a target navigation route of an area to be visited, which may be specifically executed with reference to the following steps:
step one, acquiring at least one tour point needing to be guided in a region to be browsed. The at least one tour point to be guided may be all or part of the tour points within the area to be browsed. In a specific implementation, the tour points that need to be guided can be obtained by the following alternative example.
Example 1: reading a ticket of a user in an image Identification mode, an RFID (Radio Frequency Identification ) mode and other modes to obtain a tour point covered by the ticket; in this case, the sightseeing spot covered by the ticket is taken as the sightseeing spot to be guided in the area to be browsed.
Example 2: and receiving the tour point selection information of the user, thereby obtaining at least one tour point needing to be guided. For example, all the tour points in the region to be browsed are displayed through a display screen of the unmanned tour guide vehicle, so that a user can select the tour points; the user can select the tourist points on the display screen through touch operation, and the unmanned tour guide vehicle receives tourist point selection information and determines at least one tourist point needing to be guided based on the touch operation of the user.
Of course, it should be understood that the above is merely an example description of a way of tour point acquisition and should not be taken as limiting.
And step two, determining a target navigation route reaching at least one tour point according to a preset route planning algorithm.
In consideration of the fact that in practical applications, the current position (which may be understood as the starting point position) of the unmanned tour vehicle and the tour point are not usually the same position, and the tour point may not be limited to one, it is necessary to plan a navigation route from the starting point position and going to at least one tour point, so that the planned navigation route meets the navigation conditions of shortest route, least repeated route, way-designated location (such as a toilet), and the like. It is understood that at least one waypoint in the route planning process is all waypoints determined to need guidance; for example, if it is determined that there is one tour point to be guided, a navigation route from the starting point to the tour point is planned, and if it is determined that there are n (n ≧ 2) tour points to be guided, a navigation route from the starting point to the n tour points is planned.
For the convenience of understanding, the present embodiment describes a method for planning a target navigation route, which is described with reference to the following steps (1) to (3):
and (1) determining a candidate navigation route according to a preset path planning algorithm. During specific implementation, the candidate navigation routes of each tour point starting from the starting point position and guided by the route needed to be guided can be determined according to the path planning algorithms such as the genetic algorithm, the ant colony algorithm, the enumeration method, the simulated annealing algorithm or the particle swarm algorithm. Considering that when the number of the sightseeing points is one, the passable routes between the starting point position and the sightseeing points can be one or more, and when the number of the sightseeing points is more than two, further considering that the sightseeing sequence of each sightseeing point can be various; based on this, the number of the candidate navigation routes in the embodiment is at least one.
The tour order of tour points on different candidate navigation routes and/or the selected passable routes are different, in this case, the route distances, repeated routes, approach places (such as toilets and convenience stores) and other factors corresponding to different candidate navigation routes are different, and in order to meet different requirements of users, the candidate navigation routes can be provided for the users to be flexibly selected.
And (2) when one candidate navigation route is available, determining the candidate navigation route as a target navigation route.
And (3) when the candidate navigation routes are multiple, displaying the candidate navigation routes on a display screen of the unmanned tour guide vehicle. And receiving a route selection result sent by a user based on the plurality of candidate navigation routes, and determining a target navigation route according to the route selection result. The route selection result may be that a target navigation route is directly determined from a plurality of candidate navigation routes; it may also be a filtering condition, such as a filtering condition with the least repeated route, according to which a target navigation route with the least repeated route is determined among the plurality of candidate navigation routes.
In the embodiment, the candidate navigation routes are determined firstly, and then the target navigation route meeting the user requirements (such as few repeated routes and places specified by routes) is selected from the candidate navigation routes, so that multiple choices can be provided for the user, and the user experience is improved.
After the target navigation route is determined according to the mode, the unmanned tour guide vehicle can be controlled to run along the target navigation route. In order to improve the control flexibility of the unmanned tour guide vehicle, the following two implementation modes for controlling the unmanned tour guide vehicle to run along the target navigation route are provided.
