WO2019153345A1 - Environment information determining method, apparatus, robot, and storage medium - Google Patents

Abstract

The present application relates to the technical field of robotics, and particularly relates to an environment information determining method, apparatus, robot, and storage medium. The environment information determining method comprises: obtaining an image of an ambient environment captured by at least one video device, the distance between said video device and a robot not exceeding a preset value; according to images of the ambient environment captured by each video device, expanding the ambient environment information of the robot.

Description

Environmental information determination method, device, robot and storage medium Technical field

The present application relates to the field of robot technology, and in particular, to a method, device, robot, and storage medium for determining environmental information.

Background technique

At present, most mobile robots have the ability to move, distinguish objects, find paths, etc., and even respond to early dangers when faced with possible dangers. However, robot vision is often limited to a certain angle of view, and there are fewer robots with a 360° angle of view.

In the process of implementing the present application, the inventor found that even if the robot itself has a 360° angle of view, the effective viewing angle is limited in the case of being occluded, etc., and in some scenarios, the capability of the robot may be defective or may not be maximized. . It can be seen that how to enhance the visual ability of the robot is a problem to be considered.

Summary of the invention

The technical problem to be solved by some embodiments of the present application is how to enhance the visual ability of the robot.

An embodiment of the present application provides an environment information determining method, including: acquiring an image of a surrounding environment captured by at least one video device, wherein a distance between the video device and the robot does not exceed a preset value; according to each video device An image of the surrounding environment captured by each of them expands the surrounding environment information of the robot.

An embodiment of the present application further provides an environment information determining apparatus, including: an obtaining module and a processing module; wherein the acquiring module is configured to acquire an image of a surrounding environment captured by at least one video device, and a distance between the video device and the robot The preset value is not exceeded; the processing module is configured to expand the surrounding environment information of the robot according to the image of the surrounding environment captured by each of the video devices.

An embodiment of the present application also provides a robot comprising at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being at least one The processor executes to enable the at least one processor to perform the environmental information determination method as in the above embodiment.

An embodiment of the present application further provides a computer readable storage medium storing a computer program that, when executed by a processor, implements the environment information determining method in any of the above embodiments.

With respect to the prior art, in the environmental information determining method provided by some embodiments of the present application, by acquiring an image captured by at least one video device around the robot, the surrounding environment information of the robot is expanded based on the image captured by the video device, Thereby expanding the effective viewing angle of the robot and enhancing the visual ability of the robot, so that the robot can obtain more comprehensive surrounding environment information.

DRAWINGS

The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.

1 is a flowchart of a method for determining environmental information in a first embodiment of the present application;

2 is a flowchart of a method for processing an image of a surrounding environment captured by a robot for each video device in the first embodiment of the present application;

3 is a schematic diagram showing a positional relationship between a robot and a video device in the first embodiment of the present application;

4 is a top plan view of an imaging angle of view of a camera of a video device in the first embodiment of the present application;

5 is a front view of each frame of a picture taken by a camera of the video device in the first embodiment of the present application;

6 is a flowchart of a method for determining environmental information in a second embodiment of the present application;

7 is a schematic view showing the positions of a robot, a natural person, and other objects in the second embodiment of the present application;

8 is a schematic structural diagram of an environment information determining apparatus in a third embodiment of the present application;

9 is a schematic structural diagram of an environment information determining apparatus in a fourth embodiment of the present application;

Fig. 10 is a schematic structural view of a robot in a fifth embodiment of the present application.

Specific embodiment

In order to make the objects, the technical solutions and the advantages of the present application more clear, some embodiments of the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting. However, those of ordinary skill in the art will appreciate that in the various embodiments of the present application, numerous technical details are set forth in order to provide the reader with a better understanding of the application. However, the technical solutions claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.

