WO2020019113A1 - Method for controlling mobile robot, device, and mobile robot system - Google Patents

Abstract

Disclosed are a method for controlling a mobile robot, a device, and a mobile robot system. The method comprises: acquiring a motion trajectory of a target object, the target object being an object to be followed by the mobile robot; and controlling the mobile robot to move according to the motion trajectory. The technical solution provided by the present invention acquires the motion trajectory of the target object and controls the mobile robot to move according to the motion trajectory. The invention improves the success rate and robustness of a mobile robot in following a target object moving in a complex environment by enabling the mobile robot to move according to a motion trajectory generated by the movement of the target object. Further provided is a method for planning a trajectory of a mobile robot in a follower mode, effectively lowering the difficulties of planning the trajectory of the mobile robot, and enhancing the success rate of obstacle avoidance for the mobile robot.

Description

Control method and device of mobile robot and mobile robot system Technical field

The present invention relates to the technical field of mobile robots, and in particular, to a control method and device for a mobile robot, and a mobile robot system.

Background technique

Currently, mobile robots can track and follow target objects. For example, an unmanned aerial vehicle may determine a target object (such as a user, a car, etc.) as a tracking object, and follow the target object, and in the process of following, the target object may be photographed.

However, in some cases, the target object moves in a complex environment, such as a forest or an indoor environment. When the mobile robot follows the target object, the mobile robot's trajectory planning is difficult; in addition, it may be due to some problems (such as obstacles) (Blocking of objects, communication interruption, etc.) The target object cannot be tracked, resulting in the mobile robot's failure to follow the target object.

Summary of the Invention

The invention provides a control method, a device and a mobile robot system for a mobile robot, so as to improve the success rate and robustness of the mobile robot in following a target object moving in a complex environment, and reduce the trajectory difficulty of the mobile robot in the tracking mode.

A first aspect of the present invention is to provide a control method of a mobile robot, including:

Acquiring a motion trajectory of a target object, which is a following object of the mobile robot;

Controlling the mobile robot to move according to the motion trajectory.

A second aspect of the present invention is to provide a control device for a mobile robot, including:

Memory for storing computer programs;

The processor is configured to run a computer program stored in the memory to implement: acquiring a motion trajectory of a target object, the target object being a follower of the mobile robot; and controlling the mobile robot to move according to the motion trajectory.

A third aspect of the present invention is to provide a control device for a mobile robot, including:

An acquisition module, configured to acquire a motion trajectory of a target object, the target object being a following object of the mobile robot;

A control module is configured to control the mobile robot to move according to the motion trajectory.

A fourth aspect of the present invention is to provide a computer-readable storage medium. The computer-readable storage medium stores program instructions, and the program instructions are used to implement the control method of the mobile robot described above.

A fifth aspect of the present invention is to provide a mobile robot system, including:

move robot;

The control device according to the second aspect, the control device is configured to control the mobile robot.

The mobile robot control method, device and mobile robot system provided by the present invention obtain the motion trajectory of a target object and control the mobile robot to move according to the motion trajectory. Since the motion trajectory is generated by the movement of the target object, when the mobile robot moves according to the motion trajectory, the success rate and robustness of the mobile robot to follow the target object moving in a complex environment are improved. At the same time, a trajectory planning method of the mobile robot in the following mode is provided, which can effectively reduce the difficulty of the trajectory planning of the mobile robot and increase the probability of the mobile robot's success in obstacle avoidance.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic flowchart of a control method for a mobile robot according to an embodiment of the present invention; FIG.

2 is a first schematic diagram of a relative position of a target object and a mobile robot when the mobile robot moves according to a motion trajectory according to an embodiment of the present invention;

3 is a second schematic diagram of a relative position of a target object and a mobile robot when the mobile robot moves according to a motion trajectory according to an embodiment of the present invention;

4 is a schematic flowchart of a process for controlling the mobile robot to move according to the motion trajectory according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a comparison of effects in the XY plane before and after filtering the motion trajectory according to an embodiment of the present invention; FIG.

FIG. 6 is a first schematic flowchart of obtaining a motion trajectory of a target object according to an embodiment of the present invention; FIG.

FIG. 7 is a second schematic flowchart of obtaining a motion trajectory of a target object according to an embodiment of the present invention; FIG.

