CN114928813A - Pedestrian target following method and device, electronic equipment and readable storage medium - Google Patents

Pedestrian target following method and device, electronic equipment and readable storage medium Download PDF

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Publication number
CN114928813A
CN114928813A CN202210548791.6A CN202210548791A CN114928813A CN 114928813 A CN114928813 A CN 114928813A CN 202210548791 A CN202210548791 A CN 202210548791A CN 114928813 A CN114928813 A CN 114928813A
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following
pedestrian
distance
target
main
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邓琬云
何逸波
林智桂
姚毅超
杨子钰
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SAIC GM Wuling Automobile Co Ltd
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SAIC GM Wuling Automobile Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The application discloses a pedestrian target following method, a device, an electronic device and a readable storage medium, which are applied to the technical field of robots and comprise the following steps: acquiring at least one pedestrian target under a current detection frame; determining a following distance for following each pedestrian target according to a first distance between the auxiliary positioning point and each pedestrian target; acquiring a second distance between the main positioning point and each pedestrian target, and determining a following angle for following each pedestrian target according to the first distance and the second distance; selecting a pedestrian main target from the pedestrian targets according to each following distance and each following angle; judging a current following mode of the main target of the following pedestrian according to the following main angle corresponding to the main target of the pedestrian; and determining whether the current following mode is switched or not by detecting whether the following main angle meets a preset switching condition in a preset number of detection frames or not. The application has solved among the prior art with following the technical problem that pedestrian's flexibility is low with the robot.

Description

Pedestrian target following method and device, electronic equipment and readable storage medium
Technical Field
The present application relates to the field of robotics, and in particular, to a method and an apparatus for tracking a pedestrian target, an electronic device, and a readable storage medium.
Background
With the rapid development of intelligent technology, the field of robot technology has also made great progress, wherein, the following robot can assist pedestrians to complete relevant social production activities, has wide application prospects in the service industry, the warehousing industry and the fast-moving industry, and currently, the following robot determines the relative position with the pedestrians through the technologies of sensor positioning, Bluetooth triangulation positioning, laser positioning and the like, and further assist pedestrians in completing relevant social production activities, however, following a robot cannot effectively complete work when some special conditions are met, for example, in a warehouse passage with only one entrance, when the following robot is needed to finish the work of loading and unloading, the following robot can not turn around and follow in the passage, so as to complete corresponding work, the flexibility of the current following robot for following the pedestrian target is low.
Disclosure of Invention
The application mainly aims to provide a pedestrian target following method, a pedestrian target following device, electronic equipment and a readable storage medium, and aims to solve the technical problem that in the prior art, the flexibility of following a pedestrian target with a random robot is low.
In order to achieve the above object, the present application provides a pedestrian target following method applied to a following robot, the pedestrian target following method including:
acquiring at least one pedestrian target under a current detection frame;
determining a following distance following each pedestrian target according to a first distance between an auxiliary positioning point and each pedestrian target, wherein the auxiliary positioning point is a central point of an auxiliary positioning base station in a three-base-station positioning method;
acquiring a second distance between a main positioning point and each pedestrian target, and determining a following angle for following each pedestrian target according to the first distance and the second distance, wherein the main positioning point is a central point of a main positioning base station in a three-base-station positioning method;
selecting a pedestrian main target from the pedestrian targets according to the following distances and the following angles;
judging a current following mode of following the pedestrian main target according to a following main angle corresponding to the pedestrian main target;
and determining whether to switch the current following mode or not by detecting whether the following main angle meets a preset switching condition in a preset number of detection frames or not.
Optionally, the step of determining whether to switch the current following mode by detecting whether the following main angle satisfies a preset switching condition in a preset number of detection frames includes:
if the current following mode is a forward following mode, judging whether the following main angle is greater than a preset switching angle threshold value in a preset number of detection frames;
if the current following mode is larger than the reverse following mode, switching the current following mode into the reverse following mode;
if the current following mode is a reverse following mode, judging whether the following main angle is smaller than the preset switching angle threshold value in a preset number of detection frames;
and if the current following mode is smaller than the forward following mode, switching the current following mode into the forward following mode.
Optionally, said auxiliary positioning points comprise a first auxiliary positioning point and a second auxiliary positioning point,
the step of determining a following distance to follow each of the pedestrian targets based on a first distance between the assisting positioning point and each of the pedestrian targets includes:
acquiring a third distance between the first auxiliary positioning point and the second auxiliary positioning point;
and calculating the following distance for following each pedestrian target according to the first distance between the first auxiliary positioning point and each pedestrian target, the first distance between the second auxiliary positioning point and each pedestrian target and the third distance.
Optionally, the step of selecting a pedestrian main target from the pedestrian targets according to the following distances and the following angles includes:
selecting at least one pedestrian secondary target from the pedestrian targets according to the corresponding relation between each following distance and a preset following range;
and comparing the following angles of the secondary targets of the pedestrians to obtain a primary target of the pedestrian.
Optionally, after the step of determining whether to switch the current following mode by detecting whether the following master angle satisfies a preset switching condition in a preset number of detection frames, the pedestrian target following method includes:
judging whether the longitudinal following distance following the main target of the pedestrian is greater than a preset longitudinal following distance threshold value or not;
if so, generating a first adjusting command, and adjusting the longitudinal following distance to the preset longitudinal following distance threshold value through the first adjusting command;
and if not, generating a second adjusting command, and adjusting the longitudinal following distance to the preset longitudinal following distance threshold value through the second adjusting command.
Optionally, after the step of determining whether to switch the current following mode by detecting whether the following main angle satisfies a preset switching condition within a preset number of detection frames, the pedestrian target following method further includes:
inquiring a transverse following angle corresponding to the following main angle according to a preset angle mapping table;
and following the pedestrian main target according to the transverse following angle.
