CN113671940A - Following mobile platform and method thereof - Google Patents
Following mobile platform and method thereof Download PDFInfo
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- CN113671940A CN113671940A CN202010407043.7A CN202010407043A CN113671940A CN 113671940 A CN113671940 A CN 113671940A CN 202010407043 A CN202010407043 A CN 202010407043A CN 113671940 A CN113671940 A CN 113671940A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention provides a following mobile platform and a method thereof, wherein the following mobile platform is used for following a following target and comprises a scanning module, a judging module, a path instruction generating module and a control module. The scanning module is provided with a scanning area and a target locking area and is used for scanning first scanning information corresponding to the target locking area and second scanning information corresponding to the scanning area. The judging module is used for defining a user as a following target when judging that the user is positioned in the target locking area and faces or backs to the following mobile platform. The path instruction generating module is used for generating a following path instruction moving along with the following target when the following target moves in the scanning area. The control module generates a control signal according to the following path instruction so as to control the following mobile platform to move along with the following target according to the following path instruction.
Description
Technical Field
The present invention relates to a mobile platform and a method thereof, and more particularly, to a following mobile platform and a method thereof.
Background
With the advancement of science and technology, robots have been applied to more and more industries and fields, such as restaurants, banks, restaurants, factories, warehouses, and the like. Most of the robots in the prior art still rely on manual input of commands by users and execute corresponding actions according to the commands. However, if the user is going to go on a patrol in a factory or to carry goods in a warehouse, the function of the robot is limited. Therefore, the robot in the related art has room for improvement.
Disclosure of Invention
In view of the above, in the prior art, if the user cannot input the command all the time, the efficacy of the robot is limited. It is a primary object of the present invention to provide a following mobile platform to solve at least one problem of the prior art.
The present invention provides a following mobile platform for following a following target, including a scanning module, a judging module, a path instruction generating module and a control module.
The scanning module is provided with a scanning area and a target locking area positioned in the scanning area and used for scanning first scanning information corresponding to the target locking area and second scanning information corresponding to the scanning area. The judging module is electrically connected with the scanning module and used for receiving and judging the first scanning information and the second scanning information and defining a user as a following target when the user is judged to be positioned in the target locking area and faces or backs to the following mobile platform. The path instruction generating module is electrically connected with the judging module and used for generating a following path instruction moving along with the following target when the following target moves in the scanning area. The control module is electrically connected with the path instruction generating module and used for generating a control signal according to the following path instruction so as to control the following mobile platform to move along with the following target according to the following path instruction.
Based on the above-mentioned necessary technical means, an accessory technical means derived from the present invention is that the following mobile platform further comprises a time unit for calculating a preset time, and the determining module stops defining the user as the following target when the determining module does not determine that the user is present in the scanning area within the preset time.
Based on the above-mentioned necessary technical means, an accessory technical means derived by the present invention is that the determination module in the following mobile platform comprises a shank shape determination unit, wherein the shank shape determination unit is configured to determine that a user facing or facing away from the following mobile platform exists in the target locking region when determining that two adjacent semi-circular arcs with the same shape and consistent intensity value exist in the first scanning information.
Based on the above-mentioned necessary technical means, an accessory technical means derived by the present invention is that the determination module in the following mobile platform further comprises a target center determination unit, wherein the target center determination unit is electrically connected to the shank shape determination unit and is configured to determine a target center point of the following target by using the two types of semi-circular arcs, and the target center point is used for representing a target position of the following target.
Based on the above-mentioned necessary technical means, an auxiliary technical means derived by the present invention is that the path instruction generating module in the following mobile platform comprises a platform center positioning unit and a path instruction generating unit. The platform center positioning unit is used for positioning a platform center point of the following mobile platform. The path instruction generating unit is electrically connected with the platform center positioning unit and the target center judging unit and is used for generating a following path instruction by utilizing the target center point and the platform center point.
