CN114895679A - Human body following method and device for linkage of two-axis pan-tilt and chassis and robot - Google Patents
Human body following method and device for linkage of two-axis pan-tilt and chassis and robot Download PDFInfo
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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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention provides a human body following method for linkage of a two-axis pan-tilt and a chassis, which comprises the following steps: s1, acquiring whether an obstacle exists in front of the robot; performing steps S2-S3 when no obstacle exists in front of the robot, and performing only step S2 when an obstacle exists in front of the robot; s2, acquiring pixel coordinates x and y of the human body target in the picture coordinate system, keeping the pitch angle of the holder still, and controlling the yaw angle of the holder to keep the human body target in the middle of the camera view; s3, acquiring the angle of the human body target relative to the robot and the distance of the human body target relative to the robot according to the coordinates x and y of the human body target in the picture coordinate system, acquiring the output linear velocity of the chassis according to the distance of the human body target relative to the robot and the distance kept by a preset human body following threshold value, and acquiring the angle output angular velocity of the chassis according to the angle of the human body target relative to the robot; and controlling the chassis according to the output linear speed of the chassis and the angular output angular speed of the chassis.
Description
Technical Field
The invention relates to the field of robots, in particular to a human body following method and device with a two-axis holder and a chassis linked and a robot.
Background
The existing robot-based human body following method mainly comprises the following two modes: firstly, a simple two-axis holder is utilized to follow the human body, and the mode is suitable for a two-axis holder camera with a fixed position; and secondly, the ground mobile robot with the movable chassis and the fixed camera are used for following the human body. The first mode is only suitable for a camera with a two-axis pan-tilt head in a fixed place, cannot move, and does not meet the characteristic that a ground robot needs to track a human body tightly; although the robot can move, the camera does not have a rotating characteristic, or the camera fixes a visual angle and does not link with the chassis, so that a temporary target loss can occur when a human body is in obstacle detouring at any time, and the risk of losing the target with the human body is realized.
The background description provided herein is for the purpose of generally presenting the context of the disclosure. Unless otherwise indicated herein, the material described in this section is not prior art to the claims in this application and is not admitted to be prior art by inclusion in this section.
Disclosure of Invention
Aiming at the technical problems in the related art, the invention provides a human body following method for linkage of a two-axis pan-tilt and a chassis, which comprises the following steps:
s1, acquiring whether an obstacle exists in front of the robot; performing steps S2-S3 when no obstacle exists in front of the robot, and performing only step S2 when an obstacle exists in front of the robot;
s2, acquiring pixel coordinates x and y of the human body target in the picture coordinate system; controlling the rotating speed of the yaw angle of the holder to keep the human body target in the middle of the camera view;
s3, acquiring pixel coordinates x and y of the human body target in the picture coordinate system; acquiring an angle theta of the human body target relative to the robot and a distance of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system, acquiring an output linear-speed of the chassis according to the distance of the human body target relative to the robot and a distance kept by a preset human body following threshold value, and acquiring an angular output angular speed-regulated of the chassis according to the angle theta of the human body target relative to the robot; and controlling the chassis according to the output line speed line-speed of the chassis and the angular output angular speed angular-speed of the chassis.
Specifically, the obtaining of the angle theta of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system specifically includes: theta is arctan (y/x).
Specifically, obtaining the distance of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system specifically includes: distance ═ sqrt (x × x + y).
Specifically, acquiring an output linear-speed of the chassis according to the distance between the human body target and the robot and the distance kept by a preset human body following threshold specifically includes: line _ speed ═ k (distance-keep _ distance), where keep _ distance represents the distance that the human body keeps following the threshold, and k represents the control gain.
Specifically, the method for acquiring the angular output angular velocity of the chassis according to the angle theta of the human body target relative to the robot specifically comprises the following steps: and g represents the angle control gain.
