Accompantor automatic following robot system

Abstract

The invention discloses an accompanying person automatic following robot system. The system comprises a robot body; the camera assembly comprises at least one front main camera used for face recognition and background comparison, and a plurality of auxiliary cameras used for road condition monitoring; the radar assembly is used for recognizing and avoiding obstacles in front; the controller is used for receiving signals from the camera assembly and the radar assembly and controlling the movement of the robot body according to preset logic; the controller, the camera assembly and the radar assembly are arranged on the robot body. According to the accompanying person automatic following robot system, an automatic following mode is realized by combining face recognition with background recognition and voice recognition; the system has the capability of independently identifying traffic lights and independently operating pick-up and drop-off personnel; and the use convenience is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots. Specifically, the present invention relates to an automatic follower robot system for companions. Background Art

[0002] Existing robot systems mainly achieve following of a target by carrying signal transceiver devices, which are inconvenient to use and lack exclusivity. The robots only recognize signals rather than specific targets.

[0003] Existing automatic following technologies require wearing signal receivers for cooperation, which are inconvenient to use, lack exclusivity, and the following robots recognize signals rather than people. Moreover, it is difficult to achieve safe following in complex environments (such as traffic light intersections), and they do not have the ability to independently pass traffic lights and pick up and drop off people. They cannot effectively liberate human labor.

[0004] There is a need to provide an automatic follower robot system for companions, especially regarding improving the convenience of use. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides an automatic follower robot system for companions, with the aim of improving the convenience of use.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is: The automatic follower robot system for companions includes:

[0007] A robot body;

[0008] A camera assembly, including at least one front main camera for face recognition and back comparison, and multiple auxiliary cameras for road condition monitoring;

[0009] A radar assembly for identifying and avoiding obstacles in front; and

[0010] A controller, which receives signals from the camera assembly and the radar assembly and controls the movement of the robot body according to a preset logic;

[0011] The controller, the camera assembly and the radar assembly are arranged on the robot body.

[0012] The automatic follower robot system for companions further includes:

[0013] A drive system, including front motor-driven wheels and rear motor-driven wheels, which are controlled by the controller to achieve forward movement, turning and obstacle avoidance actions; the front motor-driven wheels and the rear motor-driven wheels are arranged on the robot body.

[0014] The automatic follower robot system for companions further includes:

[0015] The prompting device includes an autonomous driving indicator light, driving lights, rear running lights, and rear brake lights, and is used to provide visual prompts to the outside world in different working modes.

[0016] The robot body includes a chassis and a cargo compartment. The cargo compartment is arranged on the chassis. The cargo compartment is used to carry items, and the sliding door of the cargo compartment can be opened by voice control.

[0017] The robot body further includes a companion robot neck connected to the chassis and a companion robot head connected to the companion robot neck. The front main camera is arranged on the companion robot head.

[0018] A pickup is arranged on the companion robot head and is used to receive voice commands to wake up the robot or perform specific operations.

[0019] A telescopic handle is arranged on the companion robot head, and the length of the telescopic handle is adjustable.

[0020] The upper end of the companion robot neck is rotatably connected to the companion robot head through a head rotation shaft, and the lower end of the companion robot neck is rotatably connected to the chassis through a bottom rotation shaft. The length of the companion robot neck is adjustable.

[0021] The cargo compartment is movably arranged on the chassis, and the distance between the cargo compartment and the companion robot neck is adjustable.

[0022] The radar component includes a millimeter-wave radar, and the radar component is arranged on the companion robot neck.

[0023] The auxiliary cameras include a front left camera and a front right camera arranged on the companion robot head, and a rear middle camera, a rear left camera, and a rear right camera arranged on the cargo compartment.

[0024] The companion automatic following robot system has three working modes:

[0025] Following mode: It is started by face recognition, and uses the camera component and the radar component to continuously monitor and follow a designated person while avoiding obstacles;

[0026] Passenger mode: On the basis of the following mode, the robot form is adjusted through an adjustment mechanism to adapt to personnel to ride;

[0027] Automatic pick-up mode: It is started by remote control of the mobile phone, automatically goes to a preset location to pick up and drop off personnel, and during this period, the camera component records the trip information and transmits it back to the mobile phone authorizer in real time.

[0028] In the automatic access mode, the automatic driving indicator light, driving lights, rear running lights and rear brake lights are automatically turned on.

