CN112554115A - Robot for tour guide and floor sweeping and voice interaction method thereof - Google Patents
Robot for tour guide and floor sweeping and voice interaction method thereof Download PDFInfo
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- CN112554115A CN112554115A CN202011471177.1A CN202011471177A CN112554115A CN 112554115 A CN112554115 A CN 112554115A CN 202011471177 A CN202011471177 A CN 202011471177A CN 112554115 A CN112554115 A CN 112554115A
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- 230000003993 interaction Effects 0.000 title claims abstract description 35
- 238000010408 sweeping Methods 0.000 title claims abstract description 34
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- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000007613 environmental effect Effects 0.000 claims abstract description 10
- 238000010248 power generation Methods 0.000 claims description 13
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- 238000005096 rolling process Methods 0.000 claims description 9
- 241001465754 Metazoa Species 0.000 description 2
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- 241000282472 Canis lupus familiaris Species 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
- E01H1/0836—Apparatus dislodging all of the dirt by suction ; Suction nozzles
- E01H1/0845—Apparatus dislodging all of the dirt by suction ; Suction nozzles with mechanical loosening or feeding instruments for the dirt to be sucked- up, e.g. brushes, scrapers
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L17/00—Speaker identification or verification techniques
- G10L17/22—Interactive procedures; Man-machine interfaces
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
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- Electric Vacuum Cleaner (AREA)
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Abstract
The invention discloses a robot for tour guide and floor sweeping and a voice interaction method thereof, wherein the robot comprises a robot body, a controller, a voice interaction system, an obstacle danger identification system, a power supply assembly, a sweeping assembly and a traveling mechanism, wherein the controller is arranged in the robot body and is respectively and electrically connected with the voice interaction system, the obstacle danger identification system, the power supply assembly, the sweeping assembly and the traveling mechanism; the interaction module is used for acquiring voice information of the environment, feeding the information back to the controller and outputting the information fed back by the controller; the obstacle danger identification system is used for collecting environmental information and feeding the environmental information back to the controller for identification; the robot can stably travel, can adapt to the complex ground environment in rural areas, does not have the function of cleaning, has the function of tour guide, and saves the labor cost; through the cooperation of the radar and the image acquisition unit, the obstacle can be accurately identified, and the degree of automation is high.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot for tour guide and floor sweeping and a voice interaction method thereof.
Background
With the continuous and new iteration of human science and technology, robots also begin to appear and serve people's lives. With the advent of various new materials, sensors. With the development of computer technology, service robots gradually appear in the market, and convenience is provided for intelligent life of people. The floor sweeping robot is used as an intelligent home, has certain artificial intelligence, can autonomously clean, liberates both hands for people, and improves the working efficiency. The sweeping robot on the market is only suitable for the simple ground in the family environment but not suitable for the soil of the rural street or the uneven ground; in addition, a small cleaning brush is generally arranged at the bottom of the robot in the market and matched with a dust collection rolling brush, and cleaning work is carried out through ultrasonic identification; but this mode of operation is not suitable for the environment of rural street diversification. Nowadays, in order to get around the situation of the countryside, more and more rural areas become the destinations of people's self-driving tour. As tourist attractions, cleanness and sanitation are maintained at first, manual cleaning needs rest, working efficiency is reduced in high-temperature hot weather, the probability of heatstroke of cleaners is improved, and the influence of the cold and hot weather on cleaning work can be greatly reduced by adopting machine cleaning.
The existing sweeping robot does not have the function of navigation guidance and is used as a tourist attraction, the guidance of the route needs to be concerned, and if tour guides are specially configured, the labor cost is high; without the direction of the specific person, the experience of the traveler may be reduced.
It is seen that improvements and enhancements to the prior art are needed.
Disclosure of Invention
In view of the shortcomings in the prior art, the present invention provides a robot for tour guide and floor sweeping and a voice interaction method thereof, which are intended to solve at least one of the above-mentioned technical problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot for tour guide and floor sweeping comprises a robot body, a controller, a voice interaction system, an obstacle danger identification system, a power supply assembly, a cleaning assembly and a travelling mechanism, wherein the controller is arranged in the robot body and is respectively and electrically connected with the voice interaction system, the obstacle danger identification system, the power supply assembly, the cleaning assembly and the travelling mechanism;
the interaction module is used for acquiring voice information of the environment, feeding the information back to the controller and outputting the information fed back by the controller;
the obstacle danger identification system is used for collecting environmental information and feeding the environmental information back to the controller for identification.
