CN106405500B - Intelligent robot follower method, system for tracking and the emitter for following - Google Patents
Intelligent robot follower method, system for tracking and the emitter for following Download PDFInfo
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- CN106405500B CN106405500B CN201610880972.3A CN201610880972A CN106405500B CN 106405500 B CN106405500 B CN 106405500B CN 201610880972 A CN201610880972 A CN 201610880972A CN 106405500 B CN106405500 B CN 106405500B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
The invention discloses a kind of intelligent robot follower method, system for tracking and emitter for following, which includes: to obtain ultrasonic distance measurement signal using the reception device being mounted on intelligent robot；The real-time range for determining intelligent robot using the ultrasonic distance measurement signal according to triangulation and being followed between target；It is generated according to the real-time range and exports the multi-modal data for following intelligent robot to target.The follower method makes intelligent robot that can keep appropriately distance in the interactive process with user, improves interactive experience.
Description
Technical field
The invention belongs to field in intelligent robotics more particularly to a kind of intelligent robot follower methods, system for tracking and use
In the emitter followed.
Background technique
Intelligent robot is increasingly used in accompanying and be interacted.It is interacted in intelligent robot and user
When, user, which tends not to be always held at one place, not to be moved, and to interaction, more stringent requirements are proposed in this case.
On the one hand, it is assumed that user's separate intelligent robot during carrying out interactive voice with intelligent robot, if
Intelligent robot cannot follow the movement of user, and user can not may just receive the multi-modal feedback or robot of robot
It is unable to properly receive the multi-modal input information of user and makes corresponding feedback.On the other hand, if in interactive process intelligence
Energy robot is excessively close apart from user, also be easy to cause experience bad.Therefore how intelligent robot and user interaction process to be kept
In suitable distance become a urgent problem to be solved.
Summary of the invention
The first technical problem to be solved by the present invention be need to provide it is a kind of for keep intelligent robot with user
Interactive process in distance method.
In order to solve the above-mentioned technical problem, embodiments herein provides firstly a kind of intelligent robot follower method,
It include: to obtain ultrasonic distance measurement signal using the reception device being mounted on intelligent robot；Institute is utilized according to triangulation
State the real-time range that ultrasonic distance measurement signal determines intelligent robot and is followed between target；It is generated according to the real-time range
And export the multi-modal data for following intelligent robot to target.
Preferably, described to be generated according to the real-time range and export the multimode for following intelligent robot to target
State data, including the constantly more described intelligent robot and the real-time range being followed between target and preset distance threshold,
When the real-time range is greater than the distance threshold, the movement of driving intelligent robot is followed target with close；When the reality
When distance be less than or equal to the distance threshold when, stop driving intelligent robot movement.
Preferably, the utilization is mounted on the reception device on intelligent robot and obtains ultrasonic distance measurement signal, comprising: benefit
Infrared synchronous signal is received with the reception device being mounted on intelligent robot；It is originated using the infrared synchronous signal as timing
Point measurement receives the time of ultrasonic signal；According to the spread speed of ultrasonic wave and the time for receiving ultrasonic signal
Calculate the emitter for emitting the ultrasonic signal and the distance between the reception device being mounted on intelligent robot.
Preferably, emit between the emitter of the ultrasonic signal and the reception device being mounted on intelligent robot
Distance include in first distance in emitter and reception device between the first receiving point and emitter and reception device
Second distance between secondary destination.
Preferably, intelligent robot is determined according to the triangulation being shown below and be followed real-time between target
Distance:
Wherein, the real-time range that T indicates intelligent robot and is followed between target, A are emitter and reception device
First distance between interior first receiving point, B are the second distance in emitter and reception device between secondary destination, K
For the spacing between the first receiving point and secondary destination.
Embodiments herein additionally provides a kind of intelligent robot system for tracking, comprising: range finder module utilizes installation
Reception device on intelligent robot obtains ultrasonic distance measurement signal；Locating module, utilized according to triangulation described in
The real-time range that ultrasonic distance measurement signal determines intelligent robot and is followed between target；Module is followed, according to the reality
When distance generate and export the multi-modal data for following intelligent robot to target.
Preferably, it is described follow the constantly more described intelligent robot of module and the real-time range being followed between target with
Preset distance threshold, when the real-time range be greater than the distance threshold when, driving intelligent robot movement with close to by with
With target；When the real-time range is less than or equal to the distance threshold, stop driving intelligent robot movement.
