CN104298240A - Guiding robot and control method thereof - Google Patents
Guiding robot and control method thereof Download PDFInfo
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- CN104298240A CN104298240A CN201410564258.4A CN201410564258A CN104298240A CN 104298240 A CN104298240 A CN 104298240A CN 201410564258 A CN201410564258 A CN 201410564258A CN 104298240 A CN104298240 A CN 104298240A
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Abstract
The invention provides a guiding robot and a control method thereof. The guiding robot comprises a body, a driving unit, a walking unit, a color detection unit and pure color bands which are arranged on the ground at different positions along the touring routes and are different from the color of the ground. According to the control method of the guiding robot, the guiding robot carries out tracking by means of color discrimination and plays corresponding introduction speeches at appointed exhibition places. The guiding robot can automatically carry out tracking by recognizing colors of the color bands of the ground or of color blocks and play the corresponding introduction voice when arriving display points. By means of the guiding robot and the control method of the guiding robot, manpower resources can be saved, the problem of inaccurate positioning of a portal explanation device is solved, the guiding robot can guide visit the display points in order, and the display effect can be well achieved.
Description
Technical field
The present invention relates to robotics, refer to a kind of guide robot and control method thereof especially.
Background technology
Along with the development of modern science and technology, intelligentized electrical equipment becomes more and more popular.In places such as many tourist attractions, exhibition rooms, visitor needs when visiting scenery or showpiece to stop to read to be arranged at the index plate on its side, can delay a large amount of time when visitor is more, and causes and block up, and affects functional safety; And understand some visitor and cannot see content on index plate clearly, impact is toured experience.Solution for the problems referred to above is adopt artificial explanation mostly, but this mode can waste a large amount of human resources; Also there are some sight spots to adopt portable commenting unit, automatically play after sight spot is specified in arrival and explain orally recording, but this mode exists place identify inaccurate problem.
In view of above reason, one is needed can accurately to identify path and machine plotting, and can in appointed place for visitor provides the tour guide device of the service of explanation.
Summary of the invention
In view of this, the object of the invention is to propose one can pathfinding automatically, and can be that visitor provides the guide robot explaining orally and serve in appointed place, and the control method of this robot.
Guide robot provided by the invention, comprising:
Body, comprises robot shells, and its inside is provided with control module;
Driver element, is connected to described control module, comprises the first CD-ROM drive motor and the second CD-ROM drive motor that are controlled its running by control module;
Walking unit, comprises the first driving wheel, the second driving wheel and two universal wheels that are arranged at described body bottom portion; First driving wheel described in described first drive motor, the second driving wheel described in described second drive motor, when the synchronized rotation of two-wheeled, guide robot is kept straight on, and when the not synchronized rotation of two-wheeled, guide robot turns to; Described universal wheel is for maintaining the balance of guide robot;
Whether human body sensing unit, is connected to described control module, have personnel to be toward or away from for detecting, and sends personnel close to information or personnel's leave message to described control module;
Voice broadcast unit, is connected to described control module, plays corresponding voice content according to the voice broadcast information that described control module sends;
Color detection unit, for detecting the color immediately below guide robot, and sends to described control module in order to correct the working direction of robot by the colouring information detected; And
Along visit course be layed in diverse location ground, with the obvious pure color colour band of ground colouring discrimination.
According to some embodiment of guide robot provided by the invention, described color detection unit is arranged at described body bottom portion, the working direction comprised perpendicular to guide robot is equidistantly arranged side by side at least four sensors hit exactly in described body bottom portion, with guide robot working direction for observation visual angle, be followed successively by first to fourth sensor from left to right; Distance between described first sensor and described four-sensor is slightly less than the width of described colour band; Described first sensor can identify the rgb value of ground color below it to four-sensor, and this rgb value is sent to described control module; The rgb value that first to fourth sensor detects is respectively first to fourth rgb value; Described control module is corrected the working direction of robot according to the rgb value that receives and is determined next step behavior of robot.
According to some embodiment of guide robot provided by the invention, described colour band through each machine plotting side, and is respectively arranged with a color lump on the colour band surface that colour band starting point, colour band terminal and each machine plotting are other; Described colour band and each described color lump are pure color, and its color is all not identical; The rgb value of the color of described colour band and each described color lump is saved to described control module in advance;
When the rgb value of the color that described color detection unit detects is identical with the color of colour band, the working direction of rgb value to guide robot immediately below described control module is detected respectively to four-sensor according to first sensor is corrected; If when the rgb value of the color that described color detection unit detects is identical with the color of arbitrary described color lump, what described control module controlled that described voice broadcast unit plays machine plotting corresponding to this color lump introduces voice.