[0029] The controller can control the advancement and stop of the robot body according to the traffic light signals recognized by the camera assembly, ensuring compliance with traffic rules.

[0030] The companion automatic following robot system of the present invention realizes the automatic following mode through a combination of face recognition, back recognition and voice recognition; and has an independent traffic light recognition method and the ability to independently operate to pick up and drop off people; the convenience of use is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a side view of the companion automatic following robot system of the present invention;

[0032] Figure 2 is a front view of the companion automatic following robot system of the present invention;

[0033] Figure 3 is a rear view of the companion automatic following robot system of the present invention;

[0034] The markings in the above figures are all: 1. Left rear camera; 2. Rear running light; 3. Rear brake light; 4. Companion robot head; 5. Telescopic handle; 6. Head rotation axis; 7. Companion robot neck; 8. Bottom rotation axis; 9. Front motor drive wheel; 10. Side automatic driving indicator light; 11. Chassis; 12. Rear motor drive wheel; 13. Front back camera; 14. Rear back camera; 15. Cargo compartment; 16. Cargo compartment sliding door; 17. Front main camera; 18. Front automatic driving indicator light; 19. Telescopic mechanism; 20. Radar assembly; 21. Middle rear camera; 22. Right rear camera; 23. Rear automatic driving indicator light; 24. Driving lights; 25. Front left camera; 26. Front right camera. DETAILED DESCRIPTION OF THE INVENTION

[0035] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings, but the present invention can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0036] It should be noted that when an element is referred to as "fixedly provided on" another element, it can be directly on the other element or there can be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower" and similar expressions used in this article are only for the purpose of illustration.

[0037] Unless otherwise defined, all technical and scientific terms used in this article have the same meaning as those commonly understood by those skilled in the technical field to which this invention belongs. The terms used in the specification of this invention are only for the purpose of describing specific embodiments and are not intended to limit this invention. The term "and / or" used in this article includes any and all combinations of one or more of the related listed items.

[0038] As Figures 1 to 3 shown, an embodiment of the present invention provides a companion automatic following robot system, including:

[0039] A robot body;

[0040] A camera assembly, including at least one front main camera 17 for face recognition and back comparison, and multiple auxiliary cameras for road condition monitoring;

[0041] A radar assembly 20 for identifying and avoiding obstacles in front; and

[0042] A controller, which receives signals from the camera assembly and the radar assembly 20 and controls the movement of the robot body according to a preset logic;

[0043] The controller is connected to the camera assembly and the radar assembly 20, and the controller, the camera assembly and the radar assembly 20 are arranged on the robot body.

[0044] Specifically, as Figures 1 to 3 shown, the companion automatic following robot system of the embodiment of the present invention further includes:

[0045] A drive system, including a front motor drive wheel 9 and a rear motor drive wheel 12, which are controlled by the controller to achieve forward movement, steering and obstacle avoidance actions; the front motor drive wheel 9 and the rear motor drive wheel 12 are arranged on the robot body, the front motor drive wheel 9 and the rear motor drive wheel 12 are connected to the controller, and the front motor drive wheel 9 and the rear motor drive wheel 12 generate a driving force for driving the robot body to travel.

[0046] As Figures 1 to 3 shown, the companion automatic following robot system of the embodiment of the present invention further includes:

[0047] The prompting device includes an automatic driving prompting lamp, a driving lamp 24, a rear running lamp 2, and a rear brake lamp 3, which are used to provide visual prompts to the outside world in different working modes. A plurality of automatic driving prompting lamps are provided, and all the automatic driving prompting lamps are fully lit in the automatic access mode to prompt surrounding vehicles and personnel that the robot is in the automatic driving state. At the same time, the road conditions during driving are recorded through the camera assembly and are transmitted back to the authorized mobile phone in real time. The driving lamp 24 and the rear running lamp 2 are automatically activated by the camera light sensing device at night to ensure the safety and visibility of night driving. The camera light sensing device is integrated on the camera assembly. The rear brake lamp 3 is automatically activated according to the slope and speed when going downhill to prompt the following vehicles and personnel that the robot is decelerating.

