CN108646736A

CN108646736A - Method for tracking target and device for tracking robot

Info

Publication number: CN108646736A
Application number: CN201810411401.4A
Authority: CN
Inventors: 吴迪; 哈融厚; 郑杰; 贾士伟
Original assignee: Beijing Jingdong Century Trading Co Ltd; Beijing Jingdong Shangke Information Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2018-05-02
Filing date: 2018-05-02
Publication date: 2018-10-12

Abstract

The embodiment of the present application discloses the method for tracking target and device for tracking robot.One specific implementation mode of this method includes：It receives to target into the instruction of line trace；In conjunction with ultra wide band UWB location technologies, image recognition location technology, bluetooth location technology, the location information of the location information and tracking robot of target is determined；The location information of location information and tracking robot based on target, generates trace；It walks along trace, to target into line trace.The embodiment realizes tracking robot to target from motion tracking.

Description

Method for tracking target and device for tracking robot

Technical field

The invention relates to field of computer technology, and in particular to for track robot method for tracking target and Device.

Background technology

Artificial intelligence (Artificial Intelligence), english abbreviation AI.It is research, develop for simulating, Extend and extend intelligent theory, the new technological sciences of method, technology and application system of people.Artificial intelligence is to calculate One branch of machine science, it attempts to understand essence of intelligence, and produce it is a kind of it is new can be in such a way that human intelligence be similar The intelligence machine made a response, the research in the field include robot, language identification, image recognition, natural language processing and specially Family's system etc..

With the development of artificial intelligence technology, more and more robots are applied in various scenes, to help people Reach more intelligent, easily adventure in daily life.In many cases, people need it is a kind of being capable of automatically walk, tracking user Robot helps them in such as travelling, carries article in shopping process, to substitute the physical labor that people complete to carry article It is dynamic.

Invention content

The embodiment of the present application proposes the method for tracking target and device for tracking robot.

In a first aspect, the embodiment of the present application provides a kind of method for tracking target for tracking robot, this method packet It includes：It receives to target into the instruction of line trace；Skill is positioned in conjunction with ultra wide band UWB location technologies, image recognition location technology, bluetooth Art determines the location information of the location information and tracking robot of target；Location information and tracking robot based on target Location information generates trace；It walks along trace, to target into line trace.

In some embodiments, ultra wide band UWB location technologies, image recognition location technology, bluetooth location technology are being combined, Before determining the location information of target and the location information of tracking robot, further include：Execute following tracking step：Obtain tracking The camera installed in robot works as the first image of previous dynasty preset direction shooting, determines and whether there is target in the first image, If there are target, to target into line trace；Target is not present in the first image in response to determining, continues to execute tracking step.

In some embodiments, in conjunction with ultra wide band UWB location technologies, image recognition location technology, bluetooth location technology, really The location information of the location information and tracking robot that set the goal, including：Execute following obtaining step：The UWB for obtaining target is fixed The UWB location informations of position information and tracking robot, the UWB positioning letters of UWB location informations and tracking robot based on target Breath calculates the distance between target and tracking robot, and it is default to determine whether the distance between target and tracking robot are more than Distance threshold will track machine if more than pre-determined distance threshold value using the UWB location informations of target as the location information of target Location information of the UWB location informations of people as tracking robot.

In some embodiments, in conjunction with ultra wide band UWB location technologies, image recognition location technology, bluetooth location technology, really The location information to set the goal and the location information for tracking robot further include：In response to determining between target and tracking robot Distance be not more than pre-determined distance threshold value, obtain camera current shooting the second image, determine and whether there is in the second image If target obtains the location information of the target in the second image there are target, and the location information of the target in the second image is made For the location information of target, the UWB location informations of robot will be tracked as the location information of tracking robot.

In some embodiments, in conjunction with ultra wide band UWB location technologies, image recognition location technology, bluetooth location technology, really The location information to set the goal and the location information for tracking robot further include：Target is not present in the second image in response to determining, Direction of the target relative to tracking robot is obtained, the direction based on target relative to tracking robot, rotation is extremely towards target Direction, continue to execute obtaining step.

In some embodiments, the location information of the location information based on target and tracking robot, generates trace, Including：Indicated by location information using point and tracking robot indicated by the location information of straight line or curve linking objective Point generates line tracking route or curve trace.

In some embodiments, trace is line tracking route, and along trace walk, to target carry out with Track, including：It rotates to target-bound direction；It is directly walked forward along line tracking route indicated by the location information to target Point.

In some embodiments, trace is curve trace, and along trace walk, to target carry out with Track, including：It is rotated in walking along curve trace, until running to the point indicated by the location information of target.

In some embodiments, the UWB location informations of target and the UWB location informations of tracking robot are UWB positioning clothes Business device generates as follows：The UWB signal transmitting terminal that at least three UWB signal receiving terminals are carried from target is obtained to receive To the time of UWB signal；UWB letters are received based on the UWB signal transmitting terminal that at least three UWB signal receiving terminals are carried from target Number time, determine the UWB location informations of target；Obtain the UWB that at least three UWB signal receiving terminals are carried from tracking robot Signal transmitting terminal receives the time of UWB signal；The UWB carried from tracking robot based at least three UWB signal receiving terminals Signal transmitting terminal receives the time of UWB signal, determines the UWB location informations of tracking robot.

In some embodiments, the UWB location informations of target and the UWB location informations of tracking robot are UWB positioning clothes Business device generates as follows：The UWB signal receiving terminal that target carries is obtained to receive from least three UWB signal transmitting terminals To the time of UWB signal；Based on the UWB signal receiving terminal that target carries UWB letters are received from least three UWB signal transmitting terminals Number time, determine the UWB location informations of target；UWB signal receiving terminal that tracking robot carries is obtained from least three UWB Signal transmitting terminal receives the time of UWB signal；The UWB signal receiving terminal carried based on tracking robot is from least three UWB Signal transmitting terminal receives the time of UWB signal, determines the UWB location informations of tracking robot.

In some embodiments, target is to track the bluetooth positioning installed in robot relative to the direction of tracking robot What equipment generated as follows：Obtain what at least three Bluetooth signal receiving terminals in bluetooth positioning device were carried from target Bluetooth signal transmitting terminal receives the time of Bluetooth signal；The bluetooth carried from target based at least three Bluetooth signal receiving terminals Signal transmitting terminal receives the time of Bluetooth signal, determines direction of the target relative to tracking robot.

In some embodiments, this method further includes：In response to receiving the instruction terminated to target into line trace, stop Walking.

Second aspect, the embodiment of the present application provide a kind of target tracker for tracking robot, the device packet It includes：Receiving unit is configured to receive the instruction into line trace to target；Determination unit is configured to combine ultra wide band UWB fixed Position technology, image recognition location technology, bluetooth location technology determine the location information of target and the position letter of tracking robot Breath；Generation unit is configured to the location information of location information and tracking robot based on target, generates trace；With Track unit is configured to walk along trace, to target into line trace.