Preferably, the range finder module obtains ultrasonic distance measurement signal according to following steps: using being mounted on intelligence machine
Reception device on people receives infrared synchronous signal；Ultrasound is received using the infrared synchronous signal as timing starting point measurement
The time of wave signal；It calculates according to the spread speed of ultrasonic wave and the time for receiving ultrasonic signal and emits the ultrasound
The emitter of wave signal and the distance between the reception device being mounted on intelligent robot.
On the other hand, a kind of emitter for intelligent robot follower method is provided, the mesh being followed is installed on
It puts on, comprising: ultrasonic transmitting element emits ultrasonic signal to intelligent robot with the frequency of setting；Infrared transmission unit,
It is generated simultaneously with ultrasonic transmitting element transmitting ultrasonic signal and emits infrared synchronous signal.
Preferably, the frequency of the infrared synchronous signal is greater thanWherein A is in emitter and reception device
First distance between first receiving point, B are the second distance in emitter and reception device between secondary destination.
Compared with prior art, one or more embodiments in above scheme can have following advantage or beneficial to effect
Fruit:
The target being followed and intelligence machine are obtained by using the mode that ultrasonic distance measurement and triangulation combine
Real-time range between people, and determine whether intelligent robot needs to carry out position tune by being judged real-time range
It is whole, so that intelligent robot can keep appropriately distance in the interactive process with user, improve interactive experience.
Other advantages, target and feature of the invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.Target and other advantages of the invention can be wanted by following specification, right
Specifically noted structure is sought in book and attached drawing to be achieved and obtained.
Detailed description of the invention
Attached drawing is used to provide to the technical solution of the application or further understanding for the prior art, and constitutes specification
A part.Wherein, the attached drawing for expressing the embodiment of the present application is used to explain the technical side of the application together with embodiments herein
Case, but do not constitute the limitation to technical scheme.
Fig. 1 is the flow diagram according to the intelligent robot follower method of first embodiment of the invention；
Fig. 2 is the schematic illustration according to the triangulation of first embodiment of the invention；
Fig. 3 is the flow diagram according to the intelligent robot follower method of second embodiment of the invention；
Fig. 4 is the structural schematic diagram according to the intelligent robot system for tracking of fourth embodiment of the invention.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching relevant art effect can fully understand and implement.This Shen
Please each feature in embodiment and embodiment, can be combined with each other under the premise of not colliding, be formed by technical solution
It is within the scope of the present invention.
First embodiment:
In order to make intelligent robot maintain appropriately distance, head in the embodiment of the present invention in the interactive process with user
First propose a kind of intelligent robot follower method, flow diagram as shown in Figure 1, method includes the following steps:
Step S110, ultrasonic distance measurement signal is obtained using the reception device being mounted on intelligent robot.
Step S120, according to triangulation using ultrasonic distance measurement signal determine intelligent robot and be followed target it
Between real-time range.
Step S130, it is generated according to real-time range and exports the multi-modal number for following intelligent robot to target
According to.
Specifically, ultrasonic probe, ultrasonic receiver is equipped on intelligent robot in embodiments of the present invention, in step S110
In, ultrasonic distance measurement signal is received using ultrasonic probe, ultrasonic receiver.
Ultrasonic wave has the characteristics that directive property is strong, energy consumption is slow.When ultrasonic wave is propagated in the medium, can propagate compared with
Remote distance, is based on above-mentioned characteristic, and ultrasonic wave is frequently applied in range measurement.It is tested the speed using ultrasonic wave often more fast
Speed, conveniently, and real-time measurement easy to accomplish.
The aerial spread speed of ultrasonic wave is 340m/s, this speed, which has been fully able to meet intelligent robot, to exist
The needs of ranging during being interacted with user.
Further, the ultrasonic probe, ultrasonic receiver installed on intelligent robot in the embodiment of the present invention is as shown in Figure 2.This
Reception device in inventive embodiments includes two receiving points, and receiving point 1 and receiving point 2 are arranged distance away, and two
Receiving point receives the ultrasonic signal for the emitter transmitting being mounted on target (such as user) respectively.
Next, in the step s 120, determining intelligence according to the ultrasonic distance measurement signal that receiving point 1 and receiving point 2 receive
Energy robot and the real-time range being followed between target obtain intelligence using triangulation in an embodiment of the present invention
Energy robot and the real-time range being followed between target.