Based on the above-mentioned necessary technical means, an accessory technical means derived by the present invention is that the path instruction generation module in the following mobile platform further comprises an interval distance judgment unit, and the interval distance judgment unit is electrically connected to the target center judgment unit, the platform center positioning unit and the path instruction generation unit, and is configured to calculate an interval distance between the following mobile platform and the following target by using the platform center point and the target center point, and generate the following path instruction by the path instruction generation unit when the interval distance is judged to be greater than a preset distance.
Based on the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is that the scanning module in the following mobile platform further comprises a scanning area adjusting unit, and the scanning area adjusting unit is used for adjusting the size of the scanning area.
In order to solve the problems of the prior art, the present invention provides a following moving method implemented by using the following moving platform, comprising: (a) scanning first scanning information and second scanning information by using a scanning module; (b) judging the first scanning information and the second scanning information by using a judging module, and defining a user as a following target when the user is judged to be positioned in a target locking area and face or back to the following mobile platform; (c) generating a following path instruction moving along with the following target when the following target moves in the scanning area by using a path instruction generating module; and (d) utilizing the control module to generate a control signal according to the following path instruction so as to control the following mobile platform to move along with the following target according to the following path instruction.
Based on the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is that the scanning module in the following movement method further comprises a shank shape determining unit, and the step (b) further comprises: (b1) and judging that a user facing or facing away from the mobile platform exists in the target locking area by utilizing the shank shape judging unit when judging that two similar semi-circular arcs which are adjacent to each other, have the same shape and have consistent strength values exist in the first scanning information.
Based on the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is a following moving method, further comprising: (e) and calculating a preset time by utilizing a time unit in the judging module, and stopping defining the user as a following target when the judging module does not judge that the user exists in the scanning area within the preset time.
In view of the above, the following mobile platform and the method thereof provided by the present invention utilize the scanning module and the determining module to define the user as the following target when the user is determined to be located in the target locking area and face or face away from the following mobile platform, and then utilize the path instruction generating module and the path instruction generating module to enable the following mobile platform to move along with the following target.
Drawings
FIG. 1 is a block diagram of a mobile platform according to the preferred embodiment of the present invention;
FIG. 2 is a perspective view of a mobile platform according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a scanning area and a target-locking area of the mobile platform according to the preferred embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a scan of the following mobile platform according to the preferred embodiment of the present invention;
FIG. 5 is a diagram illustrating the first scanning information of FIG. 4;
FIG. 6 is a schematic view of another scan of the following mobile platform according to the preferred embodiment of the present invention;
FIG. 7 is a diagram illustrating the first scanning information of FIG. 6;
FIG. 8 is a schematic diagram illustrating the following mobile platform determining a target center point according to the preferred embodiment of the present invention;
FIG. 9 is a schematic diagram showing the movement of the target center point of FIG. 8;
FIG. 10 is a schematic diagram illustrating the following of the mobile platform with the target center point according to the preferred embodiment of the present invention; and
FIG. 11 is a flowchart illustrating a following movement method according to a preferred embodiment of the present invention.
Description of the reference numerals
1 following mobile platform
11: scanning module
111 scan region adjusting unit
112 laser scanning unit
12: judging module
121 calf shape determination unit
122 target center judging unit
123 time unit
Path instruction generating module
131 platform center positioning unit
132 Path instruction Generation Unit
133 separation distance determination unit
Target locking area A1
A2 scanning area
B1, B1 ', B2, B2' block
C, platform center point
d, d', d1
IS1 first scanning information
L1, L2 left shank
P, P' target center point
R1, R2 right shank
S1, S2, S3 and S4 similar to semi-circular arc
U1, U2 users
Detailed Description
The following describes in more detail embodiments of the present invention with reference to the schematic drawings. Advantages and features of the present invention will become apparent from the following description and claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Referring to fig. 1 to 3, fig. 1 is a block diagram illustrating a following mobile platform according to a preferred embodiment of the present invention; FIG. 2 is a perspective view of a mobile platform according to a preferred embodiment of the present invention; FIG. 3 is a schematic diagram showing a scanning area and a target-locking area of the following mobile platform according to the preferred embodiment of the invention. As shown in the figure, a following mobile platform 1 includes a scanning module 11, a determining module 12, a path instruction generating module 13 and a control module 14.
