CN110032213A - Robot system for tracking and robot follower method - Google Patents
Robot system for tracking and robot follower method Download PDFInfo
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- CN110032213A CN110032213A CN201910289045.8A CN201910289045A CN110032213A CN 110032213 A CN110032213 A CN 110032213A CN 201910289045 A CN201910289045 A CN 201910289045A CN 110032213 A CN110032213 A CN 110032213A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The present invention relates to a kind of robot system for tracking and robot follower methods.It follows object to select the first initial position by target and obtains first location information and second location information, position zinformation is obtained according to first location information and second location information, so that initialization module, which controls robot body according to first location information, carries out pose initialization, drive module drives robot body to carry out the movement of corresponding track according to position zinformation, realizes that robot body follows object to follow target.During robot body follows target to follow object, robot body is controlled by target and follows object, and robot body does not need positioning target and follow object i.e. to can determine specific target, convenient for distinguishing barrier, not by the interference of other objects.
Description
Technical field
The present invention relates to robot control fields, more particularly to a kind of robot system for tracking and the side of following, robot
Method.
Background technique
With the development of science and technology, robot automtion product increasingly gos deep into the daily life of user, intelligent robot
The demand followed is growing day by day.Intelligence follows mode to follow by following object to carry out positioning target by robot at present, and logical
It is often followed based on location technologies such as infrared positioning, ultrasonic wave or image recognitions, but these mode many places are in theory stage, it is real
Trample effect and not perfect.For example, people or animal can not be differentiated based on infrared confirming orientation technology, followed based on ultrasonic wave positioning
Technology is easy to be influenced by multipath effect and non-line-of-sight propagation, and based on the system for tracking of aforementioned two kinds of location technologies, robot is followed
Process is easy to be influenced by other objects, it is difficult to determine that specific target follows object to be followed, even if having identified target
Object is followed, target follows following for object to be also easy to be interfered, and target easy to be lost follows object.
Therefore, illustrative robot relative target follows the positioning system for tracking of object, follows process to be easy in robot
By other object contributions, target easy to be lost follows object, follows effect poor.
Summary of the invention
Based on this, it is necessary to which for illustrative robot system for tracking, there are robots, and process to be followed to be easy to by other objects
Body influences, and target easy to be lost follows object, follow the problem of effect difference, provides a kind of robot system for tracking and the side of following, robot
Method.
In order to achieve the object of the present invention, the present invention adopts the following technical scheme:
A kind of robot system for tracking, comprising:
Target follows object, for selecting the first initial position and obtaining corresponding first location information, obtains second in real time
The corresponding second location information of initial position obtains position zinformation according to first location information and second location information；
Initialization module is arranged on robot body, connects the target and follow object, for according to the first position
Information controls robot body and carries out pose initialization；
Drive module is arranged on robot body, connects the target and follow object and the initialization module, is used for root
The movement of corresponding track is carried out according to position zinformation driving robot body.
In a kind of wherein embodiment, the target follows the object to include:
Locating module, for selecting the first initial position and obtaining corresponding first location information, real-time measurement target with
With object mobile course information and displacement vector；
Computing module is separately connected the locating module, the initialization module and the drive module, is used for basis
First initial position, the course information and institute's displacement vector calculate the corresponding second confidence of the second initial position
Breath obtains position zinformation according to first location information and second location information.
In a kind of wherein embodiment, the locating module includes gyro sensor and acceleration transducer.
In a kind of wherein embodiment, the position zinformation includes range information and course heading variable quantity.
In a kind of wherein embodiment, the target follows object further include:
Starting module is followed, the locating module is connected, for generating open command, the follow the mode of activation system.
In a kind of wherein embodiment, the drive module includes:
Driving unit is separately connected the target and follows object and the initialization module, for mobile according to the position
Information drives robot body mobile；
Distance measuring unit connects the driving unit, the shift position of real-time measurement robot body and robot measurement
Ontology controls the driving at a distance from barrier, according to the shift position, the distance and the position zinformation
Unit adjustment driving path；
Angle detection unit connects the driving unit, the rotational angular velocity of real-time measurement robot body, according to described
Rotational angular velocity and the position zinformation control the driving angle of the driving unit.
