CN103226924A - Tour guiding and explaining service robot system and tour guiding and explaining method thereof - Google Patents
Tour guiding and explaining service robot system and tour guiding and explaining method thereof Download PDFInfo
- Publication number
- CN103226924A CN103226924A CN2013101260092A CN201310126009A CN103226924A CN 103226924 A CN103226924 A CN 103226924A CN 2013101260092 A CN2013101260092 A CN 2013101260092A CN 201310126009 A CN201310126009 A CN 201310126009A CN 103226924 A CN103226924 A CN 103226924A
- Authority
- CN
- China
- Prior art keywords
- visitors
- guide
- pose
- module
- robot body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a tour guiding and explaining service robot system and a tour guiding and explaining method thereof. The system comprises a robot body, a demonstration module, a task edition module, a tour guiding module, a monitoring module and a positioning and pose correcting module, wherein the robot body is used for directly interacting with a person to fulfill a tour guiding task; the demonstration module is used for fulfilling collection of key positions on a tour guiding route; the task edition module is used for compiling a script file in robot script language according to the tour guiding task to describe the tour guiding task; and the tour guiding module is used for analyzing and actuating the tour guiding task to fulfill the appointed task. The system provided by the invention allows a person only having computer operation knowledge to require a robot to perform demonstration and task edition according to the tour guiding task requirements and control the robot to fulfill the tour guiding task. Meanwhile, the system provides a simple and convenient way for a user to self-define the tour guiding function of the robot, thereby reducing the development difficulty of tour guiding service robots and the using difficulty of the user and further prompting the popularization of service robots in social life.
Description
Technical field
The present invention relates to the technical field of robot system, particularly a kind of guide to visitors explains orally service-delivery machine robot system and guide to visitors explanation method thereof.
Background technology
In the museum, occasion such as science and technology center, exhibition room, fair and conference and exhibition center, all be showpiece manually to be separated the introduction of mediating a settlement by the announcer, under or the situation that the announcer is not enough more, often can not provide favorable service the visitor.And explain orally is repetitive work, if there is low-cost practical guide to visitors to explain orally robot, can reduces announcer's working pressure and improve visitor's interest.
In current guide to visitors or guide's machine people, there is the difficult problem of robot autonomous navigation.The navigation problem of present robot, practical common methods is the navigate mode that has guide line, as electromagnetism sunken cord navigation or light reflection navigation, but this class navigate mode, require on the ground or install on the ceiling guide line, the layout of system and safeguard cumbersome.And based on the synchronized positioning and the mode of building map, higher and development difficulty is big to the configuration requirement of robot, cause the cost of robot higher.
The content of guide to visitors explanation tends to change as required, and existing guide to visitors interpretation system is revised the guide to visitors route and the explanation content often needs the robot development personnel of specialty to develop maintenance, is unfavorable for that the user is at any time by demand change explanation content.
Summary of the invention
The shortcoming that the objective of the invention is to overcome prior art provides a kind of guide to visitors to explain orally the service-delivery machine robot system with not enough.
Another object of the present invention is to, provide a kind of above-mentioned guide to visitors to explain orally the implementation method of robot service system.
In order to reach above-mentioned first purpose, the present invention by the following technical solutions:
Guide to visitors of the present invention explains orally the service-delivery machine robot system, comprises robot body, teaching module, task editor module, guide to visitors module, monitoring module and location and pose correction module;
Described robot body is used for carrying out alternately with the people, leads the people to visit and explains orally;
Described teaching module is used to gather robot body and finishes the key point that the guide to visitors required by task will pass through;
Described task editor module is used to generate the guide to visitors assignment file;
Described guide to visitors module is used to resolve guide to visitors assignment file and execution, finishes the task of appointment;
Described monitoring module is made up of remote monitoring terminal and wireless communication module, and remote monitoring terminal operates on desktop computer, portable computer or the smart mobile phone;
Described location and pose correction module are calculated the current pose of robot in the robot body moving process, and when mobile cumulative errors acquire a certain degree, proofread and correct the pose of robot body when entering correcting area.
Preferably, described robot body comprises: mobile module, limb action module, language module, sensing module and wireless communication module;
Described mobile module makes robot body move to coordinates of targets from principal and subordinate's coordinate that sets out;
Described limb action module comprises one or more joint, is used to finish limb action;
Described voice module comprises voice input module, sound identification module and voice output module, and voice input module uses microphone to gather the sound signal of environment; Sound identification module is converted into text with people's the content of speaking; The voice output module is play audio frequency by audio amplifier;
Described sensing module comprises the sensor that is used for human detection, the sensor of reckoning, the sensor of detection of obstacles, and sound and image capture module;
Described wireless communication module is used to realize the communication of robot body and remote monitoring terminal.
