32results about How to "Follow implementation" patented technology

The invention relates to a UWB-based autonomous following robot positioning method and system. A specific target is a freely-moving person or object; at least three UWB base stations of which the positions are in a triangular form are fixed on a mobile robot; a UWB positioning label is arranged on the freely-moving person or object; the base stations send UWB signals; the label receives the UWB signals sent from the base stations; the label is time synchronization with the base stations, a TOA algorithm is utilized to obtain the distance between the label and the base stations, and then, geometric operation is utilized to obtain the coordinates of the label, and the position and movement information of the freely-moving person or object relative to the mobile robot can be determined, and the mobile robot can follow the person or object. According to the method and system of the invention, the UWB wireless positioning technology is utilized to realize autonomous following robot positioning, and narrow-band pulses are adopted to realize communication with carrier waves not required; and therefore, the method and system have the advantages of high transmission power, small power consumption, strong anti-interference ability and penetration ability as well as improved positioning precision and accuracy. With the method and system adopted, the following of the specific target can be realized.

The invention discloses a multi-axle steering track follow closed-loop control method for a rubber wheel low-floor intelligent rail train. The multi-axle steering track follow closed-loop control method comprises the steps that firstly, according to a first wheel turn angle delta 1, input by a driver, of a first axle, the rotating angle of a second axle is controlled, and the track of the second axle is superposed with that of the first axle; secondly, the track of a third axle is made to be on the same circular arc with the traction of the second axle and the tract of the first axle to ensure superposition of the tracks by controlling an included angle phi of hinged points, wherein the hinged points are formed between two sections of carriages. The multi-axle steering track follow closed-loop control method has the advantages of being good in control effect, high in stability and the like.

The invention relates to the field of computer vision identification, in particular to a target object following method of a mobile robot based on a monocular vision sensor, aiming at solving the problem that the robustness of the existing mobile robot following the target object is poor and the following quality of the target object such as a pedestrian is difficult to be guaranteed. For this purpose, the method provided by the present invention includes acquiring an image of a target object by a mobile robot according to a target area of the target object; obtaining a feature matrix of the image of the target object; using the target tracking algorithm and the feature matrix to determine the center point of the target object; determining a region in which the target object is located according to the center point and the outline frame of the target object. As a first region, whether the proportion of the area of the first region in the image of the target object is larger than a setthreshold value is judged, and performing corresponding operations according to the judgement result. Based on the above steps, the method provided by the invention has real-time performance and goodrobustness, and can effectively follow the target object.

The invention provides an active thread and contour scanning device, and the device comprises a measuring probe, a force measurement feedback mechanism, a horizontal measuring rod, a horizontal pull detection mechanism, and a movement system. The measuring probe is disposed on the force measurement feedback mechanism, and the force measurement feedback mechanism is connected with the horizontal pull detection mechanism through the measuring rod. The horizontal pull detection mechanism is connected with the movement system. The invention also provides an active thread and contour scanning method based on the device. The beneficial effects of the invention are that the device and method guarantee that a measured force in a measurement process is basically constant through the real-time adjustment of the amplitude of the measured force, thereby guaranteeing that the measured data reflects the thread and contour surface more really; the device and method solve problems of climbing and descending in a scanning process, such as a problem that the measuring probe breaks away from the surface of a workpiece, and a problem that the measuring probe is clamped and damaged; the device and method increase the scanning speed.

The invention provides a character motion following method and device, a computing device and a storage medium. The character motion following method includes the steps that according to set recordingfrequency, a position point of a main character and corresponding state information of the position point are recorded; when it is determined that the distance between the main character and a non-player character NPC is greater than a distance threshold, the position point of the main character within the first distance range from the current position of the NPC is found, the NPC is endowed withstate information corresponding to the position point to enable the NPC to follow movement of the main character according to the state information corresponding to the position point, thus intelligent following of the NPC to a game character is realized, and the game experience is improved.

The invention discloses a UWB-based device following method, device and system, and relates to the technical field of computers. One embodiment of the method comprises the steps of: obtaining an identifier of a UWB following unit, combining identification association record of a predetermined UWB following unit and a UWB wearing unit, and determining the UWB wearing unit associated with the UWB following unit; according to the identifiers of the UWB following unit and the UWB wearing unit, obtaining current coordinate values of the UWB following unit and the UWB wearing unit to determine a distance of the UWB following unit and the UWB wearing unit; and if the distance exceeds a predetermined distance threshold value, transmitting an acceleration command to a rolling unit associated with the UWB following unit to drive the roller of the rolling unit for accelerated rolling. According to the embodiment mode, a following device is bound on a luggage box to achieve automatic following ofthe luggage in a public place so as to effectively avoid the condition of collision and disengagement of the luggage.

The invention discloses a robot and a target following obstacle avoidance method based on the same, a system, equipment and a medium. The target following obstacle avoidance method comprise the following steps: controlling the robot to acquire a target location of a followed target; determining whether obstacles are existent in the preset horizontal width range at two sides of a first connecting line of the current location and a target location of the robot, wherein the preset horizontal width is not less than a rotation semi-diameter of the robot; if the preset horizontal width is not less than the rotation semi-diameter of the robot, determining a transfer location, and the obstacles are inexistent in the preset horizontal width range at two sides of a second connecting line of the current location and the transfer location of the robot; controlling the robot to move to the transfer location, and continuously executing the step of controlling the robot to acquire the target locationof the followed target; if the preset horizontal width is less than the rotation semi-diameter, controlling the robot to move to the target location. The robot disclosed by the invention avoids the obstacle by moving to the transfer location when the obstacle is existent and moves to the target location until the obstacle is inexistent on the straight distance of the current location of the robotand the followed target, thereby following the target.

