Automatic following method of buggy and buggy

Abstract

The invention relates to the technical field of buggy, and provides a buggy automatic following method and a buggy, and the following method comprises the steps: obtaining a following distance set by a user; obtaining first positioning information corresponding to the UWB assembly and second positioning information corresponding to the camera; taking the first positioning information as priori estimation of a Kalman filter, taking the second positioning information as an observation value of the Kalman filter, and calculating target positioning information at the current moment; and moving according to the target positioning information to keep the following distance to follow the remote controller. The following reliability of the buggy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of baby carriages, and in particular to an automatic following method for a baby carriage and a baby carriage. Background Art

[0002] UWB (Ultra Wide Band) technology is a new type of wireless communication technology. Unlike traditional communication, UWB technology does not require a carrier to transmit data, but sends extremely narrow pulses to transmit data. Therefore, the time domain width of UWB signals is extremely narrow, which can achieve centimeter-level high-precision positioning capabilities.

[0003] The automatic following of a stroller means that the motor of the stroller drives the wheels of the stroller to move so as to follow the movement of an adult without the need for the adult to manually operate the stroller. The automatic following of the stroller requires a more reliable and smoother following of the adult. Summary of the invention

[0004] The invention provides an automatic following method for a baby carriage and the baby carriage, aiming to improve the reliability of the baby carriage.

[0005] In a first aspect, the present application provides an automatic following method for a baby stroller, which is applicable to a baby stroller, wherein the baby stroller comprises: a UWB component, a camera, and a remote controller; wherein the remote controller is provided with a UWB tag, and the following method comprises:

[0006] Get the following distance set by the user;

[0007] Calculating first positioning information of the remote controller according to the original positioning signal continuously collected by the UWB component, wherein the first positioning information is three-dimensional positioning information;

[0008] Tracking the target object according to the image signal continuously collected by the camera, and calculating the second positioning information of the target object according to the area ratio and position information of the target object in the image signal; wherein the second positioning information is three-dimensional positioning information;

[0009] Using the first positioning information as a priori estimation of a Kalman filter and using the second positioning information as an observation value of the Kalman filter to calculate the target positioning information at the current moment; and

[0010] Move according to the target positioning information to follow the remote controller while maintaining the following distance.

[0011] In some embodiments, the calculating the first positioning information of the remote controller according to the original positioning signal continuously collected by the UWB component includes:

[0012] Obtaining original positioning signals from the Nth moment to the N+Lth moment through at least three UWB base stations; wherein the N+Lth moment is the current moment;

[0013] The original positioning signal from the Nth moment to the N+Lth moment is smoothed to obtain a target smooth positioning signal from the Nth moment to the Nth moment, and the target smooth positioning signal at the Nth moment is used as the first positioning information at the Nth moment.

[0014] In some embodiments, the smoothing of the original positioning signal from the Nth moment to the N+Lth moment includes:

[0015] (1) Obtaining the Euclidean distance between the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment;

[0016] (2) when the Euclidean distance is greater than a preset distance threshold, determining the interpolation weight of the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment according to the Euclidean distance, and the interpolation weight is positively correlated with the Euclidean distance;

[0017] (3) interpolating the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment according to the interpolation weight, and using the interpolation result as the updated intermediate smoothed positioning signal at the Mth moment, wherein the interpolation formula is: slerp(original positioning signal at the Mth moment, original positioning signal at the M+1th moment, interpolation weight);

[0018] (4) For the case where N is less than or equal to L, use the original positioning signals from the Nth moment to the N+Lth moment, iterate and execute steps (1), (2), and (3) at least three times to obtain the intermediate smooth positioning signals from the Nth moment to the N+Lth moment, use the intermediate smooth positioning signal at the Nth moment as the target smooth positioning signal, and store the intermediate smooth positioning signals from the N+1th moment to the N+Lth moment;

[0019] For the case where N is greater than L, when obtaining the original positioning signal at the N+L+1th moment, the stored intermediate smooth positioning signal from the N+1th moment to the N+Lth moment is used to replace the original positioning signal from the N+1th moment to the N+Lth moment, and steps (1), (2), and (3) are iteratively executed based on the stored intermediate smooth positioning signal from the N+1th moment to the N+Lth moment and the original positioning signal at the N+L+1th moment.

