CN113074731B

CN113074731B - Intelligent navigation equipment and autonomous navigation method thereof

Info

Publication number: CN113074731B
Application number: CN202110302330.6A
Authority: CN
Inventors: 杜媛媛; 郑广斌; 高伟; 魏薇郦
Original assignee: Industrial and Commercial Bank of China Ltd ICBC
Current assignee: Industrial and Commercial Bank of China Ltd ICBC
Priority date: 2021-03-22
Filing date: 2021-03-22
Publication date: 2024-05-10
Anticipated expiration: 2041-03-22
Also published as: CN113074731A

Abstract

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

Description

Intelligent navigation equipment and autonomous navigation method thereof

Technical Field

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

Background

In recent years, in order to provide more abundant and rapid services for customers, banks reduce the manpower cost expenditure of the banks, and surround intelligent bank construction ideas, intelligent service robot technical supports are provided at banking sites so as to change the traditional work execution mode, release manpower and improve marketing efficiency. At present, robots deployed in banking sites are generally service robots, and mainly comprise a greeting robot and a light business robot. The SLAM (simultaneous localization AND MAPPING, i.e. synchronous positioning and mapping) is a core technology for positioning and navigation of a service robot, but is limited by computational effort and map creation requirements, and the SLAM technical scheme cannot be deployed in an environment independently. The service robot can only determine self positioning information and environment map information to complete fixed-point service tasks and cannot dynamically lock service client targets. Under the general circumstances, when a hall manager guides a client to walk to the robot or the client requests service from the robot, the robot can closely identify the client identity through a camera of the robot, so that the timeliness of the intelligent robot for executing the service of the bank cannot be improved, and the real benefit of the intelligent robot is difficult to develop.

Disclosure of Invention

Aiming at the problems in the prior art, the application provides intelligent navigation equipment and an autonomous navigation method of the intelligent navigation equipment, which integrate multiple positioning means, utilize the complementary advantages of the multiple positioning means, realize active client seeking, dynamic locking service client and autonomous navigation following service of the robot while reducing the reconstruction cost and the machine performance consumption.

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

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

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

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

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

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

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

Generating a target customer movement track according to the target customer positioning information change data;

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

And providing corresponding service according to the predicted service.

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

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

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

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

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

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

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

the positioning chip on the intelligent navigation equipment performs information interaction with each positioning base station to obtain distance measurement information of the positioning chip on the intelligent navigation equipment and each positioning base station;

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

Further, the information interaction is performed between each positioning base station and a positioning chip on the intelligent navigation device, so as to obtain ranging information between the positioning chip on the intelligent navigation device and each positioning base station, including:

Each positioning base station transmits a ranging request signal to a positioning chip on the intelligent navigation equipment and records the transmission time of the ranging request signal;

the positioning chip on the intelligent navigation equipment sends ranging confirmation information to a corresponding positioning base station, wherein the ranging confirmation information comprises a unique identification code of the positioning chip and the duration of the processing of the ranging request signal by the positioning chip;

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

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

navigating to a target client position so that the target client is in the shooting range of a camera, and shooting an environment image comprising the target client;

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

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

generating a customer portrait according to the face direction of a target customer, the target customer movement track and the customer information of the target customer in the environment image;

And predicting the service to be executed of the target client according to the client portrait.

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

inputting the relative position relation among the environment image, the target client and the robot to a preset neural network model;

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

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

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

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

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

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

Further, the intelligent navigation apparatus further includes:

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

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

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

Further, the positioning module includes:

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

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

Further, the positioning calibration module includes:

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

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

Further, the positioning calibration module further comprises:

information interaction unit: the positioning chip on the intelligent navigation equipment performs information interaction with each positioning base station to obtain distance measurement information of the positioning chip on the intelligent navigation equipment and each positioning base station;

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

Further, the service prediction module includes:

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

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

Further, the service prediction unit includes:

a customer portrait component: generating a customer portrait according to the face direction of a target customer, the target customer movement track and the customer information of the target customer in the environment image;

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

Further, the service prediction module further includes:

Neural network unit: inputting the relative position relation among the environment image, the target client and the robot to a preset neural network model;

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

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

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

As can be seen from the above technical solutions, the method for autonomous navigation of an intelligent navigation device and the intelligent navigation device provided by the present application include: generating a positioning map according to the position information of the intelligent navigation equipment and the relative position relation between the intelligent navigation equipment and at least one obstacle; correcting the positioning map according to the self positioning information and the self position information of the intelligent navigation equipment; generating a navigation route according to self-positioning information, target client positioning information and a corrected positioning map of the intelligent navigation equipment at each moment in the motion process; according to the navigation route, navigating to a target client; the advantages of complementation of various positioning means are utilized, positioning errors caused by continuous movement of the intelligent navigation equipment are avoided, and the intelligent navigation equipment can actively seek passengers and dynamically lock target clients while reducing reconstruction cost and machine performance consumption.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

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

Fig. 2 is a flowchart of step 100 in the autonomous navigation method of the intelligent navigation apparatus according to the embodiment of the present application.

