WO2018195930A1 - 一种博物馆展品导览方法及设备 - Google Patents
一种博物馆展品导览方法及设备 Download PDFInfo
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- WO2018195930A1 WO2018195930A1 PCT/CN2017/082464 CN2017082464W WO2018195930A1 WO 2018195930 A1 WO2018195930 A1 WO 2018195930A1 CN 2017082464 W CN2017082464 W CN 2017082464W WO 2018195930 A1 WO2018195930 A1 WO 2018195930A1
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- exhibit
- path
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000000694 effects Effects 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 11
- 229910052573 porcelain Inorganic materials 0.000 description 10
- 238000009412 basement excavation Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 1
- 230000001747 exhibiting effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
Definitions
- the present invention relates to the field of computer technology, and in particular, to a museum exhibit guide method and device.
- the exhibit search equipment for example, a tablet or other smart terminal device installed in the museum stores information about each exhibit (for example, the location of the exhibit or the exhibit introduction).
- the exhibit search device in the museum obtains the exhibit search instruction input by the user, the exhibit map indicating the position of the exhibit in the museum is presented to the user, thereby guiding the user's visit process.
- the display of the exhibits in the museum is only displayed by outputting the exhibit map, which reduces the accuracy of the navigation effect.
- an embodiment of the present invention provides a method and a device for guiding a museum exhibit, which can guide a visitor to a target exhibiting place along a planned path by planning a route from a starting position to a destination position, thereby improving The accuracy of the navigation effect.
- an embodiment of the present invention provides a museum exhibit navigation method, and the method includes -
- an embodiment of the present invention further provides a museum exhibit navigation device, where the device includes -
- a starting positioning unit configured to locate a starting position of the current museum
- an instruction receiving unit configured to receive an exhibit navigation instruction, and acquire a target location corresponding to the target exhibit, where the exhibit navigation instruction carries exhibit information of the target exhibit;
- a path planning unit configured to plan a path from the starting position to the target position based on coordinate information of the starting position and the target position in a museum map;
- a path control unit configured to move to the target exhibit indicated by the target position according to the path.
- FIG. 1 is a schematic flow chart of a method for guiding a museum exhibit according to an embodiment of the present invention
- FIG. 2 is a schematic flow chart of another museum exhibit navigation method according to an embodiment of the present invention.
- FIG. 3 is a schematic diagram of a path effect according to an embodiment of the present invention.
- FIG. 4 is a schematic flow chart of another museum exhibit navigation method according to an embodiment of the present invention.
- FIG. 5 is a schematic diagram of another path effect provided by an embodiment of the present invention.
- FIG. 6 is a schematic flow chart of another museum exhibit navigation method according to an embodiment of the present invention.
- FIG. 7 is a schematic diagram of another path effect provided by an embodiment of the present invention.
- FIG. 8 is a schematic structural diagram of a museum exhibit navigation device according to an embodiment of the present invention.
- FIG. 9 is a schematic structural diagram of a path control unit according to an embodiment of the present invention.
- FIG. 10 is a schematic structural diagram of a path planning unit according to an embodiment of the present invention.
- FIG. 11 is a schematic structural diagram of another path control unit according to an embodiment of the present invention.
- FIG. 12 is a schematic structural diagram of another museum exhibit navigation device according to an embodiment of the present invention.
- FIG. 13 is a schematic structural diagram of another path control unit according to an embodiment of the present invention.
- the method for acquiring the vital sign data provided by the embodiment of the present invention can be applied to a scene in which the intelligent navigation robot in the museum navigates the position of the target exhibit, for example, the museum exhibit navigation device locates the starting position of the current museum.
- the museum exhibit navigation device involved in the embodiments of the present invention may include a terminal device equipped with an indoor navigation and an automatic driving function, such as a smart car or an intelligent robot.
- FIG. 1 is a schematic flow chart of a method for guiding a museum exhibit according to an embodiment of the present invention. As shown in FIG. 1, the method according to the embodiment of the present invention may include the following steps S101 to S104.
- the museum exhibit navigation device can locate the starting position of the museum where the museum is currently located.
- the starting position of the current museum can be the museum entrance.
- the indoor positioning technology that the museum exhibit navigation device can employ may be a combination of one or more of ultrasonic positioning, infrared positioning, ultra-wideband positioning or radio frequency identification positioning, and other indoor positioning technologies.