[0020] In some embodiments, the value of the interpolation weight is greater than or equal to 0.2 and less than or equal to 0.8; the positive correlation between the interpolation weight and the Euclidean distance is a nonlinear relationship, and the nonlinear relationship is: the larger the Euclidean distance, the smaller the ratio of the interpolation weight to the Euclidean distance.

[0021] In some embodiments, the following method further comprises:

[0022] Calculate an interpolation adjustment coefficient according to the following strength and following distance set by the user, wherein the interpolation adjustment coefficient is positively correlated with the following strength and negatively correlated with the tracking distance;

[0023] The interpolating the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment according to the interpolation weight includes:

[0024] Multiplying the interpolation adjustment coefficient by the interpolation weight to obtain an updated interpolation weight;

[0025] The updated interpolation weights are used to interpolate the positioning signal at the Mth moment and the positioning signal at the M+1th moment.

[0026] In some embodiments, the using the first positioning information as a priori estimation of a Kalman filter and the second positioning information as an observation value of the Kalman filter to calculate the target positioning information at the current moment includes:

[0027] The smoothed positioning signal at the Nth moment is used as a priori estimation of the Kalman filter, and the second positioning information at the Nth moment is used as an observation value of the Kalman filter to calculate the target positioning information at the Nth moment;

[0028] Following the remote controller according to the target positioning information includes:

[0029] At the N+Lth moment, the baby carriage is controlled to move according to the target positioning information at the Nth moment to follow the remote controller.

[0030] In some embodiments, the time difference from the Nth moment to the N+Lth moment is less than or equal to 1.5 seconds.

[0031] In some embodiments, tracking the target object according to the image signal, and calculating the second positioning information of the target object and the baby carriage according to the area ratio and position of the target object in the image signal, includes:

[0032] Control the camera to continuously collect image signals with the same shooting parameters;

[0033] Tracking the target object according to the continuous image signals;

[0034] The second positioning information of the target object and the baby carriage is calculated according to the area ratio and the position of the target object in the image signal.

[0035] In a second aspect, the present application provides a children's vehicle, comprising: a vehicle body; a camera, arranged on the vehicle body; a UWB component, arranged on the vehicle body; a communication component, arranged on the vehicle body, for establishing a communication connection with a remote control; a controller, arranged on the vehicle body, the remote control being respectively connected to the camera, the UWB component and the communication component, the controller being configured to execute a following program, and when the following program is executed, the above-mentioned automatic following method for a children's vehicle is implemented.

[0036] The present application obtains first positioning information by using a UWB component, obtains second positioning information by using the area ratio and position information of the target object of the image signal collected by a single camera, and then uses a Kalman filter to fuse the first positioning information and the second positioning information to obtain more reliable target positioning information, and then follows the remote control based on the target positioning information, thereby improving the following safety and reliability of the children's car that can automatically follow. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flowchart of an embodiment of a method for automatically following a baby stroller of the present application;

[0038] Figure 2 This is a flowchart of another embodiment of the automatic following method for a baby stroller of the present application;

[0039] Figure 3 This is a flowchart of another embodiment of the automatic following method for a baby stroller of the present application;

[0040] Figure 4 A schematic diagram of an original positioning signal and a target smoothed positioning signal of an embodiment of a method for automatically following a baby carriage of the present application. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0043] In the description of the present invention, the term "for example" is used to mean "used as an example, illustration or explanation". Any embodiment described as "for example" in the present invention is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any technician in the field to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present invention.

