CN206541196U - A kind of guide to visitors based on face recognition technology explains robot - Google Patents
A kind of guide to visitors based on face recognition technology explains robot Download PDFInfo
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- CN206541196U CN206541196U CN201720239126.3U CN201720239126U CN206541196U CN 206541196 U CN206541196 U CN 206541196U CN 201720239126 U CN201720239126 U CN 201720239126U CN 206541196 U CN206541196 U CN 206541196U
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- robot
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- face recognition
- recognition technology
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Abstract
Robot, including machine human organism, upper computer module, voice module, sensor assembly, mobile chassis, positioning navigation module and cloud platform server are explained the utility model discloses a kind of guide to visitors based on face recognition technology.The utility model is compared with existing guide to visitors explains machine, advantage with simple in construction, multiple functional, convenient intelligence, wherein, the positioning navigation module on robot chassis can realize the establishment of environmental map and self position in real time, coordinate 3 ultrasonic sensors, can preferably realize autonomous and avoidance；Voice module can realize 35 meters of remote interactive voices；The identification terminal of robot can capture and recognize effective face information, Cloud Server is sent to by network, using the recognizer and information bank for being stored in server, identify the identity of target person and the service of personalization is provided, improve the usage experience and satisfaction of visit personnel.
Description
Technical field
The utility model is related to a kind of technical field of public service robot, more particularly, to a kind of face recognition technology
Guide to visitors explain robot.
Background technology
Under the background that society and science and technology are continued to develop, service robot is widely used in industry-by-industry, guide to visitors explanation
Robot is played as typical functional public service robot in the displaying of the exhibition rooms such as museum, science and technology center, product museum
More and more important effect.
Existing guide to visitors is explained in robot at present, and most robotic structures are complex, and automaticity is low, nothing
Method preferably realizes autonomous localization and navigation avoidance, and most intelligent robots are relatively low, it is impossible to identify visit people
The identity information of member and the service that personalization is provided during guide to visitors explanation for it.Therefore, design one kind can be with autonomous
And being capable of the Multi-functional guide explanation robot of recognition of face has the very important market demand and application value.
Utility model content
The deficiency existed for background technology, the purpose of this utility model is to solve exhibition room intelligent robot guide to visitors explanation
Relevant issues, provide a kind of service robot system of intelligence simple in construction, multiple functional, convenient for the guide to visitors explanation of many occasions
System.
The utility model solves the technical scheme that its technical problem used：
A kind of guide to visitors based on face recognition technology explains robot, including machine human organism and mobile chassis；
Camera is provided with the top of machine human organism, display screen, voice module are provided with the outer surface of machine human organism
And power switch；Described camera, display screen, voice module and power switch is connected with host computer；And it is described upper
Machine is communicated by wireless module and cloud service platform；
The bottom of described machine human organism is provided with a mobile chassis, and the bottom of described mobile chassis is provided with four
Universal wheel and two driving wheels, two described driving wheels drive it to rotate by motor, described motor and motor driver
It is connected；Described motor driver is connected with chassis circuit control system, and industrial computer is provided with chassis, in described industry control
It is connected on machine with laser radar, UWB positioning label, chassis circuit control system；Described chassis control system is passed with ultrasonic wave
Sensor is connected.
As preferred scheme of the present utility model, the machine human organism is vertical casing, and profile is succinct, highly moderate,
For being interacted with people, people is led to be visited and explained.
Further, the upper computer module includes 1 piece of industrial master board and 1 piece of capacitance touch screen, for running
Host computer service routine is simultaneously used as the main interface of man-machine interaction.
Further, the voice module is used for the interaction for realizing phonetic function, including voice input module, speech recognition
Module and voice output module, voice input module are used to obtain the audio-frequency information in environment, and sound identification module can be by people
Content transformation of speaking into text, voice output module plays audio by audio amplifier.
Further, described high-definition camera, the collection for realizing facial image.