- S102 Receive an exhibit guide instruction, and acquire a target location corresponding to the target exhibit, where the exhibit guide instruction carries exhibit information of the target exhibit;
- the museum exhibit navigation device can receive the exhibit navigation guide. It can be understood that the exhibit navigation instruction can carry the exhibit information of the target exhibit, for example, the exhibit name, the exhibit code, and the like.
- the museum exhibit navigation device can receive an exhibit guide instruction input by a voice or a text by a visitor (for example, a visitor inputs by voice) "I want to visit the Yuan Dynasty.” Blue and white porcelain"). Further, the museum exhibit navigation device may acquire a target location corresponding to the target exhibit based on the exhibit related information stored by itself, for example, the name of the target exhibit is "Yuandai Blue and White Porcelain", and the target position corresponding to the exhibit information is " The third booth on the second floor.”
- S103 Plan a path from the start position to the target position based on coordinate information of the start position and the target position in a museum map.
- the museum exhibit navigation device may plan a path from the starting position to the target position based on coordinate information of the starting position and the target position in a museum map. It can be understood that the blog
- the museum map may be a map of locations of all exhibits in the marked museum pre-stored in the museum exhibit navigation device, and the coordinate information in the museum map may be the location of all exhibits in the museum map in the museum map.
- the position it can be understood that the actual position of the exhibit in the museum is in one-to-one correspondence with the coordinate information of the exhibit in the museum map.
- the museum exhibit navigation device may plan the starting position by using a preset planning path algorithm based on the starting position and the coordinate information of the target position in the museum map. a path between the target locations, where the preset planning path algorithm may be a point-to-point motion strategy.
- the museum exhibit navigation device may move to the target exhibit indicated by the target position according to the path, and it may be understood that the museum exhibit navigation device plans the starting position. After the path between the target positions, the motion device in the device can be activated and moved according to the planned path.
- the museum exhibit navigation device can detect itself at a time during the movement along the path. Whether the trajectory deviates from the established path, if it deviates from the path, adjusts the direction of motion and returns to the established path to continue the movement until reaching the target position of the target exhibit, for example, the Qin Dynasty that finally reaches the second booth in the first exhibition room.
- General military model The
- the exhibit information of the target exhibit may be output in the form of voice or video (for example, exhibit excavation information, exhibits) Relevant historical information, etc.).
- the exhibit guiding instruction carries the exhibit information of the target exhibit, and then Based on the coordinate information of the starting position and the target position in the museum map, the path from the starting position to the target position is planned, and finally the path is moved according to the path to the target exhibit indicated by the target position.
- the coordinate information based on the starting location and the target location in a museum map is planned to be from the starting location to the target location.
- the path of moving to the target exhibit indicated by the target position may include the following steps, as shown in FIG. 2:
- S201 Plan at least one path between the starting location and the target location based on coordinate information of the starting location and the target location in the museum map.
- the museum exhibit navigation device may plan at least one of the starting position to the target position based on coordinate information of the starting position and the target position in the museum map. path. Understandable
- the museum exhibit navigation device may be based on the starting position of the museum map and coordinate information of the target position and two The coordinate information of the position of other exhibits between the two is planned to be different.
- point A in the museum map represents the coordinates of the starting position
- point D represents the coordinates of the target position
- point B and point C represent other points.
- the position coordinates of the exhibit, the museum navigation device shown can plan 5 paths from A to D: Direct route AD, from A to B to D (ABD), from A to C to D (ACD), from A Go to B and then go to C and finally to D (ABCD), from A to C to B and finally to D (A-CBD).
- S202 Select a shortest path among the at least one path.
- the museum exhibit navigation device may select the shortest path from the at least one path. As shown in FIG. 3, the museum exhibit navigation device may select the shortest path A-D.
- the museum exhibit navigation device may move to the target exhibit indicated by the target position according to the selected shortest path. As shown in FIG. 3, the museum exhibit navigation device may be along the AD. The path moves from A to D.
- the museum exhibit navigation device may select the shortest from at least one path, and may follow the The shortest path is moved to the target position, thereby improving the efficiency of navigation.
- the target location includes at least one location
- the indicated target exhibits can include the following steps, as shown in Figure 4 -
- S301 Plan a path from the starting position to the first target position based on coordinate information of the starting position and the first target position in the museum map.
- the target location includes at least one location, which can be understood as more than one of the target exhibits.
