CN108724172A - Lead apparatus control method and device - Google Patents
Lead apparatus control method and device Download PDFInfo
- Publication number
- CN108724172A CN108724172A CN201711252444.4A CN201711252444A CN108724172A CN 108724172 A CN108724172 A CN 108724172A CN 201711252444 A CN201711252444 A CN 201711252444A CN 108724172 A CN108724172 A CN 108724172A
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- Prior art keywords
- led
- equipment
- lead
- control
- scene
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The present invention proposes that one kind leads apparatus control method and the device, wherein method to include：To being led object to be monitored, judge to be led whether object is lost；When being led object to lose, control leads equipment to stop advancing, and detects to whether there is in ambient enviroment and led object；If there is no led object in ambient enviroment, then control leads equipment to march to default destination, and it detects to whether there is in environment on the way and is led object, so as to when being led object to lose, look in ambient enviroment or in environment on the way and led object, look for led object when, continue to lead led object reach preset destination, improve and lead efficiency, improve led object lead experience.
Description
Technical field
The present invention relates to robot service technology fields more particularly to one kind leading apparatus control method and device.
Background technology
Currently, when robot is to being led object to lead, directly towards being led the destination of object to advance.When being drawn
Neck object leaves robot due to various reasons, such as back goes on foot by thing, changes route and goes otherwise etc., is led pair
As can not just robot be followed to arrive at, reduce robot leads efficiency.
Invention content
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, first purpose of the present invention is to propose that one kind leading apparatus control method, for solving the prior art
In lead inefficient problem.
Second object of the present invention is to propose that one kind leading plant control unit.
Third object of the present invention is to propose a kind of electronic equipment.
Fourth object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
The 5th purpose of the present invention is to propose a kind of computer program product.
In order to achieve the above object, first aspect present invention embodiment, which proposes one kind, leading apparatus control method, including：
To being led object to be monitored, judge described to be led whether object is lost；
It is described led object to lose when, control leads equipment to stop advancing, and detects in ambient enviroment and whether there is
It is described to be led object；
If being led object there is no described in ambient enviroment, control leads equipment to march to default destination, and examines
It surveys in environment on the way and is led object with the presence or absence of described.
Further, first aspect embodiment, in the first embodiment of first aspect embodiment, the control are based on
System leads equipment to stop advancing, and detects in ambient enviroment with the presence or absence of described by before leading object, further includes：
The distance between equipment and the default destination are led described in acquisition；
The distance between equipment and the default destination is led to be more than pre-determined distance threshold value described in determination.
Further, second of the first embodiment based on first aspect embodiment, first aspect embodiment is real
It applies in mode, the method further includes：
If it is determined that described lead the distance between equipment and the default destination to be not more than pre-determined distance threshold value, then control
It is described that equipment is led to march to the default destination.
Based on first aspect embodiment, either the first embodiment of first aspect embodiment or first aspect are real
Second of embodiment for applying example, in the third embodiment of first aspect embodiment, the method further includes：
It is described led object to lose when, lead the first voice of device plays, first voice prompt described in control
It is described that object is led to lead equipment close to described.
Based on first aspect embodiment, either the first embodiment of first aspect embodiment or first aspect are real
Second of embodiment for applying example, in the 4th kind of embodiment of first aspect embodiment, the method further includes：
If being led object there are described in ambient enviroment, or in environment led object there are described on the way, then control
The second voice of device plays is led described in system, is led object to follow described in second voice prompt and described leads equipment.
Based on first aspect embodiment, either the first embodiment of first aspect embodiment or first aspect are real
Second of embodiment for applying example, in the 5th kind of embodiment of first aspect embodiment, the method further includes：
It is described lead equipment to reach the default destination when, lead equipment to turn round described in control and play third language
Sound is led described in the third voice prompt and presets destination described in object and have reached.
The third embodiment based on first aspect embodiment, in the 6th kind of embodiment of first aspect embodiment
In, with the presence or absence of described by before leading object in detecting ambient enviroment, further include：
It determines to be not detected in the preset time period led after the first voice of device plays and described is led object.
It is described to being led pair in the 7th kind of embodiment of first aspect embodiment based on first aspect embodiment
As being monitored, judge it is described led whether object is lost, including：
Lead the rear camera detection of equipment is described to be led object by described；
Be not detected it is described led object when, calculating the time duration for being led object is not detected,
And the current of equipment is led to lead scene described in obtaining；
The time duration reach it is described it is current lead scene corresponding time span threshold value when, determine the quilt
Object is led to lose.
The 7th kind of embodiment based on first aspect embodiment, in the 8th kind of embodiment of first aspect embodiment
In, lead the scene to include：It is normal to lead scene, turn that scene and obstacle is led to lead scene；
It is described normally to lead the corresponding time span threshold value of scene, lead the corresponding time span of scene less than the turn
Threshold value, and lead the corresponding time span threshold value of scene less than the obstacle.
Based on first aspect embodiment, in the 9th kind of embodiment of first aspect embodiment, ring around the detection
In border object is led with the presence or absence of described, including：
According to the last frame image for being led object is monitored, the loss direction for being led object is predicted；
Obtain the image for losing direction；
It detects in the image for losing direction and is led object with the presence or absence of described.
The 9th kind of embodiment based on first aspect embodiment, in the tenth kind of embodiment of first aspect embodiment
In, object is led with the presence or absence of described in the detection ambient enviroment, further includes：
If do not exist in the image for losing direction it is described led object, obtain other in addition to the loss direction
The image in direction；
It detects in the image in other directions and is led object with the presence or absence of described.
