WO2018014275A1 - 目标跟踪装置及系统、机器人 - Google Patents

目标跟踪装置及系统、机器人 Download PDF

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Publication number
WO2018014275A1
WO2018014275A1 PCT/CN2016/090792 CN2016090792W WO2018014275A1 WO 2018014275 A1 WO2018014275 A1 WO 2018014275A1 CN 2016090792 W CN2016090792 W CN 2016090792W WO 2018014275 A1 WO2018014275 A1 WO 2018014275A1
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WO
WIPO (PCT)
Prior art keywords
signal receiver
signal
target
tracking device
receiving
Prior art date
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Ceased
Application number
PCT/CN2016/090792
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English (en)
French (fr)
Inventor
徐泽元
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cloudminds Shenzhen Robotics Systems Co Ltd
Original Assignee
Cloudminds Shenzhen Robotics Systems Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Cloudminds Shenzhen Robotics Systems Co Ltd filed Critical Cloudminds Shenzhen Robotics Systems Co Ltd
Priority to CN201680002739.3A priority Critical patent/CN107466371B/zh
Priority to PCT/CN2016/090792 priority patent/WO2018014275A1/zh
Publication of WO2018014275A1 publication Critical patent/WO2018014275A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic or infrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/70—Radar-tracking systems; Analogous systems for range tracking only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/881—Radar or analogous systems specially adapted for specific applications for robotics
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control

Definitions

  • the present invention relates to the field of artificial intelligence technologies, and in particular, to a target tracking device and system, and a robot.
  • the existing target tracking technologies mainly include: tracking technology based on video image processing, and tracking technology based on wireless beacon positioning.
  • the tracking technology based on video image processing needs to collect surrounding environment information through multiple camera devices. After a large number of recognition calculations and spatial calculations, the tracked target azimuth can be determined for positioning and tracking.
  • the tracking technology based on wireless beacon positioning can identify beacons actively or passively. When performing location tracking, you must rely on scenarios that cover the wireless LAN.
  • the existing target tracking device system is complex, requires a lot of calculations to achieve tracking, depends on a specific scene, and is not easy to implement.
  • An object of the embodiments of the present invention is to provide a target tracking device and system and a robot with simple structure.
  • the embodiment of the invention provides a target tracking device, including:
  • the signal receiving antenna comprising a first signal receiver and a second signal receiver disposed at different positions;
  • a timing unit connected to the first signal receiver and the second signal receiver for recording a reception timing of the first signal receiver receiving the signal transmitted by the tracking target and receiving the signal transmitted by the second signal receiver by the tracking target time;
  • the tracking unit is connected to the timing unit, and configured to generate a corresponding azimuth adjustment command according to the receiving moment corresponding to the first signal receiver and the receiving moment corresponding to the second signal receiver, so that the target tracking device receives the signal at an earlier time of receiving the signal.
  • the device rotates.
  • An embodiment of the present invention provides a robot, including: the target tracking device and a driving device connected to the target tracking device;
  • the driving device is configured to receive an instruction from the tracking unit, and drive the robot according to the instruction.
  • An embodiment of the present invention provides a target tracking system, where the target tracking system includes: the target tracking device and the beacon device.
  • the beacon device is configured to send the signal.
  • Embodiments of the present invention receive a signal from a tracked target by setting a first signal receiver and a second signal receiver at different locations, and recording a reception timing of the first signal receiver receiving the signal transmitted by the tracked target and the second signal
  • the receiver receives the reception time of the signal transmitted by the tracking target, and adjusts the orientation of the target tracking device by comparing the two reception times.
  • the orientation of the target tracking device and the tracked target can be adjusted by simply comparing the receiving time, the structure is simple, and the implementation is not dependent on a specific scene, and is convenient to implement.
  • FIG. 1 is a schematic structural diagram of a target tracking apparatus according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a robot in which two receivers are disposed in an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a robot in which three receivers are disposed in an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a robot facing a tracked target in a set of three receivers according to an embodiment of the present invention.
  • the existing tracking technology is mostly based on video image processing and wireless beacon positioning for target tracking.
  • There are problems such as high structure or system complexity, large calculation and measurement volume, dependence on specific scenes, and inconvenient implementation.
  • an embodiment of the present invention proposes a target tracking device, which will be described below.
  • FIG. 1 is a schematic structural diagram of a target tracking apparatus according to an embodiment of the present invention, as shown in FIG. 1, including:
  • the signal receiving antenna comprising a first signal receiver and a second signal receiver disposed at different positions;
  • the timing unit 102 is connected to the first signal receiver and the second signal receiver, and is configured to record a receiving moment when the first signal receiver receives the signal transmitted by the tracking target and the second signal receiver receives the signal sent by the tracked target. Receiving time
  • the tracking unit 103 is connected to the timing unit, and configured to generate a corresponding azimuth adjustment command according to the reception time corresponding to the first signal receiver and the reception time corresponding to the second signal receiver, so that the target tracking device sends an early signal to the signal timing.
  • the receiver turns.
  • the orientation of the target tracking device and the tracked target can be adjusted by simply comparing the receiving time, the structure is simple, and the implementation is not dependent on a specific scene, and is convenient to implement.
  • the signal receiving antenna may include two, three, four disposed at different positions. Or more signal receivers. And when the signal receiving antenna of the target tracking device does not receive the signal from the tracked target within the set time, an alarm prompt may be provided, so that the target party knows whether the target tracking device is in a normal working state, so that the target party can solve the target tracking in time. The device cannot perform the problem of target tracking to avoid unnecessary loss and trouble.
  • the signal receiving antenna includes a first signal receiver and a second signal receiver disposed at different positions, each of the signal receivers receives a signal from the tracked target; and the timing unit records each signal receiver to receive the tracked target.
  • the receiving time of the transmitted signal; the tracking unit generates a corresponding azimuth adjustment command according to the receiving time corresponding to the first signal receiver and the receiving time corresponding to the second signal receiver, so that the target tracking device sends the signal receiver to the signal receiving time earlier Turn.
  • the target tracking device can be adjusted to rotate the signal receiver at an earlier time of receiving the signal by comparing the receiving time corresponding to the first signal receiver with the receiving time corresponding to the second signal receiver.