8 is a schematic flowchart of controlling a moving speed of the mobile robot according to an embodiment of the present invention;

9 is a schematic flowchart of controlling a moving speed of the mobile robot according to the current trajectory distance and a preset trajectory distance according to an embodiment of the present invention;

10 is a schematic flowchart of controlling a moving speed of the mobile robot according to the current trajectory distance, a preset trajectory distance, and a historical speed according to an embodiment of the present invention;

FIG. 11 is a schematic diagram showing an effect of a relative distance between a mobile robot and a target object according to an embodiment of the present invention; FIG.

FIG. 12 is a schematic diagram of an effect of a motion trajectory of a mobile robot and a target trajectory in an XY plane according to an embodiment of the present invention; FIG.

13 is a schematic structural diagram of a control device for a mobile robot according to an embodiment of the present invention;

14 is a schematic structural diagram of another control device for a mobile robot according to an embodiment of the present invention;

15 is a schematic structural diagram of a mobile robot system according to an embodiment of the present invention;

FIG. 16 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings. In the case where there is no conflict between the embodiments, the following embodiments and features in the embodiments can be combined with each other.

FIG. 1 is a schematic flowchart of a method for controlling a mobile robot according to an embodiment of the present invention; referring to FIG. 1, this embodiment provides a method for controlling a mobile robot. Success rate and robustness of moving target objects in the environment to follow. At the same time, a trajectory planning method of the mobile robot in the following mode is provided, which can effectively reduce the difficulty of the trajectory planning of the mobile robot and increase the probability of the mobile robot's success in obstacle avoidance. Specifically, the control method may include:

S101: Obtain a motion trajectory of a target object, and the target object is a follower object of the mobile robot;

The mobile robot may be a device that moves by a power system configured by the mobile robot. The mobile robot may include a ground mobile robot (such as an unmanned car), an underwater or surface robot (such as an unmanned ship), and an unmanned aerial vehicle. One or more of them. In this embodiment, a mobile robot is used as an unmanned aerial vehicle for schematic description. It can be understood that the unmanned aerial vehicle in the later part of this document may be replaced with a mobile robot. The target object may be the following object of the mobile robot, that is, in the following mode, the mobile robot tracks the target object and follows the target object, that is, follows the target object to move. The target object is a person, an animal, or other movable object.

Further, as shown in FIG. 2, in the following mode, the target object 201 may be in a moving state, and the mobile robot 202 may obtain the motion trajectory 203 of the target object 201, that is, the motion trajectory 203 of the target object 201 at a historical time. The movement trajectory 203 of the target object 201 may include position information of the target object 201 at different times during the movement process, and the mobile robot 202 may obtain the position information periodically or aperiodically, and the position information constitutes the target object 201 Motion track 203.

S102: Control the mobile robot to move according to the motion trajectory.

Specifically, with continued reference to FIG. 2, after the mobile robot 202 obtains the motion trajectory 203 of the target object 201, it can control the mobile robot 202 to move according to the motion trajectory 203, that is, the mobile robot 202 determines the motion trajectory of the target object 201 as its own The motion trajectory moves according to the motion trajectory 203 of the target object 201.

In some embodiments, when the target object cannot be tracked, the mobile robot is controlled to move according to the motion trajectory.

Specifically, the mobile robot obtains a movement trajectory of the target object, that is, obtains a movement trajectory of the target object at a historical moment. In the following mode, that is, in the process of the mobile robot following the target object, when the mobile robot cannot track the target object, that is, when the mobile robot cannot determine the position information of the target object, the mobile robot's processor can control the movement The robot moves according to the acquired motion trajectory, that is, it moves according to the acquired motion trajectory of the historical time of the target object.

Among them, as shown in FIG. 3, the target object 201 may move in a complex environment, wherein one or more obstacles 204 as shown in FIG. 3 may exist in the environment, according to the trajectory of the mobile robot in the following mode in the prior art The planned trajectory is planned, and the mobile robot 201 may hit the obstacle 204 when moving according to the trajectory. In the embodiment of the present invention, since the acquired motion trajectory 203 of the target object 201 is used as the movement trajectory of the mobile robot 202, the mobile robot 202 does not hit the obstacle 204 during the movement process, and provides a following mode to move The trajectory planning method of the robot reduces the difficulty of trajectory planning.