Further, described laser radar sensor, for scanning, detecting environmental information,
Further, described ultrasonic sensor, for detecting barrier and realizing automatic obstacle avoiding.
Further, the mobile chassis as robot motion, including 2 bi-directional drive wheels and 4 it is universal
Driven pulley, and it is provided with two motor drivers, it is ensured that robot is quickly and accurately moved.
Further, described UWB positioning label receives the signal of UWB positioning anchor point transmittings.Laser radar sensor can
To realize the establishment of environmental map and the real-time positioning of robot, then by the data fusion with UWB location informations, it is finally reached
The high-precision positioning of robot.
Further, the cloud service platform includes wireless communication module and Cloud Server, and Cloud Server passes through wireless network
Network is connected to the industrial master board of robot, and the face recognition algorithms and exhibition user information data being stored in Cloud Server can
Recognize specific exhibitor staff and provided personalized service during guide to visitors explanation for it.
In described device, guide to visitors explains the pinpoint method of robot, as follows：
Robot scans ambient condition information using laser radar sensor, and environment is created by the origin of coordinates of initial position
Map, then carries out data fusion by the data that Kalman filtering algorithm measures laser radar and odometer, obtains machine
The coordinate position of people；
UWB positioning labels positioned at chassis industrial computer are by receiving the rangings of multiple anchor points of diverse location in space
Information, according to the space coordinate of anchor point, the coordinate position of outgoing label is calculated using TDOA computations.So by by robot
The positional information that self-positioning information and UWB the positioning tag computation obtained using laser radar is obtained carries out data fusion again,
So as to obtain accurate coordinates of the robot under map coordinates system.
Further, robot is during movement, and ultrasonic wave constantly detects barrier and measures distance, when distance is few
In the threshold value of setting, robot can be realized according to algorithm to slow down and conversion direction, is finally reached preferable avoidance effect.
In described device, the method that guide to visitors explains robot recognition of face is as follows：
High-definition camera charge capture on machine human organism, the facial image in collection effective range simultaneously pass to face
Identifying system, secondly, face system on human face is identified, and relevant people facial information is established, then, with face identification system phase
The wireless communication module of connection receives the identification signal that face identification system is sent, and identification signal packing is uploaded into high in the clouds clothes
Business device, cloud service receives the identification signal sent by radio communication device, passes through the face run in server and matches knowledge
Other algorithm will recognize that signal is handled and compared with the information of the corresponding personage prestored in server, if identifying ginseng
Exhibition personnel, the visiting record that can be arrived before being searched in the corresponding information bank of the user, according to the age of the personnel in information record
Interval and visit record targetedly carry out the guiding of target exhibition section and correlation explains the push of content；If identification information without
The identity information successful match of method and information bank, explanation is new exhibitor staff, then system can by the facial image of new exhibitor staff,
This accesses record and the relevant information of visiting registration is stored in corresponding access to information database, passes through constantly improve information bank
Data, to be provided personalized service in follow-up service, the final exhibition experience for improving user and satisfaction.
The beneficial effects of the utility model are：
Robot architecture is simple, multiple functional, convenient intelligence, and the positioning navigation module on robot chassis can realize environment
The establishment of map and self positioning in real time, coordinate 3 ultrasonic sensors, can preferably realize autonomous and avoidance；Language
Sound module can realize 3-5 meters of remote intelligent sound interactions；The identification terminal of robot can be captured and recognized effective
Face information, Cloud Server is sent to by network, and using the recognizer and information bank for being stored in server, people is visited in identification
The identity of member and the service for providing personalization, improve the usage experience and satisfaction of visit personnel.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are these
Some embodiments of utility model, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to these accompanying drawings.
Fig. 1 is contour structures schematic diagram of the present utility model.
Fig. 2 is chassis structure schematic diagram of the present utility model.
Fig. 3 is running fix flow chart of the present utility model.
Fig. 4 is recognition of face flow chart of the present utility model.
