Visual navigation method and device for assisting robot in moving in indoor environment

The invention provides a visual navigation method and device for assisting a robot in moving in an indoor environment. The method comprises the following steps: acquiring target information representing a target object searched by the robot in the indoor environment and an indoor environment image about the target object acquired by the robot at the current moment; inputting the target information and the indoor environment image into a pre-trained neural network model to obtain an action prediction value output by the pre-trained neural network model; determining the next action to be executed by the robot at the current moment based on the action predicted value; a control instruction representing the next action is sent to a driving end of the robot, so that the driving end drives the robot to move towards the target object according to the control instruction; wherein the pre-trained neural network model comprises an adaptive relation graph, an action enhancement unit, a long short-term memory network and