The scan module 11 has a target-lock area A1 and a scan area A2 for scanning a first scan information corresponding to the target-lock area A1 and a second scan information corresponding to the scan area A2. Wherein the target-lock area a1 is located within the scan area a 2. In the present embodiment, the scanning module 11 includes a scanning area adjusting unit 111 and a laser scanning unit 112. The scan area adjusting unit 111 is used for adjusting the size of the scan area a 2.
The determining module 12 is electrically connected to the scanning module 11, and is configured to receive and determine the first scanning information and the second scanning information, and define a user as a following target when determining that the user is located in the target locking area a1 and faces or faces away from the following mobile platform 1. In the present embodiment, the determining module 12 includes a shank shape determining unit 121, a target center determining unit 122 and a time unit 123.
The path command generating module 13 is electrically connected to the determining module 12, and is configured to generate a following path command moving along with the following target when the following target moves in the scanning area a 2. In the present embodiment, the path instruction generating module 13 includes a platform center positioning unit 131, a path instruction generating unit 132 and a distance determining unit 133.
Next, please refer to fig. 1 to 7 together, wherein fig. 4 is a schematic scanning diagram of the following mobile platform according to the preferred embodiment of the present invention; FIG. 5 is a diagram illustrating the first scanning information of FIG. 4; FIG. 6 is a schematic view of another scan of the following mobile platform according to the preferred embodiment of the present invention; and, fig. 7 is a schematic diagram showing the first scanning information of fig. 6.
In fig. 4, a user U1 is within the target locking area a1, but is not following the mobile platform 1 toward or away from it, but is leaning on it. Therefore, the scanning module 11 scans the first scanning information IS1 corresponding to the target-locked area a1 as shown in fig. 5. Although the first scanning information IS1 in fig. 5 includes two semi-circular arc-like shapes S1 and S2, the semi-circular arc-like shapes S1 and S2 are not adjacent to each other and have different shapes. Therefore, the shank shape determination unit 121 determines that the user U1 in the target locking area A1 does not face or face away from the following mobile platform 1, so the determination module 12 does not further define the user U1 as the following target.
More specifically, the scanning module 11 IS actually disposed at a height approximately aligned with the lower leg of the human body, so that the semi-circular-like arc S1 of the first scanning information IS1 actually corresponds to a right lower leg R1 of the user U1, and the semi-circular-like arc S2 of the first scanning information IS1 actually corresponds to a left lower leg L1 of the user U1. Since the user U1 leans to the right and the left calf L1 IS closer to the following mobile platform 1, the semi-circular arc-like shape S2 in the first scanning information IS1 IS closer to the following mobile platform 1 than the semi-circular arc-like shape S1. Furthermore, when the left foot of the user U1 is placed on the toe of the foot, the scanning module 11 actually scans the lower left leg L1 and lower left leg R1, i.e., closer to the left ankle. Therefore, the shape of the semi-circular arc-like shape S2 in the first scanning information IS1 IS also smaller than the semi-circular arc-like shape S1.
In addition, since the distance between the right lower leg R1 and the scan module 11 and the distance between the left lower leg L1 and the scan module 11 are not the same, and the scanned positions are also not the same, the intensity values of the semi-circular-like arc S1 and the semi-circular-like arc S2 are also not the same in the first scan information IS 1.
In fig. 6, a user U2 is facing the following mobile platform 1 within the target locking zone a 1. Therefore, the first scanning information IS1 scanned by the scanning module 11 IS shown in fig. 7. The first scanning information IS1 of fig. 7 also includes two semi-circular-like arcs S3 and S4, wherein the semi-circular-like arc S3 corresponds to a right lower leg R2 of the user U2, and the semi-circular-like arc S4 corresponds to a left lower leg L2 of the user U2.
