A patrol and explanation method for an explanation robot and the explanation robot itself.

Abstract

This invention relates to a patrol and explanation method for an explanation robot, and the explanation robot itself. The patrol and explanation method is used in the control unit of the explanation robot, which is located within an exhibition space. The patrol and explanation method includes: controlling the explanation robot to provide explanations within the exhibition space for a first preset time, then identifying audience members who have already received explanations; adjusting the movement direction of the explanation robot based on the location of audience members who have not yet received explanations; and controlling the explanation robot to move to a new location and provide explanations for the first preset time. In existing scenarios, explanation robots often provide explanations in areas with low visitor traffic, while other areas with high visitor traffic remain unserved for extended periods. To address these issues, the solution proposed in this application enables the explanation robot to efficiently perform patrol and explanation tasks, thereby ensuring that more visitors within the exhibition space receive explanation services during their visit.

Description

Technical Field

[0001] This invention relates to the field of explanation robots, and more particularly to a patrol explanation method for explanation robots and the explanation robot itself. Background Technology

[0002] The application of guided tour robots in museums and science exhibition halls has become an important branch of intelligent robot services. This not only provides valuable information but also enhances the visitor experience, opening up new avenues for science and culture dissemination. In open exhibition spaces, improving the visitor experience is crucial when guided tour robots perform patrol and explanation tasks. However, some shortcomings still exist in existing scenarios. For example, guided tour robots often provide explanations in areas with low visitor traffic, while other areas with high traffic remain unserved for extended periods.

[0003] To address the aforementioned issues, no reasonable solution has yet been proposed within the industry. Therefore, robot R&D teams need to design a patrol and explanation scheme for explanation robots, enabling them to efficiently perform patrol and explanation tasks, thereby ensuring that more visitors in the exhibition space receive explanation services during their visit. Summary of the Invention

[0004] The technical problem to be solved by this invention is: how to design a patrol and explanation scheme for explanation robots, so that explanation robots can efficiently perform patrol and explanation tasks, thereby ensuring that more visitors in the exhibition space receive explanation services during their visit.

[0005] To address the aforementioned problems, this invention proposes a patrol and explanation method for an explanation robot, as well as the explanation robot itself. In a first aspect, this invention proposes a patrol and explanation method for an explanation robot, wherein the patrol and explanation method is used in the control unit of the explanation robot, the explanation robot being located within an exhibition space, and the patrol and explanation method includes: S1, controlling the explanation robot to perform explanations within the exhibition space for a first preset time, and then identifying audience members who have already been explained; S2, adjusting the movement direction of the explanation robot according to the position of the audience members who have not yet been explained; S3, controlling the explanation robot to move to a new position and perform explanations for the first preset time. In one embodiment, the exhibition space can specifically be an open-space exhibition space, such as a museum, science and technology exhibition hall, or cultural exhibition hall; furthermore, there are multiple visiting targets in the open-space exhibition space, and these multiple visiting targets are approximately evenly distributed.

[0006] A further technical solution is that the exhibition space includes a bird's-eye view camera unit, and the control unit is wirelessly connected to the bird's-eye view camera unit. The control unit is also connected to a robot imaging unit. Step S1 involves controlling the guided tour robot to provide a guided tour within the exhibition space for a first preset time, followed by identifying the audience members who have already received the guided tour. This includes: Step S11, controlling the guided tour robot to provide a guided tour within a first area of ​​the exhibition space for a first preset time, and then identifying visitors captured by the bird's-eye view camera unit and / or the robot imaging unit. Visitors who remain within the guided tour robot's preset audience radius area for more than a second preset time are defined as audience members who have already received the guided tour. In one embodiment, the guided tour robot provides the guided tour at the geometric center of the first area of ​​the exhibition space; the robot imaging unit acquires close-up features of the person, and the bird's-eye view camera unit acquires distant features of the person.