In addition, because the motion trajectory 203 is generated by the target object 201, the mobile robot 202 moves according to the motion trajectory 203 of the target object 201, which can ensure that the target object 201 is within the tracking range of the mobile robot 202 to the greatest extent. Success rate and robustness of following of a moving target object in a complex environment. The following is an example for illustration. Please refer to FIG. 3, the target object 201 moves in the direction of the target object 205 as shown in the figure, and the mobile robot 202 moves in the direction of the mobile robot 206 as shown in the target object 201's trajectory 203. During the movement, the mobile robot 202 cannot track the target object 201 due to the obstruction of the obstacle 204. However, because the mobile robot 202 moves according to the motion trajectory 203 of the target object 201, the mobile robot 202 moves to the movement as shown in the figure. At the position shown by the robot 206, even if the target object 201 moves to the position of the target object 205 as shown in the figure, the target object 205 will be within the tracking range of the mobile robot 206 again. The success rate and robustness of the moving target object 205 following.

The method for controlling a mobile robot provided in this embodiment is to obtain the motion trajectory of a target object and control the mobile robot to move according to the motion trajectory. Since the motion trajectory is generated by the movement of the target object, when the mobile robot moves according to the motion trajectory , To improve the success rate and robustness of the mobile robot's follow of target objects moving in a complex environment. At the same time, a trajectory planning method of the mobile robot in the following mode is provided, which can effectively reduce the difficulty of the trajectory planning of the mobile robot and increase the probability of the mobile robot's success in obstacle avoidance.

FIG. 4 is a schematic flowchart of controlling a mobile robot to move according to a motion trajectory according to an embodiment of the present invention, and FIG. 5 is a schematic diagram of a comparison of effects in the XY plane before and after filtering processing of a trajectory according to an embodiment of the present invention. Based on the above embodiments, and with continued reference to FIGS. 4-5, it can be known that this embodiment does not limit the specific implementation process of controlling the mobile robot to move according to the motion trajectory. Those skilled in the art may set according to specific design requirements. Preferably, controlling the mobile robot to move according to the motion trajectory in this embodiment may include:

S401: Perform filtering processing on the motion trajectory;

Generally, the acquired motion track data of the target object contains high-frequency components, such as the motion track L1 in FIG. 5. The motion track L1 with high-frequency components is rough. At this time, if the motion track L1 is followed Controlling the mobile robot is easy to cause the mobile robot to oscillate, and the posture of the mobile robot will generate large jitter. In addition, when the mobile robot is equipped with a camera, the shooting screen in the camera will also shake. Therefore, a filtering operation can be performed on high-frequency components in the motion track. Specifically, the obtained motion trajectory may be input into a filter and subjected to filtering processing to obtain a filtered trajectory. The filter may be a Butterworth filter, a Chebyshev filter, or other types of low-pass filters. As shown in the motion trajectory L2 in FIG. 5, the motion trajectory L2 after the filtering process is relatively smooth.

S402: Control the mobile robot to move according to the motion trajectory after the filtering process.

After filtering the motion trajectory, the mobile robot can be controlled to move according to the filtered motion trajectory, thereby effectively ensuring that the mobile robot moves according to a relatively smooth trajectory, further improving the stability and reliability of the control method .

FIG. 6 is a first schematic flowchart of acquiring a motion trajectory of a target object according to an embodiment of the present invention; FIG. 7 is a second schematic flowchart of acquiring a motion trajectory of a target object according to an embodiment of the present invention. Based on the foregoing embodiments, it can be known from the following reference to FIGS. 6-7 that the specific acquisition method of the target object's motion trajectory is not limited in this embodiment, and those skilled in the art can set according to specific design requirements. Among them, an achievable way is that the mobile robot may include a shooting device, and the shooting device includes: a camera, a video camera, a terminal with a camera, or other devices with a shooting function, etc. At this time, obtaining the motion trajectory of the target object may be include:

S601: Acquire an image of a target object through a photographing device;

S602: Acquire a motion trajectory of the target object according to the image.

Specifically, the shooting device may output an image of the target object, the processor of the mobile robot may acquire the image of the target object, and further, may acquire images of the target object in multiple frames, and the processor of the mobile robot may acquire the target object according to the image. Movement track.