The control method is as follows:
firstly, at least one unmanned guide vehicle is arranged in an area to be visited, and each unmanned guide vehicle is correspondingly provided with at least one target navigation route for running. Different target navigation routes can be navigation routes of the same tour point and different tour orders, for example, for A, B, C, D four tour points, according to different tour orders, the target navigation route can be A-B-C-D or B-A-D-C; the different target navigation route may also be a navigation route of different waypoints, for example, waypoint A, B, C, D is included on target navigation route I and waypoint B, E, F is included on target navigation route II.
Then, controlling the unmanned tour guide vehicle to run along the target navigation route according to the running information by setting the running information of the unmanned tour guide vehicle; the driving information may include, but is not limited to, at least one of: the method comprises the following steps of running sequence of different target navigation routes, circulating running times along the target navigation routes, starting time of each circulating running, time interval of two adjacent circulating running, stay time of each tour point and running speed. The driving information can be flexibly set according to the annual busy season, the daily pedestrian volume, the tour characteristics of tour points, the service life of the unmanned tour guide vehicle and other factors, so as to better meet the actual application scene. For example, in one possible scenario, the travel information for an unmanned tour guide vehicle is set to: the driving sequence is the target navigation route I, II, and taking the target navigation route I as an example, the corresponding driving information may further include: the running speed is 5km/h, the starting time of the first cycle running along the target navigation route I is 8 points, the cycle running times are 5 times, and the time interval of the cycle running is 5 minutes, namely when the unmanned tour guide vehicle finishes one round of running along the target navigation route I, the unmanned tour guide vehicle stops working for 5 minutes and then starts the next round of running along the target navigation route I; the stay time of the tour point A, B, C on the target navigation route I is 3 minutes, 8 minutes and 5 minutes, and the stay time is related to the display time of the multimedia information corresponding to the tour point. After the unmanned tour guide vehicle finishes driving along the target navigation route I according to the driving information, the unmanned tour guide vehicle can start to continue driving along the target navigation route II according to the driving information corresponding to the target navigation route II.
In the first control mode, the unmanned tour guide vehicle can be automatically controlled to run along the target navigation route according to the preset target navigation route running and running information, so that the control process of the unmanned tour guide vehicle is very simple and convenient.
And a second control mode:
in order to facilitate the use of the unmanned guided vehicle by the user, the present embodiment may further release the unmanned guided vehicle controlled by the user in the area to be visited, and based on this, the process of controlling the unmanned guided vehicle to travel along the target navigation route may include the following steps i to iii:
and step i, receiving an unlocking instruction of a user, and executing an unlocking operation based on the unlocking instruction.
In the embodiment, the unmanned tour guide vehicle can be parked at a fixed parking point and can also freely run in the area to be visited; when a user wants to control the unmanned tour guide vehicle, the user can send out unlocking instructions in various forms such as voice, buttons, code scanning, touch screen operation and the like. And the unmanned tour guide vehicle executes unlocking operation according to the unlocking instruction of the user, namely, the user is granted the permission to use the unmanned tour guide vehicle.
And step ii, receiving a driving control instruction of the user, and executing the driving control operation based on the driving control instruction. The travel control command is a command for controlling travel information such as a travel speed, a start, a stop, a stay time period, and the like of the unmanned guide vehicle, based on which the travel control operation is an operation for setting the travel information. In the embodiment, the driving control instruction can improve the flexibility of controlling the unmanned tour guide vehicle by the user and meet the individual requirements of the user; for example, when the user wants to stay at a certain tour point for a while, the user can initiate a driving control instruction for stopping driving, so that the unmanned tour guide vehicle stops driving and continues driving after receiving the driving control instruction for the user to continue driving; for example, the running speed of the unmanned tour guide vehicle is controlled to match the tour speed of the user through a running control command of the speed, so that the situation that the running speed of the unmanned tour guide vehicle is too high or too low is avoided.
And step iii, controlling the unmanned tour guide vehicle to travel along the target navigation route based on the unlocking instruction and/or the travel control operation.
