KR102237981B1 - Guidance Robot for Interacting with Persons in Need and Guidance Method Using the Same - Google Patents

Abstract

Disclosed is a guide robot that interacts with a traffic weak and a method of guiding a traffic weak using the same.
According to an aspect of the present invention, in a guide robot that interacts with a traffic weak person for convenience of movement of a railroad traffic weak person, and a traffic weak person guidance method using the same, the traffic weak person points of interest through a mobile device app or a guide robot screen, etc. When a guide to (ride location, restroom, etc.) is requested, a guide robot accompanies you from the departure point to the destination within the railway station to guide you, and provides a guide robot that supports related convenience functions such as issuing a ticket, and a method for guiding the abbreviated traffic using the same. .

Description

Guidance Robot for Interacting with Persons in Need and Guidance Method Using the Same}

The present embodiment relates to a guide robot interacting with a traffic weak and a method of guiding a traffic weak using the same.

The content described in this section merely provides background information on the present invention and does not constitute prior art.

As the nationwide half-day living area becomes possible through high-speed railroads, etc., the schedule of users is becoming more flexible and flexible, so many people use the railroad. However, as the number of passengers increases, the railway station has become more complex in recent years, and there are many difficulties in finding the destinations that the station users want to go to within the station. In particular, since the transportation disadvantaged are more difficult to find their way, it is necessary to develop a technology to improve the satisfaction of transportation disadvantaged people in using the railway station to solve the inconvenience and to create a new railway service that can satisfy the needs of various railway users. Do.

According to the results of the survey and analysis of the satisfaction and inconvenience of using railroads conducted in the technology development planning study to improve passenger convenience facilities for railroads, passengers experiencing discomfort when using railroads are uncomfortable at 59.5% of train stations, 63.0% of trains, 59.5% of subway stations, and 51.0% of trains. Appeared to be suffering. In addition, although the standard compliance installation rate of railroad mobility convenience facilities for the traffic-poor is increasing every year, the satisfaction level is stagnant or rather low. Therefore, research and development on a way to improve the mobility of the traffic-impaired is necessary.

To this end, the Ministry of Land, Infrastructure and Transport has developed and provided a TAGO (Transport Advice on GOing anywhere) service to provide integrated traffic information, but it is inconvenient to use it due to the lack of detailed information such as the interruption of indoor services and the role of real-time navigation. In addition, when outside the railway station, it is possible to check the user's location using GPS signals, so route guidance services by Naver, etc. are possible, but in the case of inside the railway station, which includes a lot of underground sections, GPS signals cannot be received. The internal location-based route guidance service is insufficient.

Therefore, in order to guide the traffic weak in a station, there is a need for a guide robot to more efficiently guide the traffic weak by complementing the above-described problems and interacting with the traffic weak.

In the present embodiment, in order to solve the above problems, in the guide robot interacting with the traffic weak person for convenience of movement of the rail traffic weak person, and a traffic weak person guidance method using the same, the traffic weak person is a mobile device app or a guide robot screen When a guide to a point of interest (ride location, restroom, etc.) is requested through, etc., a guide robot accompanies the guide robot from the point of departure to the destination within the railway station, and supports related convenience functions such as issuing a ticket, and the transportation abbreviation using the guide robot. Its main purpose is to provide a guide method.

According to an aspect of the present embodiment, in the guide robot interacting with the traffic weak, it travels along the optimal route received from the control server, but includes a handle that the traffic weak person can grasp, according to the rotation angle of the handle. A guide robot driving unit capable of adjusting the speed; A guide target recognition unit that is connected to the terminal of the traffic weak person by a Bluetooth pairing method and recognizes the face of the traffic weak person using a paired Bluetooth communication direction angle and a camera; A distance control unit that maintains a constant distance from the face of the traffic weak person recognized by the guidance object recognition unit; A display unit for displaying at least one of route information to a destination, a predicted arrival time, and information on convenience facilities around the route while driving along the optimal route; When the route information of the traffic weak person includes a boarding location or the point of interest is a ticket window, a ticket issuing unit that allows a ticket to be issued without going through the ticket window, and provides a different guide for each type of the traffic weak person; And a history map update unit equipped with a LiDAR sensor or an RFID reader to collect spatial information data or RFID ID while driving through the historic space and transmit it to the control server. Provide a guide robot.