- the guide navigation instruction input by the visitor is "I want to refer to the model and the yuan of the generals of the Qin Dynasty.”
- the exhibit guide includes two target exhibits.
- the museum exhibit navigation device may plan, according to the coordinate information of the starting position and the first target position in the at least one position in the museum map, from the starting position to the a path between the first target positions, it being understood that the first position may be the shortest distance between the at least one position and the start position
- S302. Plan a path from the first target location to the second target location based on coordinate information of the first target location and the second target location in the museum map.
- the museum exhibit navigation device may plan the first target position to the second based on coordinate information of the first target location and the second target location in the museum map.
- the second target position may be the position with the shortest distance from the first target position, that is, the second target exhibit at the second target position is closest to the first target exhibit at the first target position.
- point A is the starting position
- point B is the first target position of the first target exhibit
- point C is the second target position of the second target exhibit.
- the museum exhibit navigation device may move to a first target exhibit indicated by the first target position according to a path between the starting position and the first target position, as shown in FIG. 5 As shown, the museum exhibit navigation device can be moved from A to B along the AB path.
- the exhibit information of the first target exhibit may be output in the form of voice or video (for example, Excavation information, historical information related to exhibits, etc.).
- the museum exhibit navigation device may directly move along the planned path from the first target position to the second target position to the second Target exhibits. As shown in Figure 5, the museum exhibit navigation device can be moved from B to C along the B-C path.
- the exhibit information of the second target exhibit may be output in the form of voice or video (for example, Excavation information, historical information related to exhibits, etc.).
- the first and second of the first target position and the second target position are only different to distinguish different target positions, and do not represent the order of the target positions; the first target exhibits And the first and second of the second target exhibits only distinguish different target exhibits, and do not represent the ordering of the target exhibits.
- the at least one location includes not only the first target location and the second target location, but also other target locations, and the target exhibits not only include the first target exhibit and the second target exhibit, but may also include other Target exhibits.
- FIG. 6 is a schematic flow chart of a museum exhibit navigation method according to an embodiment of the present invention. As shown in FIG. 6, the method in the embodiment of the present invention may include the following steps S401 to S407.
- the museum exhibit navigation device can locate the starting position of the museum where the current museum is located.
- the starting position of the current museum can be the museum entrance.
- the indoor positioning technology that the museum exhibit navigation device can employ may be a combination of one or more of ultrasonic positioning, infrared positioning, ultra-wideband positioning or radio frequency identification positioning, and other indoor positioning technologies.
- the museum exhibit navigation device can receive the exhibit navigation guide. It can be understood that the exhibit navigation instruction can carry the exhibit information of the target exhibit, for example, the exhibit name, the exhibit code, and the like.
- the museum exhibit navigation device can receive an exhibit guide instruction input by a voice or a text by a visitor (for example, a visitor inputs by voice) "I want to visit the Yuan Dynasty.” Blue and white porcelain"). Further, the museum exhibit navigation device may acquire a target location corresponding to the target exhibit based on the exhibit related information stored by itself, for example, the name of the target exhibit is "Yuandai Blue and White Porcelain", and the target position corresponding to the exhibit information is " The third booth on the second floor.”
- the museum exhibit navigation device can collect the positions of all the exhibits in the museum, so that the museum map can be generated based on the positions of all the exhibits. It can be understood that when the museum exhibit map device does not store the museum map, the museum exhibit guide device can establish a map by collecting the exhibit position after receiving the exhibit guide.
- the museum exhibit navigation device may generate the museum map based on the location of the exhibits in the museum.
- the museum exhibit navigation device may express coordinate information corresponding to the position of the exhibit in the generated museum map based on the position of the exhibit in the museum.
- S405 planning a path from the starting position to the target position based on coordinate information of the starting position and the target position in a museum map;
- the museum exhibit navigation device may plan a path from the start position to the target position based on coordinate information of the start position and the target position in a museum map. It can be understood that the blog
- the coordinate information in the museum map may be the position of all the exhibits in the museum map in the museum map, and the actual position of the exhibit in the museum is in one-to-one correspondence with the coordinate information of the exhibit in the museum map.
- the museum exhibit navigation device may plan the starting position by using a preset planning path algorithm based on the starting position and the coordinate information of the target position in the museum map. a path between the target locations, where the preset planning path algorithm may be a point-to-point motion strategy.
