Dynamic adjustment method, device and readable medium based on following robot following mode

Abstract

The present invention discloses a method, device and readable medium for dynamically adjusting a following mode based on a following robot, and relates to the field of mobile robot following technology. In response to determining the following mode at the current moment, first posture information of a following target at the current moment is obtained, and point cloud data of the following target at the current moment is obtained; the point cloud data is processed to obtain second posture information of the following target at the current moment; the first posture information and the second posture information are data-fused to obtain comprehensive posture information; the position characteristics of the following target relative to the mobile robot at the current moment and the dynamic predicted trajectory of the following target in the following state are obtained, and the following mode at the next moment is determined, and the position of the following target relative to the mobile robot is adjusted according to the following mode dynamics at the next moment and the following mode at the current moment, so as to solve the problem of manually pressing physical buttons to switch the following mode of the mobile robot during the dynamic walking of the following target.

Description

Technical Field

[0001] The present invention relates to the field of mobile robot following technology, and in particular to a method, device and readable medium for dynamically adjusting a following mode of a following robot. Background Art

[0002] Mobile object following is a hot topic in the field of human-computer interaction research. It has a wide range of application needs not only in the field of robotics, but also in the fields of intelligent transportation, intelligent monitoring systems, and military reconnaissance. The following process often occurs in a relatively complex natural environment, so the mobile robot needs to be able to adjust the following mode in a natural environment with multiple interferences to avoid obstacles and accurately follow the target. The existing robot following methods and / or systems mainly use a single sensor, and the method for collecting the position information of the follow target is relatively simple. In addition, the algorithm for identifying the follow target is easily affected by interference in the environment, and there are technical defects such as following the wrong target or losing the target.

[0003] Currently, there are various following methods for following robots, including active following, passive following and fusion following methods. The following modes include front following, rear following and side following modes. The following modes need to be switched by physical buttons, and there is a lack of methods to dynamically adjust the following mode under the following mode. Summary of the invention

[0004] In view of the technical problems mentioned above, the purpose of the embodiments of the present application is to propose a method, device and readable medium for dynamically adjusting the following mode of a following robot to solve the technical problems mentioned in the above background technology part.

[0005] In a first aspect, the present invention provides a method for dynamically adjusting a following mode of a following robot, comprising the following steps:

[0006] S1, in response to determining the following mode at the current moment, obtaining the first position information of the following target at the current moment, and obtaining the point cloud data of the following target at the current moment;

[0007] S2, processing the point cloud data to obtain the second posture information of the following target at the current moment;

[0008] S3, fusing the first pose information and the second pose information to obtain comprehensive pose information;

[0009] S4, obtain the position characteristics of the following target relative to the mobile robot at the current moment and the dynamic predicted trajectory of the following target in the following state, and determine the following mode at the next moment, and adjust the position of the following target relative to the mobile robot according to the following mode dynamics at the next moment and the following mode at the current moment.

[0010] Preferably, step S4 specifically includes:

[0011] In response to determining that the following target is at the front end of the mobile robot, obtaining a dynamic predicted trajectory of the following target in a following state;

[0012] Determine whether the following mode at the next moment is the front following mode. If not, repeat step S4. If it is the front following mode, perform a dynamic prediction trajectory of the following target in the front following mode, and determine whether the state of the following target dynamically adjusts the following mode. If so, repeat step S4. Otherwise, continue to operate in the front following mode.

[0013] Preferably, determining whether the following mode at the next moment is the front following mode, and if it is the front following mode, dynamically predicting the trajectory of the following target in the front following mode, and determining whether the state of the following target dynamically adjusts the following mode, specifically includes:

[0014] If the comprehensive posture information and distance comparison between the next moment of the follow target and the current moment satisfy the following formula:

[0015] ;

[0016] in, Indicates the comprehensive distance between the following target and the mobile robot at the next moment, Indicates the comprehensive distance between the following target and the mobile robot at the current moment, Indicates the elastic distance of the following target; the following mode at the next moment is the front following mode;

[0017] If the position information and distance comparison between the next moment and the current moment of the target being followed satisfy the following formula:

[0018] ;

[0019] in, Indicates the comprehensive distance between the following target and the mobile robot at the next moment, Indicates the comprehensive distance between the following target and the mobile robot at the next moment, and then repeats step S4 to dynamically adjust the following mode.

