A conference and exhibition interactive method and platform

Abstract

This invention provides an interactive method and platform for exhibitions, relating to intelligent interaction technology. Based on real-time data collected by exhibition monitoring equipment, it identifies target personnel and their corresponding interactive devices, binds the target personnel and interactive devices, determines the exhibition location corresponding to the target personnel, generates an optimal route for the exhibition location, obtains crowd activity indicators collected by the interactive devices based on the optimal route, updates the optimal route to obtain a real-time route based on the crowd activity indicators, receives posture adjustment requests sent by the interactive devices based on blind spots in the real-time route, determines posture adjustment parameters corresponding to the interactive devices based on real-time interaction data captured by the interactive devices on the target personnel, controls the interactive devices to proceed to the exhibition location based on the real-time route and the posture adjustment parameters, responds to termination information from the interactive devices at the exhibition location, and unbinds the interactive devices and target personnel. This method can efficiently and accurately guide exhibitors to their target booths.

Description

Technical Field

[0001] The present invention relates to intelligent interaction technology, and in particular to an exhibition interaction method and platform. Background Art

[0002] In the exhibition industry, as the number of exhibitors and visitors continues to grow, the scale of exhibitions continues to expand, and the layout becomes increasingly complex and changeable. Under such circumstances, the importance of providing guidance services to exhibitors is also increasing.

[0003] In the prior art, manual guidance is generally adopted at exhibition sites, that is, staff at the exhibition site guide exhibitors to the target booths. This manual guidance method may have many limitations when facing large-scale flow of people and complex and changeable exhibition layouts. For example, manual guidance usually relies on a limited number of staff. When faced with a large number of exhibitors, it is difficult to provide guidance services to everyone quickly and accurately. Moreover, manual guidance often requires verbal explanation and guidance. This method is not only time-consuming, but may also lead to inaccurate information transmission due to language communication barriers or misunderstandings.

[0004] Therefore, how to efficiently and accurately guide exhibitors to their target booths has become an urgent problem to be solved. Summary of the invention

[0005] The present invention provides an exhibition interaction method and platform, which can efficiently and accurately guide exhibitors to reach a target booth.

[0006] A first aspect of the present invention provides an exhibition interaction method, comprising:

[0007] According to the real-time collected data of the exhibition monitoring equipment, the target person and the corresponding interactive device are determined, and the target person and the interactive device are bound;

[0008] Determine the exhibition point corresponding to the target person, generate a preferred route corresponding to the exhibition point, obtain a crowd activity index collected by an interactive device based on the preferred route, and update the preferred route according to the crowd activity index to obtain a real-time route;

[0009] Receiving a posture adjustment request sent by the interactive device based on the blind spot point in the real-time route, and determining a posture adjustment parameter corresponding to the interactive device according to the real-time interaction data of the target person photographed by the interactive device;

[0010] The interactive device is controlled to go to a convention and exhibition location based on the real-time route and the posture adjustment parameter, and the interactive device and the target person are unbound in response to termination information of the interactive device at the convention and exhibition location.

[0011] Optionally, in a possible implementation of the first aspect, determining a target person and an interactive device corresponding to the target person according to real-time collected data of an exhibition monitoring device, and binding the target person and the interactive device include:

[0012] Extracting multiple detection persons from the real-time collected data, identifying the current gesture of each detection person, and determining the detection person corresponding to the current gesture consistent with the preset interaction gesture as the target person;

[0013] Obtaining the pixel coordinates corresponding to the center point of the contour of the target person, performing coordinate conversion on the real-time collected data, and determining the pixel area where the pixel coordinates are located as the target area;

[0014] Determine the actual point pre-configured in the target area as the current point corresponding to the target person, and obtain the device point of each interactive device;

[0015] A device point closest to the current point is selected, the current point is sent to an interactive device corresponding to the device point, and the interactive device is bound to a target person.

[0016] Optionally, in a possible implementation manner of the first aspect, selecting a device point that is closest to the current point, sending the current point to an interactive device corresponding to the device point, and binding the interactive device to a target person includes:

[0017] Acquire the interactive device closest to the current point as the target device, determine the height parameter of the target person according to the profile span of the target person in the height direction, and acquire the preset navigation height corresponding to the height parameter as the safety height corresponding to the target device;

[0018] Control the target device to go to the current point, obtain the height distance between the target person and the target device in the height direction based on the real-time collected data, adjust the safety height according to the height distance, and obtain the safety height finally corresponding to the target device;

[0019] Acquire a scanning video shot by a first shooting unit of the target device based on a downward scanning direction, and when the target person exists in the scanning video and the center point of the outline of the target person is located in the central area of ​​the scanning video, acquire a current shooting angle of the first shooting unit as a target shooting angle;

[0020] The customized navigation parameters of the target device are obtained according to the safety height and the target shooting angle, the identity information of the target person is acquired, and the identity information and the customized navigation parameters of the target device are bound.

[0021] Optionally, in a possible implementation manner of the first aspect, controlling the target device to go to the current point, acquiring a height distance between the target person and the target device in a height direction based on the real-time collected data, adjusting the safety height according to the height distance, and obtaining a safety height finally corresponding to the target device, includes:

[0022] Taking the center point of the target person's outline as a reference point, determining a detection area within a preset radius, and when the target device is located in the detection area, respectively obtaining a first extreme point and a second extreme point of the target person and the target device in a height direction;

[0023] Taking the first extreme point and the second extreme point as references, generating a first extreme line corresponding to the first extreme point and a second extreme line corresponding to the second extreme point in a vertical direction in the height direction;

[0024] Determine that the shortest distance between the first extreme value line and the second extreme value line is the height distance, and obtain a distance difference between the height distance and a reference height distance corresponding to a preset navigation height;

[0025] When the distance difference is less than the distance difference threshold, the safety height of the target device is increased and adjusted until the distance difference is greater than or equal to the distance difference threshold, at which time the adjustment of the safety height is stopped to obtain the final safety height corresponding to the target device.

[0026] Optionally, in a possible implementation of the first aspect, determining an exhibition point corresponding to a target person, generating a preferred route corresponding to the exhibition point, acquiring a crowd activity index collected by an interactive device based on the preferred route, and updating the preferred route according to the crowd activity index to obtain a real-time route, including:

[0027] Determine the exhibition location corresponding to the target person based on the voice interaction data, and generate an optimal route from the current location of the target person to the exhibition location;

[0028] Controlling the interactive device to move based on the preferred route, and acquiring in real time first video data captured by a first shooting unit and second video data captured by a second shooting unit of the interactive device;

[0029] The interactive device includes a first shooting unit and a second shooting unit, wherein the first shooting unit is used to shoot target personnel, and the second shooting unit is used to shoot the flow of people at the exhibition;

[0030] Determine the moving speed of the interactive device according to the contour area of ​​the target person in the first video data, and determine the crowd activity index corresponding to the preferred route based on the number of contours of the detected persons in the second video data;

[0031] When the crowd activity index is greater than the activity index threshold, determining the current device location of the interactive device as an update starting point;

[0032] A position point on the preferred route at a preset detection distance from the update starting point is obtained as an obstacle point, and a real-time route from the update starting point to the exhibition point without passing through the obstacle point is regenerated.

[0033] Optionally, in a possible implementation manner of the first aspect, determining the moving speed of the interactive device according to the outline area of ​​the target person in the first video data includes:

[0034] Retrieving an image captured by the interactive device when it is bound to a target person, extracting a standard outline corresponding to the target person in the captured image, and determining a contour area of ​​the standard outline as a standard area;

[0035] Controlling the interactive device to move based on a preset speed, and acquiring the contour area of ​​the target person in the first video data in real time;

[0036] When the contour area is larger than the standard area, and a first difference between the contour area and the standard area is larger than an area difference threshold, the preset speed is increased and adjusted, until the first difference is smaller than the area difference threshold, the increase adjustment is stopped, and the increased moving speed is obtained;

[0037] When the contour area is smaller than the standard area, and the second difference between the standard area and the contour area is greater than an area difference threshold, the preset speed is reduced and adjusted until the second difference is smaller than the area difference threshold, at which time the reduction adjustment is stopped and the reduced moving speed is obtained.

[0038] Optionally, in a possible implementation manner of the first aspect, receiving a posture adjustment request sent by the interactive device based on a blind spot point in the real-time route, and determining a posture adjustment parameter corresponding to the interactive device according to real-time interaction data photographed by the interactive device of a target person, includes:

[0039] In response to the attitude adjustment request, the blind spot height configured at the blind spot point is obtained, and the blind spot visible height is obtained according to the sum of the blind spot height and the preset visible height;

[0040] Adjust the safety height of the interactive device to the visual height of the blind spot, and control the first shooting unit of the interactive device to collect video based on the overhead scanning direction to obtain real-time interactive data;

[0041] When the safety height of the interactive device is the blind spot visual height and there is a target person in the real-time interactive data, the center point of the outline of the target person is determined as the positioning point, and the direction from the video center point of the real-time interactive data to the positioning point is determined as the adjustment direction;

[0042] Controlling the first shooting unit to move based on the adjustment direction until the distance between the center point of the outline of the target person and the center point of the video is less than a point distance threshold and the first shooting unit stops moving;

[0043] The posture adjustment parameters include adjustment data of the first shooting unit based on the overhead scanning direction and adjustment data based on the adjustment direction.