[0007] A further technical solution is that the visitors captured by the bird's-eye view camera unit and / or the robot image unit who remain within the preset audience radius area of ​​the guide robot for more than a second preset time are defined as "guided audience members." This includes: identifying the human characteristics of the visitors captured by the bird's-eye view camera unit and / or the robot image unit, and encoding the human characteristics into a person's data; identifying whether the human characteristics identified by the bird's-eye view camera unit and / or by comparing human characteristics correspond to the same person previously identified; and if the duration for which the human characteristics identified at the next preset time correspond to the same person previously identified exceeds the second preset time within the preset audience radius area of ​​the guide robot, then the visitors possessing the human characteristics identified at the next preset time are defined as "guided audience members."

[0008] A further technical solution is as follows: S2, adjusting the movement direction of the narration robot based on the location of the unnarrated audience members, includes: S12, identifying unnarrated audience members among the visitors (excluding those already given a presentation) and obtaining their distribution within the exhibition space; S13, based on the distribution of unnarrated audience members in the exhibition space, identifying the area with the largest number of unnarrated audience members (excluding the first area) as the second area, and using the first connecting line segment between the geometric center of the first area and the geometric center of the second area as the proposed movement trajectory. Here, the proposed movement trajectory represents the general direction of the narration robot's movement, which will be adjusted and optimized based on actual conditions in the future.

[0009] The further technical solution is as follows: S3, controlling the explanation robot to move to a new position and perform an explanation for a first preset time, includes: S14, controlling the explanation robot to move towards the geometric center of the second area until the explanation robot moves to the midpoint of the first connecting line segment; S15, pausing for a preset pause time at the midpoint of the first connecting line segment, and identifying the area with the most unexplained listeners besides the first area as the third area; S16, determining whether the second area and the third area are the same area; S17, if the second area and the third area are the same area, continuing to control the explanation robot to move along the planned movement trajectory until the explanation robot moves to the geometric center of the second area and performs an explanation for the first preset time; S18, if the second area and the third area are not the same area, taking the third area as the central area, identifying the area with the most unexplained listeners among the eight areas surrounding the third area as the fourth area, and using the second connecting line segment between the midpoint of the first connecting line segment and the geometric center of the fourth area as the second movement trajectory, continuing to control the explanation robot to move along the second movement trajectory until the explanation robot moves to the geometric center of the fourth area and performs an explanation for the first preset time.

[0010] A further technical solution is as follows: the explanation robot moves to the geometric center of the second area, specifically by moving within the second area and then stopping, with the ground mapping area of ​​the explanation robot covering the geometric center of the second area; the explanation robot moves to the geometric center of the fourth area, specifically by moving within the fourth area and then stopping, with the ground mapping area of ​​the explanation robot covering the geometric center of the fourth area. The explanation robot can perform its explanation within a range near the geometric center to ensure the effectiveness of the explanation; the ground mapping area of ​​the explanation robot can be the area formed on the ground due to the obstruction of light rays projected directly above the explanation robot.

[0011] A further technical solution is that, after the guided tour robot moves to a new location and performs a first preset tour, the method further includes: identifying the current battery level of the guided tour robot and determining whether the current battery level is below a battery threshold; if the current battery level is below the battery threshold, performing a charging task for the guided tour robot; if the current battery level is not below the battery threshold, continuing to perform the patrol and tour method within the exhibition space. In one embodiment, performing the charging task for the guided tour robot means moving to a preset charging area and performing a charging task; in another embodiment, performing the charging task for the guided tour robot means the guided tour robot sends a charging call signal while in place.

[0012] The aforementioned patrol and explanation method for the robot can count the number of people in each area of ​​the exhibition space, encode the characteristics of the people identified in each area into a single person's data, and then compare the characteristics to see if they correspond to the same person previously. Next, it counts the number of people in each area who have not had a narration task or whose last narration session was more than a preset interval (the preset interval is one hour, which can be modified). The robot then goes to the specific area with the most people without narration, and after arriving at the specific area and giving a narration session, it marks the visitors as having been served and records the service time interval. The characteristics of the people can include information such as gender, age group, mask, hat, beard, hairstyle, eye type, clothing style, clothing texture, clothing color, clothing style and color, body type, backpack, handbag, etc.

