CN112631274A - Intelligent navigation explanation system and service method - Google Patents
Intelligent navigation explanation system and service method Download PDFInfo
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- CN112631274A CN112631274A CN202011335390.XA CN202011335390A CN112631274A CN 112631274 A CN112631274 A CN 112631274A CN 202011335390 A CN202011335390 A CN 202011335390A CN 112631274 A CN112631274 A CN 112631274A
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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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The invention provides an intelligent navigation explanation system and a service method. The intelligent tour guide and explanation system and the service method overcome the defects that the modification of the tour guide route and the explanation content in the existing tour guide and explanation system needs professional robot developers to develop and maintain, and are not beneficial to the user to modify the explanation content at any time according to the requirement; the robot can be taught and edited by ordinary personnel according to the task requirement of navigation, the robot is controlled to complete the navigation task, a simple and convenient mode is provided, a user can customize the navigation function of the robot, the development difficulty of the navigation service robot and the use difficulty of the user are reduced, the popularization of the service robot in social life is promoted, meanwhile, a navigation route and explanation content can be set by an operator according to the navigation requirement, the autonomous navigation is realized without laying a guide wire by combining teaching, positioning and pose correction, and the cost is lower compared with the mode of synchronous positioning and map building.
Description
Technical Field
The invention relates to the technical field of electronic communication, in particular to an intelligent navigation explanation system and a service method.
Background
With the acceleration of rhythm of life and work, people increasingly need to obtain target information quickly. In some occasions with wide sites, numerous objects and large amount of information, such as exhibition halls, scenic spots, airport halls, warehouses, supermarkets, libraries and the like, managers and consumers need a sports device which can move quickly and intelligently obtain required information or objects. In places such as museums, science and technology museums, exhibition halls, museums, exhibition centers and the like, expressors are used for manually explaining and introducing exhibits, and good services cannot be provided under the condition that many visitors exist or the number of expressors is insufficient. The explanation is repeated work, and if the low-cost practical navigation explanation robot exists, the work pressure of an explanation person can be reduced, and the interest of visitors can be improved.
In the current navigation or tour guide robot, there is a problem that autonomous navigation of the robot is difficult. The most common method that has been used for the navigation of the robot at present is a navigation mode with a guide wire, such as electromagnetic buried wire navigation or light reflection navigation, but the navigation mode requires the installation of the guide wire on the ground or on the ceiling, and the arrangement and maintenance of the system are troublesome. Because the layout of the above occasions is often complex and dense, or the integrated GPS positioning system is located indoors, the existing integrated GPS positioning system is limited by the disadvantages that satellite signals cannot penetrate through obstacles, the indoor signal strength is weak, the response speed is slow, and the like, and accurate positioning and identification cannot be realized in relatively small occasions or when an object is stationary. In addition, in the above-mentioned situations, the increase and decrease and movement of the article and the change of the information of the article itself are rapid and frequent, and the existing GPS positioning system and other functional components cannot be updated in real time, so that the required service cannot be provided to the manager or the consumer simply and efficiently. Moreover, each occasion has individuality, and if corresponding software or hardware is designed for each occasion independently, the application range of the balance car is obviously limited, and a large amount of post-maintenance work is required, so that the use cost is increased. And based on the mode of synchronous positioning and map building, the configuration requirement on the robot is higher and the development difficulty is high, so that the cost of the robot is higher. The content of the guide explanation can be changed according to needs, and the modification of the guide route and the explanation content of the existing guide explanation system needs professional robot developers to carry out development and maintenance, so that the change of the explanation content by a user according to needs at any time is not facilitated.
Disclosure of Invention
The invention aims to overcome the defects that modification of a navigation route and explanation content in the existing navigation explanation system usually needs professional robot developers for development and maintenance, and is not beneficial to a user to modify the explanation content at any time according to requirements, and provides an intelligent navigation explanation system to solve the technical problems;
an intelligent navigation explanation system, comprising a robot body, the robot body comprising:
the teaching module is used for collecting key points which need to be passed by the robot body to complete the navigation task;
the task editing module is used for generating a navigation task file;
the navigation module is in signal connection with the task editing module and is used for analyzing and executing the navigation task file to complete the specified task;
the monitoring module comprises a remote monitoring terminal and a wireless communication module;
the positioning and pose correction module is used for calculating the current pose in the moving process of the robot body and correcting the pose of the robot body when the robot body enters a correction area when the movement accumulated error reaches a certain degree;
the displacement module enables the robot body to move from a master-slave starting coordinate to a target coordinate;
the limb action module comprises at least one joint and is used for completing limb actions;
the voice module comprises a voice input module, a voice recognition module and a voice output module, wherein the voice input module uses a microphone to collect an audio signal of an environment, the voice recognition module converts the speaking content of a person into a text, and the voice output module plays the audio through a sound box;
the sensor module comprises a sensor for detecting human bodies, a sensor for dead reckoning, a sensor for detecting obstacles and a sound and image acquisition module;
and the wireless communication module is used for realizing the communication between the robot body and the monitoring terminal.