- the museum exhibit navigation device can be moved according to the path to the target exhibit indicated by the target location.
- the museum exhibit navigation device can activate the motion device in the device and move in accordance with the planned path.
- the museum exhibit navigation device may detect whether there is an obstacle in the path by means of a camera, infrared or ultrasonic positioning.
- the museum exhibit navigation device may stop moving when a distance is preset from the obstacle, and it may be understood that the preset distance may be A smaller distance is shorter (for example, 0.3 m, 0.5 m, 1 m, etc.). It can be understood that the obstacle can be a person, an object, or an exhibit placed temporarily.
- the indoor positioning technology may be used to locate the stop position where the motion is stopped when the motion is stopped, and the position of the obstacle may be collected based on an information collecting device such as a camera.
- the museum exhibit navigation device may be based on the stop position, the position of the obstacle And updating the museum map with the target location.
- the museum exhibit navigation device may move to the target exhibit indicated by the target location according to the updated path indicated by the museum map, and it may be understood that when the path exists
- the obstacle is that the route planned according to the updated museum map is to avoid obstacles.
- the exhibit navigation device can select AB movement in the shortest path from A to B.
- an obstacle is detected in the AB path which is 0.5 m from the X position.
- the museum exhibit navigation device can locate itself. Current position X, and the location of the obstacle is collected
- Replacement page (Article 26) Y can update the museum map data based on the positions X, ⁇ , and D, and the path from the new plan to the target position D finally reaches the D position.
- the museum map is established according to the collected exhibit position, thereby ensuring that the museum map is the latest map, thereby avoiding the change of the position of some exhibits in the museum. Navigation errors reduce the probability of false navigation. By avoiding obstacles, navigation accidents are avoided during navigation.
- the exhibit navigation instruction carries the exhibit information of the target exhibit, and then Based on the coordinate information of the starting position and the target position in the museum map, the path from the starting position to the target position is planned, and finally the path is moved according to the path to the target exhibit indicated by the target position.
- the museum map By planning the path from the starting position to the destination position in the museum map indicating the position of the exhibit, and moving along the planned path to the destination position, leading the visitor to the target exhibit, improving the accuracy of the navigation effect;
- the museum map is established according to the position of the collected exhibits, which ensures that the map of the museum is the latest map, avoiding navigation errors caused by changes in the position of some exhibits in the museum, reducing the probability of mis-navigation; Obstacles avoid navigational accidents during navigation.
- the museum exhibit navigation device provided by the embodiment of the present invention will be described in detail below with reference to FIG. It should be noted that the museum exhibit navigation device shown in FIG. 8 to FIG. 13 is used to perform the method of the embodiment shown in FIG. 1 to FIG. 7 of the present invention. For the convenience of description, only the implementation of the present invention is shown. For the related parts, the specific technical details are not disclosed, please refer to the embodiment shown in Figs. 1 to 7 of the present invention.
- FIG. 8 is a schematic structural diagram of a museum exhibit navigation device according to an embodiment of the present invention.
- the museum exhibit navigation device 1 of the embodiment of the present invention may include a start positioning unit 11, an instruction receiving unit 12, a path planning unit 13, and a path control unit 14.
- the starting positioning unit 11 is configured to locate a starting position of the currently located museum
- the starting positioning unit 11 can locate the starting position of the museum where the current museum is located.
- the starting position of the current museum can be the museum door.
- the indoor positioning technology that the starting positioning unit 11 can adopt may be a combination of one or more of ultrasonic positioning, infrared positioning, ultra-wideband positioning or radio frequency identification positioning, and other indoor positioning technologies.
- the instruction receiving unit 12 receives the exhibit navigation instruction and acquires a target location corresponding to the target exhibit, and the exhibit navigation instruction carries the exhibit information of the target exhibit;
- the instruction receiving unit 12 can receive the exhibit navigation guide. It can be understood that the exhibit guide instruction can carry the exhibit information of the target exhibit, for example, the exhibit name, the exhibit code, and the like.
- the command receiving unit 12 may receive an exhibit guide instruction input by a voice or a character by a visitor (for example, a visitor inputs by voice) "I want to visit the blue-and-white porcelain of the Yuan Dynasty. "). Further, the instruction receiving unit 12 may acquire a target location corresponding to the target exhibit based on the exhibit related information stored by itself, for example, the name of the target exhibit is "Yuandai Blue and White Porcelain", and the target position corresponding to the exhibit information is "two. The third booth of the building.”