[0044] Optionally, in a possible implementation manner of the first aspect, a real-time overhead shooting angle of the first shooting unit is obtained, and when the real-time overhead shooting angle is less than or equal to a overhead shooting angle threshold, a historical safety height and a historical shooting angle of the interactive device are obtained;

[0045] Adjusting the safety height of the interactive device to a historical safety height, and adjusting the shooting angle of the first shooting unit to a historical shooting angle;

[0046] If the target person does not exist in the real-time interaction data within the reference time period, the time when the target person is last photographed is obtained as the tracing time, and the device point corresponding to the interaction device at the tracing time is determined as the tracing point;

[0047] Control the interactive device to go to the tracing point, and control the first shooting unit to collect video data based on the surrounding shooting direction, and when the target person exists in the video data, determine the shooting direction of the first shooting unit as the moving direction;

[0048] The interactive device is controlled to move based on the moving direction until the contour proportion of the target person in the video data is greater than or equal to the contour proportion threshold, then the movement of the interactive device is stopped, and after receiving the guidance restart request from the target person, the interactive device is controlled to continue moving based on the real-time route.

[0049] Optionally, in a possible implementation manner of the first aspect, a device point of each interactive device is obtained, and the interactive devices whose distance between the device points is less than a device spacing threshold and whose height spacing in the height direction is less than a height spacing threshold are determined as a close-range device group;

[0050] Counting the number of devices in the close-range device group, retrieving the staggered level table corresponding to the number of devices, and determining the interactive devices in the close-range device group as target interactive devices in order from large to small according to the safety height;

[0051] Determine in sequence the preset staggered distances in the staggered level table as the level adjustment distances corresponding to the corresponding target interactive devices, obtain the staggered adjustment height of the corresponding target interactive devices according to the sum of the safety height and the level adjustment distances of the corresponding target interactive devices, and adjust the target interactive devices to the staggered adjustment height.

[0052] A second aspect of the present invention provides an exhibition interaction platform, comprising:

[0053] A binding module, used to determine the target person and the corresponding interactive device according to the real-time collected data of the exhibition monitoring device, and bind the target person and the interactive device;

[0054] A generation module is used to determine the exhibition point corresponding to the target person, generate a preferred route corresponding to the exhibition point, obtain a crowd activity index collected by an interactive device based on the preferred route, and update the preferred route according to the crowd activity index to obtain a real-time route;

[0055] A receiving module, configured to receive a posture adjustment request sent by the interactive device based on a blind spot point in the real-time route, and determine a posture adjustment parameter corresponding to the interactive device according to real-time interaction data captured by the interactive device on the target person;

[0056] The response module is used to control the interactive device to go to the exhibition site based on the real-time route and the posture adjustment parameter, respond to the termination information of the interactive device at the exhibition site, and unbind the interactive device and the target person.

[0057] The beneficial effects of the present invention are as follows:

[0058] 1. The present invention can provide accurate path guidance to exhibitors who need guidance at the exhibition site through interactive devices such as drones, ensuring that the exhibitors can efficiently reach the destination booth. In addition, during the guidance process, the present invention can update the guidance route in real time according to the flow of people on the path, ensuring that the exhibitors can reach the destination booth at a faster speed, thereby improving the overall guidance efficiency.

[0059] 2. The present invention can dynamically adjust the safe height of the interactive device according to the height parameters of the target person, and adjust the shooting angle according to the position of the center point of the target person's outline in the scanning video, so as to realize personalized customization of the navigation parameters of the interactive device, and can ensure that the interactive device shoots and identifies the target person with the best viewing angle, and can ensure that the interactive device guides the target person's path at the best flying altitude, thereby improving the accuracy and effectiveness of the path guidance.

[0060] 3. The present invention can generate a preferred route by determining the exhibition point that the target person wants to go to, ensuring that the exhibitors can quickly find the booth they are interested in. At the same time, the present invention can update the priority route in real time according to the crowd activity index, avoid crowded areas, and ensure that the exhibitors reach the destination booth at a faster speed, thereby improving the overall guidance efficiency.

[0061] 4. During the process of the interactive device guiding the target person's path, when there are blind spots such as corners in the real-time route, this solution can increase the safety height of the interactive device at the blind spots to ensure that the target person can still see the interactive device in blind spots such as corners, thereby maintaining effective interaction with the interactive device, and ensuring that the target person can follow the guidance of the interactive device more accurately.

[0062] 5. The present invention can obtain the device position of each interactive device, and calculate the distance and height spacing between the devices, determine the interactive devices that are close and may collide as the same group of close-range device groups, and can stagger the safe height of the interactive devices in the close-range device group to ensure the height difference between the interactive devices, which can significantly reduce the risk of collision between the interactive devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is a flowchart of a conference and exhibition interaction method provided by an embodiment of the present invention;

[0064] Figure 2 is a schematic diagram of determining a height spacing provided by an embodiment of the present invention;

[0065] Figure 3 is a schematic diagram of staggered adjustment of the heights of interactive devices in a close-range device group provided by an embodiment of the present invention;

[0066] Figure 4 It is a structural schematic diagram of an exhibition interaction platform provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] See also Figure 1 , is a schematic diagram of an exhibition interaction method provided by an embodiment of the present invention, Figure 1The execution subject of the method shown may be a software and / or hardware device. The execution subject of the present application may include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, user equipment may include but is not limited to computers, smart phones, personal digital assistants (PDA) and the electronic devices mentioned above. Network equipment may include but is not limited to a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers, wherein cloud computing is a type of distributed computing, a super virtual computer composed of a group of loosely coupled computers. This embodiment does not limit this. It includes steps S1 to S4, as follows:

[0069] S1, determining a target person and his corresponding interactive device according to real-time collected data of exhibition monitoring equipment, and binding the target person and the interactive device.

[0070] Among them, the exhibition monitoring equipment refers to equipment that can monitor the exhibition site in real time, such as a fixed surveillance camera in the exhibition site. The real-time situation of the exhibition site can be seen through the exhibition monitoring equipment. The real-time data collection refers to the video data obtained by real-time monitoring of the exhibition site through the exhibition monitoring equipment. The target personnel refers to the exhibitors who need path guidance. The interactive equipment refers to an intelligent device for guiding the target personnel who need path guidance, such as a drone.

[0071] In actual applications, in large-scale exhibitions, the exhibition area is extensive and the layout is complex. Manual guidance is often difficult to achieve full coverage, resulting in some exhibitors not being able to receive timely guidance services. This solution can use interactive devices such as drones to provide accurate path guidance to exhibitors who need guidance at the exhibition site, ensuring that exhibitors can reach their destination booths efficiently. In addition, during the guidance process, this solution can update the guidance path in real time according to the flow of people on the path, ensuring that exhibitors reach their destination booths at a faster speed, thereby improving the overall guidance efficiency.

[0072] Specifically, by installing fixed surveillance cameras at the exhibition site, i.e., exhibition monitoring equipment, the exhibition site can be monitored in real time, and real-time collected data corresponding to the exhibition site can be obtained. By identifying exhibitors in the real-time collected data, exhibitors with path guidance needs can be identified from the real-time collected data, such as exhibitors who may be raising their hands. Exhibitors with path guidance needs can be identified as target persons. After determining the target persons, corresponding interactive devices can be matched for the target persons. Since there may be multiple interactive devices and multiple target persons at the exhibition site, in order to enable the interactive devices to accurately guide the target persons on the path, the target persons and their corresponding interactive devices can be bound one by one, and the corresponding interactive devices can be controlled later to guide the corresponding target persons to the corresponding destinations.

[0073] When identifying the target person, since the exhibition site is usually large and the monitoring range of the drone is not as wide as the monitoring range of the surveillance cameras at the exhibition site, if the drone is relied upon to identify the target person, the data processing volume is large, resulting in low efficiency. This solution can identify the target person through the surveillance cameras at the exhibition site. Since the monitoring range of the surveillance cameras at the exhibition site is usually wide, the number of surveillance cameras at the exhibition site is not large, and the data processing volume is relatively small, which makes it easier to quickly identify exhibitors and improve recognition efficiency.

[0074] In some embodiments, the specific implementation of step S1 may be:

[0075] S11, extracting multiple detection persons from the real-time collected data, identifying the current gesture of each detection person, and determining the detection person corresponding to the current gesture consistent with the preset interaction gesture as the target person.