According to some embodiment of guide robot provided by the invention, described colour band is a closed circuit, and colour band starting point and colour band terminal use same color lump to identify.
According to some embodiment of guide robot provided by the invention, described human body sensing unit comprises at least one in infra-red sensor switch, microwave inductive switch and ultrasonic sensing switch.
The control method of guide robot provided by the invention, is characterized in that, comprising:
Whether step 1, detect and have personnel to be toward or away from; If there are personnel close, play the voice that greet a guest, and skip to step 2 after finishing; If there are personnel to leave, play voice of seing a visitor out;
Step 2, starts tracking and advances; If arrival machine plotting, halt and play this machine plotting introduce voice, after finishing, continue tracking; If reach home, halt and play voice of seing a visitor out.
According to some embodiment of the control method of guide robot provided by the invention, ground is provided with the colour band of pure color, is provided with the color lump of pure color; Described colour band through each machine plotting side, and is respectively arranged with a color lump on the colour band that colour band starting point, colour band terminal and each machine plotting are other; Described colour band is all not identical with the color of each described color lump; Guide robot reference position is positioned at described colour band starting point; From perpendicular to guide robot working direction and four sensors equidistantly distributed side by side obtain the rgb value on ground immediately below it, and this rgb value is sent to control module; With guide robot working direction for observation visual angle, described four sensors collect ground rgb value be followed successively by first to fourth rgb value from left to right; The rgb value of the color of described colour band and each described color lump is saved to described control module in advance; Described first to fourth rgb value is carried out contrast with the rgb value of the color of the described colour band preserved in advance and each described color lump and judges by described control module, to determine the position of guide robot and to determine next step behavior of robot.
According to some embodiment of the control method of guide robot provided by the invention, the step that in described step 2, tracking advances comprises:
S10, if any one is in the scope of any one in the rgb value of the color of each described color lump being saved to described control module in advance in first to fourth rgb value, then guide robot halts, and the corresponding of machine plotting introduces voice by playing color lump corresponding to this rgb value, after finishing, continue tracking advance;
S11, if only the first rgb value is not in the scope of described look colored rgb value, then guide robot turns right the first angle, then continues tracking;
S12, if only the first rgb value and the second rgb value are not all in the scope of described look colored rgb value, then guide robot turns right the second angle, then continues tracking;
S13, if only the 4th rgb value is not in the scope of described look colored rgb value, then guide robot turns left the first angle, then continues tracking;
S14, if only the 3rd rgb value and the 4th rgb value are not all in the scope of described look colored rgb value, then guide robot turns left the second angle, then continues tracking;
S15, if first to fourth rgb value is all in the scope of described look colored rgb value, then guide robot is kept straight on.
According to some embodiment of the control method of guide robot provided by the invention, one white light source is set before sensor, enable the red filter in sensor, measure the first umber of pulse that in 10ms, sensor sends, and 255 and the ratio of described first umber of pulse are adjusted parameter as redness; Enable the green filter in sensor, measure the second umber of pulse that in 10ms, sensor sends, and 255 and the ratio of described second umber of pulse are adjusted parameter as green; Enable the blue electric-wave filter in sensor, measure the 3rd umber of pulse that in 10ms, sensor sends, and 255 and the ratio of described 3rd umber of pulse are adjusted parameter as blueness.
According to some embodiment of the control method of guide robot provided by the invention, the step that described sensor obtains the rgb value of ground color below it comprises:
S21, enables the red filter in sensor, measures the output umber of pulse of sensor in 10ms, and this umber of pulse is multiplied by described redness adjustment parameter, and the numerical value obtained is the R value of ground color below current sensor;
S22, enables the green filter in sensor, measures the output umber of pulse of sensor in 10ms, and this umber of pulse is multiplied by described green adjustment parameter, and the numerical value obtained is the G value of ground color below current sensor;
S23, enables the blue electric-wave filter in sensor, measures the output umber of pulse of sensor in 10ms, and this umber of pulse is multiplied by described blueness adjustment parameter, and the numerical value obtained is the B value of ground color below current sensor.