The tour guide sweeps floor and uses the robot in, voice interaction system includes pronunciation receiving element, speech output unit and display screen, pronunciation receiving element is used for gathering environmental information, speech output unit is used for the information through the feedback of voice play controller, the display screen is used for showing the information that the controller fed back.
The robot for tour guide and floor sweeping comprises a robot body, a voice output unit, a voice receiving unit and a display screen, wherein the voice output unit comprises one or more loudspeakers, the voice receiving unit comprises one or more radio microphones, and the display screen is arranged on the upper portion of the robot body.
The tour guide sweeps floor and uses robot in, obstacle danger identification system includes radar and image acquisition unit, the radar includes 4 or more, sets up along the lower part equidistance of robot body periphery respectively, the image acquisition unit sets up in the positive lower part of robot body.
The robot for tour guide and floor sweeping is characterized in that the radar is a millimeter wave radar, and the image acquisition unit is a binocular camera.
The guide is swept and is used robot in, clean the subassembly and include that roll brush, garbage collection fill, dust catcher and garbage collection storehouse, roll brush and garbage collection fill and set up in the robot bottom, the setting of roll brush is in the dead ahead that garbage collection fought, the garbage collection storehouse sets up at the robot, fights the intercommunication with garbage collection, the dust catcher is prepared and is inhaleed the garbage collection storehouse for the rubbish in fighting garbage collection.
The guide sweep floor and use robot in, clean the subassembly and still include infrared full-load radar, infrared full-load radar sets up in the garbage collection storehouse, with controller electric connection, be used for detecting whether the garbage collection storehouse is full.
The robot for tour guide and floor sweeping comprises a power supply assembly, a controller, a storage battery, a charging unit and a power supply module, wherein the power supply assembly comprises a power generation unit, the storage battery and the charging unit, the power generation unit is respectively electrically connected with the controller and the storage battery, and the charging unit is respectively electrically connected with the storage battery and the controller.
The tour guide sweeps floor and uses the robot in, running gear is including setting up the universal wheel in robot body bottom, the universal wheel includes 3, is triangle-shaped and arranges.
A voice interaction method of a tour guide and floor sweeping robot, comprising the robot as described above, the method comprising:
A100. the voice receiving unit collects voice information and sends the voice information to the controller;
A200. when the controller identifies the call awakening words, the direction of the sound is identified, and the traveling mechanism is controlled to move to enable the display screen to face the sound source;
A300. the controller matches a solution according to the received voice information, and if the solution exists, the solution is output to the voice output unit and the display screen; if the solution is not matched, the voice information is transmitted to a background cloud server, the background cloud server receives and analyzes the voice information, the solution is fed back to a controller, and the controller outputs the solution to a voice output unit and a display screen;
A400. the voice output unit and the display screen output solutions respectively.
Has the advantages that:
the invention provides a robot for tour guide and floor sweeping and a voice interaction method thereof. The voice interaction system is used for interacting with the tourists on voice and image display, and the function of tour guide is achieved; through the subassembly that cleans by controller control, realize automatically that clean and empty rubbish's function, degree of automation is high.
Drawings
Fig. 1 is a first schematic structural diagram of the tour guide and floor sweeping robot provided by the invention.
Fig. 2 is an enlarged view of a portion a in fig. 1.
Fig. 3 is a second schematic structural diagram of the tour guide and floor sweeping robot.
Fig. 4 is a flowchart of the voice interaction method of the tour guide and floor sweeping robot.
Description of the main element symbols: the system comprises a robot body 1, a voice interaction system 2, an obstacle danger recognition system 3, a cleaning assembly 4, a walking mechanism 5, a power supply assembly 6, a voice receiving unit 21, a voice output unit 22, a display screen 23, a radar 31, an image acquisition unit 32, a rolling brush 41 and a garbage collection hopper 42.