[0020] Preferably, step S4 specifically includes:

[0021] In response to determining that the following target is at the side end of the mobile robot, obtaining a dynamic predicted trajectory of the following target in a following state;

[0022] Determine whether the following mode at the next moment is the side following mode. If not, repeat step S4. If it is the side following mode, perform dynamic prediction of the following target's trajectory in the side following mode, and determine whether the state of the following target dynamically adjusts the following mode. If so, repeat step S4. Otherwise, determine whether there is an obstacle in front of the mobile robot in the side following mode. If so, switch to the front following mode. Otherwise, continue to operate in the side following mode.

[0023] Preferably, determining whether the following mode at the next moment is the side following mode, and if it is the side following mode, dynamically predicting the trajectory of the following target in the side following mode, and determining whether the state of the following target dynamically adjusts the following mode, specifically includes:

[0024] If the position information and distance comparison between the next moment and the current moment of the target being followed satisfy the following formula:

[0025] ;

[0026] in, It represents the comprehensive angle between the following target at the next moment and the Y axis in the coordinate system of the mobile robot. It represents the comprehensive angle between the current tracking target and the Y axis in the mobile robot coordinate system. Indicates the comprehensive distance between the following target and the mobile robot at the next moment, Indicates the comprehensive distance between the following target and the mobile robot at the current moment, Indicates the elastic distance of the following target, then the following mode at the next moment is the side following mode;

[0027] If the position information and distance comparison between the next moment and the current moment of the target being followed satisfy the following formula:

[0028] ;

[0029] in, It represents the comprehensive angle between the following target at the next moment and the Y axis in the coordinate system of the mobile robot. represents the comprehensive angle between the current tracking target and the Y axis in the coordinate system of the mobile robot, and then repeats step S4 to dynamically adjust the following mode.

[0030] Preferably, step S3 specifically includes:

[0031] Get the first distance between the following target and the mobile robot according to the first posture information :

[0032] ;

[0033] Among them, the first pose information is , represents the first position coordinate of the following target relative to the mobile robot, Indicates the first angle between the following target and the Y axis in the mobile robot coordinate system;

[0034] Obtain a second distance between the following target and the mobile robot according to the second posture information :

[0035] ;

[0036] Among them, the second pose information is ,in, represents the second position coordinate of the following target feature relative to the mobile robot, Indicates the second angle between the following target and the Y axis in the mobile robot coordinate system;

[0037] The weighted average method is used for data fusion. After data fusion processing, the comprehensive posture information of the following target is: ,in, , , , , .

[0038] Preferably, the first position information is obtained through the UWB module, and the point cloud data is obtained through the lidar module.

[0039] In a second aspect, the present invention provides a device for dynamically adjusting a following mode based on a following robot, comprising:

[0040] A data acquisition module is configured to, in response to determining the following mode at the current moment, acquire the first position information of the following target at the current moment, and acquire the point cloud data of the following target at the current moment;

[0041] A point cloud data processing module is configured to process the point cloud data to obtain second posture information of the follow-up target at a current moment;

[0042] A data fusion module is configured to perform data fusion on the first pose information and the second pose information to obtain comprehensive pose information;

[0043] The dynamic adjustment module is configured to obtain the position characteristics of the following target relative to the mobile robot at the current moment and the dynamic predicted trajectory of the following target in the following state, and determine the following mode at the next moment, and adjust the position of the following target relative to the mobile robot according to the following mode dynamics at the next moment and the following mode at the current moment.

[0044] In a third aspect, the present invention provides an electronic device comprising one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation manner in the first aspect.

[0045] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any implementation manner in the first aspect.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] (1) The method for dynamically adjusting the following mode of a following robot proposed in the present invention can switch the following mode by analyzing the trajectory prediction of the following target during the dynamic walking of the following target, without the need for manual physical button switching.