Optionally, before the step of querying a transverse following angle corresponding to the following main angle according to a preset angle mapping table, the pedestrian target following method further includes:
acquiring following main angles corresponding to different transverse positions of a tested pedestrian target and transverse following angles corresponding to different transverse positions of the tested pedestrian target;
and establishing a preset angle mapping table according to the one-to-one correspondence relationship between the following main angles and the transverse following angles.
To achieve the above object, the present application also provides a pedestrian target following device applied to a following robot, the pedestrian target following device including:
the acquisition module is used for acquiring at least one pedestrian target under the current detection frame;
the distance determining module is used for determining a following distance following each pedestrian target according to a first distance between an auxiliary positioning point and each pedestrian target, wherein the auxiliary positioning point is a central point of an auxiliary positioning base station in a three-base-station positioning method;
the angle determining module is used for acquiring a second distance between a main positioning point and each pedestrian target and determining a following angle following each pedestrian target according to the first distance and the second distance, wherein the main positioning point is a central point of a main positioning base station in a three-base-station positioning method;
the selecting module is used for selecting a pedestrian main target from the pedestrian targets according to the following distances and the following angles;
the judging module is used for judging a current following mode of following the pedestrian main target according to a following main angle corresponding to the pedestrian main target;
and the switching module is used for determining whether to switch the current following mode by detecting whether the following main angles meet preset switching conditions in a preset number of detection frames.
Optionally, the switching module is further configured to:
if the current following mode is a forward following mode, judging whether the following main angles are all larger than a preset switching angle threshold value in a preset number of detection frames;
if the current following mode is larger than the reverse following mode, switching the current following mode into the reverse following mode;
if the current following mode is a reverse following mode, judging whether the following main angle is smaller than the preset switching angle threshold value in a preset number of detection frames;
and if the current following mode is less than the forward following mode, switching the current following mode into the forward following mode.
Optionally, the auxiliary positioning points include a first auxiliary positioning point and a second auxiliary positioning point, and the distance determining module is further configured to:
acquiring a third distance between the first auxiliary positioning point and the second auxiliary positioning point;
and calculating the following distance for following each pedestrian target according to the first distance between the first auxiliary positioning point and each pedestrian target, the first distance between the second auxiliary positioning point and each pedestrian target and the third distance.
Optionally, the selecting module is further configured to:
selecting at least one pedestrian secondary target from the pedestrian targets according to the corresponding relation between each following distance and a preset following range;
and comparing the following angles of the secondary targets of the pedestrians to obtain a primary target of the pedestrian.
Optionally, the pedestrian target following device is further configured to:
judging whether the longitudinal following distance following the main target of the pedestrian is greater than a preset longitudinal following distance threshold value or not;
if so, generating a first adjusting command, and adjusting the longitudinal following distance to the preset longitudinal following distance threshold value through the first adjusting command;
and if not, generating a second adjusting command, and adjusting the longitudinal following distance to the preset longitudinal following distance threshold value through the second adjusting command.
Optionally, the pedestrian target following device is further configured to:
inquiring a transverse following angle corresponding to the following main angle according to a preset angle mapping table;
and following the pedestrian main target according to the transverse following angle.
Optionally, the pedestrian target following device is further configured to:
acquiring following main angles corresponding to different transverse positions of a tested pedestrian target and transverse following angles corresponding to different transverse positions of the tested pedestrian target;
and establishing a preset angle mapping table according to the one-to-one correspondence relationship between each following main angle and each transverse following angle.
The present application further provides an electronic device, the electronic device including: a memory, a processor and a program of the pedestrian object following method stored on the memory and executable on the processor, the program of the pedestrian object following method when executed by the processor implementing the steps of the pedestrian object following method as described above.
The present application also provides a computer-readable storage medium having stored thereon a program for implementing a pedestrian object following method, the program implementing the steps of the pedestrian object following method as described above when executed by a processor.
The present application also provides a computer program product comprising a computer program which when executed by a processor implements the steps of the pedestrian object following method as described above.
The application provides a pedestrian target following method, a device, an electronic device and a readable storage medium, namely, at least one pedestrian target under a current detection frame is obtained; determining a following distance following each pedestrian target according to a first distance between an auxiliary positioning point and each pedestrian target, wherein the auxiliary positioning point is a central point of an auxiliary positioning base station in a three-base-station positioning method; acquiring a second distance between a main positioning point and each pedestrian target, and determining a following angle for following each pedestrian target according to the first distance and the second distance, wherein the main positioning point is a central point of a main positioning base station in a three-base-station positioning method; selecting a pedestrian main target from the pedestrian targets according to the following distances and the following angles; and judging a current following mode following the pedestrian main target according to the following main angle corresponding to the pedestrian main target, and determining whether to switch the current following mode by detecting whether the following main angle meets preset switching conditions in a preset number of detection frames. As the auxiliary positioning points are used for representing the central points of the auxiliary positioning base stations in the three-base-station positioning method, the main positioning points are used for representing the central points of the main positioning base stations in the three-base-station positioning method, thereby the following robot can be positioned without dead angles, and then the four driving wheels of the following robot can be flexibly applied by following angles, thereby realizing the purpose that when the turning radius is overlarge, the rear shaft wheel is switched to the steering wheel to continue following the pedestrian target, therefore, when the following robot meets a warehouse passage with only one entrance and exit and needs to work under special working conditions, can realize the aim of assisting pedestrians to finish related social production activities by switching the current following mode, therefore, the technical defect that the following robot cannot turn to continue following the pedestrian target under the condition that some special working conditions are limited by the turning radius in the prior art is overcome, and the accuracy of following the pedestrian target by the following robot is improved.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a first embodiment of a pedestrian object following method according to the present application;
FIG. 2 is a schematic diagram of a three-base-station positioning method under a preset coordinate system according to the pedestrian target following method;
FIG. 3 is a schematic flow chart of a pedestrian object following method according to a second embodiment of the present application;
fig. 4 is a schematic device structure diagram of a hardware operating environment related to a pedestrian target following method in the embodiment of the present application.