In a possible implementation manner, after the unmanned tour guide vehicle executes the unlocking operation, the unmanned tour guide vehicle is controlled to run along the target navigation route according to preset default running information; under the condition, the user does not need to operate too much, only the unmanned tour guide vehicle needs to be driven, the tour process is labor-saving, and the tour guide vehicle is particularly suitable for the old.
In another possible implementation manner, in order to improve the convenience of the user, it may not be necessary to execute an unlocking instruction, or it may be determined that the usage right of the unmanned tour guide vehicle is unlocked in step (3), that is, when the target navigation route is determined among the plurality of candidate navigation routes. Based on this, it is possible to determine the travel information after the unmanned guide vehicle performs the travel control operation, and control the unmanned guide vehicle to travel along the target navigation route in accordance with the travel information.
Of course, in practical applications, the unmanned tour guide vehicle may be controlled to travel along the target navigation route based on the unlocking instruction and the travel control operation at the same time, including: after the unmanned tour guide vehicle executes unlocking operation, the user is granted the authority to use and control the unmanned tour guide vehicle, then the driving information is determined according to the driving control operation, and finally the unmanned tour guide vehicle is controlled to drive along the target navigation route according to the driving information.
In the second control mode, the driving of the unmanned tour guide vehicle can be better controlled according to the unlocking instruction and the driving control instruction of the user, the humanized service of the unmanned tour guide vehicle is improved, the diversity requirements of different user groups are met, and the user experience can be obviously improved.
Therefore, the automatic control mode and the manual control mode of the unmanned tour guide vehicle can save the tour guide labor cost and improve the tour guide efficiency, benefit and image of tour areas such as scenic spots, museums and the like.
Next, in the process of driving the unmanned guided vehicle along the target navigation route, the embodiment proposes an implementation method for detecting that the unmanned guided vehicle drives to the tour point, and refers to the following two steps:
firstly, acquiring area indication information of an unmanned tour guide vehicle in the running process of the unmanned tour guide vehicle; wherein the area indication information includes at least one of: vehicle positioning information and tour route images.
In particular implementations, vehicle positioning information for an unmanned tour guide vehicle may be collected via a positioning device. The Positioning device adopts Positioning technologies such as a Global Positioning System (GPS) and an Ultra Wide Band (UWB) to acquire vehicle Positioning information of the current unmanned guide vehicle in an area to be visited. And the image of the tour route can be collected through the image collecting device arranged on the unmanned tour guide vehicle. Along with the running of the unmanned tour guide vehicle along the target navigation route, the image acquisition equipment can acquire images along the route according to a preset time interval (such as 5 seconds), namely the tour route image is obtained; or the image acquisition equipment can acquire videos along the way in a video acquisition mode and acquire tour route images based on the video frames.
In addition, the positioning device and the image acquisition device can be devices inside the unmanned tour guide vehicle body or independent devices outside the unmanned tour guide vehicle.
And secondly, determining that the unmanned tour guide vehicle runs to the tour point by comparing the area indication information with the position identification information of the tour point.
It is to be understood that the area indication information for comparison corresponds to the location identification information of the waypoint, and when the area indication information includes the vehicle positioning information, the corresponding location identification information includes the waypoint location area. In the case of an electronic map, a tour point is usually an area covering a certain geographical area and is marked by a designated location point. In this case, the tour point position area may be all areas covered by the tour point, or may be a preset area determined by taking the designated position point as a reference and combining with the real geographic environment of the tour point, such as a circular area with the designated position point as a center of a circle, a sector area with the designated position point as a vertex, and the like.