[0076] Among them, the detection personnel refers to the exhibitors identified from the real-time monitoring data, the current gesture refers to the current hand posture of the detection personnel, the preset interaction gesture refers to the gesture used to indicate the need for path guidance, and the target person refers to the detection personnel whose current gesture is consistent with the preset interaction gesture.

[0077] Specifically, multiple exhibitors, i.e., inspection personnel, can be extracted from the real-time collected data, and the current gesture of each inspection personnel can be identified through image recognition technology. For example, the gesture can be identified by detecting the hand shape. The present solution can preset some interactive gestures, i.e., preset interactive gestures. These preset interactive gestures represent that the inspection personnel have a need for path guidance. When it is recognized that the current gesture of the inspection personnel is consistent with the preset interactive gesture, the inspection personnel can be determined as the target person. For example, if the preset interactive gesture is raising a hand, then the inspection personnel who raises his hand can be identified as the target person.

[0078] S12, obtaining the pixel coordinates corresponding to the center point of the contour of the target person, performing coordinate conversion on the real-time collected data, and determining the pixel area where the pixel coordinates are located as the target area.

[0079] Specifically, since the position and shooting angle of the exhibition monitoring equipment are unchanged, the outline of the target person can be identified in the real-time collected video data through image processing algorithms such as edge detection, and the center point of the outline, that is, the center point of the outline, can be obtained. The pixel coordinates corresponding to the center point of the outline in the video frame can be obtained. Since the pixel coordinates in the video frame corresponding to the real-time collected data are in the image, and what is needed in this solution is the position of the target person in the real world, it is necessary to perform coordinate transformation on the real-time collected data, and convert the corresponding pixel coordinates in the real-time collected data into the corresponding actual position in the real world. After the coordinate transformation, it can be divided into multiple pixel areas according to the size of the monitoring screen corresponding to the exhibition monitoring equipment. Each pixel area has a corresponding actual position in the real world, and the pixel area where the pixel coordinates corresponding to the target person are located can be determined as the target area.

[0080] When performing coordinate transformation on real-time collected data, the camera calibration technology can be used to obtain internal parameters of the exhibition monitoring equipment, such as focal length, optical center, etc., as well as external parameters such as the position and direction of the exhibition monitoring equipment. The camera calibration process usually involves taking multiple images containing reference objects with known positions in the real world, and using these images containing known reference objects to calculate the internal and external parameters of the exhibition monitoring equipment. The mapping relationship between the pixel coordinate system and the real-world coordinate system is established through the camera parameters obtained by calibration and the position information of the reference objects. This mapping relationship is usually a mathematical model that can convert the pixel coordinates in the image into position coordinates in the real-world coordinate system. For the pixel coordinates of the center point of the contour of the target person in the video frame corresponding to the real-time collected data, the established mathematical model can be used to convert it into position coordinates in the real-world coordinate system, so the actual position corresponding to each pixel coordinate in the image in the real world can be obtained.

[0081] S13, determining the actual point pre-configured in the target area as the current point corresponding to the target person, and obtaining the device point of each interactive device.

[0082] Specifically, each pixel area has a pre-configured point corresponding to the actual position, that is, the actual point. The actual point corresponding to the target area where the target person is located is determined as the current point corresponding to the target person, and the device point corresponding to each interactive device can be obtained.

[0083] Among them, the actual point refers to the point corresponding to the target area in reality, the current point refers to the actual point corresponding to the target person, and the device point refers to the location point corresponding to the interactive device.

[0084] S14, selecting a device point closest to the current point, sending the current point to an interactive device corresponding to the device point, and binding the interactive device to the target person.

[0085] Specifically, the device point closest to the current point can be selected, and the interactive device corresponding to the device point can be determined, and the current point corresponding to the target person can be sent to the interactive device, so that the interactive device and the target person can be bound. Subsequently, the interactive device can perform real-time video capture of the target person, and determine whether the target person is moving with the interactive device based on the real-time collected video data, so as to determine whether the interactive device is effectively guiding the target person's path.

[0086] Through the above implementation, the path guidance needs of the target person can be responded to quickly, and the target person can be provided with an instant path guidance service.

[0087] Based on the above embodiment, the specific implementation of step S14 may be:

[0088] S141, obtaining the interactive device closest to the current point as the target device, determining the height parameter of the target person according to the outline span of the target person in the height direction, and obtaining the preset navigation height corresponding to the height parameter as the safety height corresponding to the target device.

[0089] Among them, the target device refers to the interactive device that is closest to the current point, the height direction refers to the direction for obtaining the height of the target person, for example, it can be the vertical upward direction, the contour span refers to the span of the target person's contour in the height direction, the height parameter refers to the height of the target person, the preset navigation parameter refers to the flight height when the pre-configured interactive device guides the target person's path, and the safety height refers to the optimal flight height corresponding to the target device.

[0090] When binding the interactive device to the target person, it is necessary to determine the flight parameters of the interactive device when guiding the target person's path, such as the position of the interactive device relative to the target person when guiding the target person, and the corresponding flight altitude, etc. Since the heights of different people may differ, the flight altitude of the interactive device also needs to be dynamically adjusted according to the height of the target person when guiding. If the target person is taller, the interactive device will increase the flight altitude accordingly to ensure that it is located diagonally above the target person, thereby helping the interactive device to accurately and effectively guide the target person. On the contrary, if the target person is shorter, the interactive device will lower the flight altitude, but still need to maintain a sufficient safety distance to avoid collision with the target person. Therefore, in order to ensure that the flight altitude of the interactive device matches the height of the target person, the flight altitude of the interactive device can be adjusted accordingly according to the height of the target person to obtain the corresponding safety altitude of the interactive device. The higher the height of the target person, the higher the corresponding safety altitude of the interactive device may be.

[0091] Specifically, the interactive device closest to the current point can be obtained, and the interactive device can be determined as the target device, and the contour span of the target person in the height direction can be obtained, and the contour span can be determined as the height parameter corresponding to the target person. After obtaining the height parameter, the pre-configured height comparison table can be called out. In the height comparison table, there are multiple pre-configured height parameter intervals, and each height parameter interval has a corresponding preset navigation parameter. The height comparison table can be traversed according to the height parameter to determine the height parameter interval where the height parameter is located, and the preset navigation parameter corresponding to the height parameter interval is determined as the safe height corresponding to the target device.

[0092] S142, controlling the target device to go to the current point, obtaining the height distance between the target person and the target device in the height direction based on the real-time collected data, adjusting the safety height according to the height distance, and obtaining the safety height finally corresponding to the target device.

[0093] Specifically, the target device can be controlled to go to the current point corresponding to the target person. Since the safety height determined according to the height parameter may have errors, in order to minimize the errors, the distance between the target person and the target device in the height direction, that is, the height spacing, can be obtained based on the real-time collected data. The safety height is adjusted twice according to the height spacing, and the final safety height corresponding to the target device can be obtained. Among them, the height spacing refers to the distance between the target person and the target device in the height direction.

[0094] After adjusting the height, the shooting distance between the target device and the target person in the horizontal direction can be adjusted accordingly, so that the interactive device can be located diagonally in front of the target person to guide the target person accordingly, and ensure that the target device is neither too far nor too close to the target person in the horizontal direction, and shoot the target person at the optimal shooting distance, so that the target person can be guided more accurately on the path based on the video data captured in real time.

[0095] Based on the above embodiment, the specific implementation of step S142 may be:

[0096] S1421, taking the center point of the target person's outline as a reference point, determining a detection area within a preset radius, and when the target device is located in the detection area, respectively obtaining a first extreme point and a second extreme point of the target person and the target device in a height direction.

[0097] Specifically, the center point of the target person's contour can be determined as the reference point, and a corresponding circular detection area can be determined with the reference point as the center of the circle according to a preset radius. When the target device is located in the detection area, the first extreme point of the target person in the height direction can be obtained. For example, when the height direction is consistent with the y-axis direction, the first extreme point corresponding to the target person in the height direction can be the maximum y-axis coordinate value and the minimum y-axis coordinate value corresponding to the target person, and the second extreme point of the target device in the height direction can be obtained. For example, when the height direction is consistent with the y-axis direction, the second extreme point corresponding to the target device in the height direction can be the maximum y-axis coordinate value and the minimum y-axis coordinate value corresponding to the target device.

[0098] Among them, the reference point refers to the point used to generate the detection area, the preset radius refers to the pre-configured radius for determining the detection area, the detection area refers to the area used to determine whether the target device is located near the target person. If the target device is in the detection area, it can be considered that the target device is located near the target person. The first extreme point refers to the extreme point corresponding to the target person in the height direction, and the second extreme point refers to the extreme point corresponding to the target device in the height direction.

