Robot navigation method, electronic equipment and readable storage medium

Abstract

The invention is suitable for the technical field of robots, and provides a navigation method of a robot, electronic equipment and a readable storage medium. The navigation method of the robot comprises the steps that visitor data of a current visitor are acquired, and the visitor data comprise historical access records of the current visitor; according to the historical access record, detecting whether the current visitor passes security verification in a security management area; and after the security verification is passed, controlling a robot to guide the current visitor to go to an access destination in the security management area. According to the embodiment of the invention, both security and access efficiency can be considered.

Description

Technical Field

[0001] The present application belongs to the field of robot technology, and in particular relates to a robot navigation method, electronic equipment and readable storage medium. Background Art

[0002] In existing office buildings and other commercial buildings, visitor management usually relies on manual reception or basic electronic registration systems. In order to ensure security, some buildings will conduct manual security review of visitor information, and manual approval is inefficient. Especially during peak hours, a large number of front desk staff are required to handle registration and security review, which easily causes congestion and delays. Summary of the invention

[0003] The embodiments of the present application provide a robot navigation method, an electronic device, and a readable storage medium, which can solve the problem of low visitor access efficiency in related technologies.

[0004] A first aspect of an embodiment of the present application provides a robot navigation method, comprising: obtaining visitor data of a current visitor, the visitor data including the historical visit records of the current visitor; detecting whether the current visitor has passed security verification in a security management area based on the historical visit records; and after the security verification is passed, controlling the robot to guide the current visitor to an access destination within the security management area.

[0005] In some embodiments of the first aspect, detecting whether the current visitor has passed security verification in the security management area based on the historical access records includes: determining the past access pattern of the current visitor based on the historical access records; and detecting whether the current visitor has passed security verification in the security management area based on the access pattern and the time information of the current visit of the current visit.

[0006] In some embodiments of the first aspect, the detection of whether the current visitor has passed the security verification in the security management area is performed based on the access pattern and the time information of the current visit of the current visit, including: if the time information of the current visit of the current visit is consistent with the access frequency corresponding to the access pattern, and is consistent with the duration corresponding to the access pattern, then confirming that the security verification has passed; if the time information of the current visit of the current visit does not meet the access frequency corresponding to the access pattern, and / or does not meet the duration corresponding to the access pattern, then confirming that the security verification has not passed.

[0007] In some embodiments of the first aspect, detecting whether the current visitor has passed the security verification in the security management area based on the historical access records includes: determining the historical movement trajectory of the current visitor in the security management area based on the historical access records; if the historical movement trajectory only passes through the authorized area, confirming that the security verification has passed; if the historical movement trajectory partially or completely passes through the unauthorized area, determining the interaction behavior of the current visitor in the unauthorized area; if the interaction behavior is non-risky behavior, confirming that the security verification has passed; if the interaction behavior is risky behavior, confirming that the security verification has failed.

[0008] In some embodiments of the first aspect, the controlling robot guides the current visitor to the visiting destination within the security management area, including: determining a congested area within the security management area; performing path planning based on the current location of the current visitor, the visiting destination, and the congested area to obtain a guiding path that avoids the congested area; controlling the robot to output a first guiding prompt message and move along the guiding path to guide the current visitor to the visiting destination.

[0009] In some embodiments of the first aspect, determining the congested area within the security management area includes: determining current pedestrian flow information of each sub-area within the security management area; obtaining expected events in each of the sub-areas in a future time period; estimating future pedestrian flow information of each sub-area within the security management area based on the current pedestrian flow information and the expected events; and determining the congested area in each of the sub-areas based on the future pedestrian flow information.

[0010] In some embodiments of the first aspect, the robot navigation method further includes: adjusting the guidance path in response to a route selection operation or an emergency adjustment signal; and controlling the robot to output second guidance prompt information and move according to the adjusted guidance path.

[0011] In some embodiments of the first aspect, in the process of controlling the robot to guide the current visitor to the visit destination within the security management area, the robot's guidance method also includes: monitoring the real-time position of the current visitor; if the real-time position deviates from the guidance path, or the distance between the real-time position and the robot's position is greater than a distance threshold, outputting a correction prompt information, and the correction prompt information is used to prompt the current visitor to approach the robot.

