KR20200049280A - Guidance Robot for Interacting with Persons in Need and Guidance Method Using the Same - Google Patents

Abstract

Disclosed are a guidance robot for interaction with the transportation vulnerable and a guidance method for the transportation vulnerable using the same. According to one aspect of the present invention, in the guidance robot for interaction with the transportation vulnerable for travel convenience of the railroad transportation vulnerable and the guidance method for the transportation vulnerable using the same, the guidance robot accompanies and guides the transportation vulnerable from a departure point to a destination in a train station and supports a related convenience function such as ticket issuance when the transportation vulnerable requests a guide to a point of interest (a boarding position, a toilet, etc.) through a mobile device application or a guidance robot screen.

Description

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

This embodiment relates to a guide robot that interacts with a traffic weak person and a traffic weak guide method using the same.

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

As the nation's half-day living area becomes possible through the speeding up of railroads, the schedule of users becomes flexible and flexible, and many people use the railroad. However, as the number of passengers increases, the history of railways has become more complicated in recent years, making it difficult for historical users to find the destination they want to go inside. In particular, the weaker in transportation are more difficult to find the road, so it is necessary to develop technologies to create new railroad services that can satisfy the needs of various railroad passengers by resolving inconveniences by improving the satisfaction of the railroad passengers in the railroad history. Do.

According to the results of the analysis of the survey on railway passenger satisfaction and discomfort conducted in the railroad passenger convenience facility improvement technology development planning study, passengers experiencing discomfort when using the railway are uncomfortable at 59.5% of train stations, 63.0% of trains, 59.5% of subway stations, and 51.0% of electric cars. It appears to be suffering. In addition, the standard installation rate of railroad mobility convenience facilities is increasing every year, but satisfaction is stagnating or rather low. Therefore, research and development is needed on how to improve the mobility convenience for the transportationly vulnerable.

To this end, the Ministry of Land, Infrastructure and Transport has developed and provided a Transport Advice onGOing anywhere (TAGO) service to provide an integrated traffic information situation, but it is inconvenient to use due to the lack of detailed information such as disconnection of indoor services and the role of real-time navigation. In addition, it is possible to check the user's location using a GPS signal outside the railway station, and it is possible to provide route guidance services by Naver, etc., but it is impossible to receive the GPS signal inside the railway station, which mainly includes many underground sections. The internal location-based route guidance service is incomplete.

Therefore, in order to guide the traffic weak in history, the need for a guide robot has emerged to supplement the above-mentioned problems and to more effectively guide the traffic weak by interacting with the traffic weak.

In order to solve the above-described problems, the present embodiment is a guide robot for interacting with a traffic weak and a method for guiding a traffic weak using the same for the convenience of movement of a railway traffic weak, the traffic weak is a mobile device app or a guide robot screen. When a guide to a point of interest (boarding location, restroom, etc.) is requested through a guide, a guide robot in the railroad history accompanies the guide from the place of departure to the destination, guide robots that support related convenience functions, such as issuing a ticket, and traffic weak using the guide The primary purpose is to provide guidance.

According to an aspect of the present embodiment, in a guide robot that interacts with a traffic weak person, it travels along an optimal path received from a control server, but includes a handle that the traffic weak person can hold, according to a rotation angle of the handle. A guide robot driving unit capable of adjusting speed; A guide object recognition unit connected to the terminal of the traffic weak person by a Bluetooth pairing method and recognizing a face of the traffic weak person using a paired Bluetooth communication direction angle and a camera; A distance control unit maintaining a constant distance from the face of the weak person recognized by the guide object recognition unit; A display unit that displays one or more of route information to a destination, expected arrival time, and convenience facility information around the route while driving along the optimal route; A ticket issuing unit configured to allow a ticket to be issued without going through the ticket window if the location of the ride is included in the route information of the traffic weak person or the point of interest is a ticket window; And a history map update unit equipped with a rider (LiDAR) sensor or an RFID reader to collect spatial information data or RFID ID while driving in the historical space and transmit it to the control server. Provide a guide robot.