According to another aspect of the present embodiment, there is provided a guide method using a guide robot interacting with a traffic weak person, comprising the steps of: (a) receiving a station arrival position and an arrival time of the traffic weak person from a control server; (b) moving to arrive at the arrival location before a preset time of the arrival time; (c) being connected to the terminal of the traffic weakened person by a Bluetooth pairing method, and recognizing the face of the traffic weak person using the paired Bluetooth communication direction angle and a camera; (d) when the face of the traffic weak person is recognized in step (c), transmitting a guide request message to the control server; (e) receiving an optimal route and a movement command from the control server to the destination of the traffic weak person; (f) receiving a guidance start message from the traffic abbreviation; And (g) driving to the destination of the traffic weak person along the optimal route received in step (e), wherein the guide robot includes a handle that the traffic weak person can grasp, and rotation of the handle while driving It provides a guidance method using a guide robot interacting with a traffic weak person, characterized in that the speed can be adjusted according to an angle and the distance between the traffic weak person's face is kept constant while driving, including a stereo camera.

It has the effect of enabling more effective route support through the interaction of traffic weak and guide robots when providing optimal route guidance to points of interest within the railway station.

1 is a diagram schematically showing the overall configuration of a guide system using a guide robot that interacts with a traffic weak person according to the present embodiment.
2 is a block diagram schematically showing the configuration of a traffic weak terminal according to the present embodiment.
3 is a block diagram showing the configuration of the control server according to the present embodiment.
4 is a block diagram schematically showing the configuration of a guide robot according to the present embodiment.
5 is a diagram showing a braille block in which an RFID tag is embedded in a railway station.
6 is a block diagram schematically showing the internal configuration of a guide robot traveling unit having a handle according to the present embodiment.
7 is a flow chart schematically showing a process of guiding a traffic weak person using a guide robot interacting with a traffic weak person according to the present embodiment.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible, even if they are indicated on different drawings. In addition, in describing the present invention, when it is determined that a detailed description of a related known configuration or function may obscure the subject matter of the present invention, a detailed description thereof will be omitted.

In addition, in describing the constituent elements of the present invention, terms such as first, second, A, B, (a) and (b) may be used. These terms are for distinguishing the constituent element from other constituent elements, and the nature, order, or order of the constituent element is not limited by the term. Throughout the specification, when a part'includes' or'includes' a certain element, it means that other elements may be further included rather than excluding other elements unless otherwise stated. . In addition, the'... Terms such as'sub' and'module' mean a unit that processes at least one function or operation, which may be implemented by hardware or software, or a combination of hardware and software.

1 is a diagram schematically showing the overall configuration of a guide system using a guide robot that interacts with a traffic weak person according to the present embodiment.

As shown in FIG. 1, the railroad station route guidance support system according to the present embodiment may include a traffic weak terminal 100, a control server 110, and a guide robot 120.

2 is a block diagram schematically showing the configuration of the traffic weak terminal 100 according to the present embodiment.

As shown in FIG. 2, the traffic weak terminal 100 according to the present embodiment may include an application 200, a GPS module 210, a communication module 220, and the like.

The traffic weak terminal 100 according to this embodiment is a terminal that a traffic weak person can carry. The traffic weak terminal 100 according to the present embodiment is equipped with an application 200 for providing a service such as route guidance to the traffic weak.

The traffic abbreviation executes the application 200 to set a route or a target location to which he or she wants to move within a starting station and a railway station to which he wants to enter. The traffic weak terminal 100 according to the present embodiment has a GPS module 210 therein to transmit the location of the traffic weak terminal 100 to the control server 110 in real time.

That is, the traffic weak person executes the application 200 mounted on their traffic weak terminal 100 in order to receive services such as route guidance. In the initial stage after the application 200 is executed, the traffic weak person can select and store his or her traffic abbreviation type on the application 200 to receive an optimal service for using the station. Here, the type of transportation weak person may be a type of disability (such as a visually impaired person, a hearing impaired person, a physically impaired person, and a wheelchair person), an elderly person, an infant companion, and a pregnant woman. Before arriving at the departure station, when the traffic abbreviation enters the starting station and target location to enter on the application 200 on the terminal, a route guidance request including this input information (start station and target location) is transmitted to the control server 110 do.