Since the shank shape determination unit 121 determines that the semi-circular-like arc S3 and the semi-circular-like arc S4 are adjacent to each other, have the same shape, and have the same strength value, it is determined that the user U2 in the target locking area a1 faces the following mobile platform 1. At this time, the determining module 12 further defines the user U2 as a follow target.
The target center determining unit 122 determines a target center point P of the user U2 by using the semi-circular-like arc S3 and the semi-circular-like arc S4, and represents a target position of the following target, i.e. the position of the user U2. Preferably, the target center determining unit 122 first defines a block B1 by the semi-circular-like arc S3 and another block B2 by the semi-circular-like arc S4, and then the target center determining unit 122 can define a center point between the block B1 and the block B2 as the target center point P, but not limited thereto. The target center determining unit 122 may also calculate the centers of the semi-circular arcs S3 and S4 by calculating the curvatures of the semi-circular arcs, and define the midpoint of the connecting line between the centers of the semi-circular arcs as the target center point P.
Next, referring to fig. 1 to 10 together, fig. 8 is a schematic diagram illustrating a target center point determined by the following mobile platform according to the preferred embodiment of the present invention; FIG. 9 is a schematic diagram showing the movement of the target center point of FIG. 8; FIG. 10 is a schematic diagram illustrating the following of the mobile platform with the target center point according to the preferred embodiment of the invention. As shown, the target center point P is located within the scanning area a2, that is, the user U2 defined as following the target is currently located within the scanning area a 2.
The stage center positioning unit 131 positions a stage center point C following the moving stage 1. The path instruction generating unit 132 is electrically connected to the platform center positioning unit 131 and the target center determining unit 122, and is configured to generate a following path instruction by using the target center point P and the platform center point C.
Preferably, the spacing distance determining unit 133 is electrically connected to the target center determining unit 122, the platform center positioning unit 131 and the path instruction generating unit 132, calculates a spacing distance d between the target center point P and the platform center point C, and generates a following path instruction through the path instruction generating unit 132 when the spacing distance d is greater than a predetermined distance.
In practice, the separation distance determining unit 133 generally presets the preset distance to be the distance between the user U2 and the following mobile platform 1 when the user U2 is defined as the following target. For example, when the user U2 faces the following mobile platform 1 and is1 meter away from the following mobile platform 1, and is defined as the following target, the separation distance determining unit 133 sets the predetermined distance to 1 meter. Therefore, when the user U2 starts to move and the distance between the user U2 and the following mobile platform 1 is greater than 1 meter, the path command generating unit 132 generates the following path command, and the following mobile platform 1 starts to follow the user U2, but not limited thereto. The preset distance may be set, and may be less than 1 meter or greater than 1 meter.
In the present embodiment, the separation distance determination unit 133 sets the separation distance d to a preset distance. As shown in fig. 9, when the target center point P moves to the target center point P ', that is, the user U2 who is defined as the follow target moves in the scanning area a2, the separation distance determining unit 133 determines that a separation distance d1 between the target center point P' and the platform center point C is greater than the separation distance d (the preset distance), the path-following command is generated by the path command generating unit 132. The control module 14 generates a control signal according to the follow path command, so as to control the following mobile platform 1 to follow the following target (user U2). In addition, the user U2 who is defined as the follow target moves within the scan area a2, and therefore the block B1 representing the right calf R2 of the user U2 and the block B2 representing the left calf L1 of the user U2 also move to the block B1 'and the block B2'.
The stage center point C moves to the stage center point C ', that is, the following moving stage 1 represented by the stage center point moves along with the following target and is spaced apart from the target center point P ' by a spacing distance d '. Preferably, the platform center point C ' is moved to a position spaced apart from the target center point P ' by a distance d ' and located right in front of or right behind the target, as shown in fig. 10, but not limited thereto. The platform center point C can also move directly in a direction parallel to the separation distance d1 in fig. 9 and stop when the distance from the target center point P' is equal to the separation distance d, thereby achieving the effect of following the target.
