Intelligent advertising vehicle and control method

Abstract

The present invention discloses an intelligent advertising vehicle and a control method, wherein the intelligent advertising vehicle comprises a mobile platform, a bracket and a display assembly, wherein the bracket is fixed on the mobile platform; the display assembly comprises a body and a plurality of display screens, wherein the body is fixed on the bracket, and the plurality of display screens are arranged on the body; the mobile platform comprises a control layer, a drive layer and a shell, wherein the control layer is arranged above the drive layer, and the shell is coated on the outer walls of the control layer and the drive layer; the control layer and the drive layer are connected based on the support column, and the control layer and the drive layer are spaced from each other to form a gap. The intelligent advertising vehicle is provided with a plurality of display screens, and the advertising broadcast coverage range is large. By arranging the control layer and the drive layer at intervals, and arranging the laser radar in the intervals, the positioning navigation and obstacle avoidance sensing effects of the intelligent advertising vehicle are ensured, and at the same time, the laser radar is effectively protected, damage is reduced, and the service life is ensured.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of intelligent mobile robots, and in particular to an intelligent advertising vehicle and a control method thereof. Background Art

[0002] At present, modern large-scale shopping malls and supermarkets are the main places for people's daily shopping and consumption. In the exhibition activities of shopping malls and supermarkets, the information of exhibition commodities is generally played on large electronic screens, and the exhibition is carried out in conjunction with fixed exhibition points, large billboards, posters, etc. This method has problems such as limited advertising coverage and insufficient advertising effect.

[0003] In order to increase the advertising coverage, currently, a mobile robot is generally equipped with a single display screen for advertising parades, but the range of activity is limited, and it is not suitable for large-scale parades in shopping malls with frequent flow of people, resulting in poor advertising effects. In order to improve sensing accuracy, the sensing component is generally set outside the robot and directly exposed to the external environment, but it is easy for external interference to cause damage to the sensing component. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides an intelligent advertising vehicle and a control method. The intelligent advertising vehicle is provided with multiple display screens, and the advertising broadcasting coverage is large. By arranging the control layer and the driving layer at intervals and arranging the laser radar in the intervals, the obstacle avoidance sensing effect of the intelligent advertising vehicle is ensured, and at the same time, the laser radar is effectively protected, damage is reduced, and the service life is ensured.

[0005] The present invention provides a smart advertising vehicle, which includes a mobile platform, a bracket and a display component, wherein the bracket is fixed on the mobile platform;

[0006] The display assembly includes a body and a plurality of display screens, wherein the body is fixed on the bracket, the body is a columnar structure, and the plurality of display screens are arranged and fixed on the circumferential side wall of the body;

[0007] The mobile platform comprises a control layer, a driving layer and a shell, wherein the control layer is arranged above the driving layer, and the shell is covered on the outer walls of the control layer and the driving layer;

[0008] The control layer and the driving layer are connected based on the support columns, and the control layer and the driving layer are spaced from each other to form a gap.

[0009] The driving layer comprises a driving layer bottom plate and a driving layer top plate, a laser radar and a radar bracket are arranged on the driving layer bottom plate, the radar bracket is fixed on the driving layer bottom plate, and the laser radar is fixed on the top of the radar bracket;

[0010] The driving layer top plate is provided with a radar matching hole, and one end of the laser radar extends out of the driving layer from the radar matching hole.

[0011] Furthermore, the smart advertising vehicle also includes a tray, and the tray is fixed on the bracket.

[0012] Furthermore, an ultrasonic sensing module is provided at the bottom of the radar bracket.

[0013] Furthermore, the shell includes a first enclosure and a second enclosure, the first enclosure is a cylindrical structure, fitted on the outer wall of the driving layer, and the second enclosure is an arc-shaped baffle, covering a partial area of ​​the control layer and a partial area of ​​the gap.

[0014] Furthermore, a shield is provided in the gap, and the shield cooperates with the housing to form an open area on the gap;

[0015] One end of the laser radar is arranged in the open area.

[0016] Further, the control layer includes a control layer top plate, a control layer bottom plate and side plates, and the control layer top plate is connected to the control layer bottom plate based on a support column;

[0017] The side plate is an arc-shaped plate, and is arranged on the circumferential side wall of the control layer.