The following describes an implementation manner of acquiring a motion trajectory of a target object according to an image: a processor of a mobile robot may acquire a position of the target object in the image, and according to position information of the target object in the image and a shooting device Determine the orientation of the target object relative to the mobile robot, and determine the position information of the target object relative to the mobile robot according to the orientation and the horizontal distance between the target object and the mobile robot, and finally according to the target object relative to the mobile robot The position information and the position information of the mobile robot determine the position information of the target object. After the position information of the target object is determined, the motion trajectory of the target object can be determined.

For the specific acquisition method of the target object's motion trajectory, another achievable method is: acquiring the target object's motion trajectory may include:

S701: Acquire motion data sent by a control terminal carried by a target object;

S702: Acquire a motion trajectory of the target object according to the motion data.

Specifically, the target object may carry a control terminal, where the control terminal includes one or more of a remote controller, a smart phone, a tablet computer, and a wearable device (watch, bracelet). The control terminal includes a motion sensor, wherein the motion sensor can sense the motion of the target object and output the motion data of the target object. The motion data may include at least one of position information, speed information, and acceleration information. The control terminal may send the motion data to the mobile robot. After acquiring the motion data, the mobile robot may determine the position information of the target object according to the motion data, so as to obtain the motion trajectory of the target object.

Through any of the above-mentioned ways to obtain the motion trajectory of the target object, the motion trajectory of the target object can be accurately and effectively obtained, further ensuring the accuracy and reliability of the control method.

Based on the above embodiment, it can be known from continuing to refer to FIGS. 8-12 that in this embodiment, when the mobile robot moves according to the motion trajectory, the method further includes: controlling the moving speed of the mobile robot so that the mobile robot The trajectory distance from the target object is a preset trajectory distance, wherein the trajectory distance between the mobile robot and the target object is the trajectory length between the mobile robot and the target object on the motion trajectory.

Specifically, in the process that the mobile robot moves according to the motion trajectory of the target object, the processor of the mobile robot can control the moving speed of the mobile robot in real time so that the distance between the target object and the mobile robot on the motion trajectory is a preset trajectory Distance, the preset trajectory distance is the ideal distance that should be maintained between the mobile robot and the target object on the motion trajectory. Wherein, making the distance between the target object and the mobile robot on the motion trajectory be a preset trajectory distance can be understood as making the distance between the target object and the mobile robot on the motion trajectory approximately the preset trajectory distance.

In some embodiments, the preset trajectory distance is a distance between the target object and the mobile robot when the mobile robot enters the following mode. Specifically, when the user controls the mobile robot to enter the following mode, that is, when the mobile robot is controlled to start following the target object, the mobile robot can obtain the distance between the target object and the mobile robot, and determine a preset trajectory distance according to the distance. For example, the distance may be directly determined as a preset trajectory distance.

In some embodiments, the preset trajectory distance is obtained from a control terminal of the mobile robot by detecting a user operation. Specifically, the user can operate the control terminal to set the trajectory length between the mobile robot on the motion trajectory and the target object, and the control terminal can determine the trajectory between the mobile robot on the trajectory and the target object according to the detected operation. Length, and sends the determined trajectory length to a mobile robot, and the mobile robot determines the trajectory length as a preset trajectory distance.

In some embodiments, the preset trajectory distance is a fixed value and is fixed in the program code of the processor of the mobile robot.

Further, when controlling the moving speed of the mobile robot, the following steps may be included:

S801: Obtain the current trajectory distance between the mobile robot and the target object at the current moment;

Specifically, the mobile robot can obtain the current trajectory distance between the mobile robot and the target object at the current time in real time, where the current trajectory distance may refer to the trajectory length between the mobile robot and the target object on the motion trajectory at the current time. For example, the processor of the mobile robot may obtain the position information of the current time and the position information of the target object at the current time, determine the position of the mobile robot on the motion trajectory of the target object at the current time according to the position information of the mobile robot, and The position information of the target object determines the position of the target object on the motion track of the target object at the current moment, and then determines the current position according to the position of the mobile robot on the motion track and the position of the target object on the motion track. The current trajectory distance between the mobile robot and the target object at the moment.

S802: Control the moving speed of the mobile robot according to the current trajectory distance and the preset trajectory distance.