The above-mentioned intelligent guide explanation system, the teaching module includes:
the online teaching module is used for moving the robot body to a key pose on a navigation route, recording a current pose value and storing all pose points;
the off-line teaching module is used for selecting the coordinates of key positions on a navigation route from a map by creating the map of the navigation environment, editing the course angle of the robot body under the coordinates and storing all pose points;
the map of the navigation environment is an electronic map, and coordinates of a certain point on the map in the actual environment are obtained through a mouse;
the key poses on the navigation route are position coordinates and heading angles which need to be explained or process coordinates and moving directions for controlling the navigation route.
In the above-mentioned intelligent navigation explanation system, the task editing module includes:
the pose selection module is used for selecting a required pose from the poses acquired by the teaching module;
the pose sequencing module is used for sequencing according to the sequence of the route to generate a pose sequence;
the pose editing module is used for modifying and editing the selected pose;
and the instruction editing module generates a mobile script language according to the pose sequence, controls the mobile route of the robot body, describes the behavior of the robot body on each pose, and generates and stores a navigation file task.
In the intelligent navigation and explanation system, the remote monitoring terminal is in signal connection with the robot body, controls the robot behavior by sending a script instruction at the remote monitoring terminal, operates the robot body, and controls the action, the expression, the display content and the speaking content of the robot body; and meanwhile, the current state of the robot body, the image collected by the camera of the robot body, the audio collected by the microphone and the state of the obstacle avoidance sensor are checked, and one remote monitoring terminal can monitor a plurality of robot bodies simultaneously.
In the intelligent navigation explanation system, the positioning and pose correction module calculates the pose of the robot body through the electronic compass and the code disc; or a correction area is constructed through external sensing equipment, and when the robot body enters the correction area, the course angle and the coordinates of the robot body are corrected, which specifically comprises the following steps: and knowing the pose of the correction area in the navigation coordinate system of the robot body, installing a sensor in the area to acquire the relative pose of the robot body in the correction area, and finally converting the relative pose into the pose of the robot body in the navigation coordinate system.
The invention also aims to provide a simple and convenient way for users to customize the navigation function of the robot, thereby achieving the purposes of reducing the development difficulty of the navigation service robot and the use difficulty of the users, further promoting the popularization of the service robot in social life, providing a method for explaining the navigation and solving the technical problems.
The technical problem solved by the invention can be realized by adopting the following technical scheme: a method of navigating an narrative service, comprising the steps of:
step A, determining a navigation route according to the requirement of a navigation task;
b, performing online teaching or offline teaching, and collecting key positions on the navigation route;
step C, describing the key positions passed by in the navigation process, setting the actions in the process of reaching the key positions or going to the key positions, and saving the script language as a task file;
and D, selecting a required task file, analyzing the task file, sequentially reaching key positions according to behaviors required by the navigation file and completing the specified behaviors, and correcting the pose of the robot body in the navigation process and when the navigation is completed and returns to the starting point.
In the above method for navigating and explaining the service, the online teaching step in step B includes:
step B11, moving the robot body to a key pose on the navigation route, and calculating the pose of the robot body in the moving process;
b12, recording the current pose value in an external signal mode, and recording the current pose;
step B13, repeating the step B12 until all the pose points are recorded;
and step B14, storing all the pose points as pose files.
In the above method for navigating the narrative service, the offline teaching step in the step B includes:
step B21, creating a map of the navigation environment, and drawing a plane drawing of the navigation environment or drawing a picture with resolution meeting the navigation precision of the robot body;
step B22, a coordinate point is taken on the map by a mouse, the heading angle of the robot body is set on the coordinate point, and the current pose is recorded;
step B23, repeating the step B22 until all the pose points are recorded;
and step B24, storing all the pose points as pose files.