In some embodiments, tracking cell is also configured to execute following tracking step：It obtains and pacifies in tracking robot The camera of dress works as the first image of previous dynasty preset direction shooting, determines and whether there is target in the first image, if there are target, To target into line trace；Target is not present in the first image in response to determining, continues to execute tracking step.

In some embodiments, determination unit, including：Determination subelement is configured to carry out following obtaining step：It obtains The UWB location informations of the UWB location informations and tracking robot of target, the UWB location informations based on target and tracking robot UWB location informations, calculate target and tracking the distance between robot, determine that target is with the distance between robot is tracked It is no to be more than pre-determined distance threshold value, if more than pre-determined distance threshold value, using the UWB location informations of target as the location information of target, The UWB location informations of robot will be tracked as the location information of tracking robot.

In some embodiments, determination subelement is also configured to：In response to determining between target and tracking robot Distance is not more than pre-determined distance threshold value, obtains the second image of camera current shooting, determines and whether there is mesh in the second image Mark, if there are target, obtain the second image in target location information, using the location information of the target in the second image as The location information of target will track the UWB location informations of robot as the location information of tracking robot.

In some embodiments, determination unit further includes：Subelement is executed, is configured in response to determining in the second image There is no targets, obtain direction of the target relative to tracking robot, the direction based on target relative to tracking robot, rotation To target-bound direction, obtaining step is continued to execute.

In some embodiments, generation unit is further configured to：Believed using the position of straight line or curve linking objective Point indicated by the location information of the indicated point of breath and tracking robot, generates line tracking route or curve trace.

In some embodiments, trace is that line tracking route and tracking cell are further configured to：Rotation To target-bound direction；Directly walk the point indicated by the location information to target forward along line tracking route.

In some embodiments, trace is that curve trace and tracking cell are further configured to：Along bent Line trace is rotated in walking, until running to the point indicated by the location information of target.

In some embodiments, which further includes：Control unit, be configured in response to receive terminate to target into The instruction of line trace stops walking.

The third aspect, the embodiment of the present application provide a kind of tracking robot, which includes：It is one or more Processor；Storage device, for storing one or more programs；When one or more programs are held by one or more processors Row so that one or more processors realize the method as described in any realization method in first aspect.

Fourth aspect, the embodiment of the present application provide a kind of computer-readable medium, are stored thereon with computer program, should The method as described in any realization method in first aspect is realized when computer program is executed by processor.

It is provided by the embodiments of the present application for tracking the method for tracking target and device of robot, receive to target into In the case of the instruction of line trace, in conjunction with UWB location technologies, image recognition location technology, bluetooth location technology, target is determined The location information of location information and tracking robot；It is then based on the location information of the location information and tracking robot of target, Generate trace；It finally walks along trace, to target into line trace.To realize tracking robot to target from Motion tracking.

Description of the drawings

By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other Feature, objects and advantages will become more apparent upon：

Fig. 1 is that this application can be applied to exemplary system architecture figures therein；

Fig. 2 is the flow chart according to one embodiment of the method for tracking target for tracking robot of the application；

Fig. 3 is the flow chart according to another embodiment of the method for tracking target for tracking robot of the application；

Fig. 4 is one embodiment of the method for the UWB location informations for generating target and the UWB location informations of tracking robot Flow chart；

Fig. 5 is another implementation of the method for the UWB location informations for generating target and the UWB location informations of tracking robot The flow chart of example；

Fig. 6 is the flow chart for generating target relative to one embodiment of the method in the direction of tracking robot；

Fig. 7 is the structural representation according to one embodiment of the target tracker for tracking robot of the application Figure；

Fig. 8 is adapted for the structural schematic diagram of the computer system of the tracking robot for realizing the embodiment of the present application.

Specific implementation mode

The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to Convenient for description, is illustrated only in attached drawing and invent relevant part with related.

It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

Fig. 1 is shown can be using the application for tracking the method for tracking target of robot or for tracking robot Target tracker embodiment exemplary system architecture 100.

As shown in Figure 1, system architecture 100 may include target 101, terminal device 103, tracking robot 104 and network 106.Network 106 to terminal device 103 and tracking robot 104 between provide communication link medium.Network 106 can be with Including various connection types, such as wired, wireless communication link or fiber optic cables etc..

Target 101 can be any transportable object, including but not limited to people, animal, vehicle etc..Optionally, Target 101 can carry positioning device 102, including but not limited to bracelet, necklace, label code etc..Positioning device 102 can be set It is equipped with UWB (Ultra Wideband, ultra wide band) signal transmitting terminals or receiving terminal 1021, Bluetooth signal transmitting terminal 1022 etc..Its In, UWB signal transmitting terminal or receiving terminal 1021 can be UWB labels, and Bluetooth signal transmitting terminal 1022 can be Bluetooth label.

Terminal device 103 can be hardware, can also be software.Can be various electricity when terminal device 103 is hardware Sub- equipment, including but not limited to smart mobile phone, tablet computer, pocket computer on knee and desktop computer etc..Work as terminal When equipment 103 is software, it may be mounted in above-mentioned cited electronic equipment.Multiple softwares or software mould may be implemented into it Block (such as providing Distributed Services), can also be implemented as single software or software module.It is not specifically limited herein.

Tracking robot 104 may include the robot controller 1044 for controlling tracking robot.Optionally, it tracks Camera 1041, UWB signal transmitting terminal or receiving terminal 1042, Bluetooth signal receiving terminal are also equipped in robot 104 1043 etc..In general, camera 1041 can be binocular camera, UWB signal transmitting terminal or receiving terminal 1042 can be UWB marks Label.

Tracking robot 104 can provide various services, such as tracking robot 104 can receive terminal device 103 send to target 101 into line trace instruction when, in conjunction with UWB location technologies, image recognition location technology, bluetooth positioning Technology determines the location information of the location information and tracking robot 104 of target 101, the location information to target 101 and tracking The location information of robot 104 analyze etc. processing, and based on handling result (such as trace) to target 101 carry out with Track.Optionally, tracking robot 104 can by network 106 from location-server 105 obtain target 101 location information and Track the location information of robot 104.

It should be noted that the embodiment of the present application provided for track the method for tracking target of robot generally by with Track robot 104 executes, and correspondingly, the target tracker for tracking robot is generally positioned in tracking robot 104.