Preferably, described teaching module comprises online teaching module and off-line teaching module,
Described online teaching module is by straighforward operation or pushing away robot body and move to crucial pose on the guide to visitors route; Note current pose value, and preserve all pose points;
Described off-line teaching module by creating the map of guide to visitors environment, is chosen the coordinate of the key position on the guide to visitors route and is edited the course angle of robot body under this coordinate and preserve all pose points from map;
The map of described guide to visitors environment is an electronic chart, obtains the coordinate of certain point in actual environment on the map by mouse; Crucial pose on the described guide to visitors route is for the position coordinates that need explain and course angle or in order to control the process coordinate and the moving direction of guide to visitors route.
Preferably, described task editor module comprises:
Pose is selected module, from the teaching module is gathered the pose of returning, selects required pose;
Pose order module, the precedence that reaches according to route sort and generate the pose sequence;
The pose editor module is made amendment and the feature editor to selected pose;
The instruction editor module generates mobile script according to the pose sequence, and the mobile alignment of control robot body with the behavior of robot script instruction description robot body on each pose, generates and preserve guide to visitors file task.
Preferably, described monitoring module is made up of remote monitoring terminal and wireless communication module, remote monitoring terminal is connected by wireless network with robot body, pass through to send the behavior of directive script control robot body at remote monitoring terminal, robot body is operated the action of control robot body, expression, displaying content and the content of speaking; Check simultaneously robot body present located state, robot body camera collection to image, audio frequency that microphone collects and keep away the barrier sensor states, a remote monitoring terminal can be monitored a plurality of robot bodies simultaneously.
Preferably, described location and pose correction module are calculated the pose of robot body by electronic compass and code-disc; Perhaps by correcting area of external sense device build, when entering correcting area, proofreaies and correct robot body the course angle and the coordinate of robot body, it is specially: the pose of known this correcting area in robot body navigation coordinate system, sensor installation obtains the relative pose of robot body in correcting area in this zone, and finally is converted to robot body from the pose in navigation coordinate system.
In order to reach above-mentioned second purpose, by the following technical solutions of the present invention:
The present invention is based on the guide to visitors explanation method of above-mentioned guide to visitors explanation service-delivery machine robot system, comprise the steps:
S1, according to the requirement of guide to visitors task, determine the guide to visitors route;
S2, by the teaching module, carry out online teaching or off-line teaching, gather position crucial on the guide to visitors route;
S3, in the task editor module, utilize the key position of script language description robot of robot process in the guide to visitors process, and be set in and arrive key position or go to action in the key position process, and described script is saved as assignment file;
S4, the required assignment file of selection, by the guide to visitors module assignment file is resolved, robot body is pressed the behavior of guide to visitors documentation requirements, arrive key position successively and finish the behavior of appointment, finish when getting back to starting point with guide to visitors in the guide to visitors process, robot body is proofreaied and correct the pose of robot body by location and pose correction module.
Preferably, among the step S2, the step of online teaching is:
S211, by straighforward operation or pushing away robot body and move to crucial pose on the guide to visitors route, robot body is extrapolated pose in moving process;
S212, notify robot body record current pose value, the pose that the teaching module records is current by the mode of external signal;
S213, repeating step S212 write down up to all pose points and to finish;
S214, all pose points are saved as posture file;
The step of described off-line teaching is:
The map of S221, establishment guide to visitors environment is drawn the plane drawing of guide to visitors environment or the picture that drawing resolution satisfies robot body guide to visitors precision;
S222, on map, get coordinate points, and be arranged on the course angle of robot body on this coordinate points, write down current pose with mouse;
S223, repeating step S222 write down up to all pose points and to finish;
S224, all pose points are saved as posture file.
Preferably, among the step S3, the task editing steps is:
S31, import posture file, and pose is sorted by the guide to visitors route, generate the pose sequence;
S32, as required pose is edited, and the feature of pose point is set;
S33, by system according to pose sequence and the automatic generation script language of pose feature;
S34, instruction editor generate guide to visitors and explain needed action command;
S35, all instructions are saved as the guide to visitors assignment file.