The 9th kind of embodiment based on first aspect embodiment, in a kind of the tenth embodiment of first aspect embodiment
In, the basis monitors the last frame image for being led object, prediction is described led object loss direction it
Before, further include：
It obtains when monitoring the last frame image for being led object, it is described that equipment is led to be led pair with described
The distance between as；
Equipment is led to be led the distance between object to be less than distance to a declared goal threshold value with described described in determination.
The tenth a kind of embodiment based on first aspect embodiment, in the 12nd kind of embodiment party of first aspect embodiment
In formula, the method further includes：
If it is determined that described lead equipment to be led the distance between object to be not less than distance to a declared goal threshold value with described, it is determined that
It is described to be led the loss direction of object for the rear for leading equipment.
The 9th kind of embodiment based on first aspect embodiment, in the 13rd kind of embodiment of first aspect embodiment
In, the basis monitors the last frame image for being led object, predicts the loss direction for being led object, packet
It includes：
Detection is passing through the last frame figure for being led object for leading the rear camera of equipment to monitor
As in, the center for being led object；
If the left-half for being led the center of object to be located at the last frame image, it is determined that the quilt
It is the right back for leading equipment to lead the loss direction of object；
If the right half part for being led the center of object to be located at the last frame image, it is determined that the quilt
It is the left back for leading equipment to lead the loss direction of object.
The 9th kind of embodiment based on first aspect embodiment, in the 14th kind of embodiment of first aspect embodiment
In, the image for obtaining the loss direction, including：
If the direction of losing is the rear for leading equipment, the rear camera of equipment is led to obtain by described
The image at the rear of equipment is led described in designated time period；
If the direction of losing is the right back for leading equipment, equipment or described lead is led to set described in control
Component where standby rear camera is rotated counterclockwise, is led described in the rear camera acquisition of equipment by described lead
The image of the right back of equipment；
If the direction of losing is the left back for leading equipment, equipment or described lead is led to set described in control
Component where standby rear camera is rotated clockwise, and is led described in the rear camera acquisition of equipment by described lead
The image of the left back of equipment.
Based on first aspect embodiment, in the 15th kind of embodiment of first aspect embodiment, environment on the way is detected
In with the presence or absence of described led object, including：
By the front camera and/or rear camera for leading equipment, detects and whether there is institute in environment on the way
It states and is led object.
It is provided in this embodiment to lead apparatus control method, by being led object to be monitored, judging to be led pair
Like no loss；When being led object to lose, control leads equipment to stop advancing, and detects and whether there is quilt in ambient enviroment
Lead object；If there is no object is led in ambient enviroment, control leads equipment to march to default destination, and detects edge
With the presence or absence of being led object in the environment of way, so as to when being led object to lose, in ambient enviroment or on the way ring
Looked in border and led object, look for led object when, continue to lead led object reach preset destination, improve
Lead efficiency, improve led object lead experience.
In order to achieve the above object, second aspect of the present invention embodiment, which proposes one kind, leading plant control unit, including：
Monitoring module described is led whether object is lost for being led object to be monitored, judging；
Control module, for it is described led object to lose when, control leads equipment to stop advancing, and detects surrounding ring
In border object is led with the presence or absence of described；
The control module, be additionally operable in ambient enviroment there is no it is described led object when, control lead equipment row
Default destination is proceeded to, and detects in environment on the way and is led object with the presence or absence of described.
Further, second aspect embodiment, in the first embodiment of second aspect embodiment, the control are based on
Molding block is additionally operable to,
It leads equipment to stop advancing in control, and detects in ambient enviroment with the presence or absence of described by before leading object, obtain
The distance between equipment and the default destination are led described in taking；It is led described in determination between equipment and the default destination
Distance be more than pre-determined distance threshold value.
Further, second of the first embodiment based on second aspect embodiment, second aspect embodiment is real
It applies in mode, the control module is additionally operable to,
If it is determined that described lead the distance between equipment and the default destination to be not more than pre-determined distance threshold value, then control
It is described that equipment is led to march to the default destination.
Based on second aspect embodiment, either the first embodiment of second aspect embodiment or second aspect are real
Second of embodiment for applying example, in the third embodiment of second aspect embodiment, the device further includes：It plays
Module；
The playing module, for it is described led object to lose when, lead the first voice of device plays described in control,
Object is led to lead equipment close to described described in first voice prompt.
Based on second aspect embodiment, either the first embodiment of second aspect embodiment or second aspect are real
Second of embodiment for applying example, in the 4th kind of embodiment of second aspect embodiment, the device further includes：It plays
Module；
The playing module, for being led object there are described in ambient enviroment, or on the way in environment, there are institutes
State when being led object, the second voice of device plays led described in control, led described in second voice prompt object with
Equipment is led with described.
Based on second aspect embodiment, either the first embodiment of second aspect embodiment or second aspect are real
Second of embodiment for applying example, in the 5th kind of embodiment of second aspect embodiment, the device further includes：It plays
Module；
The playing module, for it is described lead equipment to reach the default destination when, lead equipment described in control
Third voice is turned round and played, default destination described in object is led to have reached described in the third voice prompt.
The third embodiment based on second aspect embodiment, in the 6th kind of embodiment of second aspect embodiment
In, the control module is additionally operable to, and with the presence or absence of described by before leading object in detecting ambient enviroment, determination is drawn described
It is not detected in preset time period after neck the first voice of device plays and described is led object.
Based on second aspect embodiment, in the 7th kind of embodiment of second aspect embodiment, the monitoring module tool
Body is used for,
Lead the rear camera detection of equipment is described to be led object by described；
Be not detected it is described led object when, calculating the time duration for being led object is not detected,
And the current of equipment is led to lead scene described in obtaining；
The time duration reach it is described it is current lead scene corresponding time span threshold value when, determine the quilt
Object is led to lose.
