CN104407622B - robot tracking method and system - Google Patents
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- CN104407622B CN104407622B CN201410287533.2A CN201410287533A CN104407622B CN 104407622 B CN104407622 B CN 104407622B CN 201410287533 A CN201410287533 A CN 201410287533A CN 104407622 B CN104407622 B CN 104407622B
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Abstract
The invention discloses a robot tracking method. The method comprises the steps that a target robot transmits an optical signal; a tracking robot receives the optical signal, and the relative azimuth of the target robot relative to the tracking robot is confirmed; and distance measurement is performed by the tracking robot by utilizing ultrasonic wave according to the relative azimuth so that distance between the tracking robot and the target robot is obtained, and the tracking robot moves to the target robot till the preset distance is reached. The invention also correspondingly discloses a robot tracking system. With application of the technical scheme, cost of realization of locating and tracking can be reduced in application occasions of robot teaching and performance.
Description
Technical field
The present invention relates to field of artificial intelligence, more particularly to a kind of robotic tracking's method and system.
Background technology
With the development of artificial intelligence technology, robot is applied in various scenes more and more.For example, at present
The robot as teaching purposes, recreational use is occurred in that, people can carry out the activities such as floor show using robot.
In robot teaching, the scene of performance, it is possible that the needs that a kind of robot is mutually tracked.And it is current
Tracking technique it may first have to position, generally has the technologies such as architecture, inertial positioning, and these technologies relies on wireless base station etc.
Various peripheral hardwares, cost of implementation are higher, apply the locating and tracking effect in robot teaching, performance scene unsatisfactory.
The content of the invention
Based on this, it is necessary to provide a kind of robotic tracking's method and system, can apply in robot teaching, performance etc.
In scene, the cost of locating and tracking is realized in reduction.
A kind of robotic tracking's method, including：
Target robot launches optical signal；
Tracking robot receives the optical signal, and determines phase of the target robot relative to the tracking robot
To orientation；
The tracking robot carries out range finding using ultrasound wave and obtains and the target robot according to the relative bearing
The distance between, and to target robot movement until predeterminable range.
In one embodiment, before the step of target robot launches optical signal, methods described also includes：
Predefine the target robot and the tracking robot；Or
The target robot and the tracking robot are determined from two robots.
In one embodiment, include the step of the target robot transmitting optical signal：
The target robot launches optical signal by the light emission module on a spin rotary device.
In one embodiment, methods described also includes：
The target robot is encoded, and obtains the corresponding robot identity of the target robot, the target machine
Device people launches the optical signal corresponding to the robot identity by the light emission module on a spin rotary device.
In one embodiment, the tracking robot receives the optical signal, and determines that the target robot is relative
The step of the relative bearing of the tracking robot, including：
The tracking robot receives the optical signal by being looped around the Optical Receivers of tracking robot surrounding；
The tracking robot according to the position of the Optical Receivers, determine the target robot relative to it is described with
The corner of track robot, the corner are sent out for the tracking robot ultrasonic listening direction and the target robot optical signal
Penetrate the angle in direction.
In one embodiment, the tracking robot carries out range finding using ultrasound wave and obtains according to the relative bearing
The distance between with the target robot, and to the target robot be moved to acquiescence apart from the step of, including：
The tracking robot is rotated according to the corner, and ultrasonic listening direction is aligned the target machine
People, and found range；
The tracking robot controls the tracking robot to the mesh according to the predeterminable range based on pid algorithm
Scalar robot is moved.
In one embodiment, methods described also includes：
After the optical signal that the tracking robot receives the target robot transmitting, the tracking robot leads to
Radio communication is crossed, notifies that the target robot stops the rotation of the spin rotary device；
In the tracking robot in the target robot moving process, described in tracking robot real-time reception
The optical signal of target robot transmitting, and pid algorithm is based on, the corner is modified.
In one embodiment, the optical signal be infrared signal, ultraviolet signal, it is any one in visible light signal
Kind.
In one embodiment, the tracking robot includes at least one robot.
In one embodiment, the target robot is moved according to predefined movement locus.
A kind of robotic tracking's system, including target robot and tracking robot；The target robot includes control
Module and light emission module；The tracking robot includes control module, Optical Receivers, ultrasonic distance measuring module and machinery fortune
Dynamic model block；
The light emission module of the target robot, for launching optical signal；
The Optical Receivers of the tracking robot, for receiving the optical signal；
The control module of the tracking robot, for determining the target robot relative to the tracking robot
Relative bearing；
The ultrasonic distance measuring module of the tracking robot, obtains between the target robot for carrying out finding range
Distance；
The control module of the tracking robot, is additionally operable to control the mechanical movement module, drives the tracking machine
People is to target robot movement until predeterminable range.
