CN113074731A

CN113074731A - Intelligent navigation equipment and autonomous navigation method of intelligent navigation equipment

Info

Publication number: CN113074731A
Application number: CN202110302330.6A
Authority: CN
Inventors: 杜媛媛; 郑广斌; 高伟; 魏薇郦
Original assignee: Industrial and Commercial Bank of China Ltd ICBC
Current assignee: Industrial and Commercial Bank of China Ltd ICBC
Priority date: 2021-03-22
Filing date: 2021-03-22
Publication date: 2021-07-06

Abstract

The embodiment of the application provides intelligent navigation equipment and an intelligent navigation equipment autonomous navigation method, which can be used in the technical field of artificial intelligence or other fields, and the method comprises the following steps: generating a positioning map according to the position information of the intelligent navigation equipment and the relative position relationship between the intelligent navigation equipment and at least one obstacle; correcting a positioning map according to self positioning information and self position information of the intelligent navigation equipment; generating a navigation route according to the self-positioning information, the target client positioning information and the corrected positioning map of the intelligent navigation equipment at each moment in the movement process; navigating to the target client according to the navigation route; the advantages of complementation of various positioning means are utilized, the positioning error caused by continuous motion of the intelligent navigation equipment is avoided, the reconstruction cost and the machine performance consumption are reduced, and meanwhile, the intelligent navigation equipment actively searches for the customers and dynamically locks the target customers.

Description

Intelligent navigation equipment and autonomous navigation method of intelligent navigation equipment

Technical Field

The application relates to the technical field of artificial intelligence, in particular to intelligent navigation equipment and an autonomous navigation method of the intelligent navigation equipment.

Background

In recent years, in order to provide richer and faster services for customers and reduce the labor cost expenditure of banks, the banks build thinking around intelligent banks, provide intelligent service robot technical support at bank outlets, change the traditional work execution mode, release manpower and improve marketing efficiency. At present, robots distributed at bank outlets are generally service robots, and mainly comprise a welcome robot and a light business robot. Among them, SLAM (simultaneous localization and mapping) becomes a core technology for positioning and navigation of a service robot, but is limited by computational power and map creation requirements, and SLAM technical solutions cannot be independently deployed in the environment. The service robot can only determine self-positioning information and environment map information, complete fixed-point service tasks and cannot dynamically lock a service client target. Generally, when a hall manager guides a client to walk to the robot or the client requests service from the robot, the robot can recognize the identity of the client in a short distance through a camera provided by the robot, so that the timeliness of the intelligent bank robot for executing business cannot be improved, and the real benefit of the intelligent bank robot is difficult to be brought into play.

Disclosure of Invention

Aiming at the problems in the prior art, the intelligent navigation equipment and the autonomous navigation method of the intelligent navigation equipment are provided, multiple positioning means are fused, the complementary advantages of the multiple positioning means are utilized, the reconstruction cost and the machine performance consumption are reduced, and meanwhile the robot can actively search for a customer, dynamically lock the service customer and provide autonomous navigation follow-up service.

In order to solve the technical problem, the application provides the following technical scheme:

in a first aspect, the present application provides an autonomous navigation method for an intelligent navigation device, including:

generating a positioning map according to the position information of the intelligent navigation equipment and the relative position relationship between the intelligent navigation equipment and at least one obstacle;

correcting the positioning map according to the self-positioning information of the intelligent navigation equipment and the self-position information of the intelligent navigation equipment, wherein the positioning information is obtained by positioning a positioning chip on the intelligent navigation equipment through a plurality of positioning base stations;

generating a navigation route according to the self-positioning information, the target client positioning information and the corrected positioning map of the intelligent navigation equipment at each moment in the movement process;

and navigating to the target client according to the navigation route.

Further, the intelligent navigation device autonomous navigation method further comprises the following steps:

generating a target client motion track according to the target client positioning information change data;

after navigating to a target client, predicting the current service to be executed by the target client according to the motion track of the target client;

and providing corresponding services according to the predicted services.

Further, the generating a positioning map according to the position information of the intelligent navigation device and the relative position relationship between the intelligent navigation device and at least one obstacle includes:

obtaining the position information of all obstacles according to the position information of the intelligent navigation equipment and the relative position relationship between the intelligent navigation equipment and at least one obstacle;

and generating a positioning map according to the position information of all the obstacles.

Further, the correcting the positioning map according to the self-positioning information of the intelligent navigation device and the self-position information of the intelligent navigation device includes:

correcting the position information of the intelligent navigation equipment according to the self-positioning information of the intelligent navigation equipment;

and correcting the positioning map according to the corrected position information of the intelligent navigation equipment.

Further, the positioning information is obtained by positioning a positioning chip on the intelligent navigation device through a plurality of positioning base stations, and includes:

the positioning chip on the intelligent navigation equipment carries out information interaction with each positioning base station to obtain the ranging information of the positioning chip on the intelligent navigation equipment and each positioning base station;

and obtaining the positioning information of the intelligent navigation equipment according to the ranging information.

Further, each positioning base station performs information interaction with a positioning chip on the intelligent navigation device to obtain ranging information between the positioning chip on the intelligent navigation device and each positioning base station, including:

each positioning base station sends a distance measurement request signal to a positioning chip on the intelligent navigation equipment and records the sending time of the distance measurement request signal;

a positioning chip on the intelligent navigation equipment sends ranging confirmation information to a corresponding positioning base station, wherein the ranging confirmation information comprises a unique identification code of the positioning chip and the time length for the positioning chip to process the ranging request signal;

and the positioning base station obtains the ranging information of the positioning chip and the corresponding positioning base station according to the sending time of the ranging request signal, the ranging confirmation information and the receiving time of the ranging confirmation information.

Further, the predicting a current service to be executed by the target client according to the motion trajectory of the target client includes:

navigating to the position of a target client to enable the target client to be in the shooting range of a camera, and shooting an environment image comprising the target client;

and predicting the business to be executed by the target client according to the face orientation direction of the target client in the environment image, the motion track of the target client and the client information of the target client.

Further, the predicting a service to be executed by a target client according to the face orientation direction of the target client in the environment image, the motion trail of the target client and the client information of the target client includes:

generating a client portrait according to the face orientation direction of a target client in the environment image, the motion trail of the target client and client information of the target client;

and predicting the business to be executed of the target client according to the client portrait.

Further, the predicting a current service to be executed by the target client according to the motion trajectory of the target client further includes:

inputting the environment image and the relative position relation between the target client and the robot into a preset neural network model;

and determining the identity of the target client according to the output of the neural network model.

In a second aspect, the present application provides an intelligent navigation device, comprising:

a positioning module: generating a positioning map according to the position information of the intelligent navigation equipment and the relative position relationship between the intelligent navigation equipment and at least one obstacle;

a positioning calibration module: correcting the positioning map according to the self-positioning information of the intelligent navigation equipment and the self-position information of the intelligent navigation equipment, wherein the positioning information is obtained by positioning a positioning chip on the intelligent navigation equipment through a plurality of positioning base stations;

a path planning module: generating a navigation route according to the self-positioning information, the target client positioning information and the corrected positioning map of the intelligent navigation equipment at each moment in the movement process;

the path navigation module: and navigating to the target client according to the navigation route.

Further, the intelligent navigation device further comprises:

a motion trail module: generating a target client motion track according to the target client positioning information change data;

a service prediction module: after navigating to a target client, predicting the current service to be executed by the target client according to the motion track of the target client;

a following service module: and providing corresponding services according to the predicted services.

Further, the positioning module comprises:

a position confirmation unit: obtaining the position information of all obstacles according to the position information of the intelligent navigation equipment and the relative position relationship between the intelligent navigation equipment and at least one obstacle;

a map generation unit: and generating a positioning map according to the position information of all the obstacles.