The implementation of the objectives, functional features, and advantages of the present application will be further described with reference to the accompanying drawings.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be apparent that the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Firstly, it should be understood that the following robot can assist pedestrians in completing relevant social production activities through positioning technology, but when some special conditions are met, the following robot cannot complete work effectively, for example, when some narrow scenes between lanes are faced, if a pedestrian needs to perform loading and unloading work between lanes, the following robot cannot transit from one lane to another due to the limitation of turning radius, so in order to improve the flexibility of the following robot in some special condition scenes, parameters such as the size or the turning radius of the robot are usually reduced in the design stage, however, the modification of the parameters can cause the reduction of the number of cargos that can be carried by the following robot at a time, so how to improve the flexibility of the following robot on the premise of ensuring the carrying weight and number of the following robot, the problem to be solved is to be solved.
In a first embodiment of the present application, referring to fig. 1, a method for tracking a pedestrian target includes:
step S10, acquiring at least one pedestrian target under the current detection frame;
step S20, determining a following distance following each pedestrian target according to a first distance between an auxiliary positioning point and each pedestrian target, wherein the auxiliary positioning point is a central point of an auxiliary positioning base station in a three-base-station positioning method;
in this embodiment, it should be noted that the following robot is provided with an Ultra Wide Band (UWB) radio frequency signal directional base station, and the following robot has four driving wheels in total, where each driving wheel can realize 360 ° steering, the current detection frame can be captured by the UWB radio frequency signal directional base station arranged on the following robot, the pedestrian target is a pedestrian carrying an UWB tag, in an actual application scenario, there may be a plurality of workers carrying UWB tags in the same working area, that is, there may be a plurality of pedestrian targets under the current detection frame.
In addition, it should be noted that the pedestrian target following method of the present application adopts a three-base-station positioning method to determine the relative distance between the following robot and the pedestrian target, that is, three UWB base stations are arranged on the following robot, wherein, the three UWB base stations are positioned on the same plane, the relative distance between the following robot and the pedestrian target can be obtained through the relative distance between the central point of each base station and the pedestrian target, wherein the auxiliary positioning point is the central point of an auxiliary positioning base station in a three-base-station positioning method, the following distance is used for representing the relative distance of the following robot following the corresponding pedestrian target, in an implementable manner, the following distance may be a relative distance between a midpoint of the first auxiliary locating point and the second auxiliary locating point and two points of a projection point of the pedestrian target on the three base station planes.
As an example, the steps S10 to S20 include: acquiring at least one pedestrian target under a current detection frame; and determining the relative distance between each pedestrian target and the auxiliary positioning point according to the relative distance between each pedestrian target and the auxiliary positioning point, wherein the auxiliary positioning point is the central point of an auxiliary positioning base station in a three-base-station positioning method.
The step of determining the following distance following each pedestrian target according to the first distance between the auxiliary positioning point and each pedestrian target comprises the following steps of:
step A10, obtaining a third distance between the first auxiliary positioning point and the second auxiliary positioning point;
step a20, calculating a following distance for following each pedestrian target according to the first distance between the first assistant locating point and each pedestrian target, the first distance between the second assistant locating point and each pedestrian target, and the third distance.
In this embodiment, it should be noted that two UWB base stations that are set along with the robot are auxiliary base stations, and left and right sides of the three UWB base stations can be distinguished according to the auxiliary base stations, where the first auxiliary positioning point is used to represent a central point of a first auxiliary positioning base station in a three-base-station positioning method, and the second auxiliary positioning point is used to represent a central point of a second auxiliary positioning base station in the three-base-station positioning method, where when the first auxiliary positioning base station is a left auxiliary base station, the second auxiliary positioning base station is a right auxiliary base station, and when the first auxiliary base station is a right auxiliary base station, the second auxiliary positioning base station is a left auxiliary base station.
Additionally, it should be noted that the third distance is used to represent a relative distance between the left assisting base station and the left assisting base station, and may specifically be 0.4m, 0.5m, 0.6m, and the like, and the third distance may be obtained by obtaining coordinate values of the left assisting base station and the right assisting base station in the same coordinate system and then by calculating a preset ratio, for example, assuming that the coordinate of the left assisting base station a is (1, 0) and the coordinate of the right assisting base station B is (-1,0), the third distance may be 0.2 m.
As an example, the steps a10 to a20 include: acquiring a relative distance between the first auxiliary positioning point and the second auxiliary positioning point; sequentially inputting a first distance between the first auxiliary positioning point and each pedestrian target, a first distance between the second auxiliary positioning point and each pedestrian target and the third distance into a preset following distance calculation model, and calculating to obtain a following distance following each pedestrian target, wherein the preset following distance calculation model is provided with a preset following distance calculation formula, and the preset following distance calculation formula is as follows:
Figure BDA0003653573410000091
wherein L is a following distance representing the following of each of the pedestrian targets, L 1 To represent a first distance, L, between the first assisting location point and each of the pedestrian objects 2 To represent a first distance, L, between the second assisting positioning point and each of the pedestrian targets 3 To represent the relative distance between the first auxiliary positioning point and the second auxiliary positioning point, l is a constant, and l is a vertical distance between a center point of the UWB base station for characterizing the pedestrian object and a projection point of the center point on the UWB base station plane, and may be specifically 0.1m, 0.15m, 0.2m, and the like.
Step S30, acquiring a second distance between a main positioning point and each pedestrian target, and determining a following angle following each pedestrian target according to the first distance and the second distance, wherein the main positioning point is a central point of a main positioning base station in a three-base-station positioning method;
in this embodiment, it should be noted that the main positioning point is a central point of a main positioning base station in a three-base-station positioning method, the main positioning base station is a positioning base station of three UWB base stations except an auxiliary positioning base station, and the second distance is used to represent a relative distance between the main positioning base station and each pedestrian target, where the number of the second distances depends on the number of pedestrian targets in a current detection frame, and the following angle is used to represent a relative angle at which the following robot follows the corresponding pedestrian target.