In one embodiment, the target robot and the tracking machine include control module, light transmitting mould per capita
Block, Optical Receivers, ultrasonic distance measuring module and mechanical movement module；
The target robot and the tracking robot are predefined by program；Or the priority received according to optical signal, from
The target robot and the tracking robot are determined in two robots.
In one embodiment, the light emission module is arranged on a spin rotary device of the target robot.
In one embodiment, the control module of the target robot is additionally operable to be encoded, and obtains the target machine
The corresponding robot identity of device people, and launched corresponding to the robot by the light emission module on spin rotary device
The optical signal of mark.
In one embodiment, the Optical Receivers is the Optical Receivers for being looped around tracking robot surrounding；
The control module of the tracking robot, for the position according to the Optical Receivers, determines the target machine
Corner of the device people relative to the tracking robot, the corner are the tracking robot ultrasonic listening direction and the mesh
The angle in scalar robot optical signal launch direction.
In one embodiment, the control module of the tracking robot, is additionally operable to according to the corner, control it is described with
Track robot is rotated, and ultrasonic listening direction is aligned the target robot, and is found range；
The control module, is additionally operable to according to the predeterminable range, based on pid algorithm, control the tracking robot to
The target robot movement.
In one embodiment, the target robot and the tracking robot also include wireless communication module；
After the optical signal that the tracking robot receives the target robot transmitting, the tracking robot leads to
Wireless communication module is crossed, notifies that the target robot stops the rotation of the spin rotary device；
It is described tracking robot in the target robot moving process, it is described tracking robot light-receiving mould
Block, is additionally operable to real-time reception optical signal；The control module of the tracking robot, for based on pid algorithm, entering to the corner
Row amendment.
In one embodiment, the light emission module, for launching infrared signal, ultraviolet signal, visible ray letter
Any one in number.
In one embodiment, the tracking robot includes at least one robot.
In one embodiment, the target robot also includes mechanical movement module；
The control module of the target robot, is additionally operable to control the mechanical movement module, according to predefined motion
Moved track.
Above-mentioned robotic tracking's method and system, target robot transmitting optical signal, tracking robot receive optical signal,
Determine relative bearing of the target robot relative to tracking robot, recycle ultrasound wave to be found range, determine target robot
Position, relative to modes such as architecture units, is positioned here by optical signal and ultrasound wave, is reduced cost of implementation.
Description of the drawings
Schematic flow sheets of the Fig. 1 for the robotic tracking's method in one embodiment；
Schematic flow sheets of the Fig. 2 for the robotic tracking's method in one embodiment；
Application scenario diagrams of the Fig. 3 for the robotic tracking's method in one embodiment；
Schematic flow sheets of the Fig. 4 for the robotic tracking's method in one embodiment；
Application scenario diagrams of the Fig. 5 for the robotic tracking's method in one embodiment；
Sequential charts of the Fig. 6 for the robotic tracking's method in one embodiment；
Fig. 7 is the schematic diagram being modified of adjusting the distance based on pid algorithm in one embodiment；
Application scenarios schematic diagrams of the Fig. 8 for the robotic tracking's method in one embodiment；
Structural representations of the Fig. 9 for the robotic tracking's system in one embodiment；
Structural representations of the Figure 10 for the robotic tracking's system in one embodiment.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, in one embodiment, there is provided a kind of robotic tracking's method.The method can using indoors,
In the application scenarios such as outdoor robot performance or teaching, in these scenes, for performance or the demand imparted knowledge to students, between robot
The action of mutual tracking can be made.In the present embodiment, the method includes following scheme：
Step 101, target robot transmitting optical signal.
Specifically, the robotic tracking in the present embodiment is based on the mutual tracking in two dimensional surface.In tracking robot
Between tracking target robot, tracking robot needs to position target robot.Target robot launches mould by light
Block launches the optical signal of certain wavelength, according to the scope of wavelength, the optical signal can be infrared signal, ultraviolet signal,
Any one in visible light signal.When tracking robot receives the optical signal of the wave-length coverage, according to advance agreement, just
Can confirm that it is optical signal that target robot is sent.
Step 102, tracking robot receive optical signal, and determine contra of the target robot relative to tracking robot
Position.