Fig. 3 is a flowchart illustrating a step 200 in an autonomous navigation method of an intelligent navigation apparatus according to an embodiment of the present application.

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

Fig. 5 is a schematic flow chart of step 211 in the autonomous navigation method of the intelligent navigation apparatus according to the embodiment of the present application.

Fig. 6 is a schematic diagram of a two-way ranging algorithm in an autonomous navigation method of an intelligent navigation apparatus according to an embodiment of the present application.

Fig. 7 is a flowchart of step 600 in the autonomous navigation method of the intelligent navigation apparatus according to the embodiment of the present application.

Fig. 8 is a flowchart of step 602 in the autonomous navigation method of the intelligent navigation apparatus according to the embodiment of the present application.

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

Fig. 10 is a schematic structural diagram of a positioning module in the intelligent navigation apparatus according to the embodiment of the present application.

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

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

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

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

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

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

Fig. 17 is a schematic flow chart of positioning and guiding control of an intelligent navigation device provided by an application embodiment of the present application.

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

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

Fig. 20 is a schematic flow chart of path navigation of the intelligent navigation device provided by the application embodiment of the application.

Fig. 21 is a schematic flow chart of intelligent navigation device client positioning provided by an application embodiment of the present application.

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

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

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that the intelligent navigation device and the autonomous navigation method of the intelligent navigation device disclosed by the application can be used in the technical field of artificial intelligence, and can also be used in any field except the technical field of artificial intelligence, and the application fields of the intelligent navigation device and the autonomous navigation method of the intelligent navigation device disclosed by the application are not limited.

In one or more embodiments of the present application, the intelligent navigation device typically employs existing machines at banking sites, with mobile, autonomous navigation, and business service functions.

Considering that the existing service robot can only determine self-positioning information and environment map information, and can finish a fixed-point service task and can not dynamically lock a service client target, the application provides an intelligent navigation equipment autonomous navigation method, intelligent navigation equipment, electronic equipment and a computer readable storage medium, integrates multiple positioning means, utilizes the complementary advantages of the multiple positioning means, and realizes active client seeking, dynamic service client locking and autonomous navigation following service providing of the robot while reducing transformation cost and machine performance consumption.

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

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

It will be appreciated that the positioning guidance control terminal may include a portable computer, a desktop computer, etc

In another practical application, the part for performing the real-time positioning of the intelligent device and the real-time positioning of the target client may be performed in the intelligent device processing center as described above, or all positioning operations may be performed in the positioning guidance control terminal. The selection can be specifically performed according to the processing capability of the positioning guide control terminal, the limitation of the use scene of the user and the like. The application is not limited in this regard. If all operations are completed in the positioning guide control terminal, the positioning guide control terminal may further include a processor for performing specific processing of real-time positioning.

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

Any suitable network protocol may be used between the intelligent navigation device and the location guidance control terminal, including a network protocol not yet developed on the filing date of the present application. The network protocols may include, for example, TCP/IP protocol, UDP/IP protocol, HTTP protocol, HTTPS protocol, etc. Of course, the network protocol may also include, for example, RPC protocol (Remote Procedure Call Protocol ), REST protocol (Representational STATE TRANSFER) or the like used above the above-described protocol.

The intelligent navigation equipment autonomous navigation method, the intelligent navigation equipment, the electronic equipment and the computer readable storage medium provided by the application integrate a plurality of positioning means, utilize the complementary advantages of the plurality of positioning means, realize the active passenger searching of the robot, the dynamic locking of service clients and the provision of autonomous navigation following type service while reducing the reconstruction cost and the machine performance consumption.

The following embodiments and application examples are described in detail.