Further, the positioning calibration module comprises:

a positioning correction unit: correcting the position information of the intelligent navigation equipment according to the self-positioning information of the intelligent navigation equipment;

a map correction unit: and correcting the positioning map according to the corrected position information of the intelligent navigation equipment.

Further, the positioning calibration module further comprises:

an information interaction unit: the positioning chip on the intelligent navigation equipment carries out information interaction with each positioning base station to obtain the ranging information of the positioning chip on the intelligent navigation equipment and each positioning base station;

a positioning acquisition unit: and obtaining the positioning information of the intelligent navigation equipment according to the ranging information.

Further, the traffic prediction module comprises:

an image acquisition unit: navigating to the position of a target client to enable the target client to be in the shooting range of a camera, and shooting an environment image comprising the target client;

a service prediction unit: and predicting the business to be executed by the target client according to the face orientation direction of the target client in the environment image, the motion track of the target client and the client information of the target client.

Further, the traffic prediction unit includes:

a client representation component: generating a client portrait according to the face orientation direction of a target client in the environment image, the motion trail of the target client and client information of the target client;

a traffic prediction component: and predicting the business to be executed of the target client according to the client portrait.

Further, the traffic prediction module further comprises:

the neural network unit: inputting the environment image and the relative position relation between the target client and the robot into a preset neural network model;

a client confirmation unit: and determining the identity of the target client according to the output of the neural network model.

In a third aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the autonomous navigation method of the intelligent navigation device.

In a fourth aspect, the present application provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the intelligent navigation device autonomous navigation.

According to the technical scheme, the intelligent navigation equipment and the autonomous navigation method of the intelligent navigation equipment provided by the application comprise the following steps: generating a positioning map according to the position information of the intelligent navigation equipment and the relative position relationship between the intelligent navigation equipment and at least one obstacle; correcting a positioning map according to self positioning information and self position information of the intelligent navigation equipment; generating a navigation route according to the self-positioning information, the target client positioning information and the corrected positioning map of the intelligent navigation equipment at each moment in the movement process; navigating to the target client according to the navigation route; the advantages of complementation of various positioning means are utilized, the positioning error caused by continuous motion of the intelligent navigation equipment is avoided, the reconstruction cost and the machine performance consumption are reduced, and meanwhile, the intelligent navigation equipment actively searches for the customers and dynamically locks the target customers.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic flow chart of an autonomous navigation method of an intelligent navigation device in an embodiment of the present application.

Fig. 2 is a schematic flow chart of step 100 in the autonomous navigation method of the intelligent navigation device in the embodiment of the present application.

Fig. 3 is a schematic flowchart of step 200 in the autonomous navigation method of the intelligent navigation device in the embodiment of the present application.

Fig. 4 is a schematic diagram of a positioning process in step 200 of the autonomous navigation method of the intelligent navigation device in the embodiment of the present application.

Fig. 5 is a schematic flowchart of step 211 in the autonomous navigation method of the intelligent navigation device in the embodiment of the present application.

FIG. 6 is a schematic diagram of a two-way distance measurement algorithm in an autonomous navigation method of an intelligent navigation device in an embodiment of the present application.

Fig. 7 is a schematic flowchart of step 600 in the autonomous navigation method of the intelligent navigation device in the embodiment of the present application.

Fig. 8 is a schematic flowchart of step 602 in the autonomous navigation method of the intelligent navigation device in the embodiment of the present application.

Fig. 9 is a schematic structural diagram of an intelligent navigation device in an embodiment of the present application.

Fig. 10 is a schematic structural diagram of a positioning module in an intelligent navigation device in an embodiment of the present application.

Fig. 11 is a schematic structural diagram of a positioning calibration module of an intelligent navigation device provided in an application example of the present application.

Fig. 12 is a schematic structural diagram of a service prediction module in an intelligent navigation device provided in an application example of the present application.

Fig. 13 is a schematic structural diagram of a service prediction unit in an intelligent navigation device provided in an application example of the present application.

Fig. 14 is a schematic structural diagram of an intelligent navigation device and client positioning provided by an application example of the present application.

Fig. 15 is a schematic structural diagram of a positioning guidance control terminal of an autonomous navigation method of an intelligent navigation device according to an application example of the present application.

Fig. 16 is a schematic flow chart of pulse positioning of the intelligent navigation device according to an embodiment of the application.

Fig. 17 is a schematic flow chart of the positioning guidance control of the intelligent navigation device according to an embodiment of the present application.

Fig. 18 is a schematic task docking flow diagram of an intelligent navigation device according to an embodiment of the present application.

Fig. 19 is a schematic flowchart of the positioning calibration of the intelligent navigation device according to an embodiment of the present application.

Fig. 20 is a schematic flowchart of path navigation of an intelligent navigation device according to an embodiment of the present application.

FIG. 21 is a flow chart of client location of the intelligent navigation device according to the embodiment of the application.

Fig. 22 is a schematic flow chart of the intelligent navigation device following service provided by the application embodiment of the present application.

Fig. 23 is a schematic structural diagram of an electronic device in an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the intelligent navigation device and the autonomous navigation method of the intelligent navigation device disclosed in the present application can be used in the technical field of artificial intelligence, and can also be used in any field except the technical field of artificial intelligence.

In one or more embodiments of the present application, the intelligent navigation device generally adopts existing machines and tools of a banking outlet, and has functions of moving, autonomous navigation and business service.

Considering that the existing service robot can only determine self-positioning information and environment map information to complete a fixed-point service task and cannot dynamically lock a service client target, the application provides an intelligent navigation device autonomous navigation method, an intelligent navigation device, an electronic device and a computer readable storage medium, integrates multiple positioning means, utilizes the complementary advantages of the multiple positioning means, reduces the reconstruction cost and the machine performance consumption, and simultaneously realizes that the robot actively seeks a client, dynamically locks a service client and provides autonomous navigation following service.

Based on the above content, the present application further provides an intelligent navigation device for implementing the autonomous navigation method provided in one or more embodiments of the present application, where the intelligent navigation device may be in communication connection with a positioning guidance control terminal, a positioning guidance control system is installed in the positioning guidance control terminal, and the positioning guidance control terminal may specifically access the positioning guidance control terminal through an application server.

The intelligent navigation equipment can receive an autonomous navigation instruction from the self-positioning guide control terminal and acquire target client positioning information and self real-time positioning information from the autonomous navigation instruction, and generates a navigation route by combining a positioning map according to the acquired target client positioning information and the self real-time positioning information; and navigating to the target customer position according to the navigation route.

It is understood that the positioning guidance control terminal may include a portable computer, a desktop computer, etc

In another practical application scenario, the real-time positioning of the smart device and the real-time positioning of the target client may be performed in the smart device processing center as described above, or all the positioning operations may be performed in the positioning guidance control terminal. Specifically, the processing capability of the terminal may be controlled according to the positioning guide, and the limitation of the user's usage scenario may be selected. This is not a limitation of the present application. If all the operations are completed in the positioning guidance control terminal, the positioning guidance control terminal may further include a processor for performing specific processing of real-time positioning.

The positioning guide control terminal can be provided with a communication module (namely a communication unit) and can be in communication connection with remote intelligent navigation equipment to realize the transmission with positioning data. For example, the communication unit may receive the position information of the intelligent navigation device and the target client, so that the positioning guidance control terminal obtains the positioning information of the intelligent navigation device and the target client according to the position information of the intelligent navigation device and the target client. The communication unit can also send the intelligent navigation equipment and the positioning information of the target client to the intelligent navigation equipment.