By comparing the vehicle positioning information with the region of the tourist site, the implementation process of determining that the unmanned tour guide vehicle runs to the tourist site comprises the following steps: comparing the vehicle positioning information with the position area of the tourist spot; and when the comparison result shows that the vehicle positioning information is located in the tour point position area, determining that the unmanned tour guide vehicle runs to the tour point. In specific implementation, when the vehicle positioning information collected in real time enters a certain tourist spot position area, the name of the tourist spot where the unmanned tour guide vehicle travels to and arrives at is determined. In this case, the playing device on the unmanned vehicle can be directly controlled to play the multimedia information corresponding to the tour point. Or generating play reminding information in the form of characters, voice, pictures and the like, wherein the play reminding information is used for reminding a user whether to play the multimedia information and/or is used for reminding the user to select a play mode (such as voice play, video play, picture display and character description) of the multimedia information; for example, the play reminding information is: "you have arrived at the X tour point, play multimedia information", "yes", "no", "play with 5 minutes delay", "play multimedia information with voice", and so on. The user can freely control the playing time and the playing mode of the multimedia information according to the own tour habit; and then when a determined playing instruction of the user is received, controlling a playing device on the unmanned tour guide vehicle to play the multimedia information corresponding to the tour point according to the playing time and the playing mode determined by the user.
In another scenario, the area indication information includes a tour route image, and the corresponding location identification information includes a marker image of a tour point. Most tourist sites have unique markers such as towers, bridges, sculptures, signs and the like, so that images of the markers can be collected as position identification information of the tourist sites.
The implementation process of determining that the unmanned guide vehicle runs to the tour point by comparing the tour route image with the marker image comprises the following steps: comparing the tour route image with the marker image of the tour point to determine the similarity between the tour image and the marker image of the tour point; and when the similarity reaches a preset similarity threshold value, determining that the unmanned tour guide vehicle runs to the tour point. In a specific implementation, when the similarity between the tour route image acquired in real time and the marker image of the tour point reaches a preset similarity threshold (e.g. 80%), it indicates that the unmanned tour vehicle has traveled to the vicinity of the marker, and it may be determined that the unmanned tour vehicle has traveled to the tour point, and at the same time, the name of the tour point reached is determined according to the marker in the marker image whose similarity reaches the preset similarity threshold. In this case, with reference to the above embodiment, the playing device on the unmanned tour guide vehicle may be directly controlled to play the multimedia information corresponding to the tour point, or based on the play reminding information, the user controls the playing device on the unmanned tour guide vehicle to play the multimedia information corresponding to the tour point, and the description is not specifically expanded.
In yet another scenario, the area indication information is vehicle positioning information and a tour route image, and the corresponding position identification information is a tour point position area and a landmark image of a tour point. In this scenario, the implementation process of determining that the unmanned tour guide vehicle travels to the tour point by comparing the area indication information with the position identification information of the tour point includes:
1) comparing the vehicle positioning information with the position area of the tourist spot to obtain a first comparison result; the first comparison result comprises: the vehicle positioning information comprises a target tour point position area where the vehicle positioning information is located and tour points corresponding to the target tour point position area.
2) Comparing the tour route image with the marker image of the tour point to determine a second comparison result; the second alignment result comprises: and the target marker image and the tour point corresponding to the target marker image have the similarity reaching a preset similarity threshold value with the tour route image.
3) Judging whether the tour point in the first comparison result and the tour point in the second comparison result are the same tour point or not; if yes, executing the following step 4); if not, the following steps 5) and 6) are performed.
4) And determining that the unmanned tour guide vehicle runs to the tour point, and controlling a playing device on the unmanned tour guide vehicle to play the multimedia information corresponding to the tour point.
5) And generating tour point selection information, and displaying the tour point selection information on a display screen of the unmanned tour guide vehicle. The tour point selection information can not be limited to the tour points in the first comparison result and the second comparison result, and can also include other tour points in the region to be browsed, so as to avoid the problem that the play of the multimedia information is not accurate due to the disordered detection of the tour points.
6) And receiving a tour point selection result sent by a user based on the tour point selection information, determining that the unmanned tour guide vehicle runs to the tour point according to the tour point selection result, and controlling a playing device on the unmanned tour guide vehicle to play multimedia information corresponding to the tour point.