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

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

It can be understood that the intelligent navigation device obtains the position information of the intelligent navigation device by using the laser radar, the position information comprises the position information of the intelligent navigation device and the relative position relation between the intelligent navigation device and at least one obstacle, the relative position relation comprises the distance and the angle of the obstacle relative to the intelligent navigation device, the intelligent navigation device starts to move and reaches a new position, the intelligent navigation device predicts the new position information of the intelligent navigation device according to the motion equation of the intelligent navigation device, and then obtains the environment information of the new position by using the laser radar until the relative position relation of all the obstacles is obtained, and the relative position relations of all the obstacles are matched and fused to generate the positioning map.

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

It can be understood that the intelligent navigation equipment is provided with a positioning tag, the positioning tag is internally provided with a positioning chip, the positioning tag can be embedded into the intelligent navigation equipment and can be installed at the position above a service client display screen, a positioning base station is used for sending pulse signals to the positioning chip to measure self positioning information of the intelligent navigation equipment, the self positioning information of the intelligent navigation equipment can generate errors along with the movement of a robot, the errors can be continuously increased along with the movement of the robot, the created positioning map is larger in error, and the self positioning information of the intelligent navigation equipment measured through the pulse signals is more accurate, so that the positioning map can be corrected according to the self positioning information of the intelligent navigation equipment and the self positioning information of the intelligent navigation equipment.

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

It will be appreciated that the customer equipped location tag is provided to the queued store customer in the form of a number plate, which is of a recycling nature. The positioning base station detects self-positioning information of the target client and self-positioning information of the intelligent navigation device at each moment in the motion process by sending pulse signals to the positioning chip, and generates a navigation route by combining a positioning map according to the positioning information of the intelligent navigation device and the target client.

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

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

As can be seen from the above description, the autonomous navigation method of the intelligent navigation device provided by the embodiment of the present application generates a positioning map according to the position information of the intelligent navigation device and the relative position relationship between the intelligent navigation device and at least one obstacle; correcting the positioning map according to the self positioning information and the self position information of the intelligent navigation equipment; generating a navigation route according to self-positioning information, target client positioning information and a corrected positioning map of the intelligent navigation equipment at each moment in the motion process; according to the navigation route, navigating to a target client; the advantages of complementation of various positioning means are utilized, positioning errors caused by continuous movement of the intelligent navigation equipment are avoided, and the intelligent navigation equipment can actively seek passengers and dynamically lock target clients while reducing reconstruction cost and machine performance consumption. In the movement process of the intelligent navigation equipment of the laser radar positioning means, the error of the intelligent navigation equipment is continuously increased along with the movement of the intelligent navigation equipment, even the upper limit of the positioning error of the intelligent navigation equipment can not be considered, the pulse signal positioning technology calculates the positioning information of the robot based on the time difference that the positioning label reaches the fixed positioning base station, and the position information of the positioning label can be accurately measured on the premise of ensuring the positioning coordinates of the positioning base station.

In order to further improve the timeliness of handling business by the intelligent robot of the bank, in one embodiment of the autonomous navigation method of the intelligent navigation device provided by the application, a preferred mode of the following type service of the intelligent navigation device is provided, and referring to fig. 1, the autonomous navigation method of the intelligent navigation device specifically further comprises the following contents:

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

It can be understood that the intelligent navigation device obtains real-time positioning information of the target client through the positioning guidance control terminal, and generates a target client movement track according to the real-time positioning information of the target client, wherein the target client movement track comprises a path traveled by the target client and an area where the target client stays.

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

It can be understood that the intelligent navigation device analyzes the motion trail of the target client, and identifies the service content of interest of the client according to the walking path of the target client and the stay area of the target client.

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

As can be seen from the above description, the autonomous navigation method of the intelligent navigation device provided by the embodiment of the application utilizes the complementary advantages of various positioning means, avoids positioning errors caused by continuous movement of the intelligent navigation device, and realizes active passenger searching, dynamic target locking and autonomous following service providing of the intelligent navigation device while reducing modification cost and machine performance consumption.

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

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

It can be appreciated that the lidar can only acquire local environmental information of the location of the intelligent navigation device, i.e., a point cloud, at a time, which can only reflect a portion of the environment of the intelligent navigation device. The first step of preprocessing is to optimize the original data of the laser radar, remove some problematic data, or filter the data to obtain effective point cloud data, generate a position map according to the point cloud data, start moving the intelligent navigation equipment, reach a new position, predict the new position information of the intelligent navigation equipment according to the motion equation, obtain the point cloud data of the new position by the laser radar, search the point cloud data of the current local environment for the corresponding position on the established map by adopting a point cloud matching algorithm, and repeatedly start until the point cloud data of all obstacles are obtained, and match the point cloud data of all obstacles to the positioning map.