[0048] (2) The method for dynamically adjusting the following mode of the following robot proposed in the present invention fuses the first posture information obtained by the UWB module and the second posture information obtained after processing the point cloud data obtained by the lidar module to obtain comprehensive posture information, thereby making the posture information of the following target more accurate.

[0049] (3) The method for dynamically adjusting the following mode of a following robot proposed in the present invention dynamically adjusts the following mode of a mobile robot according to the situation of a following target relative to the mobile robot in different following modes, which has a higher degree of automation and can achieve perfect obstacle avoidance and smooth following. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 is an exemplary device architecture diagram to which an embodiment of the present application may be applied;

[0052] Figure 2 A schematic diagram of a flow chart of a method for dynamically adjusting a following mode of a following robot according to an embodiment of the present application;

[0053] Figure 3 A schematic diagram of a front following mode based on a following robot following mode dynamic adjustment method according to an embodiment of the present application;

[0054] Figure 4A schematic diagram of a side following mode based on a dynamic adjustment method of a following mode of a following robot according to an embodiment of the present application;

[0055] Figure 5 A schematic diagram of a device for dynamically adjusting a following mode based on a following robot according to an embodiment of the present application;

[0056] Figure 6 It is a schematic diagram of the structure of a computer device suitable for implementing the electronic device of the embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] Figure 1 An exemplary device architecture 100 is shown to which the method for dynamically adjusting a following mode of a following robot or the device for dynamically adjusting a following mode of a following robot according to the embodiments of the present application can be applied.

[0059] like Figure 1 As shown, the device architecture 100 may include terminal devices 101, 102, 103, a network 104 and a server 105. The network 104 is used to provide a medium for communication links between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0060] Users can use terminal devices 101, 102, 103 to interact with server 105 through network 104 to receive or send messages, etc. Various applications, such as data processing applications, file processing applications, etc., can be installed on terminal devices 101, 102, 103.

[0061] Terminal devices 101, 102, 103 may be hardware or software. When terminal devices 101, 102, 103 are hardware, they may be various electronic devices, including but not limited to smart phones, tablet computers, laptop computers, desktop computers, etc. When terminal devices 101, 102, 103 are software, they may be installed in the electronic devices listed above. They may be implemented as multiple software or software modules (for example, software or software modules for providing distributed services), or as a single software or software module. No specific limitation is made here.

[0062] The server 105 may be a server that provides various services, such as a background data processing server that processes files or data uploaded by the terminal devices 101, 102, and 103. The background data processing server may process files or data and generate processing results.

[0063] It should be noted that the dynamic adjustment method based on the following mode of the following robot provided in the embodiment of the present application can be executed by the server 105, and can also be executed by the terminal devices 101, 102, and 103. Accordingly, the dynamic adjustment device based on the following mode of the following robot can be set in the server 105, and can also be set in the terminal devices 101, 102, and 103.

[0064] It should be understood that Figure 1 The number of terminal devices, networks and servers in the embodiment is only for illustration. Any number of terminal devices, networks and servers may be provided as required. In the case where the processed data does not need to be obtained remotely, the above device architecture may not include a network, but only a server or a terminal device.

[0065] Figure 2 A method for dynamically adjusting a following mode of a following robot provided by an embodiment of the present application is shown, comprising the following steps:

[0066] S1, in response to determining the following mode at the current moment, obtaining the first position information of the following target at the current moment, and obtaining the point cloud data of the following target at the current moment.

[0067] Specifically, first, set the following mode of the mobile robot, including the front following mode and the side following mode. Figure 3 The following mode is shown in the figure. In this mode, the target to be followed walks in front and the mobile robot follows behind. The target to be followed and the mobile robot are kept within a fixed distance range. Figure 4 The figure shows the side following mode. In this mode, the following target and the mobile robot walk in parallel, and the following target and the mobile robot are kept within a fixed distance range. The following mode dynamic adjustment method is applied to the mobile robot. The mobile robot is provided with a UWB module and a laser radar module, wherein the UWB module is used to obtain the position information of the following target, and the UWB module is arranged on at least two base stations of the mobile robot. The laser radar module is used to extract the contour features of the human leg for dynamic human body recognition and obstacle detection of the mobile robot. The first position information is obtained through the UWB module, the point cloud data is obtained through the laser radar module, and the following mode of the following robot is dynamically adjusted through multiple sensor recognition.