The intelligent navigation device and the positioning guidance control terminal can communicate with each other by using any appropriate network protocol, including a network protocol which has not been developed at the filing date of the present application. The network protocol may include, for example, a TCP/IP protocol, a UDP/IP protocol, an HTTP protocol, an HTTPS protocol, or the like. Of course, the network Protocol may also include, for example, an RPC Protocol (Remote Procedure Call Protocol), a REST Protocol (Representational State Transfer Protocol), and the like used above the above Protocol.

The intelligent navigation device autonomous navigation method, the intelligent navigation device, the electronic device and the computer readable storage medium provided by the application are integrated with a plurality of positioning means, and the complementary advantages of the plurality of positioning means are utilized, so that the robot can actively search for a customer, dynamically lock a service customer and provide autonomous navigation following service while the reconstruction cost and the machine performance consumption are reduced.

The following embodiments and application examples are specifically and respectively described.

In order to solve the problem that the existing service robot can only determine self-positioning information and environment map information to complete a fixed-point service task and cannot dynamically lock a service client target, the application provides an embodiment of an intelligent navigation device autonomous navigation method, which specifically includes the following contents with reference to fig. 1:

step 100: and generating a positioning map according to the self position information of the intelligent navigation equipment and the relative position relationship between the intelligent navigation equipment and at least one obstacle.

The intelligent navigation device obtains the position information of the intelligent navigation device by the laser radar, the position information comprises the position information of the intelligent navigation device and the relative position relationship between the intelligent navigation device and at least one obstacle, the relative position relationship comprises the distance and the angle between the obstacle and the intelligent navigation device, the intelligent navigation device starts to move and reaches a new position, the intelligent navigation device predicts the new position information of the intelligent navigation device according to the motion equation of the intelligent navigation device, the environment information of the new position of the intelligent navigation device is obtained by the laser radar until the relative position relationship of all the obstacles is obtained, and the relative position relationships of all the obstacles are matched and fused to generate the positioning map.

Step 200: and correcting the positioning map according to the self positioning information of the intelligent navigation equipment and the self position information of the intelligent navigation equipment, wherein the positioning information is obtained by positioning a positioning chip on the intelligent navigation equipment through a plurality of positioning base stations.

It can be understood that, there is the location label on the intelligent navigation equipment, there is the location chip inside the location label, the location label can be embedded into the intelligent navigation equipment, also can install in its service customer display screen top position can, the location basic station is through sending pulse signal to the location chip, measure intelligent navigation equipment's self locating information, intelligent navigation equipment self locating information can produce the error along with the motion of robot, and the error can be along with the motion of robot and constantly increase, the location map error that leads to establishing is great, intelligent navigation equipment self locating information through pulse signal survey is more accurate, therefore, according to intelligent navigation equipment self locating information and intelligent navigation equipment self locating information, can revise the location map.

Step 300: and generating a navigation route according to the self-positioning information, the target client positioning information and the corrected positioning map of the intelligent navigation equipment at each moment in the movement process.

It will be appreciated that the customer is provided with location tags in the form of a number plate to be provided to the queued customer at the store, with a re-use nature. The positioning base station sends a pulse signal to the positioning chip to measure the self-positioning information of the target customer and the self-positioning information of the intelligent navigation equipment at each moment in the movement process, and generates a navigation route by combining a positioning map according to the positioning information of the intelligent navigation equipment and the target customer.

Step 400: and navigating to the target client according to the navigation route.

It can be understood that after the positioning calibration of the intelligent navigation device is completed, the target point navigation capability of the intelligent navigation device is invoked to complete the global planning of the path of the current positioning information to the target client.

As can be seen from the above description, the autonomous navigation method of the intelligent navigation device provided in the embodiment of the present application generates a positioning map according to the position information of the intelligent navigation device itself and the relative position relationship between the intelligent navigation device and at least one obstacle; correcting a positioning map according to self positioning information and self position information of the intelligent navigation equipment; generating a navigation route according to the self-positioning information, the target client positioning information and the corrected positioning map of the intelligent navigation equipment at each moment in the movement process; navigating to the target client according to the navigation route; the advantages of complementation of various positioning means are utilized, the positioning error caused by continuous motion of the intelligent navigation equipment is avoided, the reconstruction cost and the machine performance consumption are reduced, and meanwhile, the intelligent navigation equipment actively searches for the customers and dynamically locks the target customers. In the motion process of the intelligent navigation equipment adopting the laser radar positioning means, the error of the intelligent navigation equipment can be continuously increased along with the motion of the intelligent navigation equipment, and even the upper limit of the positioning error of the intelligent navigation equipment can not be considered, and the pulse signal positioning technology calculates the positioning information of the robot based on the time difference of the positioning label reaching a fixed positioning base station, so that the position information of the positioning label can be accurately measured on the premise of ensuring the positioning coordinate of the positioning base station, therefore, the intelligent navigation equipment integrates the positioning information acquired by a pulse positioning system when carrying out laser radar positioning, and can correct the positioning error in time when carrying out laser radar positioning.

In order to further improve timeliness of the intelligent robot in bank handling business, in an embodiment of the autonomous navigation method for intelligent navigation equipment provided by the present application, a preferred mode of a follow-up service for intelligent navigation equipment is provided, referring to fig. 1, the autonomous navigation method for intelligent navigation equipment specifically includes the following steps:

step 500: and generating a target client motion trail according to the target client positioning information change data.

The intelligent navigation equipment can acquire the real-time positioning information of the target client through the positioning guide control terminal, and generate a target client motion track according to the real-time positioning information of the target client, wherein the target client motion track comprises a walking path of the target client and a staying area of the target client.

Step 600: and after the target client is navigated, predicting the current service to be executed by the target client according to the motion trail of the target client.

It can be understood that the intelligent navigation equipment analyzes the motion track of the target client and identifies the service content in which the client is interested according to the walking path of the target client and the staying area of the target client.

Step 700: and providing corresponding services according to the predicted services.

As can be seen from the above description, the autonomous navigation method for the intelligent navigation device provided in the embodiment of the present application utilizes the advantages of multiple complementary positioning means, avoids the positioning error caused by the continuous motion of the intelligent navigation device, reduces the modification cost and the machine performance consumption, and simultaneously realizes the purpose that the intelligent navigation device actively seeks customers, dynamically locks target customers, and provides autonomous follow-up services.

In an embodiment of the autonomous navigation method of the intelligent navigation device provided by the present application, a generation manner of the positioning map is provided, referring to fig. 2, and step 100 in the autonomous navigation method of the intelligent navigation device specifically includes the following contents:

step 101: and obtaining the position information of all the obstacles according to the position information of the intelligent navigation equipment and the relative position relationship between the intelligent navigation equipment and at least one obstacle.

It can be understood that the laser radar can only acquire local environment information, namely point cloud, of the position where the intelligent navigation device is located at each time, and the point cloud can only reflect one part of the environment where the intelligent navigation device is located. The method comprises the steps of firstly, preprocessing, namely optimizing laser radar original data, eliminating problematic data or filtering to obtain effective point cloud data, generating a position map according to the point cloud data, enabling the intelligent navigation equipment to start to move and reach a new position, predicting new position information of the intelligent navigation equipment according to a motion equation of the intelligent navigation equipment, obtaining point cloud data of the new position through the laser radar, finding corresponding positions of the point cloud data of the current local environment on the established map by adopting a point cloud matching algorithm, repeating the steps until point cloud data of all obstacles are obtained, and matching the point cloud data of all the obstacles to the positioning map.

Step 102: and generating a positioning map according to the position information of all the obstacles.

It can be understood that the new data from the laser radar is spliced into the original map, and the map updating is finally completed.

As can be seen from the above description, the autonomous navigation method for the intelligent navigation device provided in the embodiment of the present application does not need any modification to the field environment, and can obtain the surrounding position information through the laser radar, so as to provide a positioning map for the subsequent navigation of the intelligent navigation device.