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

It will be appreciated that the new data from the lidar is stitched into the original map, eventually completing the updating of the map.

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

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

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

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

It will be appreciated that the number of components,

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

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

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

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

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

It can be understood that after the positioning guidance control terminal receives the ranging data sent by the positioning base station, coordinate conversion of the positioning tag is performed based on the pulse positioning method, and tag coordinate information is sent to the coordinate conversion unit, wherein the coordinate conversion unit comprises a positioning time stamp, a positioning tag ID and positioning coordinates.

From the above description, it can be seen that, according to the autonomous navigation method of the intelligent navigation device provided by the embodiment of the application, the positioning information of the robot is calculated based on the time difference that the positioning tag reaches the fixed positioning base station, and the position information of the positioning tag can be accurately measured on the premise of ensuring the positioning coordinates of the positioning base station.

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

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

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

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

It can be understood that the hardware of pulse ranging is divided into an anchor point and a tag, the anchor point is a fixed positioning base station, and the positioning tag moves along with the carrier. The transmitter and the receiver are arranged on the positioning base station and the positioning label, and clock errors and offset errors of a carrier in the moving process are eliminated by a two-way ranging method, so that an accurate ranging result is obtained. And the positioning base station actively transmits a ranging request to the tag, and the tag automatically transmits a response signal after receiving the request signal. As shown in fig. 6, which is a schematic diagram of a two-way ranging algorithm, when a ranging request signal m is sent to a positioning tag carried by an intelligent navigation device or a client at a time point of a positioning base station B _m, the tag receives a signal at a _m after a delay T ₁; after time T ₂, the positioning tag calculates the offset error and then sends a reply signal M to the positioning base station at a _M, which receives the signal at B _m after a delay T ₁. From this, the signal transmission time between the positioning base station and the tag is T ₁, and the calculation formula is:

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

d_AB＝T₁·c

Where c=3× ⁸ m/s is the propagation velocity of electromagnetic waves in air.

From the above description, it can be seen that, according to the autonomous navigation method of the intelligent navigation device provided by the embodiment of the application, the positioning information of the robot is calculated based on the time difference that the positioning tag reaches the fixed positioning base station, and the tag distance between the positioning tag and the positioning base station can be accurately measured on the premise of ensuring the positioning coordinates of the positioning base station.

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

Step 601: and navigating to the target client position so that the target client is in the shooting range of the camera, and shooting an environment image comprising the target client.

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

It can be understood that the intelligent navigation device dispatches the image information of the surrounding environment of the camera carried by the intelligent navigation device, confirms that the client is in the sight range of the client, and when the client deviates from the sight range of the camera, the positioning information of the target client is acquired again, the path navigation is planned again to the position of the client, the following service is continuously provided, the walking path and the stay area of the client are analyzed, and the service content of interest of the client is identified.

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

step 611: and generating a customer portrait according to the face direction of the target customer, the movement track of the target customer and the customer information of the target customer in the environment image.

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

It can be understood that when the intelligent navigation device arrives near the target client, the portable camera is started, the image information of the surrounding environment is collected, the image information is related with the actual position of the intelligent navigation device, the identity of the target client is confirmed, meanwhile, the face recognition technology and the behavior recognition technology are combined, the line track of the target client analyzes the sex, age, dressing, behavior and line track of the current client to construct a client portrait, and the client portrait is used for providing personalized business service for the client.

As can be seen from the above description, the autonomous navigation method of the intelligent navigation device provided by the embodiment of the application is based on image recognition algorithm including but not limited to face recognition and dressing recognition, and the intelligent navigation device can determine the direction of the target client and adjust the position of the target client so as to provide face-to-face business handling service.

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

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

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

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

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

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

It can be understood that the positioning module 01 is internally provided with a laser radar transmitter, acquires the position information of the positioning module by using the laser radar, the position information comprises the position information of the positioning module and the relative position relation between the positioning module and at least one obstacle, the relative position relation comprises the distance and the angle of the obstacle relative to the intelligent navigation device, the intelligent navigation device starts to move and reaches a new position, the positioning module 01 predicts the new position information of the intelligent navigation device according to the motion equation, acquires the environmental information of the new position of the intelligent navigation device by using the laser radar until the relative position relation of all the obstacles is acquired, and performs matching fusion on the relative position relation of all the obstacles to generate a positioning map.