As can be seen from above, the invention provides a kind of guide robot and control method thereof of being carried out tracking by colour recognition; By identifying the color of ground colour band or color lump, guide robot can automatic tracking, and after each machine plotting of arrival, plays and introduce voice accordingly; The present invention both saved human resources, solved again portable commenting unit and located inaccurate problem, visitor can be guided to have and sequentially visit each machine plotting, reach and put on display effect better.
Accompanying drawing explanation
Fig. 1 is the front view of guide robot in the embodiment of guide robot of the present invention and control method thereof;
Fig. 2 is the bottom view of guide robot in the embodiment of guide robot of the present invention and control method thereof;
Fig. 3 is each unit graph of a relation of guide robot in the embodiment of guide robot of the present invention and control method thereof;
Fig. 4 is the schematic diagram of colour band in the embodiment of guide robot of the present invention and control method thereof;
Fig. 5 is the process flow diagram of the tracking method of guide robot in the embodiment of guide robot of the present invention and control method thereof;
Fig. 6 is the process flow diagram of the process of the sensor acquisition rgb value of guide robot in the embodiment of guide robot of the present invention and control method thereof.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Fig. 1 is the front view of guide robot in the embodiment of guide robot of the present invention and control method thereof; Fig. 2 is the bottom view of guide robot in the embodiment of guide robot of the present invention and control method thereof; In Fig. 2, direction indicated by A is guide robot forward direction, and with " front, rear, left and right " described below all with this direction for reference to forward direction; Fig. 3 is each unit graph of a relation of guide robot in the embodiment of guide robot of the present invention and control method thereof; As shown in Figure 1 and Figure 2, and composition graphs 3, guide robot provided by the invention comprises:
Body 1, comprises robot shells, and its inside is provided with control module 101 and driver element 102; Wherein, control module 101, for centralized control guide robot, comprises functions such as realizing human body sensing, voice broadcast, color tracking, driving; Driver element 102 comprises two groups of CD-ROM drive motor, is respectively the first CD-ROM drive motor and the second CD-ROM drive motor, and these two groups of CD-ROM drive motor all can lower turn over speed in the control of driver element 102;
Walking unit 103, comprises the first driving wheel 1031, second driving wheel 1032 and two universal wheels 1033; Wherein, two driving wheel coaxial-symmetricals are arranged on the left and right sides bottom robot body 1, its axis and reference forward vertical, and preferably, the center of gravity of guide robot is made to drop on this axis perpendicular to the projection on direction, ground, and right side is the first driving wheel 1031, left side is the second driving wheel 1032; First driving wheel 1031 is connected to the first CD-ROM drive motor, second driving wheel 1032 is connected to the second CD-ROM drive motor, when two CD-ROM drive motor drive the two synchronized rotations of driving wheel, guide robot is kept straight on, when two CD-ROM drive motor rotating speeds are different, and when driving the not synchronized rotation of two driving wheels, guide robot turns to (such as, first motor rotary speed is greater than the second motor, now the first driving wheel 1031 rotating speed is greater than the second driving wheel 1032, and then guide robot is turned left), the size of steering angle can be controlled by the speed discrepancy changing two motors; Two universal wheels 1033 are arranged on bottom robot body 1 and point on the center line of fore-and-aft direction, and one in front and one in back arrange, and preferably, make the center of guide robot at the mid point dropping on two universal wheels 1033 perpendicular to the projection on direction, ground;
Whether human body sensing unit 104, is arranged at the top of guide robot body 1, is connected to control module 101, have personnel to be toward or away from, and send personnel close to information or personnel's leave message to control module 101 for detecting; This human body sensing unit 104 comprises at least one in ultrasonic sensing switch, infrared sensing switch etc.; When have people close to time, corresponding inductive switch is triggered, and then makes control module 101 learn that personnel are close, and control correlation unit work, when personnel away from time, corresponding inductive switch because can't detect personnel exist and close, control module 101 personnel that learn have been left;
Voice broadcast unit 105, be arranged at guide robot body 1 anterior, be connected to control module 101, corresponding voice are play: when control module 101 receives the close information of personnel by human body sensing unit 104 according to the voice broadcast information that control module 101 sends, control voice broadcast unit 105 and play the voice that greet a guest, when it receives by human body sensing unit 104 information that personnel leave, control voice broadcast unit 105 and play voice of seing a visitor out; What simultaneously voice broadcast unit 105 was also responsible for playing each machine plotting introduces voice;
Color detection unit 106, be arranged at robot body 1 bottom center, comprise first sensor 1061, second sensor 1062, the 3rd sensor 1063 and four-sensor 1064, these four sensor vertical are in the working direction equidistant arrangement of guide robot, be followed successively by first to fourth sensor (i.e. equidistant arrangement in left-right direction from left to right, and first sensor 1061 and four-sensor 1064 are symmetrical about the center line of robot body 1, the second sensor 1062 and the 3rd sensor 1063 symmetrical about the center line of robot body 1); This color detection unit 106 is connected to control module 101, can detect ground color immediately below it (when being positioned on colour band, the color for colour band), and feed back the rgb value of the color detected in real time to control module 101; The rgb value that first to fourth sensor detects is respectively first to fourth rgb value; Described control module 101 is corrected the working direction of robot according to the rgb value that receives and is determined next step behavior of robot.