Therefore, the following mobile platform 1 can follow the following target to move, thereby improving the practicability and efficacy. When the user needs to carry goods in storage, patrol in factory, take food in restaurant, etc., the user can enter the target locking area a1 of the following mobile platform 1 and face or face away from the following mobile platform 1, thereby being defined as the following target by the following mobile platform 1. Then, the following mobile platform 1 will follow the user.
The time unit 123 calculates a predetermined time, and the determining module 12 stops defining the user U2 as the following target when it does not determine that the user U2 exists in the scan area a2 within the predetermined time. For example, the predetermined time is1 minute, when the user U2 defined as the follow target leaves the scan area a2 due to some reason, and the determining module 12 does not determine that the user U2 defined as the follow target exists in the scan area a2 within 1 minute, the user U2 is not defined as the follow target. That is, if the user U2 appears within the scanning area a2 after 2 minutes, the following moving platform 1 does not follow the user U2. If user U2 wishes to follow mobile platform 1 as he moves, it needs to re-stand within target lock zone a1 and face or back to follow mobile platform 1.
When the following target needs to frequently move within the scanning area a2, the scanning area a2 can be enlarged by the scanning area adjustment unit 111 to avoid being suspended from being defined as the following target by the determination module 12. If the following target does not need to frequently move within the scanning area a2, the scanning area a2 may be reduced by the scanning area adjustment unit 111, so that the following mobile platform 1 can follow more frequently.
Finally, referring to fig. 11, fig. 11 is a flowchart illustrating a following moving method according to a preferred embodiment of the invention. As shown, a following movement method is preferably implemented by the following movement platform 1 shown in fig. 1, and includes the following steps S101 to S106.
Step S101: and scanning the first scanning information and the second scanning information by using the scanning module.
Step S101 scans out the first scan information corresponding to the target-lock area a1 in fig. 3 and the second scan information corresponding to the scan area a2 in fig. 3 by using the scan module 11 in fig. 1.
Step S102: a shank shape judging means judges whether or not two quasi-semi-circular arcs adjacent to each other, having the same shape and the same intensity value exist in the first scanning information.
Step S102 determines whether two semicircular-like arcs adjacent to each other, having the same shape, and having the same intensity value exist in the first scanning information IS1, as shown in fig. 7, by using the calf shape determination unit 121 in the determination module 12 in fig. 1. And when it is determined yes in step S102, the process proceeds to step S103.
Step S103: and judging that a user facing or facing away from the mobile platform exists in the target locking area by using the shank shape judging unit, and defining the user as a following target by using a judging module.
Step S103 defines the user as a following target by using the determination module 12 shown in fig. 1, as shown in fig. 6 and 7.
In steps S102 to S103, the determining module determines the first scanning information and the second scanning information, and defines the user as the following target when the user is determined to be located in the target locking area and facing or facing away from the following mobile platform. In the present embodiment, the determination is performed by a lower leg shape determination unit in the determination module.
Step S104: and generating a following path instruction moving along with the following target when the following target moves in the scanning area by using a path instruction generating module.
Step S104 generates a follow instruction using the path instruction generation unit 132 as in fig. 1.
Step S105: and utilizing the control module to generate a control signal according to the following path instruction so as to control the following mobile platform to move along with the following target according to the following path instruction.
Step S105 uses the control module 14 shown in fig. 1 to generate a control signal according to the following path instruction, so as to control the following mobile platform 1 to move along the following target, as shown in fig. 8 to 10.
Step S106: and calculating a preset time by using the time unit, and stopping defining the user as a following target when the judging module does not judge that the user exists in the scanning area within the preset time.
Step S106 uses the time unit 123 shown in fig. 1 to calculate a preset time, and when the determining module does not determine that the user exists in the scanning area within the preset time, the user is not defined as the following target, as described above.
In summary, the following mobile platform and the method thereof provided by the present invention define the user as the following target when the scanning module and the determining module determine that the user is located in the target locking area and faces or faces away from the following mobile platform, and control the following mobile platform to move along with the following target by using the path instruction generating module and the control module. In addition, the invention can also avoid the following mobile platform from being disordered and following other users when other users are in the scanning area. In addition, the present invention may also suspend defining the following target when the preset time is reached and it is not determined that the following target is located in the scanning area.