[0018] Furthermore, a control host and a sound box are arranged on the bottom plate of the control layer, and the control host is cooperatively connected with the sound box.

[0019] The present invention also provides a control method for an intelligent advertising vehicle, the control method is applied to the intelligent advertising vehicle, and the control method includes:

[0020] The control host performs autonomous navigation based on the positioning navigation component, and controls the smart advertising vehicle to perform advertising parade;

[0021] The laser radar and the ultrasonic sensing module identify obstacle information during the cruising process and send it to the control host;

[0022] The control host adjusts the moving action of the smart advertising vehicle according to the obstacle information.

[0023] Furthermore, the control host performs autonomous navigation based on the positioning navigation component, including:

[0024] The laser radar scans the surrounding environment and generates a grid map and sends it to the control host;

[0025] The control host performs autonomous navigation according to the grid area map.

[0026] Furthermore, controlling the smart advertising vehicle to perform advertising parade includes:

[0027] The control host plays advertising information through the display component and the speaker.

[0028] Furthermore, the controlling the smart advertising vehicle to perform advertising parade also includes:

[0029] The control host is provided with a 5G communication module, receives remote control information based on the 5G communication module, and updates the advertising information in real time according to the remote control information.

[0030] The present invention provides an intelligent advertising vehicle and a control method. The intelligent advertising vehicle is provided with multiple display screens, and the advertising broadcast coverage is large. By arranging the control layer and the drive layer in intervals, and arranging the laser radar in the intervals, the obstacle avoidance sensing effect of the intelligent advertising vehicle is ensured, and the laser radar is effectively protected, damage is reduced, and the service life is ensured. Based on the laser radar, the intelligent advertising vehicle can perform autonomous navigation through SLAM navigation technology, realize autonomous cruising in the shopping mall, improve advertising efficiency, and ensure advertising effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 This is a schematic diagram of the structure of a smart advertising vehicle in an embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of the connection structure between the tray and the bracket in an embodiment of the present invention;

[0034] Figure 3 is a schematic diagram of the structure of a mobile platform in an embodiment of the present invention;

[0035] Figure 4 is an exploded view of the control layer structure in an embodiment of the present invention;

[0036] Figure 5 is an exploded schematic diagram of the driving layer structure in an embodiment of the present invention;

[0037] Figure 6 is a schematic diagram of the bottom structure of a mobile platform in an embodiment of the present invention;

[0038] Figure 7is a schematic structural diagram of a first damping mechanism in an embodiment of the present invention;

[0039] Figure 8 is a schematic diagram of the housing structure in an embodiment of the present invention;

[0040] Fig. 9 is a flow chart of a control method for an intelligent advertising vehicle in an embodiment of the present invention;

[0041] Fig.10 This is a schematic diagram of the structure of the control system of the intelligent advertising vehicle in an embodiment of the present invention;

[0042] Fig.11 is a schematic diagram of the structure of a visual recognition module in an embodiment of the present invention;

[0043] Fig.12 It is a schematic diagram of the structure of the positioning navigation component in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Example:

[0046] Figure 1 A schematic diagram of the structure of an intelligent advertising vehicle in an embodiment of the present invention is shown. The intelligent advertising vehicle includes a display component, a bracket 2 and a mobile platform 3. The bracket 2 is fixed on the mobile platform 3, and the display component is arranged on the bracket 2. The intelligent advertising vehicle can cruise in a shopping mall based on the mobile platform 3.

[0047] Specifically, the display assembly includes a body 11 and one or more display screens, and the display screens are arranged on the body 11. The display assembly includes a first display screen 12 and a second display screen 13, the body 11 is a quadrangular prism structure, the top surface and the bottom surface of the body 11 are rectangular, the first display screen 12 is arranged on one side surface of the body 11, and the second display screen 13 is arranged on the other side surface of the body 11.

[0048] Specifically, the top surface size of the body 11 is smaller than the bottom surface size of the body 11, that is, the body 11 is formed into a frustum structure, and the first display screen 12 and the second display screen 13 are arranged at an angle, which can increase the display size of the first display screen 12 and the second display screen 13 and ensure the advertising display effect of the first display screen 12 and the second display screen 13.