Fig. 4 is the schematic diagram of colour band in the embodiment of guide robot of the present invention and control method thereof.As shown in the figure, guide robot provided by the invention also comprises the colour band 2 being layed in ground, the width of colour band 2 is slightly larger than the distance between above-mentioned first sensor 1061 and four-sensor 1064, colour band 2 needs the side of each machine plotting be introduced through guide robot, and a color lump is respectively arranged with on the colour band that colour band starting point, colour band terminal and each machine plotting are other, colour band is pure color with the color of each color lump and all not identical.For the colour band shown in Fig. 4, it comprises starting point color lump 201, first machine plotting color lump 202, second machine plotting color lump 203 and terminal color lump 204; Time initial, guide robot body 1 is positioned over starting point color lump 201 place, and the forward direction of guide robot is adjusted to identical with B direction in figure, guide robot arrives the first machine plotting color lump 202, second machine plotting color lump 203 and terminal color lump 204 by tracking successively along colour band 2, when arriving machine plotting color lump, guide robot can be play by voice broadcast unit 105 and introduce voice accordingly, reach home color lump time, guide robot can be reported by voice broadcast unit 105 and to see a visitor out voice.
Above-mentioned colour band 2 also can be end to end, forms a closed circuit, and starting point color lump 201 and terminal color lump 204 share same color lump.The benefit done like this is after explanation, do not need guide robot to move to start position, as long as there is staff necessarily to monitor on side, guide robot just independently can complete circulation explanation, alleviate the workload of staff further, and more intelligent, convenient.
Be more than that in guide robot provided by the invention and control method thereof, the introduction of the composition structure of guide robot and its each Elementary Function, introduces the control method of guide robot below.
In guide robot provided by the invention and control method thereof, the control method of guide robot comprises the following steps:
Whether step 1, detect and have personnel to be toward or away from; If there are personnel close, play the voice that greet a guest, and skip to step 2 after finishing; If there are personnel to leave, play voice of seing a visitor out;
Step 2, starts tracking and advances; If arrival machine plotting, halt and play this machine plotting introduce voice, after finishing, continue tracking; If reach home, halt and play voice of seing a visitor out.
Fig. 5 is the process flow diagram of the tracking method of guide robot in the embodiment of guide robot of the present invention and control method thereof; In the color detection unit 106 of above-mentioned guide robot, make the ground color rgb value detected by first sensor 1061 to four sensors such as four-sensor 1064 grade be followed successively by the first rgb value to the 4th rgb value, the rgb value detected is sent to control module 101 by first to fourth sensor at any time; The rgb value of the color of colour band 2 and each color lump is prestored in control module 101, the rgb value of the color of the rgb value received and the colour band 2 that prestores and each color lump compares by control module 101, and then judges the current present position of robot and determine next step behavior of robot.Composition graphs 5, the step that in above-mentioned steps 2, tracking advances is as follows:
S10, if any one is in the scope of any one in the rgb value of the color of each color lump being saved to control module 101 in advance in first to fourth rgb value, then guide robot halts, and the corresponding of machine plotting introduces voice by playing color lump corresponding to this rgb value, after finishing, continue tracking advance;
S11, if only the first rgb value is not in the scope of the rgb value of colour band 2 color, then guide robot turns right the first angle, then continues tracking;
S12, if only the first rgb value and the second rgb value are not all in the scope of the rgb value of colour band 2 color, then guide robot turns right the second angle, then continues tracking;
S13, if only the 4th rgb value is not in the scope of the rgb value of colour band 2 color, then guide robot turns left the first angle, then continues tracking;
S14, if only the 3rd rgb value and the 4th rgb value are not all in the scope of the rgb value of colour band 2 color, then guide robot turns left the second angle, then continues tracking;
S15, if first to fourth rgb value is all in the scope of the rgb value of colour band 2 color, then guide robot is kept straight on.