As an example, step S30 includes: sequentially acquiring relative distances between a main positioning point and the pedestrian targets, and respectively judging the relative distance between the pedestrian target and the main positioning point, the relative distance between the pedestrian target and the first auxiliary positioning point, and the association relationship between the pedestrian target and the relative distance between the pedestrian target and the second auxiliary positioning point, wherein the association relationship comprises a first association relationship, a second association relationship, a third association relationship, a fourth association relationship and a fifth association relationship,
wherein the first association relationship is used for representing that the relative distance between the first auxiliary positioning point and the pedestrian target is not equal to the relative distance between the second auxiliary positioning point and the pedestrian target, and the square of the relative distance between the first auxiliary positioning point and the pedestrian target is added to the square of the relative distance between the second auxiliary positioning point and the pedestrian target, and the square of the relative distance between the main positioning point and the pedestrian target subtracted by twice is larger than zero, for example, the relative distance between the main positioning point and the pedestrian target is assumed to be A 1 The relative distance between the first auxiliary positioning point and the pedestrian target is A 2 The relative distance between the second auxiliary positioning point and the pedestrian target is A 3 If the first correlation is A 2 2 +A 3 2 -A 1 2 ＞0,A 2 ≠A 3 ，
The second association is used to represent that the square of the relative distance between the first assistant locating point and the pedestrian target is equal to zero, for example, assuming that the relative distance between the main locating point and the pedestrian target is A 4 The relative distance between the first auxiliary positioning point and the pedestrian target is A 5 The relative distance between the second auxiliary positioning point and the pedestrian target is A 6 If the first correlation is A 5 2 +A 6 2 -A 4 2 ＝0，
The third relationThe relative distance between the first auxiliary positioning point and the pedestrian target is not equal to the relative distance between the second auxiliary positioning point and the pedestrian target, and the square of the relative distance between the first auxiliary positioning point and the pedestrian target is added to the square of the relative distance between the second auxiliary positioning point and the pedestrian target, and the square of the relative distance between the main positioning point and the pedestrian target minus two times is smaller than zero, for example, the relative distance between the main positioning point and the pedestrian target is assumed to be A 7 The relative distance between the first auxiliary positioning point and the pedestrian target is A 8 The relative distance between the second auxiliary positioning point and the pedestrian target is A 9 If the first correlation is A 8 2 +A 9 2 -A 7 2 ＞0,A 8 ≠A 9 ，
The fourth association relationship is used for representing that the relative distance between the first auxiliary positioning point and the pedestrian target is equal to the relative distance between the second auxiliary positioning point and the pedestrian target, and the relative distance between the main positioning point and the pedestrian target is smaller than the relative distance between the first auxiliary positioning point and the pedestrian target, for example, assuming that the relative distance between the main positioning point and the pedestrian target is A 10 The relative distance between the first auxiliary positioning point and the pedestrian target is A 11 The relative distance between the second auxiliary positioning point and the pedestrian target is A 12 If the first correlation is A 10 ＜A 11 ＝A 12 ，
The fifth association relationship is used for representing that the relative distance between the first auxiliary locating point and the pedestrian target is equal to the relative distance between the second auxiliary locating point and the pedestrian target, and the relative distance between the main locating point and the pedestrian target is greater than the relative distance between the first auxiliary locating point and the pedestrian target, for example, assuming that the relative distance between the main locating point and the pedestrian target is A 13 The relative distance between the first auxiliary positioning point and the pedestrian target is A 14 The relative distance between the second auxiliary positioning point and the pedestrian target is A 15 If the first correlation is A 13 ＞A 14 ＝A 15 ，
If the correlation is the first correlation, then according to the preset first following goniometerCalculating a following angle following the pedestrian target by using a calculation formula, wherein the preset first following angle calculation formula is as follows:
Figure BDA0003653573410000111
wherein α is a following distance representing the following of each of the pedestrian targets, L 1 To represent a first distance, L, between the first assisting locating point and each of the pedestrian targets 2 To represent a first distance, L, between the second assisting location point and each of the pedestrian targets 3 To represent the relative distance between the first auxiliary positioning point and the second auxiliary positioning point,
if the association relationship is a second association relationship, calculating a following angle following the pedestrian target according to a preset second following angle calculation formula, wherein the preset second following angle calculation formula is as follows:
Figure BDA0003653573410000112
wherein α is a following distance representing the following of each of the pedestrian targets,
if the correlation is a third correlation, calculating a following angle following the pedestrian target according to a preset third following angle calculation formula, wherein the preset third following angle calculation formula is as follows:
Figure BDA0003653573410000113
wherein α is a following distance representing the following of each of the pedestrian targets, L 1 To represent a first distance, L, between the first assisting locating point and each of the pedestrian targets 2 To represent a first distance, L, between the second assisting positioning point and each of the pedestrian targets 3 To represent the relative distance between the first auxiliary positioning point and the second auxiliary positioning point,
if the correlation is a fourth correlation, calculating a following angle following the pedestrian target according to a preset fourth following angle calculation formula, wherein the preset fourth following angle calculation formula is as follows:
α＝0
a is a following distance representing the following of each of the pedestrian targets,
if the correlation is a fifth correlation, calculating a following angle following the pedestrian target according to a preset fifth following angle calculation formula, wherein the preset fifth following angle calculation formula is as follows:
α＝2π
and alpha is a following distance representing the following of each pedestrian target.
In an implementable manner, referring to fig. 2, fig. 2 is a schematic diagram showing a three-base-station positioning method under a preset coordinate system, the preset coordinate system takes the midpoint of a first auxiliary positioning point and a second auxiliary positioning point as an origin, the direction identified by a main positioning point is the positive direction of the Y axis, the direction identified by a second auxiliary point is the positive direction of the X axis, wherein a is the first auxiliary positioning point, B is the second auxiliary positioning point, C is the main positioning point, Δ ABC is an equilateral triangle, H is the central point of Δ ABC, E is a pedestrian target carrying UWB, D is the projection point of E on the Δ ABC plane, and D is the projection point of E on the Δ ABC plane 1 Is the relative distance between the first point of assistance in locating and the pedestrian's target, d 2 Is the relative distance between the second point of assistance in locating and the pedestrian's target, d 3 Is the relative distance between the main location point and the pedestrian target, d s The distance between the first auxiliary positioning point and the second auxiliary positioning point is shown, OD is the following distance, and alpha is < DHC, namely the following angle.