It should be understood that the target, positioning device, terminal device, tracking robot, location-server in Fig. 1 and network, with And the UWB signal transmitting terminal included by positioning device or receiving terminal, Bluetooth signal transmitting terminal, and included by tracking robot Camera, UWB signal transmitting terminal or receiving terminal, Bluetooth signal receiving terminal, the number of robot controller are only schematical. According to realize needs, can have any number of target, positioning device, terminal device, tracking robot, location-server and UWB signal transmitting terminal or receiving terminal, Bluetooth signal transmitting terminal included by network and positioning device, and tracking robot Included camera, UWB signal transmitting terminal or receiving terminal, Bluetooth signal receiving terminal, robot controller.

With continued reference to Fig. 2, it illustrates a realities according to the method for tracking target for tracking robot of the application Apply the flow 200 of example.This is used to track the method for tracking target of robot, includes the following steps：

Step 201, it receives to target into the instruction of line trace.

In the present embodiment, for track robot method for tracking target run thereon tracking robot (such as Tracking robot 104 shown in FIG. 1) it can be received from terminal device (such as terminal device 103 shown in FIG. 1) to target (example Target 101 as shown in Figure 1) into the instruction of line trace.In general, to target into may include for unique in the instruction of line trace Identify that the mark of target, tracking robot can identify target according to the mark of target.

In practice, target can be any transportable object, including but not limited to people, animal, vehicle etc..In mesh In the case that mark is people, target or other have permission operating terminal equipment people can by terminal device to tracking robot It sends and is had permission by operating terminal and is set in the case where target is the non-human objects such as animal, vehicle into the instruction of line trace for target Standby people can send the instruction to target into line trace by terminal device to tracking machine human hair.

Step 202, in conjunction with ultra wide band UWB location technologies, image recognition location technology, bluetooth location technology, target is determined Location information and tracking robot location information.

In the present embodiment, receive to target into line trace instruction in the case of, tracking robot can combine UWB location technologies, image recognition location technology, bluetooth location technology determine the position of the location information and tracking robot of target Confidence ceases.Here, the location information of target can be coordinate of the target in preset coordinate system, track the location information of robot It can be the coordinate for tracking robot in preset coordinate system.Here, preset coordinate system can be with ground be xOy planes, with Any point on ground is origin, using the arbitrary directed line by origin as x-axis (horizontal axis), counterclockwise along origin with x-axis It is rotated by 90 ° the rectangular coordinate system that obtained directed line pre-establishes for y-axis (longitudinal axis).For example, preset coordinate system can be with Using ground be xOy planes, using track position that robot is currently located as origin, to track the direction of the current institute's direction of robot For the direction of x-axis, the direction that is rotated by 90 ° counterclockwise using x-axis preset coordinate system is established as the direction of y-axis.

In the present embodiment, tracking robot can use UWB location technologies, image recognition location technology, bluetooth to position At least one of technology location technology determines the location information of target：

As an example, camera (such as camera 1041 shown in FIG. 1) can be equipped with by tracking in robot.It is logical Often, it can be binocular camera to track the camera installed in robot.Here, tracking robot can utilize binocular camera shooting The image of head photographic subjects, and the image of captured target is analyzed, so that it is determined that the location information of target.

In practice, binocular camera generally use following steps determine the location information of target：

1, binocular camera is demarcated：Determine the relative position between the inner parameter of each camera and two cameras；

2, binocular corrects：It is right respectively according to the relative position between the inner parameter of each camera and two cameras Left and right view carries out eliminating distortion and row alignment；

3, binocular ranging：Same Scene, corresponding Pixel matching gets up on the view of left and right, obtains disparity map；

4, depth information calculates：According to similar triangle theory, the depth information (location information) of target is calculated.

As another example, target can carry positioning device (such as positioning device 102 shown in FIG. 1), including but It is not limited to bracelet, necklace, label code etc..Positioning device can be provided with UWB signal transmitting terminal or receiving terminal (such as Fig. 1 institutes The UWB signal transmitting terminal or receiving terminal 1021 shown), Bluetooth signal transmitting terminal (such as Bluetooth signal transmitting terminal 1022) etc..For example, UWB signal transmitting terminal or receiving terminal can be UWB labels, and Bluetooth signal transmitting terminal can be Bluetooth label.

For example, target and tracking robot where space in can also be arranged at least three UWB signal receiving terminals or Transmitting terminal, the UWB signal transmitting terminal that target carries can emit UWB signal (non-sinusoidal waveform at least three UWB signal receiving terminals Burst pulse) or target carry UWB signal receiving terminal can receive at least three UWB signal transmitting terminals transmitting UWB signal, UWB location-servers can position target according to the time for receiving UWB signal, to obtain the position letter of target Breath.

In another example Bluetooth signal receiving terminal (such as Bluetooth signal receiving terminal 1043) can be equipped in tracking robot. At least three Bluetooth signal receiving terminals that the Bluetooth signal transmitting terminal that target carries can be installed in tracking robot emit blue Tooth signal (radio wave), tracking robot can position target according to the time for receiving Bluetooth signal, to To the location information of target.

It should be noted that tracking robot can also obtain the UWB location informations of target, the image recognition of target simultaneously At least two location informations in location information, the bluetooth location information of target, in conjunction at least two acquired location informations, To determine the location information of target.

In the present embodiment, tracking robot can use at least one of GPS positioning technology, UWB location technologies fixed Position technology determines the location information of tracking robot：

As an example, GPS (Global Positioning System, the whole world can be equipped with by tracking in robot Positioning system).Tracking robot can be positioned using GPS.

As another example, UWB signal transmitting terminal or receiving terminal (such as Fig. 1 institutes can also be installed by tracking in robot The UWB signal transmitting terminal or receiving terminal 1042 shown).Equally, tracking the UWB signal transmitting terminal installed in robot can be at least Three UWB signal receiving terminals, which emit the UWB signal receiving terminal installed in UWB signal, or tracking robot, can receive at least three The UWB signal of a UWB signal transmitting terminal transmitting, UWB location-servers can be according to the times for receiving UWB signal, to tracking Robot is positioned, to obtain the location information of tracking robot.

It should be noted that tracking robot can also obtain the GPS positioning information and tracing machine of tracking robot simultaneously The UWB location informations of device people, in conjunction with both location informations, to determine the location information of tracking robot.

Step 203, the location information of the location information based on target and tracking robot, generates trace.

In the present embodiment, the location information of location information and tracking robot based on the target acquired in step 202, Tracking robot can generate trace.In general, trace can be to track the point indicated by the location information of robot For starting point, using the point indicated by the location information of target as terminal.

In some optional realization methods of the present embodiment, tracking robot can utilize straight line or curve linking objective Location information indicated by point and tracking robot location information indicated by point, generate line tracking route or curve with Track route.In general, the song of the point indicated by the location information of linking objective and the point indicated by the location information of tracking robot Line is smoothed curve.

Step 204, it walks along trace, to target into line trace.