In the above embodiment, a comparison manner between the area indication information and the position identification information of the tour point in various scenes is provided, and by comparison of various dimensions (positioning and/or markers), it can be more accurately determined that the unmanned tour guide vehicle travels to the tour point, so that the playing accuracy of the multimedia information can be improved.
Further, the control method based on the unmanned tour vehicle provided by the embodiment may further include the following: displaying at least one of vehicle positioning information, tour point positioning information, tour images, landmark images of tour points, and multimedia information through a display screen of the unmanned tour vehicle. The display screen is one of the playing devices on the unmanned tour guide vehicle.
Considering that the user often needs shopping during the tour process, the control method based on the unmanned tour vehicle provided by the embodiment may further include the following: receiving commodity purchasing information of a user, wherein the commodity purchasing information at least comprises: commodity order information and payment information; and controlling the corresponding commodity to be delivered to a preset position based on the commodity purchasing information.
In summary, the control method based on the unmanned tour vehicle provided in the above embodiments mainly controls the unmanned tour vehicle to travel according to the target navigation route, so that the route complexity can be reduced, and the interference of the travel route on the vehicle positioning can be reduced, thereby more accurately detecting whether the unmanned tour vehicle travels to the tour point, better improving the problems of the played multimedia information not matching with the actually arrived tour point, the multimedia information playing being disordered or invalid, and also effectively improving the playing accuracy of the multimedia information.
For the control method based on the unmanned tour guide vehicle provided by the embodiment, the embodiment of the invention provides a control device based on the unmanned tour guide vehicle. Referring to fig. 2, a block diagram of a control apparatus for an unmanned guided vehicle includes:
the route acquiring module 202 is configured to acquire a target navigation route of an area to be visited, where the target navigation route includes at least one visit point, and each visit point is provided with corresponding multimedia information;
a driving control module 204, configured to control the unmanned tour guide vehicle to drive along the target navigation route;
and the multimedia playing module 206 is configured to control a playing device on the unmanned tour vehicle to play multimedia information corresponding to the tour point when detecting that the unmanned tour vehicle travels to the tour point.
The control device based on the unmanned tour vehicle provided by the embodiment can reduce the complexity of the route and reduce the interference of the driving route on the positioning of the vehicle by mainly controlling the unmanned tour vehicle to drive according to the target navigation route, thereby more accurately detecting whether the unmanned tour vehicle drives to the tour point, better improving the problems that the played multimedia information is not matched with the actually arrived tour point and the multimedia information is played disorderly or fails, and also effectively improving the playing accuracy of the multimedia information.
In one embodiment, the route obtaining module 202 is further configured to: acquiring at least one tour point needing to be guided in a region to be browsed; and determining a target navigation route to at least one tour point according to a preset route planning algorithm.
In one embodiment, the route obtaining module 202 is further configured to: determining candidate navigation routes according to a preset path planning algorithm; when the candidate navigation route is one, determining the candidate navigation route as a target navigation route; when the candidate navigation routes are multiple, displaying the candidate navigation routes on a display screen of the unmanned tour guide vehicle; and receiving a route selection result sent by a user based on a plurality of candidate navigation routes, and determining a target navigation route according to the route selection result.
In one embodiment, the driving control module 204 is further configured to: receiving an unlocking instruction of a user, and executing unlocking operation based on the unlocking instruction; and/or receiving a driving control instruction of a user, and executing driving control operation based on the driving control instruction; and controlling the unmanned tour guide vehicle to run along the target navigation route based on the unlocking instruction and/or the running control operation.
In an embodiment, the multimedia playing module 206 is further configured to: collecting area indication information of the unmanned tour guide vehicle in the running process of the unmanned tour guide vehicle; and determining that the unmanned tour guide vehicle runs to the tour point by comparing the area indication information with the position identification information of the tour point.
In one embodiment, the zone indication information includes vehicle positioning information, and the location identification information includes a tour point location zone; the multimedia playing module 206 is further configured to: collecting vehicle positioning information of the unmanned tour guide vehicle through positioning equipment; comparing the vehicle positioning information with the tourist point position area; and when the comparison result shows that the vehicle positioning information is located in the tour point position area, determining that the unmanned tour guide vehicle runs to the tour point.