[0049] Furthermore, the body 11 may be a triangular prism structure, a quadrangular prism structure, a cylindrical structure, etc. According to the different structural shapes of the body 11, the plurality of display screens are correspondingly arranged on the side of the body 11, and can cover multiple directions for playing advertising information.

[0050] Furthermore, the body 11 is configured as a frustum structure, so that the center of gravity of the display assembly is located at a lower position, which can reduce the risk of the smart advertising vehicle tipping over during the movement of the smart advertising vehicle.

[0051] Furthermore, the display range of the first display screen 12 and the second display screen 13 covers the front and rear of the smart advertising vehicle, which can effectively improve the publicity effect of the advertisement.

[0052] Furthermore, the display screen may be a curved screen structure, the body 11 may be a truncated cone structure, and the display screen is fitted on the circumferential side wall of the body 11 to facilitate customers to obtain advertising information content.

[0053] Specifically, Figure 2 The schematic diagram of the connection structure between the tray 25 and the bracket 2 in the embodiment of the present invention is shown. The smart advertising vehicle also includes a tray 25, and the bracket 2 is provided with a plurality of slots 26 structures, and the tray 25 is fixed to the slots 26. By providing a plurality of slots 26 structures, the position of the tray 25 on the bracket 2 can be freely adjusted to ensure that the tray 25 can hold commodities of different sizes.

[0054] Furthermore, the slot 26 is an L-shaped slot 26 , and a matching block 251 is provided on the outer contour of the tray 25 . The matching block 251 moves from one end of the slot 26 to the other end, and can snap-fit ​​the tray 25 onto the bracket 2 .

[0055] Specifically, the bracket 2 may be provided with a welding pad, and the tray 25 may be fixed to the welding pad position of the bracket 2 by welding, so as to ensure the structural stability of the tray 25 and the bracket 2 and avoid the tray 25 falling off the bracket 2.

[0056] Furthermore, according to actual sales and exhibition needs, the number of the trays 25 can be 1, 2, 3, etc.

[0057] Specifically, Figure 3A schematic diagram of the structure of the mobile platform 3 in an embodiment of the present invention is shown. The mobile platform 3 is a cylindrical structure. The circumferential side wall of the mobile platform 3 can reduce the stress concentration of the smart advertising vehicle when a collision occurs, thereby reducing the risk of damage to the smart advertising vehicle. When a collision occurs with a customer, the collision damage to the customer can be reduced, thereby improving the safety of the smart advertising vehicle during operation.

[0058] Specifically, the mobile platform 3 includes a control layer 36, a driving layer 35 and a shell 34. The control layer 36 is arranged above the driving layer 35. The control layer 36 and the driving layer 35 are connected based on support rods. The shell 34 covers the circumferential outer walls of the control layer 36 and the driving layer 35. A distance is maintained between the control layer 36 and the driving layer 35 to improve the heat dissipation capacity of the mobile platform 3 and ensure the normal operation of the mobile platform 3.

[0059] Specifically, Figure 4 An exploded view of the structure of the control layer 36 in an embodiment of the present invention is shown, wherein the control layer 36 comprises a control layer bottom plate 363, a control layer top plate 361 and a side plate 362, wherein the control layer bottom plate 363 and the control layer top plate 361 are connected based on support columns, and the side plate 362 is an arc-shaped side plate 362, which is arranged on the circumferential side wall of the control layer 36, and the side plate 362 isolates the control layer 36 from the external environment, thereby ensuring the appearance of the mobile platform 3 and protecting the devices in the control layer 36.

[0060] Furthermore, the side plate 362 cooperates with the control layer bottom plate 363 and the first top to form the outer shell 34 of the control layer 36 , and an arc-shaped opening is formed on the circumferential side wall of the control layer 36 to facilitate maintenance personnel to inspect the internal device structure of the control layer 36 .

[0061] Specifically, a control host 5 and a speaker 4 are provided on the control layer bottom plate 363. The speaker 4 is fixed on the side of the control host 5. The speaker 4 is connected to the control host 5 through a POE port. The control host 5 can play the information of the exhibited goods through the speaker 4 to attract customers' attention and achieve an exhibit effect.