The method for determining environmental information provided by the following embodiments of the present application utilizes the powerful processing capability of the robot, such as processing multiple sets of image information in parallel, and combining the powerful interconnecting capabilities of the robot, so that the robot can obtain limitations beyond its own shooting capability. The perspective of the robot greatly expands the visual ability of the robot itself, so that the robot can cope with the challenges in various scenes with the support of more data, and maximize the advantages of the robot relative to human beings to make up for the shortcomings of human beings and obtain more. Good user experience.

The video device referred to in the following embodiments of the present application may be any device that has specific image acquisition capabilities, such as a robot with visual capabilities, a monitor, and the like.

The first embodiment of the present application relates to an environment information determining method, and the execution body of the environment information determining method may be a robot or other device that establishes a communication connection with the robot. Among them, the robot has intelligent devices with autonomous behavior. In this embodiment, the execution subject is the robot itself as an example. The specific process of the environment information determining method is as shown in FIG. 1 and includes the following steps:

Step 101: Acquire an image of a surrounding environment captured by at least one video device.

In a specific implementation, the distance between the video device and the robot does not exceed a preset value. The preset value may be determined according to the image processing capability of the robot, or may be determined according to other information such as the communication capability of the robot.

It should be noted that the robot can directly establish a communication connection with at least one video device, obtain an image of the surrounding environment of the camera, or establish a connection with at least one video device through the cloud or other video device. This embodiment does not limit the manner in which the robot acquires an image of the surrounding environment captured by at least one video device.

Step 102: Expand the surrounding environment information of the robot according to the image of the surrounding environment captured by each of the video devices.

In the specific implementation, the peripheral environment information obtained by the robot through shooting is expanded, and the specific processing procedure is shown in FIG. 2 .

Step 201: processing, respectively, an image of a surrounding environment captured by each video device: determining a position of the robot in an image of a surrounding environment captured by the video device, using the determined position as image positioning information of the robot, and acquiring a video according to the image positioning information The surrounding environment information of the robot monitored by the device.

In the specific implementation, there are various ways to determine the positioning information of the robot, including but not limited to the following two specific implementation manners:

First, determining the position of the robot in the image of the surrounding environment photographed by the camera with the open authority of the video device according to the physical position of the robot, the physical position of the video device, and the parameters of the camera of the open permission of the video device, and determining the position as the determined position Image positioning information of the robot.

It should be noted that the video device can open the permissions of some or all of the cameras when there are multiple cameras.

Specifically, when the video device and the robot are not in the height difference and the video device is in the head-up state, the parameters of the camera that the robot acquires the open permission of the video device include: a direction of a horizontal plane of the optical axis of the camera and a lateral viewing angle information of the camera. . After obtaining the parameters of the camera with the open permission of the video device, the robot determines the robot in the perspective of the camera with the open authority of the video device according to the physical position of the robot, the physical position of the video device, and the horizontal direction of the optical axis of the camera with the open permission of the video device. The value of the off-angle in the horizontal plane with respect to the optical axis.

确定自己在视频设备的开放权限的摄像头的视角中、相对于光轴在水平面的偏离角的值；其中，α表示视频设备开放权限的摄像头的光轴的水平面方向与横坐标轴的夹角，x表示视频设备的物理位置的横坐标与机器人的物理位置的横坐标的差值，y表示视频设备的物理位置的纵坐标与机器人的物理位置的纵坐标的差值，β表示该在水平面的偏离角的值。 For example, the robot can follow the formula

Determining the value of the off-angle of the horizontal plane with respect to the optical axis in the perspective of the camera of the open authority of the video device; wherein α represents the angle between the horizontal direction of the optical axis of the camera with the open authority of the video device and the axis of abscissa, x represents the difference between the abscissa of the physical position of the video device and the abscissa of the physical position of the robot, and y represents the difference between the ordinate of the physical position of the video device and the ordinate of the physical position of the robot, and β represents the horizontal plane. The value of the off angle.