[0044] Example 1

[0045] The present application provides an automatic following method for a baby stroller, which is applicable to a baby stroller, wherein the baby stroller comprises: a UWB component, a camera, and a remote controller; wherein the remote controller is provided with a UWB tag.

[0046] Reference Figure 1 In one embodiment, the following method includes:

[0047] S100, obtaining a following distance set by a user;

[0048] The remote controller may be provided with a touch display or buttons, and the user may set the distance at which the baby stroller follows the remote controller by operating the touch display or buttons. In actual application, optional following distance options may be displayed on the display, such as 0.2 meters, 0.5 meters, 0.7 meters, 1.2 meters, 1.5 meters, etc., and the user may select the corresponding following distance by selecting the operation.

[0049] S200. Calculate first positioning information of the remote control according to the original positioning signal continuously collected by the UWB component, wherein the first positioning information is three-dimensional positioning information; the UWB component includes multiple UWB base stations.

[0050] The baby stroller is provided with multiple UWB base stations, and there may be four UWB base stations, of which three are located on the first plane and one is located on the second plane, so that the four UWB base stations form a polyhedron layout, which can better realize the three-dimensional positioning of the UWB tag.

[0051] The UWB tag is set on the remote control and is powered by a lithium battery on the remote control.

[0052] In this embodiment, the first positioning information is three-dimensional positioning information.

[0053] S300, tracking the target object according to the image signal continuously collected by the camera, and calculating the second positioning information of the target object according to the area ratio and position information of the target object in the image signal; wherein the second positioning information is three-dimensional positioning information.

[0054] Among them, the camera is set on the front of the children's car, and the target object is the adult, that is, the object captured by the camera.

[0055] In this embodiment, a single captured image signal is used. Since the image captured by a single camera does not have depth information, only two-dimensional positioning can be achieved, and the distance to the target object cannot be calculated. Therefore, this application uses a fixed zoom parameter to capture the image signal, and then the distance of the target object from the camera can be converted according to the area ratio of the target object in the image signal. Specifically, the larger the area ratio, the closer the distance between the target object and the camera, and the smaller the area ratio, the farther the target object from the camera; and based on the position of the target object in the image, to confirm the two-dimensional positioning, it is only necessary to calculate the relative position between the target object and the preset point in the image (such as the center of the image, the corner point of the image) to confirm.

[0056] The present application uses area ratio to realize the three-dimensional positioning information of a single camera, matching the three-dimensional positioning of UWB, so as to subsequently fuse the first positioning information and the second positioning information of the same dimension.

[0057] S400: Use the first positioning information as a priori estimation of a Kalman filter, use the second positioning information as an observation value of the Kalman filter, and calculate the target positioning information at the current moment.

[0058] The first positioning information and the second positioning information can solve the problem of inaccurate first positioning information caused by UWB tag signal shielding, and the problem of inaccurate second positioning information of the target object caused by the field of view of a single camera being blocked. Use the Kalman filter as a fusion algorithm, use the first positioning information to update the system state of the Kalman filter, and then use the second positioning information as the observation value in the same coordinate system of the first positioning information to calibrate the first positioning information to avoid serious deviations in the first positioning information.

[0059] S500: Move according to the target positioning information to follow the remote controller while maintaining the following distance.

[0060] The target positioning information includes the relative position of the remote control and the stroller. Therefore, as long as the stroller is controlled to move toward the remote control, the speed of the stroller is dynamically adjusted based on keeping the area ratio of the target object in the image signal and the distance collected by the UWB tag constant, and the remote control can be followed at a fixed distance.

[0061] The present application obtains first positioning information by using a UWB component, obtains second positioning information by using the area ratio and position information of the target object of the image signal collected by a single camera, and then uses a Kalman filter to fuse the first positioning information and the second positioning information to obtain more reliable target positioning information, and then follows the remote control based on the target positioning information, thereby improving the following safety and reliability of the children's car that can automatically follow.