[0068] Specifically, the first distance between the following target and the mobile robot is obtained according to the first posture information :

[0069] ;

[0070] Among them, the first pose information is , represents the first position coordinate of the following target relative to the mobile robot, Indicates the first angle between the tracking target and the Y axis in the mobile robot coordinate system.

[0071] S2, processing the point cloud data to obtain the second posture information of the follow-up target at the current moment.

[0072] Specifically, by processing the point cloud data obtained by the laser radar module, the leg data of the follow-up target is obtained, and the second posture information is further determined. The second distance between the follow-up target and the mobile robot is obtained according to the second posture information. :

[0073] ;

[0074] Among them, the second pose information is ,in, represents the second position coordinate of the following target feature relative to the mobile robot, Indicates the second angle between the tracking target and the Y-axis in the mobile robot coordinate system.

[0075] S3, fusing the first pose information and the second pose information to obtain comprehensive pose information.

[0076] Specifically, the weighted average method is used for data fusion. After data fusion processing, the comprehensive posture information of the target being followed is: ,in, , , , , .

[0077] S4, obtain the position characteristics of the following target relative to the mobile robot at the current moment and the dynamic predicted trajectory of the following target in the following state, and determine the following mode at the next moment, and adjust the position of the following target relative to the mobile robot according to the following mode dynamics at the next moment and the following mode at the current moment.

[0078] In one embodiment, step S4 specifically includes:

[0079] In response to determining that the following target is at the front end of the mobile robot, obtaining a dynamic predicted trajectory of the following target in a following state;

[0080] Determine whether the following mode at the next moment is the front following mode. If not, repeat step S4. If it is the front following mode, perform a dynamic prediction trajectory of the following target in the front following mode, and determine whether the state of the following target dynamically adjusts the following mode. If so, repeat step S4. Otherwise, continue to operate in the front following mode.

[0081] In a specific embodiment, determining whether the following mode at the next moment is the front following mode, if it is the front following mode, dynamically predicting the trajectory of the following target in the front following mode, and determining whether the state of the following target dynamically adjusts the following mode specifically includes:

[0082] If the comprehensive posture information and distance comparison between the next moment of the follow target and the current moment satisfy the following formula:

[0083] ;

[0084] in, Indicates the comprehensive distance between the following target and the mobile robot at the next moment, Indicates the comprehensive distance between the following target and the mobile robot at the current moment, Indicates the elastic distance of the following target; the following mode at the next moment is the front following mode;

[0085] If the position information and distance comparison between the next moment and the current moment of the target being followed satisfy the following formula:

[0086] ;

[0087] in, Indicates the comprehensive distance between the following target and the mobile robot at the next moment, Indicates the comprehensive distance between the following target and the mobile robot at the next moment, and then repeats step S4 to dynamically adjust the following mode.

[0088] In another embodiment, step S4 specifically includes:

[0089] In response to determining that the following target is at the side end of the mobile robot, obtaining a dynamic predicted trajectory of the following target in a following state;

[0090] Determine whether the following mode at the next moment is the side following mode. If not, repeat step S4. If it is the side following mode, perform dynamic prediction of the following target's trajectory in the side following mode, and determine whether the state of the following target dynamically adjusts the following mode. If so, repeat step S4. Otherwise, determine whether there is an obstacle in front of the mobile robot in the side following mode. If so, switch to the front following mode. Otherwise, continue to operate in the side following mode.

[0091] In a specific embodiment, determining whether the following mode at the next moment is the side following mode, and if it is the side following mode, dynamically predicting the trajectory of the following target in the side following mode, and determining whether the state of the following target dynamically adjusts the following mode specifically includes:

[0092] If the position information and distance comparison between the next moment and the current moment of the target being followed satisfy the following formula:

[0093] ;

[0094] in, It represents the comprehensive angle between the following target at the next moment and the Y axis in the coordinate system of the mobile robot. It represents the comprehensive angle between the current tracking target and the Y axis in the mobile robot coordinate system. Indicates the comprehensive distance between the following target and the mobile robot at the next moment, Indicates the comprehensive distance between the following target and the mobile robot at the current moment, Indicates the elastic distance of the following target, then the following mode at the next moment is the side following mode;

[0095] If the position information and distance comparison between the next moment and the current moment of the target being followed satisfy the following formula:

[0096] ;

[0097] in, It represents the comprehensive angle between the following target at the next moment and the Y axis in the coordinate system of the mobile robot. represents the comprehensive angle between the current tracking target and the Y axis in the coordinate system of the mobile robot, and then repeats step S4 to dynamically adjust the following mode.