In a kind of wherein embodiment, the drive module further include:
Speed adjustment unit connects the driving unit, follows object for obtaining target according to the position zinformation
Movement speed, the driving speed of the driving unit is adjusted according to movement speed.
In a kind of wherein embodiment, the robot system for tracking further include:
Wireless communication module is separately connected the target and follows object, the initialization module and the drive module, uses
It follows the wireless communication between object and the initialization module to connect in establishing the target, establishes the target and follow object and institute
State the wireless communication connection between drive module.
A kind of robot follower method, comprising:
Selected first initial position simultaneously obtains corresponding first location information；
Robot body, which is controlled, according to the first location information carries out pose initialization；
The corresponding second location information of the second initial position is obtained in real time, according to first location information and second location information
Obtain position zinformation；
The movement of corresponding track is carried out according to position zinformation driving robot body.
In a kind of wherein embodiment, the shifting of corresponding track is carried out according to position zinformation driving robot body
Dynamic step includes:
Drive robot body mobile according to position zinformation；
The shift position of real-time measurement robot body and robot measurement ontology are at a distance from barrier, according to shifting
The driving path of dynamic position, distance and position zinformation adjustment robot body；
The rotational angular velocity of real-time measurement robot body adjusts robot according to rotational angular velocity and position zinformation
The driving angle of ontology.
Above-mentioned robot system for tracking, by target follow object select the first initial position and obtain first location information and
Second location information obtains position zinformation according to first location information and second location information, so that initialization module root
Pose initialization is carried out according to first location information control robot body, drive module drives robot according to position zinformation
Ontology carries out the movement of corresponding track, realizes that robot body follows object to follow target.Target is followed in robot body
During following object, robot body is controlled by target and follows object, and robot body does not need positioning target and follows object
It determines specific target, convenient for distinguishing barrier, is not interfered by other objects.
Above-mentioned robot follower method by selected first initial position and obtains first location information and second confidence
Breath, obtains position zinformation according to first location information and second location information, controls robot according to first location information
Ontology carries out pose initialization, drives robot body to carry out the movement of corresponding track according to position zinformation, realizes machine
Human body follows object to follow target.During robot body follows target to follow object, robot body is controlled by
Target follows object, and robot body does not need positioning target and follow object i.e. to can determine specific target, convenient for differentiation barrier, no
It is interfered by other objects.
Detailed description of the invention
Fig. 1 is the structure chart of robot system for tracking in an embodiment；
Fig. 2 is that the target of robot system for tracking in an embodiment follows the structure chart of object；
Fig. 3 is the schematic diagram for following coordinate system of robot system for tracking in an embodiment；
Fig. 4 is the structure chart of the drive module of robot system for tracking in an embodiment；
Fig. 5 is the structure chart of robot system for tracking in another embodiment；
Fig. 6 is the flow chart of robot follower method in an embodiment.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give alternative embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more thorough
Comprehensively.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
It is the structure chart of robot system for tracking in an embodiment referring to Fig. 1, Fig. 1.
In the present embodiment, which includes that robot body 10, target follow object 20, initialization module
110 and drive module 120.
Target follows object 20, for selecting the first initial position and obtaining corresponding first location information, obtains in real time
Two initial positions obtain position zinformation according to the first initial position and the second initial position.
Initialization module 110 is arranged on robot body 10, and linking objective follows object 20, for according to first position
Information controls robot body 10 and carries out pose initialization.
Drive module 120 is arranged on robot body 10, and linking objective follows object 20 and initialization module 110, is used for
The movement of corresponding track is carried out according to position zinformation driving robot body 10.