In one embodiment, the area indication information includes a tour route image, and the location identification information includes a marker image of the tour point; the multimedia playing module 206 is further configured to: collecting a tour route image through an image collecting device arranged on the unmanned tour guide vehicle; comparing the tour route image with the marker image of the tour point to determine the similarity between the tour image and the marker image of the tour point; and when the similarity reaches a preset similarity threshold value, determining that the unmanned tour guide vehicle runs to the tour point.
In one embodiment, the control device further comprises a display module (not shown), which is configured to: displaying at least one of vehicle positioning information, tour point positioning information, tour images, landmark images of tour points, and multimedia information through a display screen of the unmanned tour vehicle.
In one embodiment, the control device further comprises a shopping module (not shown), and the shopping module is configured to: receiving commodity purchasing information of a user, wherein the commodity purchasing information at least comprises: commodity order information and payment information; and controlling the corresponding commodity to be delivered to a preset position based on the commodity purchasing information.
Based on the foregoing embodiments, the present embodiment also provides an unmanned tour guide vehicle, which is provided with the above-mentioned control device based on the unmanned tour guide vehicle.
Based on the foregoing embodiments, the present embodiment further provides an electronic device. Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 3. The electronic device may be either or both of the first device 100 and the second device 200, or a stand-alone device separate from them that may communicate with the first device and the second device to receive the collected input signals therefrom.
FIG. 3 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.
As shown in fig. 3, the electronic device 10 includes one or more processors 11 and memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by processor 11 to implement the unmanned guided vehicle based control methods of the various embodiments of the present application described above and/or other desired functionality. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
For example, when the electronic device is the first device 100 or the second device 200, the input device 13 may be a microphone or a microphone array as described above for capturing an input signal of a sound source. When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device 100 and the second device 200.
The input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 3, omitting components such as buses, input/output interfaces, and the like. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the unmanned guided vehicle based control method according to various embodiments of the present application described in the "exemplary methods" section of this specification, supra.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the unmanned guided vehicle based control method according to various embodiments of the present application described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (11)
1. A control method based on an unmanned tour guide vehicle is characterized by comprising the following steps:
acquiring a target navigation route of an area to be visited, wherein the target navigation route comprises at least one visiting point, and each visiting point is provided with corresponding multimedia information;
controlling the unmanned tour guide vehicle to travel along the target navigation route;
and when detecting that the unmanned tour guide vehicle runs to the tour point, controlling a playing device on the unmanned tour guide vehicle to play multimedia information corresponding to the tour point.
2. The method of claim 1, wherein the step of obtaining the target navigation route of the area to be visited comprises:
acquiring at least one tour point needing to be guided in a region to be browsed;
and determining a target navigation route to the at least one tour point according to a preset route planning algorithm.
3. The method of claim 2, wherein the determining a target navigation route to the at least one waypoint according to a preset path planning algorithm comprises:
determining candidate navigation routes according to a preset path planning algorithm;
when the candidate navigation route is one, determining the candidate navigation route as a target navigation route;
displaying the candidate navigation route on a display screen of the unmanned tour guide vehicle when the candidate navigation route is multiple;
and receiving a route selection result sent by a user based on a plurality of candidate navigation routes, and determining a target navigation route according to the route selection result.
4. The method of claim 1, wherein the step of controlling the unmanned tour vehicle to travel along the target navigation route comprises:
receiving an unlocking instruction of a user, and executing unlocking operation based on the unlocking instruction; and/or the presence of a gas in the gas,
receiving a driving control instruction of a user, and executing driving control operation based on the driving control instruction;
and controlling the unmanned tour guide vehicle to travel along the target navigation route based on the unlocking instruction and/or the travel control operation.