- the path planning unit 13 is configured to plan a path from the starting position to the target position based on the coordinate information of the starting position and the target position in a museum map;
- the path planning unit 13 may plan a path from the starting position to the target position based on the starting position and the coordinate information of the target position in the museum map.
- the museum map may be a map of locations of all exhibits in the marked museum pre-stored in the museum exhibit navigation device 1, and the coordinate information in the museum map may be all exhibits in the museum map.
- the position of the location in the museum map it can be understood that the actual position of the exhibit in the museum is in one-to-one correspondence with the coordinate information of the exhibit in the museum map.
- the path planning unit 13 may plan the starting position to the location by using a preset planning path algorithm based on the starting position and the coordinate information of the target position in the museum map.
- the path between the target locations, where the preset planning path algorithm may be a point-to-point motion strategy.
- the path control unit 14 is configured to move to the target exhibit indicated by the target position according to the path;
- the path control unit 14 may move to the target exhibit indicated by the target location according to the path, and it may be understood that the path control unit 14 plans the starting location to the After the path between the target positions, the motion device in the device can be activated and moved according to the planned path.
- the museum exhibit navigation device 1 can detect its own motion track during the movement along the path. Whether it deviates from the established path, if it deviates from the path, adjusts the direction of motion and returns to the established path to continue the movement until it reaches the target position of the target exhibit.
- the general of the Qin Dynasty which is finally exhibited in the second booth of the first exhibition room. model.
- the exhibit information of the target exhibit may be output in the form of voice or video (for example, exhibit excavation information, Historical information related to exhibits, etc.).
- the method by positioning the starting position of the current museum, receiving the guide navigation instruction, and acquiring the target position corresponding to the target exhibit, wherein the exhibit guiding instruction carries the exhibit information of the target exhibit, and then Based on the coordinate information of the starting position and the target position in the museum map, the path from the starting position to the target position is planned, and finally the path is moved according to the path to the target exhibit indicated by the target position. Planning from the beginning in the museum map indicating the location of the exhibit
- the path planning unit 13 is specifically configured to: plan at least one path between the starting position and the target location based on coordinate information of the starting location and the target location in the museum map ;
- the path planning unit 13 may plan at least one of the starting position to the target location based on the coordinate information of the starting location and the target location in the museum map. path. It can be understood that there may be more than one path from the starting position to the target position, and the path planning unit 13 may perform coordinate information according to the starting position and the target position in the museum map. And the coordinate information of the location of other exhibits between the two is planned to have different arrival paths. As shown in Fig. 3, point A in the museum map represents the coordinates of the starting position, point D represents the coordinates of the target position, points B and C.
- the path planning unit 13 can plan five paths from A to D: Direct path AD, from A to B to D (ABD), from A to C to D (ACD), From A to B to C to D (ABCD), from A to C to B and finally to D (A-
- the path control unit 14 includes, as shown in FIG.
- a path selection subunit 141 configured to select the shortest path among the at least one path
- the path selection subunit 141 may select the shortest path from the at least one path, as shown in the figure.
- the path selection sub-unit 141 can select the path A-D which is the shortest distance.
- a path control subunit 142 configured to move to the target exhibit indicated by the target location according to the selected shortest path
- the path control sub-unit 142 may move to the target exhibit indicated by the target location according to the selected shortest path. As shown in FIG. 3, the museum exhibit navigation device 1 may be along the AD. The path moves from A to D.
- the museum exhibit navigation device may select the shortest from at least one path, and may follow the The shortest path is moved to the target position, thereby improving the efficiency of navigation.
- the target location includes at least one location:
- the path planning unit 13 includes:
- the first path planning sub-unit 131 is configured to plan a path between the starting location and the first target location based on coordinate information of the starting location and the first target location in the museum map;
- the target location includes at least one location, which can be understood as more than one of the target exhibits.
- the guide navigation instruction input by the visitor is "I want to refer to the model and the yuan of the generals of the Qin Dynasty.”
- the exhibit guide includes two target exhibits.
- the first path planning sub-unit 131 may plan the location from the starting location to the location based on the coordinate information of the starting location and the first target location in the at least one location in the museum map.