In order to further improve the accuracy of the intelligent navigation device positioning map, in an embodiment of the intelligent navigation device autonomous navigation method provided in the present application, a correction method of the positioning map is provided, referring to fig. 3, and step 200 in the intelligent navigation device autonomous navigation method specifically includes the following contents:

step 201: and correcting the position information of the intelligent navigation equipment according to the self-positioning information of the intelligent navigation equipment.

Step 202: and correcting the positioning map according to the corrected position information of the intelligent navigation equipment.

It will be appreciated that the above-described,

as can be seen from the above description, according to the autonomous navigation method for the intelligent navigation device provided by the embodiment of the application, the intelligent navigation device integrates the positioning information acquired by the pulse positioning system when performing laser radar positioning, so that the positioning error occurring in laser radar positioning can be corrected in time, the advantage of complementation of various positioning means is utilized, the positioning error caused by continuous motion of the intelligent navigation device is avoided, and the accuracy of subsequent navigation of the intelligent navigation device is improved.

In order to further improve the accuracy of the navigation of the intelligent navigation device, in an embodiment of the autonomous navigation method of the intelligent navigation device provided by the present application, a manner for acquiring the self-positioning information of the intelligent navigation device is provided, referring to fig. 4, in the autonomous navigation method of the intelligent navigation device, the positioning information in step 200 is obtained by positioning a positioning chip on the intelligent navigation device through a plurality of positioning base stations, and specifically includes the following contents:

step 211: and the positioning chip on the intelligent navigation equipment performs information interaction with each positioning base station to obtain the ranging information of the positioning chip on the intelligent navigation equipment and each positioning base station.

It can be understood that, the positioning base station sends a ranging request to the positioning tag, and records a sending time point; after receiving the ranging request, the positioning tag sends a broadcast ranging broadcast signal to a corresponding positioning base station, wherein the broadcast ranging broadcast signal comprises a positioning tag ID, the time for calculating delay of the positioning tag and tag state information, and after receiving a ranging response, the positioning base station calculates the distance from the positioning base station to the positioning tag according to the pulse positioning ranging principle. Each positioning base station is connected with a positioning guide control terminal through a POE switch, so that data communication between the positioning base station and the positioning guide control terminal is realized, time synchronization between the base stations is carried out in a wired mode, and meanwhile, power is supplied to the positioning base stations in a POE mode. In addition, data transmission and power supply can also be performed in a wireless manner.

Step 212: and obtaining the positioning information of the intelligent navigation equipment according to the ranging information.

It can be understood that, after receiving the ranging data sent by the positioning base station, the positioning guidance control terminal performs coordinate conversion of the positioning tag based on the above pulse positioning method, and sends the tag coordinate information to the coordinate conversion unit, where the tag coordinate information includes a positioning timestamp, a positioning tag ID, and a positioning coordinate.

As can be seen from the above description, in the autonomous navigation method of the intelligent navigation device provided in the embodiment of the present application, the positioning information of the robot is calculated based on the time difference between the positioning tag and the fixed positioning base station, and the position information of the positioning tag can be accurately measured on the premise of ensuring the positioning coordinate of the positioning base station.

In order to further improve the accuracy of the navigation of the intelligent navigation device, in an embodiment of the autonomous navigation method of the intelligent navigation device provided by the present application, a preferred manner of information interaction between the positioning base station and the positioning tag may be provided, referring to fig. 5, step 211 in the autonomous navigation method of the intelligent navigation device specifically includes the following contents:

step 001: and each positioning base station sends a ranging request signal to a positioning chip on the intelligent navigation equipment and records the sending time of the ranging request signal.

Step 002: and the positioning chip on the intelligent navigation equipment sends ranging confirmation information to the corresponding positioning base station, wherein the ranging confirmation information comprises the unique identification code of the positioning chip and the time length for processing the ranging request signal by the positioning chip.

Step 003: and the positioning base station obtains the ranging information of the positioning chip and the corresponding positioning base station according to the sending time of the ranging request signal, the ranging confirmation information and the receiving time of the ranging confirmation information.

It can be understood that the hardware of pulse ranging is divided into anchor points and tags, the anchor points are fixed positioning base stations, and the positioning tags move along with the carrier. And a transmitter and a receiver are arranged on the positioning base station and the positioning label, and a clock error and an offset error of a carrier in the moving process are eliminated by a bidirectional distance measurement method, so that an accurate distance measurement result is obtained. And the positioning base station actively sends a ranging request to the tag, and the tag automatically sends a response signal after receiving the request signal. As shown in FIG. 6, which is a schematic diagram of a two-way ranging algorithm, when a base station B is located_mWhen a time point sends a ranging request signal m to a positioning tag carried by intelligent navigation equipment or a client, the tag delays T₁After time at A_mReceiving a signal; at T₂After time, the position tag calculates the offset error, then at A_MSending a response signal M to the positioning base station, the positioning base station being at a delay T₁After time at B_mA signal is received. From this it can be derived that the signal transmission time between the positioning base station and the tag is T₁The calculation formula is as follows:

the distance from the positioning base station to the tag is:

d_AB＝T₁·c

wherein c is 3 x 10⁸And m/s is the propagation speed of the electromagnetic wave in the air.

As can be seen from the above description, in the autonomous navigation method of the intelligent navigation device provided in the embodiment of the present application, the positioning information of the robot is calculated based on the time difference between the positioning tag and the fixed positioning base station, and the tag distance between the positioning tag and the positioning base station can be accurately measured on the premise of ensuring the positioning coordinate of the positioning base station.

In an embodiment of the autonomous navigation method of the intelligent navigation device provided by the present application, a preferred manner for predicting a service to be executed by a client may be provided, referring to fig. 7, where step 600 in the autonomous navigation method of the intelligent navigation device specifically includes the following contents:

step 601: and navigating to the position of the target client so that the target client is positioned in the shooting range of the camera to shoot the environment image comprising the target client.

Step 602: and predicting the business to be executed by the target client according to the face orientation direction of the target client in the environment image, the motion track of the target client and the client information of the target client.

The intelligent navigation equipment schedules image information of the environment around the camera carried by the intelligent navigation equipment, confirms that the client is in the sight range of the client, and when the client deviates from the visual field range of the camera, the intelligent navigation equipment acquires the positioning information of the target client again, plans a path again to navigate to the position of the client, continues to provide following service, analyzes the walking path and the staying area of the client, and identifies the service content interested by the client.

In an embodiment of the autonomous navigation method of the intelligent navigation device provided by the present application, a customer portrait simulation may be performed, referring to fig. 8, and step 602 in the autonomous navigation method of the intelligent navigation device specifically includes the following contents:

step 611: and generating a client portrait according to the face orientation direction of the target client in the environment image, the motion trail of the target client and the client information of the target client.

Step 612: and predicting the business to be executed of the target client according to the client portrait.

It can be understood that when the intelligent navigation equipment reaches the vicinity of the target client, the carried camera is started, the image information of the surrounding environment is collected, the image information is associated with the actual position of the intelligent navigation equipment, the identity of the target client is confirmed, and meanwhile, the face recognition technology and the behavior recognition technology are combined, and the action trajectory of the target client is analyzed to construct a client figure for providing personalized service for the client.

As can be seen from the above description, the autonomous navigation method of the intelligent navigation device provided in the embodiments of the present application may determine the orientation of the target client and adjust the position of the target client based on image recognition algorithms including, but not limited to, face recognition and dressing recognition, so as to provide a face-to-face business handling service.