In above-mentioned S11, if only the first rgb value is not in the scope of the rgb value of colour band 2 color, namely the second to the 4th rgb value is all in the scope of described look colored rgb value, because first sensor 1061 is one that is positioned at the leftmost side in four color sensors, when it does not detect colour band color, namely be ground immediately below it, and other color sensor is when colour band color all being detected, illustrate immediately below other sensors it is colour band, the i.e. colour band oriented right avertence trend of moving, therefore guide robot first angle that turns right all continues to remain within the scope of colour band to make four sensors, thus realize advancing along colour band tracking, in above-mentioned S12, if only the first rgb value and the second rgb value are not all in the scope of the rgb value of colour band 2 color, illustrate in four color sensors and be ground immediately below two sensors in left side, and be colour band immediately below the sensor of two, right side, the trend that the oriented right avertence of colour band is moved is described, and the trend of skew is comparatively large, therefore guide robot second angle that turns right all continues to remain within the scope of colour band to make four sensors, thus realizes advancing along colour band tracking, S13, S14 and S11, S12 are in like manner, and in S15, if first to fourth rgb value is all in the scope of the rgb value of colour band 2 color, illustrate that guide robot does not depart from the scope of colour band, therefore guide robot is kept straight on.The scope of above-mentioned first angle is 15 ° to 30 °, and the scope of the second angle is 30 ° to 60 °, and visual concrete condition adjusts; Such as, if place is comparatively large, when the turning radian of colour band 2 is all less, the first angle can be made to be 15 °, and the second angle is 30 °, so just can meet the turning demand of guide robot; If but place is less, the turning radian of colour band 2 is comparatively large, now just needs increasing first angle and the second angle, to reduce radius of turn, make guide robot turning in less place can be more flexible, now can consider to make the first angle be 30 °, the second angle be 60 °.
In S10 to S15 step, guide robot is contrasted by the RGB of the color of the rgb value that detected by each sensor in its color detection unit 106 and the colour band be pre-stored in control module 101 and each color lump, if meet above condition, then performs corresponding actions; Wherein, when whether the rgb value judging to detect is identical with the rgb value that prestores, Rule of judgment is whether the rgb value detected drops near the rgb value that prestores within the scope of one, the reason of such setting is under different light condition, deviation to a certain degree can be there is in the rgb value that sensor detects, therefore needing when judging this deviation to take into account, as long as the rgb value namely detected drops near the rgb value that prestores within the scope of one, just thinking that the two is identical; This scope should adjust according to differences such as the environment of using area, illumination conditions, if illumination condition is more stable, then can select less scope, make colour recognition more accurate, if illumination variation is larger, then can select the scope that relatively large, to guarantee identification colors exactly.
Above-mentioned S10 to S15 is coordination, and the control module 101 of guide robot, according to the rgb value of receive from color detection unit 106 four sensor feedback, is determined to perform certain step in S11 to S15.
The color sensor used in the color detection unit 106 of guide robot provided by the invention is configured with red, green, blue three kinds of wave filters, red, green, blue three coloured light can be only allowed to pass through respectively, and when the illumination receiving different colours, at one time, color sensor can send different umber of pulses; Before formal use, need to carry out blank level adjustment to color sensor, concrete method of adjustment is before sensor, arrange a white light source (this white light source should be identical with the light source used that throws light in actual use scenes, to ensure the accuracy of blank level adjustment), enable the red filter in sensor, measure the first umber of pulse that in 10ms, sensor sends, and 255 and the ratio of described first umber of pulse are adjusted parameter as redness; Enable the green filter in sensor, measure the second umber of pulse that in 10ms, sensor sends, and 255 and the ratio of described second umber of pulse are adjusted parameter as green; Enable the blue electric-wave filter in sensor, measure the 3rd umber of pulse that in 10ms, sensor sends, and 255 and the ratio of described 3rd umber of pulse are adjusted parameter as blueness.Because white light is formed by red, green, blue three mixture of colours, therefore after obtaining above-mentioned three adjustment parameters, when detecting color, as long as enable red, green, blue three color filter 10ms in color sensor respectively, and detect the umber of pulse that when respective filter is enabled, color sensor sends, be multiplied with corresponding color adjustment parameter respectively, namely the numerical value obtained be respectively R, G, B value of detected color again.
