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Target person following control method and system of mobile robot

A mobile robot and follow-up control technology, which is applied to instruments, computer components, image analysis, etc., can solve the problems of price restrictions, difficulty in clearly distinguishing different personnel, and inability to use it, so as to achieve the effect of follow-up

Pending Publication Date: 2021-11-02
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

A type of visual sensor based on structured light is greatly affected by light, and cannot be used in outdoor environments
[0006] (2) Price limit
Although the laser sensor can provide more accurate distance information, it is difficult to clearly distinguish between different people only relying on point cloud data.

Method used

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  • Target person following control method and system of mobile robot
  • Target person following control method and system of mobile robot
  • Target person following control method and system of mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] This embodiment provides a target person following control method of a mobile robot;

[0043] Such as figure 1 As shown, a target person following control method for a mobile robot includes:

[0044] S101: Initialization process: Obtain the image of the target person to be followed; obtain the appearance characteristics of the target person to be followed, set the number ID of the target person to be followed; obtain the bone joint information of the target person to be followed, and set the midpoint position of the left and right ankles and the neck joint point position as the target position to be followed;

[0045] S102: Following process: judging whether the position of the middle point of the left and right ankles and the position of the neck joint point of the target person to be followed is detected; and if the target person to be followed is detected, the mobile robot continues to track the target person to be followed;

[0046] S103: Re-identification process...

Embodiment 2

[0122] This embodiment provides a target personnel following control system of a mobile robot;

[0123] A target person following control system for a mobile robot, comprising:

[0124] The initialization module is configured to: obtain the image of the target person to be followed; obtain the appearance characteristics of the target person to be followed, set the number ID of the target person to be followed; obtain the bone joint information of the target person to be followed, and set the position of the middle point of the left and right ankles and The position of the neck joint point is used as the target position to be followed;

[0125] The following module is configured to: determine whether the position of the middle point of the left and right ankles and the position of the neck joint point of the target person to be followed is detected; and if the target person to be followed is detected, follow the target person to be followed;

[0126] A re-identification module...

Embodiment 3

[0131] This embodiment also provides an electronic device, including: one or more processors, one or more memories, and one or more computer programs; wherein, the processor is connected to the memory, and the one or more computer programs are programmed Stored in the memory, when the electronic device is running, the processor executes one or more computer programs stored in the memory, so that the electronic device executes the method described in Embodiment 1 above.

[0132] It should be understood that in this embodiment, the processor can be a central processing unit CPU, and the processor can also be other general-purpose processors, digital signal processors DSP, application specific integrated circuits ASIC, off-the-shelf programmable gate array FPGA or other programmable logic devices , discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, o...

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Abstract

The invention discloses a target person following control method and system of a mobile robot. The method comprises the steps of obtaining an image of a to-be-followed target person; obtaining the appearance characteristics of the to-be-followed target person, and setting the number of the to-be-followed target person; acquiring skeleton joint information of the to-be-followed target person, and taking the position of the middle point of the left and right ankles and the position of the neck joint point as a to-be-followed target position; judging whether the position of the middle point of the left and right ankles and the position of the neck joint point of the to-be-followed target person are detected or not; according to a judgment result, following the to-be-followed target person, or re-identifying the to-be-followed target person; based on the appearance characteristics of the to-be-followed target person, performing re-identification on the to-be-followed target person on each frame of image acquired in real time by the robot; if re-identification succeeds, ensuring that the ID of the to-be-followed target person is unchanged; and if re-identification fails, carrying out re-identification of the to-be-followed target person on the next frame of image. The target person can be well followed by the mobile robot.

Description

technical field [0001] The invention relates to the technical field of mobile robot target following, in particular to a method and system for controlling a target person following of a mobile robot. Background technique [0002] The statements in this section merely mention the background technology related to the present invention and do not necessarily constitute the prior art. [0003] In recent years, with the development of automatic control, sensor technology, artificial intelligence and other disciplines, robot technology has also been greatly improved. In particular, there is an increasing demand for mobile robots with autonomous following capabilities. Mobile robots are widely used in guidance, nursing, patrol and other fields due to their advantages such as flexible movement and simple structure. The mobile robot with the ability to follow personnel uses personnel recognition technology to identify and follow the designated target personnel, which saves the user...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06T7/246G06T7/277G06T7/73
CPCG06T7/246G06T7/73G06T7/277G06T2207/30241G06T2207/30196
Inventor 宋锐刘锦浩陈翔宇王超群李贻斌柴汇马昕
Owner SHANDONG UNIV
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