[0012] A second aspect of an embodiment of the present application provides a robot navigation device, comprising: a visitor data acquisition unit, used to acquire visitor data of a current visitor, wherein the visitor data includes a historical visit record of the current visitor; a verification unit, used to detect whether the current visitor has passed security verification in a security management area based on the historical visit record; and a navigation unit, used to control the robot to guide the current visitor to a visit destination in the security management area after the security verification is passed.

[0013] A third aspect of an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned robot navigation method when executing the computer program.

[0014] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned robot navigation method are implemented.

[0015] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the steps of the above-mentioned robot navigation method.

[0016] In an implementation manner of the present application, by obtaining the visitor data of the current visitor and based on the historical visit records of the current visitor, it is detected whether the current visitor has passed the security verification in the security management area. After the security verification is passed, the robot is controlled to guide the current visitor to the access destination in the security management area. The historical visit records can be used to implement security verification, and the robot can guide the visitor without human intervention, thus taking into account both security and access efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 It is a schematic diagram of the implementation flow of a robot navigation method provided in an embodiment of the present application;

[0019] Figure 2 This is a schematic diagram of the first specific implementation process of the security verification provided by the embodiment of the present application;

[0020] Figure 3This is a schematic diagram of a second specific implementation process of security verification provided by an embodiment of the present application;

[0021] Figure 4 This is a schematic diagram of a specific implementation process of controlling a robot to guide a current visitor provided in an embodiment of the present application;

[0022] Figure 5 It is a structural schematic diagram of a robot navigation device provided in an embodiment of the present application;

[0023] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are protected by the present application.

[0025] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0026] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0027] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0028] In existing office buildings and other commercial buildings, visitor management usually relies on manual reception or basic electronic registration systems. In order to ensure security, some buildings will conduct manual security review of visitor information, and manual approval is inefficient. Especially during peak hours, a large number of front desk staff are required to handle registration and security review, which easily causes congestion and delays.

[0029] In view of this, the present application proposes a robot navigation method, which can use historical access records to achieve security verification, and the robot can guide visitors without human intervention, thus taking into account both security and access efficiency.

[0030] In order to illustrate the technical solution of the present application, a specific embodiment is provided below for illustration.

[0031] Figure 1 The present invention provides a schematic diagram of the implementation process of a robot navigation method provided in an embodiment of the present invention, which can be applied to an electronic device. The electronic device can be a computer, a mobile phone, or other intelligent device used to control or communicate with the robot, or it can be the robot itself.

[0032] Specifically, the robot navigation method may include the following steps S101 to S103.

[0033] Step S101, obtaining visitor data of the current visitor.

[0034] The current visitor refers to a person who visits the security management area. The security management area refers to an area where visitors need to be managed, which can refer to a park, a commercial building, a residential area, etc. This application does not impose any restrictions on this.

[0035] In the implementation mode of the present application, visitor data refers to data related to the current visitor, which may include the historical visit records of the current visitor. The historical visit records refer to the relevant information of the current visitor when visiting the security management area in the past, such as the past visit time, visit object, visit location, behavior, etc. In addition, visitor data may also include but is not limited to the basic identity information and visit information of the current visitor. The basic identity information may be the name, contact information, facial information, etc. of the current visitor. The visit information may be the visit destination, visit time, visit object, etc. of the current visit.

[0036] In some embodiments of the present application, the robot may be configured with a voice recognition system for capturing and parsing voice inputs in different languages ​​and accents. The electronic device may obtain the voice commands collected by the robot through the voice recognition system to obtain the basic identity information of the current visitor and query the corresponding historical visit records. In order to improve the recognition accuracy, the above-mentioned voice recognition system may have an environmental noise filtering function to ensure that clear voice commands can be received under various noise backgrounds. In other embodiments of the present application, the basic identity information can also be obtained by the robot through face recognition through a camera, and the recognized face data is compared with the data in the pre-stored database. Among them, the face recognition method can be implemented using existing algorithms such as deep learning algorithms and feature extraction algorithms, which are not limited by the present application. In other embodiments of the present application, the current visitor can use the touch screen of the robot to input information. The electronic device can obtain the input information collected by the robot through the touch screen to obtain the visitor data. This application does not limit the method of obtaining visitor data.

[0037] Step S102: Detect whether the current visitor has passed the security verification in the security management area according to the historical access records.

