Target following method and system applied to quadruped bionic robot

A bionic robot and quadruped robot technology, applied in the field of artificial intelligence and robotics, can solve the problems of high cost and lack of generality, and achieve the effect of improving intelligence and environmental perception

Active Publication Date: 2021-06-04
QILU UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] To sum up, in recent years, quadruped robots have achieved some good results in target tracking and autonomous obstacle avoidance. However, most of them use lidar + binocular cameras, or use other relatively expensive environments. Combination of sensing equipment; In addition, most of the existing research on people following relies on identifying external objects such as reflective stickers, QR codes, and high-recognition markers worn on pedestrians to follow targets, which is not general

Method used

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  • Target following method and system applied to quadruped bionic robot
  • Target following method and system applied to quadruped bionic robot
  • Target following method and system applied to quadruped bionic robot

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Experimental program
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Embodiment 1

[0060] This embodiment discloses a target following method applied to a quadruped bionic robot, and the specific process is as follows:

[0061] Step 1: First build the environment perception system:

[0062] In a specific implementation example, the advanced RGBD depth camera sensor RealSense D435 is used, such as figure 1 shown. The color camera on the right side of this camera is used to collect color pictures to collect color information, and the left and right infrared cameras are used to measure depth to obtain depth data. By using its powerful RealSense module, the camera call and image information acquisition are realized.

[0063] At the same time, high-performance supercomputer Jetson TX2 is used, such as figure 2 shown. Drive the Realsense D435 camera through this processor, realize multi-threaded program operation and call the huge YOLOv3 network framework through its powerful core, and improve the processing speed of image information through its internal vide...

Embodiment 2

[0100] The purpose of this embodiment is to provide a computing device, including a memory, a processor, and a computer program stored in the memory and operable on the processor, and the processor implements the steps of the above method when executing the program.

Embodiment 3

[0102] The purpose of this embodiment is to provide a computer-readable storage medium.

[0103] A computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above-mentioned method are executed.

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Abstract

The invention provides a target following method and system applied to a quadruped bionic robot. The method comprises the steps that an image of the environment where the quadruped bionic robot is located is acquired; a following target is recognized, the position coordinates of the following target are obtained, the obstacle is recognized, the convex hull coordinate information of the obstacle is obtained, and therefore the quadruped robot transversely moves to avoid the obstacle while rotating to follow the tracking target. The quadruped robot can effectively avoid obstacles while tracking people, and the intelligence of interaction between the quadruped robot and the environment is improved. And the environment perception capability of the quadruped robot is well improved.

Description

technical field [0001] The disclosure belongs to the field of artificial intelligence and robot technology, and in particular relates to a target following method and system applied to a quadruped bionic robot. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] Since the 1960s, robotics has become a research hotspot in many scientific research institutions and enterprises at home and abroad. It involves research and development among many disciplines, integrating artificial intelligence, electronic information technology, automatic control, computer science, sensors, etc. And other disciplines in one, forming a very broad field of research. People's research on robots is more focused on how to use robots to help the practical application problems encountered in life. Nowadays, with the rapid development of computer technology and artificial...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/246G06N3/04G06N3/08G06T7/50
CPCG06T7/246G06T7/50G06N3/08G06T2207/10016G06N3/045Y02T10/40
Inventor 李彬李志梁启星刘伟龙侯兰东荣学文
Owner QILU UNIV OF TECH
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