In an embodiment of the autonomous navigation method of an intelligent navigation device provided by the present application, a preferred manner for determining the identity of a client may be provided, referring to fig. 7, where step 600 in the autonomous navigation method of an intelligent navigation device further includes the following steps:

step 603: and inputting the environment image and the relative position relation between the target client and the robot into a preset neural network model.

Step 604: and determining the identity of the target client according to the output of the neural network model.

It will be appreciated that neural networks and statistical methods are used to correlate the image information with the actual position of the robot to confirm the identity of the target customer.

The present application provides an embodiment of an intelligent navigation device for executing all or part of the content in the autonomous navigation method of the intelligent navigation device, and referring to fig. 9, the intelligent navigation device specifically includes the following content:

the positioning module 01: and generating a positioning map according to the self position information of the intelligent navigation equipment and the relative position relationship between the intelligent navigation equipment and at least one obstacle.

It can be understood that a laser radar transmitter is arranged inside the positioning module 01, the position information of the positioning module is obtained by the laser radar transmitter, the position information includes self position information and a relative position relationship between the self position information and at least one obstacle, the relative position relationship includes a distance and an angle between the obstacle and the intelligent navigation device, the intelligent navigation device starts to move and reaches a new position, the positioning module 01 predicts the new position information of the intelligent navigation device according to a motion equation, the environment information of the new position of the intelligent navigation device is obtained by the laser radar until the relative position relationship of all the obstacles is obtained, and the relative position relationships of all the obstacles are matched and fused to generate a positioning map.

Positioning calibration module 02: and correcting the positioning map according to the self positioning information of the intelligent navigation equipment and the self position information of the intelligent navigation equipment, wherein the positioning information is obtained by positioning a positioning chip on the intelligent navigation equipment through a plurality of positioning base stations.

It is understood that the positioning calibration module 02 is used for the intelligent navigation device to perform calibration based on the positioning information acquired by the laser radar. The robot positioning information acquired by fusing the pulse positioning technology can correct the positioning information and the positioning map acquired by the laser radar more accurately according to the pulse positioning information.

The path planning module 03: and generating a navigation route according to the self-positioning information, the target client positioning information and the corrected positioning map of the intelligent navigation equipment at each moment in the movement process.

It can be understood that the path planning module 03 invokes the ranging and positioning module and the path planning function of the intelligent navigation device to plan a path. The intelligent navigation equipment for providing mobile service has the advantages that the surrounding environment can be automatically judged and the route can be planned, after the positioning and calibration of the intelligent navigation equipment are completed, the target point navigation capacity of the intelligent navigation equipment is started to complete the route global planning of the current positioning information reaching the target client, and the positioning error caused by meeting obstacles in the navigation process can be more accurately calibrated by fusing the positioning information of the pulse positioning system.

The route navigation module 04: and navigating to the target client according to the navigation route.

As can be seen from the above description, the intelligent navigation device provided in the embodiment of the present application generates a positioning map according to the position information of the intelligent navigation device itself and the relative position relationship between the intelligent navigation device and at least one obstacle; correcting a positioning map according to self positioning information and self position information of the intelligent navigation equipment; generating a navigation route according to the self-positioning information, the target client positioning information and the corrected positioning map of the intelligent navigation equipment at each moment in the movement process; navigating to the target client according to the navigation route; the advantages of complementation of various positioning means are utilized, the positioning error caused by continuous motion of the intelligent navigation equipment is avoided, the reconstruction cost and the machine performance consumption are reduced, and meanwhile, the intelligent navigation equipment actively searches for the customers and dynamically locks the target customers. In the motion process of the intelligent navigation equipment adopting the laser radar positioning means, the error of the intelligent navigation equipment can be continuously increased along with the motion of the intelligent navigation equipment, and even the upper limit of the positioning error of the intelligent navigation equipment can not be considered, and the pulse signal positioning technology calculates the positioning information of the robot based on the time difference of the positioning label reaching a fixed positioning base station, so that the position information of the positioning label can be accurately measured on the premise of ensuring the positioning coordinate of the positioning base station, therefore, the intelligent navigation equipment integrates the positioning information acquired by a pulse positioning system when carrying out laser radar positioning, and can correct the positioning error in time when carrying out laser radar positioning.

In order to further improve the timeliness of the intelligent robot in handling business, in an embodiment of the intelligent navigation device provided by the present application, a preferred mode of a follow-up service of the intelligent navigation device is provided, referring to fig. 9, where the intelligent navigation device further includes the following contents:

the motion track module 05: and generating a target client motion trail according to the target client positioning information change data.

It can be understood that the motion trail module 05 obtains the real-time positioning information of the target client through the positioning guidance control terminal, and generates the motion trail of the target client according to the real-time positioning information of the target client, where the motion trail of the target client includes a path along which the target client walks and an area in which the target client stays.

The traffic prediction module 06: and after the target client is navigated, predicting the current service to be executed by the target client according to the motion trail of the target client.

As can be appreciated, the service prediction module 06 analyzes the movement trajectory of the target client, and identifies the service content of interest to the client according to the path traveled by the target client and the area where the target client stays.

The following service module 07: and providing corresponding services according to the predicted services.

It is understood that the target customer is followed to provide a mobile business service. The following service module 07 schedules image information of the surrounding environment of the camera carried by the following service module, confirms that the client is in the sight range of the client, and when the client deviates from the visual field range of the camera, acquires the pulse positioning information of the target client again, plans a path again, navigates to the position of the client, and continues to provide following service.

As can be seen from the above description, the intelligent navigation device provided in the embodiment of the present application utilizes the advantages of multiple complementary positioning means, avoids the positioning error caused by the continuous motion of the intelligent navigation device, reduces the modification cost and the machine performance consumption, and simultaneously realizes the purpose that the intelligent navigation device actively seeks a customer, dynamically locks a target customer, and provides an autonomous following service.

In an embodiment of the intelligent navigation device provided in the present application, a generation manner of a positioning map is provided, referring to fig. 10, a positioning module 01 in the intelligent navigation device specifically includes the following contents:

position confirmation unit 11: and obtaining the position information of all the obstacles according to the position information of the intelligent navigation equipment and the relative position relationship between the intelligent navigation equipment and at least one obstacle.

It can be understood that the lidar transmitter inside the position confirmation unit 11 can only obtain local environment information, i.e. point cloud, of the position of the intelligent navigation device at a time, and it can only reflect a part of the environment of the intelligent navigation device. The method comprises the steps of firstly, preprocessing, namely optimizing laser radar original data, eliminating problematic data or filtering to obtain effective point cloud data, generating a position map according to the point cloud data, enabling the intelligent navigation equipment to start to move and reach a new position, predicting new position information of the intelligent navigation equipment according to a motion equation of the intelligent navigation equipment, obtaining point cloud data of the new position through the laser radar, finding corresponding positions of the point cloud data of the current local environment on the established map by adopting a point cloud matching algorithm, repeating the steps until point cloud data of all obstacles are obtained, and matching the point cloud data of all the obstacles to the positioning map.

The map generation unit 12: and generating a positioning map according to the position information of all the obstacles.

It can be understood that the map generation unit 12 splices the new data from the laser radar into the original map, and finally completes the update of the map.

In order to further improve the accuracy of the positioning map of the intelligent navigation device, in an embodiment of the intelligent navigation device provided in the present application, a correction method of the positioning map is provided, referring to fig. 11, a positioning calibration module 02 in the intelligent navigation device specifically includes the following contents:

positioning correction unit 21: and correcting the position information of the intelligent navigation equipment according to the self-positioning information of the intelligent navigation equipment.

The map correction unit 22: and correcting the positioning map according to the corrected position information of the intelligent navigation equipment.