Then, the robot determines the first position reference information of the robot in the image of the surrounding environment captured by the camera of the open authority according to the value of the off angle at the horizontal plane and the lateral view information of the camera with the open authority of the video device. The first position reference information is: a ratio of the amount laterally shifted from the center of the image to the left or right in the horizontal direction of the image.

For example, the robot determines the first position reference information in the image of the surrounding environment captured by the camera of the camera with the open authority of the video device according to the formula M=tanβ/(2×tan(γ/2)). Wherein β represents the value of the off-angle in the horizontal plane, γ represents the lateral viewing angle of the camera with the open authority of the video device, and M represents the first position reference information.

Finally, the robot determines the position of the robot in the image of the surrounding environment captured by the camera with the open authority of the video device based on the first position reference information. For example, if the first position reference information is a ratio of the amount laterally shifted from the center of the image to the left in the horizontal direction of the image, the robot is laterally shifted from the center line of the image to the left according to the first position reference information. a first reference line, if the first position reference information is: a ratio of an amount laterally shifted from the center of the image to the right in the horizontal direction of the image, the robot starts from the center line of the image to the right according to the first position reference information Deviating to obtain a first reference line; laterally offsetting the preset value to the left with the first reference line as a center to obtain a second reference line, and laterally offsetting the preset value to the right to obtain a third reference line; In the image area defined by the third reference line, the feature of the robot is detected; and the position of the robot in the image is determined according to the detected characteristics of the robot.

For example, in the process of locating the robot A, in order to avoid the recognition error caused by many other robots similar to the robot A in the vicinity of the robot A, the robot A can be quickly and accurately identified in the following manner:

In the mode a, the robot A deliberately performs a specific motion, and the robot corresponding to the specific motion is recognized as the robot A in the image region defined by the second reference line and the third reference line.

Mode b, the robot A flashes or sequentially lights the head or body signal according to the random light and dark sequence and/or the color sequence, and will be in the image area defined by the second reference line and the third reference line, and the lighting mode The same robot is recognized as robot A. For example, the robot A lights out according to 0.2S red light, 0.1s, 0.1s red light, and off for 0.5 seconds; or, 0.1s red light, 0.15s green light, 0.1s orange light, etc. There are infinite possibilities for the mode setting, as long as the robot A can be distinguished.

Mode c, a combination of mode a and mode b.

It should be noted that the physical location of the robot or the physical location of the video device can be determined by the Global Positioning System (GPS) or the Beidou of the robot or the video device itself. In determining the physical location of the robot or the physical location of the video device, the robot or video device may also incorporate base station location information or Wireless-Fidelity (WIFI) location information. This embodiment does not limit the manner in which a robot or video device acquires a physical location.

The following describes the process of determining the positioning information of the robot by using the first implementation manner in combination with the actual scenario.

根据以上两个关系式可以得到：

确定了机器人A在视频设备B开放权限的摄像头的视角中、相对于光轴在水平面的偏离角的值。 The positional relationship between the robot and the video device is shown in Fig. 3. The top view of the imaging angle of the camera with the open permission of the video device is shown in Fig. 4, and the front view of each frame of the camera with the open permission of the video device is as shown in Fig. 5. In Figures 3, 4 and 5, the robot is represented by the letter A and the video device is represented by the letter B. In Fig. 3, the robot A takes its physical position as the coordinate origin O, the positive east direction of the robot A is the positive direction of the abscissa axis (X), and the north direction is the positive direction of the ordinate axis (Y), and the robot A obtains The physical position of the video device B is (x, y), and the distance between the robot A and the video device B is d. Moreover, the angle between the horizontal direction of the optical axis of the camera of the current video device B and the axis of abscissa is α, and the value of the off angle of the robot A in the horizontal angle of the camera with the open authority of the video device B in the horizontal plane with respect to the optical axis Is β. It can be seen from Fig. 3 that the relationship between α, β, y, and d is: sin(α+β)=y/d, and the relationship between d, x, and y is

According to the above two relations, you can get:

The value of the off angle of the robot A in the horizontal angle of the camera with the open authority of the video device B with respect to the optical axis in the horizontal plane is determined.

