Automatic target-following driving method and device for mobile robot

Abstract

The invention discloses an automatic target-following driving method and device for a mobile robot. According to the basic idea, a wire-drawing-type tractor is horizontally installed on the mobile robot, a wire outlet of a drawing wire in the wire-drawing-type tractor faces forwards, the target is connected with the mobile robot through the drawing wire, when the target moves, a wire-drawing-typedisplacement sensor installed in the wire-drawing-type tractor is used for measuring the relative distance between the target and the mobile robot, and an angle sensor installed in the wire-drawing-type tractor is used for measuring the relative angles between a drawing wire base and the target, including an azimuth angle and a pitch angle, so that the relative position of the target relative to the mobile robot is estimated, thereby guiding the mobile robot to follow the target to move. The automatic target-following driving method and device for the mobile robot can achieve automatic following of the mobile robot in the complex electromagnetic environment in an all-weather mode all day long.

Description

technical field [0001] The invention belongs to the field of mobile robots, and in particular relates to a method and device for a mobile robot to automatically follow a target. Background technique [0002] Automatically following the target is a typical application method of mobile robots, which can be widely used in scenarios such as cargo sorting, material support, and cleaning. The key for the mobile robot to automatically follow the target is to obtain information such as the relative position of the target, and even the speed and acceleration. At present, the means of obtaining information such as the target position mainly include solutions based on vision, radar, and wireless signals. [0003] The patent application with the application number 2016109126502 proposes a method based on visual sensors to collect the environmental information of the owner of the suitcase relative to the suitcase, identify the owner of the suitcase through the data processing module, an...

AI Technical Summary

Problems solved by technology

The advantage of this type of method is that the position of the object to be followed is determined wirelessly, and there is no need for a physical connection between the two; the disadvantage is that an active signal transmitter needs to be carried on the object to be followed, and the power supply of the signal transmitter needs to be considered in practical applications , and because the carrier is radio, it is easily affected by electromagnetic interference

[0006] To sum up, the automatic following scheme based on vision, radar, and wireless signals is difficult to achieve stable and reliable automatic following driving of mobile robots in poor lighting, weather conditions, and complex electromagnetic environments.

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