Specifically, the optical signal that robot receives target robot transmitting by Optical Receivers, the light-receiving mould are tracked
The wave-length coverage that block receives light is corresponding with target robot launch wavelength.For example, the optical signal of target robot transmitting is
During infrared signal, the Optical Receivers receiver wavelength range for tracking robot is 760nm to 1mm, and now Optical Receivers can
With from PIR (Passive Infrared Detector, passive type Infrared Detectorss) or infrared camera.In the same manner, target machine
Device people can also launch the monochromatic visible light such as red, orange, yellow, green, and the Optical Receivers for tracking robot can receive correspondence monochrome
Light, or the Optical Receivers is general light receiving element, can receive the optical signal of whole visible wavelength range.Tracing machine
After device people receives the optical signal of target robot transmitting, it can be placed in tracking robot in advance according to Optical Receivers
Position, determine target robot relative to tracking robot relative bearing.For example, track robot can be, but not limited to
Go to receive optical signal by being looped around multiple Optical Receivers of tracking robot surrounding, for example track robot it is forward and backward, left,
Right direction respectively installs an Optical Receivers, when the Optical Receivers at rear receives the optical signal of target robot transmitting, just
Can determine target robot at " rear " of tracking robot.Additionally, in other embodiments, between Optical Receivers also
Less interval angles are could be arranged to, to improve the degree of accuracy of relative bearing judgement.Optical Receivers may be arranged as ring
Shape structure light receiving element, remembers different orientation angles in ring-type light receiving element subscript, according to ring-type receiving device receiving light
The position of signal, it is possible to should determine that relative bearing of the target robot relative to tracking robot.
Step 103, tracking robot carry out range finding using ultrasound wave and obtain between target robot according to relative bearing
Distance, and to target robot movement until predeterminable range.
Specifically, in the present embodiment, track robot and determine contra of the target robot relative to tracking robot
Behind position, launch ultrasound wave to the relative bearing using ultrasonic measuring distance technology, so as to measure target robot and tracking machine
The distance between people, is also just accurately positioned out position of the target robot relative to tracking robot.Afterwards, tracking robot can
To drive the motor of itself, move to target robot until predeterminable range.After reaching the predeterminable range, robot is tracked
Target robot can be stopped, target robot stops transmitting optical signal, reduces energy resource consumption.Additionally, target robot and with
Track robot can built-in wireless communication module, when default distance is reached, tracking robot can also notify target robot
Continue to move a segment distance according to the movement locus of acquiescence, tracking robot is tracked again, so as to realize tracking robot
Circulation tracking and target robot between.
In the present embodiment, target robot can be static, or according to the program of acquiescence, according to predefined
Movement locus moved.If target machine is artificial static, tracking robot after positioning target robot, with straight line to
Target robot is moved.If target robot is also real time kinematics, frequency positioning mesh of the robot according to acquiescence is tracked
Scalar robot, positioning moment each time can be assumed that the artificial resting state of target machine, and move to target robot, so as to
Final tracking robot is carried out close with curvilinear style to target robot.
In the present embodiment, target robot transmitting optical signal, tracking robot receive optical signal, determine target machine
Relative bearing of the people relative to tracking robot, recycles ultrasound wave to be found range, determines target robot position, relative to base
Stand firm the modes such as position, positioned here by optical signal and ultrasound wave, reduce cost of implementation.
Referring to Fig. 2, in one embodiment, there is provided a kind of robotic tracking's method.The method can be applied such as
In the application scenarios such as indoor and outdoor robot performance or teaching.In the present embodiment, the method includes：
Step 201, predefined target robot and tracking robot.
Specifically, simply perform in application scenarios in some robots, generally pre-define target robot and tracking
Robot.As shown in figure 3,301 is the plane schematic top plan view of tracked target robot, 302 are the flat of tracking robot
Face schematic top plan view.Target robot 301 and tracking robot 302 are mounted with different equipment according to the difference of status.Target
Robot 301 built-in control module (not shown in figure, for example, can be FPGA, CPLD etc.), and it is provided with spin rotary device
3011, light emission module 3012 is provided with above spin rotary device 3011, light emission module 3012 is electrically connected with control module.