[0098] Specifically, step S4 includes the following steps:

[0099] Step S41, adjusting the position of the follow-up target relative to the mobile robot:

[0100] If the target to be followed is at the front end of the mobile robot, go to step S42;

[0101] If the following target is at the side of the mobile robot, go to step S44.

[0102] The position characteristics of the following target relative to the mobile robot include the following target being at the front end of the mobile robot and the following target being at the side end of the mobile robot. Specifically, it can be determined whether the following target is at the front end, rear end or side end of the mobile robot through the comprehensive posture information between the following target and the mobile robot.

[0103] The mobile robot stores UWB position information, laser radar leg recognition position information and integrated posture information after fusion processing. The following target position adjustment includes: the following target moves at the front end of the mobile robot, the following target moves at the side end of the robot, the following target moves from the front end of the following robot to the side end of the following robot, and the following robot moves from the side end to the front end of the following robot. The position characteristic mode of the following target relative to the mobile robot is judged. The following target moves at the front end of the mobile robot, indicating that the mobile robot is still in the front following mode. The following target moves at the side end of the robot, indicating that the mobile robot is still in the side following mode. The following target moves from the front end of the following robot to the side end of the following robot, indicating that the mobile robot is about to switch from the front following mode to the side following mode. The following robot moves from the side end to the front end of the following robot, indicating that the mobile robot is about to switch from the side following mode to the front following mode.

[0104] Step S42, obtaining the dynamic predicted trajectory of the target to be followed in the following state, and determining whether the following mode is the front following mode:

[0105] If yes, go to step S43;

[0106] If not, go to step S41.

[0107] The judgment method of the front following mode adopted by the mobile robot is: when the following target is at the front of the mobile robot, the dynamic trajectory of the following target behavior is predicted, and the position information and distance comparison between the following target at the next moment and the previous moment are judged. The judgment method is:

[0108] ;

[0109] in, Indicates the comprehensive distance between the following target and the mobile robot at the next moment, Indicates the comprehensive distance between the following target and the mobile robot at the current moment, Indicates the elastic distance of following the target;.

[0110] Step S42, the mobile robot performs dynamic prediction of the target to be followed in the front following mode, and determines whether the state of the target to be followed dynamically adjusts the following mode:

[0111] If yes, go to step S41;

[0112] If not, continue to run in the forward follow mode.

[0113] The principle of dynamic prediction of the following target is as follows: there is a response time difference t between the movement of the following target and the following response of the mobile robot. During this response time difference, the following target will move relative to the mobile robot, and (x t1,y t1 ), (x t2 ,y t2 )…… (x tn ,y tn )n sampling points. By performing linear fitting on n sampling points, the fitting equation is obtained, and n+1 points (x tn+1 ,y tn+1 )’s location information to predict the trajectory.

[0114] In the front following mode, the following mode needs to be adjusted dynamically. The method to determine whether the following target is adjusted is: when the following target is at the front end of the mobile robot, the following target behavior is dynamically predicted, and the position information and distance comparison between the following target at the next moment and the previous moment are determined. The judgment method is:

[0115] ;

[0116] Step S43, obtaining the dynamic predicted trajectory of the follow target in the follow state, and determining whether the follow mode is the side follow mode:

[0117] If yes, go to step S44;

[0118] If not, go to step S41.

[0119] The judgment method of the side following mode adopted by the mobile robot is: when the following target is at the front of the mobile robot, the dynamic trajectory of the following target behavior is predicted, and the position information and distance comparison between the following target at the next moment and the previous moment are judged. The judgment method is:

[0120] ;

[0121] in, It represents the comprehensive angle between the following target at the next moment and the Y axis in the coordinate system of the mobile robot. It represents the comprehensive angle between the current tracking target and the Y-axis in the mobile robot coordinate system.

