Indoor robot navigation control method, device, equipment and medium

A technology of indoor robot and control method, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control and other directions, can solve the problems of not supporting midway diversion, indoor robot not having active follow-up, etc., to achieve liberation People, the effect of good customer experience

Pending Publication Date: 2022-05-10
AGRICULTURAL BANK OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides an indoor robot navigation control method, device, equipment and medium, which solves the problem that the indoor robot does not have the ability to actively follow and does not support midway diversion, and realizes that the indoor robot can provide personalized services for customers

Method used

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  • Indoor robot navigation control method, device, equipment and medium
  • Indoor robot navigation control method, device, equipment and medium
  • Indoor robot navigation control method, device, equipment and medium

Examples

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Embodiment 1

[0027] Figure 1a It is a flowchart of an indoor robot navigation control method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where the indoor robot actively follows and avoids obstacles in real time. The method of this embodiment can be executed by an indoor robot navigation control device, which can be realized by means of software and / or hardware, and which can be configured in a server.

[0028] Correspondingly, the method specifically includes the following steps:

[0029] S110. Acquire a captured image of a target pedestrian to be positioned by at least one target camera in an indoor environment, and determine two-dimensional image coordinates of the target pedestrian with respect to each of the target cameras according to the captured image.

[0030] Wherein, the two-dimensional image coordinates may refer to coordinates of a planar image that does not contain depth information, and the corresponding two-dimensional ...

Embodiment 2

[0065] figure 2 It is a flow chart of another indoor robot navigation control method provided by Embodiment 2 of the present invention. This embodiment is refined on the basis of the above-mentioned embodiments, and according to the position coordinates of each of the target cameras in the target three-dimensional coordinate system, and each of the three-dimensional measurement coordinates, the target pedestrian is obtained by fusion. The 3D fusion coordinates in the target 3D coordinate system are further refined, refer to figure 2 , the method specifically includes the following steps:

[0066] S210. Acquire a captured image of a target pedestrian to be positioned by at least one target camera in an indoor environment, and determine two-dimensional image coordinates of the target pedestrian with respect to each of the target cameras according to the captured image.

[0067] S220. Calculate the three-dimensional measurement coordinates of the target pedestrian with respec...

Embodiment 3

[0077] Figure 3a It is a flow chart of another indoor robot navigation control method provided by Embodiment 3 of the present invention. This embodiment is optimized on the basis of the above-mentioned embodiments, and before the acquisition of the image of the target pedestrian to be positioned by at least one target camera in the indoor environment, it also includes: using the vanishing point estimation algorithm to estimate the target pedestrian in the indoor environment The parameters of each camera are calibrated. refer to Figure 3a , the method specifically includes the following steps:

[0078] S310. Calibrate the parameters of each camera in the indoor environment by using a vanishing point estimation algorithm.

[0079] Among them, the vanishing point estimation algorithm can be based on a dynamic programming method, in which the horizon is detected line by line, and the information used is road surface parallax and edge, while the vanishing point is the intersecti...

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Abstract

The embodiment of the invention discloses an indoor robot navigation control method and device, equipment and a medium. The method comprises the following steps: acquiring an image, acquired by at least one target camera, of a target pedestrian to be positioned in an indoor environment, and determining a two-dimensional image coordinate of the target pedestrian to each target camera according to the acquired image; according to each two-dimensional image coordinate and the camera parameter matrix, calculating a three-dimensional measurement coordinate of the target pedestrian for each target camera; according to the position coordinates of the target cameras in the target three-dimensional coordinate system and the three-dimensional measurement coordinates, three-dimensional fusion coordinates of the target pedestrian are obtained through fusion; and guiding the indoor robot to the position of the target pedestrian according to the three-dimensional fusion coordinate so as to perform voice interaction with the target pedestrian. According to the embodiment of the invention, the problem that the indoor robot does not have active following and does not support midway diversion is solved, the indoor robot can provide services for customers in a personalized manner, and manpower is liberated.

Description

technical field [0001] Embodiments of the present invention relate to technologies in the field of computer vision, and in particular, to an indoor robot navigation control method, device, equipment, and medium. Background technique [0002] At present, in the lobby of bank outlets, the lobby manager often undertakes very heavy work tasks. In addition to providing relevant business consultation, he also needs to guide customers to the designated location to handle related businesses. Relatively speaking, the workload is relatively heavy. [0003] However, the bank lobby service room robots currently used in banks to provide guidance services to customers often do not have real-time guidance services, and it is difficult to adjust the tracking direction and objects in real time, resulting in poor customer experience and cannot replace manpower and reduce work. quantity. Contents of the invention [0004] Embodiments of the present invention provide an indoor robot navigat...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0251G05D1/0276
Inventor 吴强
Owner AGRICULTURAL BANK OF CHINA
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