According to another aspect of this embodiment, a guide method using a guide robot that interacts with a traffic weak person, comprising: (a) receiving a history arrival position and arrival time of the traffic weak person from a control server; (b) moving to arrive at the arrival location before a predetermined time of the arrival time; (c) recognizing the face of the weak handed person by using the paired Bluetooth communication direction angle and a camera, which is connected to the terminal of the weak handed person by Bluetooth pairing; (d) transmitting a guide request message to the control server when the face of the traffic weak is recognized in the step (c); (e) receiving an optimal route and a movement command from the control server to a destination of the traffic weak; (f) receiving a guide start message from the weak traffic; And (g) driving to the destination of the traffic weak person along the optimal path received in step (e), wherein the guide robot includes a handle that the traffic weak person can hold to rotate the handle while driving. It is possible to adjust the speed according to the angle, and provides a guide method using a guide robot that interacts with a traffic weak person, including maintaining a constant distance from the face of the traffic weak person while driving, including a stereo camera.

When providing the optimal route guidance to the point of interest in the railway history, there is an effect of enabling more effective route support through the interaction of the traffic weak and the guide robot.

1 is a diagram schematically showing the overall configuration of a guide system using a guide robot that interacts with a weak person in accordance with the present embodiment.
2 is a block diagram schematically showing the configuration of a weak terminal according to the present embodiment.
3 is a block diagram showing the configuration of a 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 view showing a braille block with an RFID tag embedded in railway history.
6 is a block diagram schematically showing the internal configuration of a guide robot running part having a handle according to the present embodiment.
7 is a flowchart schematically showing a process for guiding a traffic weak using a guide robot that interacts with a traffic weak according to the present embodiment.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. It should be noted that in adding reference numerals to the components of each drawing, the same components have the same reference numerals as possible even though they are displayed on different drawings. In addition, in describing the present invention, when it is determined that detailed descriptions of related well-known structures or functions may obscure the subject matter of the present invention, detailed descriptions thereof will be omitted.

In addition, in describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the component from other components, and the nature, order, or order of the component is not limited by the term. Throughout the specification, when a part is 'included' or 'equipped' a component, this means that other components may be further included rather than excluded, unless specifically stated otherwise. . In addition, '… Terms such as "unit" and "module" mean a unit that processes at least one function or operation, and 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 weak person in accordance with the present embodiment.

As shown in FIG. 1, the railway history 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 illustrated in FIG. 2, the traffic weak terminal 100 according to the present embodiment may include an application 200, a GPS module 210, and a communication module 220.

The traffic weak terminal 100 according to the present embodiment is a terminal that can be carried by the traffic weak. The traffic weak terminal 100 according to the present embodiment is equipped with an application 200 for providing services such as route guidance to the traffic weak.

The weak for transportation executes the application 200 to set a route or a target position that he or she wants to move within the starting station and railroad history to enter. The traffic weak terminal 100 according to this embodiment is provided with 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 in his traffic weak terminal 100 in order to receive services such as route guidance. In the initial stage after the execution of the application 200, the traffic weak allows the user to select and store his or her traffic weak type on the application 200 so that an optimal service for use of history can be received. Here, the weak type of transportation may be a type of disability (visually impaired, deaf, handicapped, and wheelchair disabled), an elderly person, an infant companion, and a pregnant woman. Before arriving at the departure station, the traffic weak person enters the departure station and the target location to enter on the application 200 on the terminal, and a route guidance request including this input information (departure station and target location) is delivered to the control server 110 do.

In addition, the GPS module 210 and the communication module 220 of the traffic weak terminal 100 detect the location of the traffic weak terminal 100, that is, the traffic weak location, and detect the detected traffic weak location and related information. It is transmitted to the control server 110 in real time. In the present embodiment, the traffic weak terminal 100 may be a personal smart phone and a tablet, but is not limited thereto, and may also be a special terminal for receiving the railway history route guidance support service of the present embodiment.

The control server 110 according to the present embodiment collects a route or a target position and a position of the traffic weak from the traffic weak terminal 100 and transmits the corresponding path to the guide robot 120. At this time, the control server 110 can optimize the corresponding route by using facility information, train information and environmental information, user information, and the like in the railway station. In addition, the control server 110 according to the present embodiment guides the most convenient and optimal history entrance at the corresponding location when the traffic weak requests service at any point before the arrival of history, and when a user arrives at history after a certain time The beacon installed at the historic entrance automatically recognizes this, so that the system can start the route guidance service using the guidance robot 120 which has calculated and waited for the expected arrival time.

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 railway history operating system, etc., which integrally operates and manages railway history, or may be provided separately from the railway history 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 exemplary 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 display, 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 in real time the current position or operation status of the guide robot 120 in the railway history, checks whether the guide robot 120 is operating normally, and guide robot ( If 120) is abnormally operated, it may guide the administrator. In addition, it is possible to manage information transmitted to the guide robot 120.