[0013] The beneficial effects of this application include: first, it can effectively utilize the guided tour robot, allowing it to provide guided tours to more visitors within a single workday; second, it can avoid the robot providing guided tours in sparsely populated or unmanned areas, which would make it seem unintelligent to visitors.

[0014] In summary, in existing scenarios, guided tour robots often provide explanations in areas with low visitor traffic, while other areas with high traffic remain unserved for extended periods. To address these issues, this application's solution enables guided tour robots to efficiently perform patrol and explanation tasks, thereby ensuring that more visitors within the exhibition space receive guided tour services during their visit. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the patrol explanation method provided in an embodiment of the present invention.

[0018] Figure 2 This is another flowchart illustrating the patrol explanation method provided in an embodiment of the present invention.

[0019] Figure 3 This is another flowchart illustrating the patrol and explanation method provided in an embodiment of the present invention.

[0020] Figure 4A schematic diagram of the framework of the explanatory robot provided in an embodiment of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0023] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0024] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to one or any combination of the associated listed items and all possible combinations, and includes such combinations.

[0025] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0026] Example 1

[0027] Please see Figures 1 to 3 , among them Figure 1 This is a flowchart illustrating a patrol and explanation method provided by an embodiment of the present invention. The present invention proposes a patrol and explanation method for an explanation robot, wherein the patrol and explanation method is used in the control unit of the explanation robot, the explanation robot is located in an exhibition space, and the patrol and explanation method includes: S1 controls the explanation robot to conduct a first preset explanation within the exhibition space, and then identifies the audience members who have been explained.

[0028] S2, adjust the direction of movement of the narration robot according to the position of the audience member who is not being narrated.

[0029] S3 controls the narration robot to move to a new location and perform a narration for the first preset time.

[0030] Specifically, the exhibition space can be an open-space, such as a museum, science and technology exhibition hall, or cultural exhibition hall. Its layout is an unobstructed three-dimensional space, rather than a tunnel-like layout similar to an aquarium. Furthermore, there are multiple objects to visit in the open-space, which are nearly evenly distributed. In other words, there are multiple exhibits with viewing and interpretation value, and these exhibits are nearly evenly distributed, allowing visitors to be randomly distributed within the space.

[0031] In one embodiment, the exhibition space includes a bird's-eye view camera unit, and the control unit is wirelessly connected to the bird's-eye view camera unit. The control unit is also connected to a robot imaging unit. Step S1 involves controlling the narration robot to conduct a first preset narration within the exhibition space, and then identifying the audience members who have already been narrated, including: S11, control the guide robot to give a presentation in the first area of ​​the exhibition space. The presentation lasts for a first preset time. After that, identify the visitors captured by the bird's-eye view camera unit and / or the robot image unit. Visitors who stay in the preset audience radius area of ​​the guide robot for more than a second preset time are defined as the audience who have been given a presentation.

[0032] In one embodiment, visitors captured by the bird's-eye view camera unit and / or robot image unit who remain within the preset audience radius of the guided tour robot for more than a second preset time are defined as "guided audience members," including: S101 identifies the human characteristics of visitors captured by the bird's-eye view camera unit and / or robotic imaging unit, and encodes the human characteristics into a person's data.

[0033] S102, by comparing the characteristics of the person, determine whether the characteristics of the person identified at the next preset time point correspond to the same person as before.

[0034] S103, within the preset audience radius of the narration robot, if the duration of the character characteristics identified at the next preset moment corresponds to the same person previously, and exceeds the second preset time, then the visitor with the character characteristics identified at the next preset moment is defined as an audience member who has already been narrated.

[0035] In the above scheme, the visitors consist of listeners who have not yet been introduced and listeners who have already been introduced. Considering the propagation characteristics of sound, the definition of the preset listener radius area of ​​the narration robot is known to those skilled in the art. Moreover, visitors located within the preset listener radius area can be considered to have already been introduced after a certain preset time.