Preferably, among the step S4, the step of guide to visitors is:
The guide to visitors assignment file that S411, selection need;
S412, the guide to visitors task is resolved, and go to finish the corresponding behavior of instruction, execute the guide to visitors task always by the behavior execution module by the script parsing module;
The step that described location and pose are proofreaied and correct is:
S421, according to the levels of accumulation of guide to visitors environment and robot body navigation error, determine the number of pose correcting area and the position of laying, and set the relative pose of correcting area in the guide to visitors environment;
S422, robot body are calculated the pose of self in real time in moving process, when entering correcting area, obtain the pose of robot body at correcting area, converse the pose of robot body in the guide to visitors environment by the pose of correcting area in the guide to visitors environment, and the pose that robot body is current is revised as through the pose after the correcting area conversion.
The present invention has following advantage and effect with respect to prior art:
1, guide to visitors of the present invention explains orally the service-delivery machine robot system, can carry out teaching according to the mission requirements of guide to visitors to robot by the personnel that only possess computation knowledge, task editor, and control robot is finished the guide to visitors task, simultaneously, the guide to visitors function that this guide to visitors service-delivery machine robot system provides easy mode allow the User Defined robot reached the development difficulty that reduces the guide to visitors service robot and user's use difficulty, further promoted service robot popularizing in social life.
2, guide to visitors of the present invention explains orally the service-delivery machine robot system and can set guide to visitors route and explanation content according to the guide to visitors needs by operating personnel, proofread and correct realization in conjunction with teaching, location and pose and need not to lay guide line realization independent navigation, and with respect to synchronized positioning and the mode of building map, cost is lower.
3, the present invention has characteristics such as low-cost and easy to use, can be widely used in occasions such as museum, science and technology center, exhibition room, fair and conference and exhibition center.
Description of drawings
Fig. 1 is the structured flowchart that guide to visitors of the present invention explains orally the service-delivery machine robot system;
Fig. 2 is the workflow diagram that guide to visitors of the present invention explains orally the service-delivery machine robot system;
Fig. 3 is the process flow diagram of guide to visitors explanation method of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing, but embodiments of the present invention are not limited thereto.
Embodiment
As shown in Figure 1, the present embodiment guide to visitors explains orally the service-delivery machine robot system, comprises robot body, teaching module, task editor module, guide to visitors module, monitoring module and location and pose correction module.
Described robot body is used for carrying out alternately with the people, leads the people to visit and explains orally.
Described teaching module is used to gather robot and finishes the key point that the guide to visitors required by task will pass through.
Described task editor module is used to generate the guide to visitors assignment file.
Described guide to visitors module is used to resolve guide to visitors assignment file and execution, finishes the task of appointment.
Described monitoring module is made up of remote monitoring terminal and wireless communication module, and monitor terminal operates on desktop computer, portable computer or the smart mobile phone.
Described location and pose correction module, in the robot body moving process, can extrapolate the current pose of robot, and when mobile cumulative errors acquire a certain degree, proofread and correct the pose of robot when entering correcting area, described pose comprises the course angle and the coordinate of robot body.
Described robot body comprises: mobile module, limb action module, language module, sensing module and wireless communication module, and the specific descriptions of its each several part are as follows:
Described mobile module makes robot body move to coordinates of targets from principal and subordinate's coordinate that sets out.
Described limb action module comprises one or more joint, is used to finish limb action, does the action of directive property as cooperating the explanation content.
Described voice module comprises phonetic entry, speech recognition and voice output, and voice input module uses microphone to gather the sound signal of environment; Speech recognition is converted into text with people's the content of speaking; Voice output is play audio frequency by audio amplifier.
Described sensing module comprises the sensor that is used for human detection, the sensor of reckoning, the sensor of detection of obstacles, sound and image capture module.
Described wireless communication module is used to realize the communication of robot body and remote monitoring terminal.
Described teaching module comprises online teaching module and off-line teaching module:
Described online teaching module is by straighforward operation or pushing away robot body and move to crucial pose on the guide to visitors route; Note current pose value, and preserve parts such as all poses;
Described off-line teaching module by creating the map of guide to visitors environment, is chosen the coordinate of the key position on the guide to visitors route and is edited the course angle of robot body under this coordinate and preserve part such as all pose points from map.
The map of described guide to visitors environment is an electronic chart, obtains the coordinate of certain point in actual environment on the map by mouse; Crucial pose on the described guide to visitors route is for the position coordinates that need explain and course angle or in order to control the process coordinate and the moving direction of guide to visitors route.
Described task editor module comprises:
Pose is selected module, from the teaching module is gathered the pose of returning, selects required pose;
Pose order module, the precedence that reaches according to route sort and generate the pose sequence;
The pose editor module is made amendment and the feature editor to selected pose;
The instruction editor module, generate mobile script according to the pose sequence, the mobile alignment of control robot body, generate mobile script according to the pose sequence, the mobile alignment of control robot body, with the behavior of robot script instruction description robot body on each pose, generate and preserve guide to visitors file task.