It will be appreciated that the above-described,

according to the intelligent navigation equipment, the positioning information acquired by the pulse positioning system is fused when the intelligent navigation equipment performs laser radar positioning, so that the positioning error caused by laser radar positioning can be corrected in time, the advantage of complementation of various positioning means is utilized, the positioning error caused by continuous motion of the intelligent navigation equipment is avoided, and the accuracy of follow-up navigation of the intelligent navigation equipment is improved.

In order to further improve the accuracy of the navigation of the intelligent navigation device, in an embodiment of the intelligent navigation device provided in the present application, a manner for acquiring the self-positioning information of the intelligent navigation device is provided, referring to fig. 11, the positioning calibration module 02 in the intelligent navigation device further includes the following contents:

the information interaction unit 23: and the positioning chip on the intelligent navigation equipment performs information interaction with each positioning base station to obtain the ranging information of the positioning chip on the intelligent navigation equipment and each positioning base station.

It can be understood that, the positioning base station sends a ranging request to the positioning tag, and records a sending time point; after receiving the ranging request, the positioning tag sends a broadcast ranging broadcast signal to a corresponding positioning base station, wherein the broadcast ranging broadcast signal comprises a positioning tag ID, the time for calculating delay of the positioning tag and tag state information, and after receiving a ranging response, the positioning base station calculates the distance from the positioning base station to the positioning tag according to the pulse positioning ranging principle.

The positioning acquisition unit 24: and obtaining the positioning information of the intelligent navigation equipment according to the ranging information.

As can be seen from the above description, the intelligent navigation device provided in the embodiment of the present application calculates the positioning information of the robot based on the time difference between the positioning tag and the fixed positioning base station, and can accurately measure the position information of the positioning tag on the premise of ensuring the positioning coordinate of the positioning base station.

In an embodiment of the intelligent navigation device provided by the present application, a preferred way of predicting a service to be executed by a client may be provided, referring to fig. 12, where a service prediction module 06 in the intelligent navigation device specifically includes the following contents:

the image acquisition unit 61: and navigating to the position of the target client so that the target client is positioned in the shooting range of the camera to shoot the environment image comprising the target client.

The traffic prediction unit 62: and predicting the business to be executed by the target client according to the face orientation direction of the target client in the environment image, the motion track of the target client and the client information of the target client.

It can be understood that the intelligent navigation device schedules the image information of the environment around the camera carried by the intelligent navigation device through the image acquisition unit 61, confirms that the client is in the sight range of the intelligent navigation device, re-acquires the positioning information of the target client when the client deviates from the visual field range of the camera, replans the path to navigate to the position of the client, continues to provide the following service, and the service prediction unit 62 analyzes the walking path and the staying area of the client to identify the service content interested by the client.

In an embodiment of the intelligent navigation device provided by the present application, a customer portrait simulation may be performed, referring to fig. 13, and the service prediction unit 62 in the intelligent navigation device specifically includes the following contents:

customer representation component 621: and generating a client portrait according to the face orientation direction of the target client in the environment image, the motion trail of the target client and the client information of the target client.

Traffic prediction component 622: and predicting the business to be executed of the target client according to the client portrait.

It can be understood that when the intelligent navigation device reaches the vicinity of the target client, the client portrait component 621 enables the carried camera to collect image information of the surrounding environment, associates the image information with the actual position of the intelligent navigation device, confirms the identity of the target client, and simultaneously, analyzes the gender, age, dressing, behavior, and trajectory of the current client by combining the face recognition technology, the behavior recognition technology, and the trajectory of the target client to construct a client portrait, and the business prediction component 622 is used for providing personalized business services for the client.

As can be seen from the above description, the intelligent navigation device provided in the embodiments of the present application may determine the orientation of the target client and adjust its position based on image recognition algorithms including, but not limited to, face recognition and dressing recognition, so as to provide face-to-face business handling services.

In an embodiment of the intelligent navigation device provided in the present application, a preferred way to determine the identity of the client may be provided, referring to fig. 12, where the service prediction module 06 in the intelligent navigation device further includes the following contents:

the neural network unit 63: and inputting the environment image and the relative position relation between the target client and the robot into a preset neural network model.

The client confirmation unit 64: and determining the identity of the target client according to the output of the neural network model.

In some embodiments, referring to fig. 9, the intelligent navigation device further includes:

and the task docking module 08 is in information communication with the positioning guidance control terminal. When the positioning guidance control terminal sends a task instruction, receiving instruction information, setting the idle state of the intelligent navigation equipment to be a service state, analyzing the position information of the intelligent navigation equipment and the position information of a target client, and calling up the positioning calibration module 02; and when the business service target is determined, returning service state information to the positioning guide control terminal.

The following specific description is made on the intelligent navigation device and the client location in combination with the specific embodiment, referring to fig. 14, the whole intelligent navigation device autonomous navigation requires 5 hardware, including the location guide control terminal server 1, the intelligent navigation device 2, the POE switch 3, the location base station 4, and the location tag 5, wherein:

and the positioning guide control terminal server 1 is used for installing a positioning guide control terminal for managing and controlling the autonomous service of the intelligent navigation equipment.

And the intelligent navigation equipment 2 is used for self-service business handling of the client. The intelligent navigation equipment usually adopts an existing intelligent robot of a bank outlet, and the intelligent robot has the functions of moving, autonomous navigation and business service.

And the POE switch 3 is connected with each positioning base station to realize data communication between the positioning base station and the positioning guide control terminal, performs time synchronization between the base stations in a wired mode, and supplies power to the positioning base stations in a POE mode. In addition, data transmission and power supply can also be performed in a wireless manner.

And the positioning base station 4 is used for receiving and transmitting the pulse signal and transmitting the base station ranging data to the positioning guide control terminal. The base station deployment adopts a two-dimensional positioning mode, 4 positioning base stations are installed but not limited in indoor physical environment of a bank branch, the base stations are arranged at the edge of a plane area, and the base stations need to be added when encountering blocking sources such as columns, walls and the like; the maximum support of the positioning distance of the positioning unit is not limited to 110 meters in consideration of the physical area of the customer area of the bank outlet.

And positioning the tag 5 for receiving and transmitting the pulse signal. The intelligent navigation equipment and the client are configured with positioning labels of the same model, wherein the positioning labels of the intelligent navigation equipment are not required to be embedded into internal equipment of the intelligent navigation equipment and only need to be arranged above a display screen of the service client, and the client is provided with the labels to be provided for queued clients arriving at a store in a number plate mode and has the property of reutilization.

The positioning base station 4 and the positioning tag 5 jointly form a pulse positioning hardware facility, which is used for completing the distance measurement from the intelligent navigation equipment carrying the positioning tag and the client to the positioning base station, transmitting the distance measurement data of the positioning base station to the positioning guidance control terminal, and providing the positioning coordinate information of the intelligent navigation equipment and the client to the store for the subsequent algorithm analysis.

In some other embodiments, referring to fig. 15, the positioning guidance control terminal 1 communicatively connected to the intelligent navigation device specifically includes the following contents:

the main control unit 91 is used for coordinating data interaction among the units and unifying external data transmission interfaces, and as a support unit for data interaction with the intelligent navigation device, the main control unit can be directly interacted with the intelligent navigation device.

The pulse positioning unit 92 calculates pulse positioning coordinates to the store client and the smart navigation device based on ranging data between the pulse positioning base station and the positioning tag. The positioning method of the pulse positioning unit uses a TDOA (time difference of arrival) positioning method based on a geometric principle, the base station coordinate information and the ranging information of the tag are input into the system, and the real-time position of the target is calculated. In addition, the POE switch adopts a cascade connection mode to realize wired communication with the positioning label, and the requirement of TDOA accurate time synchronization control is met. In consideration of the service distance between the intelligent bank robot and the client, the positioning precision is about 0.3 m in an ideal environment.