[0122] Step S44, the mobile robot performs dynamic prediction of the following target in the side following mode, and determines whether the following target state dynamically adjusts the following mode:

[0123] If yes, go to step S41;

[0124] If not, go to step S45.

[0125] In the side following mode, the following mode needs to be adjusted dynamically. The method for determining whether the following target is adjusted is as follows: when the following target is at the front end of the mobile robot, the following target behavior is dynamically predicted, and the position information and distance comparison between the following target at the next moment and the previous moment are determined. The determination method is as follows:

[0126] ;

[0127] in, It represents the comprehensive angle between the following target at the next moment and the Y axis in the coordinate system of the mobile robot. It represents the comprehensive angle between the current tracking target and the Y-axis in the mobile robot coordinate system.

[0128] Step S45, determining whether there is an obstacle in front of the mobile robot in the side following mode:

[0129] If so, switch to the forward follow mode;

[0130] If not, continue to run in side-following mode.

[0131] There are active adjustment following mode and dynamic adjustment following mode in the side following state, and the active adjustment following mode is shown in step S44. The passive adjustment side following mode is: in the side following state, the following target and the mobile robot move in parallel, and there is an obstacle in front of the mobile robot. If the obstacle appears in front of the robot, the side following mode is converted to the front following mode, and the mobile robot moves to the rear of the following target, and then adjusts to the side following mode after passing the obstacle.

[0132] Among them, the following method can be used to determine whether there is an obstacle in front of the robot in the side following mode: identification is performed through the laser radar module, the laser radar module obtains the point cloud data of the front end of the mobile robot through scanning, the obtained point cloud data is denoised, and clusters are formed through an unsupervised clustering algorithm, and each cluster represents an obstacle.

[0133] Further references Figure 5 As an implementation of the methods shown in the above figures, the present application provides an embodiment of a device for dynamically adjusting the following mode of a following robot, and the device embodiment is similar to Figure 2 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0134] The embodiment of the present application provides a device for dynamically adjusting a following mode based on a following robot, comprising:

[0135] The data acquisition module 1 is configured to, in response to determining the following mode at the current moment, acquire the first position information of the following target at the current moment, and acquire the point cloud data of the following target at the current moment;

[0136] The point cloud data processing module 2 is configured to process the point cloud data to obtain the second posture information of the tracking target at the current moment;

[0137] A data fusion module 3 is configured to perform data fusion on the first posture information and the second posture information to obtain comprehensive posture information;

[0138] The dynamic adjustment module 4 is configured to obtain the position characteristics of the following target relative to the mobile robot at the current moment and the dynamic predicted trajectory of the following target in the following state, and determine the following mode at the next moment, and adjust the position of the following target relative to the mobile robot according to the following mode dynamics at the next moment and the following mode at the current moment.

[0139] Reference below Figure 6 , which shows an electronic device (eg Figure 1 A schematic diagram of the structure of a computer device 600 (a server or terminal device as shown). Figure 6 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0140] like Figure 6 As shown, the computer device 600 includes a central processing unit (CPU) 601 and a graphics processing unit (GPU) 602, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 603 or a program loaded from a storage part 609 to a random access memory (RAM) 604. In the RAM 604, various programs and data required for the operation of the device 600 are also stored. The CPU 601, GPU 602, ROM 603 and RAM 604 are connected to each other through a bus 605. An input / output (I / O) interface 606 is also connected to the bus 605.

[0141] The following components are connected to the I / O interface 606: an input section 607 including a keyboard, a mouse, etc.; an output section 608 including a display such as a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 609 including a hard disk, etc.; and a communication section 610 including a network interface card such as a LAN card, a modem, etc. The communication section 610 performs communication processing via a network such as the Internet. A drive 611 can also be connected to the I / O interface 606 as needed. A removable medium 612, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 611 as needed so that a computer program read therefrom is installed into the storage section 609 as needed.