Specifically, as shown in Fig. 2, receiving point 1 and receiving point 2 are distinguished when emitter starts to emit ultrasonic signal
Start timing, it is assumed that the time that receiving point 1 receives the ultrasonic signal of emitter transmitting is t1, and receiving point 2 receives hair
The time of the ultrasonic signal of injection device transmitting is t2, then according to the aerial spread speed of ultrasonic wave, available transmitting
First distance between device and receiving point 1, is denoted as A, as shown in expression formula (1-1), between emitter and receiving point 2
Two distances, are denoted as B, as shown in expression formula (1-2),
A=V*t1 (1-1)
B=V*t2 (1-2)
In formula, V indicates the aerial spread speed of ultrasonic wave, V=340m/s.
As can be seen that in embodiments of the present invention, the emitter of the transmitting ultrasonic signal of acquisition be mounted on intelligence
The distance between reception device in robot includes two distances, respectively the receiving point 1 in emitter and reception device
Between first distance A and emitter and reception device in second distance B between receiving point 2.
In Fig. 2, rectangular coordinate system is established based on receiving point 1, receiving point 2 and the plane where 3 points of emitter, such as
Shown in Fig. 2, using receiving point 1 and 2 place straight line of receiving point as x-axis, with the line of emitter to receiving point 1 and receiving point 2
Straight line where vertical range is that y-axis establishes rectangular coordinate system.
Assuming that the mounting distance between receiving point 1 and receiving point 2 is K, then by receiving point 1, receiving point 2 and emitter three
A point collectively constitutes triangle, and the length on three sides of triangle is it is known that as shown in Figure 2.
Further, the coordinate of receiving point 1 is set respectively as (x1, y1), then by mounting distance K it is found that the coordinate of receiving point 2
It can be expressed as (x1+ K, y1), if the coordinate of emitter is (x2, y2), remember that the side length of three sides of a triangle is respectively A, B
And C, then A=V*t1, B=V*t2, C=K, T is emitter to the vertical range of the line of receiving point 1 and receiving point 2, and is set
T > 0.Triangle is solved below with above-mentioned condition to obtain the expression formula of T.
Have in triangle shown in Fig. 2,
A2=(x2-x1)2+(y2-y1)2 (2-1)
B2=(x1+K-x2)2+(y2-y1)2 (2-2)
It is derived by expression formula (2-1) and (2-2):
Shown in T such as expression formula (4):
In rectangular coordinate system shown in Fig. 2, there is y2=T, y1=0, x2=0, then it obtains
It is obtained according to expression formula (4) and (6):
In expression formula (7), A and B can use ultrasonic distance measurement, and be obtained by expression formula (1-1) and (1-2), and K is
The distance of determination between receiving point 1 and receiving point 2, therefore emitter can be acquired to 1 He of receiving point according to expression formula (7)
The vertical range T of the line of receiving point 2.
Distance T can be used to indicate that the positional relationship between user and intelligent robot, using T as intelligent robot and quilt
Follow the real-time range between target.
It should be noted that for the real-time range for obtaining accurate intelligent robot and being followed between target,
When receiving point 1 and receiving point 2 are installed, it is mounted on receiving point 1 and receiving point 2 in same level.
In step s 130, continuous intelligent robot and the real-time range being followed between target (user) and default
Distance threshold.
When the value of real-time range T be greater than distance threshold when, illustrate at this time intelligent robot with a distance from user farther out, possibility
Influence whether the interactive process between intelligent robot and user, so, driving intelligent robot movement is close to user.
When the value of real-time range T is less than or equal to distance threshold, illustrate that intelligent robot is needing with a distance from user at this time
In the range of asking, the interactive process between intelligent robot and user is not interfered with, so, do not need driving intelligent robot
Movement.
The intelligent robot follower method of the embodiment of the present invention, the side combined using ultrasonic distance measurement and triangulation
Formula obtains the real-time range between the target being followed and intelligent robot, and determines intelligence by being judged real-time range
Can robot whether need to adjust position so that intelligent robot can be kept in the interactive process with user it is appropriate away from
From raising interactive experience.
Second embodiment:
When using ultrasonic distance measurement, two receiving points receive the ultrasonic signal emitted by emitter respectively.It is ideal
In the case where, after emitter end transmits ultrasonic signal, receiving point 1 and receiving point 2 start simultaneously at timing, such ability
Guarantee that the first distance A being calculated according to expression formula (1-1) and (1-2) and second distance B are accurate, while guaranteeing first distance
The relative distance of A and second distance B are accurate.
In the present embodiment, it is solved the above problems using infrared signal as synchronization signal.
