Laser designator, robot and explanation method

Abstract

The invention relates to the technical field of interactive robots, in particular to a laser designator, a robot and a laser indication method, and provides a laser designator comprising a vertical driving mechanism and a horizontal driving mechanism, so that direction adjustment can be performed in two dimensions. The laser designator is applied to the robot body, so that an explained area is indicated and guided while explaining is carried out, and audiences can understand the explained area conveniently. The problems that most existing explanation service robots explain scenes in an area, if the existing explanation service robots advance to a designated area to sense signals sent by a signal transmitter in the area and call matched audio or video resources in a storage module for explanation, the explanation effect is not ideal when the mode deals with complex scenes, and the explanation effect is poor are solved. For example, a plurality of units to be explained are stacked in the same scene, so that audiences are difficult to know which unit is specifically explained.

Description

Technical Field

[0001] The present invention relates to the technical field of interactive robots, and in particular to a laser pointer, a robot and a laser pointing method. Background Art

[0002] Today, with the rapid development of science and technology, service robots, as outstanding representatives of intelligent technology, are gradually penetrating into many fields such as education, exhibitions, museums, and corporate exhibition halls, bringing revolutionary changes to traditional interpretation services. With the growing market demand for efficient and accurate interpretation services, as well as the rapid development of key technologies such as robotics, automation control technology, sensor technology, and artificial intelligence, it is particularly important to develop and integrate an intelligent interpretation service robot project.

[0003] Most of the existing explanation service robots explain the scenes in the area. For example, they travel to a designated area and sense the signal sent by the signal transmitter in the area, and at the same time call the matching audio or video resources in the storage module for explanation. This method is not ideal for explaining complex scenes. For example, if there are multiple units to be explained stacked in the same scene, it is difficult for the audience to know which unit to explain. Summary of the invention

[0004] In view of the above problems, the present invention provides a laser pointer, a robot and a laser pointing method.

[0005] The adopted technical solution is: a laser pointer, comprising a laser pointer body, wherein the laser pointer body comprises a working seat, a connecting head, a movable head, a posture sensor and a laser head; A working chamber is provided in the working seat, and a horizontal driving mechanism is provided in the working chamber; The connecting head is arranged on the top of the working seat and connected to the horizontal driving mechanism, and one end of the connecting head is connected to the movable head through the vertical driving mechanism; The laser head is arranged on the movable head and is located on a side away from the connecting head; The posture sensor can obtain the three-dimensional posture data of the laser head in real time.

[0006] Optionally, the horizontal driving mechanism includes a horizontal steering gear, a driving gear, a first rotating shaft and a reduction gear; The horizontal steering servo is connected to the controller signal, and the power output end of the horizontal steering servo is connected to the driving gear and can control the rotation of the driving gear; The first rotating shaft is arranged on one side of the horizontal steering servo, and the first rotating shaft is connected to the connector; The reduction gear is arranged on the first rotating shaft and meshes with the driving gear.

[0007] Optionally, the vertical driving mechanism includes a vertical steering servo, one end of which is connected to the connecting head, and the other end of which is connected to the movable head.

[0008] The present application also provides a robot, including a robot body, the robot body including a traveling base, a supporting structure and an interactive structure, the interactive structure is arranged on the supporting structure, the bottom of the supporting structure is connected to the traveling base, and the top of the supporting structure is provided with the above-mentioned laser indicator body.

[0009] Optionally, the support structure includes a support seat and a support column, and the support column is arranged on the support seat; The laser pointer is arranged on the top of the support column; The interactive structure is connected to the support seat and the support column.

[0010] Optionally, a controller is provided in any one of the support column, the support seat and the traveling base, and the controller is connected to the vertical drive mechanism and the horizontal drive mechanism by signal.

[0011] Optionally, the interactive structure includes an interactive screen, a camera, a microphone and a speaker; The interactive screen is connected to the support base and the support column respectively; The camera is arranged on a supporting column; The microphone is arranged on the supporting column; The speaker is arranged on a supporting seat; The controller is respectively connected to the interactive screen, camera, microphone and speaker signals.