[0062] Reference Figure 2 In some embodiments, an adult may suddenly stop or accelerate while guiding a stroller. Taking a sudden stop as an example, the stroller is already moving at a certain speed, and a sudden stop may cause the stroller to hit the adult or overturn.

[0063] In view of the above problem, step S200 of the present application, calculating the first positioning information of the remote controller according to the original positioning signal continuously collected by the UWB component, includes:

[0064] S201, obtaining original positioning signals from the Nth moment to the N+Lth moment through at least three UWB base stations; wherein the N+Lth moment is the current moment;

[0065] S202, smoothing the original positioning signal from the Nth moment to the N+Lth moment to obtain a target smoothed positioning signal from the Nth moment to the Nth moment, wherein the target smoothed positioning signal at the Nth moment is used as the first positioning information at the Nth moment.

[0066] Reference Figure 3 In some embodiments, S202, smoothing the original positioning signal from the Nth moment to the N+Lth moment includes:

[0067] S2021. (1) Obtaining the Euclidean distance between the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment;

[0068] S2022. (2) when the Euclidean distance is greater than a preset distance threshold, determining an interpolation weight of the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment according to the Euclidean distance, wherein the interpolation weight is positively correlated with the Euclidean distance;

[0069] S2023. (3) interpolating the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment according to the interpolation weight, and using the interpolation result as the updated intermediate smoothed positioning signal at the Mth moment, wherein the interpolation formula is: slerp(original positioning signal at the Mth moment, original positioning signal at the M+1th moment, interpolation weight); the larger the interpolation weight, the closer the output representation of slerp is to the original positioning signal at the M+1th moment.

[0070] S2024, (4) for the case where N is less than or equal to L, use the original positioning signals from the Nth moment to the N+Lth moment, iteratively execute steps (1), (2), and (3) at least 3 times, obtain the intermediate smooth positioning signals from the Nth moment to the N+Lth moment, use the intermediate smooth positioning signal at the Nth moment as the target smooth positioning signal, and store the intermediate smooth positioning signals from the N+1th moment to the N+Lth moment;

[0071] For the case where N is greater than L, when obtaining the original positioning signal at the N+L+1th moment, the stored intermediate smooth positioning signal from the N+1th moment to the N+Lth moment is used to replace the original positioning signal from the N+1th moment to the N+Lth moment, and steps (1), (2), and (3) are iteratively executed based on the stored intermediate smooth positioning signal from the N+1th moment to the N+Lth moment and the original positioning signal at the N+L+1th moment.

[0072] In other words, the movement of the baby stroller of the present application has a certain lag and predictability relative to the collected first positioning information and second positioning information.

[0073] This application uses the original positioning signals from the Nth moment to the N+Lth moment to confirm the target smooth positioning signal at the Nth moment. With this setting, when the motion state between the Nth moment and the N+Lth moment changes rapidly (sudden stop or sudden acceleration), the Euclidean distance of the original positioning signals between two adjacent moments will suddenly increase. We confirm the interpolation weight based on the Euclidean distance, and the interpolation weight is positively correlated with the Euclidean distance, so the stroller will slow down in advance.

[0074] Among them, pm=slerp(pm, pm+1, W)=(1-w)*pm+W*pm+1. Slerp can refer to the code of the existing function library. Among them, pm represents the original positioning signal at time M (intermediate smooth positioning signal), pm+1 represents the original positioning signal at time M+1 (intermediate smooth positioning signal), and W represents the interpolation weight.

[0075] Reference Figure 4 , taking the case where N is greater than L, N is 6, L=5, that is, the motion state changes rapidly at the N+5th moment as an example. Of course, this is just for the convenience of explanation. In actual situations, the value of L is much greater than 5, such as 30, 60, 120, which is related to the acquisition frame rate of the image signal and the acquisition frequency of the UWB positioning signal. As long as the lag time is less than 1.5 seconds, taking the image acquisition frame rate of 30 frames as an example, L is less than or equal to 45;

[0076] Reference Figure 4 , the solid line represents the original positioning signal, and the dotted line represents the target smoothed positioning signal.