[0036] In one embodiment, step S2, adjusting the movement direction of the narration robot according to the position of the audience member not being narrated, includes: S12, identify the non-explained audience members among the visitors, in addition to the already explained audience members, and obtain the distribution of the non-explained audience members in the exhibition space.

[0037] S13, based on the distribution of the audience members who have not received any explanation in the exhibition space, identify the area with the largest number of audience members who have not received any explanation, other than the first area, as the second area, and use the first connecting line segment between the geometric center of the first area and the geometric center of the second area as the proposed movement trajectory.

[0038] In one embodiment, step S3, controlling the narration robot to move to a new location and perform a narration for a first preset time, includes: S14, control the explanation robot to move towards the geometric center of the second area until the explanation robot moves to the midpoint of the first connecting line segment; S15, pause at the midpoint of the first connecting line segment for a preset pause time, and identify the area with the largest number of unexplained listeners, excluding the first area, as the third area; S16, determine whether the second region and the third region are the same region; S17, If the second region and the third region are the same region, continue to control the narration robot to move along the planned movement trajectory until the narration robot moves to the geometric center of the second region and performs the first preset time of narration; S18, if the second region and the third region are not the same region, take the third region as the central region, identify the region with the most unexplained audience among the eight regions surrounding the third region, and take it as the fourth region. Then, take the second connecting line segment between the midpoint of the first connecting line segment and the geometric center of the fourth region as the second moving trajectory, and continue to control the narration robot to move along the second moving trajectory until the narration robot moves to the geometric center of the fourth region and performs the first preset time of narration.

[0039] In the above scheme, the third area is the central area, and a total of nine areas can be obtained by adding the surrounding areas in all directions. Therefore, the area with the most unexplained audience members among the eight surrounding areas of the third area is identified as the fourth area. The technical effect of the above scheme is that while the explanation robot moves, the random movement of visitors is also taken into account. This can effectively avoid the explanation robot missing its next explanation position or inefficient explanation due to the random movement of visitors. That is, while taking into account resources, the explanation robot's explanation position is as close as possible to the surrounding audience members who have not yet been explained.

[0040] In one embodiment, the explanation robot moves to the geometric center of the second region, specifically by moving within the second region and then stopping, with the ground mapping area of ​​the explanation robot covering the geometric center of the second region; the explanation robot moves to the geometric center of the fourth region, specifically by moving within the fourth region and then stopping, with the ground mapping area of ​​the explanation robot covering the geometric center of the fourth region.

[0041] In one embodiment, after the guided tour robot moves to a new location and performs a first preset tour, the method further includes: identifying the current battery level of the guided tour robot and determining whether the current battery level is lower than a battery threshold; if the current battery level is lower than the battery threshold, performing a charging task for the guided tour robot; if the current battery level is not lower than the battery threshold, continuing to perform the patrol tour method within the exhibition space.

[0042] In one embodiment, the present invention also proposes a guided tour robot, which includes a control unit for executing the patrol and guided tour method as described in any of the above embodiments. The beneficial effects of this application include: first, it can effectively utilize the guided tour robot, allowing it to provide guided tours to more visitors within a single workday; second, it can avoid the robot providing guided tours in sparsely populated or unmanned areas, which would make it seem less intelligent to visitors.

[0043] In summary, in existing scenarios, guided tour robots often provide explanations in areas with low visitor traffic, while other areas with high traffic remain unserved for extended periods. To address these issues, this application's solution enables guided tour robots to efficiently perform patrol and explanation tasks, thereby ensuring that more visitors within the exhibition space receive guided tour services during their visit.

[0044] Example 2 See Figure 4 , Figure 4This is a block diagram of an explanation robot provided according to another embodiment of the present invention. Corresponding to the above patrol and explanation method, the present invention also provides an explanation robot 70. The explanation robot 70 includes a control unit for performing the above patrol and explanation method, and the control unit specifically includes: The first mobile explanation unit 71 is used to control the explanation robot to give an explanation for a first preset time in the exhibition space, and then identify the audience members who have been explained.

