Guidance method and device based on multiple robots, electronic equipment and medium

Abstract

The invention relates to a multi-robot-based guiding method and device, electronic equipment and a medium, and relates to the field of robot technologies, and the method comprises the steps: obtaining a destination selected by a target object, planning a path of the target object based on the destination, obtaining image information covering the path in a place, and transmitting the image information to a server; and determining the number of the robots based on the path and the image information, determining guiding positions on the path, controlling the robots to move to the corresponding guiding positions, controlling each robot to light according to the same preset color, and outputting prompt information to the target object, the prompt information being prompt information about the same preset color. The method and the device have the effect of improving the guiding efficiency of tourists and other personnel.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a multi-robot-based guidance method, device, electronic equipment and medium. Background Art

[0002] In some large exhibition halls and other places, due to the complex internal environment of the venue, it is not easy for tourists and other people who enter the venue for the first time to know the location of the destination they need to visit, resulting in a low experience for tourists and other people. At present, guide screens and other guidance signs are usually set up in the venue. The locations of various areas are displayed on the guide screen. After finding the destination location on the guide screen, tourists and other people plan their own routes to reach the destination. However, due to the large number of people in the venue and the complex environment, tourists and other people are easy to get lost and take detours, and the efficiency of guidance through the guide screen is low. Therefore, how to improve the efficiency of guidance for tourists and other people becomes a problem. Summary of the invention

[0003] In order to improve the efficiency of guiding tourists and other personnel, the present application provides a multi-robot-based guidance method, device, electronic equipment and medium.

[0004] In a first aspect, the present application provides a multi-robot guidance method, which adopts the following technical solution: A multi-robot guidance method, comprising: Acquire a destination selected by a target object, and plan a path for the target object based on the destination; Acquire image information covering the path in the venue, and determine the number of robots based on the path and the image information; Determine the guidance position on the path and control the robot to move to the corresponding guidance position; Each robot is controlled to light up according to the same preset color, and outputs prompt information to the target object, wherein the prompt information is prompt information about the same preset color.

[0005] By adopting the above technical solution, the destination selected by the target object is obtained, so that the path of the target object is planned, and image information is obtained. The image information records the specific conditions on the path, including the distribution of personnel, etc. The specific conditions recorded in the image information affect the number of robots required. Similarly, the conditions of the path itself also affect the number of robots required. Therefore, the number and accuracy of robots providing guidance services for the target object are determined comprehensively based on the path and image information, and then the guidance position on the path is determined and the robot is controlled to move to the guidance position, so that the target object can find the robot at the guidance position more quickly when moving along the path, making it less likely for the target object to get lost, etc., and each robot is controlled to light up according to the same preset color, and prompt information is output, so that the target object knows the guidance plan, which facilitates the target object to move along the path and the preset color of each robot, thereby improving the guidance efficiency for tourists and other personnel.

[0006] In another possible implementation, determining the number of robots based on the path and image information includes: Determine a turning point from the path, and segment the path based on the turning point to obtain a plurality of straight path segments; Performing personnel recognition on the image information of each straight path segment to obtain the personnel features in each straight path segment; Performing clustering processing on the personnel characteristics of each straight path segment to obtain at least one personnel distribution cluster; Determine the number of people in each population distribution cluster and the area of ​​each population distribution cluster; Determine a first required number of robots corresponding to each personnel distribution cluster based on the number of personnel and the area; Determine a first length of each personnel distribution cluster along the corresponding straight path segment, and remove the first length of each personnel distribution cluster on the corresponding straight path segment to obtain a plurality of sub-path segments; determining a second required number of robots corresponding to each subpath segment according to the length of each subpath segment; The first required quantity and the second required quantity of each straight path segment are summed to obtain a total required quantity of each straight path segment; The total required number of all straight path segments plus the number of turns yields the number of robots.

[0007] In another possible implementation manner, determining the guidance position on the path includes: Identify each turn as a guide location; Divide each sub-path segment into equal parts according to the corresponding second required number to obtain equal-division points, determine the position of each equal-division point in the preset map, and draw a perpendicular line from the position to any side of the sub-path segment, and the position of the foot of the perpendicular is the guide position; Separate each personnel distribution cluster into multiple areas according to a preset dividing line, and determine the personnel density in each area, wherein the preset dividing line is perpendicular to the direction of the straight path segment where each personnel distribution cluster is located; Determine a density ratio of each area, and determine the number of robots in each area based on the density ratio and a first required number of each personnel distribution cluster; Determine a second length of each area along the direction of the corresponding straight path segment, and divide the second length equally according to the number of robots in each area to obtain equal division points of each second length; Determine the position of each equally divided point in the preset map, and draw a perpendicular line from the position to any side of the straight path segment, and the position of the foot of the perpendicular is the guide position.

[0008] In another possible implementation, the method further includes: If any robot corresponds to a personnel distribution cluster, the distance from the robot to the previous robot is calculated; Determine the color brightness of any target robot based on the distance and the density of personnel in the area where any robot is located in the personnel distribution cluster; Control any one of the robots to give instructions according to the color brightness.

[0009] In another possible implementation, the method further includes: Dynamically tracking the target object and determining an average speed of the target object; Calculating a time threshold for the target object to pass through each straight path segment based on the average speed and the length of each straight path segment; If the residence time of the target object in any straight path segment reaches the time threshold, then calculating the distance from each robot through which the target object has passed in any straight path segment to the target object; Planning a moving route of the target robot with the shortest distance, wherein the moving route is a route in which the target robot moves to the target object and then moves to the next robot; The target robot is controlled to move according to the moving route.