In the present embodiment, the trace generated based on step 203, tracking robot can be along trace row It walks, to target into line trace.

In some optional realization methods of the present embodiment, in the case where trace is line tracking route, with Track robot can be rotated first to target-bound direction；Then it is directly walked forward along line tracking route to the position letter of target The indicated point of breath.

In some optional realization methods of the present embodiment, in the case where trace is curve trace, with Track robot can be rotated along curve trace in walking, until running to the point indicated by the location information of target.

In some optional realization methods of the present embodiment, the method for tracking target for controlling robot is being executed In the process, if receiving the instruction terminated to target into line trace, tracking robot stops walking.

It is provided by the embodiments of the present application for tracking the method for tracking target of robot, receiving to target into line trace Instruction in the case of, in conjunction with UWB location technologies, image recognition location technology, bluetooth location technology, determine the position letter of target The location information of breath and tracking robot；Be then based on target location information and tracking robot location information, generate with Track route；It finally walks along trace, to target into line trace.To realize tracking robot to target it is automatic with Track.

With further reference to Fig. 3, it illustrates according to the another of the method for tracking target for tracking robot of the application The flow 300 of a embodiment.This is used to track the flow 300 of the method for tracking target of robot, includes the following steps：

Step 301, it receives to target into the instruction of line trace.

In the present embodiment, for track robot method for tracking target run thereon tracking robot (such as Tracking robot 104 shown in FIG. 1) it can be received from terminal device (such as terminal device 103 shown in FIG. 1) to target (example Target 101 as shown in Figure 1) into the instruction of line trace.

Step 302, the first image that the camera installed in tracking robot is shot when previous dynasty preset direction is obtained.

In the present embodiment, receive to target into line trace instruction in the case of, tracking robot can utilize The camera (such as camera 1041 shown in FIG. 1) installed thereon when previous dynasty preset direction (such as tracking robot just before Side) the first image of shooting.In general, the camera installed in tracking robot can be binocular camera.

Step 303, it determines and whether there is target in the first image.

In the present embodiment, after obtaining the first image, tracking robot can be detected the first image, to It determines and whether there is target in the first image；, there are in the case of target, continuing to execute step 304 in determining the first image； In the case where target is not present in determining the first image, 302 are returned to step.

Step 304, to target into line trace.

In the present embodiment, in the first image there are in the case of target, tracking robot can to the first image into Row analysis, so that it is determined that the location information of target, and based on the location information of target to target into line trace.

Step 305, the UWB location informations of the ultra wide band UWB location informations and tracking robot of target are obtained.

In the present embodiment, target can carry UWB signal transmitting terminal or receiving terminal (such as UWB signal shown in FIG. 1 hair Penetrate end or receiving terminal 1021), tracking robot can also carry UWB signal transmitting terminal or receiving terminal (such as UWB shown in FIG. 1 Signal transmitting terminal or receiving terminal 1042), at least three UWB letters can also be set in the space where target and tracking robot The UWB signal transmitting terminal that number receiving terminal or transmitting terminal, target and tracking robot carry can be respectively at least three UWB signals Receiving terminal emits UWB signal or target and the UWB signal receiving terminal of tracking robot carrying can receive at least three respectively The UWB signal of UWB signal transmitting terminal transmitting, UWB location-servers can according to the time for receiving UWB signal, to target and Tracking robot is positioned respectively, to obtain the UWB location informations of target and track the UWB location informations of robot.

Step 306, the UWB location informations of the UWB location informations based on target and tracking robot, calculate target and tracking The distance between robot.

In the present embodiment, the UWB of the UWB location informations based on the target acquired in step 305 and tracking robot is fixed Position information, tracking robot can calculate the distance between target and tracking robot.For example, if the location information of target is mesh The coordinate being marked in preset coordinate system, the location information for tracking robot are the coordinates for tracking robot in preset coordinate system, The distance between target and tracking robot can be calculated according to distance between two points formula by tracking robot.

Step 307, determine whether the distance between target and tracking robot are more than pre-determined distance threshold value.

In the present embodiment, the distance between the target calculated based on step 306 and tracking robot, track robot Target can be compared with the distance between robot is tracked with pre-determined distance threshold value；Between target and tracking robot Distance be more than pre-determined distance threshold value in the case of, continue to execute step 308；At a distance from target is between tracking robot not In the case of more than pre-determined distance threshold value, redirects and execute step 311.

Step 308, using the UWB location informations of target as the location information of target, the UWB for tracking robot is positioned into letter Cease the location information as tracking robot.

In the present embodiment, in the case of being more than pre-determined distance threshold value at a distance from target is between tracking robot, with Track robot can make the UWB location informations for tracking robot using the UWB location informations of target as the location information of target To track the location information of robot.

Step 309, the location information of the location information based on target and tracking robot, generates trace.

In the present embodiment, the location information of location information and tracking robot based on the obtained target of step 308, Tracking robot can generate trace.In general, trace is to track the point indicated by the location information of robot Point, using the point indicated by the location information of target as terminal.

Step 310, it walks along trace, to target into line trace.

In the present embodiment, the trace generated based on step 309, tracking robot can be along trace row It walks, to target into line trace.

Step 311, the second image of camera current shooting is obtained.

In the case of being not more than pre-determined distance threshold value at a distance from target is between tracking robot, tracking robot can be with Using the camera installed thereon when previous dynasty preset direction shoots the second image.

Step 312, it determines and whether there is target in the second image.

In the present embodiment, after obtaining the second image, tracking robot can be detected the second image, to It determines and whether there is target in the second image；There are continue to execute step 313 in the case of target in determining the second image； It determines in the second image there is no in the case of target, redirects and execute step 315.

Step 313, the location information of the target in the second image is obtained.

In the present embodiment, in the second image there are in the case of target, tracking robot can to the second image into Row analysis, so that it is determined that the location information of the target in the second image.Here, binocular camera again may be by binocular camera shooting Leader is fixed, binocular corrects, binocular ranging and depth information calculate step, to determine the location information of the target in the second image.

Step 314, using the location information of the target in the second image as the location information of target, robot will be tracked Location information of the UWB location informations as tracking robot.

In the present embodiment, tracking robot can be using the location information of the target in the second image as the position of target Information is then back to using the UWB location informations for tracking robot as the location information of tracking robot and executes step 309.

Step 315, direction of the target relative to tracking robot is obtained.

In the case where target is not present in determining the second image, tracking robot can obtain target relative to tracing machine The direction of device people.For example, Bluetooth signal receiving terminal (such as Bluetooth signal receiving terminal 1043) can be installed in tracking robot, At least three Bluetooth signal receiving terminals that the Bluetooth signal transmitting terminal that target carries can be installed in tracking robot emit blue Tooth signal, tracking robot can determine direction of the target relative to tracking robot according to the time for receiving Bluetooth signal.