[0038] Among them, security verification can refer to verifying the security of the current visitor through a series of activities and methods. Based on the historical access records, the current visitor's past visit behaviors can be analyzed to determine whether the current visitor's behavior records in the security management area meet the security requirements. For example, security verification can be performed by analyzing whether the current visitor has abnormal risk behaviors in the past, and whether the current visit is significantly different from the previous visit.

[0039] Step S103, after the security verification is passed, the robot is controlled to guide the current visitor to the visit destination within the security management area.

[0040] In the implementation mode of the present application, if the security verification fails, it means that the current visitor has an abnormality in this visit and does not meet the security requirements of the security management area. At this time, the staff can be notified to handle it. If the security verification passes, it means that the current visitor meets the security requirements of the security management area. At this time, the robot can be controlled to guide the current visitor to the visit destination in the security management area. The visit destination is also the destination of the current visit.

[0041] In an implementation manner of the present application, by obtaining the visitor data of the current visitor and based on the historical visit records of the current visitor, it is detected whether the current visitor has passed the security verification in the security management area. After the security verification is passed, the robot is controlled to guide the current visitor to the access destination in the security management area. The historical visit records can be used to implement security verification, and the robot can guide the visitor without human intervention, thus taking into account both security and access efficiency.

[0042] In some embodiments of the present application, the visitor data of the current visitor can be obtained by the robot. After obtaining the visitor data of the current visitor, the robot can fill in the information in the electronic visitor registration form, and submit the completed electronic visitor registration form to the internal security approval system for approval by the administrator. In this way, manual approval and automatic security verification by the algorithm can be combined to further improve security. Among them, the electronic visitor registration form can be transmitted via an encrypted wireless connection to ensure information security.

[0043] In some implementations of the present application, after acquiring the visitor data of the current visitor, the electronic device may perform security verification on the visitor data.

[0044] Specifically, in some embodiments of the present application, the visitor data of the current visitor may include basic identity information. In this case, the electronic device may compare the visitor data with the identity information provided by the external database to verify whether the current visitor has a bad record. If the current visitor has a bad record, the security check fails; if the current visitor does not have a bad record, the security check passes.

[0045] In other embodiments of the present application, the visitor data of the current visitor may include historical visit records. In this case, the electronic device may determine whether there are abnormal records in the historical visit records, such as records of visits during non-visit times. If there are abnormal records in the historical visit records, the security check fails; if there are no abnormal records in the historical visit records, the security check passes. Specifically, the electronic device may perform cluster analysis on historical visit destinations and behaviors to find abnormal records.

[0046] In an implementation manner of the present application, the electronic device may also analyze the behavior records based on the historical access records to verify the security of the behavior records.

[0047] Specifically, in some embodiments of the present application, Figure 2 As shown, detecting whether the current visitor has passed the security verification in the security management area according to the historical access records may include: step S201 to step S202.

[0048] Step S201, determining the past visit patterns of the current visitor based on historical visit records.

[0049] Specifically, by analyzing the access date, access start time and end time of each access record in the historical access records, the current visitor's past access frequency and duration can be determined, and then based on the access frequency and duration, the access patterns of the current visitor between different visits and the access patterns during each visit can be determined.

[0050] Step S202: Detect whether the current visitor has passed the security verification in the security management area according to the access rule and the time information of the current visitor's current visit.

[0051] The time information of this visit may include the visit date, visit start time and visit end time of this visit. It is understandable that if the time information conforms to the visit rule, it means that the visit of the current visitor is a routine visit, and the security verification can be confirmed to have passed. If the time information does not conform to the visit rule, it means that the visit of the current visitor is an abnormal visit, and the security verification can be confirmed to have failed.

[0052] Specifically, if the time information of the current visitor's visit meets the access frequency corresponding to the access rule and meets the duration corresponding to the access rule, then the security verification is confirmed to have passed. If the time information of the current visitor's visit does not meet the access frequency corresponding to the access rule and / or does not meet the duration corresponding to the access rule, then the security verification is confirmed to have failed.

[0053] Assume that the access pattern is: visit once a week, and each visit does not exceed 2 hours. For example, the access date of this visit is August 4, and the last access date is August 1. There are 2 consecutive visits this week, which does not meet the access frequency corresponding to the access pattern, and the security verification is confirmed to have failed. For another example, the start time and end time of this visit are 15:00 and 18:00 respectively, and the duration is 3 hours, which exceeds 2 hours, which does not meet the duration corresponding to the access pattern, and the security verification is confirmed to have failed.