Step S40, selecting a pedestrian main target from the pedestrian targets according to the following distances and the following angles;
in this embodiment, it should be noted that, when there are multiple pedestrian targets in the current detection frame, a unique one of the pedestrian targets needs to be selected from the multiple pedestrian targets as a following target of the following robot, so that the pedestrian main target is used to represent the unique following pedestrian target following the following robot in the pedestrian targets.
As an example, step S40 includes: and selecting the following pedestrian target from each pedestrian target according to the following distance and the following angle corresponding to each pedestrian target.
Wherein the step of selecting a pedestrian main target from each of the pedestrian targets according to each of the following distances and each of the following angles includes:
step B10, selecting at least one pedestrian secondary target from the pedestrian targets according to the corresponding relation between each following distance and a preset following range;
and step B20, obtaining the pedestrian main target by comparing the following angles of the pedestrian secondary targets.
In this embodiment, it should be noted that the secondary pedestrian target is used to represent the pedestrian target corresponding to the following distance within a preset following range, where types of the corresponding relationships include a first type corresponding relationship and a second type corresponding relationship, the first type corresponding relationship is used to represent that the following distance is within a preset following range, and the second type corresponding relationship is used to represent that the following distance is not within the following range, for example, if the preset following range is set to be an area with a radius of 0.8m, the following distance of the following pedestrian target X is 0.5m, and the following distance of the following pedestrian target Y is 0.9m, the corresponding relationship between the following distance of the pedestrian target X and the preset following range is the first type corresponding relationship, and the corresponding relationship between the following distance of the pedestrian target Y and the preset following range is the second type corresponding relationship.
As an example, the steps B10 to B20 include: judging the corresponding relation type of each following distance and a preset following range, if the corresponding relation type of the following distance and the preset following range is a first type corresponding relation, taking a pedestrian target corresponding to the first type corresponding relation as a pedestrian secondary target, and if the corresponding relation type of the following distance and the preset following range is a second type corresponding relation, not taking the pedestrian target corresponding to the second type corresponding relation as the pedestrian secondary target, wherein the number of the pedestrian secondary targets can be one or more; if the number of the pedestrian secondary targets is one, the pedestrian secondary targets are used as pedestrian main targets, if the number of the pedestrian secondary targets is multiple, the following angles of the pedestrian secondary targets are compared one by one to obtain a minimum following angle, and the pedestrian secondary target corresponding to the minimum following angle is used as the pedestrian main target.
Step S50, judging a current following mode following the pedestrian main target according to a following main angle corresponding to the pedestrian main target;
step S60, determining whether to switch the current following mode by detecting whether the following main angle meets the preset switching condition in a preset number of detection frames;
in this embodiment, it should be noted that the following main angle is used to characterize a following angle of a main target following a pedestrian, and the current following mode includes a forward following mode and a reverse following mode, wherein the type of the current following mode is determined by the following main angle and a preset following angle threshold, and in an implementable manner, the preset following angle threshold may be set to 180 °, and when the following main angle is less than 180 °, that is, the main target of the pedestrian is in front of the main anchor point, the current following mode is the forward following mode.
As one example, steps S50 to S60 include: judging whether the following main angle is smaller than a preset following angle threshold value or not, if so, following the pedestrian target in a forward following mode, and if not, following the pedestrian target in a reverse following mode; and determining whether to switch the current following mode or not by detecting whether the following main angle meets a preset switching condition in a preset number of detection frames or not.
Wherein, the step of determining whether to switch the current following mode by detecting whether the following main angle satisfies a preset switching condition in a preset number of detection frames comprises:
step C10, if the current following mode is a forward following mode, judging whether the following main angle is greater than a preset switching angle threshold value in a preset number of detection frames;
step C20, if the current following mode is larger than the following mode, the current following mode is switched to a reverse following mode;
step C30, if the current following mode is a reverse following mode, judging whether the following main angle is smaller than the preset switching angle threshold value in a preset number of detection frames;
and step C40, if the current following mode is smaller than the forward following mode, switching the current following mode into the forward following mode.
In this embodiment, it should be noted that the forward following mode is a following mode in which the front axle is a steering wheel and the rear axle is a driving wheel to follow the pedestrian main target, the forward following mode is a following mode in which the rear axle is a steering wheel and the front axle is a following mode in which the driving wheel follows the pedestrian main target, the preset switching condition is used to characterize a condition corresponding to switching the forward following mode or the reverse following mode, and the preset switching angle threshold is set by a user.
As an example, the step C10 to the step C40 include: if the current following mode is a forward following mode, judging whether the following main angle is greater than a preset switching angle threshold value in a preset number of detection frames; if the following main angle is larger than a preset switching angle threshold value in a preset number of detection frames, switching the current following mode into a reverse following mode; if the current following mode is a reverse following mode, judging whether the following main angle is smaller than the preset switching angle threshold value in a preset number of detection frames; and if the following main angle is smaller than a preset switching angle threshold value in a preset number of detection frames, switching the current following mode into a forward following mode.
After the step of determining whether to switch the current following mode by detecting whether the following master angle satisfies a preset switching condition in a preset number of detection frames, the pedestrian target following method includes:
step D10, judging whether the longitudinal following distance following the pedestrian main target is greater than a preset longitudinal following distance threshold value;
step D20, if yes, generating a first adjusting command, and adjusting the longitudinal following distance to the preset longitudinal following distance threshold value through the first adjusting command;
and D30, if not, generating a second adjusting command, and adjusting the longitudinal following distance to the preset longitudinal following distance threshold value through the second adjusting command.