In addition, the guide robot management unit 320 of the present embodiment, the railroad facility information, railroad passenger information, train information, and the location of the entrance and exit of each guided robot 120, which are related to the traffic lines to which the traffic weak can move, By comparing the current position, the guide robot 120 among the guide robots 120 that is not currently being routed and which is closest to the location of the doorway where the traffic weak enters may be selected to transmit an operation command. Through this, a plurality of guide robots 120 in the railway history can be operated efficiently, prevent unnecessary energy consumption of the guide robot 120, and one guide robot 120 provides route support to a single weak person. By doing so, it is possible to effectively operate the guide robot 120.

The operation management unit 320 according to the present embodiment is capable of operating a railway station facility, and 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 a restroom near the disabled By checking the usage status of, it is possible to improve the convenience of use of the disabled by real-time information on the optimal toilet location.

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

As illustrated in FIG. 4, the guide robot 120 according to the present exemplary embodiment includes a path guide unit 400, a position detecting unit 410, a guide robot driving unit 420, a guide object recognition unit 430, and a distance control unit 440, a display unit 450, a ticket issuing unit 460, and a history map updating unit 470.

The position detecting unit 410 according to the present embodiment detects the current position of the guide robot 120. To this end, the location sensing unit 410 may use RFID, Bluetooth, or WiFi communication provided in advance in the railway history. 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 of each RFID tag 500 is matched. Therefore, the position detecting unit 410 of the guide robot 120 of 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. Therefore, the guide robot 120 of the present 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 is possible to detect a position in a two-dimensional direction by using a small RFID in 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 the control command of the route guide unit 400 or the control command received from the control server 110. The route guide unit 400 sets a movement route based on the position of the doorway to which the traffic weak person enters, the route or position targeted by the traffic weak person from the control server 110, based on the position of the doorway. For example, if the traffic weak is set to enter the exit 3 of the railway history, a location close to the exit 3, for example, the guide robot 120 is movable and can meet the traffic weak when entering the exit 3 of the traffic weak After detecting the set position, the moving path to the set position is set. When the movement path to the set position is set as described above, the route guide unit 400 controls the guide robot driving unit 420 based on the current position of the guide robot 120 detected through the position detector 410. Go to that route.

The guide robot driving unit 420 according to the present embodiment travels along the optimal path received from the control server 110 as described above, but adjusts the speed according to the rotation angle of the handle, including the handle that the traffic weak can catch. It has the characteristic that it is possible.

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

As illustrated in FIG. 6, the guide robot driving unit 420 of the present embodiment may include a handle 610 and a control unit 620 including a sensing unit 611 and a speed adjusting unit 612. Here, the handle 610 according to the present embodiment is mainly for the blind and has a cylindrical structure. The sensing unit 611 of the present embodiment is equipped with a touch sensor on the surface of the handle 610 to detect whether the traffic weak is touched, that is, whether the traffic weak has gripped the handle 610, and the speed adjusting unit 612 is a guide robot Adjust the speed of 120. In this embodiment, if a signal is not transmitted from the sensing unit 611 while driving the guide robot 120, the speed adjusting unit 612 sends a signal to the control unit 620 to perform deceleration control, and if the signal is detected by the sensing unit 611 If is not transmitted for more than a predetermined time, the speed adjustment unit 612 sends a signal to the control unit 620 to perform control to stop the driving of the guide robot 120.

In addition, the speed adjusting unit 612 according to the present embodiment generates a preset step-by-step signal according to the rotation angle and transmits it to the control unit 620 when the visually impaired person rotates the cylindrical handle 610 toward the guide robot 120. By doing so, the speed can be adjusted. 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 encounters the traffic weak, from the route guide 400 to the route or target position set by the traffic weak based on the current position of the guide robot 120 Set the path. In some other embodiments, the route guide unit 400 of the guide robot 120 is set by setting a route to a target location or a route set by a traffic weak person based on the current position of the guide robot 120 in the control server 110 You can also send

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

On the other hand, the guide object recognition unit 430 according to the present embodiment periodically recognizes the face of the traffic weak while driving with the traffic weak. If the face of the traffic weak is not recognized for a predetermined time or more, the driving is stopped and the disappearance message is transmitted to the control server 110. At this time, a message indicating a missing 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 weak or nearby people about the missing situation. After the disappearance message is transmitted to the control server 110, the guide robot driving unit 420 from the control server 110 until the guide 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. That is, the control server 110, upon receiving the missing message, detects the location of the traffic weak terminal 100 using 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 meet again. Since the traffic weak can continuously move, the control server 110 continues to receive real-time location information of the traffic weak until the face of the traffic weak is recognized again by the guide object recognition unit 430 of the guide robot 120. 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 guide object recognition unit 430. Here, the distance control unit 440 uses the rotatable stereo camera to obtain a face image of the traffic weak person recognized by the guide target recognition unit 430, and obtains the distance information of the traffic weak person using the obtained face image, , When the obtained distance information is converted into acceleration / deceleration and transmitted to the guidance robot driving unit 420, the guidance robot driving unit 420 controls the speed of the guidance robot 120 in the same manner as the converted acceleration / deceleration.