[0062] Furthermore, a mesh structure is provided at a position of the side panel 362 corresponding to the speaker 4 to ensure the sound playing effect of the speaker 4 .

[0063] Furthermore, POE (Power Over Ethernet) refers to a technology that can provide DC power to devices while transmitting data signals without making any changes to the existing Ethernet cabling infrastructure. POE technology can ensure the safety of existing structured cabling while ensuring the normal operation of the existing network, thereby minimizing costs.

[0064] Specifically, a board card 3632 port is provided on the control layer bottom plate 363, and a board card bracket 36312 is fixed on the bottom surface of the control layer bottom plate 363. The board card bracket 36312 corresponds to the position of the board card 3632 port. The board card bracket 36312 is used to place the board card 3632. The board card 3632 port facilitates the connection between the board card 3632 and the control host 5.

[0065] Furthermore, the board bracket 36312 is externally arranged on the bottom of the control layer 36 to facilitate the connection between the board 3632 and the devices of the driving layer 35 .

[0066] Furthermore, the board 3632 is an expansion board of the control host 5 , which is used to plug in devices such as a graphics card and a sound card, and cooperate with the control host 5 to play advertising information on the display component and the speaker 4 .

[0067] Specifically, the bracket 2 is fixed on the control layer top plate 361, and a first connecting hole 3611 is provided on the first top. The interior of the bracket 2 is a hollow structure and is provided with cables. The cables extend into the control layer 36 through the first connecting hole 3611 and are connected with the control host 5. The control host 5 is connected with the display component based on the cables, and the control host 5 plays the advertising information of the product through the display component.

[0068] Specifically, a first groove is provided on one side of the side panel 362, and a second groove is provided on the other side of the side panel 362. The first groove is provided with an opening 3622, and the second groove is provided with an antenna 3621. The first groove and the second groove are symmetrically arranged to ensure the appearance of the mobile platform 3.

[0069] Furthermore, the circuit breaker 3622 is a safety switch of the mobile platform 3 , which is used to protect the internal circuit of the control layer 36 .

[0070] Specifically, the control host 5 is provided with a 5G communication module, and the mobile platform 3 is provided with an antenna 3621, which is connected to the 5G communication module. The staff can remotely connect to the control host 5 based on the 5G communication module, so that the intelligently controlled exhibition robot can be controlled online in real time to change the exhibition commodity information. The antenna 35 can enhance the communication signal of receiving and sending the 5G communication module to ensure the stability of the remote connection control of the staff.

[0071] Furthermore, the fifth generation mobile communication technology (5G) is a new generation of broadband mobile communication technology with the characteristics of high speed, low latency and high reliability. It is the network infrastructure for realizing the interconnection between man, machine and things.

[0072] Furthermore, a second connection hole 3633 is provided on the control layer bottom plate 363 , and the second connection hole 3633 facilitates the connection between the power supply component and the driving layer 35 .

[0073] Specifically, Figure 5 The exploded schematic diagram of the drive layer structure in the embodiment of the present invention is shown. The drive layer 35 includes a drive layer bottom plate 352 and a drive layer top plate 351, the drive layer bottom plate 352 and the drive layer top plate 351 are connected by a support rod, a power supply assembly is arranged on the drive layer bottom plate 352, and a third connection hole 3511 is arranged on the drive layer top plate 351, the third connection hole 3511 corresponds to the second connection hole 3633, the power supply assembly and the control host 5 are connected based on a cable, the second connection hole 3633 and the third connection hole 3511 facilitate the wiring arrangement of the power supply assembly and the control host 5, and simplify the line arrangement between the control layer 36 and the drive layer 35.

[0074] Furthermore, the second connection hole 3633 and the third connection hole 3511 provide convenience for the line connection of the mobile platform 3, facilitate the arrangement of internal wiring, and ensure the simplicity of the structure.

[0075] Furthermore, the power supply component is connected with the control host 5, and the power supply component provides power support for the control host 5. The control host 5 supplies power to the speaker 4 through the POE port to ensure the normal operation of the speaker 4, the control host 5 supplies power to the display component through the cable, and the power supply component supplies power to other devices through the control host 5, which simplifies the internal circuit of the smart advertising vehicle.