In this embodiment, it should be noted that the longitudinal following distance is used to represent a following distance of the following robot following a pedestrian target on a longitudinal straight line of the positioning base station, the preset longitudinal following distance is set by a user and is used to represent an optimal distance for the following robot to assist the pedestrian main target to work, both the first adjustment command and the second adjustment command are subordinate to an adjustment command, the adjustment command is used to adjust an acceleration of the following robot to control the longitudinal following distance, where the first adjustment command is an acceleration decreasing command and is used to decrease the longitudinal following distance, and the second adjustment command is an acceleration increasing command and is used to increase the longitudinal following distance, where a correlation formula between the longitudinal following distance and the acceleration is as follows:
L x ＝vt+0.5at 2
wherein L is x The longitudinal following distance, v the velocity, t the detection period, and a the acceleration.
As an example, the steps D10 to D30 include: judging whether the longitudinal following distance following the main target of the pedestrian is greater than a preset longitudinal following distance threshold value or not; if the longitudinal following distance is larger than a preset longitudinal following distance threshold value, generating an acceleration reducing command, and regulating the longitudinal following distance to the preset longitudinal following distance threshold value through the acceleration reducing command; and if the longitudinal following distance is not greater than a preset longitudinal following distance threshold value, generating an acceleration increasing command, and adjusting the longitudinal following distance to the preset longitudinal following distance threshold value through the acceleration increasing command.
The application provides a method, a device, an electronic device and a readable storage medium for pedestrian target following, namely, at least one pedestrian target under a current detection frame is obtained; determining a following distance following each pedestrian target according to a first distance between an auxiliary positioning point and each pedestrian target, wherein the auxiliary positioning point is a central point of an auxiliary positioning base station in a three-base-station positioning method; acquiring a second distance between a main positioning point and each pedestrian target, and determining a following angle for following each pedestrian target according to the first distance and the second distance, wherein the main positioning point is a central point of a main positioning base station in a three-base-station positioning method; selecting a pedestrian main target from the pedestrian targets according to the following distances and the following angles; and judging a current following mode following the pedestrian main target according to the following main angle corresponding to the pedestrian main target, and determining whether to switch the current following mode by detecting whether the following main angle meets preset switching conditions in a preset number of detection frames. Because the auxiliary positioning points are used for representing the central points of the auxiliary positioning base stations in the three-base-station positioning method, the main positioning points are used for representing the central points of the main positioning base stations in the three-base-station positioning method, thereby the following robot can be positioned without dead angles, and then the four driving wheels of the following robot can be flexibly applied by following angles, thereby realizing the purpose that when the turning radius is overlarge, the rear shaft wheel is switched to the steering wheel to continue following the pedestrian target, therefore, when the following robot meets a warehouse passage with only one entrance and exit and needs to work under special working conditions, can realize the aim of assisting pedestrians to finish related social production activities by switching the current following mode, therefore, the technical defect that the following robot cannot turn to continue following the pedestrian target under the condition that some special working conditions are limited by the turning radius in the prior art is overcome, and the accuracy of following the pedestrian target by the following robot is improved.
Example two
Further, referring to fig. 3, in another embodiment of the present application, the same or similar contents as those in the first embodiment may refer to the above description, and are not repeated herein. On this basis, after the step of determining whether to switch the current following mode by detecting whether the following principal angle satisfies a preset switching condition within a preset number of detection frames, the pedestrian target following method further includes:
step E10, inquiring a transverse following angle corresponding to the following main angle according to a preset angle mapping table;
and E20, following the pedestrian main target according to the transverse following angle.
In this embodiment, it should be noted that the preset angle mapping table is used for storing a mapping relationship between a following main angle and a transverse following angle, where the transverse following angle is used for representing a steering angle of a steering wheel of the following robot.
As an example, the steps E10 to E20 include: inquiring the steering angle of the steering wheel corresponding to the following main angle by taking a preset angle mapping table as an index; and following the pedestrian main target according to the steering angle.
Before the step of querying the transverse following angle corresponding to the following main angle according to the preset angle mapping table, the pedestrian target following method further includes:
step F10, acquiring following main angles of the tested pedestrian target at different transverse positions and transverse following angles of the tested pedestrian target at different transverse positions;
step F20, establishing a preset angle mapping table according to the one-to-one correspondence between each of the following main angles and each of the transverse following angles.
In this embodiment, it should be noted that the test pedestrian target is used to represent a pedestrian target that tests the correspondence between the following principal angle and the lateral following distance, and the different lateral positions are used to represent the change of the lateral position of the test pedestrian target at the same longitudinal following distance.
As an example, steps F10 through F20 include: acquiring following main angles corresponding to different transverse positions of a tested pedestrian target and transverse following angles corresponding to different transverse positions of the tested pedestrian target; and establishing a preset angle mapping table according to the one-to-one correspondence relationship between the following main angles and the transverse following angles.
The embodiment of the application provides a method for inquiring a transverse following angle, namely inquiring the transverse following angle corresponding to a following main angle according to a preset angle mapping table; and following the pedestrian main target according to the transverse following angle. Compare in the following mode of following pedestrian's main goal only through the following main angle that obtains of calculation, the angle that the robot need turn to can be followed to horizontal following angle more accurately embodied, and then realized reducing the fluctuation that follows the main angle and lead to the purpose of following the effect variation, and the corresponding relation of horizontal following angle and following main angle is formed by test accumulation many times, and then can reflect directly perceivedly that the robot follows the pedestrian main goal angle change that carries the UWB label, in order to satisfy the low-angle response delay, the sensitive requirement of following of wide-angle response, therefore, the following effect of following pedestrian main goal has been promoted.