  • the first signal receiver and the second signal receiver may be on the same horizontal line. It is not difficult to understand that the reference to the same horizontal line here means that the first signal receiver and the second signal receiver are at the same level first under normal working conditions. This arrangement enables the target tracking device to be rotated left and right in the horizontal direction to achieve tracking in the horizontal direction of the target tracking device.
  • the tracking unit is configured to generate, according to the receiving moment corresponding to the first signal receiver and the receiving moment corresponding to the second signal receiver, the corresponding orientation adjustment command, which may include: receiving time and second signal corresponding to the first signal receiver When the duration between the receiving moments corresponding to the receiver is greater than the preset duration, a corresponding orientation adjustment command is generated.
  • the receiving time and the second signal receiving corresponding to the first signal receiver may be determined.
  • the target tracking device is adjusted when the relative azimuth angle of the target tracking device and the tracked target is greater than an acceptable error angle. There is no need to adjust the target tracking device when it is less than or equal to the accepted error angle, ie, the target being tracked.
  • generating the corresponding azimuth adjustment command may also cause the target tracking device to rotate to a signal receiver that receives the signal at a later time, or to rotate the target tracking device to an orientation preset with the tracked target.
  • the tracking unit may generate the corresponding azimuth adjustment command according to the receiving moment corresponding to the first signal receiver and the receiving moment corresponding to the second signal receiver, where the tracking unit may include: the receiving moment corresponding to the first signal receiver and the second signal receiver When the duration between the corresponding receiving moments is the first duration, the first orientation adjustment command is generated; when the duration between the reception timing corresponding to the first signal receiver and the reception timing corresponding to the second signal receiver is the second duration And generating a second orientation adjustment instruction; wherein the first duration is greater than the second duration, and the angle indicated by the first orientation adjustment instruction is greater than the angle indicated by the second orientation adjustment instruction.
  • the first duration and the second duration may be set, and the first duration is greater than the second duration, in which the relative orientation of the target tracking device and the tracked target may be different.
  • the angle indicated by the first orientation adjustment command is greater than the angle indicated by the second orientation adjustment command.
  • the target tracking device orientation When it is determined that the duration between the receiving moment corresponding to the first signal receiver and the receiving moment corresponding to the second signal receiver is the first duration, it is determined that the target tracking device orientation needs to be adjusted, and the first orientation adjustment command is generated to enable the target tracking
  • the device performs the adjustment rotation by the angle indicated by the first orientation adjustment command; and determines that the duration between the reception timing corresponding to the first signal receiver and the reception time corresponding to the second signal receiver is the second duration Adjust the target tracking device orientation, generate a second orientation adjustment command, and make the target tracking device The rotation is adjusted by the angle indicated by the second orientation adjustment command.
  • the tracked target is 40° north east of the target tracking device, and the tracking unit determines the duration between the receiving time corresponding to the first signal receiver and the receiving time corresponding to the second signal receiver as the first duration.
  • the target tracking device orientation needs to be adjusted, and the first orientation adjustment command is generated, so that the target tracking device performs the adjustment rotation by the angle (for example, 5°) indicated by the first orientation adjustment command, and continues to determine the reception timing corresponding to the first signal receiver.
  • the duration between the receiving moments corresponding to the second signal receiver is a second duration, and it is determined that the orientation of the target tracking device needs to be adjusted, and the second orientation adjustment command is generated to cause the target tracking device to adjust the angle indicated by the second orientation adjustment command ( For example, 1°) performs the adjustment rotation until the reception timing corresponding to the first signal receiver and the reception timing corresponding to the second signal receiver are equal, and the orientation adjustment of the target tracking device is completed.
  • the orientation of the target tracking device can be adjusted according to the real-time receiving time corresponding to the first signal receiver and the second signal receiver. Because the specific implementation scenario or the accuracy requirement is different, the first duration, the second duration, the angle indicated by the first orientation adjustment command, and the angle indicated by the second orientation adjustment command may be set according to specific implementations.
  • rotating the target tracking device to the signal receiver at an earlier time of receiving the signal may be: receiving the component having the goods for carrying or carrying the person
  • the signal receiver that is signaled earlier rotates, for example, if the target tracking device is fixedly unadjustable with the component for carrying the cargo or carrying the person, the target tracking device is integral with the component for carrying the cargo or carrying the person.
  • the target tracking device will There is an adjustment of the component for carrying the cargo or carrying the person, causing the component to rotate toward the signal receiver that receives the signal earlier.
  • the signal receiving antenna includes a third signal receiver, the third signal receiver is in line with the first signal receiver and the second signal receiver, and is coupled to the first signal receiver a distance equal to a distance between the third signal receiver and the second signal receiver; the timing unit being coupled to the third signal receiver, further for recording the third signal receiver to receive the a receiving time of the signal transmitted by the tracked target; the tracking unit is further configured to determine a distance between the target tracking device and the tracked target according to a receiving time corresponding to the adjacent signal receiver, and generate a position adjustment command, so that The target tracking device moves to the tracked target.
  • the signal receiver of the target tracking device preferably has a pitch of 50 mm.
  • the signal receiver of the target tracking device can also set the same curve (such as an arc).
  • the receiver spacing of the target tracking device is preferably 50 mm. In theory, when the spacing is 50 mm, the distance between the target tracking device and the tracked target can reach 2 cm, and the distance between the target tracking device and the tracked target can reach 1 cm. The accuracy is very suitable for short range small range positioning follow.
  • the parameter is not the only value that can be selected in the embodiment of the present invention, and may be selected according to specific implementation conditions, for example, 40 mm, 100 mm or 500 mm, etc., therefore, it is within the scope of the present invention to make any possible changes or substitutions without departing from the spirit of the invention.
  • the method may also be implemented in other manners, for example, the received signal strength, for example, When the intensity of the received signal is lower than the preset intensity, the robot is considered to have a large distance from the tracked target, and the robot can be moved toward the tracked target to ensure that the robot can receive the signal of the tracked target.