[0012] The present application also provides a robot laser indication method, which is implemented based on the above robot and includes the following steps: S1. Identify and locate the target through the camera; S2. Convert the identified target pixel coordinates into coordinate points; S3. Plan the travel path; S4. Autonomous navigation to reach the target location; S5. Perform laser pointing through the laser pointer body.

[0013] Optionally, in S1, the robot captures the environment image through the integrated camera and uses image recognition technology such as deep learning to identify and locate the explanation target; In S2, the identified target pixel coordinates are converted into specific coordinate points on the electronic map; In S3, the robot builds an environmental map in real time through SLAM technology, and plans the optimal path according to the target location. According to the planned path, the robot realizes autonomous movement by controlling the traveling base; In S4, after the robot reaches the vicinity of the target position, it obtains its three-dimensional posture data in real time through the posture sensor inside the laser pointer body; In S5, based on the control algorithm and combined with the three-dimensional posture data, the direction and angle of the laser pointer that need to be adjusted are calculated, and then the vertical drive device and the horizontal drive device are controlled by servo motors respectively to achieve precise movement of the laser pointer in the horizontal and vertical directions and perform laser indication.

[0014] Optionally, the interactive screen displays the distance between the robot's current position and the target position.

[0015] The benefits of the present invention include: 1. A laser pointer is provided which includes a vertical drive mechanism and a horizontal drive mechanism, so that the direction can be adjusted in two dimensions.

[0016] 2. By applying a laser pointer to the robot, the robot can indicate the area being explained while giving a lecture, making it easier for the audience to understand.

[0017] 3. It solves the problem that most of the existing explanation service robots explain the scenes in the area. For example, they move to the designated area and sense the signal sent by the signal transmitter in the area, and call the matching audio or video resources in the storage module for explanation. This method is not ideal for explaining complex scenes. For example, if there are multiple units to be explained in the same scene, it is difficult for the audience to know which unit to explain. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of a robot with a laser pointer; Figure 2 A schematic diagram of a robot structure with a laser pointer from another perspective; Figure 3 A schematic diagram of a robot structure with a laser pointer from a third-person perspective; Figure 4 It is a schematic diagram of the structure of a laser pointer; Figure 5 This is a diagram of the internal structure of the laser pointer.

[0019] The figure marks include: 1 for the support base, 2 for the support column, 3 for the traveling base, 4 for the interactive screen, 5 for the microphone, 6 for the camera, 7 for the speaker, 8 for the atmosphere light, 9 for the laser indicator, 10 for the wireless charging electrode, 11 for the control button, 13 for the working base, 14 for the working chamber, 15 for the horizontal steering servo, 16 for the driving gear, 17 for the first rotating shaft, 18 for the reduction gear, 19 for the movable head, 20 for the laser head, 21 for the vertical steering servo, and 22 for the connecting head. DETAILED DESCRIPTION

[0020] The following describes the implementation of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0021] It should be noted that the illustrations provided in the following embodiments are only used to schematically illustrate the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0022] like Figure 4 and Figure 5 As shown, a laser pointer includes a laser pointer body 9, wherein the laser pointer body 9 includes a working seat 13, a connecting head 22, a movable head 19, a posture sensor and a laser head 20; The working seat 13 is provided with a working chamber 14, and the working chamber 14 is provided with a horizontal driving mechanism; The connecting head 22 is arranged on the top of the working seat 13 and connected to the horizontal driving mechanism. One end of the connecting head 22 is connected to the movable head 19 through the vertical driving mechanism. The laser head 20 is disposed on the movable head 19 and is located on a side away from the connecting head 22; The posture sensor can obtain the three-dimensional posture data of the laser head 20 in real time.

[0023] The purpose of such a design is to provide a laser pointer including a vertical drive mechanism and a horizontal drive mechanism, so that the direction can be adjusted in two dimensions.