The method for navigating the narrative service, wherein the step C comprises:
step C1, importing pose files, sequencing the poses according to the navigation route, and generating a pose sequence;
step C2, editing the pose as required, and setting the features of the pose points;
step C3, automatically generating a script language by the system according to the pose sequence and the pose characteristics;
step C4, editing the instruction, and generating an action instruction required by the navigation explanation;
step C5, save all instructions as navigation task files.
In the method for navigating the narrative service, the positioning and pose correcting step in step D includes:
d1, determining the number and the placement position of the pose correction areas according to the navigation environment and the accumulated degree of the navigation errors, and setting the relative pose of the correction areas in the navigation environment;
and D2, calculating the self pose in real time in the moving process, acquiring the pose in the correction area when the navigation device enters the correction area, converting the pose in the navigation environment through the pose in the correction area, and modifying the current pose into the pose converted by the correction area.
In the method for navigating the commentary service, the step of navigating in step D includes:
step D11, selecting the needed guide task file;
and D12, analyzing the navigation task by the script language analysis module, and finishing the action corresponding to the instruction by the action execution module to execute the navigation task all the time.
By adopting the technical scheme, the intelligent navigation explanation system and the service method overcome the defects that modification of navigation routes and explanation contents in the existing navigation explanation system usually needs professional robot developers to develop and maintain, are not beneficial to users to modify the explanation contents at any time according to requirements, can be taught and edited by people only with computer operation knowledge according to navigation task requirements, and control the robots to complete navigation tasks, provide a simple and convenient mode to enable the users to define the navigation function of the robots, reduce the development difficulty of navigation service robots and the use difficulty of the users, and further promote the popularization of the service robots in social life. Meanwhile, the navigation route and the explanation content can be set by an operator according to navigation requirements, autonomous navigation is realized without laying a guide line by combining teaching, positioning and pose correction, and the cost is lower compared with a synchronous positioning and map building mode.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments described herein without the need for inventive work, are within the scope of the present invention.
The invention provides an intelligent navigation explanation system, which comprises a robot body, wherein the robot body comprises:
the teaching module is used for collecting key points which need to be passed by the robot body to complete the navigation task;
the task editing module is used for generating a navigation task file;
the navigation module is in signal connection with the task editing module and is used for analyzing and executing the navigation task file to complete the specified task;
the monitoring module comprises a remote monitoring terminal and a wireless communication module;
the positioning and pose correction module is used for calculating the current pose in the moving process of the robot body and correcting the pose of the robot body when the robot body enters a correction area when the movement accumulated error reaches a certain degree;
the displacement module enables the robot body to move from a master-slave starting coordinate to a target coordinate;
the limb action module comprises at least one joint and is used for completing limb actions;
the voice module comprises a voice input module, a voice recognition module and a voice output module, wherein the voice input module uses a microphone to collect an audio signal of an environment, the voice recognition module converts the speaking content of a person into a text, and the voice output module plays the audio through a sound box;
the sensor module comprises a sensor for detecting human bodies, a sensor for dead reckoning, a sensor for detecting obstacles and a sound and image acquisition module;
and the wireless communication module is used for realizing the communication between the robot body and the monitoring terminal.
Further, in a preferred embodiment of the intelligent navigation explanation system of the present invention, the teaching module includes:
the online teaching module is used for moving the robot body to a key pose on the navigation route, recording the current pose value and storing all pose points;
the off-line teaching module is used for selecting the coordinates of the key positions on the navigation route from the map, editing the course angle of the robot body under the coordinates and storing all the pose points by creating the map of the navigation environment;
the map of the navigation environment is an electronic map, and coordinates of a certain point on the map in the actual environment are obtained through a mouse;
the key poses on the navigation route are position coordinates and heading angles which need to be explained or process coordinates and moving directions for controlling the navigation route.
Further, in a preferred embodiment of the intelligent navigation explanation system of the present invention, the task editing module includes:
the pose selection module is used for selecting a required pose from poses acquired by the teaching module;
the pose sequencing module is used for sequencing according to the sequence of the route to generate a pose sequence;
the pose editing module is used for modifying and editing the selected pose;
and the instruction editing module generates a mobile script language according to the pose sequence, controls the mobile route of the robot body, describes the behavior of the robot body on each pose, and generates and stores a navigation file task.