In figure：Wherein, 1- cameras, 2- microphone arrays, 3- audio amplifiers, 4- display screens, 5- industrial master boards, 6- power supplys
Switch, 7- ultrasonic sensors；8- laser radars, 9- industrial computers, 10- direct current generators, 11- circuit control panels, 12- drivings
Device, 13- universal wheels, 14- driving wheels, 15- wireless modules, 16-UWB positioning labels, 17- batteries.
Embodiment
It is noted that described further below is all exemplary, it is intended to provide further instruction to the application.Unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As shown in figure 1, a kind of guide to visitors based on face recognition technology of the utility model explains robot architecture's schematic diagram, bag
Robot casing and the functional module installed in casing different parts are included, is specifically included：1 piece of industrial master board is embedded in internal body
5, it is used as the main control unit of robot master system；1 piece of touch display screen 4 is embedded in forward surface, passes through circuit and work
Owner's machine is connected；It is the microphone phonetic entry array 2 of 4 wheats above display screen, industrial master board is connected to by change-over circuit；
Fuselage roof has 1 high-definition camera 1, is wired to industrial master board；The side position of fuselage two respectively has 1 audio amplifier 3, passes through
Wire is connected to industrial master board；Horizontal distribution 3 is wired to mobile chassis to ultrasonic sensor 7 immediately below shell
Control circuit system；Power switch 6 is also equipped with the side of body.
1 piece of industrial master board and 1 piece of capacitance touch screen constitute whole upper computer module, for running host computer service routine
And it is used as the main interface of man-machine interaction.
As shown in Fig. 2 the chassis structure that a kind of guide to visitors based on face recognition technology of the utility model explains robot shows
It is intended to, mobile chassis is main control unit with industrial computer 9, the inside built-in wireless module 15 and UWB positioning labels 16；Laser thunder
The top of industrial computer 9 is fixed on up to 8, it is coupled by wire；Chassis circuit control panel 11 is next stage control unit, the circuit
Using MCU as controller, conversion processing circuit, voltage detection module, motor the driving output of ultrasonic sensor signal are integrated with
The modules such as circuit, are connected by external interface with all parts unit；End positions are what direct current generator 10 drove in the middle of chassis
Rubber tyre is separately fixed on the angle of 4, chassis as 14,4 universal wheels 13 of driving wheel；Chassis front portion is 2 motor drivers
12 and 2 direct current generators；The extreme end of chassis is system power supply, using 1 piece of 30v lithium battery 17, while to mobile chassis and host computer
Power supply.
The UWB positioning marks that one industrial computer 9,1 laser radar, 3 UWB positioning anchor points and 1 are integrated in industrial computer 9
Label together constitute positioning navigation module, and laser radar sensor can realize the establishment of environmental map and determining in real time for robot
Position, then by the data fusion with UWB location informations, it is finally reached the high-precision positioning of robot.
The mobile chassis is as the motion of robot, including 2 bi-directional drive wheels and 4 universal driven pulleys, and
It is provided with two motor drivers, it is ensured that robot is quickly and accurately moved.
The sensor assembly includes 1 high-definition camera, the collection for realizing facial image；1 laser radar is passed
Sensor, for scanning, detecting environmental information；3 temperature compensation high-precision ultrasonic transducers, for detecting barrier and realizing autonomous
Avoidance.
As shown in figure 3, a kind of guide to visitors based on face recognition technology of the utility model explains robot running fix flow
Figure.The utility model uses the location technology that UWB location technologies are combined with laser radar sensor, and UWB is positioned at what is blocked
In the case of still can carry out, both combine make the system position reliability and precision it is higher.Implementing step is：
Robot scans ambient condition information using laser radar sensor, environmental map is created by the origin of coordinates of initial position, so
The data for afterwards being measured laser radar and odometer by Kalman filtering algorithm carry out data fusion, can arrive the seat of robot
Cursor position.On this basis, the UWB labels positioned at chassis SLAM main frames are by receiving 3 of the diverse location in space（Or
It is more）The ranging information of anchor point, according to the space coordinate of anchor point, the coordinate position of outgoing label is calculated using TDOA computations.