The guide to visitors file is by one or surpass a script file and forms the guide to visitors assignment file, is used to describe the guide to visitors task of complexity.Script file is made up of one or more of directive scripts, and script file can be used as function and reused by directive script;
Described directive script comprises instruction name and parameter two parts, can be divided into move, limbs instruction, expression instruction, phonetic order and system directive etc. by purposes.
Described guide to visitors module parses guide to visitors assignment file is also carried out, and the control robot body finishes the task of appointment, and the guide to visitors module comprises script parsing module and behavior execution module.
Described monitoring module is made up of remote monitoring terminal and wireless communication module, monitor terminal is connected by wireless network with robot body, pass through to send the behavior of directive script control robot at monitor terminal, can operate robot, the action of control robot body, expression, displaying content and the content of speaking; Can check robot body present located state, the audio frequency that the image that the robot body camera collection arrives, microphone collect is kept away barrier sensor states etc., where necessary to the guiding and the management of robot body.A monitor terminal can be monitored a plurality of robot bodies simultaneously.Described monitor terminal may operate in desktop computer, on portable computer and the smart mobile phone.Monitor terminal has automatic warning function, reports to the police when requiring when the state of monitoring meets, as runs into barrier, electric weight deficiency etc., and monitor terminal can be reported to the police by sound and screen.
Described location and pose correction module are calculated the pose of robot body by electronic compass and code-disc; Perhaps by correcting area of external sense device build, when entering correcting area, proofreaies and correct robot body the course angle and the coordinate of robot body, it is specially: the pose of known this correcting area in robot body navigation coordinate system, sensor installation obtains the relative pose of robot body in correcting area in this zone, and finally is converted to robot body from the pose in navigation coordinate system.The position in shift calibrating zone as required; The number of correcting area is comprehensively determined by the scope in guide to visitors zone and the deviation accumulation degree of robot body reckoning.
As shown in Figure 2, the course of work of guide to visitors explanation robot system is divided into management maintenance stage and guide to visitors service stage.The staff of management maintenance stage and guide to visitors service stage only need have basic computation knowledge and get final product.In the management maintenance stage, staff's main task designs guide to visitors route and explanation task exactly, sets guide to visitors route and explanation task by teaching module and task editor module then.
As shown in Figure 3, it is as follows that the present embodiment guide to visitors is separated the guide to visitors explanation method of robot system:
(1), according to the requirement of guide to visitors task, determine the guide to visitors route;
(2) in the teaching stage, the staff can online teach mode or the off-line teaching mode obtain the coordinate of position.
(3) if adopt online teach mode, the staff selects the starting point of a position as the each work of robot body, by straighforward operation or pushing away the key position of robot body to the guide to visitors route, note the coordinate figure of current location point then.And then the key position of control robot body to the next guide to visitors route, repeat up to having write down all positions.Can disposable collection finish the position that all explain tasks, in the follow-up work editor, from have a few the position of having gathered, select the point of needs to edit route according to the guide to visitors route.The point of all collections is preserved with the form of position paper, and content comprises the course angle of the coordinate and the robot body of each location point.
(4) if adopt the off-line teaching mode then at first need to set up the map of guide to visitors environment.The picture or the CAD engineering drawing of the planimetric map by the guide to visitors environment are gathered the coordinate of response point with mouse and are preserved on map.At last the point of all collections is preserved with the form of position paper, content comprises the course angle of the coordinate and the robot body of each location point.
(5) in the task edit phase.Position paper is imported to the task edit routine, and the staff at first presses the position that the guide to visitors route selection needs.The translational speed of robot body when arriving this location point and need finishing when this position of arrival and when leaving this position with robot script language description robot body of task are set.Task is described by directive script, and directive script is divided into move, limbs instruction, expression instruction, phonetic order and system directive etc. by purposes.To each position all edit finish after, then preserve to generate the guide to visitors assignment file.Can preserve a plurality of guide to visitors assignment files simultaneously on the robot body, select by the guide to visitors demand to the staff.
(6) at the guide to visitors service stage, robot body is moved to homeposition, select the guide to visitors assignment file that needs.Robot body can independently be finished the guide to visitors task according to the guide to visitors assignment file.In the guide to visitors process, if detect working direction barrier is arranged, robot body can stop to move the lang sound prompting of going forward side by side, and can send notice to remote monitoring terminal simultaneously, reminds staff's assist process.