In addition, the GPS module 210 and the communication module 220 of the traffic weak terminal 100 detects the location of the traffic weak terminal 100, that is, the location of the traffic weak, and stores the detected location and related information of the traffic weak. It is delivered to the control server 110 in real time. In this embodiment, the traffic abbreviation terminal 100 may be a personal smartphone or tablet, but is not limited thereto and may be a special terminal for receiving the railroad station route guidance support service of the present embodiment.

The control server 110 according to the present embodiment collects a route or a target location and a location of the traffic weak person from the traffic weak terminal 100 and transmits the corresponding path to the guide robot 120. At this time, the control server 110 enables the corresponding route to be optimized by using information on facilities in the railway station, train information and environment information, and user information. In addition, the control server 110 according to the present embodiment guides the most convenient and optimal entrance to the station when a traffic weak person requests a service at a certain point before arrival at the station, and when a user arrives at the station after a certain time By automatically recognizing this with a beacon installed at the entrance of the station, the system calculates the expected arrival time and enables the route guidance service to be started using the guide robot 120 placed thereon.

In addition, the control server 110 according to the present embodiment not only manages the application installation, update, and operation of the traffic weak terminal 100, but also manages the operation of the guide robot 120. The control server 110 may be installed in a railroad station operating system for integrated operation and management of railroad stations, or may be provided separately from the railroad station operating system.

3 is a block diagram showing the configuration of the control server 110 according to the present embodiment.

As shown in FIG. 3, the control server 110 according to the present embodiment may include an application management unit 300, a guide robot management unit 310, and an operation management unit 320.

The application management unit 300 according to the present embodiment integrally manages application functions and information expression, such as application installation, membership registration, and application update of the traffic weak terminal 100.

The guide robot management unit 320 according to the present embodiment monitors the current position or operation state of the guide robot 120 in the railway station in real time to check whether the guide robot 120 is operating normally, and the like, and the guide robot ( If 120) operates abnormally, the administrator can be notified. In addition, information transmitted to the guide robot 120 can be managed.

In addition, the guide robot management unit 320 of the present embodiment includes information on railroad facilities, railroad passenger information, train information, and the location of the entrance to which the traffic weak person enters, and the location of each guide robot 120 related to the traffic line through which the traffic weak person can move. By comparing the current position, among the guidance robots 120, the guidance robot 120 that is not currently guiding a route and is located closest to the location of the entrance to which the traffic weak person entered may be selected to transmit an operation command. Through this, a plurality of guide robots 120 in the railway station can operate efficiently, prevent unnecessary energy consumption of the guide robot 120, and one guide robot 120 provides route support to one traffic weak. By doing so, it is possible to effectively operate the guide robot 120.

The operation management unit 320 according to the present embodiment enables the operation of the railway station facilities, so that when the guide robot 120 uses an elevator, it is possible to board the elevator according to the arrival time of the guide robot 120, or to a nearby disabled toilet. It is possible to check the usage status of the toilet and provide information on the best toilet location in real time, so that the convenience of use of the traffic weak can be improved.

4 is a block diagram schematically showing the configuration of the guide robot 120 according to the present embodiment.

As shown in FIG. 4, the guide robot 120 according to the present embodiment includes a path guide unit 400, a position detection unit 410, a guide robot driving unit 420, a guide target recognition unit 430, and a distance control unit. 440, a display unit 450, a ticket issuing unit 460, a history map update unit 470, and the like.

The position detection unit 410 according to the present embodiment detects the current position of the guide robot 120. To this end, the location detection unit 410 may use RFID, Bluetooth, or WiFi communication that is previously provided in the railway station. As shown in FIG. 5, the RFID tag 500 of this embodiment may be installed in a plurality of braille blocks 510 in the railway station, and the current location is matched to each of the RFID tags 500. Accordingly, the position detection unit 410 of the guide robot 120 according to the present embodiment may recognize the RFID tag 500 and detect the current position of the guide robot 120 based on the recognized RFID information. Accordingly, the guide robot 120 of this embodiment corrects the current position error by reading the absolute position information of the RFID tag 500 inserted in the braille block 510 while moving. In addition, it may be possible to detect a position in a two-dimensional direction using a small RFID for general blocks other than a specific braille block.