In the present embodiment, the target object that target follows object 20 to refer to that robot body 10 needs to follow, specially can
Enough selected arbitrary initial position obtains each position information and sends various information to the intelligent movable end of robot body 10
End, including smart phone, tablet computer, wearable device or intelligent glasses or other smart terminal products that can be moved.?
During robot body 10 follows target to follow object 20, robot body 10 is controlled by target and follows object 20, therefore, machine
Human body 10 does not need positioning target and follows object 20 i.e. and can determine specific target, convenient for differentiation barrier, not by other objects
Interference.
Specifically, need robot body 10 at any time, target follows the arbitrarily selected a certain position of object 20 as first
Initial position obtains the corresponding first location information of the first initial position, and first location information is sent to positioned at robot
Initialization module 110 on ontology 10.During target follows object 20 mobile, target follows 20 real-time measurement of object to obtain the
The corresponding second location information of two initial positions, while the mobile letter in position is obtained according to first location information and second location information
Breath.
Wherein, the first initial position can be the position that target follows 20 current quiet of object, is also possible to target and follows object
Any one place position in 20 moving process.When the first initial position is the position that target follows 20 current quiet of object, then
One initial position is the initial position reference point that robot body 10 follows path；When the first initial position is that target follows object 20
When any one place position in moving process, then the first initial position is that robot body 10 follows the stage position in path to refer to
Point.First location information includes the corresponding location coordinate information of the first initial position and course information, and course information includes target
Follow object 20 in the course angle of a certain position.
Wherein, the second initial position can be target and follow any one place position in 20 moving process of object；It is also possible to
Target follows object 20 to stop mobile final position.When the second initial position is that target follows object 20 to stop mobile final position
When, then the second initial position is the final position reference point that robot body 10 follows path.Second location information includes second
The corresponding location coordinate information of initial position and course information, second location information can be carried out directly by inertial navigation principle
It obtains, does not need to utilize location technologies such as GPS (global positioning system, Global Positioning System).
Wherein, position zinformation includes the distance between the first initial position and the second initial position information and course angle
Variable quantity is spent, to construct the motion track that target follows object 20.
In one embodiment, target follows object 20 can establish and follows coordinate system with respect to itself, in following coordinate system
An arbitrarily selected position obtains the corresponding first location information of the first initial position as the first initial position, according to coordinate system.
Wherein, the first initial position can be coordinate system far point, or any point in coordinate system.Robot body as a result,
During 10 follow, target follows object 20 foundation is needed to select the first initial position with respect to the coordinate system of itself, does not need to obtain
Take the terrestrial coordinates of each position, that is, do not need by location technologies such as GPS, solve indoor GPS signal it is weak cannot achieve it is indoor with
With the problem of.
Specifically, in one embodiment, incorporated by reference to Fig. 2, it includes locating module 210 and computing module that target, which follows object 20,
220。
Locating module 210 is for selecting the first initial position and obtaining corresponding first location information, real-time measurement target
The course information and displacement vector for following object 20 mobile.In one embodiment, locating module 210 include gyro sensor and
Acceleration transducer is obtained the course information that target follows object 20 mobile in real time by gyro sensor, is passed by acceleration
Sensor obtains the displacement vector that target follows object 20 mobile in real time.
Computing module 220 is separately connected locating module 210, initialization module 110 and drive module 120, is used for basis
First initial position, course information and displacement vector calculate the location information of the second initial position, according to first location information
Position zinformation is obtained with second location information.In one embodiment, computing module 220 is according to first location information and positioning
The course information and displacement vector that module 210 obtains in real time are calculated by inertial navigation principle, obtain the second initial bit
Corresponding second location information is set, position zinformation is then obtained according to the first initial position and the second initial position.
