Robot and target following obstacle avoidance method based on the same, system, equipment and medium

A robot and target technology, applied in the field of robotics, can solve problems such as the inability of following robots to avoid obstacles

Pending Publication Date: 2018-12-21
BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the defect that following robots cannot avoid obstacles in the prior art, and provide a robot and its target following obstacle avoidance method, system, equipment and medium

Method used

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  • Robot and target following obstacle avoidance method based on the same, system, equipment and medium
  • Robot and target following obstacle avoidance method based on the same, system, equipment and medium
  • Robot and target following obstacle avoidance method based on the same, system, equipment and medium

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Experimental program
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Embodiment 1

[0100] This embodiment provides a robot-based target following obstacle avoidance method, figure 1 A flowchart of this embodiment is shown. see figure 1 , the target following obstacle avoidance method of this embodiment includes:

[0101] S1. Control the robot to obtain the target position of the following target;

[0102] In this step, the robot can acquire the target position of the following target via UWB communication. Specifically, before this step, at least three UWB base stations can be set on the robot, UWB tags can be set on the following target, and a communication connection can be established between the UWB base station and the UWB tag. In this way, the robot can transmit and receive UWB signals. Solve the target position of the follow target relative to the robot. Among them, the UWB tag can be a wearable device such as a UWB-based bracelet worn by the target.

[0103] S2. Determine whether there are obstacles within the preset horizontal width range on bo...

Embodiment 2

[0145] This embodiment provides an electronic device, which can be expressed in the form of a computing device (for example, it can be a server device), including a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor The robot-based object following obstacle avoidance method provided in Embodiment 1 can be realized when the computer program is executed.

[0146] Figure 9 A schematic diagram of the hardware structure of this embodiment is shown, as Figure 9 As shown, the electronic device 9 specifically includes:

[0147] At least one processor 91, at least one memory 92, and a bus 93 for connecting different system components, including the processor 91 and the memory 92, wherein:

[0148] The bus 93 includes a data bus, an address bus, and a control bus.

[0149] The memory 92 includes a volatile memory, such as a random access memory (RAM) 921 and / or a cache memory 922 , and may further include a read onl...

Embodiment 3

[0155] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the robot-based object following obstacle avoidance method provided in Embodiment 1 is implemented.

[0156] Wherein, the readable storage medium may more specifically include but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device or any of the above-mentioned the right combination.

[0157] In a possible implementation manner, the present invention can also be implemented in the form of a program product, which includes program code, and when the program product runs on the terminal device, the program code is used to make the terminal device execute The robot-based object following obstacle avoidance method in embodiment 1.

[0158] Wherein, the program code for executing the present invention can be written...

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Abstract

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.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a robot and a method, system, device and medium for following and avoiding obstacles based on the robot. Background technique [0002] With the continuous development of robot technology, the requirements for robots in today's society are getting higher and higher. For example, robots such as delivery robots, indoor robots, and supermarket shopping robots are required to be able to autonomously follow target pedestrians. At present, it is usually based on camera vision, infrared rays, etc. to realize the following of the robot to the target pedestrian. [0003] In the target following method based on camera vision, KCF (kernel function correlation filtering method) is usually used to achieve target following, but this following method needs to follow the target in the perspective of the robot camera, so when the robot avoids obstacles, then The camera is easy to lose the ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0223G05D1/0242G05D1/0246G05D1/0257G05D1/0276
Inventor 李政李雨倩刘懿
Owner BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD
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