Step 316, the direction based on target relative to tracking robot, rotation to target-bound direction.

In the present embodiment, the direction based on the target acquired in step 315 relative to tracking robot tracks robot It can rotate to target-bound direction, and return to step 305.

From figure 3, it can be seen that compared with the corresponding embodiments of Fig. 2, the mesh for tracking robot in the present embodiment The flow 300 of mark tracking highlights the step of being positioned to target.The scheme combination image of the present embodiment description as a result, Location technology, UWB location technologies and bluetooth location technology use UWB when at a distance from target is between tracking robot farther out Location technology is positioned, and is positioned using framing technology and bluetooth when closer at a distance from target is between tracking robot Technology is positioned, solve only with UWB location technology positioning accuracies it is low and only with framing technological orientation by The problem of extraneous factor (such as block, light etc.) influences, improves the positioning accuracy to target.

With continued reference to Fig. 4, it illustrates the UWB location informations and the UWB location informations of tracking robot that generate target The flow 400 of one embodiment of method.The UWB location informations of the generation target and the UWB location informations of tracking robot The flow 400 of method, includes the following steps：

Step 401, it obtains the UWB signal transmitting terminal that at least three UWB signal receiving terminals are carried from target and receives UWB letters Number time.

In the present embodiment, the method for the UWB location informations of target and the UWB location informations of tracking robot is generated UWB location-servers (such as UWB location-servers 105 shown in FIG. 1) can obtain at least three UWB signal receiving terminals from mesh The UWB signal transmitting terminal that mark carries receives the time of UWB signal.

In practice, target can carry UWB signal transmitting terminal, can be in the space where target and tracking robot At least three UWB signal receiving terminals are set, and at least three UWB signal receiving terminals can receive the UWB signal transmitting of target carrying The UWB signal for holding transmitting, when at least three UWB signal receiving terminals receive UWB signal, record receives UWB signal respectively Time, and it is sent to UWB location-servers.

Step 402, the UWB signal transmitting terminal carried from target based at least three UWB signal receiving terminals receives UWB letters Number time, determine the UWB location informations of target.

In the present embodiment, the UWB carried from target based at least three UWB signal receiving terminals acquired in step 401 Signal transmitting terminal receives the time of UWB signal, and UWB location-servers can determine the UWB location informations of target.Specifically, UWB location-servers can first according to receive UWB signal time and UWB signal propagate speed calculate transmitting terminal with The distance between receiving terminal；Then using at least three UWB signal receiving terminals as the center of circle, between transmitting terminal and receiving terminal away from Justify from for radius work, round intersection point is the position of target.

Step 401' obtains the UWB signal transmitting terminal that at least three UWB signal receiving terminals are carried from tracking robot and receives To the time of UWB signal.

In the present embodiment, UWB location-servers can obtain at least three UWB signal receiving terminals and be taken from tracking robot The UWB signal transmitting terminal of band receives the time of UWB signal.

In practice, tracking robot can carry UWB signal transmitting terminal, and at least three UWB signal receiving terminals can receive The UWB signal for the UWB signal transmitting terminal transmitting that robot carries is tracked, at least three UWB signal receiving terminals receive UWB signal When, record receives the time of UWB signal respectively, and is sent to UWB location-servers.

Step 402', the UWB signal transmitting terminal carried from tracking robot based at least three UWB signal receiving terminals are received To the time of UWB signal, the UWB location informations of tracking robot are determined.

In the present embodiment, it is taken from tracking robot based at least three UWB signal receiving terminals acquired in step 401' The UWB signal transmitting terminal of band receives the time of UWB signal, and UWB location-servers can determine the UWB positioning of tracking robot Information.Specifically, UWB location-servers can be first according to the speedometer that the time and UWB signal that receive UWB signal propagate Calculate the distance between transmitting terminal and receiving terminal；Then using at least three UWB signal receiving terminals as the center of circle, with transmitting terminal with connect The distance between receiving end is that radius work is justified, and round intersection point is the position for tracking robot.

With continued reference to Fig. 5, it illustrates the UWB location informations and the UWB location informations of tracking robot that generate target The flow 500 of another embodiment of method.The UWB location informations of the UWB location informations and tracking robot of the generation target Method flow 500, include the following steps：

Step 501, it obtains the UWB signal receiving terminal that target carries and receives UWB letters from least three UWB signal transmitting terminals Number time.

In the present embodiment, the method for the UWB location informations of target and the UWB location informations of tracking robot is generated UWB location-servers (such as UWB location-servers 105 shown in FIG. 1) can obtain target carrying UWB signal receiving terminal from At least three UWB signal transmitting terminals receive the time of UWB signal.

In practice, target can carry UWB signal receiving terminal, can be in the space where target and tracking robot At least three UWB signal transmitting terminals are set, and the UWB signal that at least three UWB signal transmitting terminals can be carried to target respectively connects Receiving end emits UWB signal, and when the UWB signal receiving terminal that target carries receives UWB signal, record receives UWB signal respectively Time, and be sent to UWB location-servers.

Step 502, UWB letters are received from least three UWB signal transmitting terminals based on the UWB signal receiving terminal that target carries Number time, determine the UWB location informations of target.

In the present embodiment, the UWB signal receiving terminal carried based on the target acquired in step 501 is from least three UWB Signal transmitting terminal receives the time of UWB signal, and UWB location-servers can determine the UWB location informations of target.Specifically, UWB location-servers can first according to receive UWB signal time and UWB signal propagate speed calculate transmitting terminal with The distance between receiving terminal；Then using at least three UWB signal transmitting terminals as the center of circle, between transmitting terminal and receiving terminal away from Justify from for radius work, round intersection point is the position of target.

Step 501' obtains the UWB signal receiving terminal that tracking robot carries and is received from least three UWB signal transmitting terminals To the time of UWB signal.

In the present embodiment, UWB location-servers can obtain the UWB signal receiving terminal of tracking robot carrying from least Three UWB signal transmitting terminals receive the time of UWB signal.

In practice, tracking robot can carry UWB signal receiving terminal, and at least three UWB signal transmitting terminals can be distinguished The UWB signal receiving terminal carried to target emits UWB signal, and the UWB signal receiving terminal that tracking robot carries receives UWB letters Number when, record receives time of UWB signal respectively, and is sent to UWB location-servers.

Step 502', the UWB signal receiving terminal carried based on tracking robot are received from least three UWB signal transmitting terminals To the time of UWB signal, the UWB location informations of tracking robot are determined.