[0076] Specifically, the power supply assembly is arranged in the driving layer 35. On the one hand, the power supply assembly with larger mass is arranged below the mobile platform 3, which can stabilize the center of gravity of the mobile platform 3 and reduce vibration during movement. On the other hand, it is convenient for staff to replace and maintain the power supply assembly.

[0077] Furthermore, a plurality of through holes are provided on the driving layer bottom plate 352 , and the plurality of through holes are used to improve the heat dissipation capacity of the driving layer 35 , improve the heat dissipation efficiency of the power supply component, and ensure the service life of the power supply component.

[0078] Specifically, Figure 6 The bottom structure schematic diagram of the mobile platform 3 in the embodiment of the present invention is shown. The mobile platform 3 includes a first drive assembly 32 and a second drive assembly 33, the first drive assembly 32 includes a first drive wheel 321 and a first mounting plate 322, the second drive assembly 33 includes a second drive wheel 331 and a second mounting plate 332, the first drive wheel 321 is fixed to one side of the bottom of the mobile platform 33 based on the first mounting plate 322, and the second drive wheel 331 is fixed to the other side of the bottom of the mobile platform 33 based on the second mounting plate 332.

[0079] Specifically, the mobile platform 33 further includes a first shock absorbing mechanism 323 and a second shock absorbing mechanism 333 . The first shock absorbing mechanism 323 is disposed on the first mounting plate 322 , and the second shock absorbing mechanism 333 is disposed on the second mounting plate 332 .

[0080] Specifically, a first mounting portion is provided on one side of the drive layer bottom plate 352, and a second mounting portion is provided on the other side, the first mounting portion includes a third groove, a first matching groove and a first mounting hole, the second mounting portion includes a fourth groove, a second matching groove and a second mounting hole, the first mounting portion is used to install the first drive component, and the second mounting portion is used to install the second drive component.

[0081] Specifically, the first reduction motor is fixed on the first mounting portion, the first driving wheel is engaged in the third groove, the output shaft of the first reduction motor is connected to the first driving wheel based on a connecting line, and the first mating groove is used to organize the connecting line to ensure the neatness of the first driving component line.

[0082] Furthermore, the first mounting hole is used to install the first shock absorbing mechanism.

[0083] Furthermore, the second mounting portion has the same structural features and working functions as the first mounting portion, which will not be described in detail here.

[0084] Specifically, Figure 7The schematic diagram of the structure of the first shock absorbing mechanism in the embodiment of the present invention is shown. One end of the first mounting plate 322 is fixed to the bottom plate of the mobile platform 33, and the other end of the first mounting plate 322 is connected to the first driving wheel 321. The first shock absorbing mechanism 323 includes a first spring 3232, a first guide rod 3231 and a first matching portion 3233, the first spring 3232 is sleeved on the first guide rod 3231, the first matching portion 3233 is arranged on one end of the first guide rod 3231, and the other end of the first guide rod 3231 is fixed to the first mounting hole.

[0085] Furthermore, a first matching groove 3221 is provided on the first mounting plate 322, and the first matching portion 3233 is matched and connected with the first matching groove 3221, and the first shock absorber is used to reduce the vibration of the first driving wheel 321 to ensure the structural stability of the intelligently controlled exhibition robot.

[0086] Furthermore, the second shock absorbing mechanism 333 has the same structural features and functional effects as the first shock absorbing mechanism 323 . For details, please refer to the structural features and functional effects of the first shock absorbing mechanism 323 , which will not be described in detail here.

[0087] Specifically, the driving layer 35 is provided with a first reduction motor 324 and a second reduction motor 334. The output shaft of the first reduction motor 324 is connected to the first driving wheel 321, and the output shaft of the second reduction motor 334 is connected to the second driving wheel 331. The first reduction motor 324 is used to drive the first driving wheel 321, and the second reduction motor 334 is used to drive the second driving wheel 331.

[0088] Furthermore, the first reduction motor 324 and the second reduction motor 334 are cooperatively connected to the control host 55, and the control host 55 controls the operation of the first reduction motor 324 and the second reduction motor 334, thereby adjusting the movement of the intelligently controlled exhibition robot.