[0048] In the embodiment of the present invention, in the following mode, after the front main camera 17 confirms the identity of the follower through face recognition, it records the back features of the follower, including the clothes color, height, and gait information, to ensure that a specific person is locked during the following process and avoid following the wrong person or losing track. In the following mode, the radar assembly 20 rotates and scans the obstacles in front, calculates their width and position information, and transmits the information to the controller. The controller controls the front motor drive wheels 9 and the rear motor drive wheels 12 to work according to the preset algorithm to achieve the obstacle avoidance operation of the robot system. Two front motor drive wheels 9 and two rear motor drive wheels 12 are provided. When the robot system needs to turn, the turning is achieved by controlling the speed difference between the left and right front motor drive wheels 9 and the rear motor drive wheels 12. For example, when the left wheel decelerates or stops and the right wheel maintains the speed, the robot will turn left; vice versa. Each drive wheel is controlled by an independent motor, and the controller adjusts the speed of the left and right drive wheels according to the turning requirement. The front road conditions and path information are identified through the front main camera 17 and the auxiliary camera, and the turning requirement (such as avoiding obstacles or following the path) is judged by combining the image processing algorithm. The radar assembly 20 detects the position and distance of the obstacles, and the controller calculates the turning angle according to the data of the radar assembly 20. In the manned mode, the user can manually control the turning through the telescopic handle 5.

[0049] In the following mode and the manned mode, the motion states of the front motor drive wheels 9 and the rear motor drive wheels 12 are adjusted in real time through the controller to ensure the stability and safety of the robot system under complex road conditions. The robot system supports remote control of the mobile phone to start the automatic access mode, and face recognition confirmation is performed through the front main camera 17 after picking up and dropping off personnel to ensure the correctness of the picked-up and dropped-off personnel.

[0050] Such as Figures 1 to 3As shown, in the embodiment of the present invention, the robot body includes a chassis 11 and a cargo compartment 15. The cargo compartment 15 is arranged on the chassis 11. The cargo compartment 15 is used for carrying items, and the cargo compartment door 16 can be opened by voice control. The controller, the front motor drive wheel 9, and the rear motor drive wheel 12 are arranged on the chassis 11, and the chassis 11 can be used to carry the user.

[0051] As Figures 1 to 3 shown, in the embodiment of the present invention, the robot body further includes a companion robot neck 7 connected to the chassis 11 and a companion robot head 4 connected to the companion robot neck 7. The front main camera 17 is arranged on the companion robot head 4.

[0052] As Figures 1 to 3 shown, in the embodiment of the present invention, a pickup is arranged on the companion robot head 4. The pickup is used to receive voice commands to wake up the robot or perform specific operations, and the pickup is connected to the controller.

[0053] As Figures 1 to 3 shown, in the embodiment of the present invention, a telescopic handle 5 is arranged on the companion robot head 4. The length of the telescopic handle 5 is adjustable, and the telescopic handle 5 is used for the user to hold by hand.

[0054] As Figures 1 to 3 shown, in the embodiment of the present invention, the upper end of the companion robot neck 7 is rotatably connected to the companion robot head 4 through a head rotation shaft 6, and the lower end of the companion robot neck 7 is rotatably connected to the chassis 11 through a bottom rotation shaft 8. The axis of the head rotation shaft 6 is parallel to the axis of the bottom rotation shaft 8. The length of the companion robot neck 7 is adjustable. A telescopic mechanism 19 is arranged on the companion robot neck 7. By controlling the expansion and contraction of the telescopic mechanism 19, the adjustment of the length of the companion robot neck 7 is realized, and further the adjustment of the height position of the companion robot head 4 can be realized. By rotating the companion robot neck 7, the adjustment of the angle between the companion robot neck 7 and the chassis 11 can be realized, and the adjustment of the height position of the companion robot head 4 can also be realized.

[0055] As Figures 1 to 3As shown, in the embodiment of the present invention, the cargo compartment 15 is movably arranged on the chassis 11, and the distance between the cargo compartment 15 and the accompanying robot neck 7 is adjustable. The cargo compartment 15 is designed with a space for the user to place and take out items, and a cargo compartment sliding door 16 is arranged on the cargo compartment 15. The cargo compartment sliding door 16 can be opened or closed by voice commands. In the manned mode, by controlling the cargo compartment 15 to move backward a certain distance (i.e., the cargo compartment 15 moves in a direction away from the accompanying robot neck 7), for example, the cargo compartment 15 moves backward 25 cm, so that the distance between the cargo compartment 15 and the accompanying robot neck 7 increases, and a larger space is formed between the cargo compartment 15 and the accompanying robot neck 7, so that the user can step on the chassis 11. The user is located between the cargo compartment 15 and the accompanying robot neck 7. At the same time, by adjusting the height of the accompanying robot head 4, it can adapt to users of different heights.