In the present embodiment, the UWB signal receiving terminal based on the tracking robot carrying acquired in step 501' is from least Three UWB signal transmitting terminals receive the time of UWB signal, and UWB location-servers can determine the UWB positioning of tracking robot Information.Specifically, UWB location-servers can be first according to the speedometer that the time and UWB signal that receive UWB signal propagate Calculate the distance between transmitting terminal and receiving terminal；Then using at least three UWB signal transmitting terminals as the center of circle, with transmitting terminal with connect The distance between receiving end is that radius work is justified, and round intersection point is the position for tracking robot.

With continued reference to Fig. 6, it illustrates generate the one embodiment of target relative to the method in the direction of tracking robot Flow 600.Flow 600 of the generation target relative to the method in the direction of tracking robot, includes the following steps：

Step 601, the bluetooth letter that at least three Bluetooth signal receiving terminals in bluetooth positioning device are carried from target is obtained Number transmitting terminal receives the time of Bluetooth signal.

In the present embodiment, the bluetooth that target is run thereon relative to the method in the direction of tracking robot is generated to position Equipment (such as bluetooth positioning device) can obtain at least three Bluetooth signal receiving terminals in bluetooth positioning device and be taken from target The Bluetooth signal transmitting terminal of band receives the time of Bluetooth signal.

In practice, target can carry Bluetooth signal transmitting terminal, and tracking robot can carry at least three Bluetooth signals Receiving terminal, at least three Bluetooth signal receiving terminals can receive the Bluetooth signal of the Bluetooth signal transmitting terminal transmitting of target carrying, When at least three Bluetooth signal receiving terminals receive Bluetooth signal, record receives the time of Bluetooth signal respectively.

Step 602, the Bluetooth signal transmitting terminal carried from target based at least three Bluetooth signal receiving terminals receives indigo plant The time of tooth signal determines direction of the target relative to tracking robot.

In the present embodiment, the indigo plant carried from target based at least three Bluetooth signal receiving terminals acquired in step 601 Tooth signal transmitting terminal receives the time of Bluetooth signal, and bluetooth positioning device can determine side of the target relative to tracking robot To.Specifically, the speed that tracking robot can be propagated according to the time and Bluetooth signal that receive Bluetooth signal first calculates Go out the distance between transmitting terminal and receiving terminal；Then using at least three Bluetooth signal receiving terminals as the center of circle, with transmitting terminal with connect The distance between receiving end is that radius work is justified, and round intersection point is the position of target.Wherein, the location information for tracking robot is signified The direction of the line of point indicated by the location information of the point and target that show is direction of the target relative to tracking robot.

With further reference to Fig. 7, as the realization to method shown in above-mentioned each figure, this application provides one kind being used for tracing machine One embodiment of the target tracker of device people, the device embodiment is corresponding with embodiment of the method shown in Fig. 2, the device It specifically can be applied in various electronic equipments.

As shown in fig. 7, the target tracker 700 for tracking robot of the present embodiment may include：Receiving unit 701, determination unit 702, generation unit 703 and tracking cell 704.Wherein, receiving unit 701 are configured to receive to target Into the instruction of line trace；Determination unit 702 is configured to combine ultra wide band UWB location technologies, image recognition location technology, indigo plant Tooth location technology determines the location information of the location information and tracking robot of target；Generation unit 703 is configured to be based on The location information of the location information and tracking robot of target, generates trace；Tracking cell 704 is configured to along tracking Route is walked, to target into line trace.

In the present embodiment, in the target tracker 700 for tracking robot：Receiving unit 701, determination unit 702, the specific processing of generation unit 703 and tracking cell 704 and its caused technique effect can correspond to reality with reference to figure 2 respectively Step 201, the related description of step 202, step 203 and step 204 in example are applied, details are not described herein.

In some optional realization methods of the present embodiment, tracking cell 704 is also configured to execute following tracking step Suddenly：The camera installed in tracking robot is obtained when the first image of previous dynasty preset direction shooting, determining in the first image is No there are targets, if there are target, to target into line trace；Execution unit (not shown), is configured in response to determination Target is not present in first image, continues to execute tracking step.

In some optional realization methods of the present embodiment, determination unit 702 may include：Determination subelement is (in figure It is not shown), it is configured to carry out following obtaining step：Obtain the UWB location informations of target and the UWB positioning letters of tracking robot Breath, the UWB location informations of UWB location informations and tracking robot based on target, calculates between target and tracking robot Distance, determines whether the distance between target and tracking robot are more than pre-determined distance threshold value, will if more than pre-determined distance threshold value Location information of the UWB location informations of target as target will track the UWB location informations of robot as tracking robot Location information.

In some optional realization methods of the present embodiment, determination subelement can also be configured to：In response to determination The distance between target and tracking robot are not more than pre-determined distance threshold value, obtain the second image of camera current shooting, really It whether there is target in fixed second image, if there are target, the location information of the target in the second image obtained, by the second image In target location information of the location information as target, the UWB location informations of robot will be tracked as tracking robot Location information.

In some optional realization methods of the present embodiment, determination unit 702 can also include：Execute subelement (figure In be not shown), be configured in response to determine the second image in be not present target, obtain target relative to tracking robot side To the direction based on target relative to tracking robot rotates to target-bound direction, continues to execute obtaining step.

In some optional realization methods of the present embodiment, generation unit 703 can be further configured to：Using straight Point indicated by the location information of line or curve linking objective and the point indicated by the location information of tracking robot generate straight line Trace or curve trace.

In some optional realization methods of the present embodiment, trace is line tracking route and tracking cell 704 can further be configured to：It rotates to target-bound direction；It is directly walked forward to the position of target along line tracking route Point indicated by information.

In some optional realization methods of the present embodiment, trace is curve trace and tracking cell 704 can further be configured to：It is rotated in walking along curve trace, until the location information for running to target is signified The point shown.

In some optional realization methods of the present embodiment, the UWB location informations of target and the UWB of tracking robot are fixed Position information is that UWB location-servers generate as follows：Obtain what at least three UWB signal receiving terminals were carried from target UWB signal transmitting terminal receives the time of UWB signal；The UWB signal carried from target based at least three UWB signal receiving terminals Transmitting terminal receives the time of UWB signal, determines the UWB location informations of target；Obtain at least three UWB signal receiving terminals from The UWB signal transmitting terminal that track robot carries receives the time of UWB signal；Based at least three UWB signal receiving terminals from The UWB signal transmitting terminal that track robot carries receives the time of UWB signal, determines the UWB location informations of tracking robot.

In some optional realization methods of the present embodiment, the UWB location informations of target and the UWB of tracking robot are fixed Position information is that UWB location-servers generate as follows：UWB signal receiving terminal that target carries is obtained from least three UWB signal transmitting terminal receives the time of UWB signal；The UWB signal receiving terminal carried based on target is from least three UWB signals Transmitting terminal receives the time of UWB signal, determines the UWB location informations of target；The UWB signal that tracking robot carries is obtained to connect Receiving end receives the time of UWB signal from least three UWB signal transmitting terminals；The UWB signal carried based on tracking robot is connect Receiving end receives the time of UWB signal from least three UWB signal transmitting terminals, determines the UWB location informations of tracking robot.

