Active hiding method when patrol robot executes tracking task

A patrol robot and task technology, applied in neural learning methods, instruments, computer parts, etc., can solve the problems of lack of active self-protection, failure of patrol tasks, economic and property losses, etc., to improve the real-time detection and classification accuracy. , the effect of reducing the amount of parameters

Pending Publication Date: 2021-10-22
HANGZHOU DIANZI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the currently used security patrol robots generally lack the awareness of active self-protection, and are easily found by the tracking target during the task execution, resulting in the failure of the patrol task; Amount of economic property loss

Method used

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  • Active hiding method when patrol robot executes tracking task
  • Active hiding method when patrol robot executes tracking task
  • Active hiding method when patrol robot executes tracking task

Examples

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Embodiment Construction

[0041] Below in conjunction with accompanying drawing, the present invention will be further explained;

[0042] In this embodiment, the P3-DX Pioneer robot and the Realsense D435i depth camera are used to build the experimental platform. The structure diagram of the robot is as follows: figure 1 As shown in , start the computer system, run the relevant nodes, and the patrol robot starts to perform the hiding patrol task. The specific patrol strategy is as follows: figure 2 Shown:

[0043] Step 1. Obtain the target area

[0044] Use the depth camera on the patrol robot to collect the RGB image and depth image of the current environment image, convert the obtained RGB image into a grayscale image, adjust the size of the grayscale image to 64*128, and calculate each pixel (x, y ) horizontal gradient and vertical gradient G x (x,y), G y (x,y):

[0045]

[0046] Among them, I(x,y) is the gray value of the pixel point (x,y); then calculate the gradient amplitude G(x,y) and...

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Abstract

The invention discloses an active hiding method when a patrol robot executes a tracking task. The method comprises the following steps: (1) suspicious target detection: detecting a suspicious target by using an HOG feature descriptor and an SVM support vector machine, and tracking the detected suspicious target by using a KCF; and (2) hidden landform perception: utilizing a Unet semantic segmentation network to segment a hidden landform in a complex environment in real time; and (3) behavior decision-making: carrying out fusion processing on hidden landform information and suspicious target information, and deciding a tracking action of the robot according to a result. Through the active hiding method, the patrol robot can sense the hidden landform in the complex environment and the safety state in the tracking process, the hiding method is planned, the probability that the patrol robot is found and damaged is reduced, and the invisibility of the robot during patrol is enhanced. The invention solves the problems of task failure and economic property loss caused by lack of active self-protection measures of patrol robots in the prior arts.

Description

technical field [0001] The invention belongs to the technical field of robot perception and planning. Specifically, it relates to an active hiding method when a patrol robot performs a tracking task. Background technique [0002] Due to the limited number of security personnel and problems such as blind spots in the monitoring system, security patrol robots are increasingly used in tasks such as public security or factory inspections. However, the currently used security patrol robots generally lack the awareness of active self-protection, and are easily found by the tracking target during the task execution, resulting in the failure of the patrol task; Amount of economic property loss. [0003] Many higher mammals in nature can use factors such as color, texture, brightness, and occluders in the environment to hide themselves, reducing the chance of being discovered or preyed by detected objects. If this hidden behavior of animals is mapped to the behavior logic of the p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/36G06K9/62G06N3/04G06N3/08
CPCG06N3/08G06N3/045G06F18/2411G06F18/25
Inventor 张波涛王树伟洪涛
Owner HANGZHOU DIANZI UNIV
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