The guide robot driving unit 420 of the guide robot 120 according to the present embodiment moves the guide robot 120 according to a control command from the route guide unit 400 or a control command received from the control server 110. The route guide unit 400 sets a moving route based on the location of the entrance when the location of the entrance to which the traffic weak person enters, the path or the location targeted by the traffic weak person is transmitted from the control server 110. For example, if the traffic weak person is set to enter exit 3 of the railway station, a location close to exit 3, for example, the guide robot 120 can move and meet the traffic weak person when the traffic weak person enters exit 3 After detecting the set position, a moving path to the set position is set. When the moving path to the set position is set in this way, the path guide unit 400 controls the guide robot driving unit 420 based on the current position of the guide robot 120 detected through the position detection unit 410. Go to that route.

The guide robot driving unit 420 according to the present embodiment drives along the optimal route received from the control server 110 as described above, but adjusts the speed according to the rotation angle of the handle including a handle that can be grasped by the traffic weak. It has the feature that this is possible.

6 is a block diagram schematically showing the internal configuration of the guide robot driving unit 420 having a handle according to the present embodiment.

As shown in FIG. 6, the guide robot driving unit 420 of this embodiment may include a handle 610 including a sensing unit 611 and a speed adjusting unit 612 and a control unit 620. Here, the handle 610 according to the present embodiment is mainly for the visually impaired and has a cylindrical structure. The sensing unit 611 of this embodiment detects whether the traffic weak person touches the handle 610 by mounting a touch sensor on the surface of the handle 610, that is, whether the traffic weak person holds the handle 610, and the speed adjustment unit 612 is a guide robot Adjust the speed of 120. In this embodiment, if a signal is not transmitted from the detection unit 611 while driving of the guide robot 120, the speed adjustment unit 612 sends a signal to the control unit 620 to perform deceleration control, and if the signal from the detection unit 611 If is not transmitted for more than a preset time, the speed adjustment unit 612 transmits a signal to the control unit 620 to perform control to stop the driving of the guide robot 120.

In addition, the speed adjustment unit 612 according to the present embodiment generates a predetermined step-by-step signal according to the rotation angle and transmits it to the control unit 620 when the blind person rotates the cylindrical handle 610 in the direction of the guide robot 120 Thus, it is possible to adjust the speed. When the blind person releases the handle 610, it returns to the initial position, and the rotation angle is 45 degrees or less.

In this embodiment, when the guide robot 120 moves to the set position and meets the traffic weak, the path guide 400 to the path or target location set by the traffic weak based on the current position of the guidance robot 120 Set the path of. In some other embodiments, the route guide unit 400 of the guide robot 120 by setting a route to a target location or a route set by a traffic weak person based on the current location of the guide robot 120 in the control server 110 It can also be sent to.

Here, when the guidance robot 120 moves to the set position and encounters a traffic weak person, the guidance target recognition unit 430 according to the present embodiment is connected to the traffic weak terminal 100 by a Bluetooth pairing method, Recognizes the face of a traffic weak person using the Bluetooth communication direction angle and camera. At this time, the guide target recognition unit 430 of the present embodiment recognizes the target in the direction in which the paired Bluetooth communication signal is strongest as the guide target. In other words, when the guidance robot 120 arrives at the proximity distance of the traffic weak person, the signal strength in the process of receiving the radio waves transmitted from the terminal 100 carried by the traffic weak person by a tablet device mounted on the guidance robot 120 Is to recognize the person in the strongest direction as a traffic abbreviation to guide.