In FIG. 4, in the imaging picture of the video device B, a straight line l ₁ passing through the robot A in the lateral direction of the imaging picture intersects with the optical axis in the direction of the horizontal plane at a point P, which is a straight line l ₁ and a longitudinal boundary of the imaging picture. At the intersection, β, PA, and PB satisfy the following relationship: tanβ=PA/PB, and the following relationship is satisfied between γ, PB, and PQ: tan(γ/2)=PQ/PB, according to the above two relations Yield: PZ / (2 * PQ) = tan β / [2 * tan (γ / 2)]. PZ/(2*PQ) is actually the first position reference information M, that is, the amount of lateral shift from the center of the image to the left (or right) in the horizontal direction of the image, so M=tanβ/(2× Tan(γ/2)). After obtaining the first position reference information, the robot A laterally shifts from the center line l _{2 of the} image to the left (or right) according to the first position reference information to obtain the first reference line l ₃ , and then the first reference line l ₃ The second reference line l _{4 is obtained by} shifting the preset value laterally to the left to the left, and the third reference line l _{5 is obtained by} shifting the preset value laterally to the right, as shown in FIG. 5. Among them, l ₆ to l ₉ are the boundaries of a front view of a frame taken by a camera with open access to the video device. In the image area defined by the second reference line l ₃ and the third reference line ₁₄ , the feature of the robot A is detected, and based on the detected characteristics of the robot A, the position of the robot A in the image is determined.

It should be noted that, when there is a height difference between the robot and the video device, and/or the video device is not in a head-up state (such as a top view state or a bottom view state), the robot may adjust the elevation angle information, the elevation angle information of the camera according to the open permission of the video device, One or more of longitudinal angle information and height information, etc., using a similar method to determine the longitudinal offset of the robot in the image of the surrounding environment captured by the video device, or determining the robot to shoot on the video device in combination with ranging or the like. The longitudinal offset in the image of the surrounding environment combines the lateral offset and the longitudinal offset to determine the position of the image of the robot in the image, which will not be described here.

Second, the robot detects the characteristics of the robot in the image of the surrounding environment captured by the video device, and determines the location of the feature of the robot as the image positioning information of the robot. Specifically, the robot locks the position of the robot in the image of the surrounding environment captured by the camera with the open authority of the video device through the image tracking technology, and uses the position as the image positioning information of the robot.

It should be noted that the characteristics of the robot may be the contour features of the robot, the motion characteristics of the robot (such as the current motion of the robot such as the head-up or the deliberate action), and the light and dark features of the signal light of the robot (such as the signal light of the robot is randomly illuminated) Any one or any combination of dark sequences, and/or flashing of the robot's signal color sequence, and/or the robot's signal light sequentially may be other features.

It should be noted that, in practical applications, if the processing capability of the robot is not strong, the robot can be set to acquire only images containing the image captured by the video device; if the robot has strong processing capability and wants to obtain more surrounding environment information, The robot is set to acquire all images captured by the video device, and the embodiment does not restrict the robot from acquiring the type of image captured by the video device.

Step 202: Expand the surrounding environment information of the robot according to the surrounding environment information of the robot monitored by each video device.

The surrounding environment information of the robot may be that the robot itself directly captures an image of the surrounding environment, and directly uses the image of the surrounding environment as the surrounding environment information, or extracts specific environmental parameters from the image of the surrounding environment, and extracts The environmental parameters are used as information about the surrounding environment. Of course, the surrounding environment information of the robot may be obtained by other means than the shooting by the robot, such as information recorded in an electronic map.

Specifically, after determining the position of the robot in the image of the surrounding environment captured by the video device, the image of the surrounding environment of the corresponding location may be selectively retrieved, thereby obtaining the surrounding environment information of the robot.