[0010] In another possible implementation, the method further includes: When detecting that the target robot moves from the target object to the next robot, controlling the target robot to send a call signal to the next robot, so that the next robot sends a response signal after receiving the call signal; Determine the real-time distance from the target robot to the next robot in real time according to the call signal and the response signal; Determine the frequency of emitting the preset audio based on the real-time distance, the smaller the real-time distance is, the higher the frequency of emitting the corresponding preset audio is, and the shorter the interval between emitting two preset audios is; The target robot and the next robot are controlled to output the preset audio according to the preset audio frequency.

[0011] In another possible implementation, the method further includes: If a new person is detected to select a destination within a preset time, and the selected destination is consistent with the destination of the target object, then a back image of the target object is obtained; The back image is outputted so that the new person moves along with the target object.

[0012] In the second aspect, the present application provides a multi-robot guidance device, which adopts the following technical solution: A multi-robot-based guidance device, comprising: A path planning module, used to obtain a destination selected by a target object and plan a path for the target object based on the destination; a quantity determination module, configured to obtain image information covering the path in the venue, and determine the number of robots based on the path and the image information; A first control module, used for determining a guide position on the path and controlling the robot to move to the corresponding guide position; The information output module is used to control each robot to light up according to the same preset color and output prompt information to the target object, wherein the prompt information is prompt information about the same preset color.

[0013] By adopting the above technical solution, the path planning module obtains the destination selected by the target object, so that the path planning module can plan the path of the target object. The quantity determination module obtains image information. The image information records the specific conditions on the path, including the distribution of personnel, etc. The specific conditions recorded in the image information affect the required number of robots. Similarly, the conditions of the path itself also affect the required number of robots. Therefore, the quantity determination module comprehensively determines the number and accuracy of robots that provide guidance services for the target object based on the path and image information. Then the first control module determines the guidance position on the path and controls the robot to move to the guidance position, so that the target object can find the robot at the guidance position more quickly when moving along the path, so that the target object is not likely to get lost, etc. The information output module controls each robot to light up according to the same preset color and outputs prompt information, so that the target object knows the guidance plan, which is convenient for the target object to move along the path and the preset color of each robot, thereby improving the guidance efficiency for tourists and other personnel.

[0014] In another possible implementation, when the quantity determination module determines the number of robots based on the path and the image information, it is specifically used to: Determine a turning point from the path, and segment the path based on the turning point to obtain a plurality of straight path segments; Performing personnel recognition on the image information of each straight path segment to obtain the personnel features in each straight path segment; Performing clustering processing on the personnel characteristics of each straight path segment to obtain at least one personnel distribution cluster; Determine the number of people in each population distribution cluster and the area of ​​each population distribution cluster; Determine a first required number of robots corresponding to each personnel distribution cluster based on the number of personnel and the area; Determine a first length of each personnel distribution cluster along the corresponding straight path segment, and remove the first length of each personnel distribution cluster on the corresponding straight path segment to obtain a plurality of sub-path segments; determining a second required number of robots corresponding to each subpath segment according to the length of each subpath segment; The first required quantity and the second required quantity of each straight path segment are summed to obtain a total required quantity of each straight path segment; The total required number of all straight path segments plus the number of turns yields the number of robots.

[0015] In another possible implementation, when determining the guidance position on the path, the first control module is specifically configured to: Identify each turn as a guide location; Divide each sub-path segment into equal parts according to the corresponding second required number to obtain equal-division points, determine the position of each equal-division point in the preset map, and draw a perpendicular line from the position to any side of the sub-path segment, and the position of the foot of the perpendicular is the guide position; Separate each personnel distribution cluster into multiple areas according to a preset dividing line, and determine the personnel density in each area, wherein the preset dividing line is perpendicular to the direction of the straight path segment where each personnel distribution cluster is located; Determine a density ratio of each area, and determine the number of robots in each area based on the density ratio and a first required number of each personnel distribution cluster; Determine a second length of each area along the direction of the corresponding straight path segment, and divide the second length equally according to the number of robots in each area to obtain equal division points of each second length; Determine the position of each equally divided point in the preset map, and draw a perpendicular line from the position to any side of the straight path segment, and the position of the foot of the perpendicular is the guide position.

[0016] In another possible implementation, a multi-robot-based guidance device further includes: A distance calculation module, used for calculating the distance from any robot to the previous robot when any robot corresponds to a personnel distribution cluster; a brightness determination module, configured to determine the color brightness of any target robot based on the distance and the density of personnel in the area where any robot is located in the personnel distribution cluster; The second control module is used to control any of the robots to indicate according to the color brightness.

[0017] In another possible implementation, a multi-robot-based guidance device further includes: A speed determination module, used for dynamically tracking the target object and determining an average speed of the target object; A time threshold calculation module, used to calculate a time threshold for the target object to pass through each straight path segment based on the average speed and the length of each straight path segment; a distance calculation module, configured to calculate the distance from each robot through which the target object has passed in any straight path segment to the target object when the residence time of the target object in any straight path segment reaches the time threshold; A route planning module, used to plan a moving route of the target robot with the shortest distance, wherein the moving route is a route in which the target robot moves to the target object and then moves to the next robot; The third control module is used to control the target robot to move according to the moving route.

[0018] In another possible implementation, a multi-robot-based guidance device further includes: a fourth control module, for controlling the target robot to send a call signal to the next robot when detecting that the target robot moves from the target object to the next robot, so that the next robot sends a response signal after receiving the call signal; A real-time distance determination module, used to determine the real-time distance from the target robot to the next robot in real time according to the call signal and the response signal; A frequency determination module, used to determine the preset audio frequency based on the real-time distance, the smaller the real-time distance is, the higher the corresponding preset audio frequency is, and the shorter the interval between two preset audios is; The fifth control module is used to control the target robot and the next robot to output the preset audio according to the preset audio frequency.