In a second aspect, another embodiment of the present invention provides a human body following device with a two-axis pan-tilt linked with a chassis, which includes the following units:
the obstacle judging unit is used for acquiring whether an obstacle exists in front of the robot or not; the control system comprises a pan-tilt control unit and a chassis control unit which are executed when no obstacle exists in front of the robot, and a pan-tilt control unit which is executed when the obstacle exists in front of the robot;
the holder control unit is used for acquiring pixel coordinates x and y of the human body target in the picture coordinate system, keeping a pitch angle of the holder still, and controlling a yaw angle of the holder to keep the human body target in the middle of the camera view;
the chassis control unit is used for acquiring pixel coordinates x and y of the human body target under the picture coordinate system; acquiring an angle theta of the human body target relative to the robot and a distance of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system, acquiring an output linear-speed of the chassis according to the distance of the human body target relative to the robot and a distance kept by a preset human body following threshold value, and acquiring an angular output angular speed-regulated of the chassis according to the angle theta of the human body target relative to the robot; and controlling the chassis according to the output linear-speed of the chassis and the angular output angular speed angular-speed of the chassis.
Specifically, the obtaining of the angle theta of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system specifically includes: theta is arctan (y/x).
Specifically, obtaining the distance of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system specifically includes: distance ═ sqrt (x × x + y).
Specifically, acquiring an output linear-speed of the chassis according to the distance between the human body target and the robot and the distance kept by a preset human body following threshold specifically includes: line _ speed ═ k (distance-keep _ distance), where keep _ distance represents the distance that the human body keeps following the threshold, and k represents the control gain.
Specifically, the method for acquiring the angular output angular velocity of the chassis according to the angle theta of the human body target relative to the robot specifically comprises the following steps: and g represents the angle control gain.
In a third aspect, another embodiment of the present invention discloses a robot, which includes a central processing unit, a memory, and instructions stored in the memory, where the instructions are executed by the processor, so as to implement the above-mentioned human body following method for linking a two-axis pan-tilt and a chassis.
According to the invention, the target tracking of the cradle head and the chassis control following and obstacle detouring are controlled separately, the target tracking control of the cradle head ensures that the human target is not lost, real-time human target coordinates are output for the chassis control, the chassis following and obstacle detouring provide moving capability for the camera, the human target is ensured to be followed tightly, and the effect of cradle head and chassis linkage is achieved.
If there is no obstacle between the robot and the human target during the human body following process, executing steps S2-S3, the robot will gradually move towards the human target until theta is smaller than the threshold range; the controlled holder can keep the human body target in the middle of the camera visual field. When an obstacle exists between the robot and the human body target, the robot starts to detour the obstacle, the control of the chassis in the step S3 is not executed, the tripod head control still keeps executing the step S2, the human body target is in the middle of the visual field of the camera, the human body target is ensured not to be lost, whether the obstacle exists between the robot and the human body or not is continuously detected, and when the obstacle does not exist, the chassis control is executed by using the step S3, and the distance between the robot and the target human body is quickly shortened.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of a human body following method for linkage of a two-axis pan-tilt and a chassis according to an embodiment of the present invention;
FIG. 2 is a schematic view of a human body following device with a two-axis pan-tilt and a chassis linked according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a robot provided by an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
Example one
Referring to fig. 1, fig. 1 is a human body following method for linkage of a two-axis pan-tilt and a chassis disclosed in this embodiment, which includes the following steps:
s1, acquiring whether an obstacle exists in front of the robot; performing steps S2-S3 when no obstacle exists in front of the robot, and performing only step S2 when an obstacle exists in front of the robot;
the robot has a two-axis pan-tilt, can control the pitch angle and the yaw angle, and can also obtain the feedback of the pitch angle and the yaw angle.
The two-axis cloud platform comprises a camera, and the cloud platform is used for driving the camera to rotate, so that the shooting in different directions is realized.
The robot is provided with a differential chassis and has the obstacle-detouring capability. The robot can judge whether a barrier blocks between a human body target and the robot, and the implementation is judged through a laser radar. Specifically, when the obstacle is determined, the determination may be performed using a camera or a millimeter wave radar.
S2, acquiring pixel coordinates x and y of the human body target in the picture coordinate system, keeping the pitch angle of the holder still, and controlling the yaw angle of the holder to keep the human body target in the middle of the camera view;
the two-axis pan-tilt of the embodiment is provided with the camera, and the built-in algorithm can output pixel coordinates x and y of the human body target in the current image.
In another embodiment, the camera of the two-axis pan-tilt acquires a picture or a video, transmits the picture or the video to a central processing unit of the robot, and the central processing unit executes a corresponding algorithm to calculate the x and y coordinates of the current human body target in the current image.
The x, y coordinates of the human body target in the current image in this embodiment refer to the x, y coordinates given by using the picture coordinate system; the picture coordinate system takes the upper left corner of the picture as an origin, the horizontal right direction is the positive direction of an x axis, and the horizontal downward direction is the positive direction of a y axis.