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

It can be appreciated that the positioning calibration module 02 is configured to calibrate the intelligent navigation device based on positioning information acquired by the laser radar. The robot positioning information obtained by the pulse positioning technology is fused, so that the positioning information and the positioning map obtained by the laser radar can be corrected more accurately according to the pulse positioning information.

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

It can be understood that the path planning module 03 invokes the ranging and positioning module and the path planning function of the intelligent navigation device, and plans the path. The intelligent navigation equipment for providing mobile service has the functions of autonomously judging surrounding environment and performing line planning, after the positioning calibration of the intelligent navigation equipment is completed, the target point navigation capacity of the intelligent navigation equipment is adjusted to complete the global planning of the path of the current positioning information of the intelligent navigation equipment to the target client, and positioning errors caused by encountering obstacles in the navigation process are accurately calibrated by fusing the positioning information of the pulse positioning system.

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

As can be seen from the above description, the intelligent navigation device provided by the embodiment of the present application generates a positioning map according to the position information of the intelligent navigation device and the relative position relationship between the intelligent navigation device and at least one obstacle; correcting the positioning map according to the self positioning information and the self position information of the intelligent navigation equipment; generating a navigation route according to self-positioning information, target client positioning information and a corrected positioning map of the intelligent navigation equipment at each moment in the motion process; according to the navigation route, navigating to a target client; the advantages of complementation of various positioning means are utilized, positioning errors caused by continuous movement of the intelligent navigation equipment are avoided, and the intelligent navigation equipment can actively seek passengers and dynamically lock target clients while reducing reconstruction cost and machine performance consumption. In the movement process of the intelligent navigation equipment of the laser radar positioning means, the error of the intelligent navigation equipment is continuously increased along with the movement of the intelligent navigation equipment, even the upper limit of the positioning error of the intelligent navigation equipment can not be considered, the pulse signal positioning technology calculates the positioning information of the robot based on the time difference that the positioning label reaches the fixed positioning base station, and the position information of the positioning label can be accurately measured on the premise of ensuring the positioning coordinates of the positioning base station.

In order to further improve the timeliness of business handling of the intelligent robot in a bank, in one embodiment of the intelligent navigation device provided by the present application, a preferred manner of the following service of the intelligent navigation device is provided, and referring to fig. 9, the intelligent navigation device specifically further includes the following contents:

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

It can be understood that the motion trail module 05 obtains real-time positioning information of the target client through the positioning guidance control terminal, and generates a motion trail of the target client according to the real-time positioning information of the target client, wherein the motion trail of the target client comprises a walking path of the target client and a stay area of the target client.

Service prediction module 06: and after navigating to the target client, predicting the current service to be executed by the target client according to the motion trail of the target client.

It can be understood that the service prediction module 06 analyzes the motion trail of the target client, and identifies the service content of interest of the client according to the walking path of the target client and the stay area of the target client.

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

It will be appreciated that the following target client provides mobile business services. The following service module 07 dispatches the image information of the surrounding environment of the camera carried by the client, confirms that the client is in the sight range of the client, and when the client deviates from the sight range of the camera, the pulse positioning information of the target client is acquired again, the path navigation is planned again to the position of the client, and the following service is continuously provided.

From the above description, it can be seen that the intelligent navigation device provided by the embodiment of the application utilizes the complementary advantages of various positioning means, avoids positioning errors caused by continuous movement of the intelligent navigation device, and realizes active passenger searching, dynamic target locking and autonomous following service providing of the intelligent navigation device while reducing modification cost and machine performance consumption.

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

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

It will be appreciated that the lidar transmitter inside the location confirmation unit 11 can only acquire local environment information of the location of the intelligent navigation device, i.e. a point cloud, at a time, which can only reflect one part of the environment of the intelligent navigation device. The first step of preprocessing is to optimize the original data of the laser radar, remove some problematic data, or filter the data to obtain effective point cloud data, generate a position map according to the point cloud data, start moving the intelligent navigation equipment, reach a new position, predict the new position information of the intelligent navigation equipment according to the motion equation, obtain the point cloud data of the new position by the laser radar, search the point cloud data of the current local environment for the corresponding position on the established map by adopting a point cloud matching algorithm, and repeatedly start until the point cloud data of all obstacles are obtained, and match the point cloud data of all obstacles to the positioning map.

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

It will be appreciated that the map generation unit 12 concatenates new data from the lidar into the original map, eventually completing the updating of the map.