For example, in a case where the line of sight of the robot is blocked by the obstacle, the environment information that the robot is blocked by the obstacle is acquired according to the position of the robot in the image of the surrounding environment captured by the video device.

Compared with the prior art, the present embodiment expands the surrounding environment information of the robot based on the image captured by the at least one video device around the robot, thereby expanding the effective viewing angle of the robot and enhancing the image. The robot's visual ability enables the robot to obtain more comprehensive information about the surrounding environment.

The second embodiment of the present application relates to a method for determining environmental information. This embodiment is a further improvement of the first embodiment. The specific improvement is that other related steps are added before step 101 and step 102, respectively.

As shown in FIG. 6, the embodiment includes steps 301 to 307, wherein steps 304 and 306 are substantially the same as steps 101 and 102 in the first embodiment, and are not described in detail herein. Where:

Step 301: Determine that the line of sight of the robot is blocked by the obstacle.

It is worth mentioning that, in the case that the robot determines that the surrounding environment information is occluded, the method for determining the environment information is executed, thereby avoiding the resource caused by the method in the case that the robot can obtain sufficient surrounding environment information by virtue of its own capability. waste.

It should be noted that the occlusion of the robot's line of sight by the obstacle is only a specific triggering method. In the application, other triggering modes may also be adopted, for example, triggering a subsequent process according to a user operation.

Step 302: Establish a connection with each video device separately, and obtain a physical location of each video device.

It should be noted that, in the case that the trigger condition of step 301 is not needed, the robot may be set to establish a point-to-point connection with the video device directly if the distance from the video device is less than or equal to the preset value during the traveling process. Or establish a connection with the video device through the cloud, and read the physical location of the connected video device (determined by means of GPS or Beidou, etc.) and the parameters of the open-access camera. Currently, the physical location of the video device can also be determined by the robot itself, for example, by using base station positioning, WIFI positioning, and the like.

Among them, each robot or video device with video capture capability has a unified interface, and it can be used by other robots or video devices to read some or all of the visual information in its own situation and permission.

Step 303: Determine that the robot is within the line of sight of the video device.

Specifically, it is determined whether the robot is within the line of sight of the camera with the open authority of the video device based on the physical location of the video device and the parameters of the camera of the video device open authority.

For example, based on the optical axis direction and perspective (FOV) information of the open-access camera, the robot is determined to be within the field of view of the video device. Here, it is only necessary to determine that the robot is within the field of view of the video device, regardless of the influence of obstacles such as occlusion and height difference on the actual line of sight.

It is worth mentioning that before acquiring the image of the surrounding environment captured by the at least one video device, determining that the robot is within the line of sight of the video device, discarding image information provided by the video device that is not in the line of sight of the robot, and avoiding excessive receiving of the robot Useless information, taking up storage space.

Step 304: Acquire an image of a surrounding environment captured by at least one video device.

It should be noted that in order to ensure real-time control of the surrounding environment of the robot, it is necessary to acquire images of the surrounding environment captured by at least one video device in real time.

Step 305: Determine that the image of the surrounding environment captured by the video device includes an image of the robot.

Specifically, the line of sight of the video device may also be blocked, resulting in no image of the robot in the image of the surrounding environment captured by the video device, so that the robot cannot expand the surrounding environment information based on the image of the surrounding environment.

In a specific implementation, the robot can detect the characteristics of the robot in the image of the surrounding environment captured by the video device, and determine whether it is in the image of the surrounding environment captured by the video device.

It should be noted that, in an actual application, the robot may determine whether the image of the surrounding environment captured by the video device includes its own image in other manners. This embodiment does not limit the specific determining manner.