Meanwhile, the guidance object recognition unit 430 according to the present embodiment periodically recognizes the face of the traffic weak person while driving with the traffic weak person. If the face of the traffic weak person is not recognized for more than a preset time, the driving is stopped and a missing message is transmitted to the control server 110. At this time, a message indicating the disappearance situation is displayed on the display unit 450 of the guide robot 120, and a warning bell or a warning message sound is output to inform the traffic weak or nearby people of the disappearance situation of the traffic weak. After the missing message is transmitted to the control server 110, the guide robot driving unit 420 from the control server 110 until the guidance target recognition unit 430 according to the present embodiment recognizes the face of the traffic weak person again. It continues to move to the real-time location of the received traffic weak person. That is, when receiving the missing message, the control server 110 detects the location of the traffic weak terminal 100 using a communication means, and transmits the detected real-time location information to the guide robot 120 so that the guide robot 120 By moving to the corresponding position, the guide robot 120 and the traffic weak person meet again. Since the traffic weak person can move continuously, the control server 110 continuously provides real-time location information of the traffic weak person until the guidance target recognition unit 430 of the guidance robot 120 recognizes the traffic weak person's face again. It is transmitted to the guide robot 120.

The distance control unit 440 according to the present embodiment maintains a constant distance from the face of the traffic weak person recognized by the guidance object recognition unit 430. Here, the distance control unit 440 acquires the face image of the traffic weak person recognized by the guidance target recognition unit 430 using a rotatable stereo camera, and obtains distance information of the traffic weak person using the acquired face image. , When the obtained distance information is converted into acceleration/deceleration and transmitted to the guide robot driving unit 420, the guide robot driving unit 420 controls the speed of the guide robot 120 in the same manner as the converted acceleration/deceleration.

That is, the distance control unit 440 of the guide robot 120 is a process in which (1) a stereo camera mounted on the guide robot 120 acquires an image while following the face of a traffic weak person, and processes the acquired image with a predetermined signal. and; (2) acquiring distance information to the traffic weak by using the acquired image; (3) converting the acquired distance information into hourly speed and then converting it back into acceleration/deceleration; (4) a process of moving a rotating device at the upper end of the stereo camera to track a face when a traffic weak person moves from side to side; And (5) control the guide robot driving unit 420 of the guide robot 120 in the same manner as the acceleration/deceleration calculated in (3) and (4) described above to guide through the process of maintaining a constant distance from the traffic weak. Controls the distance between the robot 120 and the traffic weak.

When the guide robot 120 travels along an optimal route, the display unit 450 according to the present embodiment displays one or more of route information to a destination, an expected arrival time, and information on convenient facilities around the route on the screen. This information is also displayed in the traffic weak terminal 100 to increase the convenience of use of the traffic weak.

On the other hand, the ticket issuing unit 460 according to the present embodiment allows the ticket to be issued without going through the ticket window when the route information of the traffic weak person includes the boarding location or the point of interest is the ticket window. The guide is different. That is, when a traffic weak person visits a designated station to reserve a train ticket for a holiday, the guide robot 120 disposed at the designated station may be in charge of booking, paying, and printing a ticket. In addition, when the route information of the traffic weak person includes the boarding location, the guide robot 120 in charge of guidance may be in charge of booking, paying, and outputting tickets. At this time, if the traffic weak person is visually impaired, voice Along with guidance, a braille keypad can be used as an input tool, and when a traffic weak person is a deaf person, voice recognition can be used as an input tool along with screen guidance.

The history map update unit 470 according to the present embodiment is equipped with a LiDAR sensor, collects spatial information data and RFID ID while driving in the historical space, and transmits the collected information to the control server 110. The control server 110 receiving the information collected from the history map update unit 470 checks the accuracy of the point of interest information connected to the RFID ID to extract the location of the faulty RFID and perform maintenance. That is, in this embodiment, the guide robot 120 equipped with a LiDAR sensor at the end of operation of the railway station collects spatial information data while traveling in the corresponding station space and transmits it to the control server 110, and the control server 110 performs this. It updates old data and creates a new map. In addition, the guide robot 120 equipped with an RFID reader at the end of operation of the railway station collects the RFID ID and transmits the RFID ID to the control server 110 while traveling through the station space, and the control server 110 uses this to transmit the RFID ID. The accuracy of the connected point of interest information can be checked, and the failed RFID location can be used for extraction and maintenance.