[0024] At the same time, the present embodiment also provides the specific composition of the horizontal drive mechanism and the vertical drive mechanism, wherein the horizontal drive mechanism includes a horizontal steering servo 15, a driving gear 16, a first rotating shaft 17 and a reduction gear 18; The horizontal steering servo 15 is connected to the controller signal, and the power output end of the horizontal steering servo 15 is connected to the driving gear 16 and can control the driving gear 16 to rotate; The first rotating shaft 17 is disposed on one side of the horizontal steering servo 15, and the first rotating shaft 17 is connected to the connector 22; The reduction gear 18 is disposed on the first rotating shaft 17 and meshes with the driving gear 16 .

[0025] Furthermore, the vertical driving mechanism includes a vertical steering servo 21 , one end of which is connected to the connecting head 22 , and the other end of which is connected to the movable head 19 .

[0026] The purpose of this design is that when the laser pointer needs to be controlled to turn horizontally, the horizontal steering servo can be controlled by the controller, and the horizontal steering servo drives the driving gear to rotate to adjust the position of the connector.

[0027] When the laser pointer needs to be controlled to turn horizontally, the vertical steering servo can be controlled by the controller, and the vertical steering servo drives the movable head to rotate vertically.

[0028] like Figures 1 to 3 As shown, this embodiment further provides a robot based on the laser pointer, including a robot body, wherein the robot body includes a traveling base 3, a supporting structure and an interactive structure, wherein the interactive structure is arranged on the supporting structure, and the bottom of the supporting structure is connected to the traveling base 3, wherein a laser pointer 9 is arranged on the top of the supporting structure, and a vertical driving mechanism and a horizontal driving mechanism are arranged in the laser pointer 9, and the vertical driving mechanism and the horizontal driving mechanism can respectively adjust the vertical and horizontal directions of the laser pointer 9.

[0029] The purpose of this design is to add an additional laser pointer to the existing explanation service robot, so that the explanation area can be indicated and guided while the explanation is being given, which is convenient for the audience to understand. By setting a vertical drive mechanism and a horizontal drive mechanism, the direction of the laser pointer can be adjusted in two dimensions. This solves the problem that most of the existing explanation service robots explain the scenes in the area. For example, when they travel to a designated area, they sense the signal sent by the signal transmitter in the area, and at the same time call the matching audio or video resources in the storage module for explanation. This method is not ideal for explaining complex scenes. For example, if there are multiple units to be explained stacked in the same scene, it is difficult for the audience to know which unit to explain.

[0030] It should be pointed out that the explanation service robot solution with a laser pointer provided in this embodiment mainly realizes the function of laser indication from the hardware structure, but in actual application scenarios, to indicate completely and accurately, it is also necessary to match corresponding algorithms and gesture sensors and other structures. For example, an MPU6050 three-axis acceleration sensor is installed inside the laser pointer to output the three-dimensional gesture data of the laser pointer in real time. These data include key parameters such as attitude angle, angular velocity, acceleration, etc. After analog-to-digital conversion, these data are sent to the control unit STM32F103C8T6 microcontroller for further processing. The control unit uses the built-in attitude solution algorithm Kalman filtering to convert the original attitude data into stable and accurate indicator attitude information.

[0031] In this embodiment, the support structure includes a support base 1 and a support column 2, wherein the support column 2 is disposed on the support base 1; The laser pointer 9 is arranged on the top of the support column 2; The interactive structure is connected to the support seat 1 and the support column 2.

[0032] At the same time, a controller is provided in any one of the support column 2, the support seat 1 and the traveling base 3, and the controller is connected with the vertical driving mechanism and the horizontal driving mechanism by signal.

[0033] It should be pointed out that in the specific implementation, since the specific location of the controller has no effect on the entire solution, technical personnel in this field can set it in any one or more of the support columns, support seats and traveling bases according to the space size and actual needs during the specific implementation.

[0034] Meanwhile, in this embodiment, the interactive structure includes an interactive screen 4, a camera 6, a microphone 5 and a speaker 7; The interactive screen 4 is connected to the support base 1 and the support column 2 respectively; The camera 6 is arranged on the support column 2; The microphone 5 is arranged on the supporting column 2; The speaker 7 is arranged on the support base 1; The controller is signal-connected to the interactive screen 4, the camera 6, the microphone 5 and the speaker 7 respectively.