The 7th kind of embodiment based on second aspect embodiment, in the 8th kind of embodiment of second aspect embodiment
In, lead the scene to include：It is normal to lead scene, turn that scene and obstacle is led to lead scene；
It is described normally to lead the corresponding time span threshold value of scene, lead the corresponding time span of scene less than the turn
Threshold value, and lead the corresponding time span threshold value of scene less than the obstacle.
Based on second aspect embodiment, in the 9th kind of embodiment of second aspect embodiment, the control module tool
Body is used for,
According to the last frame image for being led object is monitored, the loss direction for being led object is predicted；
Obtain the image for losing direction；
It detects in the image for losing direction and is led object with the presence or absence of described.
The 9th kind of embodiment based on second aspect embodiment, in the tenth kind of embodiment of second aspect embodiment
In, the control module is specifically additionally operable to,
If do not exist in the image for losing direction it is described led object, obtain other in addition to the loss direction
The image in direction；
It detects in the image in other directions and is led object with the presence or absence of described.
The 9th kind of embodiment based on second aspect embodiment, in a kind of the tenth embodiment of second aspect embodiment
In, the control module is specifically additionally operable to, and according to the last frame image for being led object is monitored, predicts the quilt
Before leading the loss direction of object,
It obtains when monitoring the last frame image for being led object, it is described that equipment is led to be led pair with described
The distance between as；
Equipment is led to be led the distance between object to be less than distance to a declared goal threshold value with described described in determination.
The tenth a kind of embodiment based on second aspect embodiment, in the 12nd kind of embodiment party of second aspect embodiment
In formula, the control module is specifically additionally operable to,
If it is determined that described lead equipment to be led the distance between object to be not less than distance to a declared goal threshold value with described, it is determined that
It is described to be led the loss direction of object for the rear for leading equipment.
The 9th kind of embodiment based on second aspect embodiment, in the 13rd kind of embodiment of second aspect embodiment
In, the control module is specifically used for,
Detection is passing through the last frame figure for being led object for leading the rear camera of equipment to monitor
As in, the center for being led object；
If the left-half for being led the center of object to be located at the last frame image, it is determined that the quilt
It is the right back for leading equipment to lead the loss direction of object；
If the right half part for being led the center of object to be located at the last frame image, it is determined that the quilt
It is the left back for leading equipment to lead the loss direction of object.
The 9th kind of embodiment based on second aspect embodiment, in the 14th kind of embodiment of second aspect embodiment
In, the control module is specifically used for,
If the direction of losing is the rear for leading equipment, the rear camera of equipment is led to obtain by described
The image at the rear of equipment is led described in designated time period；
If the direction of losing is the right back for leading equipment, equipment or described lead is led to set described in control
Component where standby rear camera is rotated counterclockwise, is led described in the rear camera acquisition of equipment by described lead
The image of the right back of equipment；
If the direction of losing is the left back for leading equipment, equipment or described lead is led to set described in control
Component where standby rear camera is rotated clockwise, and is led described in the rear camera acquisition of equipment by described lead
The image of the left back of equipment.
Based on second aspect embodiment, in the 15th kind of embodiment of second aspect embodiment, the control module
It is specifically used for,
By the front camera and/or rear camera for leading equipment, detects and whether there is institute in environment on the way
It states and is led object.
It is provided in this embodiment to lead plant control unit, by being led object to be monitored, judging to be led pair
Like no loss；When being led object to lose, control leads equipment to stop advancing, and detects and whether there is quilt in ambient enviroment
Lead object；If there is no object is led in ambient enviroment, control leads equipment to march to default destination, and detects edge
With the presence or absence of being led object in the environment of way, so as to when being led object to lose, in ambient enviroment or on the way ring
Looked in border and led object, look for led object when, continue to lead led object reach preset destination, improve
Lead efficiency, improve led object lead experience.
In order to achieve the above object, third aspect present invention embodiment proposes a kind of electronic equipment, including：Memory, processing
Device and storage are on a memory and the computer program that can run on a processor, which is characterized in that processor execution institute
It is realized when stating program and leads apparatus control method as described above.
To achieve the goals above, fourth aspect present invention embodiment proposes a kind of computer readable storage medium,
On be stored with computer program, when which is executed by processor realize lead apparatus control method as described above.
To achieve the goals above, fifth aspect present invention embodiment proposes a kind of computer program product, when described
When instruction processing unit in computer program product executes, executes one kind and leading apparatus control method, the method includes：
To being led object to be monitored, judge described to be led whether object is lost；
It is described led object to lose when, control leads equipment to stop advancing, and detects in ambient enviroment and whether there is
It is described to be led object；
If being led object there is no described in ambient enviroment, control leads equipment to march to default destination, and examines
It surveys in environment on the way and is led object with the presence or absence of described.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is a kind of flow diagram leading apparatus control method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram that another kind provided in an embodiment of the present invention leads apparatus control method；
Fig. 3 is a kind of structural schematic diagram leading plant control unit provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings describe the embodiment of the present invention leads apparatus control method and device.
Fig. 1 is a kind of flow diagram leading apparatus control method provided in an embodiment of the present invention.As shown in Figure 1, should
Apparatus control method is led to include the following steps：
S101, to being led object to be monitored, judge to be led whether object is lost.