(7) after robot body is finished guide to visitors process and guide to visitors task, get back to homeposition, the pose of robot body is proofreaied and correct by location and pose correction module
(8) in robot body guide to visitors and trimming process, the staff can monitor robot body by remote monitoring terminal.Monitor terminal operates on portable computer or the desktop computer.Monitor terminal is connected by wireless network in same LAN (Local Area Network) with robot body, uses TCP(UDP)/the IP agreement carries out communication.The staff can operate the action of control robot body to robot by sending the behavior of directive script control robot at monitor terminal, and expression is showed content and the content of speaking; Can check robot body present located state, the audio frequency that the image that the robot body camera collection arrives, microphone collect is kept away barrier sensor states etc., where necessary to the guiding and the management of robot body.A monitor terminal can be monitored a plurality of robot bodies simultaneously.
The foregoing description is a preferred implementation of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under spirit of the present invention and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. a guide to visitors explains orally the service-delivery machine robot system, it is characterized in that, comprises robot body, teaching module, task editor module, guide to visitors module, monitoring module and location and pose correction module;
Described robot body is used for carrying out alternately with the people, leads the people to visit and explains orally;
Described teaching module is used to gather robot body and finishes the key point that the guide to visitors required by task will pass through;
Described task editor module is used to generate the guide to visitors assignment file;
Described guide to visitors module is used to resolve guide to visitors assignment file and execution, finishes the task of appointment;
Described monitoring module is made up of remote monitoring terminal and wireless communication module, and remote monitoring terminal operates on desktop computer, portable computer or the smart mobile phone;
Described location and pose correction module are calculated the current pose of robot in the robot body moving process, and when mobile cumulative errors acquire a certain degree, proofread and correct the pose of robot body when entering correcting area.
2. guide to visitors according to claim 1 explains orally the service-delivery machine robot system, it is characterized in that described robot body comprises: mobile module, limb action module, language module, sensing module and wireless communication module;
Described mobile module makes robot body move to coordinates of targets from principal and subordinate's coordinate that sets out;
Described limb action module comprises one or more joint, is used to finish limb action;
Described voice module comprises voice input module, sound identification module and voice output module, and voice input module uses microphone to gather the sound signal of environment; Sound identification module is converted into text with people's the content of speaking; The voice output module is play audio frequency by audio amplifier;
Described sensing module comprises the sensor that is used for human detection, the sensor of reckoning, the sensor of detection of obstacles, and sound and image capture module;
Described wireless communication module is used to realize the communication of robot body and remote monitoring terminal.
3. guide to visitors according to claim 1 explains orally the service-delivery machine robot system, it is characterized in that described teaching module comprises online teaching module and off-line teaching module,
Described online teaching module is by straighforward operation or pushing away robot body and move to crucial pose on the guide to visitors route; Note current pose value, and preserve all pose points;
Described off-line teaching module by creating the map of guide to visitors environment, is chosen the coordinate of the key position on the guide to visitors route and is edited the course angle of robot body under this coordinate and preserve all pose points from map;
The map of described guide to visitors environment is an electronic chart, obtains the coordinate of certain point in actual environment on the map by mouse; Crucial pose on the described guide to visitors route is for the position coordinates that need explain and course angle or in order to control the process coordinate and the moving direction of guide to visitors route.
4. guide to visitors according to claim 1 explains orally the service-delivery machine robot system, it is characterized in that described task editor module comprises:
Pose is selected module, from the teaching module is gathered the pose of returning, selects required pose;
Pose order module, the precedence that reaches according to route sort and generate the pose sequence;
The pose editor module is made amendment and the feature editor to selected pose;
The instruction editor module generates mobile script according to the pose sequence, and the mobile alignment of control robot body with the behavior of robot script instruction description robot body on each pose, generates and preserve guide to visitors file task.
5. guide to visitors according to claim 1 explains orally the service-delivery machine robot system, it is characterized in that, described monitoring module is made up of remote monitoring terminal and wireless communication module, remote monitoring terminal is connected by wireless network with robot body, pass through to send the behavior of directive script control robot at remote monitoring terminal, robot body is operated the action of control robot body, expression, displaying content and the content of speaking; Check simultaneously robot body present located state, robot body camera collection to image, audio frequency that microphone collects and keep away the barrier sensor states, a remote monitoring terminal can be monitored a plurality of robot bodies simultaneously.