[0035] The purpose of this design is to further expand the explanation service by setting up an interactive screen, camera, microphone and speaker. It can be based on touch screen interaction, video capture through camera, voiceprint recognition through microphone, etc.

[0036] At the same time, in this embodiment, an atmosphere light 8 is also provided on the outer periphery of the support base 1, a wireless charging electrode 10 is provided at the tail of the traveling base 3, a control button 11 is provided at the tail of the support base 1, and the controller is a single chip microcomputer of model STM32F103C8T6.

[0037] At the same time, this embodiment also provides a robot laser indication method based on the robot, including the following steps: S1. Identify and locate the target through camera 6; S2. Convert the identified target pixel coordinates into coordinate points; S3. Plan the travel path; S4. Autonomous navigation to reach the target location; S5. Perform laser pointing through the laser pointer body 9.

[0038] In the specific implementation, in S1, the robot captures the environment image through the integrated camera and uses image recognition technology such as deep learning to identify and locate the explanation target; In S2, the identified target pixel coordinates are converted into specific coordinate points on the electronic map; In S3, the robot builds an environmental map in real time through SLAM technology, and plans the optimal path according to the target location. According to the planned path, the robot realizes autonomous movement by controlling the traveling base 3; In S4, after the robot reaches the vicinity of the target position, the robot obtains its three-dimensional posture data in real time through the posture sensor inside the laser pointer body 9; In S5, based on the control algorithm and combined with the three-dimensional posture data, the direction and angle of the laser pointer that need to be adjusted are calculated, and then the vertical drive device and the horizontal drive device are controlled by servo motors respectively to achieve precise movement of the laser pointer in the horizontal and vertical directions and perform laser indication.

[0039] In the specific implementation scenario, the user first issues a command, such as "go to area A and point to building B". The robot's microphone collects audio information, and receives and interprets the user's command through the built-in voice recognition software, converting the voice command into recognizable text commands.

[0040] Then, the robot uses the environmental map built by SLAM (Simultaneous Localization and Mapping) technology to plan the optimal movement path according to the location name in the user's command (such as "Area A"). The robot uses sensors such as laser radar, ultrasonic sensors, and gyroscopes on the mobile chassis to accurately locate itself and autonomously move to the designated location (Area A) according to the planned path.

[0041] Then, when the robot reaches the designated location, it uses image recognition technology (such as deep learning algorithms) to identify the explanation target (such as "Building B"). The target image is captured by the camera, and the algorithm is used to detect and locate the target to obtain the specific location of the target in the environment.

[0042] Then, according to the target position information, the robot automatically adjusts the direction and angle of the laser pointer through the control system. The vertical drive device uses a servo motor to drive the laser pointer up and down through a precision reduction gear; the horizontal drive device also uses a servo motor to achieve horizontal rotation of the laser pointer through gears or belt transmission. Combined with the three-dimensional posture data output in real time by the MPU6050 three-axis acceleration sensor, the PID control algorithm is used to achieve precise control of the laser pointer to ensure that the laser beam can accurately point to the target specified by the user.

[0043] Then, while the laser pointer is pointing to the target, the robot displays images, videos or text information related to the explanation through the touch screen, allowing users to understand the explanation more intuitively. The speaker plays the explanation audio, converting the text information into sound output, enhancing the immersion and appeal of the explanation. The robot can also have real-time conversations with users through the voice interaction system, answering questions raised by users or providing further explanations and instructions.

[0044] Develop a touch screen interface or voice feedback system to display the current status of the robot (such as movement status, laser indication status, etc.) and receive user input. During the robot movement and laser indication process, real-time feedback is given to the user through voice or screen display to improve the user experience. The system can also monitor various performance indicators of the robot, such as battery power, network connection status, etc., to ensure that the robot can continue to operate stably.

[0045] Through the above workflow, the intelligent explanation service robot can accurately identify the target location in the user's instructions and use a laser pointer for precise indication. At the same time, it combines rich multimedia display and interactive functions to provide users with efficient, accurate and interesting explanation services.