[0099] S1422: Taking the first extreme point and the second extreme point as references, generate a first extreme line corresponding to the first extreme point and a second extreme line corresponding to the second extreme point in a vertical direction in the height direction.

[0100] Specifically, after obtaining the first extreme value point corresponding to the target person, two first extreme value lines perpendicular to the first extreme value point can be generated in the direction perpendicular to the height direction, and after obtaining the second extreme value point corresponding to the target device, two second extreme value lines perpendicular to the second extreme value point can be generated in the direction perpendicular to the height direction. The first extreme value line refers to two straight lines perpendicular to the height direction at the first extreme value point, and the second extreme value line refers to two straight lines perpendicular to the height direction at the second extreme value point.

[0101] S1423: Determine that the shortest distance between the first extreme value line and the second extreme value line is the height distance, and obtain a distance difference between the height distance and a reference height distance corresponding to a preset navigation height.

[0102] See also Figure 2 , which is a schematic diagram of determining the height spacing provided by an embodiment of the present invention, such as Figure 2 As shown in , in the height direction, two first extreme value points corresponding to the target personnel and a second extreme value point corresponding to the target device can be determined. At the first extreme value point, two first extreme value lines perpendicular to the height direction can be generated, namely, the first extreme value line A and the first extreme value line B. At the second extreme value point, two second extreme value lines perpendicular to the height direction can be generated, namely, the second extreme value line A and the second extreme value line B. Figure 2 It can be seen that the interval distance between the first extreme value line A and the second extreme value line A is the shortest, so the interval distance between the first extreme value line A and the second extreme value line A can be determined as the height spacing.

[0103] After obtaining the height spacing, the reference height spacing corresponding to the preset navigation height can be obtained, and the difference between the height spacing and the reference height spacing, i.e., the spacing difference, can be calculated. According to the spacing difference, it can be determined whether the distance between the target device and the target person in the height direction is too close. If too close, the safety height of the target device can be adjusted accordingly. Among them, the height spacing refers to the distance between the target person and the target device in the height direction, the preset navigation height refers to the pre-configured distance between the target person and the target device in the height direction under normal circumstances, and the reference height spacing refers to the standard height spacing corresponding to the preset navigation height.

[0104] S1424, when the distance difference is less than the distance difference threshold, the safety height of the target device is increased and adjusted until the distance difference is greater than or equal to the distance difference threshold, and then the adjustment of the safety height is stopped to obtain the final safety height corresponding to the target device.

[0105] In actual applications, when the interactive device subsequently guides the target person on a path, it is necessary to identify the target person's facial information and bind it to the target device to ensure that the guided target person corresponds to the interactive device. If the distance between the interactive device and the target person is too close, the interactive device may not be able to fully capture the target person's identity information. For example, when the interactive device recognizes the target person's face, a distance that is too close may cause some facial features to exceed the camera's shooting field of view, thereby affecting the accuracy of recognition. Therefore, when the distance difference is less than the distance difference threshold, the safety height of the target device can be increased and adjusted until the distance difference is greater than the distance difference threshold, then the increase in the safety height is stopped, and the safety height corresponding to the current target device is determined to be the final corresponding safety height.

[0106] The distance difference threshold refers to a threshold that can be used to determine whether the distance between the target device and the target person in the height direction is too close. If the distance difference is less than the distance difference threshold, it can be considered that the distance between the target device and the target person in the height direction is too close.

[0107] S143, obtaining a scanning video shot by the first shooting unit of the target device based on a bird's-eye view scanning direction, and when the target person exists in the scanning video and the center point of the outline of the target person is located in the central area of ​​the scanning video, obtaining the current shooting angle of the first shooting unit as the target shooting angle.

[0108] Among them, the first shooting unit refers to a unit configured in the target device for shooting the target person, for example, it can be a miniature camera, the overhead scanning direction refers to the direction in which the lens of the first shooting unit starts from a higher point and gradually scans downward during the shooting process, the scanning video refers to the video obtained by the first shooting unit shooting in the overhead scanning direction, the current shooting angle refers to the shooting angle currently corresponding to the first shooting unit, and the target shooting angle refers to the current shooting angle corresponding to the first shooting unit when the center point of the target person's outline is located in the central area of ​​the scanning video.

[0109] After adjusting the safety height of the target device, since different target devices may have different corresponding safety heights, the shooting angle of the target device can be adjusted accordingly so that the target device can shoot the target person at the best shooting angle, thereby providing more accurate real-time path guidance for the target person based on the captured data.

[0110] Specifically, after controlling the target device to go to the final corresponding safe height, the first shooting unit of the target device can be started, and the first shooting unit can be controlled to perform a sweeping shot in a bird's-eye view scanning direction, for example, from top to bottom, to obtain a corresponding sweeping video. If there is a target person in the sweeping video, the center point of the contour corresponding to the target person and the center point of the video frame corresponding to the target person can be obtained, and the direction from the center point of the video frame to the center point of the contour is determined to be the moving shooting direction of the first shooting unit. The first shooting unit is controlled to continue adjusting the shooting angle in the moving shooting direction until the center point of the contour of the target person coincides with the center point of the corresponding video frame. It can be considered that the center point of the contour of the target person is located in the central area of ​​the sweeping video at this time, and the current corresponding shooting angle of the first shooting unit, that is, the current shooting angle, can be obtained, and the current shooting angle can be determined as the target shooting angle. Subsequently, the parameters for the target device to guide the target person on the path can be determined according to the target shooting angle.

[0111] S144, obtaining customized navigation parameters of the target device according to the safety height and the target shooting angle, acquiring identity information of the target person, and binding the identity information and the customized navigation parameters of the target device.

[0112] Specifically, the corresponding navigation parameters of the target device for guiding the target person on the path, that is, customized navigation parameters, can be obtained according to the safety height and the target shooting angle. After controlling the target device to hover according to the corresponding customized navigation parameters, the first shooting unit can be controlled to recognize the face of the target person, and the identity information of the target person can be obtained. In actual applications, the exhibition monitoring device can recognize the facial information of the target person when identifying the target person. Therefore, after the first shooting unit recognizes the face of the target person, when the recognized facial information is consistent with the facial information of the target person recognized by the exhibition monitoring device, the identity information of the target person can be bound to the customized navigation parameters of the target device, so that the target device can subsequently continuously guide the target person on the path according to the recognized facial information.

[0113] Through the above implementation, the accuracy and effectiveness of path guidance can be improved.

[0114] S2, determining the exhibition point corresponding to the target person, generating a preferred route corresponding to the exhibition point, obtaining a crowd activity index collected by an interactive device based on the preferred route, and updating the preferred route according to the crowd activity index to obtain a real-time route.

[0115] Among them, the exhibition point refers to the point corresponding to the target booth that the target person wants to go to, the preferred route refers to the route from the current location of the target person to the corresponding exhibition point, for example, it can be the shortest route, the crowd activity index refers to an indicator that can be used to represent the number of exhibitors on the preferred route. The larger the number of exhibitors, the larger the corresponding crowd activity index. The real-time route refers to the route obtained after updating the preferred route.

[0116] After binding the target person with the corresponding interactive device, the interactive device can be controlled to go to the location of the target person. The target person can interact with the interactive device by voice. The point corresponding to the target booth that the target person wants to go to, that is, the exhibition point, can be determined based on the voice data during the interaction. Combined with the path optimization algorithm, the corresponding path to the exhibition point can be generated, that is, the priority route. The preferred route can be the shortest route. The interactive device is controlled to guide the target user according to the preferred route. In the process of controlling the interactive device to move on the preferred route, the number of exhibitors on the preferred route can be collected in real time, that is, the crowd activity index. When the number of exhibitors on the preferred route is large, it may cause difficulty for the target person to move forward, and even congestion may occur. At this time, the preferred route can be updated in real time according to the crowd activity index, and a path with less traffic, that is, a real-time route, can be regenerated, which can ensure that exhibitors reach their destination at a faster speed, thereby improving the overall guidance efficiency.

[0117] In some embodiments, step S2 includes S21 to S25, which are specifically as follows:

[0118] S21, determining the exhibition location corresponding to the target person based on the voice interaction data, and generating an optimal route from the current location of the target person to the exhibition location.

[0119] Specifically, after controlling the interactive device to go to the location of the target person, the target person can interact with the interactive device by voice. For example, the interactive device can ask the target person which booth he wants to go to. After the target person tells the interactive device the target booth he wants to go to, the voice interaction data between the target person and the target device can be obtained. According to the voice interaction data, the point corresponding to the target booth the target person wants to go to can be determined, that is, the exhibition point. After obtaining the exhibition point, the path optimization algorithm can be combined to generate the corresponding path from the current point of the target person to the exhibition point, that is, the priority route. The preferred route can be the shortest route. Among them, the voice interaction data refers to the data when the target device interacts with the target person by voice.