  • the tracking unit may be further configured to determine a distance between the target tracking device and the tracked target according to an intensity of a signal received by the signal receiver, and generate a position adjustment instruction to enable the target tracking The device moves to the tracked target. Specifically, when The tracking unit determines that the signal received by the receiver is weak, and performs position adjustment, for example, determining that the received signal strength is less than or equal to the preset intensity, and generating a position adjustment command to move the target tracking device to the tracked target.
  • moving the target tracking device to the tracked target may include moving the target tracking device to the tracked target to a distance from the tracked target that is less than or equal to a set distance.
  • the target tracking device keeps track with the tracked target within a certain distance or within a certain distance, and may specifically include the following situation: when the distance between the target tracking device and the tracked target is greater than a preset distance, the target tracking device is tracked The target direction moves; when the distance between the target tracking device and the tracked target is equal to the preset distance, the target tracking device does not move; when the distance between the target tracking device and the tracked target is less than the preset distance, the target tracking device is tracked The target moves backwards or does not move.
  • the target tracking device moves, it can be combined with the actual road condition information to plan a reasonable direction to move the route.
  • the distance between the target tracking device and the tracked target can also be determined by other means, such as infrared ranging, ultrasonic ranging, laser ranging, electromagnetic wave ranging, and the like.
  • the tracking unit is connected to the signal receiving antenna, and is further configured to identify identification information in a signal received by the signal receiver, to determine that the signal received by the signal receiver is from a target corresponding to the target tracking device.
  • the target is being tracked.
  • the identification information may be a unique identifier, so that the target tracking device identifies the unique tracked target to clarify the tracked target, or may be a non-unique identifier, so that the target tracking device identifies the same group of tracked targets, and is sorted by related algorithms or artificially set.
  • the selection is tracked by the corresponding tracked target in the tracked target group. In the actual tracking process, in the same scenario, there may be multiple tracking target transmission signals or other use signals. Therefore, the target tracking device may receive multiple interference signals.
  • the identification identifier in the received signal is identified. Information to determine the correct tracked target for accurate tracking.
  • the signal received by the signal receiving antenna may be an ultrasonic signal.
  • it can also be other wireless signals, such as infrared signals, radio frequency signals, etc.
  • the target tracking device In the prior art, most of the target tracking is based on video image processing and wireless beacon positioning, and the surrounding video images are acquired in real time, and the tracking target and environment background recognition calculation, spatial position calculation, and tracking target moving speed calculation are calculated.
  • the system complexity is high, or depends on a specific scenario, resulting in a complex and inconvenient implementation of the existing target tracking device structure system.
  • the target tracking device provided in the embodiment of the present invention uses two receivers to receive signals, and can adjust the orientation of the target tracking device and the tracked target by simply comparing the receiving moments, and has a simple structure and is convenient to implement.
  • a robot is also provided in the embodiment of the present invention. Since the principle of solving the problem is similar to that of a target tracking device, the implementation of the robot can refer to the implementation of the device, and the repeated description is not repeated.
  • the embodiment of the present invention provides a robot, the robot includes: the target tracking device and a driving device connected to the target tracking device, the driving device is configured to receive an instruction from the tracking unit, and drive according to the instruction The robot.
  • the robot can be enabled to track the tracked target in direction (and distance).
  • the driving device herein may specifically refer to a device capable of driving the robot to generate a corresponding action, such as a motor, etc.
  • the driving robot referred to herein may refer to other than the driving target tracking device.
  • the structure may also refer to a structure in the drive target tracking device, such as a support structure for supporting a signal receiver, and the like.
  • a target tracking system is also provided in the embodiment of the present invention. Since the principle of solving the problem is similar to that of a target tracking device, the implementation of the system can refer to the implementation of the device, and the repeated description is not repeated.
  • a target tracking system includes: the target tracking device and the beacon device, and the beacon device is configured to send the signal.
  • the signal used by the beacon device to transmit is an ultrasonic signal, and the beacon device is usually configured. It can also be used to transmit other wireless signals, such as infrared signals, radio frequency signals, etc., on the tracked target.
  • the target tracking device is configured to receive the wireless signal transmitted by the beacon device and determine whether to adjust according to the timing at which the signal is received at different locations thereon, and adjust its direction and/or position if necessary.
  • the target tracking device includes: a signal receiving antenna, a timing unit connected to the signal receiving antenna; and a tracking unit connected to the timing unit.
  • the signal receiving antenna comprises a first signal receiver and a second signal receiver disposed at different positions.
  • the receiver is configured to receive a wireless signal transmitted by the beacon device.
  • two, three, four or more signal receivers can be placed on the target tracking device.
  • a timing unit configured to record a reception timing of the first signal receiver receiving the signal transmitted by the tracking target and a reception timing of the second signal receiver receiving the signal transmitted by the tracking target.
  • the tracking unit is configured to generate a corresponding azimuth adjustment command according to the receiving moment corresponding to the first signal receiver and the receiving moment corresponding to the second signal receiver, and if necessary, issue an azimuth adjustment command, so that the target tracking device sends the signal to the early time The signal receiver turns.
  • the signal receiver can also be coupled to the control unit for transmitting information carried in the received signal to the control unit, such as identification information.
  • the signal receiver in the target tracking device can also be integrated on a signal receiving device.
  • the signal receiver transmits information to the control unit, the time unit records the received time information, and the control unit determines whether it is necessary to perform orientation or position adjustment according to the time information.
  • the control unit determines whether it is necessary to perform orientation or position adjustment according to the time information.
  • FIG. 2 is a schematic diagram of a robot in which two receivers are disposed in the embodiment of the present invention, which shows the signal receiver 1 on the robot in the present example. And the signal receiver 2 is on the same horizontal line, assuming that it is followed
  • the tracking target carries the beacon device A, and the signal transmitted by the beacon device A is an ultrasonic signal.
  • the beacon device A transmits an ultrasonic signal, and two receivers provided on the robot receive the signal, and the timing unit of the robot records the reception timings of the signals transmitted by the two signal receivers receiving the beacon device A, wherein the recording signal is received.
  • the time received by the device 1 is t1
  • the time received by the signal receiver 2 is t2
  • the time information is notified to the tracking unit of the robot.
  • the tracking unit determines that t1 is later than t2 by comparing t1 and t2, and generates a corresponding azimuth adjustment command.