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

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

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

It will be appreciated that the number of components,

As can be seen from the above description, according to the intelligent navigation device provided by the embodiment of the application, when the intelligent navigation device performs laser radar positioning, the positioning information acquired by the pulse positioning system is fused, so that the positioning error generated by laser radar positioning can be corrected in time, the advantage of complementation of various positioning means is utilized, the positioning error caused by continuous movement of the intelligent navigation device is avoided, and the accuracy of subsequent navigation of the intelligent navigation device is improved.

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

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

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

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

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

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

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

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

It can be understood that the intelligent navigation device schedules the image information of the surrounding environment of the camera carried by the intelligent navigation device through the image acquisition unit 61, confirms that the client is in the sight range of the client, and when the client deviates from the sight range of the camera, the positioning information of the target client is acquired again, the path navigation is planned to the position of the client again, the following service is continuously provided, the service prediction unit 62 analyzes the walking path and the stay area of the client, and identifies the service content of interest of the client.

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

Customer portrait component 621: and generating a customer portrait according to the face direction of the target customer, the movement track of the target customer and the customer information of the target customer in the environment image.

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

It will be appreciated that when the intelligent navigation apparatus arrives near the target client, the client portrait component 621 enables the carried camera, collects the image information of the surrounding environment, links the image information with the actual location of the intelligent navigation apparatus, confirms the identity of the target client, combines the face recognition technology and the behavior recognition technology, and the target client line track analyzes the sex, age, dressing, behavior and line track of the current client to construct a client portrait, and the business prediction component 622 is used to provide personalized business services for the client.

As can be seen from the above description, the intelligent navigation device provided by the embodiment of the present application, based on the image recognition algorithm including but not limited to face recognition and clothing recognition, can determine the direction of the target client and adjust the position of the target client so as to provide face-to-face business handling service.

In an embodiment of the intelligent navigation apparatus provided by the present application, a preferred manner of determining the identity of a client may be provided, and referring to fig. 12, the service prediction module 06 in the intelligent navigation apparatus further specifically includes the following contents:

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

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

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

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

Referring to fig. 14, the whole intelligent navigation device needs 5 pieces of hardware for autonomous navigation, including a positioning guidance control terminal server 1, an intelligent navigation device 2, a POE switch 3, a positioning base station 4, and a positioning tag 5, wherein:

and the positioning guide control terminal server 1 is used for installing a positioning guide control terminal which is autonomously served by the management control intelligent navigation equipment.

The intelligent navigation equipment 2 is used for customer self-service business handling. Intelligent navigation devices typically employ existing intelligent robots at banking sites that have mobile, autonomous navigation and business service functions.

And the POE exchanger 3 is used for being connected with each positioning base station, realizing data communication between the positioning base station and the positioning guide control terminal, carrying out time synchronization among the base stations in a wired mode, and supplying power to the positioning base station in a POE mode. In addition, data transmission and power supply can also be performed in a wireless mode.

And the positioning base station 4 is used for receiving and transmitting pulse signals and transmitting base station ranging data to the positioning guide control terminal. The base station deployment adopts a two-dimensional positioning mode, 4 positioning base stations are installed in the indoor physical environment of a banking website, the base stations are arranged at the edges of a plane area, and the base stations are required to be added when blocking sources such as columns, walls and the like are encountered; considering the physical area of the receiving area of the banking website, the positioning distance of the positioning unit is maximally supported but not limited to 110 meters.

A positioning tag 5 for receiving and transmitting pulse signals. The intelligent navigation device and the client are configured with the same type of positioning labels, wherein the positioning labels of the intelligent navigation device are not required to be embedded into the internal device of the intelligent navigation device and only need to be installed at the position above the display screen of the service client, and the client is provided with the labels in the form of number plates to be provided for the queued store clients, so that the intelligent navigation device has the property of recycling.

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

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

The main control unit 91 is configured to cooperate with data interaction between the units and unify an external data transmission interface, and can be directly interacted with as a supporting unit for data interaction with the intelligent navigation device.

The pulse locating unit 92 calculates pulse locating coordinates to the store customer and the intelligent navigation device based on the ranging data between the pulse locating base station and the locating tag. The positioning method of the pulse positioning unit uses a TDOA (time difference of arrival) positioning method based on a geometric principle, the coordinate information of the base station and the ranging information of the tag are input into the system, the real-time position of the target is calculated, and a mature calculation formula of the algorithm in the industry is provided, and is not repeated here. In addition, the POE exchanger adopts a cascade connection mode to be in wired communication with the positioning tag, so that the accurate time synchronization control requirement of the TDOA is met. Considering the service distance between the intelligent robot and the customer, the positioning accuracy is about 0.3 m in an ideal environment.