Specifically, after acquiring the current trajectory distance, the moving speed of the mobile robot may be controlled according to the current trajectory distance and the preset trajectory distance.

The controlling the moving speed of the mobile robot according to the current trajectory distance and the preset trajectory distance may include the following feasible implementation methods:

A feasible implementation manner: determining an error between the current trajectory distance and a preset trajectory distance, and controlling the moving speed of the mobile robot according to the difference.

Specifically, the error between the current trajectory distance and the preset trajectory distance of the processor of the mobile robot generates a speed control instruction for controlling the mobile robot according to the error, and controls the moving speed of the mobile robot according to the speed control instruction. After the trajectory distance error is obtained, a closed-loop control algorithm (for example, a PID algorithm) may be used to generate the control instruction.

Another possible implementation:

S901: Obtain the historical speed of the historical position of the target object on the motion track, where the historical position point is the position of the mobile robot on the motion track at the current moment;

S902: Control the moving speed of the mobile robot according to the current trajectory distance, the preset trajectory distance, and the historical speed.

Specifically, in order to improve the tracking stability of the mobile robot to the target object, when the historical speed of the target object at the historical position point on the motion trajectory is large, the moving speed of the mobile robot at the historical position point should be increased; When the historical speed at the historical position point on the motion track is small, the moving speed of the mobile robot at the historical position point should be reduced. The historical position point is the position point of the mobile robot on the motion trajectory at the current moment. Therefore, when controlling the moving speed of the mobile robot at the current time, the historical speed at the time of the historical position of the target object on the motion trajectory can be obtained, and the historical speed is used as a control for controlling the moving speed of the mobile robot And control the moving speed of the mobile robot according to the historical speed, the current trajectory distance and the preset trajectory distance. That is, a speed control instruction is generated according to the historical speed, the current trajectory distance, and a preset trajectory distance, and the moving speed of the mobile robot is controlled according to the speed control instruction.

Further, controlling the moving speed of the mobile robot according to the current trajectory distance, the preset trajectory distance, and the historical speed may include:

S1001: Obtain target potential field function information according to a current trajectory distance, a preset trajectory distance, and a preset trajectory distance error between the mobile robot and the target object;

Specifically, the target potential field function information obtained in this step is a control amount that controls the moving speed of the mobile robot, and the purpose of the target potential field function information as the control amount is to control the moving speed of the mobile robot such that The trajectory distance between the mobile robot and the target object on the motion trajectory is in a range approximately close to the preset trajectory distance, wherein the range is based on the preset trajectory distance and a preset mobile robot and The trajectory distance between the target objects is determined by the error. If the current trajectory distance is less than the minimum value of this range, it means that the trajectory distance between the mobile robot and the target object on the motion trajectory is relatively small, and when the moving speed of the mobile robot is controlled according to the target potential field function information , The mobile robot should be instructed to reduce the moving speed to increase the trajectory distance between the mobile robot and the target object. If the current trajectory distance is greater than the maximum value of this range, it indicates that the trajectory distance between the mobile robot and the target object is relatively large on the motion trajectory, and when the moving speed of the mobile robot is controlled according to the target potential field function information , Should instruct the mobile robot to increase the moving speed to reduce the trajectory distance between the mobile robot and the target object. If the current trajectory distance is within this range, the current trajectory distance may be considered to be approximately equal to the preset trajectory distance. At this time, when the moving speed of the mobile robot is controlled according to the target potential field function information, the movement may be instructed The robot's moving speed does not change. Specifically, according to the current trajectory distance, the preset trajectory distance, and the preset trajectory distance error between the mobile robot and the target object, and using the following formula to obtain the target potential field function information:

Among them, F _tar is the target potential field function information, d is the current trajectory distance, d _des is the preset trajectory distance, and d _cor is the preset trajectory distance error between the mobile robot and the target object.

In addition, referring to FIG. 11, when d <d _des -d _cor , for example, as shown in FIG. 11 in the time period of 0-2s, at this time, it is explained that the current trajectory distance between the mobile robot and the target object is small. When d> d _des + d _cor , for example, as shown in FIG. 11 at about 10 s, at this time, it indicates that the trajectory distance between the mobile robot and the target object is large, and d _des- d _cor <d <d _des + When d _cor , for example, as shown in FIG. 11 in the time period of 2s-8s, it indicates that the trajectory distance between the mobile robot and the target object is approximately equal to the preset trajectory distance.