  • the robot is rotated to the signal receiver 2 at the time when the signal is received. Then, the robot performs the next signal reception and comparison judgment.
  • the robot orientation is continuously adjusted, so that the robot receives the signal earlier.
  • the signal receiver 2 continues to rotate until t1 is equal to t2 or the time between t1 and t2 satisfies the preset duration, and the azimuth adjustment is stopped to realize that the robot is facing the tracked target direction.
  • the tracking unit of the robot generates a position adjustment command by discriminating the signal strength of the signal received by the signal receiver, and moves the target tracking device to the tracked target. For example, the tracking unit generates a position adjustment command by determining that the signal strength of the receiver received signal is less than or equal to the set strength, and causes the target tracking device to move to the tracked target until the signal strength is greater than the set strength, and stops the target tracking device. Move to the tracked target.
  • FIG. 3 is a schematic diagram of a robot for setting three receivers according to an embodiment of the present invention, which shows a signal receiver a on the robot in the present example.
  • the signal receiver b and the signal receiver c are equally spaced and disposed on the same horizontal line. It is assumed that the tracked target carries the beacon device B, and the signal transmitted by it is an ultrasonic signal.
  • the beacon device B transmits an ultrasonic signal, and the three signal receivers provided on the robot receive the signal, and the timing unit of the robot records the reception timings of the signals transmitted by the three signal receivers receiving the beacon device B, wherein the recording and receiving are performed.
  • the time received by device a is ta, receiver b
  • the time of reception is tb
  • the time received by the receiver c is tc
  • the time information is notified to the tracking unit of the robot, and the tracking unit determines that the time between the reception time when the receiver a and the receiver b receive the signal is ta-tb
  • the duration between the receiving moment of the receiver c and the receiver b receiving the signal is tc-tb, and it is determined that the difference between the durations of ta-tb and tc-tb is greater than the preset duration difference.
  • the direction of the robot is adjusted toward the direction of the receiver c at the earliest time of receiving the signal, and the time ta-tb of the reception timing of the received signal between the receiver a, the receiver b, and the receiver c of the next received ultrasonic signal is determined.
  • tc-tb if it is determined that the difference between the lengths of ta-tb and tc-tb is still greater than the preset duration difference, the direction of the robot is continuously adjusted toward the direction of the receiver c at the earliest time of receiving the signal, so that the discrimination is continuously determined.
  • the robot is facing the direction of the tracked target, that is, the robot is facing the tracked target as shown in FIG.
  • FIG. 4 is a schematic diagram of a robot facing a tracked target in a three-receiver according to an embodiment of the present invention, showing that the distance between the receiver a, the receiver b, and the receiver c is equidistant, and the beacon device
