Indoor following robot system and operation method

Abstract

The invention discloses an indoor following robot system. The indoor following robot system comprises a structure subsystem, a voice interaction subsystem, a sensing subsystem, an intelligent planningsubsystem and an omnidirectional maneuvering control subsystem, wherein the voice interaction subsystem, the sensing subsystem, the intelligent planning subsystem and the omnidirectional maneuveringcontrol subsystem are constructed on the structure subsystem; the man-machine voice interaction subsystem is used for acquiring voice information; the sensing subsystem is used for acquiring sensing information including RGB-D images and obstacle position information; the intelligent planning subsystem is used for determining a working mode of the robot and performing follow-up motion control planning by combining the voice information and the sensing information; and the omnidirectional maneuvering control subsystem is used for realizing maneuvering control of the robot according to the following motion control plan. According to the system, deep learning and Kalman filtering are adopted to realize human body target detection and tracking, robot motion planning under obstacle avoidance isrealized based on an artificial potential field method, and good following performance of the robot for human bodies with various postures is ensured; the system is simple in structure, low in cost and high in expansibility, and can serve as a universal basic platform for development of other multi-purpose indoor following robots.

Description

technical field [0001] The application relates to an indoor following robot system and operation method, belonging to the technical field of robot design and control. Background technique [0002] With the rapid development of robot technology and automatic control technology, service robots have gradually entered people's daily life. The indoor following robot is a service robot with pedestrian following mode based on human body detection tracking and following motion control. The application prospect of indoor following service robot is broad. For example, in the warehousing and logistics industry, indoor following robots can follow the workers they serve, complete material handling tasks instead of them, and cooperate with them to complete complex material sorting tasks; in the medical and health industry, indoor following robot systems can follow the objects they serve , to provide real-time security monitoring or rehabilitation escort, etc. [0003] The robot followi...

AI Technical Summary

Problems solved by technology

[0005] The purpose of this application is to provide an indoor following robot system and operating method to solve the technical problem of poor following performance under the various postures of the target object existing in the existing indoor following robot

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