[0077] The interpolation result of the original positioning signal at the 10th moment and the intermediate smooth positioning signal at the 9th moment is closer to the intermediate smooth positioning signal at the 10th moment;

[0078] The interpolation result of the intermediate smooth positioning signal at the 9th moment and the intermediate smooth positioning signal at the 8th moment is closer to the intermediate smooth positioning signal at the 9th moment;

[0079] The interpolation result of the intermediate smooth positioning signal at the 8th moment and the intermediate smooth positioning signal at the 7th moment is closer to the intermediate smooth positioning signal at the 8th moment;

[0080] The interpolation result of the intermediate smooth positioning signal at the 7th moment and the intermediate smooth positioning signal at the 6th moment is closer to the intermediate smooth positioning signal at the 7th moment;

[0081] In summary, the interpolation result of the intermediate smooth positioning signal at the 6th moment and the intermediate smooth positioning signal at the 5th moment is closer to the intermediate smooth positioning signal at the 6th moment, that is, at the 5th moment, in response to the rapid change of the motion state at the 10th moment, the baby carriage began to accelerate. The principle of the sudden stop scenario is the same, and the baby carriage will decelerate in advance.

[0082] In some embodiments, the value of the interpolation weight is greater than or equal to 0.2 and less than or equal to 0.8; the positive correlation between the interpolation weight and the Euclidean distance is a nonlinear relationship.

[0083] When the interpolation weight changes between 0.2 and 0.8, the speed of the baby carriage changes. In practical applications, it is better to set the interpolation weight and the Euclidean distance to a nonlinear relationship. Specifically, the nonlinear relationship is: the larger the Euclidean distance, the larger the ratio of the interpolation weight to the Euclidean distance, and thus the situation where the motion state changes rapidly can be responded to more quickly. Exemplarily, the relationship between the interpolation weight and the Euclidean distance can be an inverse proportional function relationship or an exponential function relationship.

[0084] In practical applications, the relationship between the interpolation weight and the Euclidean distance can be obtained using a mapping table. First, the value range of the Euclidean distance is confirmed, and then the corresponding interpolation weight is obtained based on the value range.

[0085] In other words, there is a one-to-one correspondence between the interpolation weight and the value range, and it is a nonlinear relationship.

[0086] In some embodiments, the following method further comprises:

[0087] Calculate an interpolation adjustment coefficient according to the following strength and following distance set by the user, wherein the interpolation adjustment coefficient is positively correlated with the following strength and negatively correlated with the tracking distance;

[0088] S2023, (3) interpolating the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment according to the interpolation weight, including:

[0089] Multiplying the interpolation adjustment coefficient by the interpolation weight to obtain an updated interpolation weight;

[0090] The updated interpolation weights are used to interpolate the positioning signal at the Mth moment and the positioning signal at the M+1th moment.

[0091] In actual applications, in some scenarios, children's cars are required to follow adults closely, such as vegetable markets and shopping malls, while in some scenarios, the following distance and following intensity can be appropriately relaxed, such as downstairs in residential areas and in parks.

[0092] In this embodiment, the user can select three levels of following strength, namely, "strong", "moderate" and "weak", according to the actual scenario. Of course, a level can also be added between two adjacent levels.

[0093] In some embodiments, S400, using the first positioning information as a priori estimation of a Kalman filter, using the second positioning information as an observation value of the Kalman filter, and calculating the target positioning information at the current moment, includes:

[0094] The smoothed positioning signal at the Nth moment is used as a priori estimation of the Kalman filter, and the second positioning information at the Nth moment is used as an observation value of the Kalman filter to calculate the target positioning information at the Nth moment;

[0095] S500, following the remote controller according to the target positioning information, including:

[0096] At the N+Lth moment, the baby carriage is controlled to move according to the target positioning information at the Nth moment to follow the remote controller.