Detailed Description
The invention provides a robot for tour guide and floor sweeping and a voice interaction method thereof, and in order to make the purpose, technical scheme and effect of the invention clearer and clearer, the invention is further described in detail below by referring to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
Referring to fig. 1-3, the present invention provides a robot for guiding and sweeping, which is suitable for use in a complex ground environment of a rural street, and is mainly used for cleaning the rural street, and providing a guiding task for a rural area as a tourist area, including but not limited to answering a visitor's question and guiding a route, thereby improving the experience of the visitor. The robot comprises a robot body 1, a controller (not shown in the figure), a voice interaction system 2, an obstacle danger recognition system 3, a power supply assembly 6, a cleaning assembly 4 and a travelling mechanism 5, wherein the controller is arranged in the robot body 1 and is respectively and electrically connected with the voice interaction system 2, the obstacle danger recognition system 3, the power supply assembly 6, the cleaning assembly 4 and the travelling mechanism 5; the interaction module is used for acquiring voice information of the environment, feeding the information back to the controller and outputting the information fed back by the controller; and the obstacle danger identification system 3 is used for acquiring environmental information and feeding the environmental information back to the controller for identification.
The robot performs voice interaction with the tourists through the voice interaction system 2, so that the function of tour guide is realized, manpower is liberated, and labor cost is reduced; by means of the matching use of the obstacle danger identification system 3 and the traveling mechanism 5, dangerous obstacles can be effectively distinguished and avoided, and the obstacle danger identification system is suitable for outdoor complex ground environments. The robot is controlled in a centralized mode through the controller, the automation degree is high, and the cleaning function can be implemented when the tour guide prompt is not received. The controller includes a processor including, but not limited to, an STN32 high speed processor and a gateway including one of a 5G signal gateway, a 4G signal gateway, a 3G signal gateway, a 2G signal gateway, and the like.
Specifically, the voice interaction system 2 includes a voice receiving unit 21, a voice output unit 22 and a display screen 23, the voice receiving unit 21 is used for collecting environment information, the voice output unit 22 is used for feeding back information through the voice playing controller, and the display screen 23 is used for displaying information fed back by the controller. In order to avoid that the tourist cannot hear the voice information output by the voice output unit 22 clearly in a noisy environment, the voice information is displayed on the display 23 in a form of characters, pictures or the like synchronously as an auxiliary display.
Further, the voice output unit 22 includes one or more speakers, the voice receiving unit 21 includes one or more sound receiving microphones, and the display screen 23 is disposed on the upper portion of the robot body 1. In one embodiment, the voice output unit 22 includes four speakers respectively disposed at the outer sides of the four corners of the display screen 23, so as to ensure that the guest in a noisy environment can still clearly hear the voice output information of the robot. The four radio microphones are respectively arranged on the side walls of the robot in the front direction, the rear direction, the left direction and the right direction, so that when the radio microphones receive voice information, the positions of tourists calling and awakening words can be judged according to the strength difference of sound received by different radio microphones, the robot turns to the positions right facing the tourists (namely the display screen 23 is right facing the tourists), the tourists can synchronously hear the voice information and see auxiliary display information on the display screen 23, and the interaction effect is improved.
In one embodiment, the obstacle risk identifying system 3 includes a radar 31 and an image collecting unit 32, the radar 31 includes 4 or more, and is respectively disposed along the lower part of the periphery of the robot body 1 at equal intervals, and the image collecting unit 32 is disposed at the front lower part of the robot body 1. The radar 31 is arranged at the lower part of the robot, can detect short or falling small objects, and improves the identification function; the image acquisition unit 32 is used as an auxiliary identification device of the radar 31, can acquire a target image under the condition that the radar 31 is identified by mistake or damaged, transmits the target image to a background cloud server through a network for comparison, judges whether avoidance is needed according to a result, transmits the judgment result back to the robot, and the robot performs corresponding operation according to an instruction.