[0056] In the embodiment of the present invention, the radar assembly 20 includes a millimeter-wave radar, and the radar assembly 20 is arranged on the accompanying robot neck 7.

[0057] As Figures 1 to 3 shown, in the embodiment of the present invention, the auxiliary cameras include a front left camera 25 and a front right camera 26 arranged on the accompanying robot head 4, as well as a rear middle camera 21, a rear left camera 1 and a rear right camera 22 arranged on the cargo compartment 15. The front main camera 17 is located at the middle position between the front left camera 25 and the front right camera 26. The rear middle camera 21, the rear left camera 1 and the rear right camera 22 are arranged at one end of the cargo compartment 15 away from the accompanying robot neck 7. This end is the tail of the cargo compartment 15. The head of the cargo compartment 15 is close to the accompanying robot neck 7. The rear middle camera 21 is located at the middle position between the rear left camera 1 and the rear right camera 22.

[0058] As Figures 1 to 3 shown, in the embodiment of the present invention, the auxiliary cameras further include a back front camera 13 and a back rear camera 14. The back front camera 13 and the back rear camera 14 are located on the opposite side parts in the width direction of the cargo compartment 15. The width direction of the cargo compartment 15 is parallel to the axes of the front motor drive wheels 9 and the rear motor drive wheels 12. The two front motor drive wheels 9 and the two rear motor drive wheels 12 are coaxially arranged respectively. The back front camera 13 and the back rear camera 14 are arranged in sequence along the length direction of the cargo compartment 15. The back front camera 13 is close to the head of the cargo compartment 15, and the back rear camera 14 is close to the tail of the cargo compartment 15.

[0059] In the embodiments of the present invention, the robot is equipped with multiple auxiliary cameras, including a front left camera 25, a front right camera 26, a rear middle camera 21, a rear left camera 1, a rear right camera 22, a front back camera 13, and a rear back camera 14. These cameras are distributed on the front, rear, and sides of the robot, forming an omni-directional field of view coverage. It can achieve non-blind-spot monitoring: through the layout of multiple cameras, the robot can monitor the surrounding environment in real time, avoid visual blind spots, and significantly improve the environmental perception ability. It can achieve precise positioning and tracking: in the following mode, the front cameras can lock on to the target person, and the rear cameras can monitor the road conditions behind to ensure that the robot does not lose the target or collide with the obstacles behind. It has strong adaptability to complex environments: in crowded or complex environments, multiple cameras work together to provide more comprehensive environmental information, enhancing the robot's obstacle avoidance and path planning capabilities. The camera layout adopts a redundant design. For example, the front left camera 25, the front right camera 26, and the front main camera 17 jointly cover the front area, and the rear middle camera 21, the rear left camera 1, and the rear right camera 22 jointly cover the rear area. It has strong fault tolerance: if a certain camera fails to work properly due to a fault or occlusion, other cameras can supplement its functions to ensure the continuous operation of the system. Moreover, the setting of the back camera can monitor the obstacles on the side of the robot in real time to avoid collisions in narrow passages or crowded environments. By combining the camera data of the front, rear, and sides, the robot can plan the path more accurately, dynamically adjust the driving direction, and adapt to complex road conditions. Through the collaborative work of multiple cameras, the position and movement trajectory of the target person can be identified more accurately to avoid following the wrong person or losing track. When the target person moves quickly or turns, the robot can quickly adjust the following direction, maintain a stable tracking state, and enhance the dynamic tracking ability. The layout of the cameras makes full use of the structural space of the robot, avoids additional volume occupation, and takes into account both aesthetics and practicality.

[0060] As Figures 1 to 3 shown, in the embodiments of the present invention, the autonomous driving warning lights include a side autonomous driving warning light 10, an autonomous driving front warning light 18, and an autonomous driving rear warning light 23. The autonomous driving front warning light 18 is arranged on the robot head 4, and the autonomous driving rear warning light 23 is arranged at the rear of the cargo box 15. The side autonomous driving warning light 10 is arranged on the chassis 11 and below the cargo box 15.

[0061] In the embodiments of the present invention, the companion automatic following robot system has three working modes:

[0062] Following mode: activated by face recognition, continuously monitors and follows a designated person using the camera assembly and the radar assembly 20 while avoiding obstacles;

[0063] Manned mode: Based on the following mode, the robot form is adjusted through an adjustment mechanism to adapt to personnel riding.