When the rotary device 3011 that spins is according to certain angular velocity rotation, light emission module 3012 just can be believed to different directions launching light
Number, the optical signal can be, but not limited to be infrared signal.Tracking robot built-in control module (not shown), and it is provided with ring
Be wound on multiple Optical Receivers 3021 of tracking robot surrounding, tracking robot 302 be additionally provided with to a direction (for example to
The front of tracking robot) ultrasonic distance measuring module 3022 found range.Certainly, track robot and be provided with mechanical movement mould
Block, such as, comprising devices such as motor, rollers, enable to tracking robot and perform the actions such as steering, movement, so as to track target
Robot.Target robot can be not provided with mechanical movement module, remains stationary, it is also possible to install mechanical motion module, so as to
Can be moved according to predefined movement locus.Additionally, target robot and tracking robot further can also be arranged
Wireless communication module, interacts.
Step 202, target robot transmitting optical signal.
Specifically, target robot 301 is being launched between optical signal, by built-in control module by the compiling made an appointment
Code agreement is encoded, and obtains the corresponding robot identity of target robot.Target robot is again by filling installed in spinning
Put the light emission module 3012 on 3011 and launch the optical signal corresponding to the robot identity (signal of telecommunication).
Step 203, tracking robot receive optical signal, and determine contra of the target robot relative to tracking robot
Position.
Specifically, referring to Fig. 3, robot 302 is tracked by being looped around multiple Optical Receivers of tracking robot surrounding
To receive optical signal (four Optical Receivers are schematically drawn in figure).When one of Optical Receivers 3021 receives light
After signal, the control module of robot is tracked according to coding and decoding agreement, convert optical signals to the robot mark of target robot
Know, so as to identify the optical signal that have received that target robot sends.Now, robot is tracked according to receiving optical signal
The position of Optical Receivers 3021, and itself ultrasonic listening direction, determine target robot relative to tracking robot
Corner, as shown in figure 3, the corner is tracking robot ultrasonic listening direction and target robot optical signal launch direction
Angle.
Step 204, tracking robot carry out range finding using ultrasound wave and obtain between target robot according to relative bearing
Distance, and to target robot movement until predeterminable range.
Specifically, such as Fig. 3, after tracking corner of the determination target robot of robot 302 relative to tracking robot 302,
Tracking robot 302 drives mechanical motion module to be rotated according to the corner, by ultrasonic listening direction alignment target machine
People 301, and are oriented range finding, so as to obtain the relative position of target robot 301.
After tracking robot 302 determines the position of target robot 301, according to default distance, based on PID (ratios-product
Point-differential) algorithm, control tracking robot and move to target robot.The schematic diagram of pid algorithm is as shown in fig. 7, in figure
Setting value (predeterminable range) with target range is to track the distance that robot traces into target robot.E1 (t) for it is default away from
Difference with a distance from being measured with ultrasonic distance measuring module, is carried out ratio, integrates, differentiates, be approximately considered defeated to the difference
Go out relation proportional to error originated from input, and eliminate systematic steady state error, suppress the advanced change of error, so as to controlled motor make with
Track robot is to the corresponding distance of target robot advance.
After predeterminable range is reached, tracking robot can stop target robot, and target robot stops launching light letter
Number, reduce energy resource consumption.
Referring to Fig. 4, in one embodiment there is provided another kind of robotic tracking's method.The method includes：
Step 401, determines target robot and tracking robot from two robots.
Specifically, the present embodiment application scenario diagram as shown in figure 5,501 be robot A, 502 be robot B.Robot
A and robot B have an identical structure, all built-in control chip, are respectively equipped with spin rotary device 5011 and 5021.Spinning
Device 5011 is provided with light emission module 5012, is provided with light emission module 5022 on spin rotary device 5021.Robot A is provided with
Around multiple Optical Receivers 5013 of robot A, robot B is provided around multiple Optical Receivers 5023 of robot B.Machine
Device people A and robot B are respectively equipped with the ultrasonic distance measuring module 5014 and 5024 of orientation range finding, and range finding direction can for example be machine
The front of device people.Robot A and B are designed with mechanical movement module, mutually can track at the volley.And robot A and B are arranged
Wireless communication module, can carry out wireless interaction during tracking.
Target robot and tracking robot are determined from two robot A and B, can be realized by following mechanism：
The spin rotary device of robot A and B carries out rotation, and its respective control module is encoded, and obtains respective machine
Device people identifies, and light emission module launches the optical signal corresponding to respective robot identity.The Optical Receivers of robot A and B
Real-time reception optical signal.When certain moment, the Optical Receivers of robot B receives the optical signal of robot A transmittings, then robot
, used as target robot, robot B is used as tracking robot for A.In the same manner, if robot A receives the optical signal of B transmittings, machine
Device people A is used as tracking robot.In the present embodiment, with robot A as target robot, robot B as tracking robot,
Contrary situation, its operation principle are similar to, and repeat no more.