6. guide to visitors according to claim 1 explains orally the service-delivery machine robot system, it is characterized in that, described location and pose correction module are calculated the pose of robot body by electronic compass and code-disc; Perhaps by correcting area of external sense device build, when entering correcting area, proofreaies and correct robot body the course angle and the coordinate of robot body, it is specially: the pose of known this correcting area in robot body navigation coordinate system, sensor installation obtains the relative pose of robot body in correcting area in this zone, and finally is converted to robot body from the pose in navigation coordinate system.
7. explain orally the guide to visitors explanation method of service-delivery machine robot system based on each described guide to visitors among the claim 1-6, it is characterized in that, comprise the steps:
S1, according to the requirement of guide to visitors task, determine the guide to visitors route;
S2, by the teaching module, carry out online teaching or off-line teaching, gather position crucial on the guide to visitors route;
S3, in the task editor module, utilize the key position of robot script language description robot body process in the guide to visitors process, and be set in and arrive key position or go to action in the key position process, and described script is saved as assignment file;
S4, the required assignment file of selection, by the guide to visitors module assignment file is resolved, robot body is pressed the behavior of guide to visitors documentation requirements, arrive key position successively and finish the behavior of appointment, finish when getting back to starting point with guide to visitors in the guide to visitors process, robot body is proofreaied and correct the pose of robot body by location and pose correction module.
8. guide to visitors explanation method according to claim 7 is characterized in that, among the step S2, the step of online teaching is:
S211, by straighforward operation or pushing away robot body and move to crucial pose on the guide to visitors route, robot body is extrapolated pose in moving process;
S212, notify robot body record current pose value, the pose that the teaching module records is current by the mode of external signal;
S213, repeating step S212 write down up to all pose points and to finish;
S214, all pose points are saved as posture file;
The step of described off-line teaching is:
The map of S221, establishment guide to visitors environment is drawn the plane drawing of guide to visitors environment or the picture that drawing resolution satisfies robot body guide to visitors precision;
S222, on map, get coordinate points, and be arranged on the course angle of robot body on this coordinate points, write down current pose with mouse;
S223, repeating step S222 write down up to all pose points and to finish;
S224, all pose points are saved as posture file.
9. guide to visitors explanation method according to claim 7 is characterized in that, among the step S3, the task editing steps is:
S31, import posture file, and pose is sorted by the guide to visitors route, generate the pose sequence;
S32, as required pose is edited, and the feature of pose point is set;
S33, by system according to pose sequence and the automatic generation script language of pose feature;
S34, instruction editor generate guide to visitors and explain needed action command;
S35, all instructions are saved as the guide to visitors assignment file.
10. guide to visitors explanation method according to claim 7 is characterized in that, among the step S4, the step of guide to visitors is:
The guide to visitors assignment file that S411, selection need;
S412, the guide to visitors task is resolved, and go to finish the corresponding behavior of instruction, execute the guide to visitors task always by the behavior execution module by the script parsing module;
The step that described location and pose are proofreaied and correct is:
S421, according to the levels of accumulation of guide to visitors environment and robot body navigation error, determine the number of pose correcting area and the position of laying, and set the relative pose of correcting area in the guide to visitors environment;
S422, robot body are calculated the pose of self in real time in moving process, when entering correcting area, obtain the pose of robot body at correcting area, converse the pose of robot body in the guide to visitors environment by the pose of correcting area in the guide to visitors environment, and the pose that robot body is current is revised as through the pose after the correcting area conversion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310126009.2A CN103226924B (en) | 2013-04-12 | 2013-04-12 | Tour guiding and explaining service robot system and tour guiding and explaining method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310126009.2A CN103226924B (en) | 2013-04-12 | 2013-04-12 | Tour guiding and explaining service robot system and tour guiding and explaining method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103226924A true CN103226924A (en) | 2013-07-31 |