Wherein, by target follow object 20 establish it is opposite itself follow coordinate system for be illustrated.Referring to Fig. 3, positioning
Module 210 establishes one and follows coordinate system XY, and the first initial position A is selected in following coordinate system0, and the is obtained according to coordinate system
One initial position A0Corresponding first location information, including position (XA0,YA0) and course heading θ0.In one embodiment, position
(XA0,YA0) it can directly be defined as starting point (0,0).During following, locating module 210 is using gyro sensor and adds
Velocity sensor etc. obtains target in real time and object 20 is followed to reach the second initial position A1Course heading θ at each position before
With displacement vector R, and according to algorithmIt calculates and obtains at the K moment
Second location information, including position (XA1,YA1) and course heading θ1.It can be obtained by first location information and second location information
Obtain the distance between the first initial position and the second initial position information S1With course heading variable quantity △ θ1, to construct mesh
Mark follows the first segment motion track of object 20, and robot body 10 is made to complete once to follow.Similarly, with A1As at the beginning of new first
Beginning position repeats process same as before, obtains the second new initial position A2, corresponding second location information is position (XA2,
YA2) and course heading θ2, and finally obtain range information S2With course heading variable quantity △ θ2, so that constructing target follows object
20 second segment motion track follows the completion of robot body 10 for the second time.Aforementioned process is constantly repeated, to obtain multistage
Motion track.
Specifically, it further includes following starting module 230 that target, which follows object 20,.
It follows starting module 230 to be separately connected locating module 210, for generating open command, open command is sent to
Locating module 210, the follow the mode of activation system.It is initial to open selected first when receiving open command for locating module 210
The function of position.By following starting module 230, target follows object 20 that can follow mould with active control robot body 10
Formula.
In one embodiment, follow starting module 230 that there is default application program, when user launches application,
Module generates enabled instruction；Or the default opening time, when reaching the opening time, application program is automatically turned on, and module generates
Enabled instruction.In another embodiment, following starting module 230 may include mechanical key or touch key-press, by pressing
Key generates open command, the follow the mode of activation system.
In the present embodiment, initialization module 110 receives the first location information that target follows object 20 to send, according to first
Location information controls robot body 10 and carries out pose initialization.Wherein, pose includes robot body 10 in specified coordinate system
In position and posture, pose initialization refers to and follows the first initial position of object 20 as reference using target, is made with current location
To follow starting point and itself posture direction being synchronized with the course that target follows object 20.Wherein, at the beginning of current location can be with first
Beginning position is identical, i.e., the abutting of robot body 10 target follows object 20 to follow；It current location can also be with the first initial position not
Together, robot body 10 follows object 20 to be separated by pre-determined distance and is followed with target.Pass through initialization module 110, robot sheet
Body 10 can be followed with target object 20 synchronize follow starting point and course, it is more efficient according to target convenient for subsequent robot's ontology 10
Follow the track of object 20 mobile.
In the present embodiment, drive module 120 receives the position zinformation that target follows object 20 to send, and is moved according to position
Dynamic acquisition of information target follows the motion track of object 20, and driving robot body 10 carries out the movement of corresponding track.
Wherein, by target follow object 20 establish it is opposite itself follow coordinate system for be illustrated.Referring to Fig. 3, pass through
Locating module 210 and computing module 220 construct the first segment motion track A that target follows object 200To A1, the drive of drive module 120
Mobile robot ontology 10 is completed to follow for the first time, from the B of initialization0Location following is to B1Position；Pass through locating module 210 and meter
It calculates module 220 and constructs the second segment motion track A that target follows object 201To A2, the driving robot body 10 of drive module 120
Completion follows for the second time, from the B of initialization1Location following is to B2Position.
In one embodiment, Fig. 4 is referred to, drive module 120 includes driving unit 1201, distance measuring unit 1202 and angle
Spend detection unit 1203.
Driving unit 1201 is separately connected target and follows object 20 and initialization module 110, for according to position zinformation
Drive robot body 10 mobile.Wherein, driving unit 1201 can select motor, convenient for 10 linear movement of robot body and
Turning.