Further, in order to make the distance between the target object and the mobile robot on the motion trajectory approximately equal to the preset trajectory distance, when the trajectory distance between the mobile robot and the target object is small, the target potential field function information F _{tar is} less than 0, which can be reduced The moving speed is such that the mobile robot moves in a direction away from the target object, so that the trajectory distance between the mobile robot and the target object can be increased. When the trajectory distance between the mobile robot and the target object is large, the target potential field function information F _{tar is} greater than 0, and the moving speed can be increased to make the mobile robot move in a direction closer to the target object, which can reduce the mobile robot. The trajectory distance from the target object. In summary, if the current trajectory distance is not within the range, that is, the current trajectory distance does not belong to a situation that is approximately equal to the preset trajectory distance, the mobile robot and the target object can be affected by the target potential field function information. The trajectory distance between them can be adjusted timely and effectively.

S1002: Determine trajectory point potential field function information according to a preset trajectory distance;

Among them, the trajectory point potential field function information is another control amount that controls the moving speed of the mobile robot, and is used to control or adjust the mobile robot to fall behind on the motion trajectory when the mobile robot moves according to the motion trajectory of the target object. The trajectory distance of the target object is shown in FIG. 12. The curve T in the figure is the trajectory of the target object, and the curve M in the figure is the trajectory of the mobile robot. It can be seen that the trajectory of the mobile robot is in time. Behind the motion trajectory of the target object. In specific applications, the preset trajectory distance can be directly determined as the trajectory point potential field function information; that is, F _tarj = d _des , where F _tarj is the trajectory point potential field function information and d _des is the preset trajectory distance.

S1003: Weight the target potential field function information, trajectory point potential field function information, and historical speed to obtain a speed control instruction;

After obtaining the target potential field function information, the trajectory point potential field function information, and the historical velocity, the target potential field function information, the trajectory point potential field function information, and the historical velocity can be weighted. For details, refer to the following formula. Get the speed control instruction:

V _cmd = w ₁ F _tar + w ₂ F _tarj + w ₃ V _feed

Among them, V _cmd is the speed control instruction, w ₁ is the preset weight coefficient corresponding to the target potential field function information, F _tar is the target potential field function information, and w ₂ is the preset weight coefficient corresponding to the trajectory point potential field function information. , F _tarj is the potential field function information of the trajectory point, w ₃ is a preset weight coefficient corresponding to the historical speed, and V _feed is the historical speed.

The speed control instruction obtained through the above formula comprehensively considers the influence of various factors (the distance factor and the speed factor between the mobile robot and the target object) in the process of the mobile robot following the target object, thereby ensuring the speed control. Accuracy of instruction acquisition.

S1004: Control the moving speed of the mobile robot according to the speed control instruction.

After obtaining the speed control instruction, the moving speed of the mobile robot can be controlled according to the speed control instruction, so that the mobile robot can track the target object stably and reliably.

Further, in order to improve the practicability of the control method, in this embodiment, in the process that the mobile robot moves according to the motion trajectory, the method may further include: controlling the moving speed of the mobile robot so that the mobile robot and the target object The straight line distance is within the preset straight line distance range.

Specifically, the moving trajectory of the target object may be relatively curved. In order to ensure that there is a safe distance between the mobile robot and the target object to ensure that the mobile robot does not hit the target object, the moving speed of the mobile robot may be controlled to make the movement The linear distance between the robot and the target object is within a preset linear distance range. The linear distance range is preset, and those skilled in the art can set its specific numerical range according to specific design requirements. For example, the linear distance range can be greater than or equal to 2 meters. When it is determined that the mobile robot and When the straight line distance between the target objects is less than 2 meters, it is necessary to reduce the moving speed of the mobile robot to increase the straight line distance between the mobile robot and the target object.

FIG. 13 is a schematic structural diagram of a control device for a mobile robot according to an embodiment of the present invention. Referring to FIG. 13, this embodiment provides a control device for a mobile robot. The control device can execute the above-mentioned mobile robot. A control method, wherein the mobile robot may be an unmanned aerial vehicle; specifically, the control device may include:

A memory 1301, configured to store a computer program;

The processor 1302 is configured to run a computer program stored in the memory 1301 to implement: acquiring a motion trajectory of a target object, the target object being a follower of the mobile robot; and controlling the mobile robot to move according to the motion trajectory.