Step 402, target robot transmitting optical signal.
Specifically, the tracked robot of optical signal (robot B) that target robot (robot A) is launched receives it
Afterwards, robot is tracked by radio communication, notify that target robot stops the rotation of spin rotary device 5011, but target robot
Light emission module 5014 continue directional transmissions optical signal.
Step 203, tracking robot receive optical signal, and determine contra of the target robot relative to tracking robot
Position.
Specifically, referring to Fig. 5, robot 502 is tracked by being looped around multiple Optical Receivers of tracking robot surrounding
To receive optical signal (four Optical Receivers are schematically drawn in figure).When one of Optical Receivers 5023 receives light
After signal, the control module of robot is tracked according to coding and decoding agreement, convert optical signals to the robot mark of target robot
Know, so as to identify the optical signal that have received that target robot sends.Now, robot is tracked according to receiving optical signal
The position of Optical Receivers 5023, and itself ultrasonic listening direction, determine target robot relative to tracking robot
Corner, as shown in figure 5, the corner is tracking robot ultrasonic listening direction and target robot optical signal launch direction
Angle.
Step 204, tracking robot carry out range finding using ultrasound wave and obtain between target robot according to relative bearing
Distance, and to target robot movement until predeterminable range.
Specifically, such as Fig. 5, track robot 502 and determine corner of the target robot 501 relative to tracking robot 502
Afterwards, tracking robot 502 drives mechanical motion module to be rotated according to the corner, by ultrasonic listening direction alignment target machine
Device people 501, and range finding is oriented, so as to obtain the relative position of target robot 501.
After tracking robot 502 determines the position of target robot 501, according to default distance, based on PID (ratios-product
Point-differential) algorithm, control tracking robot and move to target robot.The schematic diagram of pid algorithm is as shown in fig. 7, in figure
Setting value (predeterminable range) with target range is to track the distance that robot traces into target robot.E1 (t) for it is default away from
Difference with a distance from being measured with ultrasonic distance measuring module, is carried out ratio, integrates, differentiates, be approximately considered defeated to the difference
Go out relation proportional to error originated from input, and eliminate systematic steady state error, suppress the advanced change of error, so as to controlled motor make with
Track robot is to the corresponding distance of target robot advance.
In the present embodiment, target robot 501 stops the rotation of spin rotary device, directional transmissions optical signal, in tracking
Robot 502 tracks the light of 502 real-time reception target robot of robot, 501 transmitting in 501 moving process of target robot
Signal, and pid algorithm is based on, corner is modified (principle of pid algorithm is similar with Fig. 7, here not labor).This reality
Apply in example, based on pid algorithm, adjust the distance with corner while being modified, it is ensured that tracking robot 502 in motor process more
Plus it is accurate, so as to wander off.
After predeterminable range is reached, tracking robot can stop target robot, and target robot stops launching light letter
Number, reduce energy resource consumption.Additionally, in other optional embodiments, after predeterminable range is reached, tracking robot can lead to
Wireless communication module is crossed, notifies that target robot continues one segment distance of motion, tracked robot and continue the upper of the present embodiment introduction
State tracking process.
The interactive sequential chart of the robotic tracking's method in the present embodiment, robot A and robot B, in figure 6, machine
People B first receives light (infrared) signal that robot A sends, then, used as tracking robot, robot A is used as target for robot B
Robot.In turn, if robot A first receives the optical signal that robot B sends, robot A as tracking robot, its
Interaction sequential is similar with Fig. 6, and therefore not to repeat here.
As shown in fig. 6, robot A is included with the sequential that interacts of robot B：
The spin of 601a, robot A carries out rotation, at the same transmitting infrared signal (here by taking infrared signal as an example, other light
Spectrum signal can also).
The spin of 601b, robot B carries out rotation, while launching infrared signal.
602, robot B receive the infrared signal of A transmittings.
603, robot B send back-signalling to A by wireless.
604a, robot A receive response signal, stop the rotation of spin rotary device, but keep the infrared letter of directional transmissions
Number.
The position of 604b, robot B according to the Optical Receivers for receiving infrared signal, and ultrasonic listening direction,
Calculate corner.
605, robot B is rotated according to corner, by ultrasonic listening direction to turning robot A.
606a, robot A are oriented range finding using ultrasound wave.
606b, robot B are oriented range finding using ultrasound wave.