[0089] Specifically, a plurality of driven wheels 34 are provided on the bottom of the mobile platform 33, and the plurality of driven wheels 34 are universal wheels. The plurality of universal wheels assist the first driving wheel 321 and the second driving wheel 331 to realize the movement of the intelligently controlled exhibition robot, so that the intelligently controlled exhibition robot can move flexibly to meet the needs of exhibition work.

[0090] Specifically, a laser radar 72 is arranged on the driving layer 35, a radar bracket 82 is fixed on the driving layer bottom plate 352, the radar bracket 82 is an n-type bracket 2, the laser radar 72 is fixed on the top of the radar bracket 82, and an ultrasonic sensing module 71 is arranged below the radar bracket 82.

[0091] Furthermore, a radar matching hole 3512 is provided on the driving layer top plate 351 , one end of the laser radar 72 is fixed on the radar bracket 82 , and the other end of the laser radar 72 extends out of the driving layer 35 from the radar matching hole 3512 .

[0092] Specifically, Figure 8 The schematic diagram of the structure of the housing 34 in the embodiment of the present invention is shown. The housing 34 includes a first enclosure 341 and a second enclosure 342. The first enclosure 341 is a cylindrical structure. The first enclosure 341 covers the circumferential outer wall of the driving layer 35. The first enclosure 341 completely covers the driving layer 35, thereby improving the appearance of the mobile platform 3 and protecting the internal components of the driving layer 35.

[0093] Furthermore, the second enclosure portion 342 is an arc-shaped baffle structure, covering the opening portion of the control layer 36 to block and protect the internal components of the control layer 36 .

[0094] Specifically, the second enclosure 342 covers a portion of the gap between the control layer 36 and the drive layer 35 , so that an open area is formed between the control layer 36 and the drive layer 35 , and one end of the laser radar 72 extends out of the open area.

[0095] Furthermore, a baffle 9 is provided on the open area, one end of the baffle 9 is cooperatively connected with one side of the second enclosure 342, and the other end of the baffle 9 is cooperatively connected with the other side of the second enclosure 342. The connection between the baffle 9 and the first cooperative part can isolate the board 3632 and the laser radar 72, thereby avoiding mutual interference between the laser radar 72 and the board 3632.

[0096] Furthermore, the shield plate 9 is a V-shaped plate, and the V-shaped plate can ensure the detection range of the laser radar 72.

[0097] Specifically, the mobile platform 3 is provided with a positioning and navigation component, which plans a route for the smart advertising vehicle autonomously based on SLAM navigation technology, thereby ensuring that the smart advertising vehicle can autonomously cruise and exhibit in shopping malls with dense traffic.

[0098] Furthermore, SLAM (Simultaneous Localization and Mapping) is used to perform real-time positioning and map construction during the movement of the smart advertising vehicle, so that the smart advertising vehicle can plan routes according to the real-time environment and realize autonomous cruising and sales.

[0099] Specifically, the ultrasonic sensing module 71 and the laser radar 72 are arranged in the mobile platform 3. The outer shell of the mobile platform 3 is provided with corresponding gaps to facilitate obstacle avoidance detection. The ultrasonic sensing module 71 reflects ultrasonic waves around the smart advertising vehicle and relies on ultrasonic feedback sensing to identify obstacles.

[0100] Specifically, the positioning and navigation component 8 includes an odometer 81 and a laser radar. The odometer 81 can be a wheel odometer, a visual odometer, or an inertial odometer. The odometer is used to calculate the moving mileage of the exhibition robot.

[0101] Specifically, the laser radar 72 has both navigation and obstacle avoidance functions. The laser radar 72 continuously emits single-line or multi-line laser beams around the environment to scan the contour of the surrounding environment and obtain an occupancy grid probability map; at the same time, the robot's precise positioning in the map can be obtained through the wheeled, visual or inertial odometer 81 data.

[0102] Furthermore, the robot can be autonomously navigated from the starting point to the target point through the Dijkstra or A* algorithm.

[0103] Furthermore, the Dijkstra algorithm was proposed by Dutch computer scientist Dijkstra in 1959, so it is also called the Dijkstra algorithm. It is the shortest path algorithm from one vertex to the rest of the vertices, solving the shortest path problem in a weighted graph.