In this embodiment, the x, y coordinates of the human body target in the current image refer to the x, y coordinates given by using the picture coordinate system, i.e. the pixel coordinates of the center of the human body frame on the picture.
Specifically, in this embodiment, the width max _ width of the picture is obtained first, the x-axis deviation delta _ camera _ x from the center point of the human body target frame to the center of the picture is obtained through calculation, specifically, the delta _ camera _ x is max _ width/2-x, the rotational speed of the pan/tilt head camera _ x _ speed is obtained through the angle deviation, specifically, the camera _ x _ speed is j delta _ camera _ x, wherein j represents a control gain, the pitch angle of the pan/tilt head is kept motionless, and the rotational speed of the pan/tilt angle of the pan/tilt head is controlled through 485 communication, so that the human body target is kept in the middle of the camera view;
s3, acquiring pixel coordinates x and y in a human body target picture coordinate system; acquiring an angle theta of the human body target relative to the robot and a distance of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system, acquiring an output linear-speed of the chassis according to the distance of the human body target relative to the robot and a distance kept by a preset human body following threshold value, and acquiring an angular output angular speed-regulated of the chassis according to the angle theta of the human body target relative to the robot; and controlling the chassis according to the output line speed line-speed of the chassis and the angular output angular speed angular-speed of the chassis.
The pixel coordinates x and y of the human body target picture coordinate system obtained in the step can be given by an algorithm built in a two-axis holder or given by a central processing unit of the robot.
According to the human body coordinates x and y, the angle theta of the human body target relative to the robot is obtained by theta (arctan (y/x)),
the distance between the human body target distance and the robot body is obtained from distance (sqrt) (x + y).
Then using the following formula
line_speed＝k*(distance-keep_distance)
angluar_speed＝g*(theta)
keep _ distance represents the distance that the human body keeps following the threshold value, k represents the control gain, and line _ speed represents the output linear velocity;
g represents the angle control gain, and angle _ speed represents the angular velocity of the output.
Further, this embodiment further includes: and judging whether the angle theta of the human body target relative to the robot is smaller than a preset threshold value, if not, repeatedly executing the steps S1-S3.
In the embodiment, the cradle head target tracking, the chassis control following and the obstacle avoidance are controlled separately, the target tracking control of the cradle head ensures that the human body target is not lost, real-time human body target coordinates are output for the chassis control, the chassis following and the obstacle avoidance provide the moving capacity for the camera, the human body target is ensured to be closely followed, and the effect of linking the cradle head and the chassis is achieved.
If there is no obstacle between the robot and the human target during the human body following process, executing steps S2-S3, the robot will gradually move towards the human target until theta is smaller than the threshold range; the controlled holder can keep the human body target in the middle of the camera visual field. When an obstacle exists between the robot and the human body target, the robot starts to detour the obstacle, the control of the chassis in the step S3 is not executed, the tripod head control still keeps executing the step S2, the human body target is in the middle of the visual field of the camera, the human body target is ensured not to be lost, whether the obstacle exists between the robot and the human body or not is continuously detected, and when the obstacle does not exist, the chassis control is executed by using the step S3, and the distance between the robot and the target human body is quickly shortened.
Carry out two
Referring to fig. 2, the present embodiment provides a human body following device with a two-axis pan/tilt head linked with a chassis, which includes the following units:
the obstacle judging unit is used for acquiring whether an obstacle exists in front of the robot or not; the control system comprises a pan-tilt control unit and a chassis control unit which are executed when no obstacle exists in front of the robot, and a pan-tilt control unit which is executed when the obstacle exists in front of the robot;
the robot has a two-axis pan-tilt, can control the pitch angle and the yaw angle, and can also obtain the feedback of the pitch angle and the yaw angle.
The two-axis cloud platform comprises a camera, and the cloud platform is used for driving the camera to rotate, so that the shooting in different directions is realized.
The robot is provided with a differential chassis and has the obstacle-detouring capability. The robot can judge whether a barrier blocks between a human body target and the robot, and the implementation is judged through a laser radar. Specifically, when the obstacle is determined, the determination may be performed using a camera or a millimeter wave radar.
