The invention discloses a 
robot intelligent self-following method, device, medium, and 
electronic equipment. The intelligent self-following method includes the steps of: performing quantization 
processing on the i-th line 
point cloud data obtained by multi-line 
lidar single-frame scanning to obtain  The average value of the 
point cloud data located between two adjacent quantile points is taken as the quantile value Ω; use 
DBSCAN to perform 
point cloud clustering on the i-th line point 
cloud data, and obtain the smallest value λi in the i-th line point 
cloud data  ;Repeat the above steps to obtain n λi of the multi-line 
laser radar, and then take the average value λ of n λi as the detection result of the multi-line 
laser radar single-frame scan; calculate the average of the current single-frame scan and the previous historical single-frame scan  
Euclidean distance d of the value λ and judge whether the target is lost.  The present invention is applicable both day and night, and has little 
impact on the environment; during the following process, the tracking result of the operator is obtained by using the multi-line 
laser radar, and the detection accuracy is high, and the tracking accuracy is high when combined with the historical track.