Meanwhile, the guide robot 120 according to the present embodiment may include a photographing unit or a sensor unit to prevent collision with other pedestrians using the railway station. That is, the path guide unit 400 of the guide robot 120 of the present embodiment detects other pedestrians from information acquired through the photographing unit or the sensor unit, and detects the risk of collision with other pedestrians based on the detected information. Thereafter, the path guide unit 400 stops the guide robot driving unit 420 or decelerates its speed according to the detected collision risk.

7 is a flow chart schematically showing a process of guiding a traffic weak person using a guide robot interacting with a traffic weak person according to the present embodiment.

First, the guide robot 120 according to the present embodiment receives the station arrival location and arrival time of the traffic weak person from the control server 110 (S700). That is, when a traffic weak person requests a guidance service (including information such as traffic abbreviation type, transportation means to the railway station, departure location, and destination location) through the mobile application 200, the control server 110 is the traffic abbreviation. The arrival time of the railway station entrance is calculated and transmitted to the guide robot 120 together with the estimated station arrival location.

The guide robot 120 receiving the above-described information from the control server 110 according to the present embodiment moves to arrive at the expected station arrival position before the preset time of the arrival time at the entrance of the railway station of the traffic weak person (S710).

When the guide robot 120 according to the present embodiment arrives near the arrival location, it is connected to the traffic weak terminal 100 by a Bluetooth pairing method, and recognizes the face of the traffic weak person using the paired Bluetooth communication direction angle and a camera ( S720). For example, when the guide robot 120 arrives within a 30 cm radius of the coordinates of the arrival location, the mobile application 200 and Bluetooth communication to identify the traffic abbreviation to be guided and announce the arrival by voice, while the traffic to be guided using the direction of Bluetooth communication It recognizes the face of the weak.

According to the present embodiment, the guide robot 120 that successfully recognizes the face of the underprivileged person transmits a guide request message including information indicating that the underprivileged person has been met to the control server 110 (S730). From the control server 110 receiving the guidance request message, the guidance robot 120 receives an optimal path to the target location and a movement command (S740). As an embodiment, the control server 110 may generate an optimal path based on the existing braille block 510.

The guidance robot 120 receiving the optimal route and the movement command from the control server 110 of the present embodiment receives a guidance start message from the traffic weak (S750), and starts driving to the destination of the traffic weak along the received optimal path. Do (S760). Here, the guidance start message may be input in various forms. That is, the traffic weak person may select the start of guidance by touch input or the like on their mobile application 200 or the display unit 450 of the guidance robot 120, and when the traffic weak person is visually impaired, the voice “Shall we begin guidance? ?” and when the traffic weak person grasps the handle mounted on the guidance robot 120, it is regarded as a guidance start message and guidance can be started.

The guide robot 120 of the present embodiment may display route information to a destination, an expected arrival time, and information on convenient facilities on the route on the display unit 450 while moving for guidance. In addition, such information may be displayed on the screen of the mobile application 200 of the traffic weak person through the control server 110. Here, the convenience facility information on the route may be a toilet location on the route, an elevator location, shopping information, coupon information, sale information, drinking water location, restaurant information, a ticket office location, and a vending machine location.

In addition, the guide robot 120 according to the present exemplary embodiment displays a message "Moving for guidance" on the display unit 450 when moving together with a traffic abbreviation. In addition, the guide robot 120 periodically transmits the current location information and status information to the control server 110 while moving to continuously update the items managed by the guide robot management unit 310 of the control server 110.

Meanwhile, as described above, the guide robot 120 maintains a distance from the face of the underprivileged person to be guided while moving within a certain range. To this end, a stereo camera mounted on the head of the guide robot 120 and a rotating device are used to continuously track the face of a weak trafficking person. In addition, the guide robot 120 according to the present embodiment includes a handle 610 that a traffic weak person can grasp, and enables speed adjustment according to the rotation angle of the handle 610 while driving, and the handle ( If a signal is not detected by the 610, a control for stopping the driving of the guide robot 120 is performed.

In FIG. 7, it is described that processes S700 to S760 are sequentially executed, but this is merely illustrative of the technical idea of an embodiment of the present invention. In other words, if one of ordinary skill in the art to which an embodiment of the present invention belongs, changes the order shown in FIG. 7 and executes one of the processes S700 to S760 without departing from the essential characteristics of the embodiment of the present invention. Since the above processes are executed in parallel, various modifications and variations may be applied, and thus FIG. 7 is not limited to a time-series order.