EXAMPLE III
The embodiment of the present application further provides a pedestrian target following device, is applied to and follows the robot, pedestrian target following device includes:
the acquisition module is used for acquiring at least one pedestrian target under the current detection frame;
the distance determining module is used for determining a following distance following each pedestrian target according to a first distance between an auxiliary positioning point and each pedestrian target, wherein the auxiliary positioning point is a central point of an auxiliary positioning base station in a three-base-station positioning method;
the angle determining module is used for acquiring a second distance between a main positioning point and each pedestrian target and determining a following angle following each pedestrian target according to the first distance and the second distance, wherein the main positioning point is a central point of a main positioning base station in a three-base-station positioning method;
the selecting module is used for selecting a pedestrian main target from the pedestrian targets according to the following distances and the following angles;
the judging module is used for judging a current following mode of following the pedestrian main target according to a following main angle corresponding to the pedestrian main target;
and the switching module is used for determining whether to switch the current following mode by detecting whether the following main angles meet preset switching conditions in a preset number of detection frames.
Optionally, the switching module is further configured to:
if the current following mode is a forward following mode, judging whether the following main angles are all larger than a preset switching angle threshold value in a preset number of detection frames;
if the current following mode is larger than the reverse following mode, switching the current following mode into the reverse following mode;
if the current following mode is a reverse following mode, judging whether the following main angle is smaller than the preset switching angle threshold value in a preset number of detection frames;
and if the current following mode is smaller than the forward following mode, switching the current following mode into the forward following mode.
Optionally, the auxiliary positioning points include a first auxiliary positioning point and a second auxiliary positioning point, and the distance determining module is further configured to:
acquiring a third distance between the first auxiliary positioning point and the second auxiliary positioning point;
and calculating the following distance for following each pedestrian target according to the first distance between the first auxiliary positioning point and each pedestrian target, the first distance between the second auxiliary positioning point and each pedestrian target and the third distance.
Optionally, the selecting module is further configured to:
selecting at least one pedestrian secondary target from each pedestrian target according to the corresponding relation between each following distance and a preset following range;
and obtaining the pedestrian main target by comparing the following angles of the pedestrian secondary targets.
Optionally, the pedestrian target following device is further configured to:
judging whether the longitudinal following distance following the main pedestrian target is larger than a preset longitudinal following distance threshold value or not;
if so, generating a first adjusting command, and adjusting the longitudinal following distance to the preset longitudinal following distance threshold value through the first adjusting command;
and if not, generating a second adjusting command, and adjusting the longitudinal following distance to the preset longitudinal following distance threshold value through the second adjusting command.
Optionally, the pedestrian target following device is further configured to:
inquiring a transverse following angle corresponding to the following main angle according to a preset angle mapping table;
and following the pedestrian main target according to the transverse following angle.
Optionally, the pedestrian target following device is further configured to:
acquiring following main angles corresponding to different transverse positions of a tested pedestrian target and transverse following angles corresponding to different transverse positions of the tested pedestrian target;
and establishing a preset angle mapping table according to the one-to-one correspondence relationship between the following main angles and the transverse following angles.
By adopting the pedestrian target following method in the embodiment, the pedestrian target following device provided by the invention solves the technical problem of low flexibility of following the pedestrian target by the following robot. Compared with the prior art, the beneficial effects of the pedestrian target following device provided by the embodiment of the invention are the same as the beneficial effects of the pedestrian target following method provided by the embodiment, and other technical features of the pedestrian target following device are the same as the features disclosed by the embodiment method, which are not repeated herein.
Example four
An embodiment of the present invention provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the pedestrian target following method in the first embodiment.
Referring now to FIG. 4, shown is a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 4, the electronic device may include a processing means (e.g., a central processing unit, a graphic processor, etc.) that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) or a program loaded from a storage means into a Random Access Memory (RAM). In the RAM, various programs and data necessary for the operation of the electronic apparatus are also stored. The processing device, the ROM, and the RAM are connected to each other through a bus. An input/output (I/O) interface is also connected to the bus.
Generally, the following systems may be connected to the I/O interface: input devices including, for example, touch screens, touch pads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, and the like; output devices including, for example, Liquid Crystal Displays (LCDs), speakers, vibrators, and the like; storage devices including, for example, magnetic tape, hard disk, and the like; and a communication device. The communication means may allow the electronic device to communicate wirelessly or by wire with other devices to exchange data. While the figures illustrate an electronic device with various systems, it is to be understood that not all illustrated systems are required to be implemented or provided. More or fewer systems may alternatively be implemented or provided.
In particular, the processes described above with reference to the flow diagrams may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means, or installed from a storage means, or installed from a ROM. The computer program, when executed by a processing device, performs the functions defined in the methods of the embodiments of the present disclosure.
By adopting the pedestrian target following method in the embodiment, the electronic equipment provided by the invention solves the technical problem of low flexibility of following the pedestrian target by the following robot. Compared with the prior art, the beneficial effects of the electronic device provided by the embodiment of the invention are the same as the beneficial effects of the pedestrian target following method provided by the first embodiment, and other technical features of the electronic device are the same as those disclosed by the method of the first embodiment, which are not repeated herein.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
EXAMPLE five
The present embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon for executing the pedestrian object following method in the first embodiment.
Embodiments of the present invention provide a computer readable storage medium, such as a USB flash drive, but are not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or any combination thereof. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present embodiment, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer-readable storage medium may be embodied in an electronic device; or may be present alone without being incorporated into the electronic device.
The computer-readable storage medium carries one or more programs which, when executed by an electronic device, cause the electronic device to: acquiring at least one pedestrian target under a current detection frame; determining a following distance following each pedestrian target according to a first distance between an auxiliary positioning point and each pedestrian target, wherein the auxiliary positioning point is a central point of an auxiliary positioning base station in a three-base-station positioning method; acquiring a second distance between a main positioning point and each pedestrian target, and determining a following angle for following each pedestrian target according to the first distance and the second distance, wherein the main positioning point is a central point of a main positioning base station in a three-base-station positioning method; selecting a pedestrian main target from the pedestrian targets according to the following distances and the following angles; judging a current following mode of following the pedestrian main target according to a following main angle corresponding to the pedestrian main target; and determining whether to switch the current following mode or not by detecting whether the following main angle meets a preset switching condition in a preset number of detection frames or not.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present disclosure may be implemented by software or hardware. Wherein the names of the modules do not in some cases constitute a limitation of the unit itself.