[0019] In another possible implementation, a multi-robot-based guidance device further includes: An image acquisition module, configured to acquire a back image of the target object when a new person is detected to select a destination within a preset time, and the selected destination is consistent with the destination of the target object; The image output module is used to output the back image so that the new person moves with the target object.

[0020] In a third aspect, the present application provides an electronic device, which adopts the following technical solution: An electronic device, comprising: at least one processor; Memory; At least one application, wherein at least one application is stored in a memory and configured to be executed by at least one processor, and at least one is configured to: execute a multi-robot-based guidance method shown in any possible implementation of the first aspect.

[0021] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium, when the computer program is executed in a computer, causes the computer to execute a multi-robot guidance method as described in any one of the first aspects.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: The destination selected by the target object is obtained, so as to facilitate planning the path of the target object, and image information is obtained. The image information records the specific conditions on the path, including the distribution of personnel, etc. The specific conditions recorded in the image information affect the number of robots required. Similarly, the conditions of the path itself also affect the number of robots required. Therefore, the number and accuracy of robots providing guidance services for the target object are determined comprehensively based on the path and image information, and then the guidance position on the path is determined and the robot is controlled to move to the guidance position, so that the target object can find the robot at the guidance position more quickly when moving along the path, making it less likely for the target object to get lost, etc. Each robot is controlled to light up according to the same preset color, and prompt information is output, so that the target object knows the guidance plan, which is convenient for the target object to move along the path and the preset color of each robot, thereby improving the guidance efficiency for tourists and other personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flowchart of a multi-robot guidance method according to an embodiment of the present application.

[0024] Figure 2 It is a structural schematic diagram of a multi-robot-based guidance device according to an embodiment of the present application.

[0025] Figure 3 It is a structural schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] The present application is further described in detail below in conjunction with the accompanying drawings.

[0027] After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of this application.

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0030] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0031] The embodiment of the present application provides a guidance method based on multiple robots, which is executed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiment of the present application. Figure 1 As shown, the method includes step S101, step S102, step S103 and step S104, wherein: S101, obtaining a destination selected by a target object, and planning a path for the target object based on the destination.

[0032] For the embodiments of the present application, the target object can input or select the destination he / she wants to go to on the interactive screen in the venue. The interactive screen is connected to the electronic device through a wire. The electronic device plans the path of the target object according to the location of the interactive screen and the location of the destination. Specifically, the electronic device can calculate the path through Dijkstra algorithm, A* algorithm, RRT algorithm, etc.

[0033] S102, obtaining image information of a covered path in the venue, and determining the number of robots based on the path and the image information.

[0034] For the embodiment of the present application, multiple camera devices are distributed and installed in the venue, and the camera devices are connected to the electronic device through wires. Each camera device covers a certain area such as aisles. The staff can set the aisle area covered by each camera device and determine the corresponding relationship between each camera device and the aisle area, and store the corresponding relationship in the local storage medium in the electronic device. The electronic device can store a preset map of the venue, and the preset map is marked with the location of each camera device and the location of each exhibition area, store and other areas. The electronic device determines the path, and can determine the camera device covering the path according to the path and the correspondence between the aisle area covered by the camera device, and then obtain the image information collected by these camera devices. The image information records the specific conditions on the path, including the distribution of personnel, etc. The specific conditions in the path such as the distribution of personnel affect the number of robots required to guide the target object. For example, if the number of personnel is small and the distribution is sparse, the number of robots required to guide is small, and vice versa, the number of robots required is large. Similarly, the length of the path also affects the number of robots that need to be guided. The longer the path, the more robots need to be guided, and vice versa. Therefore, the electronic device can comprehensively determine the appropriate number of robots based on the image information and the attributes of the path itself. The robot may be a robot with walking function or driven by wheels, provided with a power supply module, a communication module, and an indicating device, such as an LED light group, a display screen, etc.

[0035] S103, determining a guidance position on the path and controlling the robot to move to the corresponding guidance position.

[0036] For the embodiment of the present application, after the electronic device determines the appropriate number of robots, it determines the guidance position of each robot on the path. The appropriate guidance position can improve the guidance effect on the target object. Therefore, after the electronic device determines the guidance position, it controls the robot to move to the corresponding guidance position. Specifically, the electronic device can calculate the distance of each robot to each guidance position. The electronic device can mark the current position of each robot in the preset map of the venue. Then the electronic device determines the position coordinates of each robot and the position coordinates of each guidance position. According to the calculation formula between two points and the order of the guidance positions in the path, the distance from each guidance position to each robot is calculated in sequence, and the robot with the shortest distance to each guidance position is determined. Then the electronic device determines the robot with the shortest distance from the remaining robots for the next guidance position. The robot closest to each guidance position is determined in the above manner, so that the robot can quickly move to the guidance position to perform guidance work, and by determining the nearest robot, the nearest robot is less likely to encounter unexpected situations during the movement.

[0037] S104, controlling each robot to light up in the same preset color and outputting prompt information to the target object.

[0038] The prompt information is prompt information about the same preset color.

[0039] For the embodiments of the present application, each robot may be provided with an LED light module for guidance, and the preset colors may be red, blue, or other colors. The electronic device may also determine the guidance direction of each robot based on the planned path and guidance position, and then determine the arrow pattern that needs to be displayed by the LED light module of each robot based on the guidance direction, thereby achieving a better guidance effect. The electronic device controls the LED light module of each robot to light up according to the same preset color, thereby achieving a guidance effect. Taking red as an example, the electronic device can control the interactive screen to display the text message "Please move according to the red instructions", so that the target object can know the guidance method, thereby facilitating the target object to move to the destination along the guidance of each robot, thereby improving the guidance efficiency.