It is provided by the invention to lead the executive agent of apparatus control method to lead plant control unit, lead equipment control
Device can be either software or to be communicated to leading equipment to control with equipment is led mounted on the hardware led in equipment
Terminal.It can be robot or other equipment with function is led to lead equipment for example.Led object for example can be with
Equipment is led to carry out mobile equipment etc. for people or other can follow.
In the present embodiment, the process that plant control unit executes step 101 is led to be specifically as follows, by leading equipment
Rear camera detection is led object；Be not detected led object when, calculating is not detected and is led continuing for object
Time span, and obtain and the current of equipment is led to lead scene；When time duration reaches and currently leads scene corresponding
Between length threshold when, determination led object to lose.Wherein, at least one rear camera can be provided with by leading in equipment,
For obtaining the image led within the scope of the certain angle of equipment rear and within the scope of certain distance.
Wherein, to before being led object to be monitored, lead equipment can according to the map information, led object
Destination and present position, determine navigation routine, and being advanced and being led according to navigation routine is led object.
Wherein, the scene is led to include：It is normal to lead scene, turn that scene and obstacle is led to lead scene；Normally lead field
The corresponding time span threshold value of scape leads the corresponding time span threshold value of scene less than turn, and leads scene pair less than obstacle
The time span threshold value answered.For example, it can be 2 seconds normally to lead the corresponding time span threshold value of scene, turn leads scene pair
The time span threshold value answered can be 3 seconds, and it can be 4 seconds that obstacle, which leads the corresponding time span threshold value of scene,.Wherein, normally draw
It can be the scene of non-turn and non-obstacle to lead scene.Turn leads scene and obstacle to lead in scene, due to barrier or
The presence of the other objects of person leads to be possible to will appear that object distance is led to lead equipment closer, but leads monitoring of tools not
To the case where led object, therefore, turn can be led the corresponding time span threshold value of scene and obstacle lead scene
Corresponding time span threshold value is set greater than and normally leads the corresponding time span threshold value of scene.
S102, when being led object to lose, control leads equipment to stop advancing, and detects in ambient enviroment and whether there is
Led object.
In the present embodiment, when being led object to lose, leads plant control unit that can control and lead device plays
One voice, the first voice prompt is led object is close to lead equipment, and controls and equipment is led to stop advancing；If leading equipment
It plays and is detected in the preset time period after the first voice and led object, then continue on, lead and led object；If drawing
It is not detected in preset time period after neck the first voice of device plays and is led object, then detected in ambient enviroment and whether there is
Led object.Wherein, preset time period is such as can be 2 seconds.First voice for example can be that " I can't see you, ask
You follow me at rear " etc..
If being led object in addition, being detected in the preset time period after leading the first voice of device plays, lead
Plant control unit, which can control, leads the second voice of device plays, the second voice prompt to be led object to follow and lead equipment,
To continue on, leads and led object.Wherein, the second voice for example can be " I sees you, we continue, and let's go "
Deng.
Further, in the present embodiment, lead plant control unit control that equipment is led to stop advancing, and detect surrounding ring
With the presence or absence of by before leading object in border, the method can also include：Acquisition is led between equipment and default destination
Distance；It determines and the distance between equipment and default destination is led to be more than pre-determined distance threshold value.Wherein, pre-determined distance threshold value example
Such as can be 3m.
If in addition, lead plant control unit determination lead the distance between equipment and default destination no more than preset away from
From threshold value, expression leads equipment and is led object distance destination closer, is led object that can voluntarily arrive at, and
It need not lead, therefore, lead plant control unit that can directly control and described equipment is led to march to the default destination；
And when leading equipment to reach default destination, control leads equipment to turn round and plays third voice, and third voice prompt is drawn
Neck object is preset destination and is had reached, to be led object voluntarily to be arrived at according to voice prompt.Wherein, third voice
Such as can be " being exactly XX here, I goes back " etc..
If there is no object is led in S103, ambient enviroment, control leads equipment to march to default destination, and examines
It surveys to whether there is in environment on the way and is led object.
In the present embodiment, lead plant control unit during control leads equipment to march to default destination, it can
Object is led by the front camera and/or rear camera that lead equipment, to detect to whether there is in environment on the way.Its
In, lead plant control unit that can control the front camera for leading equipment and/or rear camera during traveling
It turn-takes and obtains the image in each orientation, the front camera for leading equipment and/or rear camera can also be controlled in traveling
Do not rotate in the process, only obtain present viewing field image, according to image judge around present position whether there is led
Object.
In addition, during control leads equipment to march to default destination, drawn if being detected in environment on the way
Object is led, then can control and the second voice of device plays, the second voice prompt is led to be led object to follow and lead equipment, to
Continue to being led object to lead.
It is provided in this embodiment to lead apparatus control method, by being led object to be monitored, judging to be led pair
Like no loss；When being led object to lose, control leads equipment to stop advancing, and detects and whether there is quilt in ambient enviroment
Lead object；If there is no object is led in ambient enviroment, control leads equipment to march to default destination, and detects edge
With the presence or absence of being led object in the environment of way, so as to when being led object to lose, in ambient enviroment or on the way ring
Looked in border and led object, look for led object when, continue to lead led object reach preset destination, improve
Lead efficiency, improve led object lead experience.
Fig. 2 is the flow diagram that another kind provided in an embodiment of the present invention leads apparatus control method, as shown in Fig. 2,
Detecting to whether there is in ambient enviroment on the basis of embodiment shown in Fig. 1, in step 102 is led the process of object specifically may be used
To include the following steps：
S1021, basis monitor the last frame image for being led object, and prediction is led the loss direction of object.