  • the linear distance from B to the receiver a on the robot is e
  • the linear distance from the beacon device B to the receiver b on the robot is f
  • the relative distance between the receiving time of the signal and the tracked target can be determined by the receiver receiving the time between the receiving moments of the signals transmitted by the tracked target, where the receiver a and the receiver b receive the signal.
  • the robot can be installed in the formula editor for real-time distance calculation. After calculating the distance between the robot and the tracked target, the robot moves to the tracked target to a preset distance to achieve target tracking.
  • the orientation adjustment manner in the above example may not be limited, for example, the distance adjustment may be performed first, then the orientation adjustment may be performed, or the orientation and the distance may be adjusted simultaneously.
  • the specific azimuth adjustment method can be freely selected according to the actual situation.
  • a first signal receiver and a second signal receiver disposed at different positions of the target tracking scheme provided in the embodiment of the present invention; recording a receiving moment at which the first signal receiver receives the signal transmitted by the tracking target and the second signal receiver Receiving a receiving moment of the signal sent by the tracked target; generating a corresponding azimuth adjustment command according to the receiving time corresponding to the first signal receiver and the receiving time corresponding to the second signal receiver, so that the target tracking device sends an early signal to the signal receiving time The receiver turns.
  • embodiments of the present invention can be provided as a device, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Robotics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

一种目标跟踪装置及系统、机器人，目标跟踪装置包括：信号接收天线(101)，所述信号接收天线(101)包括设置在不同位置处的第一信号接收器(1)和第二信号接收器(2)；计时单元(102)，与第一信号接收器(1)和第二信号接收器(2)相连，用于记录第一信号接收器(1)接收被跟踪目标发送的信号的接收时刻以及第二信号接收器(2)接收被跟踪目标发送的信号的接收时刻；跟踪单元(103)，与计时单元(102)相连，用于根据第一信号接收器(1)对应的接收时刻和第二信号接收器(2)对应的接收时刻生成对应的方位调整指令，使目标跟踪装置向接收信号时刻较早的信号接收器转动。目标跟踪装置、机器人及系统通过简单比较接收时刻即可调整好目标跟踪装置与被跟踪目标的方位，结构简单，方便实施。

Description

目标跟踪装置及系统、机器人 技术领域
本发明涉及人工智能技术领域，特别涉及一种目标跟踪装置及系统、机器人。
背景技术
随着人工智能技术的发展，将运动目标跟踪应用于移动机器人技术属于人工智能技术领域中一个重要的发展方向。在很多情况下，一种能够自动行走、跟踪用户的机器人可以帮助用户在诸如旅行、购物过程中搬运物品，使其免于搬运物品这种的体力劳动。
现有目标跟踪技术主要包括：基于视频图像处理的跟踪技术，以及基于无线信标定位的跟踪技术等。基于视频图像处理的跟踪技术需通过多个摄像装置采集周围环境信息，经过大量识别计算及空间计算才能确定被跟踪目标方位进行定位跟踪；基于无线信标定位的跟踪技术通过主动或被动识别信标进行定位跟踪时必须依赖于覆盖无线局域网的场景。
因此，现有技术不足在于：
现有目标跟踪装置系统复杂、需经过大量计算才能实现跟踪、依赖于特定场景，不便于实施。
发明内容
本发明实施例的一个目的是提出一种结构简单的目标跟踪装置及系统、机器人。
本发明实施例提供了一种目标跟踪装置，包括：
信号接收天线，所述信号接收天线包括设置在不同位置处的第一信号接收器和第二信号接收器；
计时单元，与第一信号接收器和第二信号接收器相连，用于记录第一信号接收器接收被跟踪目标发送的信号的接收时刻以及第二信号接收器接收被跟踪目标发送的信号的接收时刻；
跟踪单元，与计时单元相连，用于根据第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻生成对应的方位调整指令，使目标跟踪装置向接收信号时刻较早的信号接收器转动。
本发明实施例提供了一种机器人，包括：上述目标跟踪装置和与所述目标跟踪装置相连的驱动装置；
所述驱动装置，用于接收来自所述跟踪单元的指令，根据所述指令驱动所述机器人。
本发明实施例提供了一种目标跟踪系统，其特征在于，所述目标跟踪系统包括：上述目标跟踪装置和信标装置，
所述信标装置，用于发送所述信号。
有益效果如下：
本发明实施例通过在不同位置处设置第一信号接收器和第二信号接收器接收来自被跟踪目标的信号，并记录第一信号接收器接收被跟踪目标发送的信号的接收时刻以及第二信号接收器接收被跟踪目标发送的信号的接收时刻，通过比较两接收时刻调整目标跟踪装置方位。本发明实施例通过简单比较接收时刻即可调整好目标跟踪装置与被跟踪目标的方位，结构简单，且实施不依赖于特定场景，方便实施。
附图说明
下面将参照附图描述本发明的具体实施例，其中：
图1为本发明实施例中目标跟踪装置的结构示意图；
图2为本发明实施例中设置两个接收器的机器人的示意图；
图3为本发明实施例中设置三个接收器的机器人的示意图；
图4为本发明实施例中设置三个接收器的机器人正对被跟踪目标方位示意图。
具体实施方式