[0040] In a possible implementation of the embodiment of the present application, the number of robots is determined based on the path and image information in step S102, specifically including step S1021 (not shown in the figure), step S1022 (not shown in the figure), step S1023 (not shown in the figure), step S1024 (not shown in the figure), step S1025 (not shown in the figure), step S1026 (not shown in the figure), step S1027 (not shown in the figure), step S1028 (not shown in the figure) and step S1029 (not shown in the figure), wherein: S1021, determining a turning point from the path, and segmenting the path based on the turning point to obtain a plurality of straight path segments.

[0041] In the embodiment of the present application, the electronic device identifies the corners of the path and determines the position where the angle exists in the path. The position where the angle exists is the turning point. The electronic device divides the path according to the turning point to obtain multiple straight path segments.

[0042] S1022, performing person recognition on the image information of each straight path segment to obtain the person features in each straight path segment.

[0043] For the embodiment of the present application, the electronic device determines the image information covering each straight path segment from the image information, and then the electronic device inputs the image information into the trained network model for personnel recognition, thereby identifying the characteristics of the person in each straight path segment. Specifically, the network model can be a convolutional neural network model, a recurrent neural network model, or other types of network models, which are not limited here.

[0044] S1023: Clustering the personnel features of each straight path segment to obtain at least one personnel distribution cluster.

[0045] For the embodiment of the present application, the electronic device marks the area of ​​each straight path segment in the preset map, and then the electronic device represents the personnel features with dots, and maps the identified personnel features in the area of ​​the straight path segment on the preset map according to the position in the image information. The electronic device can use K-means clustering (K-means), hierarchical clustering (Hierarchical Clustering), DBSCAN, etc. to cluster the personnel features, and finally obtain at least one personnel distribution cluster, that is, at least one pile formed by the aggregation of personnel.

[0046] S1024, determining the number of personnel in each personnel distribution cluster and the area of ​​each personnel distribution cluster.

[0047] For the embodiment of the present application, the electronic device counts the people in each personnel distribution cluster to obtain the number of people in each personnel distribution cluster, and then the electronic device determines the outermost personnel features in each personnel distribution cluster, and sequentially connects the outermost personnel features to obtain the outline of each personnel distribution cluster. The electronic device can calculate the number of pixels within the outline of each personnel distribution cluster, and characterize the area of ​​each personnel distribution cluster by the number of pixels.

[0048] S1025, determining a first required number of robots corresponding to each personnel distribution cluster based on the number of personnel and the area.

[0049] For the embodiments of the present application, the more people there are in a certain personnel distribution cluster, the more complex the regional environment corresponding to the personnel distribution cluster is, and the target object is easy to get lost after moving into the area, so more robots are needed to guide the target object in the area. Similarly, the larger the area of ​​a certain personnel distribution cluster is, the more complex the regional environment corresponding to the personnel distribution cluster is, and the target object is easy to get lost after moving into the area, and more robots are needed to guide the target object in the area. In summary, the number of people and the area of ​​the personnel distribution cluster are key factors affecting the number of robots required for each personnel distribution cluster, and the degree of influence is different. Therefore, the staff can set the corresponding coefficients for the number of people and the area and store them in the local storage medium in the electronic device. After the electronic device determines the number of people and the area of ​​each personnel distribution cluster, the electronic device calls the corresponding coefficients for weighted calculation to obtain a value, which is the first required number of robots that characterize each personnel distribution cluster.

[0050] S1026, determining a first length of each personnel distribution cluster along the corresponding straight path segment, and removing the first length of each personnel distribution cluster on the corresponding straight path segment to obtain a plurality of sub-path segments.

[0051] For the embodiment of the present application, the direction of the first length is consistent with the direction of the straight path segment. The electronic device removes the first length of each personnel distribution cluster on the straight path segment to obtain a path segment on which no personnel distribution cluster exists on the straight path segment, namely, a sub-path segment. Since there are no people in the sub-path segment, the target object is not easy to get lost when moving in the sub-path segment.

[0052] S1027: Determine a second required number of robots corresponding to each sub-path segment according to the length of each sub-path segment.

[0053] For the embodiment of the present application, the longer the length of a sub-path segment, the more guidance the target object needs in the sub-path segment. The shorter the length of a sub-path segment, the easier it is for the target object to find the robot corresponding to the next personnel distribution cluster when moving in the sub-path segment, so a smaller number of robots are needed for guidance. The electronic device can determine the length of each sub-path segment. If the length is less than the preset length threshold, it means that the length of the sub-path segment is too short and no robot is needed for guidance. If the length reaches the preset length threshold, it means that the length of the sub-path segment is too long. In order to facilitate guiding the target object to the next robot, the electronic device can multiply the length of the sub-path segment by a preset coefficient to obtain a value, which represents the required number of robots at the sub-path segment, or the electronic device determines the preset length interval where the sub-path segment is located from multiple preset length intervals, each preset length interval corresponds to a required number, and the required number of the preset length interval where the sub-path segment is located is determined as the second required number.

[0054] S1028: Sum the first required quantity and the second required quantity of each straight path segment to obtain a total required quantity of each straight path segment.

[0055] According to the embodiment of the present application, for each straight path segment, the electronic device sums the first required number and the second required number of each straight path segment to obtain the total required number of robots for each straight path segment.

[0056] S1029, adding the total required number of all straight path segments to the number of turns to obtain the number of robots.

[0057] For the embodiment of the present application, a robot is required at each turning point, so the electronic device adds the total required number of all straight path segments to the number of turning points to obtain the number of robots. The number of robots required to guide the target object can be more accurately determined by comprehensively determining the number of robots required by the distribution of personnel in the path and other data.

[0058] In a possible implementation of the embodiment of the present application, determining the guidance position on the path in step S103 specifically includes step S1031 (not shown in the figure), step S1032 (not shown in the figure), step S1033 (not shown in the figure), step S1034 (not shown in the figure), step S1035 (not shown in the figure) and step S1036 (not shown in the figure), wherein: S1031, determine each turning point as a guidance position.