Distance measuring unit 1202 connects driving unit 1201, the shift position of real-time measurement robot body 10, and measurement
Robot body 10 controls driving unit 1201 at a distance from barrier, according to shift position, distance and position zinformation
Adjustment driving path.Distance measuring unit 1202 passes through to measurement of the robot body 10 at a distance from barrier and to driving unit
1201 control, the driving path of adjustable robot body 10, avoiding obstacles while following target to follow object 20
Collision.In one embodiment, distance measuring unit 1202 includes distance measuring sensor.
Angle detection unit 1203 connects driving unit 1201, the rotational angular velocity of real-time measurement robot body 10, root
According to the driving angle of rotational angular velocity and position zinformation control driving unit 1201.Angle detection unit 1203 is by machine
The measurement of 10 rotational angular velocity of device human body and control to driving unit 1201, the turning of adjustable robot body 10
Angle, effectively adjustment following state.In one embodiment, angle detection unit 1203 includes angular transducer, such as gyroscope.
In another embodiment, Fig. 4 is referred to, drive module 120 further includes speed adjustment unit 1204.
Speed adjustment unit 1204 connects driving unit 1201, follows object 20 for obtaining target according to position zinformation
Movement speed, according to movement speed adjust driving unit 1201 driving speed.Speed adjustment unit 1204 by target with
With the acquisition of the movement speed of object 20, adjustable robot body 10 follows speed, effectively adjust robot body 10 with
Target follows and follows spacing between object 20.
Robot system for tracking provided in this embodiment follows object to select the first initial position and obtains first by target
Location information and second location information obtain position zinformation according to first location information and second location information, so that just
Beginningization module controls robot body according to first location information and carries out pose initialization, and drive module is according to position zinformation
Driving robot body carries out the movement of corresponding track, realizes that robot body follows object to follow target.In robot sheet
During body follows target to follow object, robot body is controlled by target and follows object, and robot body does not need positioning target
It follows object i.e. and can determine specific target, convenient for distinguishing barrier, do not interfered by other objects.
Referring to Fig. 5, Fig. 5 is the structure chart of robot system for tracking in another embodiment.
In the present embodiment, which includes that robot body 30, target follow object 40, initialization module
310, drive module 320 and wireless communication module 50.
Wherein, robot body 30, target follow object 40, initialization module 310 and drive module 320 real referring to upper one
Apply the robot body 10 in example, target follows the associated description of object 20, initialization module 110 and drive module 120, herein
It repeats no more.
In the present embodiment, wireless communication module 50 is separately connected target and follows object 40, initialization module 310 and driving
Module 320 follows the wireless communication between object 40 and initialization module 310 to connect, establishes target and follow object for establishing target
Wireless communication connection between 40 and drive module 320.
Wherein, the wireless mode of wireless communication module 50 includes bluetooth, Wifi, the wireless frequency that short-range communication can be achieved
Etc. various near radio transmission modes.
Specifically, wireless communication module 50 include pairing connection transmitting terminal and receiving end, transmitting terminal setting target with
With on object 40, linking objective follows the locating module of object 40, first location information and position zinformation is received, by first position
Information and position zinformation are sent to receiving end；Receiving end is arranged on robot body 30,310 He of connection initialization module
Drive module 320 receives first location information and position zinformation that transmitting terminal is sent, and by first location information and position
Mobile message is sent to initialization module 310 and drive module 320；To realize that target follows object 40 and robot body 30
Wireless communication connection, the movement for avoiding wired connection that target is interfered to follow object 40 or robot body 30, improves safety；Simultaneously
The interval that target follows object 40 or robot body 30 can be increased, realize that indoor and outdoor follows.