Wherein, when the processor 1302 controls the mobile robot to move according to the motion trajectory, the processor 1302 is specifically configured to perform: performing filtering processing on the motion trajectory; and controlling the mobile robot to move according to the filtered motion trajectory.

In addition, for a specific acquisition manner of the motion trajectory of the target object, an implementable manner is: the mobile robot includes a shooting device. At this time, when the processor 1302 acquires the motion trajectory of the target object, the processor 1302 may be used for Executing: acquiring an image of a target object through a photographing device; acquiring a motion trajectory of the target object according to the image. Another practicable manner is: acquiring the motion trajectory of the target object at the processor 1302, and the processor 1302 may be configured to perform: acquiring motion data sent by the control terminal carried by the target object; and acquiring the motion trajectory of the target object according to the motion data .

Further, in the process that the mobile robot moves according to the motion trajectory, the processor 1302 is further configured to:

Control the moving speed of the mobile robot so that the trajectory distance between the mobile robot and the target object is the preset trajectory distance, where the trajectory distance between the mobile robot and the target object is the distance between the mobile robot and the target object on the motion trajectory Track length. The preset trajectory distance is obtained from a control terminal of the mobile robot by detecting a user operation.

Wherein, when the processor 1302 controls the moving speed of the mobile robot, it is specifically used to: obtain the current trajectory distance between the mobile robot and the target object at the current moment; and control the moving speed of the mobile robot according to the current trajectory distance and the preset trajectory distance. .

When the processor 1302 controls the moving speed of the mobile robot according to the current trajectory distance and the preset trajectory distance, it is specifically used to: obtain the historical speed of the historical position of the target object on the motion trajectory, where the historical position is the current time The position of the mobile robot on the motion trajectory; the moving speed of the mobile robot is controlled according to the current trajectory distance, the preset trajectory distance, and the historical speed.

Specifically, the processor 1302 controls the moving speed of the mobile robot according to the current trajectory distance, the preset trajectory distance, and the historical speed. The processor 1302 may be specifically used to: according to the current trajectory distance, the preset trajectory distance, and the preset mobile robot and the target object. Obtain target potential field function information between trajectory distance errors; determine trajectory point potential field function information according to a preset trajectory distance; weight the target potential field function information, trajectory point potential field function information and historical speed to obtain a speed control instruction; Control the moving speed of the mobile robot according to the speed control instruction.

Further, in the process that the mobile robot moves according to the motion trajectory, the processor 1302 is further configured to: control the moving speed of the mobile robot so that the linear distance between the mobile robot and the target object is within a preset linear distance range .

A control device for a mobile robot provided in this embodiment can be used to execute the methods corresponding to the embodiments in FIG. 1 to FIG. 12. The specific implementation manner and beneficial effects thereof are similar, and are not repeated here.

FIG. 14 is a schematic structural diagram of another control device for a mobile robot according to an embodiment of the present invention; referring to FIG. 14, this embodiment provides another control device for a mobile robot, which can perform the foregoing movements. A method for controlling a robot, wherein the mobile robot may be an unmanned aerial vehicle; specifically, the control device may include:

The obtaining module 1401 is configured to obtain a motion trajectory of a target object, where the target object is a following object of the mobile robot;

The control module 1402 is configured to control the mobile robot to move according to the motion trajectory.

The acquisition module 1401 and the control module 1402 in the control device of a mobile robot provided in this embodiment can be used to execute the methods corresponding to the embodiments in FIG. 1 to FIG. 12, and the specific execution methods and beneficial effects are similar, and will not be repeated here. To repeat.

Another aspect of this embodiment provides a computer-readable storage medium, where the computer-readable storage medium stores program instructions, and the program instructions are used to implement the control method of the mobile robot described above.

15 is a schematic structural diagram of a mobile robot system according to an embodiment of the present invention, and FIG. 16 is a schematic structural diagram of an unmanned aerial vehicle system according to an embodiment of the present invention. As can be seen with reference to FIGS. 15-16, this embodiment provides A mobile robot system includes:

Mobile robot 1501;

The control device 1502 described above is used to control the mobile robot 1501.