[0059] For the embodiment of the present application, since a robot needs to be set up at each turning point for guidance, the electronic device determines each turning point as a guidance position.

[0060] S1032, divide each sub-path segment into equal parts according to the corresponding second required number to obtain equal-division points, determine the position of each equal-division point in the preset map, and draw a perpendicular line along the position to any side of the sub-path segment, and the position of the foot of the perpendicular is the guide position.

[0061] For the embodiment of the present application, the electronic device divides the length of each sub-path segment by the corresponding second required number to obtain the guidance position interval of each robot in the sub-path segment, and then divides the sub-path segment into equal parts according to the guidance position interval and the second required number to obtain equal division points. The electronic device marks the position of each equal division point in the preset map, and then draws a perpendicular line along the position of the equal division point to any side edge of the sub-path segment. The position where the perpendicular line intersects the edge of the sub-path segment, that is, the foot of the perpendicular, is the guidance position.

[0062] S1033, dividing each personnel distribution cluster into multiple areas according to preset dividing lines, and determining the personnel density in each area.

[0063] The preset dividing line is perpendicular to the direction of the straight path segment where each personnel distribution cluster is located.

[0064] For the embodiment of the present application, the electronic device presets a dividing line that is perpendicular to the direction of the straight path segment, that is, perpendicular to the side of the straight path segment. The number of divided areas can be determined by the first length of the personnel distribution cluster. The number of separated areas is determined according to the size of the first length. The longer the first length, the greater the number of separated areas. After determining each area, the electronic device determines the density of people in each area. Specifically, the electronic device can use the number of people in each area divided by the area of ​​each area to obtain the density of people. The larger the density of people in a certain area, the more complex the environment of the area is, and the greater the possibility that the target object will get lost in the area.

[0065] S1034, determining the density ratio of each area, and determining the number of robots in each area based on the density ratio and the first required number of each personnel distribution cluster.

[0066] For the embodiment of the present application, the electronic device determines the proportion of the personnel density in each area in each personnel distribution cluster, and the electronic device can calculate the number of robots allocated to each area based on the proportion and the number of robots in each personnel distribution cluster.

[0067] S1035, determining the second length of each area along the corresponding straight path segment, and dividing the second length equally according to the number of robots in each area to obtain equally divided points of each second length.

[0068] For the embodiment of the present application, the electronic device determines the second length of each area, divides the second length by the number of robots in each area to obtain the position interval of the robots, and divides the second length according to the position interval to obtain equal points.

[0069] S1036, determine the position of each equally divided point in the preset map, and draw a perpendicular line from the position to any side of the straight path segment, and the position of the foot of the perpendicular is the guidance position.

[0070] For the embodiment of the present application, the electronic device marks the position of each equally divided point in the preset map, and then draws a perpendicular line from the position of the equally divided point to any side of the straight path segment, and the position where the perpendicular line intersects with the edge of the straight path segment, that is, the foot of the perpendicular, is the guidance position. By separating the personnel distribution cluster to obtain multiple areas, and then determining the number of robots corresponding to each area according to the personnel density in each area, and finally obtaining the guidance position of each robot, the guidance effect of the subsequent guidance of the target object is improved.

[0071] In a possible implementation of the embodiment of the present application, step S103 further includes step 1, step 2, and step 3, wherein: Step 1: If any robot corresponds to a personnel distribution cluster, the distance from any robot to the previous robot is calculated.

[0072] For the embodiment of the present application, the electronic device determines the position coordinates of any robot and the position coordinates of the previous robot in the preset map, and then the electronic device calculates the distance from any robot to the previous robot using the distance formula between two points. The larger the distance, the less likely it is for the target object to find the next robot after passing the previous robot.

[0073] Step 2: Determine the color brightness of any target robot based on the distance and the density of people in the area where any robot is located in the personnel distribution cluster.

[0074] For the embodiment of the present application, if the density of people in the area where any robot is located in the personnel distribution cluster is greater, it means that it is more difficult for the target object to find any robot. In summary, distance and personnel density are both key factors that affect whether any robot is easy to be found. The staff can set corresponding coefficients for distance and personnel density and store them in the local storage medium in the electronic device. After the electronic device determines the distance and personnel density, it calls the corresponding coefficients for weighted calculation to obtain a score. The larger the score, the more difficult it is for any robot to be found. Therefore, it is necessary to increase the color brightness of any robot when indicating. Specifically, the electronic device can determine the preset score interval where the score is located from multiple preset score intervals. Each preset score interval corresponds to a brightness. The brightness position of the preset score interval where the score is located is the color brightness of any robot.

[0075] Step 3: Control any robot to give instructions according to color brightness.

[0076] In the embodiment of the present application, after the electronic device determines the color brightness of any robot, the electronic device sends a control instruction to the robot, so that the robot responds to the control signal and indicates according to the determined color brightness. By increasing the color brightness of robots that are farther apart, it is further easier for the target object to find the robot.

[0077] In a possible implementation of the embodiment of the present application, step S104 further includes step S105 (not shown in the figure), step S106 (not shown in the figure), step S107 (not shown in the figure), step S108 (not shown in the figure) and step S109 (not shown in the figure), wherein: S105, dynamically track the target object and determine the average speed of the target object.

[0078] For the embodiment of the present application, after the electronic device recognizes the target object based on the image information of the camera device, it can continuously dynamically track the target object, and the average speed of the target object can be determined based on the moving distance and moving time of the target object.

[0079] S106: Calculate a time threshold for the target object to pass through each straight path segment based on the average speed and the length of each straight path segment.

[0080] For the embodiment of the present application, the electronic device can calculate the time threshold for the target object to pass through each straight path segment by dividing the length of each straight path segment by the average speed.

