A Vision and Laser Fusion Method for Mobile Robot Tracking Human Legs

A mobile robot and laser technology, applied in the direction of target-finding control, navigation calculation tools, etc., can solve the problems of low precision, turning failure, etc., and achieve the effect of low precision, improved precision, and narrow use range

Active Publication Date: 2021-10-15
QUANZHOU INST OF EQUIP MFG
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings of the traditional single-sensor robot following technology, especially the low precision under the single visual sensor or the turning failure under the single laser radar sensor, and propose a mobile robot tracking human leg method based on fusion of vision and laser

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  • A Vision and Laser Fusion Method for Mobile Robot Tracking Human Legs
  • A Vision and Laser Fusion Method for Mobile Robot Tracking Human Legs
  • A Vision and Laser Fusion Method for Mobile Robot Tracking Human Legs

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Embodiment Construction

[0084] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Alternative embodiments of the invention are shown in the drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided for the purpose of making the disclosure of the present invention more thorough and comprehensive.

[0085] see figure 1 , figure 1 It is a system block diagram of the present invention, which illustrates the execution steps of the present invention. It should be noted that: step S2 and step S4 can be performed simultaneously; a mobile robot tracking human leg method of visual and laser fusion, the method includes the following steps:

[0086] Step S1, collect data through the camera and lidar at the same time, wherein the camera is fixed on the mobile robot, used to captu...

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Abstract

The invention provides a visual and laser fusion mobile robot tracking human leg method, which mainly relates to the fields of visual tracking, laser tracking, multi-sensor fusion, mobile robots and the like. In order to solve the problem that the tracking accuracy of the mobile robot is relatively low when tracking the legs of pedestrians, especially when turning, the invention collects data simultaneously through the camera and the laser radar. The camera analyzes the posture of the human leg and uses the leg posture Feature extraction algorithm to judge whether the mobile robot needs to turn; use the Kalman filter algorithm to predict the position of the human leg; the laser analyzes the distance between the center of the human leg and the mobile robot, and uses the leg arc feature recognition algorithm to realize the mobile robot Real-time tracking of pedestrians. The invention can realize the tracking of the human leg by the mobile robot.

Description

technical field [0001] The invention relates to the control field of robot technology, in particular to the field of robot sensor fusion, in particular to a method for tracking human legs by a mobile robot with vision and laser fusion. Background technique [0002] In the process of intelligent logistics and warehousing, mobile robots and their execution components require high-precision motion control and path planning. At present, the positioning, navigation and scheduling of mobile robots in indoor environments do not have the ability to operate autonomously, especially if they are unknown or changeable. The environment requires multiple mobile robots to work together. An intelligent mobile robot is a comprehensive system integrating environmental perception, dynamic decision-making and planning, behavior control and execution. The robot needs to solve three problems in the process of walking: where is it, where is it going, and how? get there. In order to solve these p...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): G01C21/20G05D1/12
CPCG01C21/20G05D1/12
Inventor戴厚德姚瀚晨林名强
OwnerQUANZHOU INST OF EQUIP MFG