| CN103226924B CN103226924B (en) | 2015-03-18 |
Family
ID=48837349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310126009.2A Expired - Fee Related CN103226924B (en) | 2013-04-12 | 2013-04-12 | Tour guiding and explaining service robot system and tour guiding and explaining method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103226924B (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103699126A (en) * | 2013-12-23 | 2014-04-02 | 中国矿业大学 | Intelligent tour guide robot |
| CN104298240A (en) * | 2014-10-22 | 2015-01-21 | 湖南格兰博智能科技有限责任公司 | Guiding robot and control method thereof |
| CN106873591A (en) * | 2017-02-23 | 2017-06-20 | 深圳启益新科技有限公司 | Multi-media sharing hall automatic briefing apparatus for demonstrating and its control method and system |
| CN107065863A (en) * | 2017-03-13 | 2017-08-18 | 山东大学 | A kind of guide to visitors based on face recognition technology explains robot and method |
| CN107972048A (en) * | 2017-12-28 | 2018-05-01 | 沈阳建筑大学 | A kind of intelligent multifunctional guide robot and its control method |
| CN108469824A (en) * | 2018-04-08 | 2018-08-31 | 浙江国自机器人技术有限公司 | A kind of floor-cleaning machine device people teaching type engineering construction system and method |
| CN108919810A (en) * | 2018-07-26 | 2018-11-30 | 东北大学 | The localization for Mobile Robot and navigation system of view-based access control model teaching |
| CN108919814A (en) * | 2018-08-15 | 2018-11-30 | 杭州慧慧科技有限公司 | Grass trimmer working region generation method, apparatus and system |
| CN108972565A (en) * | 2018-09-27 | 2018-12-11 | 安徽昱康智能科技有限公司 | Robot instruction's method of controlling operation and its system |
| CN109085964A (en) * | 2018-08-14 | 2018-12-25 | 北京云迹科技有限公司 | Route generation method and device based on user's selection |
| CN110136711A (en) * | 2019-04-30 | 2019-08-16 | 厦门大学 | A kind of voice interactive method of the guide to visitors robot based on cloud platform |
| CN110308669A (en) * | 2019-07-27 | 2019-10-08 | 南京市晨枭软件技术有限公司 | A kind of modular robot selfreparing analogue system and method |
| CN110609554A (en) * | 2019-09-17 | 2019-12-24 | 重庆特斯联智慧科技股份有限公司 | Robot movement control method and device |
| CN110703665A (en) * | 2019-11-06 | 2020-01-17 | 青岛滨海学院 | Indoor interpretation robot for museum and working method |
| CN111090285A (en) * | 2019-12-24 | 2020-05-01 | 山东华尚电气有限公司 | Navigation robot control system and navigation information management method |
| CN112338907A (en) * | 2019-08-09 | 2021-02-09 | 深圳市三宝创新智能有限公司 | Client for teaching-assistant robot |
| CN112631274A (en) * | 2020-11-25 | 2021-04-09 | 瞿巧英 | Intelligent navigation explanation system and service method |
| CN112731931A (en) * | 2020-12-23 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Robot navigation method, device, robot and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850552A (en) * | 2010-05-28 | 2010-10-06 | 广东工业大学 | Industrial robot comprehensive control platform and control method thereof |
| CN201856249U (en) * | 2010-01-15 | 2011-06-08 | 广东工业大学 | Motion planning and performance testing system for industrial robot |
| CN102500113A (en) * | 2011-11-11 | 2012-06-20 | 山东科技大学 | Comprehensive greeting robot based on smart phone interaction |
-
2013
- 2013-04-12 CN CN201310126009.2A patent/CN103226924B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201856249U (en) * | 2010-01-15 | 2011-06-08 | 广东工业大学 | Motion planning and performance testing system for industrial robot |
| CN101850552A (en) * | 2010-05-28 | 2010-10-06 | 广东工业大学 | Industrial robot comprehensive control platform and control method thereof |
| CN102500113A (en) * | 2011-11-11 | 2012-06-20 | 山东科技大学 | Comprehensive greeting robot based on smart phone interaction |
Non-Patent Citations (2)
| Title |
|---|
| 周青松等: "基于IPC和PMAC的喷涂机器人的控制软件体系结构的研究", 《机床与液压》, 31 December 2009 (2009-12-31) * |
| 马琼雄等: "基于多Agent的移动机器人软件体系结构研究", 《机电产品开发与创新》, 31 March 2011 (2011-03-31) * |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103699126A (en) * | 2013-12-23 | 2014-04-02 | 中国矿业大学 | Intelligent tour guide robot |
| CN103699126B (en) * | 2013-12-23 | 2016-09-28 | 中国矿业大学 | The guidance method of intelligent guide robot |
| CN104298240A (en) * | 2014-10-22 | 2015-01-21 | 湖南格兰博智能科技有限责任公司 | Guiding robot and control method thereof |
| CN106873591A (en) * | 2017-02-23 | 2017-06-20 | 深圳启益新科技有限公司 | Multi-media sharing hall automatic briefing apparatus for demonstrating and its control method and system |
