Robot tracking method, device, equipment and computer-readable storage medium

A robot and tracking system technology, applied in the field of intelligent robot manipulation, can solve the problems of decreased tracking effect, divergence, etc., to achieve stable and effective tracking, improve tracking accuracy, and reduce the amount of calculation.

CN110849369BActive Publication Date: 2022-03-29SUNING CLOUD COMPUTING CO LTD
8 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2022-03-29

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses a robot tracking method, device, equipment and computer-readable storage medium, belonging to the field of intelligent robot control. The method includes: at each moment of tracking, obtaining observation data of at least two ultrasonic arrays on the robot; using the preset expanded dimension IMM-EKF algorithm to estimate the motion state of the robot at each moment, specifically including: m expansion EKF filters matched with m motion models corresponding to m motion states respectively obtain state estimates corresponding to robots under each motion model at time j, obtain m state estimates, and perform m state estimates on the m state estimates The weighted calculation obtains the state estimation result of the robot at time k, wherein each time is represented by time k, and k is an integer greater than 0. The invention realizes the stable and effective tracking of the intelligent robot even when its motion state is unknown and changeable, reduces the phenomenon of false tracking or tracking loss, and is applicable to the application scene of multi-ultrasonic arrays.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to the field of intelligent robot control, in particular to a robot tracking method, device, equipment and computer-readable storage medium. Background technique

[0002] At present, intelligent robots have been applied in various fields such as marine exploration, security, medical treatment, etc., which have brought great convenience to the development of science and technology and people's lives. Therefore, it is necessary to track robots in real time. However, when the smart robot is working underwater or indoors, satellite positioning cannot be used. The method of visual navigation has the advantages of complete information acquisition and wide detection range, and plays an important role in robot navigation. The disadvantage is that the visual image processing time is long and the real-time performance is poor. Therefore, scholars in the industry have carried out research on mobile robot positioning based on radio frequency...

Examples

Embodiment Construction

[0103] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only Some, but not all, embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0104] The robot tracking method, device, equipment, and computer-readable storage medium provided by the embodiments of the present invention obtain observation data at each moment of robot tracking by arranging a plurality of ultrasonic arrays. Based on...