[0142] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 610, and / or installed from a removable medium 612. When the computer program is executed by the central processing unit (CPU) 601 and the graphics processing unit (GPU) 602, the above-mentioned functions defined in the method of the present application are executed.

[0143] It should be noted that the computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor device, device or component, or any combination of the above. More specific examples of computer-readable media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution device, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable medium that can send, propagate or transmit a program for use by or in conjunction with an instruction execution device, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0144] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0145] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the devices, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0146] The modules involved in the embodiments described in this application may be implemented by software or hardware, and the modules described may also be set in a processor.

[0147] As another aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiment; or it may exist independently and not be assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by the electronic device, the electronic device: in response to determining the following mode at the current moment, obtains the first pose information of the following target at the current moment, obtains the point cloud data of the following target at the current moment; processes the point cloud data to obtain the second pose information of the following target at the current moment; performs data fusion on the first pose information and the second pose information to obtain the comprehensive pose information; obtains the position characteristics of the following target relative to the mobile robot at the current moment and the dynamic predicted trajectory of the following target in the following state, and determines the following mode at the next moment, and adjusts the position of the following target relative to the mobile robot according to the following mode dynamics at the next moment and the following mode at the current moment.

[0148] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above invention concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. A method for dynamically adjusting the following mode of a following robot, characterized in that: The following steps are involved: S1, in response to determining the following mode at the current moment, obtaining the first position information of the following target at the current moment, and obtaining the point cloud data of the following target at the current moment; S2, processing the point cloud data to obtain second posture information of the follow-up target at the current moment; S3, performing data fusion on the first posture information and the second posture information to obtain comprehensive posture information, wherein the step S3 specifically includes: Obtain a first distance ρ between the following target and the mobile robot according to the first posture information U : Among them, the first posture information is (x U ,y U ,θ U ), (x U ,y U ) represents the first position coordinate of the following target relative to the mobile robot, θ U represents the first angle between the following target and the Y axis in the coordinate system of the mobile robot; The second distance ρ between the following target and the mobile robot is obtained according to the second posture information L : Among them, the second posture information is (x L ,y L ,θ L ), where (x L ,y L ) represents the second position coordinate of the following target feature relative to the mobile robot, θ L represents the second angle between the following target and the Y axis in the coordinate system of the mobile robot; The weighted average method is used for data fusion. After data fusion processing, the comprehensive posture information of the target is (x T ,y T ,θ T ), where x T =x U ω U +x L ω L ,y T =y U ω U +y L ω L ,θ T =θ U ω U +θ L ω L , T =ρ U ω U +ρ L ω L ,ω U +ω L =1; S4, obtain the position characteristics of the following target relative to the mobile robot at the current moment and the dynamic predicted trajectory of the following target in the following state, and determine the following mode at the next moment, and dynamically adjust the position of the following target relative to the mobile robot according to the following mode at the next moment and the following mode at the current moment.

2. The method for dynamically adjusting the following mode of a following robot according to claim 1, characterized in that: The step S4 specifically includes: In response to determining that the following target is at the front end of the mobile robot, acquiring a dynamic predicted trajectory of the following target in a following state; Determine whether the following mode at the next moment is the front following mode. If not, repeat step S4. If it is the front following mode, perform a dynamic prediction trajectory of the following target in the front following mode, and determine whether the state of the following target dynamically adjusts the following mode. If so, repeat step S4. Otherwise, continue to operate in the front following mode.

3. The method for dynamically adjusting the following mode of a following robot according to claim 2, characterized in that: The determining whether the following mode at the next moment is the front following mode, and if it is the front following mode, performing a dynamic prediction trajectory of the following target in the front following mode, and determining whether the state of the following target dynamically adjusts the following mode specifically includes: If the comprehensive posture information and distance comparison between the next moment of the following target and the current moment satisfy the following formula: d>(ρ T+1 -r T )>0; Among them, ρ T+1 represents the comprehensive distance between the following target and the mobile robot at the next moment, ρ T represents the comprehensive distance between the following target and the mobile robot at the current moment, and d represents the elastic distance of the following target; then the following mode at the next moment is the front following mode; If the position information and distance comparison between the next moment and the current moment of the following target satisfies the following formula: (r T+1 -r T )<0; Among them, ρ T+1 represents the comprehensive distance between the following target and the mobile robot at the next moment, ρ T represents the comprehensive distance between the following target and the mobile robot at the current moment, then repeat step S4 to dynamically adjust the following mode.