607, robot A and robot B compare range measurement by radio communication, when error is in set point, it is determined that
Robot A and B is vis-a-vis, otherwise, returns 601a and 601b and redefines target robot and tracking robot, thus,
The accurate of track path is further ensured that, tracing deviation is reduced.
608, robot B according to predeterminable range (distance, it is believed that B has tracked A), based on pid algorithm to robot A
It is mobile.
The infrared signal of 609, robot B real-time reception machine people A transmittings, based on pid algorithm amendment corner.
610, after reaching predeterminable range, robot B sends confirmation signal to robot A by wireless.
611a, robot A receive confirmation signal, stop transmitting infrared signal.
611b, robot B stop tracking robot A.
Referring to Fig. 8, in one embodiment, there is provided a kind of application scenarios of robotic tracking's method.In the present embodiment
In, there is a target robot, tracking robot includes at least one robot：Tracking robot 1, tracking robot
2...... track robot n etc..In the present embodiment, track robot 1 and track target machine according to different time sections to n
People.For example, target robot is tracked by tracking robot 1 first, when tracking robot 1 reaches default distance with target robot
Afterwards, track 1 stop motion of robot.Target robot continues above-mentioned tracking ... by wireless notification tracking robot 2 and exists
In the present embodiment, tracking robot 1 is tracked to n to target robot, and its principle is similar with previous embodiment, and here is not
Repeat again.
Referring to Fig. 9, in one embodiment, there is provided a kind of robotic tracking's system.The system includes target robot
901 and tracking robot 902.Target robot 901 includes control module 9011 and light emission module 9012.Tracking robot bag
Include control module 9021, Optical Receivers 9022, ultrasonic distance measuring module 9023 and mechanical movement module 9024.In the present embodiment
In, target robot 901 can further include wireless communication module 9013 and 9025 with tracking robot 902, for two
Radio communication between robot.The light emission module 9012 of target robot 901, for launching optical signal.Light emission module
9012 can be, but not limited on a spin rotary device of target robot 901, and such target robot 901 just can be by
According to certain angular velocity to two dimensional surface emission optical signal, received for tracking robot.Target robot 901 passes through
Light emission module 9012 launches the optical signal of certain wavelength, according to the scope of wavelength, the optical signal can be infrared signal,
Any one in ultraviolet signal, visible light signal.
The Optical Receivers 9022 of tracking robot 902, for receiving optical signal.Tracking robot 902 passes through light-receiving
Module 9022 receives the optical signal of the transmitting of target robot 901, and the Optical Receivers receives the wave-length coverage and target machine of light
Device people's transmitted wave appearance correspondence.For example, the light that robot is tracked when the optical signal of target robot transmitting is infrared signal connects
It is 760nm to 1mm to receive module receiver wavelength range, and now Optical Receivers can select PIR (Passive Infrared
Detector, passive type Infrared Detectorss) or infrared camera.In the same manner, target robot can also be launched red, orange, yellow, green etc.
Monochromatic visible light, the Optical Receivers for tracking robot can receive correspondence monochromatic light, or the Optical Receivers is general
Light receiving element, can receive the optical signal of whole visible wavelength range.
The control module 9021 of tracking robot 902, for determining target robot 901 relative to tracking robot 902
Relative bearing.After tracking robot receives the optical signal of target robot transmitting, can be advance according to Optical Receivers
The position being placed in tracking robot, determines relative bearing of the target robot relative to tracking robot.For example, track
Robot can be, but not limited to go to receive optical signal by being looped around multiple Optical Receivers of tracking robot surrounding, for example with
An Optical Receivers is respectively installed in track robot front, rear, left and right direction, when the Optical Receivers at rear receives target machine
The optical signal of people's transmitting, it is possible to determine target robot at " rear " of tracking robot.Additionally, in other embodiment
In, less interval angles are may be arranged as between Optical Receivers, to improve the degree of accuracy of relative bearing judgement.Light-receiving
Module may be arranged as circulus light receiving element, remember different orientation angles in ring-type light receiving element subscript, according to
Ring-type receiving device receives the position of optical signal, it is possible to should determine that contra of the target robot relative to tracking robot
Position.
The ultrasonic distance measuring module 9023 of tracking robot 902, for being found range.The control mould of tracking robot 902
Block 9021, is additionally operable to control machinery motion module 9024, drives tracking robot 902 to the movement of target robot 901 until pre-
If distance.After tracking robot determines relative bearing of the target robot relative to tracking robot, using ultrasonic ranging skill
Art launches ultrasound wave to the relative bearing, so as to measure the distance between target robot and tracking robot, also just accurate
Orient position of the target robot relative to tracking robot.Afterwards, track robot and can drive the motor of itself, to mesh
Scalar robot is moved until predeterminable range.After reaching the predeterminable range, tracking robot can pass through wireless communication module
9025 send wireless communication module 9013 of the notification signal to target robot, and target robot stops after notified signal
Transmitting optical signal, reduces energy resource consumption.