[0054] This method can analyze whether there are any abnormalities in the current visitor's visit from a time dimension, which helps improve security.

[0055] In other embodiments of the present application, Figure 3 As shown, according to the historical access records, detecting whether the current visitor has passed the security verification in the security management area may include: steps S301 to S305.

[0056] Step S301, determining the historical movement trajectory of the current visitor in the security management area according to the historical visit records.

[0057] Specifically, the robot can guide the current visitor's past visit process and record the location information to form a historical movement track. According to the historical visit records, the historical movement track of the current visitor each time he visits the security management area can be determined.

[0058] Step S302: If the historical movement trajectory only passes through the authorized area, it is confirmed that the security verification has passed.

[0059] Step S303: If the historical movement trajectory partially or completely passes through the unauthorized area, determine the interaction behavior of the current visitor in the unauthorized area.

[0060] Authorized areas refer to areas that the current visitor is allowed to access. Unauthorized areas refer to areas that the current visitor is not allowed to access. If the historical movement trajectory only passes through the authorized area, it means that the current visitor has not made unauthorized access, and the security verification can be confirmed to have passed. If there is a historical movement trajectory that partially or completely passes through the unauthorized area, it means that the current visitor may have made unauthorized access, and it is necessary to determine the current visitor's interactive behavior in the security management area.

[0061] Step S304: If the interactive behavior is a non-risky behavior, confirm that the security verification has passed.

[0062] Step S305: If the interactive behavior is a risky behavior, confirm that the security verification has not passed.

[0063] If the interaction behavior is non-risky, it means that the current visitor just accidentally passed through the unauthorized area, and the security verification can be confirmed to have passed. For example, if the current visitor interacts with the robot in the unauthorized area, the interaction behavior can be confirmed to be non-risky. If the interaction behavior is risky, it means that the current visitor has unauthorized access, and the security verification has not passed. For example, if the current visitor interacts with the access control of the unauthorized area, and the current visitor stays in the non-risk area for longer than the time threshold, the interaction behavior can be confirmed to be risky.

[0064] This method can analyze whether there are any abnormalities in the current visitor's past visits based on past trajectories and behaviors, which helps improve security.

[0065] After the security verification is passed, the electronic device can control the robot to guide the current visitor to the access destination within the security management area.

[0066] Specifically, the electronic device can control the robot to notify the current visitor of the result of the security verification through its display screen or voice system, such as whether the security verification is passed or further information for manual review is required. After the security verification is passed, the electronic device controls the robot to move along the guide path to guide the current visitor to the visit destination within the security management area.

[0067] In some embodiments of the present application, Figure 4 As shown, after the security verification is passed, controlling the robot to guide the current visitor to the visit destination within the security management area may include: steps S401 to S403.

[0068] Step S401, determining a congested area within a security management area.

[0069] Among them, the congested area is an area where congestion is likely to occur when the robot and the current visitor pass through the congested area.

[0070] In some embodiments of the present application, determining a congested area within a security management area may include: determining current pedestrian flow information for each sub-area within the security management area, obtaining expected events in each sub-area in a future time period, estimating future pedestrian flow information for each sub-area within the security management area based on the current pedestrian flow information and expected events, and determining a congested area in each sub-area based on the future pedestrian flow information.

[0071] Specifically, the current pedestrian flow information can be determined based on surveillance images, information collected by the access control system, or current events occurring in each sub-area, and this application does not impose any restrictions on this.

[0072] An expected event refers to an event that will occur in the future, such as a scheduled meeting, an upcoming event, etc.

[0073] The future time period may be a preset fixed time period, such as within the next five minutes, or may be determined according to the estimated time period to reach the visited destination, for example, if the estimated time period to reach the visited destination is 10 minutes, then it is within the next ten minutes.

[0074] Since the occurrence or end of an expected event will cause people to move, resulting in changes in the flow of people, by obtaining the expected events in each sub-area in the future time period, the electronic device can combine the current flow of people information and the expected events to estimate the future flow of people information of each sub-area in the security management area. At this time, based on the future flow of people information, if the flow of people in a sub-area is greater than the flow threshold, it can be confirmed as a congested area. For example, the current flow of people in area A is R1, and the expected event in area A is a meeting with x participants, then the future flow of people in area A is R1+x.