Meanwhile, the processes shown in FIG. 7 can be implemented as computer-readable codes on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices that store data that can be read by a computer system. That is, the computer-readable recording medium includes a storage medium such as a magnetic storage medium (e.g., ROM, floppy disk, hard disk, etc.), and an optical reading medium (e.g., CD-ROM, DVD, etc.). In addition, the computer-readable recording medium can be distributed over a computer system connected through a network to store and execute computer-readable codes in a distributed manner.

The above description is merely illustrative of the technical idea of the present embodiment, and those of ordinary skill in the technical field to which the present embodiment pertains will be able to make various modifications and variations without departing from the essential characteristics of the present embodiment. Accordingly, the present embodiments are not intended to limit the technical idea of the present embodiment, but to explain the technical idea, and the scope of the technical idea of the present embodiment is not limited by these embodiments. The scope of protection of this embodiment should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present embodiment.

100: traffic weak terminal 110: control server
120: guide robot 200: application
210: GPS module 220: communication module
300: application management unit 310: guidance robot management unit
320: operation management unit 400: route guidance unit
410: position detection unit 420: guide robot driving unit
430: guide target recognition unit 440: distance control unit
450: display unit 460: ticket issuing unit
470: history map update unit 500: RFID tag
510: braille block 610: handle
611: detection unit 612: speed adjustment unit
620: control unit

Claims (22)