| CN107065863A (en) * | 2017-03-13 | 2017-08-18 | 山东大学 | A kind of guide to visitors based on face recognition technology explains robot and method |
| CN107972048A (en) * | 2017-12-28 | 2018-05-01 | 沈阳建筑大学 | A kind of intelligent multifunctional guide robot and its control method |
| CN108469824A (en) * | 2018-04-08 | 2018-08-31 | 浙江国自机器人技术有限公司 | A kind of floor-cleaning machine device people teaching type engineering construction system and method |
| CN108919810A (en) * | 2018-07-26 | 2018-11-30 | 东北大学 | The localization for Mobile Robot and navigation system of view-based access control model teaching |
| CN109085964A (en) * | 2018-08-14 | 2018-12-25 | 北京云迹科技有限公司 | Route generation method and device based on user's selection |
| CN108919814A (en) * | 2018-08-15 | 2018-11-30 | 杭州慧慧科技有限公司 | Grass trimmer working region generation method, apparatus and system |
| CN108972565A (en) * | 2018-09-27 | 2018-12-11 | 安徽昱康智能科技有限公司 | Robot instruction's method of controlling operation and its system |
| CN110136711A (en) * | 2019-04-30 | 2019-08-16 | 厦门大学 | A kind of voice interactive method of the guide to visitors robot based on cloud platform |
| CN110308669B (en) * | 2019-07-27 | 2021-07-30 | 南京市晨枭软件技术有限公司 | Modular robot self-repairing simulation system and method |
| CN110308669A (en) * | 2019-07-27 | 2019-10-08 | 南京市晨枭软件技术有限公司 | A kind of modular robot selfreparing analogue system and method |
| CN112338907A (en) * | 2019-08-09 | 2021-02-09 | 深圳市三宝创新智能有限公司 | Client for teaching-assistant robot |
| CN110609554A (en) * | 2019-09-17 | 2019-12-24 | 重庆特斯联智慧科技股份有限公司 | Robot movement control method and device |
| CN110609554B (en) * | 2019-09-17 | 2023-01-17 | 重庆特斯联智慧科技股份有限公司 | Robot movement control method and device |
| CN110703665A (en) * | 2019-11-06 | 2020-01-17 | 青岛滨海学院 | Indoor interpretation robot for museum and working method |
| CN111090285A (en) * | 2019-12-24 | 2020-05-01 | 山东华尚电气有限公司 | Navigation robot control system and navigation information management method |
| CN111090285B (en) * | 2019-12-24 | 2023-04-25 | 山东华尚电气有限公司 | Navigation robot control system and navigation information management method |
| CN112631274A (en) * | 2020-11-25 | 2021-04-09 | 瞿巧英 | Intelligent navigation explanation system and service method |
| CN112731931A (en) * | 2020-12-23 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Robot navigation method, device, robot and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103226924B (en) | 2015-03-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103226924B (en) | Tour guiding and explaining service robot system and tour guiding and explaining method thereof | |
| Goose et al. | Speech-enabled augmented reality supporting mobile industrial maintenance | |
| Chen et al. | A BIM-based location aware AR collaborative framework for facility maintenance management. | |
| Ganz et al. | PERCEPT-II: Smartphone based indoor navigation system for the blind | |
| Johnston et al. | MATCH: An architecture for multimodal dialogue systems | |
| CN100432913C (en) | Incident command post | |
| US20160350589A1 (en) | Gesture Interface Robot | |
| WO2015188268A1 (en) | Gestural interface with virtual control layers | |
| Khan et al. | Recent advances in vision-based indoor navigation: A systematic literature review | |
| US11125565B1 (en) | Systems and methods for position-based building guidance | |
| CN110909898A (en) | Zero-knowledge bank machine room fault diagnosis and maintenance guidance system and method based on AR glasses | |
| JP5141876B2 (en) | Orbit search device | |
| CA3136055A1 (en) | Determining position of an image capture device | |
| CN110516386A (en) | A method of live coordinate position is determined based on mobile phone B IM construction drawing AR | |
| CN107160403A (en) | A kind of intelligent robot system with multi-functional human-machine interface module | |
| CN110146098A (en) | A kind of robot map enlargement method, device, control equipment and storage medium | |
| WO2018156952A1 (en) | Systems, apparatus, and methods for robotic learning and execution of skills | |
| US11395102B2 (en) | Field cooperation system and management device | |
| Heiniz et al. | Landmark-based navigation in complex buildings | |
| US20140180577A1 (en) | Method and system for navigation and electronic device thereof | |
| KR101964192B1 (en) | Smart table apparatus for simulation | |
| JP2014139745A (en) | Equipment management system, equipment management device, equipment management method and program | |
| Hsu et al. | Vision-based mobile collaborative robot incorporating a multi-camera localization system | |
| Dias et al. | Future directions in indoor navigation technology for blind travelers | |
| KR102441272B1 (en) | Method for measuring crack based on artificial intelligence and apparatus thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150318 Termination date: 20160412 |