Further, in a preferred embodiment of the intelligent navigation explanation system of the present invention, the remote monitoring terminal is in signal connection with the robot body, and the remote monitoring terminal controls the robot behavior by sending a script instruction, operates the robot body, and controls the action, expression, display content and speaking content of the robot body; and meanwhile, the current state of the robot body, the image collected by the camera of the robot body, the audio collected by the microphone and the state of the obstacle avoidance sensor are checked, and one remote monitoring terminal can monitor a plurality of robot bodies simultaneously. The remote monitoring terminal can operate on a desktop computer, a portable computer and a smart phone. Meanwhile, the remote monitoring terminal has an automatic alarm function, and when the monitored state meets the alarm requirement, if an obstacle is touched, the electric quantity is insufficient, and the like, the remote monitoring terminal can give an alarm through sound and a screen.
Further, in a preferred embodiment of the intelligent navigation explanation system of the present invention, the positioning and pose correction module calculates the pose of the robot body through an electronic compass and a code wheel; or a correction area is constructed through external sensing equipment, and when the robot body enters the correction area, the course angle and the coordinates of the robot body are corrected, which specifically comprises the following steps: and knowing the pose of the correction area in the navigation coordinate system of the robot body, installing a sensor in the area to acquire the relative pose of the robot body in the correction area, and finally converting the relative pose into the pose of the robot body in the navigation coordinate system. The position of the correction area can be moved as required; the number of the correction areas is comprehensively determined by the range of the navigation area and the error accumulation degree of the dead reckoning of the robot body.
A method of navigating an narrative service, comprising the steps of:
step A, determining a navigation route according to the requirement of a navigation task;
b, performing online teaching or offline teaching, and collecting key positions on the navigation route;
step C, describing the key positions passed by in the navigation process, setting the actions in the process of reaching the key positions or going to the key positions, and saving the script language as a task file;
and D, selecting a required task file, analyzing the task file, sequentially reaching key positions according to behaviors required by the navigation file and completing the specified behaviors, and correcting the pose of the robot body in the navigation process and when the navigation is completed and returns to the starting point.
Further, in a preferred embodiment of the method for navigating the narrative service of the present invention, the step B of teaching online includes:
step B11, moving the robot body to a key pose on the navigation route, and calculating the pose of the robot body in the moving process;
b12, recording the current pose value in an external signal mode, and recording the current pose;
step B13, repeating the step B12 until all the pose points are recorded;
and step B14, storing all the pose points as pose files.
And an online teaching mode is adopted, a worker selects a position as a starting point of each work of the robot body, and then the coordinate value of the current position point is recorded through remote control operation or pushing the robot body to a key position on a navigation route. And then controlling the robot body to the key position on the next navigation route, and repeating until all positions are recorded. The positions of all the explaining tasks can be collected once, and in the follow-up task editing, required points are selected from all the collected positions according to the navigation route to edit the route. And storing all the collected points in a position file format, wherein the content comprises the coordinates of each position point and the heading angle of the robot body.
Further, in a preferred embodiment of the method for navigating the narrative service of the present invention, the step of teaching offline in the step B includes:
step B21, creating a map of the navigation environment, and drawing a plane drawing of the navigation environment or drawing a picture with resolution meeting the navigation precision of the robot body;
step B22, a coordinate point is taken on the map by a mouse, the heading angle of the robot body is set on the coordinate point, and the current pose is recorded;
step B23, repeating the step B22 until all the pose points are recorded;
and step B24, storing all the pose points as pose files.
And firstly, a map of a navigation environment needs to be established by adopting an off-line teaching mode. And acquiring coordinates of the response points on the map by using a mouse through a picture of a plane graph of the navigation environment or a CAD engineering drawing, and storing the coordinates. And finally, storing all the collected points in a position file format, wherein the content comprises the coordinates of each position point and the heading angle of the robot body.
Further, in a preferred embodiment of the method for navigating the narrative service of the present invention, the step C includes:
step C1, importing pose files, sequencing the poses according to the navigation route, and generating a pose sequence;
step C2, editing the pose as required, and setting the features of the pose points;
step C3, automatically generating a script language by the system according to the pose sequence and the pose characteristics;
step C4, editing the instruction, and generating an action instruction required by the navigation explanation;
step C5, save all instructions as navigation task files.