In the present embodiment, lead plant control unit that can obtain the monitoring image in certain period of time, for example, it is current when
4 seconds monitoring images to current time before quarter, analyze monitoring image, and acquisition monitors last for being led object
Frame image, according to the last frame image for being led object is monitored, prediction is led the loss direction of object.
Wherein, it leads the process that plant control unit executes step 1021 to be specifically as follows, detects by leading equipment
Being led in the last frame image of object of monitoring of rear camera, led the center of object；If by leading
The center of object is located at the left-half of last frame image, it is determined that it is to lead equipment to be led the loss direction of object
Right back；If the center of object is led to be located at the right half part of last frame image, it is determined that led object
It is the left back for leading equipment to lose direction.
Further, due to led object after leading and being more than or equal to distance to a declared goal threshold value at a distance between equipment,
It is led object to be likely located at outside the monitoring range for leading equipment, not will include in monitoring image hereafter and led object, it is right
Monitoring image carries out analyzing the pre- loss direction for not detecting and being led object, and generally only leads equipment rear to exist and be located at prison
The position outside range is controlled, therefore, before step 1021, leads plant control unit that can first obtain monitoring and is led pair
When the last frame image of elephant, leads equipment and led the distance between object；Determine lead equipment and led object it
Between distance be less than distance to a declared goal threshold value.
In addition, however, it is determined that lead equipment and the distance between object is led to be not less than distance to a declared goal threshold value, it is determined that quilt
It is the rear for leading equipment to lead the loss direction of object.
S1022, the image for losing direction is obtained.
Specifically, leading the process that plant control unit executes step 1022 to be specifically as follows, if it is to lead to lose direction
The rear of equipment, the then image at the rear for equipment being led in designated time period by leading the rear camera of equipment to obtain；If
It is the right back for leading equipment to lose direction, then component where control leads equipment or leads the rear camera of equipment carries out
Rotation counterclockwise, by leading the rear camera of equipment to obtain the image for the right back for leading equipment；If it is to draw to lose direction
Lead the left back of equipment, then control leads equipment or component where the rear camera of equipment is led to be rotated clockwise,
By leading the rear camera of equipment to obtain the image for the left back for leading equipment.
S1023, detection lose in the image in direction with the presence or absence of being led object.
If being led object in addition, not existing in the image in loss direction, other directions in addition to losing direction are obtained
Image；It detects to whether there is in the image in other directions and is led object.It is led pair if not existing in the image in other directions
As, it is determined that there is no object is led in ambient enviroment, then control leads equipment to march to default destination, and detects on the way
It whether there is in environment and led object.
In the present embodiment, exist if existing to be led in object or the image in other directions in the image in loss direction
Led object, it is determined that exist in ambient enviroment and led object, then plant control unit control is led to lead device plays
Second voice, the second voice prompt are led object to follow and lead equipment, and then advancing and leading is led object to default mesh
Ground.
In the present embodiment, leading plant control unit to obtain the mode of the image in other directions in addition to losing direction can be with
For if it is the right back for leading equipment to lose direction, control leads equipment or leads the rear camera place portion of equipment
Part is rotated using losing direction as starting point counterclockwise, obtains the image in other directions；If it is the left side for leading equipment to lose direction
Rear, then component is carried out clockwise using losing direction as starting point where control leads equipment or leads the rear camera of equipment
Rotation, obtains the image in other directions；If it is the rear for leading equipment to lose direction, control leads equipment or leads equipment
Rear camera where component rotated clockwise or counter-clockwise as starting point using losing direction, obtain the figure in other directions
Picture.
It to sum up,, can after predicting the loss direction for leading object when it is robot to lead equipment when actual implementation
To use following control programs：
If losing the right back that direction is robot, robot can be controlled and rotated a circle counterclockwise, robot is utilized
Rear camera obtains right back image and other directional images successively, detect whether exist led object；It can not also control
Robot complete machine rotation processed, component rotation where only controlling the rear camera of robot obtain image, specifically can be with control machine
The holder of device people first rotates by a certain angle counterclockwise, and right half side image, then control machine are obtained using the rear camera of robot
The holder of device people rotates clockwise certain angle, obtains left half side image using the rear camera of robot, detects whether to deposit
Led object；
If losing the left back that direction is robot, robot can be controlled and rotated clockwise one week, robot is utilized
Rear camera obtains left back image and other directional images successively, detect whether exist led object；It can not also control
Robot complete machine rotation processed, component rotation where only controlling the rear camera of robot obtain image, specifically can be with control machine
The holder of device people first rotates clockwise certain angle, and left half side image, then control machine are obtained using the rear camera of robot
The holder of device people rotates by a certain angle counterclockwise, obtains right half side image using the rear camera of robot, detects whether to deposit
Led object；
If losing the rear that direction is robot, the rear camera of robot can be directly utilized to obtain rear images,
Robot can be controlled at this time to rotate a circle counterclockwise, can also be controlled robot and be rotated clockwise one week, to obtain other sides
To image, detect whether exist led object；Robot complete machine rotation can not also be controlled, the postposition of robot is only controlled
Component rotation obtains image where camera, and the holder that can specifically control robot first rotates by a certain angle counterclockwise, utilizes
The rear camera of robot obtains right half side image, then controls the holder of robot and rotate clockwise certain angle, utilizes machine
The rear camera of device people obtains left half side image, detects whether to exist and is led object；The holder of robot can also be controlled
Certain angle is first rotated clockwise, obtains left half side image using the rear camera of robot, then control the holder of robot
It rotates by a certain angle counterclockwise, right half side image is obtained using the rear camera of robot, detect whether to exist and led pair
As.
Certainly, it detects when being led object, then stops rotating immediately in rotary course, after being led object to carry out
Continuous interaction, restores to lead.