Positional information that tag computation obtains so is positioned again by the self-positioning information and UWB that obtain robot using laser radar
Secondary carry out data fusion, so as to obtain accurate coordinates of the robot under map coordinates system.In addition, robot is in mobile process
In, ultrasonic wave constantly detects barrier and measures distance, when threshold value of the distance less than setting, and robot can be realized according to algorithm to be subtracted
Speed and conversion direction, are finally reached preferable avoidance effect.
As shown in figure 4, a kind of guide to visitors based on face recognition technology of the utility model explains robot recognition of face work
Flow chart.After the completion of the flow is identification terminal collection facial image, face information is sent to Cloud Server by network,
Described identifying processing works and completed all on Cloud Server, and recognition result returns to identification terminal by network again.It is specific real
Now step is：First, in identification terminal high-definition camera charge capture, the facial image in collection effective range are simultaneously passed to
Face identification system, secondly, face system on human face is identified, and relevant people facial information is established, then, with recognition of face system
The wireless communication module being connected of uniting receives the identification signal that face identification system is sent, and identification signal packing is uploaded into cloud
Server is held, cloud service receives the identification signal sent by radio communication device, passes through the face run in server
It will recognize that signal is handled and compared with the information of the corresponding personage prestored in server with recognizer, if identification
Go out exhibitor staff, the visiting record that can be arrived before being searched in the corresponding information bank of the user, according to the personnel in information record
Age interval and visit record targetedly carry out the guiding of target exhibition section and correlation explains the push of content；If identification letter
Breath can not be with information bank identity information successful match, explanation is new exhibitor staff, then system can be by the face of new exhibitor staff
Image, this relevant information for accessing the registration that records and visit are stored in corresponding access to information database, pass through constantly improve
Information bank data, to be provided personalized service in follow-up service, the final exhibition experience for improving user and satisfaction.
As can be seen from the above description, the application the above embodiments realize following technique effect：
Robot architecture is simple, multiple functional, convenient intelligence, and the positioning navigation module on robot chassis can realize environment
The establishment of map and self positioning in real time, coordinate 3 ultrasonic sensors, can preferably realize autonomous and avoidance；Language
Sound module can realize 3-5 meters of remote intelligent sound interactions；The identification terminal of robot can be captured and recognized effective
Face information, Cloud Server is sent to by network, and using the recognizer and information bank for being stored in server, people is visited in identification
The identity of member and the service for providing personalization, improve the usage experience and satisfaction of visit personnel.
It is not new to this practicality although above-mentioned embodiment of the present utility model is described with reference to accompanying drawing
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Field technique personnel need not pay the various modifications that creative work can make or deform still in protection model of the present utility model
Within enclosing.
Claims (8)
1. a kind of guide to visitors based on face recognition technology explains robot, it is characterised in that including machine human organism and mobile bottom
Disk；Camera is provided with the top of machine human organism, display screen, voice module and power supply are provided with the outer surface of machine human organism
Switch；Described camera, display screen, voice module and power switch is connected with host computer；And described host computer passes through
Wireless module is communicated with cloud service platform；
The bottom of described machine human organism provided with mobile chassis, the bottom of described mobile chassis be provided with four it is universal
Wheel and two driving wheels, two described driving wheels drive it to rotate by motor, and described motor is connected with motor driver；
Described motor driver is connected with chassis circuit control system, industrial computer is provided with chassis, described industrial computer is with swashing
Optical radar, UWB positioning label, chassis circuit control system are connected, and described chassis control system is connected with ultrasonic sensor.
2. the guide to visitors based on face recognition technology explains robot as claimed in claim 1, it is characterised in that the robot
Body is vertical casing.