[0064] Automatic pick-up mode: It is started by remote control through a mobile phone, automatically goes to a preset location to pick up and drop off personnel, and during this period, the camera component records the travel information and transmits it back to the mobile phone authorizer in real time.

[0065] In the embodiment of the present invention, in the automatic pick-up mode, the automatic driving warning light, driving lights 24, rear running lights 2 and rear brake lights 3 are automatically lit.

[0066] In the embodiment of the present invention, the controller can control the advancement and stop of the robot body according to the traffic light signals recognized by the camera component, ensuring compliance with traffic rules.

[0067] In the embodiment of the present invention, the companion automatic following robot system further includes a storage unit for storing and processing data, which is used to record and save all relevant data during the operation of the robot.

[0068] In the embodiment of the present invention, a face recognition module is integrated in the front main camera 17, and the face recognition module is used for user identity verification before starting the following mode.

[0069] In the embodiment of the present invention, an obstacle avoidance logic module is integrated in the controller. The obstacle avoidance logic module calculates the obstacle avoidance path according to the obstacle information detected by the radar component 20 and controls the drive system to execute.

[0070] When the companion automatic following robot system works in the following mode, it wakes up the machine through the pick-up microphone on the robot head 4, confirms the information of the follower through the front main camera 17. After completing face recognition, the person can turn around and move forward. At the same time, the front main camera 17 records pictures of the person's back to ensure that the back clothes color, back height, and walking form are consistent during this working cycle, and then starts following. During the following process, the front main camera 17, the front left camera 25, the front right camera 26, and the radar component 20 synchronously identify the road surface ahead, and the signals are transmitted to the controller, which sends a forward signal to the front motor drive wheel 9 and the rear motor drive wheel 12 for driving work. When an obstacle is encountered in the forward direction, the radar component 20 rotates left and right angles to judge the width of the obstacle, and transmits the width and position information to the controller. According to the preset control logic, it is transmitted to the front motor drive wheel 9 and the rear motor drive wheel 12 to drive the wheels to rotate synchronously, so as to continue following forward after avoiding the obstacle. After picking up the person, when an item needs to be placed, the load compartment door 16 is opened by voice control. The item is loaded into it, and after covering it, it can continue to follow forward.

[0071] When the companion automatic following robot system works in the manned mode, after confirming through the front main camera 17, the manned mode is started. At this time, the cargo compartment 15 moves backward 25 cm on the controller's track, facilitating personnel to step on the chassis 11. At the same time, the height position of the robot head 4 can be adjusted by adjusting the head rotation shaft 6 and the bottom rotation shaft 8 according to the height of the personnel. Meanwhile, the telescopic handle 5 extends backward, facilitating the personnel on the cargo compartment 15 to drive and hold. At the same time, if there is a crowded situation of road personnel, the height of the robot head 4 can be increased through the telescopic neck in the robot neck 7, increasing the visible range and field of view of the camera. When the vehicle goes downhill, deceleration control will be carried out in combination with the slope and speed, and the rear vehicle and personnel will be reminded through the tail brake light 3 that the robot has decelerated.

[0072] When the companion automatic following robot system works in the automatic pick-up mode, the automatic pick-up mode is started through mobile phone remote control. After starting, the automatic driving rear warning light 23, the automatic driving front warning light 18, and the side automatic driving warning light 10 are all lit, reminding the road personnel and vehicles that it is in the automatic driving state at this time. After picking up the personnel, the correctness of picking up and dropping off the personnel is confirmed through the front main camera 17. After confirming without error, the manned mode is launched. At the same time, all of the front left camera 25, the front right camera 26, the front main camera 17, the middle rear camera 21, and the right rear camera 22 are started to record, ensuring that any information on the return journey is saved in a recorded manner and transmitted back to the mobile phone authorizer in real time.

[0073] Embodiment

[0074] When the companion automatic following robot system is used to pick up and drop off children to and from school, it mainly uses camera recognition and millimeter-wave radar to achieve personnel recognition and intelligent obstacle avoidance. Through the controller, it can achieve the ability to intelligently recognize traffic lights and independently pick up and drop off children to and from school, liberating parents from the pick-up and drop-off work.