The task orchestration unit 93 distributes service target clients to the intelligent navigation devices using queuing priorities and proximity service principles. When the number of the intelligent navigation devices of the banking outlets is larger than 1 and the number of the arrival customers is larger than 1, the task arrangement unit determines the priority queuing number-taking customers as service target customers; and after the client positioning coordinate information and the positioning coordinate information of the idle intelligent navigation equipment are obtained, calculating the intelligent navigation equipment positioning service closest to the target client.

And the coordinate conversion unit 94 is used for converting the positioning coordinates acquired by the pulse positioning unit and the intelligent navigation equipment coordinates to realize conversion of the pulse positioning coordinates into a coordinate system used by the intelligent navigation equipment, and performing positioning navigation for a subsequent intelligent navigation equipment operating system. In general, banking sites have multiple types of intelligent navigation devices, different types may use different reference coordinate systems, and positioning information can be quickly connected to the different types of intelligent navigation devices by adopting a coordinate conversion unit. The common coordinate conversion calculation has a four-parameter conversion mode and a seven-parameter conversion mode, and coordinate conversion can be carried out according to the actual coordinate conversion requirement.

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

The flow of pulse-based positioning is described in detail below in connection with a specific embodiment, see fig. 16.

Step S101: and the POE time synchronization control, specifically, the POE exchanger transmits a time synchronization control instruction to each positioning base station in a unified way through wired communication, and initializes the time of the positioning base station.

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

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

Step S104: after the pulse positioning unit 92 of the positioning guidance control terminal receives the ranging data of the positioning base station, coordinate conversion of the positioning tag is performed based on the pulse positioning method, and tag coordinate information is sent to the coordinate conversion unit, wherein the coordinate conversion unit comprises a positioning time stamp, a positioning tag ID and positioning coordinates.

The following describes the flow of the intelligent navigation device positioning guidance control in detail with reference to fig. 17.

Step S201: the task scheduling unit 93 distributes service target clients to the intelligent navigation devices by using queuing priority and proximity service principle. Specifically, when the number of the intelligent navigation devices at the banking website is greater than 1 and the number of the clients arriving at the store is greater than 1, the task scheduling unit determines the priority queuing number-taking clients as service target clients; and after the client positioning coordinate information and the positioning coordinate information of the idle bank intelligent navigation equipment are obtained, calculating the robot positioning intelligent navigation equipment closest to the target client.

Step S202: the resolving intelligent navigation device coordinate system adopts a coordinate conversion unit 94 to convert pulse positioning coordinate information according to the type of the coordinate system used by the intelligent navigation device. Specifically, the coordinate conversion unit 94 calculates the type of the coordinate system used by the intelligent navigation apparatus providing the autonomous service, inputs the parameters of the coordinate system into the coordinate conversion program, converts the coordinates using the coordinate conversion method, and sends the coordinate information to the intelligent navigation apparatus scheduling unit 95, where the coordinate information includes a time stamp, the coordinate information of the target client, the tag ID of the target client, the coordinate information of the scheduling intelligent navigation apparatus, the tag ID of the scheduling intelligent navigation apparatus, and the like.

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

The task docking process of the intelligent navigation device is specifically described below with reference to fig. 18 in conjunction with the specific embodiment.

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

Step S302: after receiving the task, step S301 changes the service state. Specifically, changing the idle state of the intelligent navigation equipment into a working state, returning state information to the positioning guide terminal, and determining a service starting mode;

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

The following describes the positioning calibration procedure of the intelligent navigation device in detail with reference to fig. 19.

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

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

Step S403: and adjusting the positioning error of the laser radar. Specifically, the scheduling task docking module 08 acquires pulse positioning information of the intelligent navigation device again, and adjusts the laser radar positioning error by taking the pulse positioning information as a reference, including the positioning error of the constructed map.

The following describes the path navigation process of the intelligent navigation device in detail with reference to fig. 20.

Step S501: and (5) scheduling the navigation capacity of the target point to complete the global planning of the path. Specifically, based on the positioning calibration module 02, positioning information of the intelligent navigation device and the target client is obtained, the target point navigation capability of the intelligent navigation device is scheduled, and the global planning of the path is completed by combining the constructed map.

Step S502: navigation is to the target client. Specifically, the path navigation module 04 of the intelligent navigation device is scheduled to complete navigation.