And the task arranging unit 93 is used for distributing service target customers to the intelligent navigation equipment by adopting the queuing priority and the near service principle. When the number of the intelligent navigation equipment of the bank outlets is more than 1 and the number of the clients arriving at the store is more than 1, the task arranging unit determines the clients which queue and take the number preferentially as service target clients; and after the positioning coordinate information of the client and the positioning coordinate information of the idle intelligent navigation equipment are obtained, calculating the intelligent navigation equipment positioning service closest to the target client.

And the coordinate conversion unit 94 is used for converting the positioning coordinates acquired by the pulse positioning unit and the coordinates of the intelligent navigation equipment, so that the pulse positioning coordinates are converted into a coordinate system used by the intelligent navigation equipment, and positioning and navigation are performed on a subsequent intelligent navigation equipment operating system. Generally, a bank outlet has various types of intelligent navigation equipment, different types of intelligent navigation equipment can use different reference coordinate systems, and a coordinate conversion unit is adopted, so that positioning information can be quickly docked to the intelligent navigation equipment of different types. The commonly used coordinate conversion calculation comprises a four-parameter conversion mode and a seven-parameter conversion mode, and the coordinate conversion can be carried out according to the actual coordinate conversion requirement.

The robot scheduling unit 95 wakes up the intelligent navigation device, sends the autonomous service instruction to the intelligent navigation device in a WIFI wireless transmission mode, and sends real-time state information such as the target client positioning coordinate and the self positioning coordinate to the intelligent navigation device.

The following describes a procedure based on pulse positioning with reference to a specific embodiment, and refer to fig. 16.

Step S101: POE time synchronization control, it is concrete, POE switch passes through wired communication, sends time synchronization control instruction and sends for each location basic station in unison, the initial location basic station time.

Step S102: after receiving the control instruction of step S101, each positioning base station performs information interaction with the positioning tag, and obtains the distance from the tag to each base station. Specifically, the positioning base station sends a ranging request to the positioning tag, and records a sending time point; after receiving the ranging request, the positioning tag sends a broadcast ranging broadcast signal to a corresponding positioning base station, wherein the broadcast ranging broadcast signal comprises a positioning tag ID, the time for calculating delay of the positioning tag and tag state information; and after receiving the ranging response, the positioning base station calculates the distance from the positioning base station to the positioning tag according to the pulse positioning ranging principle.

Step S103: each positioning base station transmits the tag ranging information obtained in step S102 to the pulse positioning unit 92 of the positioning guidance control terminal, and establishes a coordinate system. Specifically, the positioning base station transmits the ranging information of the tag to the pulse positioning unit 92 of the positioning guidance control terminal in a wired communication manner, where the ranging information includes a positioning base station ID, a positioning tag ID, a positioning timestamp, ranging data, and the like.

Step S104: after receiving the ranging data of the positioning base station, the pulse positioning unit 92 of the positioning guidance control terminal performs coordinate conversion of the positioning tag based on the above-mentioned pulse positioning method, and sends the tag coordinate information to the coordinate conversion unit, where the tag coordinate information includes a positioning timestamp, a positioning tag ID, and a positioning coordinate.

The following describes a positioning guidance control process of the intelligent navigation device with reference to a specific embodiment, with reference to fig. 17.

Step S201: the task scheduling unit 93 allocates service target customers to the intelligent navigation device according to the queuing priority and the near service principle. Specifically, when the number of the intelligent navigation devices at the bank outlets is greater than 1 and the number of the clients arriving at the store is greater than 1, the task arranging unit is used for setting the clients which are queued preferentially and take numbers as service target clients; and after the positioning coordinate information of the client and the positioning coordinate information of the intelligent navigation equipment of the idle bank are obtained, the robot positioning intelligent navigation equipment which is closest to the target client is calculated.

Step S202: the coordinate conversion unit 94 is used for converting the pulse positioning coordinate information according to the type of the coordinate system used by the intelligent navigation equipment. Specifically, the coordinate conversion unit 94 calculates the coordinate system type used by the intelligent navigation device providing the autonomous service, inputs the coordinate system parameters into the coordinate conversion program, converts the coordinate by using the coordinate conversion method, and sends the coordinate information to the intelligent navigation device scheduling unit 95, where the coordinate information includes a timestamp, target client coordinate information, a target client tag ID, coordinate information of scheduling the intelligent navigation device, a tag ID of maneuvering the intelligent navigation device, and the like.

Step S203: and the autonomous service instruction of the intelligent navigation device autonomous service scheduling step S202 is sent to the service robot. Specifically, after receiving the coordinate information, the intelligent navigation device scheduling unit 95 establishes a communication connection with the scheduling robot based on the TCP handshake protocol in a wireless communication manner, and sends the coordinate information to the scheduling intelligent navigation device if the connection is successful, otherwise, returns to step S201 to perform task scheduling again.

The task docking process of the intelligent navigation device is specifically described below with reference to a specific embodiment, and refer to fig. 18.

Step S301: the intelligent navigation device task interfacing module 08 parses the scheduling information of step S203. Specifically, two-way communication is established with the positioning guide terminal, a following service task sent by the positioning guide terminal is received, and the accuracy of a message is checked;

step S302: after receiving the task in step S301, the service state is changed. Specifically, the idle state of the intelligent navigation equipment is changed into a working state, state information is returned to the positioning guide terminal, and a service mode is determined to be started;

step S303: and analyzing the position information of the client and the position information of the target client. Specifically, positioning information of the intelligent navigation equipment and target customer positioning information acquired through communication interaction are acquired, and the positioning information is confirmed to be consistent with a coordinate system of the intelligent navigation equipment for laser radar positioning.

The following describes a positioning calibration process of the intelligent navigation device with reference to a specific embodiment, and refer to fig. 19.

Step S401: and acquiring current positioning information. Specifically, the intelligent navigation device carries a laser radar to acquire environmental information of the position of the intelligent navigation device, and positioning and map creation of the intelligent navigation device are completed.

Step S402: and comparing the pulse positioning information of the intelligent navigation equipment with the laser radar positioning information. Specifically, in the same coordinate system, the laser radar positioning information obtained in step S402 is compared with the positioning information obtained in step S303, and it is determined whether the relocation information is consistent. And if the positions are inconsistent, adjusting the positioning error of the laser radar.

Step S403: and adjusting the positioning error of the laser radar. Specifically, the scheduling task docking module 08 acquires the pulse positioning information of the intelligent navigation device again, and adjusts the laser radar positioning error, including the positioning error for constructing a map, based on the pulse positioning information.

The following describes a route navigation process of the intelligent navigation device with reference to a specific embodiment, with reference to fig. 20.

Step S501: and scheduling the navigation capacity of the target point to complete the global planning of the path. Specifically, the positioning information of the intelligent navigation device and the target customer is acquired based on the positioning calibration module 02, the target point navigation capability of the intelligent navigation device is scheduled, and the path global planning is completed by combining the constructed map.

Step S502: navigating to the target customer. Specifically, the route navigation module 04 of the intelligent navigation device is scheduled to complete navigation.

Step S503: and fusing pulse positioning information to calibrate the positioning error in the navigation process in real time. Specifically, in the actual navigation process, many emergency situations can occur, for example, when a worker is on the way of the navigation route, the original route needs to be adjusted, the route needs to be re-planned in the process, the position of the intelligent navigation device can be confirmed in real time by fusing pulse positioning information, and the computational power dependence of the intelligent navigation device on re-route planning is reduced.

The following describes a client location process of the smart navigation device in detail with reference to a specific embodiment, and refer to fig. 21.