[0081] S107: If the residence time of the target object in any straight path segment reaches a time threshold, the distance from each robot through which the target object has passed in any straight path segment to the target object is calculated.

[0082] For the embodiment of the present application, if the target object stays in a straight path segment for a time that reaches the time threshold of the straight path segment, it indicates that the target object may get lost in the straight path segment. Therefore, the electronic device determines the robot that the target object has passed through from the straight path segment. The electronic device can mark the position of the target object in real time in the preset map, and the robots that have passed through can be screened out according to the position of the target object and the position of the robot. Then the electronic device calculates the distance from each robot that has passed through to the target object using the distance formula between two points.

[0083] S108, planning a moving route of the target robot with the shortest distance.

[0084] The moving route is a route where the target robot moves to the target object and then moves to the next robot.

[0085] For the embodiment of the present application, the electronic device determines the target robot with the shortest distance from the robots that have passed, and uses the target robot to move to the target object to guide the target object. Therefore, the electronic device plans the route from the target robot to the target object, and then the electronic device plans the route from the target object to the next robot, thereby forming the moving route of the target robot.

[0086] S109, controlling the target robot to move according to the moving route.

[0087] For the embodiment of the present application, the electronic device generates a control instruction according to the moving route, and then sends the control instruction to the target robot, so that the target robot moves according to the moving route and moves to the target object. After the target object finds the target robot, the target robot continues to move to the next robot, and the target object follows the movement of the target robot to find the next robot, thereby improving the guidance effect on the target object.

[0088] In a possible implementation of the embodiment of the present application, step S109 further includes step Sa (not shown in the figure), step Sb (not shown in the figure), step Sc (not shown in the figure) and step Sd (not shown in the figure), wherein: Sa, when it is detected that the target robot moves from the target object to the next robot, the target robot is controlled to send a call signal to the next robot, so that the next robot sends a response signal after receiving the call signal.

[0089] For the embodiment of the present application, the electronic device determines whether the position of the target robot is consistent with the position of the target object through a preset map. If they are consistent, it means that the target robot is about to move to the next robot. At this time, the electronic device sends an instruction to the target robot so that the target robot sends a call signal to the next robot in real time. After receiving the call signal, the next robot sends a response signal so that the target robot receives the response signal.

[0090] Sb, determine the real-time distance from the target robot to the next robot in real time according to the call signal and the response signal. For the embodiment of the present application, the electronic device calculates the signal interval duration according to the time point when the target robot sends the call signal and the time point when the response signal is received, that is, the electronic device uses the ultra-wideband (UWB) signal to measure the propagation time and the real-time distance from the target robot to the next robot.

[0091] Sc, the frequency of sending the preset audio is determined based on the real-time distance. The smaller the real-time distance is, the higher the frequency of sending the corresponding preset audio is, and the shorter the interval between sending two preset audios is.

[0092] For the embodiment of the present application, the preset audio can be emitted by the sound module on the robot, which can be a short prompt sound. The shorter the real-time distance is, the closer it is to the next robot. Therefore, both the target robot and the next robot need to emit the preset audio at a higher frequency so that the target object knows that it is about to reach the next robot, making it easier for the target object to find the next robot. The frequency here refers to the interval between two preset audios. The shorter the interval, the higher the frequency of the preset audio. There can be a corresponding relationship between the real-time distance and the frequency of the preset audio emission, so that the electronic device determines the corresponding preset audio emission frequency based on the real-time distance.

[0093] Sd, controls the target robot and the next robot to output the preset audio at the preset audio frequency.

[0094] For the embodiment of the present application, the electronic device determines the real-time preset audio frequency based on the real-time distance, and the electronic device generates a control signal based on the real-time preset audio frequency and sends the control signal to the target robot and the next robot, so that the target robot and the next robot output the preset audio according to the real-time preset audio frequency. The preset audio is the short prompt sound mentioned in step Sc.

[0095] In a possible implementation of the embodiment of the present application, step S104 further includes step 1 and step 2, wherein: Step 1: If a new person is detected to select a destination within a preset time, and the selected destination is consistent with the destination of the target object, a back image of the target object is obtained.

[0096] For the embodiment of the present application, the preset time may be within 10 seconds (s), within 5 seconds, etc. If the electronic device detects that a new person selects a destination at the interactive screen, and the destination is consistent with the destination of the target object, the electronic device may extract the back image of the target object from the dynamically tracked image information.

[0097] Step 2: Output the back image so that the new person moves with the target object.

[0098] For the embodiment of the present application, the electronic device sends the back image to the interactive screen so that the interactive screen displays the back image of the target object. Since it is a new person who appears within the preset time, the target object has not gone far at this time, and the new person can find the target object and follow the target object, so that the new person moves to the destination. While the interactive screen outputs the back image, it also outputs a prompt message "Please follow the person in the back image", so that the new person can follow the target object in time. Furthermore, the interactive screen can also output the prompt information of the target object while outputting the back image and the prompt information.

[0099] The above embodiment introduces a multi-robot guidance method from the perspective of method flow, and the following embodiment introduces a multi-robot guidance device 20 from the perspective of virtual modules or virtual units. Please refer to the following embodiment for details.

[0100] The present application embodiment provides a multi-robot guidance device 20, such as Figure 2 As shown, a multi-robot-based guidance device 20 may specifically include: A path planning module 201 is used to obtain a destination selected by a target object and plan a path for the target object based on the destination; A quantity determination module 202 is used to obtain image information of a covered path in the venue, and determine the number of robots based on the path and image information; A first control module 203, used to determine a guide position on the path and control the robot to move to the corresponding guide position; The information output module 204 is used to control each robot to light up according to the same preset color and output prompt information to the target object, where the prompt information is prompt information about the same preset color.