That is, the distance control unit 440 of the guide robot 120 is (1) the stereo camera mounted on the guide robot 120 acquires an image while following the face of the traffic weak, and processes the acquired image by predetermined signal processing and; (2) a process of obtaining distance information to a weak person by using the obtained image; (3) converting the obtained distance information at an hourly rate and then converting it back to acceleration / deceleration; (4) a process of moving the rotating device at the top of the stereo camera to track the face when the traffic weak person moves from side to side; And (5) controlling the guide robot driving unit 420 of the guide robot 120 in the same manner as the acceleration / deceleration calculated in the above-mentioned (3) and (4) to guide through the process of maintaining a certain distance from the weak traffic. It controls the distance between the robot 120 and the weak traffic.

The display unit 450 according to the present embodiment displays one or more of route information to a destination, expected arrival time, and convenience facility information around the route when the guide robot 120 travels along the optimum route. This information is also displayed in the same manner in the terminal for the weak of the traffic 100 to increase the convenience of use of the weak for the traffic.

On the other hand, the ticket issuing unit 460 according to the present embodiment allows a ticket to be issued without going through the ticket window if the location of the ticket is included in the route information of the weak or the point of interest is a ticket window, but by type of traffic weak person. To guide them differently. That is, when the transportation weak person visits the designated station for the holiday train ticket reservation, the guide robot 120 disposed at the designated station may be in charge of reservation, payment, and ticket printing. In addition, when the boarding location is included in the route information of the weak handed person, the guide robot 120 in charge of the guidance may be in charge of making a reservation, payment, and printing a ticket. A braille keypad can be used as an input tool along with guidance, and when the traffic is deaf or hearing-impaired, 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 it to the control server 110. The control server 110, which receives the information collected from the history map update unit 470, checks the accuracy of the point-of-interest information connected to the RFID ID and performs location extraction and maintenance of the faulty RFID. That is, in the present embodiment, the guide robot 120 equipped with the LiDAR sensor in the time of the end of the railroad history operation collects spatial information data while driving the corresponding historical space and transmits it to the control server 110, and the control server 110 Use it to update old data and create new maps. In addition, at the end of the railroad station operation, the guide robot 120 equipped with an RFID reader collects and transmits the RFID ID to the control server 110 while driving the corresponding historical space, and the control server 110 uses this to transmit to the RFID. You can check the accuracy of the information of the point of interest you have connected and use the failed RFID location 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 a collision with another pedestrian who is using railway history. That is, the route guide unit 400 of the guide robot 120 of the present embodiment detects another pedestrian from the information obtained through the photographing unit or the sensor unit, and detects a collision risk with another pedestrian based on the detected information. Thereafter, the route guide unit 400 stops the guide robot driving unit 420 or decelerates the speed according to the detected collision risk.

7 is a flowchart schematically showing a process for guiding a traffic weak using a guide robot that interacts with a traffic weak according to the present embodiment.

First, the guide robot 120 of the present embodiment receives the historical arrival position and arrival time of the traffic weak from the control server 110 (S700). That is, when the traffic weak person applies for a guide service through the mobile application 200 (including information such as the traffic weak type, the transportation method to the railroad history, the departure location, and the target location), the control server 110 receives the traffic weak The arrival time of the railway station of the railway is calculated and transmitted to the guide robot 120 together with the estimated history arrival location.

Upon receiving the above information from the control server 110 according to the present embodiment, the guide robot 120 moves to arrive at the predicted historical arrival position before a predetermined time of arrival at the railway history entrance of the underprivileged (S710).

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

According to this embodiment, the guide robot 120 that successfully recognizes the face of the traffic weak transmits a guide request message including information that the traffic weak has been met to the control server 110 (S730). From the control server 110 that has received the guide request message, the guide robot 120 receives an optimal route to the target location and a movement command (S740). As an embodiment, the control server 110 may generate an optimal route based on the existing braille block 510 installed.