In the guide robot interacting with the traffic weak,
A position detection unit that detects the current position of the guide robot;
When driving along the optimal route received from the control server based on the current location, including a handle that the traffic weak person can grasp, and the traffic weak person rotates the handle in the direction of the guide robot, the rotation of the handle A guide robot driving unit that generates a preset step-by-step signal according to an angle to enable speed adjustment of the guide robot;
A guide target recognition unit that is connected to the terminal of the traffic weak person by a Bluetooth pairing method and recognizes the face of the traffic weak person using a paired Bluetooth communication direction angle and a camera;
A distance control unit that maintains a constant distance from the face of the traffic weak person recognized by the guidance object recognition unit;
A display unit for displaying at least one of route information to a destination, an expected arrival time, and information on convenient facilities around the route while driving along the optimal route;
When the route information of the traffic weak person includes a boarding position or the point of interest is a ticket window, a ticket issuing unit that allows the ticket to be issued without going through the ticket window, and provides a different guide for each type of the traffic weak person; And
Including a history map update unit that is equipped with a LiDAR sensor or an RFID reader to collect spatial information data or RFID ID while driving through the historical space and transmit it to the control server,
The history map update unit transmits the collected information to the control server, so that the control server updates the history map and checks the accuracy of the point of interest information connected to the RFID ID, thereby extracting the location of the faulty RFID and performing maintenance. ,
The guide robot interacting with the traffic weak, characterized in that the position detection unit detects the current position of the guide robot by recognizing the RFID tag installed on the braille block. The method of claim 1,
Information displayed on the display unit is a guide robot that interacts with the traffic weak, characterized in that the same is displayed on the terminal of the traffic weak. The method of claim 1,
The handle of the guide robot driving unit,
A sensing unit that detects whether or not the traffic weak person is touched; And
Speed adjustment unit for adjusting the speed of the guide robot
Including, but when the signal is not transmitted from the sensing unit, the speed adjustment unit is a guide robot interacting with the traffic weak, characterized in that the deceleration control. The method of claim 3,
When the signal is not transmitted by the sensing unit for a predetermined time or longer, the speed adjustment unit performs control to stop the driving of the guidance robot. The method of claim 1,
The guide robot for interacting with a traffic weak, characterized in that the guide target recognition unit recognizes a target in a direction in which the paired Bluetooth communication signal is strongest as a guide target. The method of claim 1,
The distance control unit obtains a face image of the traffic weak person recognized by the guidance object recognition unit using a rotatable stereo camera, obtains distance information of the traffic weak person using the face image, and the distance information When converted into acceleration/deceleration and transmitted to the guide robot driving unit, the guide robot driving unit controls the speed of the guide robot in the same manner as the acceleration/deceleration. delete The method of claim 1,
The guide robot interacting with the traffic abbreviation, characterized in that the handle of the guide robot driving unit has a cylindrical structure and includes a touch sensor on its surface. The method of claim 1,
The guide target recognition unit periodically recognizes the face of the traffic weak person during the driving, but stops driving and transmits a missing message to the control server when the traffic weak person's face is not recognized for a predetermined time or longer. A guide robot that interacts with the traffic weak. The method of claim 9,
A guide robot interacting with a traffic weak, characterized in that a message indicating a disappearance situation is displayed on the display unit and a warning bell or a warning message sound is output. The method of claim 9,
After transmitting the missing message, the guide robot driving unit moves to the real-time location of the traffic weak person received from the control server until the guidance target recognition unit recognizes the face of the traffic weak person again. A guide robot that interacts with the traffic weak. In the guidance method using a guidance robot interacting with the traffic weak,
(a) receiving a station arrival location and arrival time of the traffic weak person from a control server;
(b) moving to arrive at the arrival location before a preset time of the arrival time;
(c) being connected to the terminal of the traffic weakened person by a Bluetooth pairing method, and recognizing the face of the traffic weak person using the paired Bluetooth communication direction angle and a camera;
(d) when the face of the traffic weak person is recognized in step (c), transmitting a guide request message to the control server;
(e) receiving an optimal route and a movement command from the control server to the destination of the traffic weak person;
(f) receiving a guidance start message from the traffic abbreviation; And
(g) driving to the destination of the traffic weak person along the optimal route received in step (e)
Including,
The guide robot includes a handle that the traffic weak person can grasp, and when the traffic weak person rotates the handle in the direction of the guide robot, the guide robot generates a preset step-by-step signal according to the rotation angle of the handle. Enable speed control,
The guide robot includes a stereo camera to maintain a constant distance from the face of the traffic weak person while driving,
The guide robot issues a ticket if the route information of the traffic weak person to the destination includes a boarding location or the point of interest is a ticket counter, but when issuing the ticket, the guidance is different for each type of the traffic weak person,
The guide robot is equipped with a LiDAR sensor or an RFID reader, collects spatial information data or RFID ID while traveling in a historical space and transmits the collected information to the control server, and the control server updates the history map. By checking the accuracy of the point of interest information connected to the RFID ID, the location of the faulty RFID is extracted and maintenance is performed,
The guide robot is a guide method using a guide robot interacting with a traffic weak, characterized in that by recognizing the RFID tag installed on the braille block to detect the current position of the guide robot. The method of claim 12,
When driving in the step (g), a guide method using a guide robot that interacts with a traffic weak, characterized in that one or more of route information to the destination, an expected arrival time, and information on convenient facilities around the route are displayed. . delete delete The method of claim 13,
The information displayed during driving in step (g) is also displayed on the terminal of the traffic weak person. The method of claim 12,
A guide method using a guide robot interacting with a traffic weak, characterized in that when a signal is not detected by the handle of the guide robot while driving in the step (g), deceleration control of the guide robot is performed. The method of claim 17,
A guide robot interacting with a traffic underdog, characterized in that, when a signal is not transmitted to the handle of the guide robot for more than a predetermined time while driving in the step (g), a control is performed to stop the driving of the guide robot. Guidance method using. The method of claim 12,
Guide method using a guide robot interacting with a traffic weak, characterized in that the target in the direction in which the paired Bluetooth communication signal is the strongest in step (c) is recognized as a guide target. The method of claim 12,
(h) periodically recognizing the face of the traffic weak person during the driving; And
(i) If the face of the traffic weak person is not recognized for more than a preset time, stopping driving and transmitting a missing message to the control server
Guidance method using a guide robot interacting with the traffic weak, characterized in that it further comprises a. The method of claim 20,
(j) Displaying a message indicating the disappearance situation and outputting a warning bell or warning message sound
Guidance method using a guide robot interacting with the traffic weak, characterized in that it further comprises a. The method of claim 20,
(j) moving to the real-time location of the traffic weak person received from the control server until the face of the traffic weak person is recognized again
Guidance method using a guide robot interacting with the traffic weak, characterized in that it further comprises a.

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