Specifically, receiving point 1 and receiving point 2 first receive one before receiving the ultrasonic signal emitted by emitter
A infrared signal is as synchronization signal.Receiving point 1 and receiving point 2 are measured using the infrared synchronous signal as timing starting point respectively
Receive the time of ultrasonic signal, respectively measurement obtain t1 and t2, further according to ultrasonic wave spread speed and receive ultrasound
The time of wave signal calculates the first distance A between emitter and receiving point 1 and second between emitter and receiving point 2
Distance B.
Flow diagram such as Fig. 3 institute based on the intelligent robot follower method that infrared synchronous signal follows target
Show.
The aerial spread speed of infrared signal be equal to the light velocity, as 3 × 108m/s.The speed is far longer than ultrasonic wave
Spread speed, and when propagation distance is shorter, the propagation time of infrared signal be can be ignored.Therefore, as long as making to emit
Device end sends ultrasonic signal while emitting infrared signal, and is receiving infrared letter at receiving point 1 and receiving point 2
Number while start timing, it will be able to realize the synchronization between emitter and receiving point 1 and receiving point 2.
In addition, it is necessary to explanation, the fixed clock of infrared signal, which should meet, to be greater thanTo guarantee infrared signal
It can correctly be received.
In an embodiment of the present invention, the timing by using infrared signal as receiving point received ultrasonic signal rises
Point improves the precision of ranging so that measuring and the first distance A and second distance B being calculated are more in line with actual conditions,
And then be conducive to improve intelligent robot to the user timeliness followed and the accuracy followed, reduce the mistake behaviour followed
Make.
3rd embodiment:
In the present embodiment, propose a kind of for generating the emitter of infrared synchronous signal.
Emitter may be mounted to that in the target (user) being followed that the emitter mainly includes that ultrasonic wave transmitting is single
First and infrared transmission unit.
Wherein, ultrasonic transmitting element is mainly used for emitting ultrasonic signal to intelligent robot with the frequency of setting.
Infrared transmission unit, is connected with ultrasonic transmitting element, passes in infrared transmission unit and ultrasonic transmitting element
The synchronization signal of a defeated local comes so that infrared transmission unit and ultrasonic transmitting element synchronization action.When ultrasonic wave emits list
When member transmitting ultrasonic signal, makes infrared transmission unit while generating and emitting infrared synchronous signal.
According to second embodiment it is found that the aerial spread speed of infrared signal is equal to the light velocity, it is far longer than ultrasonic wave
The spread speed of signal, and when propagation distance is shorter, the propagation time of infrared signal can be ignored, it can be considered that
Receiving point 1 and receiving point 2 at intelligent robot end receive the infrared signal, receiving point while infrared signal emits
1 and time zero of the receiving point 2 using the infrared signal as ultrasonic signal.
And at emitter end, due to the effect of local synchronization signal, the transmitting of infrared synchronous signal and ultrasonic signal
It is synchronous, and then it is believed that the time zero of receiving point 1 and receiving point 2 is the true launch time of ultrasonic signal.
It is greater than it should be noted that the fixed clock of infrared transmission unit transmitting infrared signal should meetTo protect
Card infrared signal can be correctly received.
In embodiments of the present invention, real by the way that ultrasonic transmitting element and infrared transmission unit are arranged in emitter
Show the synchronous of the transmitting of ultrasonic signal and the transmitting of infrared signal, receives ultrasound as receiving point by using infrared signal
The time zero of wave signal mentions so that measuring and the first distance A and second distance B being calculated are more in line with actual conditions
The high precision of ranging, and then be conducive to improve the timeliness that intelligent robot follows user and the accuracy followed,
Reduce the maloperation followed.
Fourth embodiment:
Fig. 4 is the structural schematic diagram according to the intelligent robot system for tracking of fourth embodiment of the invention, as shown in figure 4,
The system for tracking includes:
Range finder module 41 obtains ultrasonic distance measurement signal using the reception device being mounted on intelligent robot.
Locating module 42 determines intelligent robot using ultrasonic distance measurement signal according to triangulation and is followed mesh
Real-time range between mark.
Module 43 is followed, generated according to real-time range and exports that follow intelligent robot to target multi-modal
Data.
Further, the continuous intelligent robot of module 43 and the real-time range being followed between target are followed and is preset
Distance threshold, when real-time range is greater than distance threshold, driving intelligent robot movement is with close to being followed target.When real-time
When distance is less than or equal to distance threshold, stop driving intelligent robot movement.