Step S503: and (5) fusing pulse positioning information to calibrate positioning errors in the navigation process in real time. Specifically, in the actual navigation process, a plurality of emergency situations can be encountered, for example, when a worker keeps on the way of the navigation route, the original route needs to be adjusted, the route needs to be re-planned in the process, the position of the intelligent navigation equipment can be confirmed in real time by fusing pulse positioning information, and the calculation force dependence of re-route planning of the intelligent navigation equipment is reduced.

The following describes the client positioning process of the intelligent navigation device in detail with reference to fig. 21.

Step S601: image information of the surrounding environment is acquired. Specifically, after the path navigation module 04 completes the navigation task and reaches the vicinity of the target client, the intelligent navigation device rotates in situ for one circle and starts the portable camera to collect the image information of the surrounding environment.

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

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

Step S604: based on the client line track in step S603, the intelligent navigation device analyzes the walking path and the stay area of the client, and identifies the service content of interest to the client.

The following service flow of the intelligent navigation device is specifically described with reference to fig. 22 in conjunction with the specific embodiment.

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

Step S702: if it is determined that the target client is no longer in the camera view field based on the analysis result in step S701, a request for reacquiring the client pulse positioning information is sent to the positioning guidance control terminal, and the positioning information of the target client is reacquired.

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

In order to solve the problem that the existing service robot can only determine self-positioning information and environment map information and complete fixed-point service tasks and can not dynamically lock service customer targets, the application provides an embodiment of electronic equipment for realizing all or part of contents in the autonomous navigation method of intelligent navigation equipment, wherein the electronic equipment specifically comprises the following contents:

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

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

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

In another embodiment, the intelligent navigation apparatus may be configured separately from the central processor 9100, for example, the intelligent navigation apparatus may be configured as a chip connected to the central processor 9100, and the autonomous navigation function is implemented through control of the central processor.

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

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

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

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

The memory 9140 may be a solid state memory such as Read Only Memory (ROM), random Access Memory (RAM), SIM card, etc. But also a memory which holds information even when powered down, can be selectively erased and provided with further data, an example of which is sometimes referred to as EPROM or the like. The memory 9140 may also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application/function storage portion 9142, the application/function storage portion 9142 storing application programs and function programs or a flow for executing operations of the electronic device 9600 by the central processor 9100.

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

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

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

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

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

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

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

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

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

The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims

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

according to the navigation route, navigating to a target client;

the autonomous navigation method of the intelligent navigation device further comprises the following steps:

And providing corresponding service according to the predicted service.

2. The autonomous navigation method of the intelligent navigation apparatus according to claim 1, wherein the generating a positioning map according to the position information of the intelligent navigation apparatus itself and the relative position relation between the intelligent navigation apparatus and at least one obstacle comprises:

3. The autonomous navigation method of the intelligent navigation device according to claim 1, wherein the correcting the positioning map according to the positioning information of the intelligent navigation device and the position information of the intelligent navigation device comprises:

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

5. The autonomous navigation method of the intelligent navigation device according to claim 4, wherein the information interaction between each positioning base station and the positioning chip on the intelligent navigation device is performed to obtain the ranging information between the positioning chip on the intelligent navigation device and each positioning base station, comprising:

6. The autonomous navigation method of the intelligent navigation device according to claim 1, wherein predicting the service currently to be executed by the target client according to the target client motion trail comprises:

7. The autonomous navigation method of the intelligent navigation device according to claim 6, wherein predicting the target client to execute the service according to the face direction of the target client in the environment image, the target client motion trail, and the client information of the target client comprises:

8. The autonomous navigation method of the intelligent navigation device according to claim 6, wherein predicting the service currently to be executed by the target client according to the target client motion trajectory, further comprises:

9. An intelligent navigation device, comprising:

and a path navigation module: according to the navigation route, navigating to a target client;

The intelligent navigation device further includes:

10. The intelligent navigation apparatus of claim 9, wherein the positioning module comprises:

11. The intelligent navigation apparatus of claim 9, wherein the positioning calibration module comprises:

12. The intelligent navigation apparatus of claim 9, wherein the positioning calibration module further comprises:

13. The intelligent navigation apparatus of claim 9, wherein the traffic prediction module comprises:

14. The intelligent navigation apparatus of claim 13, wherein the traffic prediction unit comprises:

15. The intelligent navigation apparatus of claim 13, wherein the business prediction module further comprises:

16. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the autonomous navigation method of the intelligent navigation device according to any of claims 1 to 8 when executing the program.

17. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the autonomous navigation method of an intelligent navigation device according to any of claims 1 to 8.