3. the guide to visitors based on face recognition technology explains robot as claimed in claim 1, it is characterised in that the voice mould
Block is used for the interaction for realizing phonetic function, including voice input module, sound identification module and voice output module, phonetic entry
Module is used to obtain the audio-frequency information in environment, and sound identification module can be by the content transformation of speaking of people into text, and voice is defeated
Go out module and audio is played by audio amplifier.
4. the guide to visitors based on face recognition technology explains robot as claimed in claim 1, it is characterised in that described shooting
Head, the collection for realizing facial image.
5. the guide to visitors based on face recognition technology explains robot as claimed in claim 1, it is characterised in that described laser
Radar sensor, for scanning, detecting environmental information.
6. the guide to visitors based on face recognition technology explains robot as claimed in claim 1, it is characterised in that described ultrasound
Wave sensor, for detecting barrier and realizing automatic obstacle avoiding.
7. the guide to visitors based on face recognition technology explains robot as claimed in claim 1, it is characterised in that described UWB
Position the signal that label receives UWB positioning anchor point transmittings.
8. the guide to visitors based on face recognition technology explains robot as claimed in claim 1, it is characterised in that the cloud service
Platform includes wireless communication module and Cloud Server, and Cloud Server is connected to the industrial master board of robot by wireless network, deposited
The face recognition algorithms and exhibition user information data stored up in Cloud Server can recognize specific exhibitor staff and in guide to visitors
Provided personalized service during explanation for it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720239126.3U CN206541196U (en) | 2017-03-13 | 2017-03-13 | A kind of guide to visitors based on face recognition technology explains robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720239126.3U CN206541196U (en) | 2017-03-13 | 2017-03-13 | A kind of guide to visitors based on face recognition technology explains robot |
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| Publication Number | Publication Date |
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| CN206541196U true CN206541196U (en) | 2017-10-03 |
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| CN201720239126.3U Expired - Fee Related CN206541196U (en) | 2017-03-13 | 2017-03-13 | A kind of guide to visitors based on face recognition technology explains robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107908008A (en) * | 2017-12-28 | 2018-04-13 | 许峰 | A kind of certainly mobile AR display screens |
| CN108656130A (en) * | 2018-05-31 | 2018-10-16 | 芜湖星途机器人科技有限公司 | Automatically robot people is looked for |
| CN108705534A (en) * | 2018-05-31 | 2018-10-26 | 芜湖星途机器人科技有限公司 | Robot with indoor positioning |
| CN109366504A (en) * | 2018-12-17 | 2019-02-22 | 广州天高软件科技有限公司 | A kind of intelligence exhibition and fair service robot system |
| CN109397245A (en) * | 2018-12-11 | 2019-03-01 | 哈尔滨工业大学（深圳） | A kind of nursing robot |
| CN112882481A (en) * | 2021-04-28 | 2021-06-01 | 北京邮电大学 | Mobile multi-mode interactive navigation robot system based on SLAM |
-
2017
- 2017-03-13 CN CN201720239126.3U patent/CN206541196U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107908008A (en) * | 2017-12-28 | 2018-04-13 | 许峰 | A kind of certainly mobile AR display screens |
| CN108656130A (en) * | 2018-05-31 | 2018-10-16 | 芜湖星途机器人科技有限公司 | Automatically robot people is looked for |
| CN108705534A (en) * | 2018-05-31 | 2018-10-26 | 芜湖星途机器人科技有限公司 | Robot with indoor positioning |
| CN109397245A (en) * | 2018-12-11 | 2019-03-01 | 哈尔滨工业大学（深圳） | A kind of nursing robot |
| CN109366504A (en) * | 2018-12-17 | 2019-02-22 | 广州天高软件科技有限公司 | A kind of intelligence exhibition and fair service robot system |
| CN112882481A (en) * | 2021-04-28 | 2021-06-01 | 北京邮电大学 | Mobile multi-mode interactive navigation robot system based on SLAM |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171003 Termination date: 20200313 |