[0097] The time difference from the Nth moment to the N+Lth moment is less than or equal to 1.5 seconds.

[0098] As described above, at the N+Lth moment, the movement of the baby stroller is controlled according to the target positioning information at the Nth moment, so that the baby stroller has a certain predictability, but it also causes lag in the baby stroller. This embodiment limits the lag time to less than or equal to 1.5 seconds, balancing safety and reliability.

[0099] In some embodiments, tracking the target object according to the image signal, and calculating the second positioning information of the target object and the baby carriage according to the area ratio and position of the target object in the image signal, includes:

[0100] Control the camera to continuously collect image signals with the same shooting parameters;

[0101] Tracking the target object according to the continuous image signals;

[0102] The second positioning information of the target object and the baby carriage is calculated according to the area ratio and the position of the target object in the image signal.

[0103] This embodiment adopts the method of following first and then confirming the area ratio and position. Compared with the method of identifying the target object frame by frame and then confirming the area ratio and position, this embodiment saves the computing power of the baby stroller.

[0104] Example 2

[0105] The present application provides a baby stroller, comprising: a body; a camera, arranged on the body; a UWB component, arranged on the body; a communication component, arranged on the body, for establishing a communication connection with a remote controller; a controller, arranged on the body, the remote controller being connected to the camera, the UWB component and the communication component respectively, the controller being configured to execute a following program, and when the following program is executed, the following baby stroller following method is implemented:

[0106] Get the following distance set by the user;

[0107] Calculating first positioning information of the remote controller according to the original positioning signal continuously collected by the UWB component, wherein the first positioning information is three-dimensional positioning information;

[0108] Tracking the target object according to the image signal continuously collected by the camera, and calculating the second positioning information of the target object according to the area ratio and position information of the target object in the image signal; wherein the second positioning information is three-dimensional positioning information;

[0109] Using the first positioning information as a priori estimation of a Kalman filter and using the second positioning information as an observation value of the Kalman filter to calculate the target positioning information at the current moment; and

[0110] Move according to the target positioning information to follow the remote controller while maintaining the following distance.

[0111] In some embodiments, the calculating the first positioning information of the remote controller according to the original positioning signal continuously collected by the UWB component includes:

[0112] Obtaining original positioning signals from the Nth moment to the N+Lth moment through at least three UWB base stations; wherein the N+Lth moment is the current moment;

[0113] The original positioning signal from the Nth moment to the N+Lth moment is smoothed to obtain a target smooth positioning signal from the Nth moment to the Nth moment, and the target smooth positioning signal at the Nth moment is used as the first positioning information at the Nth moment.

[0114] In some embodiments, the smoothing of the original positioning signal from the Nth moment to the N+Lth moment includes:

[0115] (1) Obtaining the Euclidean distance between the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment;

[0116] (2) when the Euclidean distance is greater than a preset distance threshold, determining the interpolation weight of the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment according to the Euclidean distance, and the interpolation weight is positively correlated with the Euclidean distance;

[0117] (3) interpolating the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment according to the interpolation weight, and using the interpolation result as the updated intermediate smoothed positioning signal at the Mth moment, wherein the interpolation formula is: slerp(original positioning signal at the Mth moment, original positioning signal at the M+1th moment, interpolation weight);

[0118] (4) For the case where N is less than or equal to L, use the original positioning signals from the Nth moment to the N+Lth moment, iterate and execute steps (1), (2), and (3) at least three times to obtain the intermediate smooth positioning signals from the Nth moment to the N+Lth moment, use the intermediate smooth positioning signal at the Nth moment as the target smooth positioning signal, and store the intermediate smooth positioning signals from the N+1th moment to the N+Lth moment;

[0119] For the case where N is greater than L, when obtaining the original positioning signal at the N+L+1th moment, the stored intermediate smooth positioning signal from the N+1th moment to the N+Lth moment is used to replace the original positioning signal from the N+1th moment to the N+Lth moment, and steps (1), (2), and (3) are iteratively executed based on the stored intermediate smooth positioning signal from the N+1th moment to the N+Lth moment and the original positioning signal at the N+L+1th moment.