[0101] The embodiment of the present application discloses a guidance device 20 based on multiple robots, wherein a path planning module 201 obtains a destination selected by a target object, so that the path planning module 201 can plan a path for the target object, and a quantity determination module 202 obtains image information, and the image information records specific conditions on the path including personnel distribution, etc., and the specific conditions recorded in the image information affect the number of robots required, and similarly, the conditions of the path itself also affect the number of robots required, so the quantity determination module 202 comprehensively determines the number and accuracy of robots providing guidance services for the target object based on the path and image information, and then the first control module 203 determines the guidance position on the path and controls the robot to move to the guidance position, so that the target object can more quickly find the robot at the guidance position when moving along the path, so that the target object is not likely to get lost, etc., and the information output module 204 controls each robot to light up according to the same preset color, and outputs prompt information, so that the target object knows the guidance plan, and it is convenient for the target object to move along the path and the preset color of each robot, thereby improving the guidance efficiency for tourists and other personnel.

[0102] In a possible implementation of the embodiment of the present application, when the quantity determination module 202 determines the number of robots based on the path and image information, it is specifically used to: Determine a turning point from the path, and segment the path based on the turning point to obtain multiple straight path segments; Performing personnel recognition on the image information of each straight path segment to obtain the personnel features in each straight path segment; Performing clustering processing on the personnel characteristics of each straight path segment to obtain at least one personnel distribution cluster; Determine the number of people in each population distribution cluster and the area of ​​each population distribution cluster; Determine a first required number of robots corresponding to each personnel distribution cluster based on the number of personnel and the area; Determine a first length of each personnel distribution cluster along the corresponding straight path segment, and remove the first length of each personnel distribution cluster on the corresponding straight path segment to obtain a plurality of sub-path segments; determining a second required number of robots corresponding to each subpath segment according to the length of each subpath segment; The first required quantity and the second required quantity of each straight path segment are summed to obtain a total required quantity of each straight path segment; The total required number of all straight path segments plus the number of turns gives the number of robots.

[0103] In a possible implementation of the embodiment of the present application, when determining the guidance position on the path, the first control module 203 is specifically used to: Identify each turn as a guide location; Divide each sub-path segment into equal parts according to the corresponding second required number to obtain equal-division points, determine the position of each equal-division point in the preset map, and draw a perpendicular line from the position to any side of the sub-path segment, and the position of the foot of the perpendicular is the guide position; Each personnel distribution cluster is divided into multiple areas according to a preset dividing line, and the personnel density in each area is determined, where the preset dividing line is perpendicular to the direction of the straight path segment where each personnel distribution cluster is located; Determine a density ratio for each area, and determine the number of robots for each area based on the density ratio and a first required number of each personnel distribution cluster; Determine a second length of each area along the direction of the corresponding straight path segment, and divide the second length equally according to the number of robots in each area to obtain equal division points of each second length; Determine the position of each equally divided point in the preset map, and draw a perpendicular line from the position to either side of the straight path segment. The position of the foot of the perpendicular is the guide position.

[0104] In a possible implementation of the embodiment of the present application, a multi-robot-based guidance device 20 further includes: The distance calculation module is used to calculate the distance from any robot to the previous robot when any robot corresponds to a personnel distribution cluster; A brightness determination module, used to determine the color brightness of any target robot based on the distance and the density of people in the area where any robot is located in the human distribution cluster; The second control module is used to control any robot to indicate according to color brightness.

[0105] In a possible implementation of the embodiment of the present application, a multi-robot-based guidance device 20 further includes: A speed determination module is used to dynamically track the target object and determine the average speed of the target object; A time threshold calculation module, used to calculate a time threshold for the target object to pass through each straight path segment based on an average speed and a length of each straight path segment; A distance calculation module is used to calculate the distance from each robot to the target object that has passed through any straight path segment when the residence time of the target object in any straight path segment reaches a time threshold; The route planning module is used to plan the moving route of the target robot with the shortest distance. The moving route is the route from the target robot to the target object and then to the next robot. The third control module is used to control the target robot to move according to the moving route.

[0106] In a possible implementation of the embodiment of the present application, a multi-robot-based guidance device 20 further includes: a fourth control module, for controlling the target robot to send a call signal to the next robot when the target robot is detected to move from the target object to the next robot, so that the next robot sends a response signal after receiving the call signal; A real-time distance determination module is used to determine the real-time distance from the target robot to the next robot in real time according to the call signal and the response signal; A frequency determination module, used to determine the frequency of the preset audio based on the real-time distance. The smaller the real-time distance, the higher the frequency of the corresponding preset audio, and the shorter the interval between two preset audios. The fifth control module is used to control the target robot and the next robot to output the preset audio according to the preset audio frequency.

[0107] In a possible implementation of the embodiment of the present application, a multi-robot-based guidance device 20 further includes: An image acquisition module is used to acquire a back image of the target object when a new person is detected to select a destination within a preset time, and the selected destination is consistent with the destination of the target object; The image output module is used to output the back image so that the new person moves with the target object.

[0108] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the multi-robot-based guidance device 20 described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0109] An electronic device is provided in an embodiment of the present application, such as Figure 3 As shown, Figure 3 The electronic device 30 shown includes: a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the electronic device 30 may also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the electronic device 30 does not constitute a limitation on the embodiments of the present application.

[0110] The processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0111] The bus 302 may include a path to transmit information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but it does not mean that there is only one bus or only one type of bus.

[0112] The memory 303 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0113] The memory 303 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the contents shown in the above method embodiment.