[0046] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A laser pointer, comprising a laser pointer body (9), characterized in that: The laser pointer body (9) comprises a working seat (13), a connecting head (22), a movable head (19), a posture sensor and a laser head (20); A working chamber (14) is provided in the working seat (13), and a horizontal driving mechanism is provided in the working chamber (14); The connecting head (22) is arranged on the top of the working seat (13) and is connected to the horizontal driving mechanism; one end of the connecting head (22) is connected to the movable head (19) via the vertical driving mechanism; The laser head (20) is arranged on the movable head (19) and is located on a side away from the connecting head (22); The posture sensor can acquire three-dimensional posture data of the laser head (20) in real time.

2. A laser pointer according to claim 1, characterized in that: The horizontal driving mechanism comprises a horizontal steering gear (15), a driving gear (16), a first rotating shaft (17) and a reduction gear (18); The horizontal steering servo (15) is connected to the controller signal, and the power output end of the horizontal steering servo (15) is connected to the driving gear (16) and can control the rotation of the driving gear (16); The first rotating shaft (17) is arranged on one side of the horizontal steering servo (15), and the first rotating shaft (17) is connected to the connecting head (22); The reduction gear (18) is arranged on the first rotating shaft (17) and meshes with the driving gear (16).

3. A laser pointer according to claim 1, characterized in that: The vertical driving mechanism comprises a vertical steering servo (21), one end of the vertical steering servo (21) is connected to a connecting head (22), and the other end is connected to a movable head (19).

4. A robot, comprising a robot body, the robot body comprising a traveling base (3), a supporting structure and an interactive structure, the interactive structure being arranged on the supporting structure, the bottom of the supporting structure being connected to the traveling base (3), characterized in that: The top of the support structure is provided with a laser pointer body (9) according to any one of claims 1 to 3.

5. A robot according to claim 4, characterized in that: The support structure comprises a support base (1) and a support column (2), wherein the support column (2) is arranged on the support base (1); The laser indicator (9) is arranged on the top of the support column (2); The interactive structure is connected to the support base (1) and the support column (2).

6. A robot according to claim 5, characterized in that: Any one of the support column (2), the support seat (1) and the traveling base (3) is provided with a controller, and the controller is connected to the vertical drive mechanism and the horizontal drive mechanism by signal.

7. A robot according to claim 6, characterized in that: The interactive structure comprises an interactive screen (4), a camera (6), a microphone (5) and a speaker (7); The interactive screen (4) is connected to the support base (1) and the support column (2) respectively; The camera (6) is arranged on the support column (2); The microphone (5) is arranged on the supporting column (2); The loudspeaker (7) is arranged on the support base (1); The controller is respectively connected to the interactive screen (4), the camera (6), the microphone (5) and the speaker (7) via signals.

8. A robot laser pointing method, implemented based on the robot in claim 6, characterized in that: The following steps are involved: S1. Identify and locate the target of the explanation through the camera (6); S2. Convert the identified target pixel coordinates into coordinate points; S3. Plan the travel path; S4. Autonomous navigation to reach the target location; S5. Perform laser pointing through the laser pointer body (9).

9. A robot laser pointing method according to claim 8, characterized in that: In S1, the robot captures environmental images through an integrated camera and uses image recognition technologies such as deep learning to identify and locate the explanation target; In S2, the identified target pixel coordinates are converted into specific coordinate points on the electronic map; In S3, the robot builds an environmental map in real time through SLAM technology, and plans the optimal path according to the target location. According to the planned path, the robot realizes autonomous movement by controlling the traveling base (3); In S4, after the robot reaches the vicinity of the target position, the robot obtains its three-dimensional posture data in real time through the posture sensor inside the laser indicator body (9); In S5, based on the control algorithm and combined with the three-dimensional posture data, the direction and angle of the laser pointer that need to be adjusted are calculated, and then the vertical drive device and the horizontal drive device are controlled by servo motors respectively to achieve precise movement of the laser pointer in the horizontal and vertical directions and perform laser indication.

10. A robot laser pointing method according to claim 9, characterized in that: The interactive screen (4) displays the distance between the robot's current position and the target position.

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