The foregoing detailed description of the preferred embodiments is intended to more clearly illustrate the features and spirit of the present invention, and not to limit the scope of the invention by the preferred embodiments disclosed above. On the contrary, it is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims.
Claims (10)
1. A following mobile platform for following a following target, comprising:
the scanning module is provided with a scanning area and a target locking area positioned in the scanning area and used for scanning first scanning information corresponding to the target locking area and second scanning information corresponding to the scanning area;
the judging module is electrically connected with the scanning module and used for receiving and judging the first scanning information and the second scanning information, and when the user is judged to be positioned in the target locking area and faces or faces away from the following mobile platform, the user is defined as the following target;
the path instruction generating module is electrically connected with the judging module and used for generating a following path instruction moving along with the following target when the following target moves in the scanning area; and
and the control module is electrically connected with the path instruction generating module and used for generating a control signal according to the following path instruction so as to control the following mobile platform to move along with the following target according to the following path instruction.
2. The follow mobile platform according to claim 1, wherein the determining module further comprises a time unit, the time unit is configured to calculate a preset time, and the determining module stops defining the user as the follow target when the determining module does not determine that the user exists in the scanning area within the preset time.
3. The following mobile platform according to claim 1, wherein the determination module comprises a shank shape determination unit, and the shank shape determination unit is configured to determine that the user facing or facing away from the following mobile platform exists in the target locking region when it is determined that two semi-circular arcs that are adjacent to each other, have the same shape, and have the same intensity value exist in the first scanning information.
4. The mobile tracking platform of claim 3, wherein the determining module further comprises a target center determining unit electrically connected to the shank shape determining unit for determining a target center point of the tracking target using the two semi-circular arcs, and the target center point represents a target position of the tracking target.
5. The follow-up mobile platform of claim 4, wherein the path instruction generation module comprises:
the platform center positioning unit is used for positioning a platform center point of the following mobile platform; and
and the path instruction generating unit is electrically connected with the platform center positioning unit and the target center judging unit and is used for generating the following path instruction by utilizing the target center point and the platform center point.
6. The following mobile platform according to claim 5, wherein the path instruction generating module further comprises a distance-to-distance determining unit, and the distance-to-distance determining unit is electrically connected to the target center determining unit, the platform center positioning unit, and the path instruction generating unit, and configured to calculate a distance between the following mobile platform and the following target by using the platform center point and the target center point, and generate the following path instruction by the path instruction generating unit when it is determined that the distance is greater than a predetermined distance.
7. The mobile platform of claim 1, wherein the scan module further comprises a scan area adjustment unit, and the scan area adjustment unit is configured to adjust a size of the scan area.
8. A follow-up movement method implemented by the follow-up movement platform according to claim 1, comprising:
scanning the first scanning information and the second scanning information by using the scanning module;
step (b) judging the first scanning information and the second scanning information by using the judging module, and defining the user as the following target when the user is judged to be positioned in the target locking area and faces or faces away from the following mobile platform;
step (c) generating, by the path instruction generation module, the following path instruction moving with the following target while the following target moves within the scanning area;
and (d) generating the control signal according to the following path instruction by using a control module so as to control the following mobile platform to move along with the following target according to the following path instruction.
9. The follow movement method according to claim 8, wherein the scanning module further comprises a shank shape determination unit, and the step (b) further comprises:
and (b1) judging that the user facing or facing away from the following mobile platform exists in the target locking area when the shank shape judgment unit judges that two similar semi-circular arcs which are adjacent to each other, have the same shape and consistent intensity value exist in the first scanning information.
10. The follow move method of claim 8, further comprising:
and (e) calculating preset time by using a time unit in the judgment module, and stopping defining the user as the following target when the judgment module does not judge that the user exists in the scanning area within the preset time.
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