[0114] The electronic devices include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and fixed terminals such as digital TVs, desktop computers, etc. It can also be a server, etc. Figure 3 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0115] The embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when it is run on a computer, the computer can execute the corresponding content in the above method embodiment. Compared with the related art, in the embodiment of the present application, the destination selected by the target object is obtained, so as to facilitate the planning of the path of the target object, obtain image information, and the image information records the specific conditions on the path including the distribution of personnel, etc., and the specific conditions recorded in the image information affect the number of robots required. Similarly, the conditions of the path itself also affect the number of robots required. Therefore, the number and accuracy of robots providing guidance services for the target object are determined comprehensively according to the path and image information, and then the guidance position on the path is determined and the robot is controlled to move to the guidance position, so that the target object can more quickly find the robot at the guidance position when moving along the path, so that the target object is not easy to get lost, etc., control each robot to light up according to the same preset color, and output prompt information, so that the target object knows the guidance plan, and it is convenient for the target object to move along the path and the preset color of each robot to light up, thereby improving the guidance efficiency for tourists and other personnel.

[0116] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0117] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A multi-robot guidance method, characterized in that: include: Acquire a destination selected by a target object, and plan a path for the target object based on the destination; Acquire image information covering the path in the venue, and determine the number of robots based on the path and the image information; Determine the guidance position on the path and control the robot to move to the corresponding guidance position; Each robot is controlled to light up according to the same preset color, and outputs prompt information to the target object, wherein the prompt information is prompt information about the same preset color.

2. A multi-robot guidance method according to claim 1, characterized in that: The determining the number of robots based on the path and the image information comprises: Determine a turning point from the path, and segment the path based on the turning point to obtain a plurality of straight path segments; Performing personnel recognition on the image information of each straight path segment to obtain the personnel features in each straight path segment; Performing clustering processing on the personnel characteristics of each straight path segment to obtain at least one personnel distribution cluster; Determine the number of people in each population distribution cluster and the area of ​​each population distribution cluster; Determine a first required number of robots corresponding to each personnel distribution cluster based on the number of personnel and the area; Determine a first length of each personnel distribution cluster along the corresponding straight path segment, and remove the first length of each personnel distribution cluster on the corresponding straight path segment to obtain a plurality of sub-path segments; determining a second required number of robots corresponding to each subpath segment according to the length of each subpath segment; The first required quantity and the second required quantity of each straight path segment are summed to obtain a total required quantity of each straight path segment; The total required number of all straight path segments plus the number of turns yields the number of robots.

3. A multi-robot guidance method according to claim 2, characterized in that: Determining a guidance position on the path includes: Identify each turn as a guide location; Divide each sub-path segment into equal parts according to the corresponding second required number to obtain equal-division points, determine the position of each equal-division point in the preset map, and draw a perpendicular line from the position to any side of the sub-path segment, and the position of the foot of the perpendicular is the guide position; Separate each personnel distribution cluster into multiple areas according to a preset dividing line, and determine the personnel density in each area, wherein the preset dividing line is perpendicular to the direction of the straight path segment where each personnel distribution cluster is located; Determine a density ratio of each area, and determine the number of robots in each area based on the density ratio and a first required number of each personnel distribution cluster; Determine a second length of each area along the direction of the corresponding straight path segment, and divide the second length equally according to the number of robots in each area to obtain equal division points of each second length; Determine the position of each equally divided point in the preset map, and draw a perpendicular line from the position to any side of the straight path segment, and the position of the foot of the perpendicular is the guide position.

4. The multi-robot guidance method according to claim 1, characterized in that: The method further comprises: If any robot corresponds to a personnel distribution cluster, the distance from the robot to the previous robot is calculated; Determine the color brightness of any target robot based on the distance and the density of personnel in the area where any robot is located in the personnel distribution cluster; Control any one of the robots to give instructions according to the color brightness.

5. The multi-robot guidance method according to claim 1, characterized in that: The method further comprises: Dynamically tracking the target object and determining an average speed of the target object; Calculating a time threshold for the target object to pass through each straight path segment based on the average speed and the length of each straight path segment; If the residence time of the target object in any straight path segment reaches the time threshold, then calculating the distance from each robot through which the target object has passed in any straight path segment to the target object; Planning a moving route of the target robot with the shortest distance, wherein the moving route is a route in which the target robot moves to the target object and then moves to the next robot; The target robot is controlled to move according to the moving route.

6. A multi-robot guidance method according to claim 5, characterized in that: The method further comprises: When detecting that the target robot moves from the target object to the next robot, controlling the target robot to send a call signal to the next robot, so that the next robot sends a response signal after receiving the call signal; Determine the real-time distance from the target robot to the next robot in real time according to the call signal and the response signal; Determine the frequency of emitting the preset audio based on the real-time distance, the smaller the real-time distance is, the higher the frequency of emitting the corresponding preset audio is, and the shorter the interval between emitting two preset audios is; The target robot and the next robot are controlled to output the preset audio according to the preset audio frequency.

7. The multi-robot guidance method according to claim 1, characterized in that: The method further comprises: If a new person is detected to select a destination within a preset time, and the selected destination is consistent with the destination of the target object, then a back image of the target object is obtained; The back image is outputted so that the new person moves along with the target object.

8. A multi-robot guidance device, characterized in that: include: A path planning module, used to obtain a destination selected by a target object and plan a path for the target object based on the destination; a quantity determination module, configured to obtain image information covering the path in the venue, and determine the number of robots based on the path and the image information; A first control module, used for determining a guide position on the path and controlling the robot to move to the corresponding guide position; The information output module is used to control each robot to light up according to the same preset color and output prompt information to the target object, wherein the prompt information is prompt information about the same preset color.

9. An electronic device, characterized in that: It includes: at least one processor; Memory; At least one application, wherein the at least one application is stored in the memory and is configured to be executed by the at least one processor, and the at least one application is used to execute a multi-robot guidance method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute a multi-robot guidance method according to any one of claims 1 to 7.

Images