为了使本发明的技术方案及优点更加清楚明白，以下结合附图对本发明的示例性实施例进行进一步详细的说明，显然，所描述的实施例仅是本发明的一部分实施例，而不是所有实施例的穷举。并且在不冲突的情况下，本发明中的实施例及实施例中的特征可以互相结合。
发明人在发明过程中注意到：
现有跟踪技术多基于视频图像处理以及无线信标定位进行目标跟踪，存在结构或系统复杂度高、计算及测量量大，依赖于特定场景，不便于实施等问题。
基于此，本发明实施例提出了一种目标跟踪装置，下面进行说明。
图1为本发明实施例中目标跟踪装置的结构示意图，如1图所示，包括：
信号接收天线101，所述信号接收天线包括设置在不同位置处的第一信号接收器和第二信号接收器；
计时单元102，与第一信号接收器和第二信号接收器相连，用于记录第一信号接收器接收被跟踪目标发送的信号的接收时刻以及第二信号接收器接收被跟踪目标发送的信号的接收时刻；
跟踪单元103，与计时单元相连，用于根据第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻生成对应的方位调整指令，使目标跟踪装置向接收信号时刻较早的信号接收器转动。
本发明实施例通过简单比较接收时刻即可调整好目标跟踪装置与被跟踪目标的方位，结构简单，且实施不依赖于特定场景，方便实施。
实施中，信号接收天线可包括设置在不同位置处的两个、三个、四个 或者更多个信号接收器。并且目标跟踪装置的信号接收天线在设定时间内接收不到来自被跟踪目标的信号时，可进行报警提示，以便目标方获知目标跟踪装置是否于正常工作状态中，以便目标方及时解决目标跟踪装置无法进行目标跟踪的问题，以避免带来不必要的损失及麻烦。
具体实施中，信号接收天线包括设置在不同位置处的第一信号接收器和第二信号接收器，各信号接收器均接收来自被跟踪目标的信号；计时单元记录各信号接收器接收被跟踪目标发送的信号的接收时刻；跟踪单元根据第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻生成对应的方位调整指令，使目标跟踪装置向接收信号时刻较早的信号接收器转动。
实施中，可通过比较第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻，调整目标跟踪装置向接收信号时刻较早的信号接收器转动。
实施中，第一信号接收器和第二信号接收器可位于同一水平线上。不难理解的是，这里所指的位于同一水平线上是指在正常的工作状态下，第一信号接收器和第二信号接收器位于同一水平先上。这样设置，能够使得目标跟踪装置能够在水平方向上左右转动，实现对目标跟踪装置水平方向上的跟踪。
实施中，跟踪单元用于根据第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻生成对应的方位调整指令可包括：在第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻之间的时长大于预设时长时，生成对应的方位调整指令。
需要指出的是，理想状态下，第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻相等时，实现目标跟踪装置与被跟踪目标正对，但考虑到实施中，信号传播过程中可能存在损耗导致接收信号的时刻存在 误差，或者用户根据具体情况可能设定目标跟踪装置与被跟踪目标的相对方位的允许误差等因素，因此，本提案实施例中可通过确定第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻之间的时长是否满足预设时长来限定目标跟踪装置的调整，在目标跟踪装置与被跟踪目标的相对方位角度大于可接受的误差角度时才对目标跟踪装置进行方位调整，在小于或等于受的误差角度时无需对目标跟踪装置进行调整，即已正对被跟踪目标。此外，生成对应的方位调整指令也可使目标跟踪装置向接收信号时刻较晚的信号接收器转动，或使目标跟踪装置向与被跟踪目标预设的方位进行转动。
实施中，跟踪单元根据第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻生成对应的方位调整指令可包括：在第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻之间的时长为第一时长时，生成第一方位调整指令；在第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻之间的时长为第二时长时，生成第二方位调整指令；其中所述第一时长大于所述第二时长，所述第一方位调整指令所指示调整的角度大于所述第二方位调整指令所指示的角度。
具体实施中，考虑到目标跟踪装置与被跟踪目标的相对方位可能存在偏离较大或较小的情况，本发明实施中可设置第一时长及第二时长，并设置第一时长大于第二时长，第一方位调整指令所指示调整的角度大于第二方位调整指令所指示的角度。在确定第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻之间的时长为第一时长时，判别出需要调整目标跟踪装置方位，生成第一方位调整指令，使目标跟踪装置以第一方位调整指令所指示调整的角度进行调整转动；在确定第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻之间的时长为第二时长时，判别出需要调整目标跟踪装置方位，生成第二方位调整指令，使目标跟踪装 置以第二方位调整指令所指示调整的角度进行调整转动。
例如，被跟踪目标在目标跟踪装置的北偏东40°方位，跟踪单元在确定第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻之间的时长为第一时长，判别需要调整目标跟踪装置方位，生成第一方位调整指令，使目标跟踪装置以第一方位调整指令所指示调整的角度(例如5°)进行调整转动，继续判别出第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻之间的时长为第二时长，判别需要调整目标跟踪装置方位，生成第二方位调整指令，使目标跟踪装置以第二方位调整指令所指示调整的角度(例如1°)进行调整转动，直至第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻相等，完成对目标跟踪装置的方位调整。
此外，由于被跟踪目标可随意移动，目标跟踪装置的方位可根据第一信号接收器和第二信号接收器对应的实时接收时刻进行调整。由于具体的实施场景或精度要求有所不同，第一时长，第二时长，第一方位调整指令所指示调整的角度以及第二方位调整指令所指示调整的角度可根据具体实施情况进行设置。
实施中，当目标跟踪装置具有用于搬运货物或载人的部件时，使目标跟踪装置向接收信号时刻较早的信号接收器转动可以为：将具有用于搬运货物或载人的部件向接收信号时刻较早的信号接收器转动，例如，若目标跟踪装置与具有用于搬运货物或载人的部件为固定不可调节设置时，将目标跟踪装置与具有用于搬运货物或载人的部件整体调整，使具有用于搬运货物或载人的部件向接收信号时刻较早的信号接收器转动；若目标跟踪装置与具有用于搬运货物或载人的部件为可调节设置时，目标跟踪装置将具有用于搬运货物或载人的部件调整，使该部件向接收信号时刻较早的信号接收器转动。
实施中，信号接收天线包括第三信号接收器，所述第三信号接收器与所述第一信号接收器和所述第二信号接收器位于同一直线上，且与所述第一信号接收器的距离和所述第三信号接收器与所述第二信号接收器的距离相等；所述计时单元与所述第三信号接收器相连，进一步用于记录所述第三信号接收器接收所述被跟踪目标发送的信号的接收时刻；所述跟踪单元，进一步用于根据相邻信号接收器对应的接收时刻确定所述目标跟踪装置与所述被跟踪目标的距离，并生成位置调整指令，使所述目标跟踪装置向所述被跟踪目标移动。
具体实施中，目标跟踪装置的信号接收器的较佳间距为50mm。当然，目标跟踪装置的信号接收器也可设置同一曲线(如圆弧)。此外，目标跟踪装置的接收器间距优选为50mm，理论上，间距为50mm时，目标跟踪装置与被跟踪目标距离10m左右可以达到2cm的精度，目标跟踪装置与被跟踪目标距离5m左右可以达到1cm的精度，非常适用作短距离小范围定位跟随。