In some optional realization methods of the present embodiment, target is tracking machine relative to the direction of tracking robot What the bluetooth positioning device installed on people generated as follows：Obtain at least three Bluetooth signals in bluetooth positioning device The Bluetooth signal transmitting terminal that receiving terminal is carried from target receives the time of Bluetooth signal；It is received based at least three Bluetooth signals It holds the Bluetooth signal transmitting terminal carried from target to receive the time of Bluetooth signal, determines side of the target relative to tracking robot To.

In some optional realization methods of the present embodiment, the target tracker 700 for tracking robot may be used also To include：Control unit (not shown) is configured to, in response to receiving the instruction terminated to target into line trace, stop Walking.

Below with reference to Fig. 8, it illustrates the computer systems suitable for the tracking robot for realizing the embodiment of the present application 800 structural schematic diagram.Tracking robot shown in Fig. 8 is only an example, should not to the function of the embodiment of the present application and Use scope brings any restrictions.

As shown in figure 8, computer system 800 includes central processing unit (CPU) 801, it can be read-only according to being stored in Program in memory (ROM) 802 or be loaded into the program in random access storage device (RAM) 803 from storage section 808 and Execute various actions appropriate and processing.In RAM 803, also it is stored with system 800 and operates required various programs and data. CPU 801, ROM 802 and RAM 803 are connected with each other by bus 804.Input/output (I/O) interface 805 is also connected to always Line 804.

It is connected to I/O interfaces 805 with lower component：Importation 806 including keyboard, mouse etc.；It is penetrated including such as cathode The output par, c 807 of spool (CRT), liquid crystal display (LCD) etc. and loud speaker etc.；Storage section 808 including hard disk etc.； And the communications portion 809 of the network interface card including LAN card, modem etc..Communications portion 809 via such as because The network of spy's net executes communication process.Driver 810 is also according to needing to be connected to I/O interfaces 805.Detachable media 811, such as Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on driver 810, as needed in order to be read from thereon Computer program be mounted into storage section 808 as needed.

Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be carried on computer-readable medium On computer program, which includes the program code for method shown in execution flow chart.In such reality It applies in example, which can be downloaded and installed by communications portion 809 from network, and/or from detachable media 811 are mounted.When the computer program is executed by central processing unit (CPU) 801, limited in execution the present processes Above-mentioned function.It should be noted that computer-readable medium described herein can be computer-readable signal media or Computer-readable medium either the two arbitrarily combines.Computer-readable medium for example can be --- but it is unlimited In --- electricity, system, device or the device of magnetic, optical, electromagnetic, infrared ray or semiconductor, or the arbitrary above combination.It calculates The more specific example of machine readable medium can include but is not limited to：Being electrically connected with one or more conducting wires, portable meter Calculation machine disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device or The above-mentioned any appropriate combination of person.In this application, can be any include computer-readable medium or storage program has Shape medium, the program can be commanded the either device use or in connection of execution system, device.And in the application In, computer-readable signal media may include in a base band or as the data-signal that a carrier wave part is propagated, wherein Carry computer-readable program code.Diversified forms may be used in the data-signal of this propagation, including but not limited to electric Magnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable Jie Any computer-readable medium other than matter, the computer-readable medium can be sent, propagated or transmitted for being held by instruction Row system, device either device use or program in connection.The program code for including on computer-readable medium It can transmit with any suitable medium, including but not limited to：Wirelessly, electric wire, optical cable, RF etc. or above-mentioned arbitrary conjunction Suitable combination.

The calculating of the operation for executing the application can be write with one or more programming languages or combinations thereof Machine program code, described program design language include object-oriented programming language-such as Java, Smalltalk, C+ +, further include conventional procedural programming language-such as " C " language or similar programming language.Program code can Fully to execute on the user computer, partly execute, executed as an independent software package on the user computer, Part executes or executes on a remote computer or server completely on the remote computer on the user computer for part. In situations involving remote computers, remote computer can pass through the network of any kind --- including LAN (LAN) Or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as utilize Internet service Provider is connected by internet).

Flow chart in attached drawing and block diagram, it is illustrated that according to the system of the various embodiments of the application, method and computer journey The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation A part for a part for one module, program segment, or code of table, the module, program segment, or code includes one or more uses The executable instruction of the logic function as defined in realization.It should also be noted that in some implementations as replacements, being marked in box The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually It can be basically executed in parallel, they can also be executed in the opposite order sometimes, this is depended on the functions involved.Also it to note Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction Combination realize.

Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard The mode of part is realized.Described unit can also be arranged in the processor, for example, can be described as：A kind of processor packet Include receiving unit, determination unit, generation unit and tracking cell.Wherein, the title of these units not structure under certain conditions The restriction of the pairs of unit itself, for example, receiving unit is also described as " receiving the list to target into the instruction of line trace Member ".

As on the other hand, present invention also provides a kind of computer-readable medium, which can be Included in tracking robot described in above-described embodiment；Can also be individualism, and without the supplying tracking machine In people.Above computer readable medium carries one or more program, when said one or multiple programs are by the tracking When robot executes so that the tracking robot：It receives to target into the instruction of line trace；In conjunction with ultra wide band UWB location technologies, Image recognition location technology, bluetooth location technology determine the location information of the location information and tracking robot of target；Based on mesh The location information of target location information and tracking robot, generates trace；Along trace walk, to target carry out with Track.

Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art Member should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature Other technical solutions of arbitrary combination and formation.Such as features described above has similar work(with (but not limited to) disclosed herein Can technical characteristic replaced mutually and the technical solution that is formed.

Claims

1. a kind of method for tracking target for tracking robot, including：

It receives to target into the instruction of line trace；

In conjunction with ultra wide band UWB location technologies, image recognition location technology, bluetooth location technology, the position letter of the target is determined The location information of breath and tracking robot；

The location information of location information and the tracking robot based on the target, generates trace；

It walks along the trace, to the target into line trace.

2. according to the method described in claim 1, wherein, skill is positioned in the combination ultra wide band UWB location technologies, image recognition Art, bluetooth location technology further include before determining the location information of the target and the location information of tracking robot：

Execute following tracking step：The camera installed in the tracking robot is obtained when the first of the shooting of previous dynasty preset direction Image determines and whether there is the target in described first image, if there are the target, to the target into line trace；

The target is not present in described first image in response to determining, continues to execute the tracking step.