And importing the position file into a task editing program, and firstly selecting a required position by a worker according to a navigation route. Setting the moving speed of the robot body when the robot body reaches the position point and describing the tasks to be completed when the robot body reaches the position and leaves the position by the robot script language. The task is described by a script instruction, and the script instruction is divided into a movement instruction, a limb instruction, an expression instruction, a voice instruction, a system instruction and the like according to purposes. And after editing of each position is completed, saving and generating the navigation task file. A plurality of navigation task files can be stored on the robot body at the same time, and workers can select the files according to navigation requirements.
Further, in a preferred embodiment of the method for navigating the narrative service of the present invention, the positioning and pose correcting step in step D includes:
d1, determining the number and the placement position of the pose correction areas according to the navigation environment and the accumulated degree of the navigation errors, and setting the relative pose of the correction areas in the navigation environment;
and D2, calculating the self pose in real time in the moving process, acquiring the pose in the correction area when the navigation device enters the correction area, converting the pose in the navigation environment through the pose in the correction area, and modifying the current pose into the pose converted by the correction area.
In the process of guiding and correcting the robot body, a worker can monitor the robot body through the remote monitoring terminal. The monitoring terminal runs on a portable computer or a desktop computer. The monitoring terminal and the robot body are connected in the same local area network through a wireless network and communicate by using a TCP (UDP)/IP protocol. The staff can control the robot behavior by sending script instructions at the monitoring terminal, and can operate the robot to control the action, expression, display content and speaking content of the robot body; the robot can check the current state of the robot, the images collected by the camera of the robot, the audio collected by the microphone, the state of the obstacle avoidance sensor and the like, and can guide and manage the robot when necessary. One monitoring terminal can monitor a plurality of robot bodies simultaneously.
Further, in a preferred embodiment of the method for navigating an explanation service of the present invention, the step of navigating in the step D includes:
step D11, selecting the needed guide task file;
and D12, analyzing the navigation task by the script language analysis module, and finishing the action corresponding to the instruction by the action execution module to execute the navigation task all the time.
The working process of the intelligent navigation explanation system is divided into a management maintenance stage and a navigation service stage. The staff in the management and maintenance stage and the navigation service stage only need to have basic computer operation knowledge. In the management and maintenance stage, the main task of the worker is to design a navigation route and an explanation task, and then the navigation route and the explanation task are set through a teaching module and a task editing module.
The intelligent navigation explanation system and the service method overcome the defects that modification of navigation routes and explanation contents in the existing navigation explanation system usually needs professional robot developers to develop and maintain, are not beneficial to users to modify the explanation contents as required at any time, can be taught and edited by personnel only with computer operation knowledge according to the task requirements of navigation, and control the robot to complete the navigation task, provide a simple and convenient way to enable the users to define the navigation function of the robot, reduce the development difficulty of the navigation service robot and the use difficulty of the users, and further promote the popularization of the service robot in social life. Meanwhile, the navigation route and the explanation content can be set by an operator according to navigation requirements, autonomous navigation is realized without laying a guide line by combining teaching, positioning and pose correction, and the cost is lower compared with a synchronous positioning and map building mode.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An intelligent tour description system, comprising a robot body, characterized in that the robot body comprises:
the teaching module is used for collecting key points which need to be passed by the robot body to complete the navigation task;
the task editing module is used for generating a navigation task file;
the navigation module is in signal connection with the task editing module and is used for analyzing and executing the navigation task file to complete the specified task;
the monitoring module comprises a remote monitoring terminal and a wireless communication module;
the positioning and pose correction module is used for calculating the current pose in the moving process of the robot body and correcting the pose of the robot body when the robot body enters a correction area when the movement accumulated error reaches a certain degree;
the displacement module enables the robot body to move from a master-slave starting coordinate to a target coordinate;
the limb action module comprises at least one joint and is used for completing limb actions;
the voice module comprises a voice input module, a voice recognition module and a voice output module, wherein the voice input module uses a microphone to collect an audio signal of an environment, the voice recognition module converts the speaking content of a person into a text, and the voice output module plays the audio through a sound box;
the sensor module comprises a sensor for sensing the entrance and exit of a human body, a dead reckoning sensor, an obstacle detection sensor and a sound and image acquisition module;
and the wireless communication module is used for realizing the communication between the robot body and the monitoring terminal.