[0075] Through camera for face recognition, after unlocking the robot system, the following work is started. During the following process, the portrait and the back are compared through the camera to lock on to a specific person, avoiding following the wrong person or losing track. The radar component 20 is used to identify and avoid obstacles. And the traffic lights are recognized through the camera component, and students are independently picked up and dropped off to and from school in combination with the route.

[0076] When the front road conditions are recognized and followed through the camera component and the radar component 20. During following, it mainly liberates the hands of personnel and carries heavy objects on behalf. In the independent pick-up mode, it mainly has the ability to independently pick up and drop off children to and from school.

[0077] This can free the hands of parents, especially the elderly, who pick up and drop off children, allowing them to hand over the heavy schoolbags to the accompanying robot. When picking up a child alone, it can free the parent and enable the accompanying robot to independently complete the task of picking up and dropping off children to and from school.

[0078] The present invention has been described exemplarily above in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above-mentioned manner. As long as various non-substantive improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. The companion automatically follows the robot system, characterized in that: include: Robot body; A camera assembly, including at least one front main camera for face recognition and back comparison, and multiple auxiliary cameras for road condition monitoring; Radar component, used for identifying and avoiding obstacles ahead; as well as A controller receives signals from the camera assembly and the radar assembly and controls the movement of the robot body according to a preset logic; The controller, camera assembly and radar assembly are arranged on the robot body.

2. The companion automatic following robot system according to claim 1, characterized in that: Also includes: The driving system includes a front motor driving wheel and a rear motor driving wheel, which are controlled by the controller to achieve forward movement, steering and obstacle avoidance; the front motor driving wheel and the rear motor driving wheel are arranged on the robot body.

3. The companion automatic following robot system according to claim 1, characterized in that: Also includes: The warning device includes an automatic driving warning light, a driving light, a tail running light and a tail brake light, which are used to provide visual prompts to the outside world in different working modes.

4. The companion automatic following robot system according to any one of claims 1 to 3, characterized in that: The robot body comprises a chassis and a cargo compartment, wherein the cargo compartment is arranged on the chassis, the cargo compartment is used to carry articles, and a sliding door of the cargo compartment can be opened by voice control.

5. The companion automatic following robot system according to claim 4, characterized in that: The robot body further includes a companion robot neck connected to the chassis and a companion robot head connected to the companion robot neck, and the front main camera is arranged on the companion robot head.

6. The companion automatic following robot system according to claim 5, characterized in that: The robot head is provided with a microphone for receiving voice commands to wake up the robot or perform specific operations.

7. The companion automatic following robot system according to claim 5, characterized in that: The robot head is provided with a telescopic handle, and the length of the telescopic handle is adjustable.

8. The companion automatic following robot system according to claim 5, characterized in that: The upper end of the robot neck is rotationally connected to the robot head via a head rotation axis, and the lower end of the robot neck is rotationally connected to the chassis via a bottom rotation axis, and the length of the robot neck is adjustable.

9. The companion automatic following robot system according to claim 5, characterized in that: The cargo compartment is movably arranged on the chassis, and the distance between the cargo compartment and the neck of the accompanying robot is adjustable.

10. The companion automatic following robot system according to any one of claims 5 to 9, characterized in that: The radar component includes a millimeter wave radar, and the radar component is arranged on the neck of the accompanying robot.

11. The companion automatic following robot system according to any one of claims 5 to 9, characterized in that: The auxiliary cameras include a front left camera and a front right camera arranged on the head of the accompanying robot, and a rear middle camera, a rear left camera and a rear right camera arranged on the cargo compartment.

12. The companion automatic following robot system according to any one of claims 1 to 9, characterized in that: The companion automatic following robot system has three working modes: Following mode: activated by face recognition, the camera component and the radar component are used to continuously monitor and follow a designated person while avoiding obstacles; Manned mode: Based on the follower mode, the robot shape is adjusted through the adjustment mechanism to adapt to the person riding; Automatic pick-up mode: started by remote control via mobile phone, automatically goes to the preset location to pick up people. During this period, the camera component records the travel information and transmits it back to the mobile phone authorizer in real time.

13. The companion automatic following robot system according to claim 12, characterized in that: In automatic pick-up mode, the automatic driving warning light, driving lights, tail running lights and tail brake lights will light up automatically.

14. The companion automatic following robot system according to claim 12, characterized in that: The controller can control the movement and stopping of the robot body according to the traffic light signals recognized by the camera assembly to ensure compliance with traffic regulations.

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