3. according to the method described in claim 2, wherein, the combination ultra wide band UWB location technologies, image recognition position skill Art, bluetooth location technology determine the location information of the location information and tracking robot of the target, including：

Execute following obtaining step：The UWB location informations of the UWB location informations and the tracking robot of the target are obtained, The UWB location informations of UWB location informations and the tracking robot based on the target, calculate the target and the tracking The distance between robot, determines whether the distance between the target and the tracking robot are more than pre-determined distance threshold value, If more than the pre-determined distance threshold value, using the UWB location informations of the target as the location information of the target, will it is described with Location information of the UWB location informations of track robot as the tracking robot.

4. according to the method described in claim 3, wherein, the combination ultra wide band UWB location technologies, image recognition position skill Art, bluetooth location technology determine the location information of the location information and tracking robot of the target, further include：

It is not more than the pre-determined distance threshold value in response to the distance between the determination target and the tracking robot, obtains institute The second image for stating camera current shooting, determine in second image whether there is the target, if there are the target, The location information for obtaining the target in second image makees the location information of the target in second image For the location information of the target, believe the UWB location informations of the tracking robot as the position of the tracking robot Breath.

5. according to the method described in claim 4, wherein, the combination ultra wide band UWB location technologies, image recognition position skill Art, bluetooth location technology determine the location information of the location information and tracking robot of the target, further include：

In response to the target is not present in determination second image, the target is obtained relative to the tracking robot Direction, the direction based on the target relative to the tracking robot, rotation are continued to execute to towards the direction of the target The obtaining step.

6. according to the method described in claim 1, wherein, the location information based on the target and the tracking robot Location information, generate trace, including：

The location information of the point and the tracking robot indicated by the location information of the target is connected using straight line or curve Indicated point generates line tracking route or curve trace.

7. according to the method described in claim 6, wherein, the trace is line tracking route, and

It is described to walk along the trace, to the target into line trace, including：

Rotation is extremely towards the direction of the target；

The point indicated by the location information to the target is directly walked forward along the line tracking route.

8. according to the method described in claim 6, wherein, the trace is curve trace, and

It is rotated in walking along the curve trace, until running to the point indicated by the location information of the target.

9. according to the method described in claim 3, wherein, the UWB of the UWB location informations of the target and the tracking robot Location information is that UWB location-servers generate as follows：

Obtain at least three UWB signal receiving terminals from the UWB signal transmitting terminal that the target carries receive UWB signal when Between；

The UWB signal transmitting terminal carried from the target based on at least three UWB signals receiving terminal receives UWB signal Time determines the UWB location informations of the target；

It obtains the UWB signal transmitting terminal that at least three UWB signals receiving terminal is carried from the tracking robot and receives UWB The time of signal；

The UWB signal transmitting terminal carried from the tracking robot based on at least three UWB signals receiving terminal receives UWB The time of signal determines the UWB location informations of the tracking robot.

10. according to the method described in claim 3, wherein, the UWB location informations of the target and the tracking robot UWB location informations are that UWB location-servers generate as follows：

Obtain UWB signal receiving terminal that the target carries from least three UWB signal transmitting terminals receive UWB signal when Between；

Based on the target carry UWB signal receiving terminal from least three UWB signal transmitting terminals receive UWB signal when Between, determine the UWB location informations of the target；

It obtains the UWB signal receiving terminal that the tracking robot carries and receives UWB from at least three UWB signals transmitting terminal The time of signal；

The UWB signal receiving terminal carried based on the tracking robot receives UWB from at least three UWB signals transmitting terminal The time of signal determines the UWB location informations of the tracking robot.

11. according to the method described in claim 5, wherein, the target is described relative to the direction of the tracking robot What the bluetooth positioning device installed in tracking robot generated as follows：

Obtain the Bluetooth signal hair that at least three Bluetooth signal receiving terminals in the bluetooth positioning device are carried from the target Penetrate the time that termination receives Bluetooth signal；

Bluetooth letter is received based on the Bluetooth signal transmitting terminal that at least three Bluetooth signals receiving terminal is carried from the target Number time, determine the target relative to it is described tracking robot direction.

12. according to the method described in one of claim 1-11, wherein the method further includes：

In response to receiving the instruction terminated to the target into line trace, stop walking.

13. a kind of target tracker for tracking robot, including：

Receiving unit is configured to receive the instruction into line trace to target；

Determination unit is configured to combine ultra wide band UWB location technologies, image recognition location technology, bluetooth location technology, determine The location information of the location information and tracking robot of the target；

Generation unit is configured to the location information of location information based on the target and the tracking robot, generate with Track route；

Tracking cell is configured to walk along the trace, to the target into line trace.

14. device according to claim 13, wherein the tracking cell is also configured to：

15. device according to claim 14, wherein the determination unit, including：

Determination subelement is configured to carry out following obtaining step：Obtain the UWB location informations of the target and the tracing machine The UWB location informations of device people, the UWB location informations of UWB location informations and the tracking robot based on the target, calculate Whether the distance between the target and the tracking robot determine the distance between the target and the tracking robot More than pre-determined distance threshold value, if more than the pre-determined distance threshold value, using the UWB location informations of the target as the target Location information, using the UWB location informations of the tracking robot as the location information of the tracking robot.

16. device according to claim 15, wherein the determination subelement is also configured to：

17. device according to claim 16, wherein the determination unit further includes：

Subelement is executed, is configured to, in response to the target is not present in determination second image, obtain the target phase For the direction of the tracking robot, the direction based on the target relative to the tracking robot, rotation is extremely towards institute The direction for stating target continues to execute the obtaining step.

18. device according to claim 13, wherein the generation unit is further configured to：

19. device according to claim 18, wherein the trace is line tracking route, and

The tracking cell is further configured to：

Rotation is extremely towards the direction of the target；

20. device according to claim 18, wherein the trace is curve trace, and

The tracking cell is further configured to：

21. device according to claim 15, wherein the UWB location informations of the target and the tracking robot UWB location informations are that UWB location-servers generate as follows：

22. device according to claim 15, wherein the UWB location informations of the target and the tracking robot UWB location informations are that UWB location-servers generate as follows：

23. device according to claim 17, wherein the target is described relative to the direction of the tracking robot What the bluetooth positioning device installed in tracking robot generated as follows：

24. according to the device described in one of claim 13-23, wherein described device further includes：

Control unit is configured to, in response to receiving the instruction terminated to the target into line trace, stop walking.

25. a kind of tracking robot, including：

One or more processors；

Storage device, for storing one or more programs；

When one or more of programs are executed by one or more of processors so that one or more of processors are real The now method as described in any in claim 1-12.

26. a kind of computer-readable medium, is stored thereon with computer program, wherein the computer program is held by processor The method as described in any in claim 1-12 is realized when row.