It is provided in this embodiment to lead apparatus control method, by being led object to be monitored, judging to be led pair
Like no loss；When being led object to lose, control leads equipment to stop advancing, and is led object most according to monitoring
A later frame image, prediction are led the loss direction of object；Obtain the image for losing direction；It is in the image in detection loss direction
No presence is led object, and then is determined to whether there is in ambient enviroment and led object；If there is no drawn in ambient enviroment
Lead object, then control leads equipment to march to default destination, and detects to whether there is in environment on the way and led object, to
It can look in ambient enviroment or in environment on the way when being led object to lose and led object, drawn looking for
Lead object when, continue to lead led object reach preset destination, improve and lead efficiency, improve and led drawing for object
Neck experience.
Fig. 3 is a kind of structural schematic diagram leading plant control unit provided in an embodiment of the present invention.As shown in figure 3, packet
It includes：Monitoring module 31 and control module 32.
Wherein, monitoring module 31 described are led whether object is lost for being led object to be monitored, judging；
Control module 32, for it is described led object to lose when, control leads equipment to stop advancing, and around detecting
In environment object is led with the presence or absence of described；
The control module 32, be additionally operable in ambient enviroment there is no it is described led object when, control lead equipment
Default destination is marched to, and detects in environment on the way and is led object with the presence or absence of described.
It is provided by the invention lead plant control unit can be mounted on the hardware led in equipment either software or
The terminal to leading equipment to be controlled is communicated with equipment is led.To lead equipment for example can be robot or other have
The equipment for leading function.It can be that people or other can follow lead equipment to carry out mobile equipment to be led object for example
Deng.
In the present embodiment, the monitoring module 31 is specifically used for, and institute is detected by the rear camera for leading equipment
It states and is led object；Be not detected it is described led object when, calculating the duration for being led object is not detected
Length, and the current of equipment is led to lead scene described in acquisition；Reach described in the time duration and currently leads scene
When corresponding time span threshold value, determines and described object is led to lose.Wherein, lead can be provided in equipment it is at least one
Rear camera, for obtaining the image led within the scope of the certain angle of equipment rear and within the scope of certain distance.
Wherein, to before being led object to be monitored, lead equipment can according to the map information, led object
Destination and present position, determine navigation routine, and being advanced and being led according to navigation routine is led object.
Wherein, the scene is led to include：It is normal to lead scene, turn that scene and obstacle is led to lead scene；Normally lead field
The corresponding time span threshold value of scape leads the corresponding time span threshold value of scene less than turn, and leads scene pair less than obstacle
The time span threshold value answered.For example, it can be 2 seconds normally to lead the corresponding time span threshold value of scene, turn leads scene pair
The time span threshold value answered can be 3 seconds, and it can be 4 seconds that obstacle, which leads the corresponding time span threshold value of scene,.Wherein, normally draw
It can be the scene of non-turn and non-obstacle to lead scene.Turn leads scene and obstacle to lead in scene, due to barrier or
The presence of the other objects of person leads to be possible to will appear that object distance is led to lead equipment closer, but leads monitoring of tools not
To the case where led object, therefore, turn can be led the corresponding time span threshold value of scene and obstacle lead scene
Corresponding time span threshold value is set greater than and normally leads the corresponding time span threshold value of scene.
In the present embodiment, the device can also include：Playing module, for it is described led object to lose when,
The first voice of device plays is led described in control, and object is led to lead equipment close to described described in first voice prompt.
Corresponding, the control module 32 is additionally operable to, and is determined by before leading object with the presence or absence of described in detecting ambient enviroment
It is not detected in the preset time period led after the first voice of device plays and described is led object.Wherein, preset time
Section is such as can be 2 seconds.First voice for example can be " I can't see you, would you please follow me at rear " etc..
In addition, playing module can be also used for, detected in the preset time period after leading the first voice of device plays
It is described that control leads the second voice of device plays, the second voice prompt to be led object to follow and lead equipment when being led object,
To continue on, leads and led object.Wherein, the second voice for example can be " I sees you, we continue, and let's go "
Deng.
Further, in the present embodiment, the control module 32 is additionally operable to, and leads equipment to stop advancing in control, and examine
It surveys in ambient enviroment and is led before leading object, described in acquisition between equipment and the default destination with the presence or absence of described
Distance；The distance between equipment and the default destination is led to be more than pre-determined distance threshold value described in determination.Wherein, pre-determined distance
Threshold value for example can be 3m.
In addition, the control module 32 is additionally operable to, however, it is determined that it is described lead between equipment and the default destination away from
From no more than pre-determined distance threshold value, then equipment is led to march to the default destination described in control.It is corresponding, the broadcasting mould
Block, be additionally operable to it is described lead equipment to reach the default destination when, lead equipment to turn round described in control and play third language
Sound is led described in the third voice prompt and presets destination described in object and have reached.Equipment is led to reach described described
It when default destination, leads equipment to turn round described in control and plays third voice, led described in the third voice prompt pair
As the default destination has reached.
In the present embodiment, control module 32 can pass through during control leads equipment to march to default destination
Lead the front camera and/or rear camera of equipment, detection is on the way in environment with the presence or absence of being led object.Wherein, it controls
Molding block 32 can control the front camera for leading equipment and/or rear camera turn-take during traveling obtain it is each
The image in orientation can also control the front camera for leading equipment and/or rear camera and not rotated during traveling,
Only obtain present viewing field image, according to image judge around present position whether there is led object.
In addition, during control leads equipment to march to default destination, drawn if being detected in environment on the way
Object is led, then can control and the second voice of device plays, the second voice prompt is led to be led object to follow and lead equipment, to
Continue to being led object to lead.