In the application, if it is determined in step 303 that the image captured by the video device should include the image of the robot, but the image of the robot is not found in the image, it may be determined that the line of sight of the video device is blocked. In this case, the following may be Processing method: continuously obtaining an image of the surrounding environment of the video device for a period of time, and determining whether the image of the robot is included in the image until the image of the robot is included in the image; or, after the preset time is exceeded The image of the robot is not recognized from the image of the surrounding environment captured by the video device, the image is stopped from the video device, and the image that has been acquired from the video device is discarded.

It is worth mentioning that the robot only processes the image of the surrounding environment containing its own image, which reduces the amount of calculation.

Step 306: Expand the surrounding environment information of the robot according to the image of the surrounding environment captured by each of the video devices.

Step 307: Adopt matching processing measures according to the extended surrounding environment information.

For example, the robot follows a natural person and performs an instruction to detect surrounding risk factors. Among them, the position diagram of the robot, the natural person and other objects is as shown in Fig. 7, and the vehicle D is directly in front of the robot A and the natural person C. The other object F in front of the robot A blocks the line of sight of the robot A, and the surrounding environment information obtained from the image of the surrounding environment captured by the robot A itself cannot display the danger information that the vehicle D is coming in front. However, since the robot A can obtain images of the surrounding environment photographed by other video devices (shown as E in the figure) through the above steps, the other video devices capture the vehicle D, so that the robot A can determine the front based on the expanded surrounding environment information. There is a risk factor (vehicle D is coming) and the result is passed to the natural person through an alarm or other behavior.

It should be noted that the robot can also perform different processing measures according to other instructions (such as determining whether there are risk factors, searching for suspects, etc.), and will not be repeated here.

It should be noted that step 301, step 302, step 303, step 305 and step 307 are not necessarily steps, and the above steps, or any one of the above steps, or any combination thereof may be selectively performed.

Compared with the prior art, the embodiment performs the environment information determining method only when the robot determines that the surrounding environment information is occluded, thereby preventing the robot from performing the method of obtaining sufficient surrounding environment information by virtue of its own capability. The waste of resources caused by the method. Before acquiring images of the surrounding environment captured by the at least one video device, it is determined that the robot is within the line of sight of the video device, avoiding the robot receiving too much useless information, wasting storage and computing resources. Moreover, only the image including the robot is processed, and the processing load is reduced.

In a specific implementation, in the above two embodiments, the robot and the video device may be configured to cooperate to share the captured image. Specifically, the robot may also send the image obtained by the robot itself while acquiring the video device. The video device is extended to expand the viewing angle of the video device, wherein the process of expanding the viewing angle of the video device is the same as the process of expanding the viewing angle of the robot described above, and details are not described herein again.

The third embodiment of the present application relates to an environment information determining apparatus, as shown in FIG. 8, including an obtaining module 401 and a processing module 402.

The obtaining module 401 is configured to acquire an image of a surrounding environment captured by the at least one video device, where a distance between the video device and the robot does not exceed a preset value.

The processing module 402 is configured to expand the surrounding environment information of the robot according to the image of the surrounding environment captured by each of the video devices.

It is not difficult to find that the present embodiment is an apparatus embodiment corresponding to the first embodiment, and this embodiment can be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still effective in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related art details mentioned in the embodiment can also be applied to the first embodiment.

The fourth embodiment of the present invention relates to an environment information determining apparatus. As shown in FIG. 9, the embodiment is further improved on the basis of the third embodiment, and the specific improvement is as follows: the determining module and the communication module are added. And operating modules.

The determining module 403 is configured to: before the acquiring module 401 acquires an image of the surrounding environment captured by the at least one video device, determine that the line of sight of the robot is blocked by the obstacle, and determine that the robot is within the line of sight of the video device;

The processing module 402 is further configured to: before the peripheral environment information of the robot is expanded according to an image of a surrounding environment captured by each of the video devices, determine that an image of the surrounding environment captured by the video device includes an image of the robot;

The communication module 404 is configured to establish a connection with each video device and obtain a physical location of each video device before acquiring the image of the surrounding environment captured by the at least one video device.