Fig. 6 is the process flow diagram of the process of the sensor acquisition rgb value of guide robot in the embodiment of guide robot of the present invention and control method thereof.As shown in the figure and with reference to above content, the present invention is in step S10 to S15, and the step that in first to fourth sensor, any one sensor obtains the rgb value of ground color below it comprises:
S21, enables the red filter in sensor, measures the output umber of pulse of sensor in 10ms, and this umber of pulse is multiplied by red adjustment parameter, and the numerical value obtained is the R value of ground color below current sensor;
S22, enables the green filter in sensor, measures the output umber of pulse of sensor in 10ms, and this umber of pulse is multiplied by green adjustment parameter, and the numerical value obtained is the G value of ground color below current sensor;
S23, enables the blue electric-wave filter in sensor, measures the output umber of pulse of sensor in 10ms, and this umber of pulse is multiplied by blue adjustment parameter, and the numerical value obtained is the B value of ground color below current sensor.
Through above step, color sensor can be just the rgb value of ground color immediately below feeding back to control module 101 in real time in the cycle with 30ms, so that control module 101 makes corresponding judgement.
As can be seen from above, the invention provides a kind of guide robot and control method thereof of being carried out tracking by colour recognition; By identifying the color of ground colour band or color lump, guide robot can automatic tracking, and after each machine plotting of arrival, plays and introduce voice accordingly; The present invention both saved human resources, solved again portable commenting unit and located inaccurate problem, visitor can be guided to have and sequentially visit each machine plotting, reach and put on display effect better.
Those of ordinary skill in the field are to be understood that: the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a guide robot, is characterized in that, comprises
Body, comprises robot shells, and its inside is provided with control module;
Driver element, is connected to described control module, comprises the first CD-ROM drive motor and the second CD-ROM drive motor that are controlled its running by control module;
Walking unit, comprises the first driving wheel, the second driving wheel and two universal wheels that are arranged at described body bottom portion; First driving wheel described in described first drive motor, the second driving wheel described in described second drive motor, when the synchronized rotation of two-wheeled, guide robot is kept straight on, and when the not synchronized rotation of two-wheeled, guide robot turns to; Described universal wheel is for maintaining the balance of guide robot;
Whether human body sensing unit, is connected to described control module, have personnel to be toward or away from for detecting, and sends personnel close to information or personnel's leave message to described control module;
Voice broadcast unit, is connected to described control module, plays corresponding voice content according to the voice broadcast information that described control module sends;
Color detection unit, for detecting the color immediately below guide robot, and sends to described control module in order to correct the working direction of robot by the colouring information detected; And
Along visit course be layed in diverse location ground, with the obvious pure color colour band of ground colouring discrimination.
2. guide robot according to claim 1, it is characterized in that, described color detection unit is arranged at described body bottom portion, the working direction comprised perpendicular to guide robot is equidistantly arranged side by side at least four sensors hit exactly in described body bottom portion, with guide robot working direction for observation visual angle, be followed successively by first to fourth sensor from left to right; Distance between described first sensor and described four-sensor is slightly less than the width of described colour band; Described first sensor can identify the rgb value of ground color below it to four-sensor, and this rgb value is sent to described control module; The rgb value that first to fourth sensor detects is respectively first to fourth rgb value; Described control module is corrected the working direction of robot according to the rgb value that receives and is determined next step behavior of robot.
3. guide robot according to claim 2, is characterized in that, described colour band through each machine plotting side, and is respectively arranged with a color lump on the colour band surface that colour band starting point, colour band terminal and each machine plotting are other; Described colour band and each described color lump are pure color, and its color is all not identical; The rgb value of the color of described colour band and each described color lump is saved to described control module in advance;
When the rgb value of the color that described color detection unit detects is identical with the color of colour band, the working direction of rgb value to guide robot immediately below described control module is detected respectively to four-sensor according to first sensor is corrected; If when the rgb value of the color that described color detection unit detects is identical with the color of arbitrary described color lump, what described control module controlled that described voice broadcast unit plays machine plotting corresponding to this color lump introduces voice.