[0075] In this way, the changes in passenger flow can be dynamically estimated, resulting in more accurate analysis results of congested areas.

[0076] In other embodiments of the present application, determining the congested area within the security management area may include: determining the congested area in each sub-area based on the Wi-Fi signal strength, security access log, and elevator usage frequency data of each sub-area. It is understandable that the greater the flow of people, the easier it is for the Wi-Fi signal strength to weaken. The security access log and elevator usage frequency data can reflect the number of people in the area. Therefore, based on the Wi-Fi signal strength, security access log, and elevator usage frequency data of each sub-area, the flow of people in the sub-area can also be analyzed to determine the congested area in each sub-area.

[0077] In other implementations, the congested area may be determined according to the functional information of each sub-area. For example, when the sub-area is a free activity area, it is a congested area; when the sub-area is an office area, it is a non-congested area.

[0078] Step S402, performing path planning according to the current location, the visiting destination, and the congested area of ​​the current visitor, and obtaining a guidance path that avoids the congested area.

[0079] Specifically, the electronic device can apply a graph search algorithm (such as A* algorithm, Dijkstra algorithm) to calculate the path from the current location to the destination in real time. The algorithm can consider the congested area and dynamically adjust the path so that the final output path avoids the congested area.

[0080] Step S403, controlling the robot to output the first guidance prompt information and move according to the guidance path to guide the current visitor to the visit destination.

[0081] The first guide prompt information can be used to prompt the current visitor to follow the robot. The electronic device controls the robot to output the first guide prompt information and move along the guide path, thereby guiding the current visitor to the destination. In the process of the robot moving along the guide path, the robot can identify and avoid temporary obstacles to ensure that the visitor can reach the destination safely and smoothly.

[0082] In some embodiments of the present application, the robot navigation method may further include: adjusting the guidance path in response to a route selection operation or an emergency adjustment signal; controlling the robot to output second guidance prompt information and move according to the adjusted guidance path.

[0083] The second guidance prompt information may be used to prompt the current visitor to adjust the path.

[0084] Taking the route selection operation as an example, the robot can provide an easy-to-operate touch screen interface. At key decision points, the robot will display several guide path options. The current visitor can use this interface to adjust the visit destination or modify the route preference in real time to trigger the route selection operation. The robot can select a guide path as the initial guide path. Based on the route selection operation, the electronic device can adjust the initial guide path according to the destination or route selected by the current visitor, and control the robot to output the second guide prompt information and move along the adjusted guide path.

[0085] Taking the emergency adjustment signal as an example, when the electronic device receives a fire alarm or emergency evacuation signal, it can obtain the location of the nearest safe exit, notify the access destination as the nearest safe exit, and control the robot to output the second guidance prompt information and move according to the adjusted guidance path.

[0086] In this way, the robot can adjust its path according to the actual application scenario during the guidance process, which can improve safety and user experience.

[0087] In some embodiments of the present application, in the process of controlling the robot to guide the current visitor to the visiting destination within the security management area, the robot's navigation method also includes: monitoring the real-time position of the current visitor, if the real-time position deviates from the guidance path, or the distance between the real-time position and the robot's position is greater than a distance threshold, then outputting a correction prompt message.

[0088] Among them, the correction prompt information can be used to prompt the current visitor to approach the robot.

[0089] Specifically, the robot can monitor the current visitor's position in real time through the camera and motion sensor equipped to ensure that the visitor follows closely. If the visitor is detected to be lagging behind or deviating from the guide path, the robot will be controlled to pause navigation and output correction prompt information through visual and sound prompts to guide the visitor back to the guide path, thereby preventing the current visitor from unauthorized access to other areas, which helps to improve safety.

[0090] In some embodiments of the present application, in the process of controlling the robot to guide the current visitor to the visit destination within the security management area, the robot's navigation method also includes: recording the current visitor's behavior during this visit and performing security verification on the behavior during this visit.

[0091] Among them, the process of determining the current visitor's behavior during this visit and performing security verification on the behavior during this visit can refer to the process of performing security verification on historical visit records, which is not described in detail in this application. In other words, during the boot process, the electronic device can also evaluate in real time whether the current visitor's behavior is abnormal. If the security verification of the behavior of this visit fails, an alarm can be issued to prompt the management staff to intervene.

