Robot Following Control With Adaptive Visual Field Tracking
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Solution Overview
Problem
Robots with limited visual fields struggle to continuously track target objects that deviate from their original route quickly, leading to the target object disappearing from the robot's visual field and failure in following tasks.
Innovation Solution
A following control method for robots that involves acquiring the relative pose relationship between the target object and the robot, and adjusting the visual field range in real-time based on this information and visual field parameters to ensure the target object remains within the adjusted visual field.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot uses a fixed visual field range, then the device complexity is reduced, but the robot cannot track target objects that deviate quickly from the original route
Solution Approach 1:
The patent applies the dynamics principle by making the visual field range adjustable rather than fixed. The robot dynamically changes its visual field parameters based on the relative pose relationship between itself and the target object. This allows the visual field to adapt to different tracking scenarios, resolving the contradiction between tracking capability and device complexity by using software-based parameter adjustment instead of complex mechanical adjustment mechanisms.
Solution Approach 2:
The patent directly applies parameter changes by modifying visual field parameters (such as field of view angles, center position, etc.) based on the detected relative pose relationship. Instead of physically adjusting the camera or sensor orientation, the system changes the parameter values that define the visual field range, enabling flexible adaptation to target object movements while keeping the hardware structure simple.
2Reliability
If the robot maintains a fixed visual field, then the ease of operation is improved, but the target object disappears from the visual field when moving rapidly
Solution Approach 1:
The patent implements feedback by continuously detecting the relative pose relationship between the robot and the target object, and using this information to adjust the visual field parameters in real-time. This closed-loop control ensures that the target object remains within the adjusted visual field range, maintaining continuous detection capability while using a relatively simple adjustment mechanism based on computational geometry.
Data Source
AI summary
A following control method for a robot includes: controlling the robot to follow a target object; in a process of following the target object, acquiring a relative pose relationship between the target object and the robot; and adjusting a visual field range of the robot according to the relative pose relationship and visual field parameter information of the robot, in which the target object is located in the adjusted visual field range. A relative angle with a visual field center line may be used to adjust a visual field range. An electronic device for controlling the robot is also disclosed.