Preferably, the radar 31 is a millimeter wave radar, and the image acquisition unit 32 is a binocular camera. The waveguide guide head of the millimeter wave radar has strong penetration capability to smoke dust, the anti-interference capability is stronger relative to other radars, a very small target can be identified, a plurality of targets can be identified simultaneously, the millimeter wave radar has imaging capability, and the obstacle can be further screened. For example, many animals in rural areas, especially dogs like to walk on a street, the millimeter-wave filter radar can acquire image information of a target and compare the image information with a database because the millimeter-wave filter radar can identify a small target and has imaging capability, judge whether an obstacle is an animal or an automobile lamp and judge whether avoidance is needed, thereby greatly reducing the situation of misjudgment and reducing the time spent on making unnecessary avoidance. The binocular camera has the function of range finding, and when speech receiving unit 21 discerned car whistle or other dangerous sounds that produce, controller control robot rotated to corresponding direction, starts the binocular camera and carries out the distance of supplementary discernment vehicle and self, judges whether safe.
Further, the cleaning assembly 4 further comprises an infrared full-load radar 31, wherein the infrared full-load radar 31 is arranged in the garbage collection bin, is electrically connected with the controller, and is used for detecting whether the garbage collection bin is full; infrared full-load radar 31 carries out real-time detection to the rubbish collection storehouse, when detecting when the rubbish collection storehouse is fully loaded, the robot can walk to rubbish and stack the point and carry out the rubbish clearance, gets back to the street again after the clearance and cleans, makes the robot can in time empty rubbish voluntarily, does not need manual monitoring.
Further, the power supply module 6 comprises a power generation unit, a storage battery and a charging unit, wherein the power generation unit is electrically connected with the controller and the storage battery respectively, and the charging unit is electrically connected with the storage battery and the controller respectively. The charging speed of the robot is increased by the charging unit and the power generation unit; the power generation unit may include wind power generation, solar power generation, and the like. In the present embodiment, the power generation unit is a solar power generation unit, and includes a silicon crystal solar power generation panel disposed on the top of the robot body 1. The robot is equipped with a large capacity battery, so that the robot has an ultra-long endurance time.
The walking mechanism 5 comprises universal wheels arranged at the bottom of the robot body 1, and the number of the universal wheels is 3, and the universal wheels are arranged in a triangular shape; the universal wheels can flexibly steer in a limited space, so that the limitation of the robot is reduced; the universal wheels are arranged in a triangular shape, so that the stability is high, and the balance of the robot in the walking process is ensured.
Referring to fig. 4, a voice interaction method for a tour guide and floor sweeping robot includes the robot as described above, and the method includes:
A100. the voice receiving unit 21 collects voice information and sends the voice information to the controller;
A200. when the controller identifies the call awakening words, the direction of the sound is identified, the traveling mechanism 5 is controlled to move to enable the display screen 23 to be opposite to the sound source, and the display screen 23 is used for assisting display. The controller of the robot comprises a storage function, and a database stored by the controller comprises various navigation information of scenic spots, answers of frequently-used questions of tourists and the like; and a preset call awakening word can be stored, and the setting of the call awakening word can avoid the false triggering of the robot voice interaction system. The call wakeup word can be displayed in a display screen or printed and posted in a place where the robot body is easy to attract people's attention.
A300. The controller matches a solution according to the received voice information, and if the solution exists, outputs the solution to the voice output unit 22 and the display screen 23; if the solution is not matched, the voice information is transmitted to a background cloud server, the background cloud server receives and analyzes the voice information, the solution is fed back to a controller, and the controller outputs the solution to a voice output unit 22 and a display screen 23;
after the voice receiving unit 21 receives the voice information, the controller will perform preliminary screening, and if the problem is a problem that can be solved by the local processor, the controller directly outputs a solution to respond to the guest; if the local processor cannot find the solution, the voice information is transmitted to a cloud server of a background management center through a gateway in real time for voice comparison, a coping scheme is output, and the coping scheme is transmitted to the robot so that the robot can perform voice interaction operation with the tourist.
A400. The voice output unit 22 and the display screen 23 output solutions, respectively.
During the voice interaction, the display screen 23 will assist the display. For example: when the tourist inquires about the position of the public place, the voice interaction system 2 makes corresponding directing operation according to the position where the robot sits, the display screen 23 displays an overall map, marks the position of the target and highlights the route of the target, and similar navigation. Through the cooperation of the voice output unit 22 and the display screen 23, the instruction can be more specifically made to the guest.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.