[0104] Furthermore, the A* (A-Star) algorithm is the most effective direct search method for finding the shortest path in a static road network.

[0105] Furthermore, the ultrasonic sensing module 71 and the laser radar 72 cooperate with each other, and the control host 5 can obtain information such as the position and distance of the obstacle through the obstacle avoidance component 7, and generate control instructions for the smart advertising vehicle to ensure the safe movement of the smart advertising vehicle.

[0106] Specifically, a power supply component 31 is provided inside the mobile platform 3, and the power supply component 31 is connected with the control host 5 to provide power support for the control host 5. The control host 5 supplies power to the display screen 1 based on the cable, and the control host 5 supplies power to the speaker 4 through the POE port.

[0107] Specifically, refer to Fig.10 , Fig.11 and Fig.12 The smart advertising vehicle includes a human-machine interaction component 6, which includes a visual recognition module 61 and a sound recognition module 62. The visual recognition module 61 is arranged below the display screen 1. The visual recognition module 61 includes a zoom lens 612 and a visual sensor 611. The zoom lens 612 is connected to the visual sensor 611 accordingly. The visual recognition module 61 transmits data with the control host 5 based on a wireless connection. The zoom lens 612 is used to capture the scene image information, and the visual sensor 611 sends the scene image information to the control host 5.

[0108] Furthermore, the visual recognition module can be a CCD camera, i.e. a charge coupled device (charge coupled device), which can convert light into electric charges and store and transfer the charges, and can also take out the stored charges to change the voltage. It has the characteristics of being unaffected by magnetic fields and resistant to vibration and impact.

[0109] Furthermore, the visual recognition module may also be a CMOS camera, namely CMOS (Complementary Metal Oxide Semiconductor).

[0110] Furthermore, the control host 5 controls the smart advertising vehicle based on the on-site image information. For example, when the visual recognition module 61 recognizes that a customer is staying in front of the display screen 1, the control host 5 sends a control instruction based on the image information of the customer staying, so that the smart advertising vehicle stops moving, and the display screen 1 plays the exhibition product information and interacts with the customer through voice.

[0111] Furthermore, the voice recognition module 62 includes a voice recognition chip, which can recognize the customer's voice information and send it to the control host 5. The control host 5 extracts key information from the voice information and generates corresponding control instructions based on the key information. The control instructions are used to control the smart advertising vehicle to interact with the customer.

[0112] Specifically, Fig.10 The flowchart of the control method of the intelligent advertising vehicle in an embodiment of the present invention is shown. The control method includes:

[0113] S11: the control host performs autonomous navigation based on the positioning navigation component, and controls the smart advertising vehicle to perform advertising parade;

[0114] Specifically, the control host 5 is preset with a control program for the motion trajectory of the smart advertising vehicle. The control host 5 controls the smart advertising vehicle to move in the shopping mall based on the preset program. The obstacle avoidance component 7 identifies obstacle information, and the control host 5 adjusts the route of the smart advertising vehicle based on the obstacle information.

[0115] Furthermore, a positioning and navigation component 8 is provided inside the mobile platform 3 , and the control host 5 determines its own position and the route of travel based on the positioning and navigation component 8 .

[0116] Specifically, the control host 5 controls the robot to move forward, backward, turn and stop based on the first driving component 32 and the second driving component 33.

[0117] Furthermore, the control host 5 adjusts the motion trajectory of the smart advertising vehicle through differential control, that is, by controlling the first reduction motor 324 and the second reduction motor 334 to operate at different powers, so that there is a speed difference between the rotation of the first drive wheel 321 and the second drive wheel 331, thereby realizing the left turn or right turn of the smart advertising vehicle, or controlling the first reduction motor 324 to rotate forward and the second reduction motor 334 to reverse, so that the movement directions of the first drive wheel 321 and the second drive wheel 331 are opposite, thereby realizing the rotation and turning operation of the smart display robot, or controlling the first reduction motor 324 and the second reduction motor 334 to reverse, so that the smart advertising vehicle can move backward.