[0120] S22, controlling the interactive device to move based on the preferred route, and acquiring in real time first video data captured by a first shooting unit and second video data captured by a second shooting unit of the interactive device.

[0121] The interactive device includes a first shooting unit and a second shooting unit, wherein the first shooting unit is used to shoot a target person, and the second shooting unit is used to shoot a flow of people at an exhibition.

[0122] Specifically, after obtaining the preferred route, the interactive device can be controlled to move along the preferred route, and during the movement of the interactive device, the first shooting unit can be controlled to shoot the target person in real time to obtain the corresponding first video data, and the second shooting unit can be controlled to perform real-time video acquisition of the flow of people on the preferred route to obtain the corresponding second video data. The first video data refers to the video data obtained by the first shooting unit performing real-time video acquisition of the target person, the second shooting unit refers to the shooting unit for performing video acquisition of the flow of people, the second video data refers to the video data obtained by the second shooting unit performing real-time video acquisition of the flow of people on the preferred route, and the flow of people at the exhibition site refers to the flow of people at the exhibition site.

[0123] S23, determining the moving speed of the interactive device according to the outline area of ​​the target person in the first video data, and determining the crowd activity index corresponding to the preferred route based on the number of outlines of the detected persons in the second video data.

[0124] Specifically, after obtaining the first video data, the corresponding moving speed of the interactive device can be determined according to the outline area of ​​the target person in the first video data. For example, if the outline area of ​​the target person in the first video data is small, it can be considered that the distance between the interactive device and the target person is too far, and the moving speed of the interactive device may be faster. In this case, the moving speed of the interactive device can be reduced. If the outline area of ​​the target person in the first video data is large, it can be considered that the distance between the interactive device and the target person is too close, and the moving speed of the interactive device may be slower. In this case, the moving speed of the interactive device can be increased. After obtaining the second video data, the corresponding crowd activity index on the preferred route can be determined according to the number of outlines corresponding to the detected persons in the second video data. The more outlines there are, the greater the corresponding crowd activity index.

[0125] In some embodiments, the step S23 of “determining the moving speed of the interactive device according to the contour area of ​​the target person in the first video data” includes the following steps:

[0126] S231, retrieve a captured image of the interactive device when it is bound to a target person, extract a standard outline corresponding to the target person in the captured image, and determine that the outline area of ​​the standard outline is a standard area.

[0127] Specifically, when determining the moving speed corresponding to the interactive device, the image captured by the interactive device when binding with the target person, i.e., the captured image, can be retrieved, and the standard contour corresponding to the target person can be extracted from the captured image, and the contour area corresponding to the standard contour can be obtained, and the contour area can be determined as the standard area. Among them, the captured image refers to the image captured when the interactive device is bound to the target person, the standard contour refers to the contour corresponding to the target person in the captured image, and the standard area refers to the contour area corresponding to the standard contour.

[0128] S232, controlling the interactive device to move based on a preset speed, and acquiring the contour area of ​​the target person in the first video data in real time.

[0129] Specifically, after obtaining the standard area, a pre-configured speed comparison table can be retrieved. In the speed comparison table, there are multiple pre-configured area intervals, each area interval has a corresponding preset speed. The speed comparison table can be traversed according to the standard area to determine the area interval where the standard area is located, and the preset speed corresponding to the area interval where the standard area is located can be obtained, and the interactive device can be controlled to move according to the preset speed. During the movement, the contour area corresponding to the target person in the first video data is obtained in real time. Among them, the preset area refers to the pre-configured moving speed corresponding to the standard area.

[0130] S233, when the contour area is larger than the standard area, and the first difference between the contour area and the standard area is larger than the area difference threshold, the preset speed is increased and adjusted until the first difference is smaller than the area difference threshold, and the increase adjustment is stopped to obtain the increased moving speed.

[0131] Specifically, when the contour area is larger than the standard area, the area difference between the contour area and the standard area, i.e., the first difference, can be obtained. When the first difference is larger than the area difference threshold, it can be considered that the contour area is too large, and the distance between the interactive device and the target person may be relatively close. At this time, the preset speed of the interactive device may be a bit slow, so the preset speed can be increased and adjusted. During the increase and adjustment process, the contour area of ​​the target person can be obtained in real time until the first difference between the contour area and the standard area is smaller than the area difference threshold, and the increase and adjustment of the preset speed is stopped to obtain the moving speed after the preset speed is increased. Among them, the first difference refers to the difference between the contour area and the standard area, and the area difference threshold refers to a threshold that can be used to measure whether the difference between the contour area and the standard area is too large. If the difference is larger than the area difference threshold, it can be considered that the difference between the contour area and the standard area is too large.

[0132] S234, when the contour area is smaller than the standard area, and the second difference between the standard area and the contour area is greater than the area difference threshold, the preset speed is reduced and adjusted until the second difference is smaller than the area difference threshold, and the reduction adjustment is stopped to obtain the reduced moving speed.

[0133] Specifically, when the contour area is smaller than the standard area, the area difference between the standard area and the contour area, i.e., the second difference, can be obtained. When the second difference is greater than the area difference threshold, it can be considered that the contour area is too small, and the distance between the interactive device and the target person may be far. At this time, the preset speed of the interactive device may be a bit fast, so the preset speed can be reduced and adjusted. During the reduction and adjustment process, the contour area of ​​the target person can be obtained in real time until the second difference between the standard area and the contour area is less than the area difference threshold, and the reduction and adjustment of the preset speed is stopped to obtain the moving speed after the preset speed is reduced. Among them, the second difference refers to the difference between the standard area and the contour area.

[0134] Through the above implementation, a more accurate moving speed can be obtained.

[0135] S24: When the crowd activity index is greater than the activity index threshold, determine the current device location of the interactive device as an update starting point.

[0136] Specifically, when the activity index of the personnel is greater than the activity index threshold, it can be considered that the number of exhibitors on the preferred route at this time may be large. If you continue to move along the preferred route, congestion may occur. At this time, the device point currently corresponding to the interactive device can be determined as the update starting point, and the preferred route is updated according to the update starting point. Among them, the activity index threshold refers to the threshold that can be used to measure the size of the flow of people on the preferred route. If the crowd activity index is greater than the activity index threshold, it can be considered that the flow of people on the preferred route is large. The device point refers to the location point corresponding to the interactive device, and the update starting point refers to the device point currently corresponding to the interactive device.

[0137] S25, obtaining a position point on the preferred route at a preset detection distance from the update starting point as an obstacle point, and regenerating a real-time route from the update starting point to the exhibition point without passing through the obstacle point.

[0138] Among them, the preset detection distance refers to the reference distance used to find and determine the obstacle point on the preferred route. The preset detection distance can ensure that the regenerated real-time route can avoid the crowded area. The obstacle point refers to the location point with large flow of people.

[0139] Specifically, when it is detected that the crowd activity index is greater than the activity index threshold, it can be considered that the interactive device has arrived near a location with a large flow of people. At this time, the location point on the preferred route at a preset detection distance from the update starting point can be determined as an obstacle point, and a real-time route from the update starting point to the exhibition point is regenerated, and the regenerated real-time route will avoid the obstacle point.

[0140] Through the above implementation, the guidance efficiency when guiding the target person along the path can be improved.

[0141] S3, receiving a posture adjustment request sent by the interactive device based on the blind spot point in the real-time route, and determining a posture adjustment parameter corresponding to the interactive device according to the real-time interaction data captured by the interactive device on the target person.

[0142] Among them, the blind spot point refers to the position point corresponding to the corner in the real-time route. At the blind spot point, the target person may not be able to see the interactive device. The posture adjustment request refers to a request to adjust the shooting posture of the interactive device. The real-time interactive data refers to the real-time video data shot by the interactive device for the target person. The posture adjustment parameter refers to the parameter for adjusting the angle of the interactive device when shooting the target person in the blind spot.

[0143] In actual applications, since the exhibition site usually contains various structures such as booths, partitions, walls, etc., these obstacles may block the direct line of sight between the interactive device and the target person, especially at corners. The blocking effect is more obvious, resulting in the target person may not be able to see the interactive device at the corner. The position points at the corners in the real-time route can be determined as blind spots. At these blind spots, in order to ensure that the target person can see the interactive device and interact effectively with the interactive device, the posture of the interactive device can be adjusted accordingly. For example, the safety height of the interactive device can be increased so that the target person can see the interactive device.

[0144] Specifically, when the interactive device flies along the real-time route, the location information of the interactive device can be obtained in real time. When the interactive device detects that its position is close to the blind spot, the interactive device can send a corresponding posture adjustment request. After receiving the posture adjustment request sent by the interactive device, the parameters for adjusting the shooting angle of the interactive device in the blind spot, i.e., the posture adjustment parameters, can be determined based on the real-time video data of the target person taken by the interactive device, i.e., the real-time interaction data.