[0120] In some embodiments, the value of the interpolation weight is greater than or equal to 0.2 and less than or equal to 0.8; the positive correlation between the interpolation weight and the Euclidean distance is a nonlinear relationship, and the nonlinear relationship is: the larger the Euclidean distance, the smaller the ratio of the interpolation weight to the Euclidean distance.

[0121] In some embodiments, the following method further comprises:

[0122] Calculate an interpolation adjustment coefficient according to the following strength and following distance set by the user, wherein the interpolation adjustment coefficient is positively correlated with the following strength and negatively correlated with the tracking distance;

[0123] The interpolating the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment according to the interpolation weight includes:

[0124] Multiplying the interpolation adjustment coefficient by the interpolation weight to obtain an updated interpolation weight;

[0125] The updated interpolation weights are used to interpolate the positioning signal at the Mth moment and the positioning signal at the M+1th moment.

[0126] In some embodiments, the using the first positioning information as a priori estimation of a Kalman filter and the second positioning information as an observation value of the Kalman filter to calculate the target positioning information at the current moment includes:

[0127] The smoothed positioning signal at the Nth moment is used as a priori estimation of the Kalman filter, and the second positioning information at the Nth moment is used as an observation value of the Kalman filter to calculate the target positioning information at the Nth moment;

[0128] Following the remote controller according to the target positioning information includes:

[0129] At the N+Lth moment, the baby carriage is controlled to move according to the target positioning information at the Nth moment to follow the remote controller.

[0130] In some embodiments, the time difference from the Nth moment to the N+Lth moment is less than or equal to 1.5 seconds.

[0131] In some embodiments, tracking the target object according to the image signal, and calculating the second positioning information of the target object and the baby carriage according to the area ratio and position of the target object in the image signal, includes:

[0132] Control the camera to continuously collect image signals with the same shooting parameters;

[0133] Tracking the target object according to the continuous image signals;

[0134] The second positioning information of the target object and the baby carriage is calculated according to the area ratio and the position of the target object in the image signal.

[0135] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0136] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0137] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0138] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0139] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0140] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0141] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for automatically following a baby carriage, characterized in that: Applicable to a baby stroller, the baby stroller comprises: a UWB component, a single camera, and a remote controller; wherein the remote controller is provided with a UWB tag, and the following method comprises: Get the following distance set by the user; Calculating first positioning information of the remote controller according to the original positioning signal continuously collected by the UWB component, wherein the first positioning information is three-dimensional positioning information; Tracking the target object according to the image signal continuously collected by the camera, and calculating the second positioning information of the target object according to the area ratio and position information of the target object in the image signal; wherein the second positioning information is three-dimensional positioning information; Using the first positioning information as a priori estimation of a Kalman filter and using the second positioning information as an observation value of the Kalman filter to calculate the target positioning information at the current moment; and Move according to the target positioning information to follow the remote controller while maintaining the following distance.

2. The automatic following method for a baby carriage according to claim 1, characterized in that: The calculating the first positioning information of the remote controller according to the original positioning signal continuously collected by the UWB component includes: Obtaining original positioning signals from the Nth moment to the N+Lth moment through at least three UWB base stations; wherein the N+Lth moment is the current moment; The original positioning signal from the Nth moment to the N+Lth moment is smoothed to obtain a target smooth positioning signal from the Nth moment to the Nth moment, and the target smooth positioning signal at the Nth moment is used as the first positioning information at the Nth moment.