4. guide robot according to claim 3, is characterized in that, described colour band is a closed circuit, and colour band starting point and colour band terminal use same color lump to identify.
5. guide robot according to claim 1, is characterized in that, described human body sensing unit comprises at least one in infra-red sensor switch, microwave inductive switch and ultrasonic sensing switch.
6. a control method for guide robot, is characterized in that, comprising:
Whether step 1, detect and have personnel to be toward or away from; If there are personnel close, play the voice that greet a guest, and skip to step 2 after finishing; If there are personnel to leave, play voice of seing a visitor out;
Step 2, starts tracking and advances; If arrival machine plotting, halt and play this machine plotting introduce voice, after finishing, continue tracking; If reach home, halt and play voice of seing a visitor out.
7. the control method of guide robot according to claim 6, is characterized in that, ground is provided with the colour band of pure color, is provided with the color lump of pure color; Described colour band through each machine plotting side, and is respectively arranged with a color lump on the colour band that colour band starting point, colour band terminal and each machine plotting are other; Described colour band is all not identical with the color of each described color lump; Guide robot reference position is positioned at described colour band starting point; From perpendicular to guide robot working direction and four sensors equidistantly distributed side by side obtain the rgb value on ground immediately below it, and this rgb value is sent to control module; With guide robot working direction for observation visual angle, described four sensors collect ground rgb value be followed successively by first to fourth rgb value from left to right; The rgb value of the color of described colour band and each described color lump is saved to described control module in advance; Described first to fourth rgb value is carried out contrast with the rgb value of the color of the described colour band preserved in advance and each described color lump and judges by described control module, to determine the position of guide robot and to determine next step behavior of robot.
8. the control method of guide robot according to claim 7, is characterized in that, the step that in described step 2, tracking advances comprises:
S10, if any one is in the scope of any one in the rgb value of the color of each described color lump being saved to described control module in advance in first to fourth rgb value, then guide robot halts, and the corresponding of machine plotting introduces voice by playing color lump corresponding to this rgb value, after finishing, continue tracking advance;
S11, if only the first rgb value is not in the scope of described look colored rgb value, then guide robot turns right the first angle, then continues tracking;
S12, if only the first rgb value and the second rgb value are not all in the scope of described look colored rgb value, then guide robot turns right the second angle, then continues tracking;
S13, if only the 4th rgb value is not in the scope of described look colored rgb value, then guide robot turns left the first angle, then continues tracking;
S14, if only the 3rd rgb value and the 4th rgb value are not all in the scope of described look colored rgb value, then guide robot turns left the second angle, then continues tracking;
S15, if first to fourth rgb value is all in the scope of described look colored rgb value, then guide robot is kept straight on.
9. the control method of guide robot according to claim 8, it is characterized in that, one white light source is set before sensor, enable the red filter in sensor, measure the first umber of pulse that in 10ms, sensor sends, and 255 and the ratio of described first umber of pulse are adjusted parameter as redness; Enable the green filter in sensor, measure the second umber of pulse that in 10ms, sensor sends, and 255 and the ratio of described second umber of pulse are adjusted parameter as green; Enable the blue electric-wave filter in sensor, measure the 3rd umber of pulse that in 10ms, sensor sends, and 255 and the ratio of described 3rd umber of pulse are adjusted parameter as blueness.
10. the control method of guide robot according to claim 9, is characterized in that, the step that described sensor obtains the rgb value of ground color below it comprises:
S21, enables the red filter in sensor, measures the output umber of pulse of sensor in 10ms, and this umber of pulse is multiplied by described redness adjustment parameter, and the numerical value obtained is the R value of ground color below current sensor;
S22, enables the green filter in sensor, measures the output umber of pulse of sensor in 10ms, and this umber of pulse is multiplied by described green adjustment parameter, and the numerical value obtained is the G value of ground color below current sensor;
S23, enables the blue electric-wave filter in sensor, measures the output umber of pulse of sensor in 10ms, and this umber of pulse is multiplied by described blueness adjustment parameter, and the numerical value obtained is the B value of ground color below current sensor.
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