The computer-readable storage medium provided by the invention stores the computer-readable program instructions for executing the pedestrian target following method, and solves the technical problem of low flexibility of following the pedestrian target by the following robot. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the embodiment of the invention are the same as the beneficial effects of the pedestrian target following method provided by the embodiment, and are not repeated herein.
EXAMPLE six
The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the pedestrian object following method as described above.
The computer program product solves the technical problem that the following robot has low flexibility when following a pedestrian target. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the invention are the same as the beneficial effects of the pedestrian target following method provided by the embodiment, and are not described herein again.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.

Claims (10)

1. A pedestrian target following method applied to a following robot, the pedestrian target following method comprising:
acquiring at least one pedestrian target under a current detection frame;
determining a following distance following each pedestrian target according to a first distance between an auxiliary positioning point and each pedestrian target, wherein the auxiliary positioning point is a central point of an auxiliary positioning base station in a three-base-station positioning method;
acquiring a second distance between a main positioning point and each pedestrian target, and determining a following angle for following each pedestrian target according to the first distance and the second distance, wherein the main positioning point is a central point of a main positioning base station in a three-base-station positioning method;
selecting a pedestrian main target from the pedestrian targets according to the following distances and the following angles;
judging a current following mode of following the pedestrian main target according to a following main angle corresponding to the pedestrian main target;
and determining whether to switch the current following mode or not by detecting whether the following main angle meets a preset switching condition in a preset number of detection frames or not.
2. The pedestrian target following method according to claim 1, wherein the step of determining whether to switch the current following mode by detecting whether the following master angle satisfies a preset switching condition in a preset number of detection frames includes:
if the current following mode is a forward following mode, judging whether the following main angles are all larger than a preset switching angle threshold value in a preset number of detection frames;
if the current following mode is larger than the reverse following mode, switching the current following mode into the reverse following mode;
if the current following mode is a reverse following mode, judging whether the following main angle is smaller than the preset switching angle threshold value in a preset number of detection frames;
and if the current following mode is smaller than the forward following mode, switching the current following mode into the forward following mode.
3. The pedestrian object following method according to claim 1, wherein the anchor points comprise a first anchor point and a second anchor point,
the step of determining a following distance to follow each of the pedestrian targets based on a first distance between the assisting positioning point and each of the pedestrian targets includes:
acquiring a third distance between the first auxiliary positioning point and the second auxiliary positioning point;
and calculating the following distance for following each pedestrian target according to the first distance between the first auxiliary positioning point and each pedestrian target, the first distance between the second auxiliary positioning point and each pedestrian target and the third distance.
4. The pedestrian object following method according to claim 1, wherein the step of selecting a pedestrian main object from among the pedestrian objects based on the following distances and the following angles includes:
selecting at least one pedestrian secondary target from each pedestrian target according to the corresponding relation between each following distance and a preset following range;
and obtaining the pedestrian main target by comparing the following angles of the pedestrian secondary targets.
5. The pedestrian object following method according to claim 1, wherein after the step of determining whether to switch the current following mode by detecting whether the following principal angle satisfies a preset switching condition in a preset number of detection frames, the pedestrian object following method comprises:
judging whether the longitudinal following distance following the main target of the pedestrian is greater than a preset longitudinal following distance threshold value or not;
if so, generating a first adjusting command, and adjusting the longitudinal following distance to the preset longitudinal following distance threshold value through the first adjusting command;
and if not, generating a second adjusting command, and adjusting the longitudinal following distance to the preset longitudinal following distance threshold value through the second adjusting command.
6. The pedestrian object following method according to claim 1, wherein after the step of determining whether to switch the current following mode by detecting whether the following principal angle satisfies a preset switching condition in a preset number of detection frames, the pedestrian object following method further comprises:
inquiring a transverse following angle corresponding to the following main angle according to a preset angle mapping table;
and following the pedestrian main target according to the transverse following angle.
7. The pedestrian object following method according to claim 6, wherein before the step of querying the transverse following angle corresponding to the following main angle according to a preset angle mapping table, the pedestrian object following method further comprises:
acquiring following main angles of a tested pedestrian target at different transverse positions and transverse following angles of the tested pedestrian target at different transverse positions;
and establishing a preset angle mapping table according to the one-to-one correspondence relationship between each following main angle and each transverse following angle.
8. A pedestrian target following device, applied to a following robot, comprising:
the acquisition module is used for acquiring at least one pedestrian target under the current detection frame;
the distance determining module is used for determining a following distance following each pedestrian target according to a first distance between an auxiliary positioning point and each pedestrian target, wherein the auxiliary positioning point is a central point of an auxiliary positioning base station in a three-base-station positioning method;
the angle determining module is used for acquiring a second distance between a main positioning point and each pedestrian target and determining a following angle following each pedestrian target according to the first distance and the second distance, wherein the main positioning point is a central point of a main positioning base station in a three-base-station positioning method;
the selecting module is used for selecting a pedestrian main target from the pedestrian targets according to the following distances and the following angles;
the judging module is used for judging a current following mode of following the pedestrian main target according to a following main angle corresponding to the pedestrian main target;
and the switching module is used for determining whether to switch the current following mode by detecting whether the following main angles meet preset switching conditions in a preset number of detection frames.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and (c) a second step of,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the pedestrian object following method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a program for implementing a pedestrian object following method, the program being executed by a processor to implement the steps of the pedestrian object following method according to any one of claims 1 to 7.
CN202210548791.6A 2022-05-20 2022-05-20 Pedestrian target following method and device, electronic equipment and readable storage medium Pending CN114928813A (en)

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