The operation module 405 is configured to adopt a matching processing measure according to the extended surrounding environment information.

It is not difficult to find that this embodiment is an apparatus embodiment corresponding to the second embodiment, and this embodiment can be implemented in cooperation with the second embodiment. The related technical details mentioned in the second embodiment are still effective in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related art details mentioned in the embodiment can also be applied to the second embodiment.

It is worth mentioning that each module involved in the third embodiment and the fourth embodiment is a logic module. In practical applications, a logic unit may be a physical unit or a part of a physical unit. It can also be implemented in a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, the third embodiment and the fourth embodiment do not introduce units that are less closely related to solving the technical problem proposed by the present invention, but this does not indicate the third embodiment and There are no other units in the fourth embodiment.

A fifth embodiment of the present application relates to a robot, as shown in FIG. 10, including at least one processor 501; and a memory 502 communicably coupled to at least one processor 501; wherein the memory 502 stores at least one processor The instructions executed by 501 are executed by at least one processor 501 to enable at least one processor 501 to perform the environment information determining method in the above embodiment.

It should be noted that, in a specific implementation, the robot may further include a communication component. The communication component receives and/or transmits data, such as an image of the surrounding environment captured by the video device, under the control of the processor 501.

In this embodiment, the processor 501 is an example of a central processing unit (CPU), and the memory 502 is exemplified by a readable and writable memory (RAM). The processor 501 and the memory 502 may be connected by a bus or other means, and the connection by a bus is taken as an example in FIG. The memory 502 is a non-volatile computer readable storage medium, and can be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program for implementing the environment information determining method in the embodiment of the present application. It is stored in the memory 502. The processor 501 implements the above-described environmental information determining method by executing non-volatile software programs, instructions, and modules stored in the memory 502, thereby performing various functional applications and data processing of the device.

The memory 502 can include a storage program area and a storage data area, wherein the storage program area can store an operating system, an application required for at least one function; the storage data area can store a list of options, and the like. Further, the memory may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some embodiments, the memory 502 can optionally include memory remotely located relative to the processor 501 that can be connected to the external device over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

One or more modules are stored in the memory 502, and when executed by the one or more processors 501, perform the environmental information determination method in any of the above method embodiments.

The above-mentioned products can be implemented in the method provided by the embodiments of the present application, and the functional modules and the beneficial effects of the method are not described in detail in the embodiments.

A sixth embodiment of the present application is directed to a computer readable storage medium storing a computer program. The environmental information determining method described in any of the above embodiments is implemented when the computer program is executed by the processor.

That is, those skilled in the art can understand that all or part of the steps in implementing the foregoing embodiment methods can be completed by a program instructing related hardware, and the program is stored in a storage medium, and includes a plurality of instructions for making a device ( The method may be a microcontroller, a chip, etc. or a processor to perform all or part of the steps of the methods described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

A person skilled in the art can understand that the above embodiments are specific embodiments of the present application, and various changes can be made in the form and details without departing from the spirit and scope of the application. range.

Claims (15)