The invention relates to a robot following system and a robot following method. A target follower selects a first initial position, obtains first position information and second position information,and obtains position movement information according to the first position information and the second position information, so that an initialization module controls a robot body to perform posture initialization according to the first position information; a driving module drives the robot body to perform corresponding trajectory movement according to the position movement information; and thus, following of the robot body on the target follower is realized. In a process of following the target follower by the robot body, the robot body is controlled by the target follower; a specific target can be determined without positioning the target follower by the robot body; an obstacle is convenient to distinguish; and the target is not distributed by other objects.

The invention discloses a UWB-based following system and an article transfer cart. The system comprises a UWB sensor, a controller and a driving module, wherein theUWB sensor is used for obtaining the first position information of a followed object and the second position information of the UWB sensor in real time; the controller is connected with the UWB sensor, and is used for receiving the first position information and the second position information, acquiring the distance and the direction angle between the controller and the followed object according to the first position information and the second position information, and generating a moving instruction according to the distance and the direction angle; and the driving module is connected with the controller and is used for receiving the moving instruction and driving the moving object to move according to the moving instruction. The position information of the followed object is locked through the UWB sensor, the followed object is followed to move according to the position information, and the followed object can be followed to move without other auxiliary guide devices.

The invention discloses a high-linearity wide-swing CMOS voltage follower, which has the advantages that when an input voltage is as low as 0 V, all MOS tubes can fully work in a saturation region, sothat normal operation of the voltage follower can be ensured; along with the increase of the input voltage, a drain end voltage of the PMOS tube P9 is close to a power supply voltage VDD, and the PMOS tube P9 enters a linear region, so that a grid voltage of the PMOS tube P9 is sharply reduced, but the voltage follower can still operate normally as long as the grid voltage of the PMOS tube P9 does not drop to force the NMOS tube N3 to enter the linear region. Therefore, the grid voltage of the PMOS tube P9 can be as low as 2 Vdsat, and the swing of the grid voltage of the PMOS transistor P9 is allowed to be greatly expanded.

The present invention relates to the field of robots, and in particular to a robot following person method, device, and storage medium, and a robot, the method comprises the following steps of: detecting a target person through a body sensor installed on the robot, and acquiring the relative coordinates relative to the robot of the target person of in an original coordinate system; converting therelative coordinates to second world coordinates of the target person in a world coordinate system according to the first world coordinates of the robot in a world coordinate system; according to a random expansion tree algorithm and the evaluation function based on the A * algorithm, calculating and filtering the intermediate node of the random extension tree; when the distance between the intermediate node and the second world coordinates is within a preset range, sequentially connecting each intermediate node to form a target path, and controlling the robot to move from the first world coordinates along the target path to the second world coordinates in a world coordinate system.

The invention provides a blade following control method and device and an operation machine.The method comprises the steps that the distance value between an AGV corresponding to a current station and a blade is obtained, according to the distance value, the AGV and the blade are controlled to keep a preset distance to run from the current station to the next station, and the station is a point on the walking track of the AGV following the blade; the blade can be followed only by obtaining the distance value between the AGV trolley and the blade, the influence of the blade on distance measurement can be avoided while the structure of the blade is simplified, the blade following accuracy of the AGV trolley is effectively improved, the relative position of the blade and the AGV trolley is guaranteed, and operation of related equipment on the blade is more convenient.

The invention discloses an escalator safety device with an induction recognition function. The escalator safety device with the induction recognition function comprises arrangement plates. A transmission mechanism is arranged on each arrangement plate and comprises a first air cylinder, wherein the first air cylinder is fixed to the upper end surface of the arrangement plate, a first air cavity isformed in the first air cylinder, and a first piston is arranged in the first air cavity in a sliding mode. An induction box is fixedly arranged on the upper end surface of each arrangement plate andlocated at the side, away from an escalator handrail, of the corresponding first air cylinder. By means of the escalator safety device, whether objects on steps of an escalator are suspended or not can be inducted and recognized, and following movement of the whole mechanism is achieved by means of the characteristic that the handrails synchronously move along with the escalator; and torsional springs, rotating plates and clamping rods are used for assisting in fixing the suspended objects, so that the suspended objects do not roll down, and the safety of people on the escalator is guaranteed.

The invention provides a printed flexible circuit (PFC) voltage following circuit. A PFC voltage following module is employed, an input voltage is detected in real time, an output voltage is adjustedaccording to a detection result, the output voltage is reduced when the input voltage is relatively low, and the output voltage changes with the input voltage. The PFC voltage following circuit is simple in structure and is low in cost. The voltage following circuit is formed on the basis of a traditional mature PFC circuit, so that the PFC voltage following is achieved; and the output voltage issynchronously adjusted to a relatively low value when the input voltage is relatively low, so that the impact to a switch power device for achieving voltage conversion is effectively reduced, the lifetime of the power device can be prolonged, and the integral working efficiency of a power supply is improved.