Claims (10)
1. A robot for tour guide and floor sweeping is characterized by comprising a robot body, a controller, a voice interaction system, an obstacle danger identification system, a power supply assembly, a cleaning assembly and a travelling mechanism, wherein the controller is arranged in the robot body and is respectively and electrically connected with the voice interaction system, the obstacle danger identification system, the power supply assembly, the cleaning assembly and the travelling mechanism;
the interaction module is used for acquiring voice information of the environment, feeding the information back to the controller and outputting the information fed back by the controller;
the obstacle danger identification system is used for collecting environmental information and feeding the environmental information back to the controller for identification.
2. The robot for tour guide and floor sweeping according to claim 1, wherein the voice interaction system comprises a voice receiving unit, a voice output unit and a display screen, the voice receiving unit is used for collecting environmental information, the voice output unit is used for playing information fed back by the controller through voice, and the display screen is used for displaying information fed back by the controller.
3. The robot for tour guide and floor sweeping as claimed in claim 2, wherein the voice output unit comprises one or more speakers, the voice receiving unit comprises one or more sound receiving microphones, and the display screen is disposed on the upper portion of the robot body.
4. The robot for tour guide and floor sweeping according to claim 1, wherein the obstacle danger recognition system comprises 4 or more radars and image acquisition units, the radars are respectively arranged along the lower part of the periphery of the robot body at equal intervals, and the image acquisition units are arranged on the lower part of the front surface of the robot body.
5. The robot for tour guide and floor sweeping of claim 4, wherein the radar is a millimeter wave radar and the image acquisition unit is a binocular camera.
6. The robot for tour guide and floor sweeping according to claim 1, wherein the sweeping assembly comprises a rolling brush, a garbage collection bucket, a dust collector and a garbage collection bin, the rolling brush and the garbage collection bucket are arranged at the bottom of the robot body, the rolling brush is arranged right in front of the garbage collection bucket, the garbage collection bin is arranged in the robot body and communicated with the garbage collection bucket, and the dust collector is configured to suck garbage in the garbage collection bucket into the garbage collection bin.
7. The robot for tour guide and floor sweeping of claim 6, wherein the sweeping component further comprises an infrared full-load radar, the infrared full-load radar is arranged in the garbage collection bin and electrically connected with the controller, and is used for detecting whether the garbage collection bin is full.
8. The robot for tour guide and floor sweeping of claim 1, wherein the power supply assembly comprises a power generation unit, a storage battery and a charging unit, the power generation unit is electrically connected with the controller and the storage battery respectively, and the charging unit is electrically connected with the storage battery and the controller respectively.
9. The robot for tour guide and floor sweeping as claimed in claim 1, wherein the walking mechanism comprises 3 universal wheels arranged at the bottom of the robot body, and the universal wheels are arranged in a triangular shape.
10. A voice interaction method of a robot for tour guide and floor sweeping, comprising the robot of claim 2 or 3, the method comprising:
A100. the voice receiving unit collects voice information and sends the voice information to the controller;
A200. when the controller identifies the call awakening words, the direction of the sound is identified, and the traveling mechanism is controlled to move to enable the display screen to face the sound source;
A300. the controller matches a solution according to the received voice information, and if the solution exists, the solution is output to the voice output unit and the display screen; if the solution is not matched, the voice information is transmitted to a background cloud server, the background cloud server receives and analyzes the voice information, the solution is fed back to a controller, and the controller outputs the solution to a voice output unit and a display screen;
A400. the voice output unit and the display screen output solutions respectively.
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| CN202011471177.1A CN112554115B (en) | 2020-12-15 | 2020-12-15 | Robot for tour guide and floor sweeping and voice interaction method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113485374A (en) * | 2021-08-13 | 2021-10-08 | 南京科技职业学院 | Self-help tour guide robot |
| CN114642377A (en) * | 2022-02-16 | 2022-06-21 | 美智纵横科技有限责任公司 | Interaction device and self-moving cleaning equipment with same |
| CN114642377B (en) * | 2022-02-16 | 2024-05-10 | 美智纵横科技有限责任公司 | Interactive device and self-moving cleaning equipment with same |
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| Publication number | Publication date |
|---|---|
| CN112554115B (en) | 2023-03-07 |
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