[0045] The movement direction adjustment unit 72 is used to adjust the movement direction of the narration robot according to the position of the audience member who is not being narrated.

[0046] The second mobile explanation unit 73 is used to control the explanation robot to move to a new position and perform an explanation for a first preset time.

[0047] In one embodiment, the control of the guided tour robot to conduct a first preset time of explanation within the exhibition space, and then to identify the audience members who have been explained, includes: controlling the guided tour robot to conduct an explanation within a first area of ​​the exhibition space for a first preset time, and then identifying visitors captured by the bird's-eye view camera unit and / or the robot's image unit, defining visitors who remain within the predetermined audience radius area of ​​the guided tour robot for more than a second preset time as audience members who have been explained.

[0048] In one embodiment, the identification of visitors captured by the bird's-eye view camera unit and / or the robot image unit, defining visitors who remain within the preset audience radius area of ​​the guide robot for more than a second preset time as "guided audience members," includes: identifying the facial features of visitors captured by the bird's-eye view camera unit and / or the robot image unit, encoding the facial features into a single person's data; determining, through facial feature comparison, whether the facial features identified at the next preset time correspond to the same person previously identified; and if, within the preset audience radius area of ​​the guide robot, the duration for which the facial features identified at the next preset time correspond to the same person previously identified exceeds the second preset time, then visitors possessing the facial features identified at the next preset time are defined as "guided audience members."

[0049] In one embodiment, adjusting the movement direction of the narration robot based on the location of the unnarrated audience includes: identifying unnarrated audience members among the visitors besides those already narrated, and obtaining the distribution of unnarrated audience members in the exhibition space; based on the distribution of unnarrated audience members in the exhibition space, identifying the area with the largest number of unnarrated audience members outside the first area as the second area, and using the first connecting line segment between the geometric center of the first area and the geometric center of the second area as the proposed movement trajectory.

[0050] In one embodiment, controlling the explanation robot to move to a new location and perform an explanation for a first preset time includes: controlling the explanation robot to move towards the geometric center of the second region until the explanation robot moves to the midpoint of the first connecting line segment; pausing for a preset pause time at the midpoint of the first connecting line segment to identify the region with the most unexplained listeners (excluding the first region) as the third region; determining whether the second region and the third region are the same region; if the second region and the third region are the same region, continuing to control the explanation robot to move along a planned movement trajectory until the explanation robot moves to the geometric center of the second region and performs an explanation for the first preset time; if the second region and the third region are not the same region, taking the third region as the central region, identifying the region with the most unexplained listeners among the eight regions surrounding the third region as the fourth region, and using the second connecting line segment between the midpoint of the first connecting line segment and the geometric center of the fourth region as the second movement trajectory, continuing to control the explanation robot to move along the second movement trajectory until the explanation robot moves to the geometric center of the fourth region and performs an explanation for the first preset time.

[0051] In summary, in existing scenarios, guided tour robots often provide explanations in areas with low visitor traffic, while other areas with high traffic remain unserved for extended periods. To address these issues, the guided tour robot described in this application can efficiently perform patrol and explanation tasks, thereby ensuring that more visitors within the exhibition space receive guided tour services during their visit.

[0052] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions, but such implementations should not be considered beyond the scope of this invention.

[0053] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is only a logical functional division, and there may be other division methods in actual implementation. For example, units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0054] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0055] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0056] In this invention, another aspect of the diversity of claims is the variation in claim terminology; even if they appear to express the same idea, some words or phrases may be interpreted more narrowly or more broadly than others. Here are some other examples of alternative claim terms: fastener / connection mechanism; telecommunications network / telephone system; refresh a webpage / get a new version of a webpage; those skilled in the art will recognize that these alternatives can be considered to mean exactly the same thing.

[0057] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0058] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.