Referring to Figure 10, in one embodiment, there is provided a kind of robotic tracking's system.The robot system includes target
Robot and tracking robot.Target robot with tracking robot architecture it is identical, including control module, light emission module,
Optical Receivers, ultrasonic distance measuring module, mechanical movement module and wireless communication module.Target robot and tracking robot can
To be predefined by program, or the priority received according to optical signal, target robot and tracing machine are determined from two robots
Device people.
In the present embodiment, light emission module is arranged on a spin rotary device of target robot.Target robot
Control module is encoded, and obtains the corresponding robot identity of target robot, and by the light on spin rotary device
Transmitter module launches the optical signal corresponding to robot identity.
In the present embodiment, the Optical Receivers for tracking robot is the multiple light-receiving moulds for being looped around tracking robot surrounding
Block.Robot is tracked after the optical signal for receiving target robot transmitting, according to the Optical Receivers for receiving optical signal
Position and ultrasonic listening direction, determine corner of the target robot relative to tracking robot, and the corner is tracking machine
People's ultrasonic listening direction and the angle in target robot optical signal launch direction.
The control module of tracking robot, further according to corner, control tracking robot is rotated, and ultrasound wave is visited
Survey direction and be directed at the target robot, and found range using ultrasonic distance measuring module.
The control module of robot in the present embodiment, is tracked, always according to default distance, based on pid algorithm, tracing machine is controlled
Device people is moved to target robot.
Optionally, after tracking robot receives the optical signal of target robot transmitting, tracking robot passes through nothing
Line communication module, notifies that target robot stops the rotation of spin rotary device.Moving to target robot in tracking robot
During, the Optical Receivers of robot is tracked, real-time reception optical signal is additionally operable to；The control module of tracking robot, also uses
In based on pid algorithm, corner is modified.
In the present embodiment, target robot can be static, it is also possible to be controlled by it module, control machinery motion module,
Moved according to predefined movement locus.
In one embodiment, tracking robot can also include at least one robot, and different robots are in difference
Time period target robot is tracked.
One of ordinary skill in the art will appreciate that all or part of flow process in realizing above-described embodiment method, can be
Instruct related hardware to complete by computer program, described program can be stored in a computer read/write memory medium
In, the program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Disk, CD, read-only stored memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but and
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the guarantor of the present invention
Shield scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (8)
1. a kind of robotic tracking's method, it is characterised in that methods described includes：
Target robot launches optical signal；
Tracking robot receives the optical signal, and determines contra of the target robot relative to the tracking robot
Position；
The tracking robot carries out range finding using ultrasound wave and obtains between the target robot according to the relative bearing
Distance, and to target robot movement until predeterminable range；
Before the step of target robot launches optical signal, methods described also includes：
The target robot and the tracking robot are predefined by program；Or the priority received according to optical signal, from two machines
The target robot and the tracking robot are determined in device people；
Radio communication is carried out between the target robot and the tracking robot.
2. method according to claim 1, it is characterised in that include the step of the target robot transmitting optical signal：
The target robot launches optical signal by the light emission module on a spin rotary device；Methods described is also wrapped
Include：
The target robot is encoded, and obtains the corresponding robot identity of the target robot, the target robot
Optical signal corresponding to the robot identity is launched by the light emission module on a spin rotary device.
3. method according to claim 2, it is characterised in that the tracking robot receives the optical signal, and determines
The target robot relative to it is described tracking robot relative bearing the step of, including：
The tracking robot receives the optical signal by being looped around the Optical Receivers of tracking robot surrounding；
The tracking robot determines the target robot relative to the tracing machine according to the position of the Optical Receivers
The corner of device people, the corner are the tracking robot ultrasonic listening direction and the target robot optical signal launch side
To angle.
4. method according to claim 3, it is characterised in that the tracking robot is utilized according to the relative bearing
Ultrasound wave carries out range finding and the distance between obtains with the target robot, and to the target robot be moved to acquiescence away from
From the step of, including：
The tracking robot is rotated according to the corner, and ultrasonic listening direction is aligned the target robot, and
Found range；
The tracking robot controls the tracking robot to the target machine according to the predeterminable range based on pid algorithm
Device people moves.