当然，对于至少两个接收位置间距选取50mm，本领域技术人员应该知道，该参数非本发明实施例中唯一可选取的数值，其可根据具体实施情况进行选取，例如，可选取40mm、100mm或500mm等，因此，在不脱离本发明构思的前提下，进行任何可能的变化或替换，均属于本发明的保护范围。
需要指出的是，在实际应用中，为了使目标跟踪装置与被跟踪目标的距离保持在预设的距离范围内，也可以通过其他的方式进行实现，例如，接收的信号强度，例如，可以在接收的信号的强度低于预设的强度时，认为机器人与被跟踪目标的距离较大，此时可以使得机器人朝向被跟踪目标移动，保证机器人能够接收到被跟踪目标的信号。
因此，具体实施中，跟踪单元，可进一步用于根据所述信号接收器接收的信号的强度确定所述目标跟踪装置与所述被跟踪目标的距离，并生成位置调整指令，使所述目标跟踪装置向所述被跟踪目标移动。具体地，当 跟踪单元判别接收器接收到的信号弱时进行位置调整，例如，在判别到接收到的信号强度小于等于预设强度，生成位置调整指令，使所述目标跟踪装置向所述被跟踪目标移动。
实施中，使所述目标跟踪装置向所述被跟踪目标移动可以包括：使所述目标跟踪装置向所述被跟踪目标移动至与所述被跟踪目标的距离小于等于设定距离。
具体实施中，目标跟踪装置与被跟踪目标保持一定距离或一定距离内进行跟踪，具体可以包括如下情况：当目标跟踪装置和被跟踪目标之间的距离大于预设距离，目标跟踪装置向被跟踪目标方向移动；当目标跟踪装置和被跟踪目标之间的距离等于预设距离，目标跟踪装置不移动；当目标跟踪装置和被跟踪目标之间的距离小于预设距离，目标跟踪装置向被跟踪目标反向移动或不移动。此外，目标跟踪装置移动时可结合实际路况信息规划合理方向移动路线。目标跟踪装置与被跟踪目标之间的距离也可通过其他方式确定，例如红外线测距、超声波测距、激光测距、电磁波测距等。
实施中，所述跟踪单元与所述信号接收天线相连，进一步用于识别所述信号接收器接收的信号中的标识信息，以确定所述信号接收器接收的信号来自所述目标跟踪装置对应的被跟踪目标。其中，标识信息可以为唯一标识，使目标跟踪装置识别唯一被跟踪目标，以便明确被跟踪目标；也可为非唯一标识，使目标跟踪装置识别同组被跟踪目标，经过相关算法排序或人为设定选择被跟踪目标组中相应被跟踪目标进行跟踪。在实际跟踪过程中，同一场景下，可能存在多个被跟踪目标发送信号或者其他用途信号，因此，目标跟踪装置可能接收到多路干扰信号，本发明实施例中通过识别接收信号中的跟标识信息，确定正确的被跟踪目标可进行准确跟踪。
实施中，信号接收天线接收的信号可以为超声波信号。当然还可以为其他无线信号，如红外线信号、射频信号等
现有技术中大多基于视频图像处理以及无线信标定位进行目标跟踪，需通过实时获取周围视频图像，进行被跟踪目标与环境背景识别计算，空间位置计算以及被跟踪目标移动速度计算等大量测量计算，系统复杂度高，或依赖于特定场景，导致现有目标跟踪装置结构系统复杂、不便于实施。相较于现有技术，本发明实施例中提供的目标跟踪装置利用两个接收器接收信号，通过简单比较接收时刻即可调整好目标跟踪装置与被跟踪目标的方位，结构简单，方便实施。
基于同一发明构思，本发明实施例中还提供了一种机器人，由于解决问题的原理与一种目标跟踪装置相似，因此该机器人的实施可以参见装置的实施，重复之处不再赘述。
本发明实施例中提供了一种机器人，该机器人包括：上述目标跟踪装置和与目标跟踪装置相连的驱动装置，所述驱动装置，用于接收来自所述跟踪单元的指令，根据所述指令驱动所述机器人。
可以理解的是，通过使得驱动装置根据所述指令驱动所述机器人，能够使得机器人在方向(和距离)上实现对被跟踪目标的跟踪。
在具体实施时，这里的驱动装置可以具体是指能够驱动该机器人产生相应的动作的装置，比如马达等，在具体实施时，这里所指的驱动机器人可以是指驱动目标跟踪装置之外的其他结构，也可以是指驱动目标跟踪装置中的结构，比如可以驱动用于支撑信号接收器的支撑结构等。
基于同一发明构思，本发明实施例中还提供了一种目标跟踪系统，由于解决问题的原理与一种目标跟踪装置相似，因此该系统的实施可以参见装置的实施，重复之处不再赘述。
发明实施例中提供了一种目标跟踪系统，该目标跟踪系统包括：上述目标跟踪装置和信标装置，所述信标装置，用于发送所述信号。
实施中，信标装置用于发送的信号为超声波信号，信标装置通常配置 在被跟踪目标上，还可用于发射其他无线信号，如红外线信号、射频信号等。目标跟踪装置用于接收信标装置发射的无线信号，并根据其上不同位置接收信号的时刻确定是否进行调整，如需要则调整自身的方向和/或位置。
具体实施中，目标跟踪装置包括：信号接收天线，与信号接收天线相连的计时单元；以及与计时单元相连的跟踪单元。
其中，信号接收天线包括设置在不同位置处的第一信号接收器和第二信号接收器。接收器用于接收信标装置发射的无线信号。实施中可以在目标跟踪装置上设置两个、三个、四个或者更多个信号接收器。
计时单元，用于记录第一信号接收器接收被跟踪目标发送的信号的接收时刻以及第二信号接收器接收被跟踪目标发送的信号的接收时刻。
跟踪单元，用于根据第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻生成对应的方位调整指令，如需要则发出方位调整指令，使目标跟踪装置向接收信号时刻较早的信号接收器转动。
在一个较佳实施例中，信号接收器也可以与控制单元连接，用于将接收到的信号中携带的信息传送给控制单元，如标识信息。
在另一较佳实施例中，上述目标跟踪装置中的信号接收器也可以集成在一个信号接收器件上。
上述各实施例中，信号接收器向控制单元传送信息、计时单元记录接收的时刻信息，以及控制单元具根据时刻信息确定是否需要进行方位或位置调整等的方案详见上述装置实施例。
为了便于本发明的实施，下面以具体实例进一步说明。
实例一：
本实例以设置两个信号接收器的目标跟踪机器人为例进行说明，图2为本发明实施例中设置两个接收器的机器人的示意图，其示出了本实例中机器人上的信号接收器1和信号接收器2的位于同一水平线上，假设被跟 踪目标携带信标装置A，该信标装置A发送的信号为超声波信号。
首先，信标装置A发送超声波信号，机器人上设置的两个接收器接收该信号，同时机器人的计时单元记录两个信号接收器接收信标装置A发送的信号的接收时刻，其中，记录信号接收器1接收的时刻为t1，信号接收器2接收的时刻为t2，并将时刻信息告知机器人的跟踪单元，跟踪单元通过比较t1与t2，判别出t1晚于t2，生成对应的方位调整指令，使机器人向接收信号时刻较早的信号接收器2转动，然后，机器人进行下一次信号的接收与比较判别，若t1仍晚于t2，继续调整机器人的方位，使机器人向接收信号时刻较早的信号接收器2继续转动，直至t1等于t2或者t1与t2之间的时长满足预设时长时，停止方位调整，实现机器人正对被跟踪目标方向。
机器人的跟踪单元通过判别信号接收器接收信号的信号强度，生成位置调整指令，使所述目标跟踪装置向所述被跟踪目标移动。例如，跟踪单元通过判别接收器接收信号的信号强度小于等于设定强度，生成位置调整指令，使所述目标跟踪装置向所述被跟踪目标移动，直至信号强度大于设定强度，停止目标跟踪装置向所述被跟踪目标移动。
实例二：
本例以设置三个接收器的目标跟踪机器人为例进行说明，图3为本发明实施例中设置三个接收器的机器人的示意图，其示出了本实例中机器人上的信号接收器a，信号接收器b以及信号接收器c等间距的摆放，且设置在同一水平线上。假设被跟踪目标携带信标装置B，其发送的信号为超声波信号。
首先，信标装置B发送超声波信号，机器人上设置的三个信号接收器接收该信号，同时机器人的计时单元记录三个信号接收器接收信标装置B发送的信号的接收时刻，其中，记录接收器a接收的时刻为ta，接收器b 接收的时刻为tb，接收器c接收的时刻为tc，并将时刻信息告知机器人的跟踪单元，跟踪单元确定接收器a与接收器b接收信号的的接收时刻之间的时长为ta-tb，接收器c与接收器b接收信号的的接收时刻之间的时长为tc-tb，且判别出ta-tb与tc-tb的时长差值大于预设时长差值。