4. The method for dynamically adjusting the following mode of a following robot according to claim 1, characterized in that: The step S4 specifically includes: In response to determining that the following target is at the side end of the mobile robot, acquiring a dynamic predicted trajectory of the following target in a following state; Determine whether the following mode at the next moment is the side following mode. If not, repeat step S4. If it is the side following mode, perform dynamic prediction of the following target's trajectory in the side following mode, and determine whether the state of the following target dynamically adjusts the following mode. If so, repeat step S4. Otherwise, determine whether there is an obstacle in front of the mobile robot in the side following mode. If so, switch to the front following mode. Otherwise, continue to operate in the side following mode.

5. The method for dynamically adjusting the following mode of a following robot according to claim 4, characterized in that: The determining whether the following mode at the next moment is the side following mode, and if it is the side following mode, performing a dynamic prediction trajectory of the following target in the side following mode, and determining whether the state of the following target dynamically adjusts the following mode specifically includes: If the position information and distance comparison between the next moment and the current moment of the following target satisfies the following formula: Among them, θ T+1 represents the comprehensive angle between the following target and the Y axis in the coordinate system of the mobile robot at the next moment, θ T represents the comprehensive angle between the following target and the Y axis in the coordinate system of the mobile robot at the current moment, ρ T+1 represents the comprehensive distance between the following target and the mobile robot at the next moment, ρ T represents the comprehensive distance between the following target and the mobile robot at the current moment, d represents the elastic distance of the following target, and the following mode at the next moment is the side following mode; If the position information and distance comparison between the next moment and the current moment of the following target satisfies the following formula: (i T+1 -θ T )=0; Among them, θ T+1 represents the comprehensive angle between the following target and the Y axis in the coordinate system of the mobile robot at the next moment, θ T represents the comprehensive angle between the following target and the Y axis in the coordinate system of the mobile robot at the current moment, then repeat step S4 to dynamically adjust the following mode.

6. The method for dynamically adjusting the following mode of a following robot according to claim 1, characterized in that: The first posture information is obtained through a UWB module, and the point cloud data is obtained through a laser radar module.

7. A device for dynamically adjusting the following mode of a following robot, characterized in that: include: A data acquisition module is configured to, in response to determining a following mode at a current moment, acquire first position information of a following target at a current moment, and acquire point cloud data of the following target at a current moment; A point cloud data processing module is configured to process the point cloud data to obtain second posture information of the follow-up target at a current moment; A data fusion module is configured to perform data fusion on the first posture information and the second posture information to obtain comprehensive posture information. The data fusion module specifically includes: Obtain a first distance ρ between the following target and the mobile robot according to the first posture information U : Among them, the first posture information is (x U ,y U ,θ U ), (x U ,y U ) represents the first position coordinate of the following target relative to the mobile robot, θ U represents the first angle between the following target and the Y axis in the coordinate system of the mobile robot; The second distance ρ between the following target and the mobile robot is obtained according to the second posture information L : Among them, the second posture information is (x L ,y L ,θ L ), where (x L ,y L ) represents the second position coordinate of the following target feature relative to the mobile robot, θ L represents the second angle between the following target and the Y axis in the coordinate system of the mobile robot; The weighted average method is used for data fusion. After data fusion processing, the comprehensive posture information of the target is (x T ,y T ,θ T ), where x T =x U ω U +x L ω L ,y T =y U ω U +y L ω L ,θ T =θ U ω U +θ L ω L , T =ρ U ω U +ρ L ω L ,ω U +ω L =1; The dynamic adjustment module is configured to obtain the position characteristics of the following target relative to the mobile robot at the current moment and the dynamic predicted trajectory of the following target in the following state, and determine the following mode at the next moment, and dynamically adjust the position of the following target relative to the mobile robot according to the following mode at the next moment and the following mode at the current moment.

8. An electronic device, comprising: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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