The holder control unit is used for acquiring pixel coordinates x and y under a human body target picture coordinate system, keeping a pitch angle of the holder still, and controlling a yaw angle of the holder to keep a human body target in the middle of the camera visual field;
the two-axis pan-tilt of the embodiment is provided with the camera, and the built-in algorithm can output the pixel coordinates of the human body target in the current image.
In another embodiment, the camera of the two-axis pan-tilt acquires a picture or a video, transmits the picture or the video to a central processing unit of the robot, and the central processing unit executes a corresponding algorithm to calculate the x and y coordinates of the current human body target.
The chassis control unit is used for acquiring pixel coordinates x and y under a human body target picture coordinate system; acquiring an angle theta of the human body target relative to the robot and a distance of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system, acquiring an output speed line-speed of the chassis according to the distance of the human body target relative to the robot and a distance kept by a preset human body following threshold value, and acquiring an angular output speed angular-speed of the chassis according to the angle theta of the human body target relative to the robot; and controlling the chassis according to the output line speed line-speed of the chassis and the angular output angular speed angular-speed of the chassis.
Specifically, the obtaining of the angle theta of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system specifically includes: theta is arctan (y/x).
Specifically, obtaining the distance of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system specifically includes: distance ═ sqrt (x × x + y).
Specifically, acquiring an output linear-speed of the chassis according to the distance between the human body target and the robot and the distance kept by a preset human body following threshold specifically includes: line _ speed ═ k (distance-keep _ distance), where keep _ distance represents the distance that the human body keeps following the threshold, and k represents the control gain.
Specifically, the method for acquiring the angular output angular velocity of the chassis according to the angle theta of the human body target relative to the robot specifically comprises the following steps: and g represents the angle control gain.
Further, this embodiment further includes: and the human body real-time following unit is used for judging whether the angle theta of the human body target relative to the robot is smaller than a preset threshold value or not, and if not, the obstacle judging unit, the holder control unit and the chassis control unit are repeatedly executed.
In the embodiment, the cradle head target tracking and the chassis control following and obstacle detouring are controlled separately, the target tracking control of the cradle head ensures that the human target is not lost, real-time human target coordinates are output for the chassis control, the chassis following and obstacle detouring provide moving capacity for the camera, the human target is ensured to be closely followed, and the effect of cradle head and chassis linkage is achieved.
If there is no obstacle between the robot and the human target during the human body following process, executing steps S2-S3, the robot will gradually move towards the human target until theta is smaller than the threshold range; the controlled holder can keep the human body target in the middle of the camera visual field. When an obstacle exists between the robot and the human body target, the robot starts to detour the obstacle, the control of the chassis in the step S3 is not executed, the tripod head control still keeps executing the step S2, the human body target is in the middle of the visual field of the camera, the human body target is ensured not to be lost, whether the obstacle exists between the robot and the human body or not is continuously detected, and when the obstacle does not exist, the chassis control is executed by using the step S3, and the distance between the robot and the target human body is quickly shortened.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a robot according to the present embodiment. The robot 20 of this embodiment comprises a processor 21, a memory 22 and a computer program stored in said memory 22 and executable on said processor 21. The processor 21 realizes the steps in the above-described method embodiments when executing the computer program. Alternatively, the processor 21 implements the functions of the modules/units in the above-described device embodiments when executing the computer program.
Illustratively, the computer program may be divided into one or more modules/units, which are stored in the memory 22 and executed by the processor 21 to accomplish the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the robot 20. For example, the computer program may be divided into the modules in the second embodiment, and for the specific functions of the modules, reference is made to the working process of the apparatus in the foregoing embodiment, which is not described herein again.
The robot 20 may include, but is not limited to, a processor 21, a memory 22. Those skilled in the art will appreciate that the schematic diagram is merely an example of robot 20 and does not constitute a limitation of robot 20 and may include more or fewer components than shown, or some components in combination, or different components, e.g., robot 20 may also include input output devices, network access devices, buses, etc.
The Processor 21 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 21 is the control center of the robot 20 and connects the various parts of the entire robot 20 using various interfaces and lines.