[0059] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A patrol and explanation method for an explanation robot, characterized in that, The patrol and explanation method is used to explain the control unit of the robot, which is located in the exhibition space. The exhibition space includes a bird's-eye view camera unit, and the control unit is wirelessly connected to the bird's-eye view camera unit. The control unit is also connected to the robot's imaging unit. The patrol and explanation method includes: S1 controls the explanation robot to conduct an explanation within the exhibition space for a first preset time, and then identifies the audience members who have been explained to. S2, adjust the direction of movement of the narration robot according to the position of the audience member who is not being narrated; S3, control the explanation robot to move to a new position and perform the explanation for the first preset time; S1 includes: S11, controlling the guide robot to give a presentation in a first area of ​​the exhibition space, the presentation lasting for a first preset time, and then identifying visitors captured by the bird's-eye view camera unit and / or the robot image unit, defining visitors who stay in the preset audience radius area of ​​the guide robot for more than a second preset time as audience members who have received the presentation.

2. The patrol and explanation method according to claim 1, characterized in that, Visitors captured by the bird's-eye view camera unit and / or robot image unit who remain within the preset audience radius of the guide robot for more than a second preset time are defined as "guided audience members," including: Identify the human features of visitors captured by the bird's-eye view camera unit and / or robotic image unit, and encode the human features into a person's data; By comparing the characteristics of the people, it is determined whether the characteristics of the people identified at the next preset time point correspond to the same person as before; Within the preset audience radius of the narration robot, if the duration of the person's characteristics identified at the next preset time corresponds to the same person previously identified, and exceeds the second preset time, then the visitor with the person's characteristics identified at the next preset time will be defined as an audience member who has already been narrated.

3. The patrol and explanation method according to claim 1, characterized in that, S2, adjusting the movement direction of the narration robot according to the position of the audience member not being narrated, includes: S12, Identify the visitors who are not part of the audience who have already received a presentation, and obtain the distribution of the unpresented audience in the exhibition space; S13, based on the distribution of the audience members who have not received any explanation in the exhibition space, identify the area with the largest number of audience members who have not received any explanation, other than the first area, as the second area, and use the first connecting line segment between the geometric center of the first area and the geometric center of the second area as the proposed movement trajectory.

4. The patrol and explanation method according to claim 3, characterized in that, S3, controlling the narration robot to move to a new location and perform a narration for a first preset time, includes: S14, control the explanation robot to move towards the geometric center of the second area until the explanation robot moves to the midpoint of the first connecting line segment; S15, pause at the midpoint of the first connecting line segment for a preset pause time, and identify the area with the largest number of unexplained listeners, excluding the first area, as the third area; S16, determine whether the second region and the third region are the same region; S17, If the second region and the third region are the same region, continue to control the narration robot to move along the planned movement trajectory until the narration robot moves to the geometric center of the second region and performs the first preset time of narration; S18, if the second region and the third region are not the same region, take the third region as the central region, identify the region with the most unexplained audience among the eight regions surrounding the third region, and take it as the fourth region. Then, take the second connecting line segment between the midpoint of the first connecting line segment and the geometric center of the fourth region as the second moving trajectory, and continue to control the narration robot to move along the second moving trajectory until the narration robot moves to the geometric center of the fourth region and performs the first preset time of narration.

5. The patrol and explanation method according to claim 4, characterized in that: The explanation robot moves to the geometric center of the second area, specifically by moving and stopping within the second area, and the ground mapping area of ​​the explanation robot covers the geometric center of the second area. The explanation robot moves to the geometric center of the fourth region, specifically by moving within the fourth region and then stopping, with the ground mapping area of ​​the explanation robot covering the geometric center of the fourth region.

6. The patrol and explanation method according to claim 1, characterized in that, After the controlled explanation robot moves to a new location and performs an explanation for a first preset time, the method further includes: Identify the current battery level of the explanation robot and determine if the current battery level is below the battery threshold; If the current battery level is below the battery threshold, execute the charging task for the explanation robot; If the current battery level is not lower than the battery threshold, continue to perform the patrol and explanation method within the exhibition space.

7. A narration robot, characterized in that, The explanation robot includes a control unit, which includes a first mobile explanation unit, a mobile direction adjustment unit, and a second mobile explanation unit. The control unit is used to execute the patrol explanation method as described in any one of claims 1 to 6.

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