5. method according to claim 4, it is characterised in that methods described also includes：
After the optical signal that the tracking robot receives the target robot transmitting, the tracking robot passes through nothing
Line communicates, and notifies that the target robot stops the rotation of the spin rotary device；
In the tracking robot in the target robot moving process, target described in tracking robot real-time reception
The optical signal of robot transmitting, and pid algorithm is based on, the corner is modified.
6. method according to claim 1, it is characterised in that the optical signal be infrared signal, ultraviolet signal, can
See any one in optical signal；The tracking robot includes at least one robot.
7. method according to claim 1, it is characterised in that the target robot is entered according to predefined movement locus
Row motion.
8. a kind of robotic tracking's system, it is characterised in that the system includes target robot and tracking robot；The mesh
Scalar robot includes control module and light emission module；The tracking robot includes control module, Optical Receivers, ultrasound wave
Range finder module and mechanical movement module；
The light emission module of the target robot, for launching optical signal；
The Optical Receivers of the tracking robot, for receiving the optical signal；
The control module of the tracking robot, for determining the target robot relative to the relative of the tracking robot
Orientation；
The ultrasonic distance measuring module of the tracking robot, obtain for carrying out finding range between the target robot away from
From；
The control module of the tracking robot, is additionally operable to control the mechanical movement module, drive the tracking robot to
The target robot movement is until predeterminable range；
The target robot and the tracking machine include control module, light emission module, Optical Receivers, ultrasound wave per capita
Range finder module and mechanical movement module；
The target robot and the tracking robot are predefined by program；Or the priority received according to optical signal, from two machines
The target robot and the tracking robot are determined in device people；
The target robot and the tracking robot also include wireless communication module, for wireless between two robots
Communication.
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| CN201410287533.2A CN104407622B (en) | 2014-06-24 | 2014-06-24 | robot tracking method and system |
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| CN105005306B (en) * | 2015-07-24 | 2017-08-25 | 杭州德宝威智能科技有限公司 | Repositioning method in robot performance |
| CN105487558A (en) * | 2015-12-24 | 2016-04-13 | 青岛海通机器人系统有限公司 | Object following system based on mobile robot and method |
| CN106054699A (en) * | 2016-06-02 | 2016-10-26 | 苏州杰姆斯特机械有限公司 | Microprocessor-based remote CCD automatic control system |
| CN105955129A (en) * | 2016-06-02 | 2016-09-21 | 苏州杰姆斯特机械有限公司 | Remote CCD robot control management system based on LIFI |
| CN106197396B (en) * | 2016-06-27 | 2020-11-03 | 湖南云辙科技有限公司 | Positioning guidance system and method based on optical signal transmitting and receiving |
| CN107200143A (en) * | 2017-06-08 | 2017-09-26 | 中国科学院半导体研究所 | A kind of vertically taking off and landing flyer blind landing system based on VLC |
| CN108107914B (en) * | 2017-11-14 | 2020-07-28 | 北京臻迪科技股份有限公司 | Floating moving body, following system, and control method |
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| CN108267740B (en) * | 2018-01-03 | 2020-11-20 | 纳恩博（北京）科技有限公司 | Information processing method, ultrasonic device, mobile device, and storage medium |
| CN110162056A (en) * | 2019-06-02 | 2019-08-23 | 安徽工业大学 | A kind of light guidance follow-up mechanism and method |
| CN110539821A (en) * | 2019-09-06 | 2019-12-06 | 燕山大学 | small pneumatic quadruped robot with automatic tracking function |
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Denomination of invention: Robot tracking method and system Effective date of registration: 20210819 Granted publication date: 20170503 Pledgee: Agricultural Bank of China Limited by Share Ltd. South Lake branch Pledgor: JIAXING YUNQIE SUPPLY CHAIN MANAGEMENT Co.,Ltd. Registration number: Y2021980008006 |
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Address after: Room 102-2, 1st floor, building 42, Zhifu center, 966 Xiuyuan Road, Xiuzhou District, Jiaxing City, Zhejiang Province, 314031 Patentee after: Jiaxing Yunche Online Technology Co.,Ltd. Address before: Room 102-2, 1st floor, building 42, Zhifu center, 966 Xiuyuan Road, Xiuzhou District, Jiaxing City, Zhejiang Province, 314031 Patentee before: JIAXING YUNQIE SUPPLY CHAIN MANAGEMENT CO.,LTD. |