The memory 22 may be used to store the computer programs and/or modules, and the processor 21 may implement various functions of the robot 20 by running or executing the computer programs and/or modules stored in the memory 22 and calling up data stored in the memory 22. The memory 22 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory 22 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the integrated module/unit of the robot 20 can be stored in a computer readable storage medium if it is implemented in the form of software functional unit and sold or used as a stand-alone product. Based on such understanding, all or part of the flow of the method according to the above embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and used by the processor 21 to implement the steps of the above embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A human body following method for linkage of a two-axis pan-tilt and a chassis comprises the following steps:
s1, acquiring whether an obstacle exists in front of the robot; performing steps S2-S3 when no obstacle exists in front of the robot, and performing only step S2 when an obstacle exists in front of the robot;
s2, acquiring pixel coordinates x and y of the human body target in the picture coordinate system, keeping the pitch angle of the holder still, and controlling the yaw angle of the holder to keep the human body target in the middle of the camera view;
s3, acquiring pixel coordinates x and y of the human body target in the picture coordinate system; acquiring an angle theta of the human body target relative to the robot and a distance of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system, acquiring an output linear-speed of the chassis according to the distance of the human body target relative to the robot and a distance kept by a preset human body following threshold value, and acquiring an angular output angular speed-regulated of the chassis according to the angle theta of the human body target relative to the robot; and controlling the chassis according to the output line speed line-speed of the chassis and the angular output angular speed angular-speed of the chassis.
2. The method according to claim 1, wherein the obtaining of the angle theta of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system specifically comprises: theta is arctan (y/x).
3. The method according to claim 2, wherein the step of obtaining the distance of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system is specifically as follows: distance ═ sqrt (x × x + y).
4. The method according to claim 3, wherein the step of obtaining the output linear-speed of the chassis according to the distance of the human body target relative to the robot and the distance kept by the preset human body following threshold value is specifically as follows: line _ speed ═ k (distance-keep _ distance), where keep _ distance represents the distance that the human body keeps following the threshold, and k represents the control gain.
5. The method according to claim 4, wherein the step of obtaining the angular output angular velocity of the chassis according to the angle theta of the human target relative to the robot is as follows: and g represents the angle control gain.
6. The utility model provides a human body following device of two axle cloud platforms and chassis linkage, its includes following unit:
the obstacle judging unit is used for acquiring whether an obstacle exists in front of the robot or not; the control system comprises a pan-tilt control unit and a chassis control unit which are executed when no obstacle exists in front of the robot, and a pan-tilt control unit which is executed when the obstacle exists in front of the robot;
the holder control unit is used for acquiring pixel coordinates x and y of the human body target in the picture coordinate system, keeping a pitch angle of the holder still, and controlling a yaw angle of the holder to keep the human body target in the middle of the camera view;
the chassis control unit is used for acquiring pixel coordinates x and y of the human body target under the picture coordinate system; acquiring an angle theta of the human body target relative to the robot and a distance of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system, acquiring an output linear-speed of the chassis according to the distance of the human body target relative to the robot and a distance kept by a preset human body following threshold value, and acquiring an angular output angular speed-regulated of the chassis according to the angle theta of the human body target relative to the robot; and controlling the chassis according to the output line speed line-speed of the chassis and the angular output angular speed angular-speed of the chassis.
7. The apparatus according to claim 6, wherein the obtaining of the angle theta of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system specifically includes: theta ═ arctan (y/x); the specific step of obtaining the distance of the human body target relative to the robot according to the pixel coordinates x and y in the human body target picture coordinate system is as follows: distance ═ sqrt (x × x + y).
8. The device according to claim 7, wherein the acquiring of the output linear-speed of the chassis according to the distance of the human body target relative to the robot and the distance kept by the preset human body following threshold is specifically: line _ speed ═ k (distance-keep _ distance), where keep _ distance represents the distance that the human body keeps following the threshold, and k represents the control gain.
9. The device according to claim 8, wherein the step of obtaining the angular output angular velocity of the chassis according to the angle theta of the human target relative to the robot is as follows: and g represents the angle control gain.
10. A robot comprising a central processor, a storage unit having stored thereon instructions which, when executed by the processor, are adapted to implement the method of any of claims 1-5.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116630374A (en) * | 2023-07-24 | 2023-08-22 | 贵州翰凯斯智能技术有限公司 | Visual tracking method, device, storage medium and equipment for target object |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116630374A (en) * | 2023-07-24 | 2023-08-22 | 贵州翰凯斯智能技术有限公司 | Visual tracking method, device, storage medium and equipment for target object |
| CN116630374B (en) * | 2023-07-24 | 2023-09-19 | 贵州翰凯斯智能技术有限公司 | Visual tracking method, device, storage medium and equipment for target object |
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