Step S601: image information of the surrounding environment is acquired. Specifically, after the route navigation module 04 completes the navigation task and reaches the vicinity of the target client, the intelligent navigation device rotates around in place and starts the camera to acquire image information of the surrounding environment.

Step S602: identify the identity attribute of the client. Specifically, the intelligent navigation device starts a face recognition algorithm to determine the client orientation based on the image information acquired in step S601, starts an image analysis module to determine attributes such as the gender, age, and clothing of the client, and connects with an important client information base in the system to construct an initial client portrait of the client.

Step S603: and the intelligent navigation equipment draws the client action line track based on the pulse positioning data. Specifically, the intelligent navigation equipment sends a target client positioning data acquisition request to the positioning guide control terminal, and draws a client action line track based on the acquired client positioning change data.

Step S604: the intelligent navigation device analyzes the walking path and the staying area of the client based on the client line track of the step S603, and identifies the service content in which the client is interested.

The following service flow of the intelligent navigation device is specifically described below with reference to a specific embodiment, and refer to fig. 22.

Step S701: the intelligent navigation equipment regularly identifies that the client is in the visual field of the camera. Specifically, the client intercepts the image information of the current camera orientation every 1 minute, calls up a target client identification module, and judges whether the client is in the following range or not through face identification and dressing identification.

Step S702: and if the target client is judged not to have the camera view range content any more based on the analysis result of the step S701, sending a request for acquiring the client pulse positioning information again to the positioning guide control terminal, and acquiring the positioning information of the target client again.

Step S703: the target customer location is re-navigated based on the customer location information obtained at S703. Specifically, a re-navigation request is sent to the path planning unit, the target client is navigated to the latest position, after the target client is reached, the image information of the current camera position is obtained again, the specific position of the client is judged, and the navigation route is re-returned.

In order to solve the problem that the existing service robot can only determine self-positioning information and environment map information, complete a fixed-point service task, and cannot dynamically lock a service client target, the application provides an embodiment of an electronic device for implementing all or part of contents in the autonomous navigation method of the intelligent navigation device, where the electronic device specifically includes the following contents:

fig. 23 is a schematic block diagram of a system configuration of an electronic device 9600 according to an embodiment of the present application. As shown in fig. 23, the electronic device 9600 can include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. Notably, this fig. 23 is exemplary; other types of structures may also be used in addition to or in place of the structure to implement telecommunications or other functions.

In one embodiment, the smart navigation device autonomous navigation function may be integrated into the central processor. Wherein the central processor may be configured to control:

In another embodiment, the smart navigation device may be configured separately from the central processor 9100, for example, the smart navigation device may be configured as a chip connected to the central processor 9100, and the autonomous navigation function is realized by the control of the central processor.

As shown in fig. 23, the electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is noted that the electronic device 9600 also does not necessarily include all of the components shown in fig. 23; in addition, the electronic device 9600 may further include components not shown in fig. 23, which can be referred to in the related art.

As shown in fig. 23, a central processor 9100, sometimes referred to as a controller or operational control, can include a microprocessor or other processor device and/or logic device, which central processor 9100 receives input and controls the operation of the various components of the electronic device 9600.

The memory 9140 can be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information relating to the failure may be stored, and a program for executing the information may be stored. And the central processing unit 9100 can execute the program stored in the memory 9140 to realize information storage or processing, or the like.

The input unit 9120 provides input to the central processor 9100. The input unit 9120 is, for example, a key or a touch input device. Power supply 9170 is used to provide power to electronic device 9600. The display 9160 is used for displaying display objects such as images and characters. The display may be, for example, an LCD display, but is not limited thereto.

The memory 9140 can be a solid state memory, e.g., Read Only Memory (ROM), Random Access Memory (RAM), a SIM card, or the like. There may also be a memory that holds information even when power is off, can be selectively erased, and is provided with more data, an example of which is sometimes called an EPROM or the like. The memory 9140 could also be some other type of device. Memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application/function storage portion 9142, the application/function storage portion 9142 being used for storing application programs and function programs or for executing a flow of operations of the electronic device 9600 by the central processor 9100.

The memory 9140 can also include a data store 9143, the data store 9143 being used to store data, such as contacts, digital data, pictures, sounds, and/or any other data used by an electronic device. The driver storage portion 9144 of the memory 9140 may include various drivers for the electronic device for communication functions and/or for performing other functions of the electronic device (e.g., messaging applications, contact book applications, etc.).

The communication module 9110 is a transmitter/receiver 9110 that transmits and receives signals via an antenna 9111. The communication module (transmitter/receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as in the case of a conventional mobile communication terminal.

Based on different communication technologies, a plurality of communication modules 9110, such as a cellular network module, a bluetooth module, and/or a wireless local area network module, may be provided in the same electronic device. The communication module (transmitter/receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby implementing ordinary telecommunications functions. The audio processor 9130 may include any suitable buffers, decoders, amplifiers and so forth. In addition, the audio processor 9130 is also coupled to the central processor 9100, thereby enabling recording locally through the microphone 9132 and enabling locally stored sounds to be played through the speaker 9131.

An embodiment of the present application further provides a computer-readable storage medium capable of implementing all the steps in the intelligent navigation device autonomous navigation method in the foregoing embodiment, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements all the steps of the intelligent navigation device autonomous navigation method in the foregoing embodiment, where the execution subject is a server or a client, for example, when the processor executes the computer program, the processor implements the following steps:

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. An autonomous navigation method of an intelligent navigation device is characterized by comprising the following steps:

and navigating to the target client according to the navigation route.

2. The intelligent navigation device autonomous navigation method of claim 1, further comprising:

and providing corresponding services according to the predicted services.

3. The autonomous navigation method of the intelligent navigation device according to claim 1, wherein the generating of the positioning map according to the position information of the intelligent navigation device and the relative position relationship between the intelligent navigation device and at least one obstacle comprises:

4. The autonomous navigation method of intelligent navigation equipment according to claim 1, wherein the correcting the positioning map according to the self-positioning information of the intelligent navigation equipment and the self-position information of the intelligent navigation equipment comprises:

5. The autonomous navigation method of intelligent navigation equipment according to claim 1, wherein the positioning information is obtained by positioning a positioning chip on the intelligent navigation equipment by a plurality of positioning base stations, and comprises:

6. The autonomous navigation method of intelligent navigation equipment according to claim 5, wherein the step of performing information interaction between each positioning base station and a positioning chip on the intelligent navigation equipment to obtain the ranging information between the positioning chip on the intelligent navigation equipment and each positioning base station comprises:

7. The intelligent navigation device autonomous navigation method of claim 2, wherein the predicting the current business to be executed by the target client according to the target client motion trail comprises:

8. The intelligent navigation device autonomous navigation method of claim 7, wherein the predicting of the business to be executed by the target client according to the face orientation direction of the target client in the environment image, the motion track of the target client and the client information of the target client comprises:

9. The intelligent navigation device autonomous navigation method of claim 7, wherein the predicting a current business to be executed by a target client according to the target client motion trajectory further comprises:

10. An intelligent navigation device, comprising:

11. The intelligent navigation device of claim 10, further comprising:

12. The intelligent navigation device of claim 10, wherein the positioning module comprises:

13. The intelligent navigation device of claim 10, wherein the positioning calibration module comprises:

14. The intelligent navigation device of claim 10, wherein the positioning calibration module further comprises:

15. The intelligent navigation device of claim 11, wherein the traffic prediction module comprises:

16. The intelligent navigation device of claim 15, wherein the traffic prediction unit comprises:

17. The intelligent navigation device of claim 15, wherein the traffic prediction module further comprises:

18. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the intelligent navigation device autonomous navigation method of any of claims 1 to 9 when executing the program.

19. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the intelligent navigation device autonomous navigation method of any one of claims 1 to 9.