然后，将机器人的方向朝接收信号时刻最早的接收器c方向进行调整，确定下一次接收到的超声波信号的接收器a、接收器b、接收器c间接收信号的接收时刻的时长ta-tb与tc-tb，若判别出ta-tb与tc-tb的时长差值仍大于预设时长差值，继续将机器人的方向朝接收信号时刻最早的接收器c方向进行调整，如此持续判别调整，直至ta-tb与tc-tb的时长差值小于等于预设时长差值，实现机器人正对被跟踪目标方向，即如图4所示机器人正对被跟踪目标。
图4为本发明实施例中设置三个接收器的机器人正对被跟踪目标方位示意图，其示出，接收器a、接收器b、接收器c等距摆放的间距为d，信标装置B到机器人上接收器a的直线距离为e，信标装置B到机器人上接收器b的直线距离为f，信标装置B到机器人上接收器a的直线距离e与信标装置B到机器人上接收器b的直线距离f的差值为s，即s＝e-f。
在机器人正对被跟踪目标情况下，可通过接收器接收被跟踪目标发送的信号的接收时刻之间的时长确定机器人与被跟踪目标的相对距离，这里以接收器a与接收器b接收信号的接收时刻之间的时长ta-tb为例，考虑到此时信号为超声波信号，超声波在空气中的传播速度为340m/s(0.00034mm/ns)，可计算出s＝(ta-tb)*0.00034。由于机器人方向调整为正对被跟踪目标方向，根据直角三角形的勾股定理，可知e2＝f2+d2，且由上述可知e＝f+s，即(f+s)2＝f2+d2，从而可计算出f＝(d2-s2)/2s，即可计算出机器人与被跟踪目标之间的距离。为了使机器人可实时确定与被跟踪目标之间的距离，可在机器人安装公式编辑器进行实时距离计算。 在计算出机器人与被跟踪目标之间的距离后，机器人向被跟踪目标移动至预设距离从而实现目标跟踪。
上述实例中，在机器人调整时，采取先进行方位调整，后进行距离调整的调整方式。在具体实施中，可不局限于上述实例中的方位调整方式，例如，可先距离调整，后进行方位调整，或者同时进行方位与距离的调整。具体方位调整方式，可以依据实际情况进行自由选取。
本发明实施例中提供的目标跟踪方案在不同位置处设置的第一信号接收器和第二信号接收器；记录第一信号接收器接收被跟踪目标发送的信号的接收时刻以及第二信号接收器接收被跟踪目标发送的信号的接收时刻；根据第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻生成对应的方位调整指令，使目标跟踪装置向接收信号时刻较早的信号接收器转动。通过简单比较接收时刻即可调整好目标跟踪装置与被跟踪目标的方位，结构简单，且实施不依赖于特定场景，方便实施。
本领域内的技术人员应明白，本发明的实施例可提供为装置、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、装置(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理装置的处理器以产生一个机器，使得通过计算机或其他可编程数据处理装置的处理器执行的指令产 生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理装置以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理装置上，使得在计算机或其他可编程装置上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程装置上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本发明的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。

Claims (11)

  1. 一种目标跟踪装置，其特征在于，所述装置包括：
    信号接收天线，所述信号接收天线包括设置在不同位置处的第一信号接收器和第二信号接收器；
    计时单元，与第一信号接收器和第二信号接收器相连，用于记录第一信号接收器接收被跟踪目标发送的信号的接收时刻以及第二信号接收器接收被跟踪目标发送的信号的接收时刻；
    跟踪单元，与计时单元相连，用于根据第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻生成对应的方位调整指令，使目标跟踪装置向接收信号时刻较早的信号接收器转动。
  2. 如权利要求1所述的装置，其特征在于，所述第一信号接收器和第二信号接收器位于同一水平线上。
  3. 如权利要求1或2所述的装置，其特征在于，所述跟踪单元用于根据第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻生成对应的方位调整指令包括：
    在第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻之间的时长大于预设时长时，生成对应的方位调整指令。
  4. 如权利要求1所述的装置，其特征在于，所述跟踪单元根据第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻生成对应的方位调整指令包括：
    在第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻之间的时长为第一时长时，生成第一方位调整指令；在第一信号接收器对应的接收时刻和第二信号接收器对应的接收时刻之间的时长为第二时长时，生成第二方位调整指令；其中所述第一时长大于所述第二时长，所述第一方位调整指令所指示调整的角度大于所述第二方位调整指令所指示的角度。
  5. 如权利要求1至4中任一所述的装置，其特征在于，所述信号接收天线包括第三信号接收器，所述第三信号接收器与所述第一信号接收器和所述第二信号接收器位于同一直线上，且与所述第一信号接收器的距离和所述第三信号接收器与所述第二信号接收器的距离相等；
    所述计时单元与所述第三信号接收器相连，进一步用于记录所述第三信号接收器接收所述被跟踪目标发送的信号的接收时刻；
    所述跟踪单元，进一步用于根据相邻信号接收器对应的接收时刻确定所述目标跟踪装置与所述被跟踪目标的距离，并生成位置调整指令，使所述目标跟踪装置向所述被跟踪目标移动。
  6. 如权利要求1至4中任一所述的装置，其特征在于，所述跟踪单元，进一步用于根据所述信号接收器接收的信号的强度确定所述目标跟踪装置与所述被跟踪目标的距离，并生成位置调整指令，使所述目标跟踪装置向所述被跟踪目标移动。
  7. 如权利要求5或6所述的装置，其特征在于，所述使所述目标跟踪装置向所述被跟踪目标移动包括：
    使所述目标跟踪装置向所述被跟踪目标移动至与所述被跟踪目标的距离小于等于设定距离。
  8. 如权利要求1至7中任一所述的装置，其特征在于，所述跟踪单元与所述信号接收天线相连，进一步用于识别所述信号接收器接收的信号中的标识信息，以确定所述信号接收器接收的信号来自所述目标跟踪装置对应的被跟踪目标。
  9. 如权利要求1至8中任一所述的装置，其特征在于，所述信号为超声波信号。
  10. 一种机器人，其特征在于，所述机器人包括：权利要求1至9中任一所述的目标跟踪装置和与所述目标跟踪装置相连的驱动装置；
    所述驱动装置，用于接收来自所述跟踪单元的指令，根据所述指令驱动所述机器人。
  11. 一种目标跟踪系统，其特征在于，所述目标跟踪系统包括：权利要求1至9中任一所述的目标跟踪装置和信标装置，
    所述信标装置，用于发送所述信号。
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CN105094152A (zh) * 2015-07-09 2015-11-25 深圳大学 超声波目标跟踪设备、方法和装置
CN105357484A (zh) * 2015-11-20 2016-02-24 西安斯凯智能科技有限公司 一种目标定位跟踪系统、装置及定位跟踪方法

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