Robot system for tracking provided in this embodiment follows object to select the first initial position and obtains first by target
Location information and second location information obtain position zinformation according to first location information and second location information, and pass through
Wireless communication module transmits every terms of information, so that initialization module, which controls robot body according to first location information, carries out pose
Initialization, drive module drive robot body to carry out the movement of corresponding track, realize robot sheet according to position zinformation
Body follows object to follow target.On the one hand, during robot body follows target to follow object, robot body is controlled
Object is followed in target, robot body does not need positioning target and follows object i.e. to can determine specific target, convenient for differentiation barrier,
It is not interfered by other objects；On the other hand, it follows object 40 and the wireless communication of robot body 30 to connect by target, can keep away
Exempt from the movement that wired connection interferes target to follow object 40 or robot body 30, improves safety；Simultaneously can increase target with
With the interval of object 40 or robot body 30, realize that indoor and outdoor follows.
It should be noted that above-described embodiment is not limited to above-mentioned module, can also in order to realization robot body with
With other function and increase other modules, such as the function that is followed back and forth for the same route of the robot body of realization can be with
Increase memory module with record and save it is completed follow route, make robot body according to following route to be back to initial bit
It sets.
The present embodiment additionally provides the robot follower method of robot system for tracking based on the above embodiment.
In the present embodiment, referring to Fig. 6, robot follower method include step S101, step S102, step S103 and
Step S104.Details are as follows:
In step s101, it selectes the first initial position and obtains corresponding first location information.
Wherein, step S101 follows the locating module of object to execute by target, specifically may refer to target in above-described embodiment
Follow the description of the locating module of object.
In one embodiment, step S101 is specifically included: being established and is followed coordinate system with respect to itself, in following coordinate system
An arbitrarily selected position obtains the corresponding first location information of the first initial position as the first initial position, according to coordinate system.
In step s 102, robot body is controlled according to first location information and carries out pose initialization.
Wherein, step S102 is executed by initialization module, specifically may refer to retouching for initialization module in above-described embodiment
It states.
In step s 103, the corresponding second location information of the second initial position is obtained in real time, according to first location information
Position zinformation is obtained with second location information.
Wherein, step S103 follows the locating module of object and computing module to execute by target, specifically may refer to above-mentioned reality
Apply the description that target in example follows the locating module and computing module of object.
In one embodiment, step S103 specifically includes step S1031 and step S1032.
Step S1031, the course information and displacement vector that real-time measurement target follows object mobile.
Step S1032 calculates the position of the second initial position according to the first initial position, course information and displacement vector
Information obtains position zinformation according to first location information and second location information.
In step S104, the movement of corresponding track is carried out according to position zinformation driving robot body.
Wherein, step S104 is executed by drive module, specifically may refer to the description of drive module in above-described embodiment.
In one embodiment, step S104 specifically includes step S1041, step S1042 and step S1043.Step
The sequence of S1041, step S1042 and step S1043 are not limited.
Step S1041 drives robot body mobile according to position zinformation.
Step S1042, the shift position of real-time measurement robot body and robot measurement ontology and barrier away from
From according to shift position, distance and position zinformation adjustment robot body driving path.
Step S1043, the rotational angular velocity of real-time measurement robot body, according to rotational angular velocity and position zinformation
Adjust the driving angle of robot body.
Above-mentioned robot follower method by selected first initial position and obtains first location information and second confidence
Breath, obtains position zinformation according to first location information and second location information, controls robot according to first location information
Ontology carries out pose initialization, drives robot body to carry out the movement of corresponding track according to position zinformation, realizes machine
Human body follows object to follow target.During robot body follows target to follow object, robot body is controlled by
Target follows object, and robot body does not need positioning target and follow object i.e. to can determine specific target, convenient for differentiation barrier, no
It is interfered by other objects.
In another embodiment, robot follower method further includes step S105: generate open command, activation system with
With mode.Wherein, step S105 by target follow object follow starting module, execute, specifically may refer in above-described embodiment
Target follows the description for following starting module of object.
In another embodiment, robot follower method further includes step S106: establishing wireless communication connection.Wherein, it walks
Rapid S106 is executed by wireless communication module, specifically may refer to the description of wireless communication module in above-described embodiment, herein no longer
It repeats.