- the first position may be the position with the shortest distance between the at least one position and the starting position. As shown in FIG. 5, the point A is the start. Position, point B is the first target position of the first target exhibit.
- a second path planning sub-unit 132 configured to plan, between the first target location and the second target location, based on coordinate information of the first target location and the second target location in the museum map Path
- the second path planning sub-unit 132 may plan the first target location to the first location based on the coordinate information of the first target location and the second target location in the museum map. The path between the two target locations. It can be understood that the second target position may be the position with the shortest distance from the first target position, that is, the second target exhibit at the second target position is closest to the first target exhibit at the first target position. As shown in Fig. 5, point A is the starting position, point B is the first target position of the first target exhibit, and point C is the second target position of the second target exhibit.
- the path control unit 14 includes -
- the first path control sub-unit 143 is configured to move to the first target exhibit indicated by the first target position according to the path between the starting position and the first target position;
- the first path control sub-unit 143 may move to the first target exhibit indicated by the first target position according to the path between the starting position and the first target position, as shown in the figure. As shown in FIG. 5, the museum exhibit navigation device 1 can be moved from A to B along the AB path.
- the exhibit information of the first target exhibit may be output in the form of voice or video (for example , Excavation information, historical information related to exhibits, etc.).
- a second path control sub-unit 144 configured to move from the first target exhibit to the second target position according to the path between the first target position and the second target position Second target exhibits;
- the museum exhibit navigation device 1 can directly move along a planned path from the first target position to the second target position to The second target exhibits. As shown in Fig. 5, the museum exhibit navigation device 1 can be moved from B to C along the B-C path.
- the exhibit information of the second target exhibit may be output in the form of voice or video.
- the first and second of the first target position and the second target position are only different to distinguish different target positions, and do not represent the order of the target positions; the first target exhibits And the first and second of the second target exhibits only distinguish different target exhibits, and do not represent the ordering of the target exhibits.
- the at least one location includes not only the first target location and the second target location, but also other target locations, and the target exhibits not only include the first target exhibit and the second target exhibit, but may also include other Target exhibits.
- the route to each target location is sequentially obtained according to the distance between the locations, thereby avoiding repeated operations during path planning, thereby improving navigation efficiency.
- FIG. 12 is a schematic structural diagram of another museum exhibit navigation device according to an embodiment of the present invention.
- the museum exhibit navigation device 1 of the embodiment of the present invention may include: a starting positioning unit 11, an instruction receiving unit 12, a path planning unit 13, a path control unit 14, a position collecting unit 15, and a map generation.
- Unit 16 may include: a starting positioning unit 11, an instruction receiving unit 12, a path planning unit 13, a path control unit 14, a position collecting unit 15, and a map generation.
- the starting positioning unit 11 is configured to locate a starting position of the currently located museum
- the starting positioning unit 11 can locate the starting position of the museum where the current museum is located.
- the starting position of the current museum can be the museum door.
- the indoor positioning technology that the starting positioning unit 11 can adopt may be a combination of one or more of ultrasonic positioning, infrared positioning, ultra-wideband positioning or radio frequency identification positioning, and other indoor positioning technologies.
- the instruction receiving unit 12 receives the exhibit navigation instruction and acquires a target location corresponding to the target exhibit, and the exhibit navigation instruction carries the exhibit information of the target exhibit;
- the instruction receiving unit 12 can receive the exhibit navigation instruction. It can be understood that the exhibit navigation instruction can carry the exhibit information of the target exhibit, for example, the exhibit name, the exhibit code, and the like.
- the command receiving unit 12 may receive an exhibit guide instruction input by a voice or a character by a visitor (for example, a visitor inputs by voice) "I want to visit the blue-and-white porcelain of the Yuan Dynasty. "). Further, the command receiving unit 12 may acquire a target position corresponding to the target exhibit based on the exhibit related information stored by itself, for example, the name of the target exhibit is “Yuandai Blue and White Porcelain”, and the target position corresponding to the exhibit information is “ The third booth on the second floor.”
- the location collecting unit 15 is configured to collect the location of the exhibit in the museum
- the location collection unit 15 may collect the locations of all the exhibits in the museum, so that the museum map can be generated based on the positions of all the exhibits. It can be understood that, when the museum map is not stored in the museum exhibit navigation device 1, the location collecting unit 15 may, after receiving the exhibit navigation guide, the museum exhibit guide.
- the viewing device 1 creates a map by collecting the position of the exhibit.