A method for determining environmental information, comprising: Obtaining an image of a surrounding environment captured by at least one video device, wherein a distance between the video device and the robot does not exceed a preset value; The surrounding environment information of the robot is expanded according to an image of a surrounding environment captured by each of the video devices. The method of determining the environment information according to claim 1, wherein the method further comprises: before acquiring the image of the surrounding environment captured by the at least one video device, the method further comprising: It is determined that the robot is within the line of sight of the video device. The environment information determining method according to claim 2, wherein determining that the robot is within a line of sight of the video device comprises: Determining that the robot is within a line of sight of a camera of the video device open authority according to a physical location of the video device and a parameter of a camera of the video device open authority. The environment information determining method according to any one of claims 1 to 3, wherein the surrounding environment information of the robot is expanded according to an image of a surrounding environment captured by each of the video devices, including: Performing, for each of the video devices, a process of determining a position of the robot in an image of a surrounding environment captured by the video device, using the determined position as image positioning information of the robot, according to the image positioning information Obtaining surrounding environment information of the robot monitored by the video device; The surrounding environment information of the robot is expanded according to the surrounding environment information of the robot monitored by each of the video devices. The environment information determining method according to claim 4, wherein determining the position of the robot in the image of the surrounding environment captured by the video device, and determining the determined position as the image positioning information of the robot includes: Determining, according to a physical location of the robot, a physical location of the video device, and a parameter of a camera of the video device open authority, a position of the robot in an image of a surrounding environment captured by a camera with an open authority of the video device, Using the determined position as image positioning information of the robot; or, In an image of a surrounding environment captured by the video device, a feature of the robot is detected, and a location where the feature of the robot is located is determined as image positioning information of the robot. The environment information determining method according to claim 5, wherein the robot is determined according to a physical position of the robot, a physical position of the video device, and a parameter of a camera of the video device open authority The video device has an open-access camera that captures the location in the image of the surrounding environment, including: Determining, according to a physical position of the robot, a physical location of the video device, and a horizontal direction of an optical axis of the camera of the video device open authority, the robot is in a viewing angle of the camera with the open authority of the video device, a value of an off angle of the optical axis in a horizontal plane; Determining, according to the value of the off angle of the horizontal plane and the lateral viewing angle information of the camera with the open authority of the video device, the first position reference information in the image of the surrounding environment captured by the camera of the open authority The first position reference information is: a ratio of the amount laterally shifted from the center of the image to the left or right in the horizontal direction of the image; Determining, according to the first location reference information, a location of the robot in an image of a surrounding environment captured by a camera with open authority of the video device. The environment information determining method according to claim 6, wherein determining, according to the first position reference information, a position of the robot in an image of a surrounding environment captured by a camera with an open authority of the video device, comprising: Obtaining a first reference line according to the first position reference information laterally offsetting from a center line of the image; Deviating a preset value laterally to the left centering on the first reference line to obtain a second reference line, and laterally shifting the preset value to the right to obtain a third reference line; Detecting features of the robot in image regions defined by the second reference line and the third reference line; A position of the robot in the image is determined based on the detected characteristics of the robot. The environmental information determining method according to claim 7, wherein the characteristic of the robot comprises: a contour feature of the robot, and/or an action characteristic of the robot, and/or a signal light of the robot Bright and dark features. The environment information determining method according to any one of claims 1 to 8, wherein the peripheral environment information of the robot is expanded according to an image of a surrounding environment photographed by each of the video devices, The method also includes: Determining an image of the surrounding environment in the image captured by the video device. The environment information determining method according to any one of claims 1 to 9, wherein after the surrounding environment information of the robot is expanded according to an image of a surrounding environment photographed by each of the video devices, the The method also includes: According to the extended surrounding environment information, the matching measures are taken. The method of determining the environment information according to any one of claims 1 to 10, wherein before the acquiring the image of the surrounding environment captured by the at least one video device, the method further includes: It is determined that the line of sight of the robot is blocked by an obstacle. The method of determining the environment information according to claim 3, wherein the method further comprises: before acquiring the image of the surrounding environment captured by the at least one video device, the method further comprising: A connection is established with each of the video devices, respectively, and a physical location of each of the video devices is obtained. An environment information determining apparatus, comprising: An acquiring module, configured to acquire an image of a surrounding environment captured by the at least one video device, where a distance between the video device and the robot does not exceed a preset value; And a processing module, configured to expand the surrounding environment information of the robot according to an image of a surrounding environment captured by each of the video devices. A robot characterized by comprising at least one processor; a memory communicatively coupled to the at least one processor; wherein The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to Method of determining environmental information. A computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the environment information determining method according to any one of claims 1 to 12.

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