5. The method of claim 1, wherein the step of detecting the unmanned vehicle traveling to the waypoint comprises:
collecting area indication information of the unmanned tour guide vehicle in the running process of the unmanned tour guide vehicle;
and determining that the unmanned tour guide vehicle runs to the tour point by comparing the area indication information with the position identification information of the tour point.
6. The method of claim 5, wherein the zone indication information comprises vehicle positioning information, and the location identification information comprises a tour point location zone;
the step of collecting the area indication information of the unmanned guide vehicle includes:
collecting vehicle positioning information of the unmanned tour guide vehicle through positioning equipment;
the step of determining that the unmanned guide vehicle travels to the waypoint by comparing the area indication information with the position identification information of the waypoint includes:
comparing the vehicle positioning information with a position area of a tourist spot;
and when the comparison result shows that the vehicle positioning information is located in the position area of the tourist spot, determining that the unmanned tour guide vehicle runs to the tourist spot.
7. The method according to claim 1 or 6, wherein the area indication information includes a tour route image, and the position identification information includes a marker image of the tour point;
the step of collecting the area indication information of the unmanned guide vehicle includes:
collecting a tour route image through an image collecting device arranged on the unmanned tour guide vehicle;
the step of determining that the unmanned guide vehicle travels to the waypoint by comparing the area indication information with the position identification information of the waypoint includes:
comparing the tour route image with the marker image of the tour point, and determining the similarity between the tour image and the marker image of the tour point;
and when the similarity reaches a preset similarity threshold value, determining that the unmanned tour guide vehicle runs to the tour point.
8. The method according to any one of claims 1-7, further comprising:
displaying at least one of the vehicle positioning information, the tour point positioning information, the tour image, the landmark image of the tour point, and the multimedia information through a display screen of the unmanned tour vehicle.
9. The method of claim 1, further comprising:
receiving commodity purchasing information of a user, wherein the commodity purchasing information at least comprises: commodity order information and payment information;
and controlling the corresponding commodity to be delivered to a preset position based on the commodity purchasing information.
10. A control apparatus based on an unmanned tour guide vehicle, comprising:
the route acquisition module is used for acquiring a target navigation route of an area to be visited, the target navigation route comprises at least one visiting point, and each visiting point is provided with corresponding multimedia information;
the driving control module is used for controlling the unmanned tour guide vehicle to drive along the target navigation route;
and the multimedia playing module is used for controlling a playing device on the unmanned tour guide vehicle to play multimedia information corresponding to the tour point when the unmanned tour guide vehicle is detected to travel to the tour point.
11. An unmanned tour guide vehicle, characterized in that the unmanned tour guide vehicle is provided with the unmanned tour guide vehicle based control device of claim 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010760613.0A CN111982140A (en) | 2020-07-31 | 2020-07-31 | Tour guide method, device and equipment for unmanned tour guide vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010760613.0A CN111982140A (en) | 2020-07-31 | 2020-07-31 | Tour guide method, device and equipment for unmanned tour guide vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111982140A true CN111982140A (en) | 2020-11-24 |
Family
ID=73444970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010760613.0A Pending CN111982140A (en) | 2020-07-31 | 2020-07-31 | Tour guide method, device and equipment for unmanned tour guide vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111982140A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116295448A (en) * | 2023-05-24 | 2023-06-23 | 成都航空职业技术学院 | Robot path planning method and system based on multi-source information navigation |