Above-mentioned robot follower method by selected first initial position and obtains first location information and second confidence
Breath obtains position zinformation according to first location information and second location information, and mode transmits items by wireless communication
Information carries out pose initialization to control robot body according to first location information, drives machine according to position zinformation
Human body carries out the movement of corresponding track, realizes that robot body follows object to follow target.On the one hand, in robot body
During following target to follow object, robot body is controlled by target and follows object, robot body do not need positioning target with
It can determine specific target with object, convenient for distinguishing barrier, do not interfered by other objects；On the other hand, by wireless communication
Mode can interfere target to follow the movement of object or robot body to avoid wired connection, improve safety；It can increase simultaneously
Target follows the interval of object or robot body, realizes that indoor and outdoor follows.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of robot system for tracking characterized by comprising
Target follows object, and for selecting the first initial position and obtaining corresponding first location information, it is initial to obtain second in real time
The corresponding second location information in position obtains position zinformation according to first location information and second location information；
Initialization module is arranged on robot body, connects the target and follow object, for according to the first location information
It controls robot body and carries out pose initialization；
Drive module is arranged on robot body, connects the target and follow object and the initialization module, for according to institute
State the movement that position zinformation driving robot body carries out corresponding track.
2. robot system for tracking according to claim 1, which is characterized in that the target follows the object to include:
Locating module, for selecting the first initial position and obtaining corresponding first location information, real-time measurement target follows object
Mobile course information and displacement vector；
Computing module is separately connected the locating module, the initialization module and the drive module, for according to
First initial position, the course information and institute's displacement vector calculate the corresponding second location information of the second initial position,
Position zinformation is obtained according to first location information and second location information.
3. robot system for tracking according to claim 2, which is characterized in that the locating module includes gyro sensors
Device and acceleration transducer.
4. robot system for tracking according to claim 2, which is characterized in that the position zinformation includes distance letter
Breath and course heading variable quantity.
5. robot system for tracking according to claim 2, which is characterized in that the target follows object further include:
Starting module is followed, the locating module is connected, for generating open command, the follow the mode of activation system.
6. robot system for tracking according to claim 1, which is characterized in that the drive module includes:
Driving unit is separately connected the target and follows object and the initialization module, for according to the position zinformation
Drive robot body mobile；
Distance measuring unit connects the driving unit, the shift position of real-time measurement robot body and robot measurement ontology
At a distance from barrier, the driving unit is controlled according to the shift position, the distance and the position zinformation
Adjustment driving path；
Angle detection unit connects the driving unit, the rotational angular velocity of real-time measurement robot body, according to the rotation
Angular speed and the position zinformation control the driving angle of the driving unit.
7. robot system for tracking according to claim 6, which is characterized in that the drive module further include:
Speed adjustment unit connects the driving unit, for obtaining the shifting that target follows object according to the position zinformation
Dynamic speed, the driving speed of the driving unit is adjusted according to movement speed.
8. robot system for tracking according to claim 1-7, which is characterized in that the robot system for tracking
Further include:
Wireless communication module is separately connected the target and follows object, the initialization module and the drive module, for building
Founding the target follows the wireless communication between object and the initialization module to connect, and establishes the target and follows object and the drive
Wireless communication connection between dynamic model block.
9. a kind of robot follower method characterized by comprising
Selected first initial position simultaneously obtains corresponding first location information；
Robot body, which is controlled, according to the first location information carries out pose initialization；
The corresponding second location information of the second initial position is obtained in real time, is obtained according to first location information and second location information
Position zinformation；
The movement of corresponding track is carried out according to position zinformation driving robot body.
10. robot follower method according to claim 9, which is characterized in that driven according to the position zinformation
The step that robot body carries out the movement of corresponding track includes:
Drive robot body mobile according to position zinformation；
The shift position of real-time measurement robot body and robot measurement ontology are at a distance from barrier, according to mobile position
It sets, the driving path of distance and position zinformation adjustment robot body；
The rotational angular velocity of real-time measurement robot body adjusts robot body according to rotational angular velocity and position zinformation
Driving angle.
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