- a map generating unit 16 configured to generate a map of the museum based on a location of the exhibit in the museum;
- the map generation unit 16 may generate the museum map based on the location of the exhibits in the museum.
- the map generating unit 16 may express coordinate information corresponding to the position of the exhibit in the generated museum map based on the position of the exhibit in the museum.
- the path planning unit 13 is configured to plan a path from the starting position to the target position based on the coordinate information of the starting position and the target position in a museum map;
- the path planning unit 13 may plan a path from the starting position to the target position based on the starting position and the coordinate information of the target position in the museum map.
- the coordinate information in the museum map may be the position of the position of all the exhibits in the museum map in the museum map, the actual position of the exhibit in the museum and the coordinate information of the exhibit in the museum map. It is one-to-one correspondence.
- the path planning unit 13 may plan the starting position to the location by using a preset planning path algorithm based on the starting position and the coordinate information of the target position in the museum map.
- the path between the target locations, where the preset planning path algorithm may be a point-to-point motion strategy.
- the path control unit 14 is configured to move to the target exhibit indicated by the target position according to the path;
- the path control unit 14 may move to the target exhibit indicated by the target location according to the path.
- FIG. 13 is a schematic structural diagram of another path control unit according to an embodiment of the present invention.
- the path control unit 14 may include:
- the stop positioning sub-unit 145 is configured to stop the movement when the obstacle is at a preset distance from the obstacle, locate the stop position of the museum where the movement is stopped, and collect the The location of the obstacle;
- the museum exhibit navigation device 1 can be moved according to the path to the target exhibit indicated by the target position.
- the museum exhibit navigation device 1 can activate the motion devices in the device and move in accordance with the planned path.
- the museum exhibit navigation device 1 can detect whether there is an obstacle in the path by means of a camera, infrared or ultrasonic positioning.
- the stop positioning sub-unit 145 may stop moving when the distance is preset from the obstacle. It may be understood that the preset distance may be one. The smaller distance is shorter (for example, 0.3 m, 0.5 m, 1 m, etc.). It can be understood that the obstacle can be a person, an object, or an exhibit placed temporarily.
- the indoor positioning technology may be used to locate and stop.
- the stop position at which the motion is located is stopped, and the position of the obstacle can be collected based on an information collecting device such as a camera.
- a path control update subunit 146 configured to update the museum map based on the stop position, the location of the obstacle, and the target location, and according to the updated path indicated by the museum map Moving to the target exhibit indicated by the target location;
- the path control update subunit 146 may be based on the stop position, the position of the obstacle And updating the museum map with the target location.
- the path control update sub-unit 146 may move to the target exhibit indicated by the target location according to the updated path indicated by the museum map, and it may be understood that when the path is in the path
- the obstacle is that the route planned according to the updated museum map is to avoid the obstacle.
- the actual position of the museum exhibit navigation device is point A
- the target position is point B
- the museum exhibit navigation device can select AB movement in the shortest path from A to B, and when there is an obstacle in the AB path detecting 0.5 position from the X position when moving to the X position, the stop positioning sub-unit 145 can be positioned.
- the current position X of the self, and the position Y of the obstacle is collected, and the path control update subunit 146 can update the museum map data based on the positions X, ⁇ , and D, and the path from the new plan to the target position D finally reaches D. position.
- the museum map is established according to the collected exhibit position, thereby ensuring that the museum map is the latest map, thereby avoiding the change of the position of some exhibits in the museum. Navigation errors reduce the probability of false navigation. By avoiding obstacles, navigation accidents are avoided during navigation.
- the exhibit guiding instruction carries the exhibit information of the target exhibit, and then Based on the coordinate information of the starting position and the target position in the museum map, the path from the starting position to the target position is planned, and finally the path is moved according to the path to the target exhibit indicated by the target position.
- the museum map By planning the path from the starting position to the destination position in the museum map indicating the position of the exhibit, and moving along the planned path to the destination position, leading the visitor to the target exhibit, improving the accuracy of the navigation effect;
- the museum map is established according to the position of the collected exhibits, which ensures that the map of the museum is the latest map, avoiding navigation errors caused by changes in the position of some exhibits in the museum, reducing the probability of mis-navigation; Obstacles avoid navigational accidents during navigation.
- the program when executed, may include the flow of an embodiment of the methods as described above.
- the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
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