2. The intelligent tour explanation system of claim 1, wherein the teaching module comprises:
the online teaching module is used for moving the robot body to a key pose on a navigation route, recording a current pose value and storing all pose points;
and the off-line teaching module is used for selecting the coordinates of the key positions on the navigation route from the map, editing the course angle of the robot body under the coordinates and storing all the pose points by creating the map of the navigation environment.
3. The intelligent commentary system of claim 1, wherein the task editing module comprises:
the pose selection module is used for selecting a required pose from the poses acquired by the teaching module;
the pose sequencing module is used for sequencing according to the sequence of the route to generate a pose sequence;
the pose editing module is used for modifying and editing the selected pose;
and the instruction editing module generates a mobile script language according to the pose sequence, controls the mobile route of the robot body, describes the behavior of the robot body on each pose, and generates and stores a navigation file task.
4. The system as claimed in claim 1, wherein the remote monitoring terminal is connected to the robot body via signals, and the remote monitoring terminal controls the robot behavior by sending script commands to operate the robot body.
5. The intelligent navigation explanation system of claim 1, wherein the positioning and pose correction module calculates the pose of the robot body through an electronic compass and a code disc; or a correction area is constructed through external sensing equipment, and the heading angle and the coordinates of the robot body are corrected when the robot body enters the correction area.
6. A navigation explanation service method based on a housekeeper robot is characterized by comprising the following steps:
step A, scanning a visitor to enter a room by a human body sensing device, and sending a starting instruction to a navigation module;
step B, determining a navigation route according to the requirement of the navigation task;
step C, performing online teaching or offline teaching, and collecting key positions on the navigation route;
step D, describing the key positions passed by in the navigation process, setting the actions in the process of reaching the key positions or going to the key positions, and saving the script language as a task file;
and E, selecting a required task file, analyzing the task file, sequentially reaching key positions according to behaviors required by the navigation file and completing the specified behaviors, and correcting the pose of the robot body in the navigation process and when the navigation is completed and returns to the starting point.
7. The navigation commentary service method based on the housekeeping robot as claimed in claim 6, wherein the step C of teaching online comprises:
step C11, moving the robot body to a key pose on the navigation route, and calculating the pose of the robot body in the moving process;
step C12, recording the current pose value in an external signal mode, and recording the current pose;
c13, repeating the step C12 until all the pose points are recorded;
and step B14, storing all the pose points as pose files.
8. The navigation commentary service method based on the housekeeping robot as claimed in claim 6, wherein the offline teaching step in the step C comprises:
step C21, creating a map of the navigation environment, and drawing a plane drawing of the navigation environment or drawing a picture with resolution meeting the navigation precision of the robot body;
step C22, a coordinate point is taken on the map by a mouse, the course angle of the robot body is set on the coordinate point, and the current pose is recorded;
c23, repeating the step C22 until all the pose points are recorded;
and step C24, storing all the pose points as pose files.
9. The navigation commentary service method based on the housekeeper robot as claimed in claim 6, wherein the step D comprises:
step D1, importing pose files, sequencing the poses according to a navigation route, and generating a pose sequence;
d2, editing the pose as required and setting the features of the pose points;
d3, automatically generating a script language by the system according to the pose sequence and the pose characteristics;
d4, editing the instruction to generate an action instruction required by the navigation explanation;
step C5, save all instructions as navigation task files.
10. The navigation commentary service method based on a housekeeping robot as claimed in claim 6, wherein the positioning and pose correction step in the step E comprises:
e1, determining the number and the placement position of the pose correction areas according to the navigation environment and the accumulated degree of the navigation errors, and setting the relative poses of the correction areas in the navigation environment;
and E2, calculating the self pose in real time in the moving process, acquiring the pose in the correction area when the navigation device enters the correction area, converting the pose in the navigation environment through the pose in the correction area, and modifying the current pose into the pose converted by the correction area.
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| CN103226924A (en) * | 2013-04-12 | 2013-07-31 | 华南理工大学广州学院 | Tour guiding and explaining service robot system and tour guiding and explaining method thereof |
| 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 |
| 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 |
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| CN103226924A (en) * | 2013-04-12 | 2013-07-31 | 华南理工大学广州学院 | Tour guiding and explaining service robot system and tour guiding and explaining method thereof |
| 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 |
| 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 |
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