It is provided in this embodiment to lead plant control unit, by being led object to be monitored, judging to be led pair
Like no loss；When being led object to lose, control leads equipment to stop advancing, and detects and whether there is quilt in ambient enviroment
Lead object；If there is no object is led in ambient enviroment, control leads equipment to march to default destination, and detects edge
With the presence or absence of being led object in the environment of way, so as to when being led object to lose, in ambient enviroment or on the way ring
Looked in border and led object, look for led object when, continue to lead led object reach preset destination, improve
Lead efficiency, improve led object lead experience.
Further, on the basis of embodiment shown in Fig. 3, the control module 32 is specifically used for, according to monitoring
The last frame image for being led object is stated, predicts the loss direction for being led object；Obtain the figure for losing direction
Picture；It detects in the image for losing direction and is led object with the presence or absence of described.
In the present embodiment, lead plant control unit that can obtain the monitoring image in certain period of time, for example, it is current when
4 seconds monitoring images to current time before quarter, analyze monitoring image, and acquisition monitors last for being led object
Frame image, according to the last frame image for being led object is monitored, prediction is led the loss direction of object.
Wherein, according to the last frame image for being led object is monitored, prediction is described to be led control module 32
The process in the loss direction of object is specifically as follows, and detects and is led pair by lead that the rear camera of equipment monitors
In the last frame image of elephant, the center of object is led；If the center of object is led to be located at last frame figure
The left-half of picture, it is determined that it is the right back for leading equipment to be led the loss direction of object；If being led the center of object
Position is located at the right half part of last frame image, it is determined that it is the left back for leading equipment to be led the loss direction of object.
Further, due to led object after leading and being more than or equal to distance to a declared goal threshold value at a distance between equipment,
It is led object to be likely located at outside the monitoring range for leading equipment, not will include in monitoring image hereafter and led object, it is right
Monitoring image carries out analyzing the pre- loss direction for not detecting and being led object, and generally only leads equipment rear to exist and be located at prison
The position outside range is controlled, therefore, control module 32 is according to monitoring the last frame image for being led object, described in prediction
Before being led the loss direction of object, control module 32 is specifically additionally operable to, and is obtained and described is led object most monitoring
It is described that equipment is led to be led the distance between object with described when a later frame image；Equipment and the quilt are led described in determination
The distance between object is led to be less than distance to a declared goal threshold value.
In addition, however, it is determined that lead equipment and the distance between object is led to be not less than distance to a declared goal threshold value, then control mould
It is the rear for leading equipment that the determination of block 32, which is led the loss direction of object,.
Further, control module 32 obtains the process of image for losing direction and is specifically as follows, if losing direction
To lead the rear of equipment, then the figure at the rear for equipment being led in designated time period by leading the rear camera of equipment to obtain
Picture；If it is the right back for leading equipment to lose direction, control leads equipment or leads the rear camera place portion of equipment
Part is rotated counterclockwise, by leading the rear camera of equipment to obtain the image for the right back for leading equipment；If loss side
To lead the left back of equipment, then component where control leads equipment or leads the rear camera of equipment carries out clockwise
Rotation, by leading the rear camera of equipment to obtain the image for the left back for leading equipment.
In addition, the control module 32 is specifically additionally operable to, if there is no described led in the image for losing direction
Object then obtains the image in other directions in addition to the loss direction；It detects and whether there is the quilt in the image in other directions
Lead object.
In the present embodiment, exist if existing to be led in object or the image in other directions in the image in loss direction
Led object, it is determined that exist in ambient enviroment and is led object, then playing module control leads the second voice of device plays,
Second voice prompt is led object to follow and leads equipment, and then advancing and leading is led object to default destination.
It is provided in this embodiment to lead plant control unit, by being led object to be monitored, judging to be led pair
Like no loss；When being led object to lose, control leads equipment to stop advancing, and is led object most according to monitoring
A later frame image, prediction are led the loss direction of object；Obtain the image for losing direction；It is in the image in detection loss direction
No presence is led object, and then is determined to whether there is in ambient enviroment and led object；If there is no drawn in ambient enviroment
Lead object, then control leads equipment to march to default destination, and detects to whether there is in environment on the way and led object, to
It can look in ambient enviroment or in environment on the way when being led object to lose and led object, drawn looking for
Lead object when, continue to lead led object reach preset destination, improve and lead efficiency, improve and led drawing for object
Neck experience.
Fig. 4 is the structural schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention.The electronic equipment includes：
Memory 1001, processor 1002 and it is stored in the calculating that can be run on memory 1001 and on processor 1002
Machine program.
Processor 1002 realizes that is provided in above-described embodiment leads apparatus control method when executing described program.
Further, electronic equipment further includes：
Communication interface 1003, for the communication between memory 1001 and processor 1002.
Memory 1001, for storing the computer program that can be run on processor 1002.
Memory 1001 may include high-speed RAM memory, it is also possible to further include nonvolatile memory (non-
Volatilememory), a for example, at least magnetic disk storage.
Processor 1002 is realized when for executing described program and leads apparatus control method described in above-described embodiment.
If memory 1001, processor 1002 and the independent realization of communication interface 1003, communication interface 1003, memory
1001 and processor 1002 can be connected with each other by bus and complete mutual communication.The bus can be industrial standard
Architecture (Industry Standard Architecture, referred to as ISA) bus, external equipment interconnection
(PeripheralComponent, referred to as PCI) bus or extended industry-standard architecture (Extended Industry
StandardArchitecture, referred to as EISA) bus etc..The bus can be divided into address bus, data/address bus, control
Bus etc..It for ease of indicating, is only indicated with a thick line in Fig. 4, it is not intended that an only bus or a type of total
Line.