| CN117848369A (en) * | 2023-12-28 | 2024-04-09 | 四川九正鼎盛城乡建设集团有限公司 | Interactive tour guide method and system for tourist highway |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120136566A1 (en) * | 2010-11-29 | 2012-05-31 | Sony Corporation | Tour route generating device, tour route generating method, and program |
| CN107782312A (en) * | 2017-09-14 | 2018-03-09 | 维沃移动通信有限公司 | A kind of air navigation aid and mobile terminal |
| CN107797555A (en) * | 2017-10-30 | 2018-03-13 | 奇瑞汽车股份有限公司 | A kind of tourist coach automatic Pilot control method and device |
| CN109682393A (en) * | 2019-03-01 | 2019-04-26 | 肖一然 | A kind of navigation guidance method, navigation tour guide's terminal |
| CN110954116A (en) * | 2018-09-27 | 2020-04-03 | 上海博泰悦臻电子设备制造有限公司 | Vehicle, navigation equipment and intelligent sightseeing route navigation method thereof |
-
2020
- 2020-07-31 CN CN202010760613.0A patent/CN111982140A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120136566A1 (en) * | 2010-11-29 | 2012-05-31 | Sony Corporation | Tour route generating device, tour route generating method, and program |
| CN102538791A (en) * | 2010-11-29 | 2012-07-04 | 索尼公司 | Tour route generating device, tour route generating method, and program |
| CN107782312A (en) * | 2017-09-14 | 2018-03-09 | 维沃移动通信有限公司 | A kind of air navigation aid and mobile terminal |
| CN107797555A (en) * | 2017-10-30 | 2018-03-13 | 奇瑞汽车股份有限公司 | A kind of tourist coach automatic Pilot control method and device |
| CN110954116A (en) * | 2018-09-27 | 2020-04-03 | 上海博泰悦臻电子设备制造有限公司 | Vehicle, navigation equipment and intelligent sightseeing route navigation method thereof |
| CN109682393A (en) * | 2019-03-01 | 2019-04-26 | 肖一然 | A kind of navigation guidance method, navigation tour guide's terminal |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116295448A (en) * | 2023-05-24 | 2023-06-23 | 成都航空职业技术学院 | Robot path planning method and system based on multi-source information navigation |
| CN116295448B (en) * | 2023-05-24 | 2023-08-01 | 成都航空职业技术学院 | Robot path planning method and system based on multi-source information navigation |
| CN117848369A (en) * | 2023-12-28 | 2024-04-09 | 四川九正鼎盛城乡建设集团有限公司 | Interactive tour guide method and system for tourist highway |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6503218B2 (en) | Driving support system, driving support device and driving support method | |
| US9983020B2 (en) | Vehicle operation device and method | |
| CN102027325B (en) | Navigation apparatus and method of detection that a parking facility is sought | |
| KR101970920B1 (en) | Method for estimating indoor position and method for providing parking path using the same | |
| JP2001116565A (en) | On-vehicle navigation system and recording medium where processing program is recorded for it | |
| CN111982140A (en) | Tour guide method, device and equipment for unmanned tour guide vehicle | |
| JP2012052876A (en) | Route management system, route management apparatus, control method, program, and recording medium | |
| KR20160116809A (en) | Method and system for providing a route map or map zoom control performed | |
| JP2005326956A (en) | Device and method for informing empty space in parking lot | |
| JPWO2006109827A1 (en) | Parking lot management device, parking lot management method, parking lot management program, and recording medium | |
| JP6918110B2 (en) | Aircraft control device, air vehicle control system and air vehicle control method | |
| JP2007010628A (en) | Navigation system and navigation method | |
| JP2006275837A (en) | Navigation server, its control method and control program, navigation terminal and method, navigation system, and its control method | |
| JP4800252B2 (en) | In-vehicle device and traffic information presentation method | |
| JP4628422B2 (en) | Position detection apparatus, position detection method, position detection program, and recording medium | |
| KR102555924B1 (en) | Method and apparatus for route guidance using augmented reality view | |
| JP2006170934A (en) | Navigation apparatus, and navigation image display method | |
| JP2001033268A (en) | Destination specification support device, navigation system equipped with the device | |
| JP4705394B2 (en) | Navigation device, navigation method, and navigation program | |
| JP2007132724A (en) | Navigation device and facility search method | |
| CN111951584A (en) | Navigation method, navigation device and intelligent terminal | |
| JP6677438B2 (en) | Navigation device and program | |
| JP3856038B2 (en) | Navigation device | |
| JP6475413B2 (en) | Navigation system | |
| JP2006023161A (en) | Vehicle-mounted navigation system |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201124 |