[0145] Based on the above embodiment, the specific implementation of step S3 may be:

[0146] S31, responding to the posture adjustment request, obtaining the blind spot height configured by the blind spot point, and obtaining the blind spot visible height according to the sum of the blind spot height and the preset visible height.

[0147] Specifically, the posture adjustment request sent by the interactive device can be responded to, and then the blind spot height pre-configured for the blind spot point can be obtained. The blind spot heights corresponding to different blind spots may be different. By adding the blind spot height to the pre-configured visible height, the corresponding blind spot visible height can be obtained. Among them, the blind spot height can be the height corresponding to the obstacle at the blind spot point, for example, it can be the height corresponding to the exhibition area barrier at the corner. The preset visible height refers to the pre-configured height at which the target person raises the interactive device at the blind spot point, and the blind spot visible height refers to the height corresponding to the interactive device when the target person can see the interactive device at the blind spot point.

[0148] S32, adjusting the safety height of the interactive device to the visual height of the blind spot, and controlling the first shooting unit of the interactive device to collect video based on the overhead scanning direction to obtain real-time interactive data.

[0149] Specifically, the safety height of the interactive device is adjusted to the visual height of the blind spot, and in the process of adjusting the safety height of the interactive device, the first shooting unit of the interactive device can be controlled to capture the video of the target person in the overhead scanning direction to obtain the corresponding real-time interactive data. The real-time interactive data refers to the video data obtained by the interactive device capturing the target person at the blind spot.

[0150] S33, when the safety height of the interactive device is the blind spot visual height and there is a target person in the real-time interactive data, the center point of the outline of the target person is determined as the positioning point, and the direction from the video center point of the real-time interactive data to the positioning point is determined as the adjustment direction.

[0151] Specifically, when the safety height of the interactive device reaches the visible height of the blind spot, the target person in the real-time interactive data is identified, that is, the target person is located in real time, and it is determined whether the target person continues to follow the interactive device at the blind spot. If there is a target person in the real-time interactive data, since the target person may deviate from the shooting center of the interactive device when following at the blind spot, the center point of the target person's outline can be determined as the positioning point, and the video center point corresponding to the real-time interactive data can be obtained, and the direction from the video center to the positioning point can be determined as the adjustment direction, and the shooting direction of the interactive unit is subsequently adjusted in the adjustment direction.

[0152] S34, controlling the first shooting unit to move based on the adjustment direction until the distance between the center point of the outline of the target person and the center point of the video is less than a point distance threshold and stops moving.

[0153] The posture adjustment parameters include adjustment data of the first shooting unit based on the overhead scanning direction and adjustment data based on the adjustment direction.

[0154] Specifically, the first shooting unit is controlled to move in the adjustment direction, and the distance between the center point of the target person's outline and the center point of the video is obtained in real time, until the distance is less than the point spacing threshold, it can be considered that the target person is at the shooting center of the first shooting unit at this time, and it can be considered that the target person can see the interactive device at this time, and the movement of the first shooting unit can be stopped at this time. Among them, the point spacing threshold refers to the spacing threshold that can be used to determine whether the target person is at the center of the real-time interactive video. If the distance between the center point of the target person's outline and the center point of the video is less than the point spacing threshold, it can be considered that the target person is at the center of the real-time interactive data. If the distance between the center point of the target person's outline and the center point of the video is greater than the point spacing threshold, it can be considered that the target person is not at the center of the real-time interactive data.

[0155] Through the above implementation, it can be ensured that the target person can maintain effective interaction with the interactive device at the blind spot, and it can be ensured that the target person can follow the interactive device more accurately.

[0156] Based on the above steps, this solution also includes the following embodiments:

[0157] A1, obtaining a real-time overhead shooting angle of a first shooting unit, and when the real-time overhead shooting angle is less than or equal to an overhead shooting angle threshold, obtaining a historical safety height and a historical shooting angle of the interactive device.

[0158] In some embodiments, after the target person has passed the blind spot, the interactive device can be controlled to continue to guide the target person's path according to the shooting position data before reaching the blind spot. Specifically, the real-time overhead angle of the first shooting unit can be obtained. When the real-time overhead angle is less than or equal to the overhead angle threshold, it can be considered that the target person may have arrived directly below the interactive device. The target person may have passed the blind spot of the exhibition site at this time. Therefore, the historical safe height of the interactive device before reaching the blind spot and the historical shooting angle can be obtained.

[0159] Among them, the real-time overhead shooting angle refers to the angle at which the first shooting unit takes a real-time overhead shooting of the target person, the historical safety height refers to the safety height of the interactive device before reaching the blind spot, and the historical shooting angle refers to the angle at which the interactive device takes a picture of the target person before reaching the blind spot.

[0160] A2, adjusting the safety height of the interactive device to a historical safety height, and adjusting the shooting angle of the first shooting unit to a historical shooting angle.

[0161] Specifically, after obtaining the historical safety height and historical shooting angle corresponding to the interactive device, the safety height of the interactive device can be adjusted to the historical safety height, and the shooting angle of the first shooting unit can be adjusted to the historical shooting angle.

[0162] A3, if the target person does not exist in the real-time interaction data within the reference time period, the time when the target person is last photographed is obtained as the tracing time, and the device point corresponding to the interaction device at the tracing time is determined as the tracing point.

[0163] Specifically, when the target person does not exist in the real-time interaction data within the reference time period, it may be considered that the target person has lost the interaction device. At this time, the moment when the target person was last photographed can be obtained, and this moment can be determined as the tracing moment, and the device point corresponding to the interaction device at the tracing moment can be determined as the tracing point.

[0164] A4, controlling the interactive device to go to the tracing point, and controlling the first shooting unit to collect video data based on the surrounding shooting direction, and when the target person exists in the video data, determining the shooting direction of the first shooting unit as the moving direction.

[0165] After the tracing point is acquired, the interactive device can be controlled to go to the tracing point, and the first shooting unit can be controlled to perform surround shooting at the tracing point in a surround shooting direction. The surround shooting method can ensure that all directions around the tracing point are shot, increasing the possibility of capturing the target person, thereby capturing more comprehensive video data of the surrounding environment and obtaining corresponding video data. When the target person exists in the video data, the shooting direction corresponding to the current first shooting unit is determined to be the moving direction, and the interactive device can be controlled to move in the moving direction subsequently, thereby further tracking the target person.

[0166] Among them, the surround shooting direction refers to the movement direction of the first shooting unit when shooting in a circular manner at the tracing point, for example, it can be a counterclockwise rotation direction, and the moving direction refers to the direction in which the interactive device should move subsequently determined according to the position where the target person appears in the video data.

[0167] A5, controls the interactive device to move based on the moving direction until the contour proportion of the target person in the video data is greater than or equal to the contour proportion threshold, then stops the movement of the interactive device, and after receiving the guidance restart request from the target person, controls the interactive device to continue moving based on the real-time route.

[0168] Specifically, after obtaining the moving direction, the interactive device can be controlled to move in the moving direction, and during the movement of the interactive device, the proportion of the target person's outline in the picture corresponding to the video data, that is, the outline ratio, can be obtained in real time. In the process of the interactive device approaching the target person, the target person's outline ratio will gradually increase. When the target person's outline ratio is greater than the ratio threshold, it can be considered that the interactive device can now clearly capture a relatively complete target person, and the target person can also see the interactive device at this time. At this time, the movement of the interactive device can be stopped. When the target person sees the interactive device, a request for path guidance can be re-initiated, that is, a guidance restart request. For example, the target person can interact with the interactive device through voice and initiate a guidance restart request. After receiving the target person's guidance restart request, the interactive device can be controlled to continue to guide the target person's path according to the real-time route.

[0169] If the target person is not found in the video data, the interactive device can be controlled to send a corresponding signal to the server, and the server then sends a corresponding signal to the terminal corresponding to the target person, reminding the target person that he is too far away from the interactive device and the interactive device may not be able to continue to guide the target person on the path.

[0170] Among them, the contour ratio refers to the proportion of the contour of the target person in the picture corresponding to the video data, and the ratio threshold refers to the threshold used to determine whether the interactive device is close enough to the target person for clear shooting and interaction. When the contour ratio of the target person is greater than the ratio threshold, it can be considered that the interactive device is already in the range where it can clearly shoot and effectively interact with the target person. At this time, the movement of the interactive device can be stopped. The guidance restart request refers to a re-initiated path guidance request.

[0171] Through the above-mentioned embodiment, the continuity during the path guidance can be ensured.

[0172] S4, controlling the interactive device to go to a convention and exhibition site based on the real-time route and the posture adjustment parameter, and responding to termination information of the interactive device at the convention and exhibition site to unbind the interactive device and the target person.

[0173] The termination information refers to the information that ends the guidance of the target person after the interactive device arrives at the exhibition site.