The guidance robot 120 receiving the optimal route and the movement command from the control server 110 of the present embodiment receives the guidance start message from the traffic weak (S750), and starts driving to the destination of the traffic weak along the received optimal path. (S760). Here, the guide start message may be input in various forms. That is, the traffic weak person may select the start of the guide by touch input or the like on the display unit 450 of the mobile application 200 or the guide robot 120. ? ”, And if the weak handed person holds the handle mounted on the guide robot 120, it can be regarded as a guide start message and start guide.

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

In addition, the guide robot 120 according to the present embodiment, when moving along with the traffic weak, displays the message “moving for guidance” on the display unit 450. In addition, the guide robot 120 periodically transmits current location information and status information to the control server 110 while on the move to continuously update matters managed by the guide robot management unit 310 of the control server 110.

On the other hand, as described above, the guide robot 120 maintains a distance from the face of the traffic weak person who guides during the movement within a predetermined range. To this end, the stereoscopic camera mounted on the head portion of the guide robot 120 and a rotating device are used to continuously track the weak face of the traffic. In addition, the guide robot 120 according to the present embodiment includes a handle 610 that can be caught by a weak person and enables speed adjustment according to the rotation angle of the handle 610 while driving, and the handle ( If a signal is not detected in 610, control is performed to stop the driving of the guide robot 120.

In FIG. 7, it is described as sequentially executing steps S700 to S760, but this is merely illustrative of the technical idea of an embodiment of the present invention. In other words, a person having ordinary knowledge in the technical field to which one embodiment of the present invention pertains may execute or change the order described in FIG. 7 without departing from the essential characteristics of one embodiment of the present invention, or one of the processes S700 to S760 Since the above process can be applied in various modifications and variations by executing in parallel, FIG. 7 is not limited to a time series sequence.

Meanwhile, the processes illustrated in FIG. 7 may be implemented as computer readable codes on a computer readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data readable by a computer system is stored. That is, the computer-readable recording medium includes a storage medium such as a magnetic storage medium (eg, ROM, floppy disk, hard disk, etc.), an optical reading medium (eg, CD-ROM, DVD, etc.). The computer-readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

The above description is merely illustrative of the technical idea of the present embodiment, and those skilled in the art to which this embodiment belongs may be capable of various modifications and variations without departing from the essential characteristics of the present embodiment. Therefore, the present embodiments are not intended to limit the technical spirit of the present embodiment, but to explain, and the scope of the technical spirit of the present embodiment is not limited by these embodiments. The scope of protection of the present embodiment should be interpreted by the claims below, and all technical spirits within the equivalent range should be interpreted as being included in the scope of the present embodiment.