Optionally, in specific implementation, if memory 1001, processor 1002 and communication interface 1003, are integrated in one
It is realized on block chip, then memory 1001, processor 1002 and communication interface 1003 can be completed mutual by internal interface
Communication.
Processor 1002 may be a central processing unit (Central Processing Unit, referred to as CPU), or
Person is specific integrated circuit (Application Specific Integrated Circuit, referred to as ASIC) or quilt
It is configured to implement one or more integrated circuits of the embodiment of the present invention.
The present invention also provides a kind of non-transitorycomputer readable storage mediums, are stored thereon with computer program, the journey
It is realized when sequence is executed by processor and leads apparatus control method as described above.
The present invention also provides a kind of computer program products, when the instruction in the computer program product is held by processor
When row, execution leads apparatus control method as described above.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process or the method description described in other ways in flow chart or herein is construed as, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, include according to involved function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
The logic and/or step for indicating or describing in other ways herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
(system of such as computer based system including processor other can be held from instruction for instruction execution system, device or equipment
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicating, propagating or passing
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or when necessary with it
Its suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage
Or firmware is realized.Such as, if realized in another embodiment with hardware, following skill well known in the art can be used
Any one of art or their combination are realized：With for data-signal realize logic function logic gates from
Logic circuit is dissipated, the application-specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are appreciated that realize all or part of step that above-described embodiment method carries
Suddenly it is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer-readable storage medium
In matter, which includes the steps that one or a combination set of embodiment of the method when being executed.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That each unit physically exists alone, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and when sold or used as an independent product, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as the limit to the present invention
System, those skilled in the art can be changed above-described embodiment, change, replace and become within the scope of the invention
Type.
Claims (10)
1. one kind leading apparatus control method, which is characterized in that including：
To being led object to be monitored, judge described to be led whether object is lost；
It is described led object to lose when, control leads equipment to stop advancing, and detects in ambient enviroment with the presence or absence of described
Led object；
If being led object there is no described in ambient enviroment, control leads equipment to march to default destination, and detects edge
In the environment of way object is led with the presence or absence of described.
2. according to the method described in claim 1, it is characterized in that, the control leads equipment to stop advancing, and around detecting
With the presence or absence of described by before leading object in environment, further include：
The distance between equipment and the default destination are led described in acquisition；
The distance between equipment and the default destination is led to be more than pre-determined distance threshold value described in determination.
3. according to the method described in claim 2, it is characterized in that, further including：
If it is determined that described lead the distance between equipment and the default destination to be not more than pre-determined distance threshold value, then described in control
Equipment is led to march to the default destination.
4. according to any methods of claim 1-3, which is characterized in that further include：
It is described led object to lose when, the first voice of device plays is led described in control, described in first voice prompt
Object is led to lead equipment close to described.
5. according to any methods of claim 1-3, which is characterized in that further include：
If being led object there are described in ambient enviroment, or in environment led object there are described on the way, then institute is controlled
It states and leads the second voice of device plays, led object to follow described in second voice prompt and described lead equipment.
6. according to any methods of claim 1-3, which is characterized in that further include：
It is described lead equipment to reach the default destination when, lead equipment to turn round described in control and play third voice, institute
It states and default destination described in object is led to have reached described in third voice prompt.
7. according to the method described in claim 4, it is characterized in that, being led pair with the presence or absence of described in detecting ambient enviroment
As before, further including：
It determines to be not detected in the preset time period led after the first voice of device plays and described is led object.
8. according to the method described in claim 1, it is characterized in that, described to being led object to be monitored, the quilt is judged
Lead whether object is lost, including：
Lead the rear camera detection of equipment is described to be led object by described；
Be not detected it is described led object when, calculating be not detected it is described led the time duration of object, and obtain
The current of equipment is led to lead scene described in taking；
The time duration reach it is described it is current lead scene corresponding time span threshold value when, determine described led
Object is lost.
9. according to the method described in claim 8, it is characterized in that, leading the scene to include：It is normal that scene, turn is led to lead field
Scape and obstacle lead scene；
It is described normally to lead the corresponding time span threshold value of scene, lead the corresponding time span threshold of scene less than the turn
Value, and lead the corresponding time span threshold value of scene less than the obstacle.
10. one kind leading plant control unit, which is characterized in that including：
Monitoring module described is led whether object is lost for being led object to be monitored, judging；
Control module, for it is described led object to lose when, control leads equipment to stop advancing, and detects in ambient enviroment
Object is led with the presence or absence of described；
The control module, be additionally operable in ambient enviroment there is no it is described led object when, control lead equipment to march to
Default destination, and detect in environment on the way and led object with the presence or absence of described.
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|---|---|---|---|
| CN201711252444.4A CN108724172B (en) | 2017-12-01 | 2017-12-01 | Method and device for controlling leading equipment |
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| CN114237249A (en) * | 2021-12-17 | 2022-03-25 | 北京云迹科技股份有限公司 | Control method and device used in robot leading process and leading robot |
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| CN107248173A (en) * | 2017-06-08 | 2017-10-13 | 深圳市智美达科技股份有限公司 | Method for tracking target, device, computer equipment and storage medium |
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| CN111202330A (en) * | 2020-01-07 | 2020-05-29 | 灵动科技（北京）有限公司 | Self-driven system and method |
| CN114237249A (en) * | 2021-12-17 | 2022-03-25 | 北京云迹科技股份有限公司 | Control method and device used in robot leading process and leading robot |
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