[0092] In some embodiments of the present application, in the process of controlling the robot to guide the current visitor to the visit destination within the security management area, the robot's navigation method further includes: controlling the robot to guide the current visitor to perform access control verification. Specifically, the robot can guide the current visitor to the security access control system, assist in using a radio frequency identification (RFID) card, a QR code, or perform facial recognition again to complete the access control verification.

[0093] In some embodiments of the present application, in the process of controlling the robot to guide the current visitor to the visiting destination within the security management area, the robot's guidance method also includes: controlling the robot to establish a connection with the elevator, so as to control the elevator through the robot to reach the floor where the visiting destination is located, thereby realizing contactless control and ensuring the safety and convenience of the current visitor.

[0094] It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the described order of actions, because according to the present application, certain steps can be performed in other orders.

[0095] like Figure 5 Shown is a schematic structural diagram of a robot navigation device 500 provided in an embodiment of the present application, wherein the robot navigation device 500 is configured on an electronic device.

[0096] Specifically, the robot navigation device 500 may include:

[0097] The visitor data acquisition unit 501 is used to acquire the visitor data of the current visitor, wherein the visitor data includes the historical visit records of the current visitor;

[0098] A verification unit 502, configured to detect whether the current visitor has passed the security verification in the security management area according to the historical access record;

[0099] The navigation unit 503 is used to control the robot to guide the current visitor to the visit destination within the security management area after the security verification is passed.

[0100] In some embodiments of the present application, the verification unit 502 is specifically used to: determine the past access patterns of the current visitor based on the historical access records; and detect whether the current visitor has passed the security verification in the security management area based on the access patterns and the time information of the current visit of the current visit.

[0101] In some embodiments of the present application, the verification unit 502 is specifically used to: if the time information of the current visitor's visit is consistent with the access frequency corresponding to the access rule, and is consistent with the duration corresponding to the access rule, then confirm that the security verification has passed; if the time information of the current visitor's visit is not consistent with the access frequency corresponding to the access rule, and / or is not consistent with the duration corresponding to the access rule, then confirm that the security verification has not passed.

[0102] In some embodiments of the present application, the verification unit 502 is specifically used to: determine the historical movement trajectory of the current visitor in the security management area based on the historical access records; if the historical movement trajectory only passes through the authorized area, confirm that the security verification is passed; if the historical movement trajectory passes partially or entirely through the unauthorized area, determine the interaction behavior of the current visitor in the unauthorized area; if the interaction behavior is a non-risky behavior, confirm that the security verification is passed; if the interaction behavior is a risky behavior, confirm that the security verification is failed.

[0103] In some embodiments of the present application, the navigation unit 503 is specifically used to: determine the congested area within the security management area; perform path planning based on the current location of the current visitor, the visit destination, and the congested area to obtain a guidance path that avoids the congested area; control the robot to output a first guidance prompt information and move along the guidance path to guide the current visitor to the visit destination.

[0104] In some embodiments of the present application, the navigation unit 503 is specifically used to: determine the current pedestrian flow information of each sub-area in the security management area; obtain expected events in each of the sub-areas in the future time period; estimate the future pedestrian flow information of each sub-area in the security management area based on the current pedestrian flow information and the expected events; and determine the congested area in each of the sub-areas based on the future pedestrian flow information.

[0105] In some embodiments of the present application, the navigation unit 503 is specifically used to: adjust the guidance path in response to a route selection operation or an emergency adjustment signal; control the robot to output a second guidance prompt information and move according to the adjusted guidance path.

[0106] In some embodiments of the present application, the navigation unit 503 is specifically used to: monitor the real-time position of the current visitor; if the real-time position deviates from the guide path, or the distance between the real-time position and the position of the robot is greater than a distance threshold, output a correction prompt information, and the correction prompt information is used to prompt the current visitor to approach the robot.

[0107] It should be noted that, for the convenience and simplicity of description, the specific working process of the robot navigation device 500 can be referred to Figures 1 to 4 The corresponding process of the method will not be repeated here.

[0108] like Figure 6 , which is a schematic diagram of an electronic device provided in an embodiment of the present application. Specifically, the electronic device 6 may include: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60, such as a robot navigation program. When the processor 60 executes the computer program 62, the steps in the above-mentioned robot navigation method embodiments are implemented, such as Figure 1 Alternatively, when the processor 60 executes the computer program 62, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 5 The functions of the visitor data acquisition unit 501, the verification unit 502 and the navigation unit 503 are shown.