[0118] Specifically, the control host 5 is provided with a 5G communication module, and the staff can remotely connect to the control host 5 through the 5G communication module, timely change the playback content of the smart advertising vehicle, and can control the smart advertising vehicle online in real time.

[0119] S12: The laser radar and the ultrasonic sensing module identify obstacle information during the cruising process and send the information to the control host.

[0120] S13: The control host adjusts the moving action of the smart advertising vehicle according to the obstacle information.

[0121] The present invention provides an intelligent advertising vehicle, which is provided with multiple display screens and has a large advertising broadcast coverage. By arranging the control layer and the drive layer in intervals and arranging the laser radar in the intervals, the obstacle avoidance sensing effect of the intelligent advertising vehicle is ensured, and the laser radar is effectively protected, damage is reduced, and the service life is ensured. Based on the laser radar, the intelligent advertising vehicle can perform autonomous navigation through SLAM navigation technology, realize autonomous cruising in a shopping mall, improve advertising efficiency, and ensure advertising effect.

[0122] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0123] In addition, the above is a detailed introduction to a smart advertising vehicle and a control method provided by an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A smart advertising vehicle, characterized in that: The smart advertising vehicle comprises a mobile platform, a bracket and a display assembly, wherein the bracket is fixed on the mobile platform; The display assembly includes a body and a plurality of display screens, the body is fixed on the bracket, the body is a column structure, and the plurality of display screens are arranged and fixed on the body; The mobile platform comprises a control layer, a driving layer and a shell, wherein the control layer is arranged above the driving layer, and the shell is covered on the outer walls of the control layer and the driving layer; The control layer and the driving layer are connected based on the support column, and the control layer and the driving layer are spaced from each other to form a gap; The driving layer comprises a driving layer bottom plate and a driving layer top plate, a laser radar and a radar bracket are arranged on the driving layer bottom plate, the radar bracket is fixed on the driving layer bottom plate, and the laser radar is fixed on the top of the radar bracket; The top plate of the driving layer is provided with a radar matching hole, and one end of the laser radar extends out of the driving layer from the radar matching hole; The housing comprises a first enclosure and a second enclosure, wherein the first enclosure is a cylindrical structure and fits on the outer wall of the driving layer, and the second enclosure is an arc-shaped baffle and covers a part of the control layer and a part of the gap; A shield is provided in the gap, and the shield cooperates with the housing to form an open area on the gap; One end of the laser radar is arranged in the open area.

2. The smart advertising vehicle according to claim 1, characterized in that: The smart advertising vehicle further comprises a tray, and the tray is fixed on the bracket.

3. The smart advertising vehicle according to claim 1, characterized in that: An ultrasonic sensing module is arranged at the bottom of the radar bracket.

4. The smart advertising vehicle according to claim 1, characterized in that: The control layer comprises a control layer top plate, a control layer bottom plate and side plates, and the control layer top plate is connected with the control layer bottom plate based on a support column; The side plate is an arc-shaped plate, and is arranged on the circumferential side wall of the control layer; A control host and a sound box are arranged on the control layer bottom plate, and the control host is cooperatively connected with the sound box.

5. A control method for an intelligent advertising vehicle, characterized in that: The control method is applied to the smart advertising vehicle according to any one of claims 1 to 4, and the control method includes: The control host performs autonomous navigation based on the positioning navigation component, and controls the smart advertising vehicle to perform advertising parade; The laser radar and the ultrasonic sensing module identify obstacle information during the cruising process and send it to the control host; The control host adjusts the moving action of the smart advertising vehicle according to the obstacle information.

6. The control method of the intelligent advertising vehicle according to claim 5, characterized in that: The control host performs autonomous navigation based on the positioning navigation component, including: The laser radar scans the surrounding environment and generates a grid map and sends it to the control host; The control host performs autonomous navigation according to the grid area map.

7. The control method of the smart advertising vehicle according to claim 5, characterized in that: The controlling the smart advertising vehicle to perform advertising parade includes: The control host plays advertising information through the display component and the speaker.

8. The control method of the intelligent advertising vehicle according to claim 5, characterized in that: The controlling the smart advertising vehicle to perform advertising parade also includes: The control host is provided with a 5G communication module, receives remote control information based on the 5G communication module, and updates the advertising information in real time according to the remote control information.

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