[0174] Specifically, after obtaining the real-time route and posture adjustment parameters, the interactive device can be controlled to go to the exhibition point along the real-time route according to the real-time route and posture adjustment parameters. When the interactive device guides the target person to the exhibition point, it can send corresponding information to end the path guidance, that is, termination information. After receiving the termination information sent by the interactive device, the interactive device and the target person can be untied, and the interactive device can continue to guide the next target person.

[0175] Based on the above steps, this solution also includes the following embodiments:

[0176] B1, obtaining device points of each interactive device, and determining that the interactive devices whose distance between device points is less than a device spacing threshold and whose height spacing in the height direction is less than a height spacing threshold are a short-range device group.

[0177] In actual applications, there may be multiple interactive devices at an exhibition site. If the safety heights corresponding to the multiple interactive devices are similar, when the distance between the interactive devices is close, the corresponding interactive devices may collide. In order to avoid collisions between interactive devices, the safety heights corresponding to the multiple interactive devices that are close can be adjusted accordingly. Specifically, the position points corresponding to each interactive device, that is, the device points, can be obtained, and the difference between the safety heights corresponding to each interactive device can be calculated to obtain the corresponding height spacing. When the distance between the device points is less than the device spacing threshold, and the height spacing of each device point in the height direction is less than the height spacing threshold, the corresponding interactive devices can be determined as the same group of close-range devices. In order to avoid collisions between close-range devices, the safety heights of the close-range devices can be adjusted accordingly.

[0178] Among them, the device point refers to the location point corresponding to the interactive device, the device spacing threshold refers to the threshold used to determine whether the distance between the interactive devices in the horizontal direction is too close, the height spacing threshold refers to the threshold used to determine whether the height spacing between the interactive devices is too close, and the close-range device group refers to a device group consisting of interactive devices with a relatively close distance.

[0179] B2, counting the number of devices in the close-range device group, retrieving the staggered level table corresponding to the number of devices, and determining the interactive devices in the close-range device group as target interactive devices in order from large to small according to the safety height.

[0180] Specifically, the number of interactive devices in the close-range device group may be different. When the safety height of the interactive devices in the close-range device group is staggered and adjusted, the number of interactive devices in the close-range device group can be counted to obtain the corresponding number of devices, and the pre-configured staggered level table corresponding to the number of devices can be retrieved. The staggered level table includes the number of devices and staggered distance values, and the sizes of the multiple staggered distance values ​​can be gradually increased from 0. For example, when the number of devices is 3, the staggered level table corresponding to the number of devices will correspond to 3 staggered distance values ​​of different sizes, which can be 0m, 0.3m, and 0.7m respectively. After obtaining the staggered level table, the interactive devices can be sorted in order from large to small in terms of safety height, and the interactive devices in the sequence can be determined as target interactive devices in turn. Device, adjust the safety height of the target interactive device accordingly in turn. For example, when there are three interactive devices in the close-range device group, sort the three interactive devices in order of safety height from large to small, namely interactive device one, interactive device two, and interactive device three. They can be determined as target interactive devices in turn. When adjusting the safety heights of the three interactive devices, the safety height of interactive device one can be further adjusted upward by 0.7m, and the safety height of interactive device two can be further adjusted upward by 0.3m. The safety height of interactive device three does not need to be adjusted, so that multiple interactive devices in the close-range device group can be staggered adjusted to avoid collision, and by adjusting the interactive device with a higher safety height first, it can be avoided that the height adjustment of subsequent interactive devices will affect the previously adjusted devices.

[0181] When configuring the staggered level table corresponding to the number of devices, a large amount of historical flight data of the interactive devices can be obtained, and the corresponding flight altitudes of the interactive devices in different scenarios can be analyzed. Combined with the corresponding safety distance requirements of the interactive devices, such as the minimum distance from the ground, other interactive devices, and obstacles, the minimum safe flight altitude in each scenario is determined. According to the height distribution and safety distance requirements of the interactive devices in the historical flight data, combined with machine learning algorithms such as regression algorithms, multiple staggered distance values ​​are calculated. These staggered distance values ​​should gradually increase to ensure a safe interval between the interactive devices. The multiple staggered distance values ​​are arranged from large to small to generate a corresponding staggered level table. In the staggered level table, the number of levels in the staggered level table can be determined according to the number of interactive devices. Each level has a corresponding staggered distance value. The higher the level, the larger the corresponding staggered distance value can be. In the subsequent staggered adjustment of the height, the highest level can correspond to the interactive device with the maximum safe height.

[0182] Among them, the number of devices refers to the number of interactive devices in the close-range device group, the staggered level table refers to a pre-configured table for adjusting the safety height of the interactive devices in the close-range device group, and the target interactive device refers to the interactive device currently adjusting the safety height.

[0183] B3, determine in turn the preset staggered distances in the staggered level table as the level adjustment distances corresponding to the corresponding target interactive devices, obtain the staggered adjustment height of the corresponding target interactive device according to the sum of the safety height and the level adjustment distance of the corresponding target interactive device, and adjust the target interactive device to the staggered adjustment height.

[0184] Specifically, the preset staggered distance corresponding to the target interactive device, that is, the level adjustment distance, can be obtained from the staggered level table. For example, when the safety height of the target interactive device is the largest, the preset staggered distance corresponding to the highest level can be determined as the level adjustment distance of the target interactive device. The safety height of the target interactive device is added to the level adjustment distance to obtain the staggered adjustment height corresponding to the target interactive device. By adjusting the target interactive device to the staggered adjustment height, height staggering between devices can be achieved, thereby further reducing the risk of collision between interactive devices.

[0185] See also Figure 3 , which is a schematic diagram of staggered adjustment of the heights of interactive devices in a close-range device group provided by an embodiment of the present invention, from Figure 3 It can be seen from the left side of the middle arrow that the distances between the three interactive devices in the close-range device group are relatively close, and a collision may occur. When the number of interactive devices in the close-range device group is 3, the corresponding preset staggered distances in the staggered level table corresponding to the number of devices can be 0m, 0.3m, and 0.7m, respectively. The interactive device 1 with the largest safety height can be determined as the target interactive device, and 0.7m can be determined as the level adjustment distance corresponding to the target interactive device. By adding 0.7m to the safety height of the target interactive device, the staggered level height corresponding to the target interactive device can be obtained. Then, the interactive device 2 can be determined as the target interactive device, and 0.3m can be determined as the level adjustment distance corresponding to the target interactive device. By adding 0.3m to the safety height of the target interactive device, the staggered level height corresponding to the target interactive device can be obtained. The safety height of the interactive device 3 does not need to be adjusted, and the interactive devices 1, 2, and 3 can be adjusted to the corresponding staggered level heights, respectively. Figure 3 As shown on the right side of the middle arrow, the heights of multiple interactive devices can be staggered adjusted, thereby effectively avoiding collisions between the multiple interactive devices during path guidance.

[0186] Among them, the preset staggered distance refers to the pre-configured staggered distance value in the staggered hierarchy table, the hierarchy adjustment distance refers to the pre-configured preset staggered distance corresponding to the target interactive device, and the staggered adjustment height refers to the corresponding adjustment height when the safety height of each interactive device in the close-range device group is staggered and adjusted.

[0187] Through the above implementation, collisions between multiple interactive devices can be avoided as much as possible.

[0188] See also Figure 4 , is a schematic diagram of the structure of a conference and exhibition interactive platform provided by an embodiment of the present invention. The data processing system based on the conference and exhibition interactive platform includes:

[0189] A binding module, used to determine the target person and the corresponding interactive device according to the real-time collected data of the exhibition monitoring device, and bind the target person and the interactive device;

[0190] A generation module is used to determine the exhibition point corresponding to the target person, generate a preferred route corresponding to the exhibition point, obtain a crowd activity index collected by an interactive device based on the preferred route, and update the preferred route according to the crowd activity index to obtain a real-time route;

[0191] A receiving module, configured to receive a posture adjustment request sent by the interactive device based on a blind spot point in the real-time route, and determine a posture adjustment parameter corresponding to the interactive device according to real-time interaction data captured by the interactive device on the target person;

[0192] The response module is used to control the interactive device to go to the exhibition site based on the real-time route and the posture adjustment parameter, respond to the termination information of the interactive device at the exhibition site, and unbind the interactive device and the target person.

[0193] Figure 4 The apparatus of the embodiment shown can be used to perform Figure 1 The implementation principles and technical effects of the steps in the method embodiment shown are similar and will not be repeated here.