[0109] The computer program may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0110] For example, the computer program can be divided into: a visitor data acquisition unit, a verification unit, and a navigation unit. The specific functions of each unit are as follows: the visitor data acquisition unit is used to obtain the visitor data of the current visitor, and the visitor data includes the historical visit records of the current visitor; the verification unit is used to detect whether the current visitor has passed the security verification in the security management area according to the historical visit records; the navigation unit is used to control the robot to guide the current visitor to the visit destination in the security management area after the security verification is passed.

[0111] The electronic device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 6These are merely examples of electronic devices and do not constitute a limitation of the electronic device. The electronic device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0112] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0113] The memory 61 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. The memory 61 may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Further, the memory 61 may also include both an internal storage unit of the electronic device and an external storage device. The memory 61 is used to store the computer program and other programs and data required by the electronic device. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0114] It should be noted that, for the convenience and brevity of description, the structure of the above electronic device can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0115] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0116] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0117] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0118] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0119] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0121] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0122] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A robot navigation method, characterized in that: include: Acquire visitor data of the current visitor, wherein the visitor data includes a historical visit record of the current visitor; According to the historical access records, detecting whether the current visitor has passed the security verification in the security management area; After the security verification is passed, the robot is controlled to guide the current visitor to the visit destination within the security management area.

2. The robot navigation method according to claim 1, characterized in that: The detecting, based on the historical access records, whether the current visitor has passed the security verification in the security management area includes: Determine the past visit patterns of the current visitor based on the historical visit records; According to the access rule and the time information of the current visitor's current visit, it is detected whether the current visitor has passed the security verification in the security management area.

3. The robot navigation method according to claim 2, characterized in that: The detecting, based on the access rule and the time information of the current visitor's current visit, whether the current visitor has passed the security verification in the security management area includes: If the time information of the current visitor's visit meets the visit frequency corresponding to the visit rule and meets the duration corresponding to the visit rule, then it is confirmed that the security verification has passed; If the time information of the current visitor's visit does not conform to the access frequency corresponding to the access rule, and / or does not conform to the duration corresponding to the access rule, it is confirmed that the security verification has failed.

4. The robot navigation method according to claim 1, characterized in that: The detecting, based on the historical access records, whether the current visitor has passed the security verification in the security management area includes: Determine the historical movement trajectory of the current visitor in the security management area according to the historical visit record; If the historical movement trajectory only passes through the authorized area, it is confirmed that the security verification has passed; If the historical movement trajectory partially or entirely passes through an unauthorized area, determining the interaction behavior of the current visitor in the unauthorized area; If the interactive behavior is a non-risky behavior, confirming that the security verification has passed; If the interactive behavior is a risky behavior, it is confirmed that the security verification has failed.

5. The robot navigation method according to any one of claims 1 to 4, characterized in that: The controlling robot guides the current visitor to a visit destination within the security management area, including: Determining a congested area within the security management area; Performing path planning according to the current location of the current visitor, the visiting destination, and the congested area to obtain a guiding path that avoids the congested area; The robot is controlled to output the first guiding prompt information and move according to the guiding path to guide the current visitor to the visiting destination.

6. The robot navigation method according to claim 5, characterized in that: The determining of the congested area within the security management area includes: Determine the current flow of people in each sub-area within the security management area; Obtaining expected events in each of the sub-areas in a future time period; According to the current pedestrian flow information and the expected events, estimating the future pedestrian flow information of each sub-area in the security management area; The congested area is determined in each of the sub-areas according to the future passenger flow information.

7. The robot navigation method according to claim 5, characterized in that: The robot navigation method further includes: In response to a route selection operation or an emergency adjustment signal, adjusting the guidance path; The robot is controlled to output second guidance prompt information and move according to the adjusted guidance path.

8. The robot navigation method according to claim 5, characterized in that: In the process of controlling the robot to guide the current visitor to the visit destination within the security management area, the robot's navigation method further includes: monitoring the real-time location of the current visitor; If the real-time position deviates from the guide path, or the distance between the real-time position and the position of the robot is greater than a distance threshold, deviation correction prompt information is output, and the deviation correction prompt information is used to prompt the current visitor to approach the robot.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the robot navigation method according to any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the robot navigation method according to any one of claims 1 to 8 are implemented.

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