3. The automatic following method for a baby carriage according to claim 2, characterized in that: The smoothing of the original positioning signal from the Nth moment to the N+Lth moment includes: (1) Obtaining the Euclidean distance between the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment; (2) when the Euclidean distance is greater than a preset distance threshold, determining the interpolation weight of the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment according to the Euclidean distance, and the interpolation weight is positively correlated with the Euclidean distance; (3) interpolating the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment according to the interpolation weight, and using the interpolation result as the updated intermediate smoothed positioning signal at the Mth moment, wherein the interpolation formula is: slerp(original positioning signal at the Mth moment, original positioning signal at the M+1th moment, interpolation weight); (4) For the case where N is less than or equal to L, use the original positioning signals from the Nth moment to the N+Lth moment, iterate and execute steps (1), (2), and (3) at least three times to obtain the intermediate smooth positioning signals from the Nth moment to the N+Lth moment, use the intermediate smooth positioning signal at the Nth moment as the target smooth positioning signal, and store the intermediate smooth positioning signals from the N+1th moment to the N+Lth moment; For the case where N is greater than L, when obtaining the original positioning signal at the N+L+1th moment, the stored intermediate smooth positioning signal from the N+1th moment to the N+Lth moment is used to replace the original positioning signal from the N+1th moment to the N+Lth moment, and steps (1), (2), and (3) are iteratively executed based on the stored intermediate smooth positioning signal from the N+1th moment to the N+Lth moment and the original positioning signal at the N+L+1th moment.

4. The automatic following method for a baby carriage according to claim 3, characterized in that: The value of the interpolation weight is greater than or equal to 0.2 and less than or equal to 0.

8.

5. The automatic following method for a baby carriage according to claim 3, characterized in that: The positive correlation between the interpolation weight and the Euclidean distance is a nonlinear relationship, and the nonlinear relationship is: the larger the Euclidean distance is, the smaller the ratio of the interpolation weight to the Euclidean distance is.

6. The automatic following method for a baby carriage according to claim 3, characterized in that: Also includes: Calculate an interpolation adjustment coefficient according to the following strength and following distance set by the user, wherein the interpolation adjustment coefficient is positively correlated with the following strength and negatively correlated with the tracking distance; The interpolating the original positioning signal at the Mth moment and the original positioning signal at the M+1th moment according to the interpolation weight includes: Multiplying the interpolation adjustment coefficient by the interpolation weight to obtain an updated interpolation weight; The updated interpolation weights are used to interpolate the positioning signal at the Mth moment and the positioning signal at the M+1th moment.

7. The automatic following method for a baby carriage according to claim 3, characterized in that: The method of using the first positioning information as a priori estimation of a Kalman filter and using the second positioning information as an observation value of the Kalman filter to calculate the target positioning information at the current moment includes: The smoothed positioning signal at the Nth moment is used as a priori estimation of the Kalman filter, and the second positioning information at the Nth moment is used as an observation value of the Kalman filter to calculate the target positioning information at the Nth moment; Following the remote controller according to the target positioning information includes: At the N+Lth moment, the baby carriage is controlled to move according to the target positioning information at the Nth moment to follow the remote controller.

8. The automatic following method for a baby carriage according to claim 7, characterized in that: The time difference from the Nth moment to the N+Lth moment is less than or equal to 1.5 seconds.

9. The automatic following method for a baby carriage according to any one of claims 1 to 8, characterized in that: Tracking the target object according to the image signal, and calculating second positioning information of the target object and the baby carriage according to the area ratio and position of the target object in the image signal, includes: Control the camera to continuously collect image signals with the same shooting parameters; Tracking the target object according to the continuous image signals; The second positioning information of the target object and the baby carriage is calculated according to the area ratio and the position of the target object in the image signal.

10. A baby carriage, characterized in that: include: Car body; A single camera is arranged on the vehicle body; A UWB component, disposed on the vehicle body; A communication component, disposed on the vehicle body, for establishing a communication connection with the remote controller; A controller is arranged on the vehicle body, and the remote controller is respectively connected to the camera, the UWB component and the communication component. The controller is configured to execute a following program. When the following program is executed, the automatic following method for a children's vehicle as described in any one of claims 1 to 9 is implemented.

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