Range finder module 41 receives infrared synchronous signal using the reception device being mounted on intelligent robot, and with infrared same
Step signal receives the time of ultrasonic signal as timing starting point measurement.Further according to ultrasonic wave spread speed with receive
The distance between the reception device that the time of ultrasonic signal calculates emitter and is mounted on intelligent robot.
The above-mentioned more specific function of functional module, can refer to the behaviour of various method steps in first embodiment and second embodiment
It obtains, details are not described herein again.
In the present embodiment, it is realized by reaching the technology of the time difference of different receiving points using ultrasonic wave to being followed mesh
The prediction of the position of punctuate realizes the system for tracking of intelligent robot, is conducive to improve intelligence by keeping comparable distance
Interactive experience of the robot when being interacted with user.
Although disclosed herein embodiment it is as above, the content is only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from this
Under the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details,
But scope of patent protection of the invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (5)
1. a kind of intelligent robot follower method, comprising:
Ultrasonic distance measurement signal is obtained using the reception device being mounted on intelligent robot:
Infrared synchronous signal is received using the reception device being mounted on intelligent robot, wherein the infrared synchronous signal
Frequency is greater thanWherein, A is first distance, and B is second distance；
The time of ultrasonic signal is received using the infrared synchronous signal as timing starting point measurement；
It calculates according to the spread speed of ultrasonic wave and the time for receiving ultrasonic signal and emits the ultrasonic signal
Emitter and the distance between the reception device being mounted on intelligent robot, wherein emit the hair of the ultrasonic signal
Injection device includes that emitter connects in reception device first with the distance between the reception device being mounted on intelligent robot
Second distance in first distance and emitter between sink and reception device between secondary destination, described first receives
Point and the secondary destination are mounted in same level；
Intelligent robot is determined using the ultrasonic distance measurement signal according to triangulation and is followed real-time between target
Distance；
It is generated according to the real-time range and exports the multi-modal data for following intelligent robot to target.
2. the method according to claim 1, wherein it is described generate and export according to the real-time range make intelligence
The multi-modal data that robot follows target including the constantly more described intelligent robot and is followed between target
Real-time range and preset distance threshold,
When the real-time range is greater than the distance threshold, the movement of driving intelligent robot is followed target with close；
When the real-time range is less than or equal to the distance threshold, stop driving intelligent robot movement.
3. a kind of intelligent robot system for tracking, comprising:
Range finder module obtains ultrasonic distance measurement signal using the reception device being mounted on intelligent robot:
Infrared synchronous signal is received using the reception device being mounted on intelligent robot, wherein the infrared synchronous signal
Frequency is greater thanWherein, A is first distance, and B is second distance；
The time of ultrasonic signal is received using the infrared synchronous signal as timing starting point measurement；
It calculates according to the spread speed of ultrasonic wave and the time for receiving ultrasonic signal and emits the ultrasonic signal
Emitter and the distance between the reception device being mounted on intelligent robot, wherein emit the hair of the ultrasonic signal
Injection device includes that emitter connects in reception device first with the distance between the reception device being mounted on intelligent robot
Second distance in first distance and emitter between sink and reception device between secondary destination, it is further, described
First receiving point and the secondary destination are mounted in same level；
Locating module determines intelligent robot using the ultrasonic distance measurement signal according to triangulation and is followed target
Between real-time range；
Module is followed, generated according to the real-time range and exports the multi-modal number for following intelligent robot to target
According to.
4. system according to claim 3, which is characterized in that it is described follow the constantly more described intelligent robot of module with
The real-time range being followed between target and preset distance threshold,
When the real-time range is greater than the distance threshold, the movement of driving intelligent robot is followed target with close；
When the real-time range is less than or equal to the distance threshold, stop driving intelligent robot movement.
5. a kind of emitter for intelligent robot follower method as claimed in claim 1 or 2, it is installed on and is followed
In target, comprising:
Ultrasonic transmitting element emits ultrasonic signal to intelligent robot with the frequency of setting；
Infrared transmission unit generates simultaneously with ultrasonic transmitting element transmitting ultrasonic signal and emits infrared synchronous letter
Number.
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| CN104991560A (en) * | 2015-07-12 | 2015-10-21 | 仲恺农业工程学院 | Autonomous mobile intelligent robot |
| CN105563451A (en) * | 2016-01-20 | 2016-05-11 | 詹雨科 | Intelligent following robot |
| CN105856263A (en) * | 2016-06-24 | 2016-08-17 | 深圳市鑫益嘉科技股份有限公司 | Robot with intelligent follow-up function |
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