Moving body tracking method and system

Abstract

The present invention discloses a moving body tracking method and system. The method comprises the following steps: receiving sound signals; receiving video signals; calculating the included angle of the relative distance of the sound source and the system and the positive direction of the sound source and the system, and determining whether the sound source is located in the camera range of a camera; if a robot is in a static state, employing a three-frame difference method to obtain the movement area of the current frame, detecting whether there is a body in the movement area, and emitting an action instruction according to a followed person's size and position at the current video frame; and if the robot is moving, predicting the followed person's movement area at the current frame, performing body identification in the prediction movement area, and emitting an action instruction according to the followed person's size and position at the current video frame. The moving body tracking method and system are able to effectively detect a followed person's position in the field of an autonomous mobile robot platform camera so as to solve the problem that the tracking is failed when the followed person's partial body is shielded, effectively realize the tracking of the followed person movement and reduce the cost.

Description

technical field [0001] The invention relates to the technical field of automation, in particular to a method and system for tracking a moving human body. Background technique [0002] In recent years, robot technology, as a high-tech, has gradually penetrated into all aspects of our lives. From the production workshop to the hospital, the role played by robots is immeasurable. Traditional industrial robots are suitable for structured environments and complete repetitive tasks, while modern robots hope to work collaboratively with humans in the same unstructured space and environment, and complete non-deterministic tasks online in real time. The field has moved from fixed-point operations in a structured environment to autonomous operations in unstructured environments such as aerospace, interstellar exploration, military reconnaissance and attack, underwater underground pipelines, disease inspection and treatment, and emergency rescue and disaster relief; traditional robots ...

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a moving human body tracking method and system, which can effectively detect the position of the followed person in the field of view of the camera of the autonomous mobile robot platform through the combination of sound positioning technology, frame difference method technology and human body detection technology; and then adopt Vision-based moving object tracking methods such as optical flow method or particle filter and Kalman filter realize the tracking of the movement of the followed person, which solves the problem of being blocked by the followed person to a certain extent and ensures the continuous tracking of the target by the robot; And by controlling the movement of the autonomous mobile robot platform to follow the person to be followed; the use of ordinary cameras as the following sensor reduces the system cost and effectively solves the problem of using other sensors that are expensive

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