[0194] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A conference and exhibition interaction method, characterized in that: include: According to the real-time data collected by the exhibition monitoring equipment, the target personnel and their corresponding interactive devices are determined, and the target personnel and the interactive devices are bound; Determine the exhibition point corresponding to the target person, generate a preferred route corresponding to the exhibition point, obtain a crowd activity index collected by the interactive device based on the preferred route, and update the preferred route according to the crowd activity index to obtain a real-time route, wherein the interactive device includes a first shooting unit and a second shooting unit, and determines the moving speed of the interactive device according to the contour area of ​​the target person in the first video data collected by the first shooting unit; Receiving a posture adjustment request sent by an interactive device based on a blind spot point in a real-time route, and determining a posture adjustment parameter corresponding to the interactive device according to real-time interactive data of a target person photographed by the interactive device, including: In response to the attitude adjustment request, the blind spot height configured at the blind spot point is obtained, and the blind spot visible height is obtained according to the sum of the blind spot height and the preset visible height; Adjust the safety height of the interactive device to the visual height of the blind spot, and control the first shooting unit of the interactive device to collect video based on the overhead scanning direction to obtain real-time interactive data; When the safety height of the interactive device is the blind spot visual height and there is a target person in the real-time interactive data, the center point of the target person's outline is determined as the positioning point, and the direction from the video center point of the real-time interactive data to the positioning point is determined as the adjustment direction; Controlling the first shooting unit to move based on the adjustment direction until the distance between the center point of the outline of the target person and the center point of the video is less than a point distance threshold and the first shooting unit stops moving; The posture adjustment parameters include adjustment data of the first shooting unit based on the overhead scanning direction and adjustment data based on the adjustment direction; Based on the real-time route and posture adjustment parameters, the interactive device is controlled to go to the exhibition site, and the termination information of the interactive device at the exhibition site is responded to to unbind the interactive device and the target person.

2. The method according to claim 1, characterized in that According to the real-time collected data of the exhibition monitoring equipment, a target person and the corresponding interactive device are determined, and the target person and the interactive device are bound, including: Extracting multiple detection persons from the real-time collected data, identifying the current gesture of each detection person, and determining the detection person corresponding to the current gesture consistent with the preset interaction gesture as the target person; Obtaining the pixel coordinates corresponding to the center point of the contour of the target person, performing coordinate conversion on the real-time collected data, and determining the pixel area where the pixel coordinates are located as the target area; Determine the actual point pre-configured in the target area as the current point corresponding to the target person, and obtain the device point of each interactive device; A device point closest to the current point is selected, the current point is sent to an interactive device corresponding to the device point, and the interactive device is bound to a target person.

3. The method according to claim 2, characterized in that Selecting a device point closest to the current point, sending the current point to an interactive device corresponding to the device point, and binding the interactive device to a target person, including: Acquire the interactive device closest to the current point as the target device, determine the height parameter of the target person according to the profile span of the target person in the height direction, and acquire the preset navigation height corresponding to the height parameter as the safety height corresponding to the target device; Control the target device to go to the current point, obtain the height distance between the target person and the target device in the height direction based on the real-time collected data, adjust the safety height according to the height distance, and obtain the safety height finally corresponding to the target device; Acquire a scanning video shot by a first shooting unit of the target device based on a downward scanning direction, and when the target person exists in the scanning video and the center point of the outline of the target person is located in the central area of ​​the scanning video, acquire a current shooting angle of the first shooting unit as a target shooting angle; The customized navigation parameters of the target device are obtained according to the safety height and the target shooting angle, the identity information of the target person is acquired, and the identity information and the customized navigation parameters of the target device are bound.

4. The method according to claim 3, characterized in that Controlling the target device to go to the current point, obtaining the height distance between the target person and the target device in the height direction based on the real-time collected data, adjusting the safety height according to the height distance, and obtaining the safety height finally corresponding to the target device, including: Taking the center point of the target person's outline as a reference point, determining a detection area within a preset radius, and when the target device is located in the detection area, respectively obtaining a first extreme point and a second extreme point of the target person and the target device in a height direction; Taking the first extreme point and the second extreme point as references, generating a first extreme line corresponding to the first extreme point and a second extreme line corresponding to the second extreme point in a vertical direction in the height direction; Determine that the shortest distance between the first extreme value line and the second extreme value line is the height distance, and obtain a distance difference between the height distance and a reference height distance corresponding to a preset navigation height; When the distance difference is less than the distance difference threshold, the safety height of the target device is increased and adjusted until the distance difference is greater than or equal to the distance difference threshold, at which time the adjustment of the safety height is stopped to obtain the final safety height corresponding to the target device.

5. The method according to claim 1, characterized in that Determine the exhibition point corresponding to the target person, generate a preferred route corresponding to the exhibition point, obtain a crowd activity index collected by an interactive device based on the preferred route, and update the preferred route according to the crowd activity index to obtain a real-time route, including: Determine the exhibition location corresponding to the target person based on the voice interaction data, and generate an optimal route from the current location of the target person to the exhibition location; Controlling the interactive device to move based on the preferred route, and acquiring in real time first video data captured by a first shooting unit and second video data captured by a second shooting unit of the interactive device; The first shooting unit is used to shoot the target person, and the second shooting unit is used to shoot the flow of people at the exhibition; Determining a crowd activity index corresponding to the preferred route based on the number of outlines of detected persons in the second video data; When the crowd activity index is greater than the activity index threshold, determining the current device location of the interactive device as an update starting point; A position point on the preferred route at a preset detection distance from the update starting point is obtained as an obstacle point, and a real-time route from the update starting point to the exhibition point without passing through the obstacle point is regenerated.

6. The method according to claim 1, characterized in that Determining the moving speed of the interactive device according to the contour area of ​​the target person in the first video data includes: Retrieving a captured image of the interactive device when it is bound to a target person, extracting a standard outline corresponding to the target person in the captured image, and determining a contour area of ​​the standard outline as a standard area; Controlling the interactive device to move based on a preset speed, and acquiring the contour area of ​​the target person in the first video data in real time; When the contour area is larger than the standard area, and a first difference between the contour area and the standard area is larger than an area difference threshold, the preset speed is increased and adjusted, and the increase adjustment is stopped when the first difference is smaller than the area difference threshold, and the increased moving speed is obtained; When the contour area is smaller than the standard area, and the second difference between the standard area and the contour area is greater than an area difference threshold, the preset speed is reduced and adjusted until the second difference is smaller than the area difference threshold, at which time the reduction adjustment is stopped and the reduced moving speed is obtained.

7. The method according to claim 1, characterized in that Also includes: Acquire a real-time overhead shooting angle of the first shooting unit, and when the real-time overhead shooting angle is less than or equal to an overhead shooting angle threshold, acquire a historical safety height and a historical shooting angle of the interactive device; Adjusting the safety height of the interactive device to a historical safety height, and adjusting the shooting angle of the first shooting unit to a historical shooting angle; If the target person does not exist in the real-time interaction data within the reference time period, the time when the target person is last photographed is obtained as the tracing time, and the device point corresponding to the interaction device at the tracing time is determined as the tracing point; Control the interactive device to go to the tracing point, and control the first shooting unit to collect video data based on the surrounding shooting direction, and when the target person exists in the video data, determine the shooting direction of the first shooting unit as the moving direction; Control the interactive device to move based on the moving direction until the contour ratio of the target person in the video data is greater than or equal to a contour ratio threshold, then stop the movement of the interactive device, and after receiving a guidance restart request from the target person, control the interactive device to continue moving based on the real-time route.

8. The method according to claim 1, characterized in that Also includes: Acquire the device point of each interactive device, and determine that the interactive devices whose distance between the device points is less than the device spacing threshold and whose height spacing in the height direction is less than the height spacing threshold are the short-range device group; Counting the number of devices in the close-range device group, retrieving the staggered level table corresponding to the number of devices, and determining the interactive devices in the close-range device group as target interactive devices in order from large to small according to the safety height; Determine in sequence the preset staggered distances in the staggered level table as the level adjustment distances corresponding to the corresponding target interactive devices, obtain the staggered adjustment height of the corresponding target interactive devices according to the sum of the safety height and the level adjustment distances of the corresponding target interactive devices, and adjust the target interactive devices to the staggered adjustment height.

9. A platform corresponding to the exhibition interaction method according to claim 1, characterized in that: include: A binding module, used to determine the target person and the corresponding interactive device according to the real-time collected data of the exhibition monitoring device, and bind the target person and the interactive device; A generation module is used to determine the exhibition point corresponding to the target person, generate a preferred route corresponding to the exhibition point, obtain a crowd activity index collected by an interactive device based on the preferred route, and update the preferred route according to the crowd activity index to obtain a real-time route; A receiving module, configured to receive a posture adjustment request sent by the interactive device based on a blind spot point in the real-time route, and determine a posture adjustment parameter corresponding to the interactive device according to real-time interaction data captured by the interactive device on the target person; The response module is used to control the interactive device to go to the exhibition site based on the real-time route and the posture adjustment parameter, respond to the termination information of the interactive device at the exhibition site, and unbind the interactive device and the target person.

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