100: the weak terminal 110: the control server
120: guide robot 200: application
210: GPS module 220: communication module
300: application management unit 310: guide robot management unit
320: operations management department 400: route guidance
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 that interacts with the traffic weak,
A guide robot driving unit that travels along an optimal path received from a control server, and can adjust speed according to a rotation angle of the handle, including a handle that the traffic weak can catch;
A guide object recognition unit connected to the terminal of the traffic weak person by a Bluetooth pairing method and recognizing a face of the traffic weak person using a paired Bluetooth communication direction angle and a camera;
A distance control unit maintaining a constant distance from the face of the weak person recognized by the guide object recognition unit;
A display unit that displays one or more of route information to a destination, estimated time of arrival, and convenience facility information around the route while driving along the optimal route;
A ticket issuing unit configured to allow a ticket to be issued without going through the ticket window if the point of interest is included in the route information of the traffic weak person or the point of interest is a ticket window; And
Equipped with a rider (LiDAR) sensor or RFID reader, the historical map update unit collects spatial information data or RFID ID while driving in the historical space and transmits it to the control server
It characterized in that it comprises a guide robot for interacting with the weak. According to claim 1,
The information displayed on the display unit is a guide robot for interacting with a traffic weak person, characterized in that the same is also displayed on the terminal of the traffic weak person. According to claim 1,
The handle of the guide robot running part,
A sensing unit that detects whether or not the traffic weak is touched; And
Speed adjustment unit for adjusting the speed of the guide robot
Including, but, if the signal is not transmitted from the detection unit, the speed adjustment unit guide robot to interact with the traffic weak, characterized in that to perform deceleration control. The method of claim 3,
When the signal is not transmitted from the detection unit for a predetermined time or longer, the speed adjustment unit guides the robot to interact with the traffic weak, characterized in that it performs control to stop the driving of the guide robot. According to claim 1,
The guide object recognition unit is a guide robot that interacts with a traffic weak, characterized in that the paired Bluetooth communication signal recognizes the object in the direction of the strongest direction. According to claim 1,
The distance control unit obtains a face image of the traffic weak person recognized by the guide target recognition unit using a rotatable stereo camera, obtains distance information to the traffic weak person by using the face image, and the distance information When converted to acceleration / deceleration and transmitted to the guidance robot driving unit, the guidance robot driving unit controls the speed of the guidance robot in the same way as the acceleration / deceleration, and the guidance robot interacting with the traffic weak. According to claim 1,
The control server, which receives the information collected from the history map update unit, interacts with a traffic weak person, characterized in that it performs the location extraction and maintenance of the faulty RFID by checking the accuracy of the point of interest information connected to the RFID ID. Guide robot that does the job. According to claim 1,
The handle of the guide robot driving part is a cylindrical structure and a guide robot for interacting with a traffic weak, characterized in that it comprises a touch sensor on the surface. According to claim 1,
The guide object recognition unit periodically recognizes the face of the traffic weak person while driving, but stops driving and transmits a missing message to the control server when the face of the traffic weak person 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 for interacting with a weak person, characterized by displaying a message indicating a missing situation on the display unit and outputting a warning bell or warning message sound. The method of claim 9,
After transmitting the missing message, the guide robot driving unit moves to a 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 guide robot to interact with the traffic weak,
(a) receiving a history arrival location and arrival time of the traffic weak person from a control server;
(b) moving to arrive at the arrival location before a predetermined time of the arrival time;
(c) recognizing the face of the weak handed person by using the paired Bluetooth communication direction angle and a camera, which is connected to the terminal of the weak handed person by Bluetooth pairing;
(d) transmitting a guide request message to the control server when the face of the traffic weak is recognized in the step (c);
(e) receiving an optimal route and a movement command from the control server to a destination of the traffic weak;
(f) receiving a guide start message from the weak traffic; And
(g) driving to the destination of the traffic weak along the optimal route received in step (e).
Including, but, the guide robot includes a handle that the traffic weak can hold, and the speed can be adjusted according to the rotation angle of the handle while driving, and includes a stereo camera to maintain a constant distance from the face of the traffic weak during driving. A guide method using a guide robot that interacts with a traffic weak, characterized by maintaining. The method of claim 12,
When driving in the step (g), a guide method using a guide robot for interacting with a weak person, characterized by displaying at least one of route information to the destination, expected arrival time, and convenience facility information around the route. . The method of claim 12,
(h) issuing a ticket if the location of the ride is included in the route information to the destination of the weak or the point of interest is a ticket window.
In addition, the guide method using a guide robot for interacting with the traffic weak, characterized in that different information for each type of the weak when the ticket is issued. The method of claim 12,
The guide robot is equipped with a rider (LiDAR) sensor or an RFID reader, and guides the robot to interact with the traffic weak, which collects spatial information data or RFID ID while driving in the historical space and transmits it to the control server. Guided method used. The method of claim 13,
The information displayed when driving in the step (g) is guided using a guide robot that interacts with the traffic weak, characterized in that the same manifested in the terminal of the weak. The method of claim 12,
When a signal is not detected by the handle of the guide robot during driving in step (g), the guide method using the guide robot interacting with the traffic weak, characterized in that the guide robot is decelerated and controlled. The method of claim 17,
When the signal in the handle of the guide robot is not transmitted for more than a predetermined time during driving in step (g), the guide robot interacts with the traffic weak, characterized in that it performs control to stop driving of the guide robot. Guided method using. The method of claim 12,
In step (c), the paired Bluetooth communication signal is a guide method using a guide robot that interacts with a traffic weak, characterized in that the object in the direction of the strongest direction is recognized as a guide target. The method of claim 12,
(h) periodically recognizing the face of the weak person while driving; And
(i) stopping the driving and transmitting a missing message to the control server when the face of the weak person is not recognized for a predetermined time or more.
A guide method using a guide robot that interacts with a traffic weak, characterized in that it further comprises. The method of claim 20,
(j) displaying a message indicating the disappearance and outputting a warning bell or warning message sound.
A guide method using a guide robot that interacts with a traffic weak, characterized in that it further comprises. The method of claim 20,
(j) moving to the real-time location of the traffic weak received from the control server until the face of the traffic weak is recognized again.
A guide method using a guide robot that interacts with a traffic weak, characterized in that it further comprises.

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