The mobile robot 1501 may be an unmanned aerial vehicle, and the control device 1502 may be disposed on the unmanned aerial vehicle.

For the structure of the unmanned aerial vehicle system, reference may be made to FIG. 16 specifically. The unmanned aerial vehicle system 1600 includes: an unmanned aerial vehicle 1601 and the above-mentioned control device 1602. The unmanned aerial vehicle 1601 includes a fuselage, a power system, and a power system. It includes at least one of the following: a motor 1607, a propeller 1606, and an electronic governor 1617. The power system is installed on the fuselage to provide flying power; the control device 1602 may be provided on the fuselage, and the implementation manner of the control device 1602 and The specific principle is consistent with the control device of the foregoing embodiment, and details are not described herein again.

In some embodiments, the control device 1602 may specifically be a flight controller, and the flight controller is communicatively connected to the power system for controlling the unmanned aerial vehicle 1601 to fly.

In addition, as shown in FIG. 16, the unmanned aerial vehicle 1601 further includes: a sensing system 1608, a communication system 1610, a support device 1603, and a photographing device 1604. The support device 1603 may be a gimbal, and the communication system 1610 is specifically used to communicate with Ground control terminal communication.

The technical solutions and technical features in each of the above embodiments may be singular or combined in the case of conflict with the present, as long as they do not exceed the scope of the knowledge of those skilled in the art, they all belong to the equivalent embodiments within the protection scope of this application. .

In the several embodiments provided by the present invention, it should be understood that the related apparatuses and methods disclosed may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner. For example, multiple units or components may be divided. The combination can either be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, which may be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objective of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional unit.

When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention essentially or part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium , Including a number of instructions to cause the computer processor 101 (processor) to perform all or part of the steps of the method described in various embodiments of the present invention. The foregoing storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.

The above description is only an embodiment of the present invention, and thus does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly applied to other related technologies The same applies to the fields of patent protection of the present invention.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not depart from the essence of the corresponding technical solutions of the technical solutions of the embodiments of the present invention. range.

Claims (24)

1. A control method for a mobile robot, comprising:

   Acquiring a motion trajectory of a target object, which is a following object of the mobile robot;

   Controlling the mobile robot to move according to the motion trajectory.
2. The method according to claim 1, wherein controlling the mobile robot to move according to the motion trajectory comprises:

   Performing filtering processing on the motion trajectory;

   Controlling the mobile robot to move according to the motion trajectory after the filtering process.
3. The method according to claim 1 or 2, wherein the mobile robot comprises a photographing device, and the acquiring a motion trajectory of the target object comprises:

   Acquiring an image of the target object through the photographing device;

   Acquiring a motion trajectory of the target object according to the image.
4. The method according to claim 1 or 2, wherein the acquiring a motion trajectory of a target object comprises:

   Acquiring motion data sent by a control terminal carried by the target object;

   Acquiring a motion trajectory of the target object according to the motion data.
5. The method according to any one of claims 1-4, wherein, in a process in which the mobile robot moves according to the motion trajectory, the method further comprises:

   Controlling the moving speed of the mobile robot so that the trajectory distance between the mobile robot and the target object is a preset trajectory distance, wherein the trajectory distance between the mobile robot and the target object is the The trajectory length between the mobile robot and the target object.
6. The method according to claim 5, wherein controlling the moving speed of the mobile robot comprises:

   Acquiring the current trajectory distance between the mobile robot and the target object at the current time;

   Controlling a moving speed of the mobile robot according to the current trajectory distance and a preset trajectory distance.
7. The method according to claim 6, wherein controlling the moving speed of the mobile robot according to the current trajectory distance and a preset trajectory distance comprises:

   Obtaining a historical speed of the target object at a historical position point on the motion track, where the historical position point is a position point of the mobile robot at the current time on the motion track;

   Controlling a moving speed of the mobile robot according to the current trajectory distance, a preset trajectory distance, and a historical speed.
8. The method according to claim 7, wherein controlling the moving speed of the mobile robot according to the current trajectory distance, a preset trajectory distance, and a historical speed comprises:

   Acquiring target potential field function information according to the current trajectory distance, a preset trajectory distance, and a preset trajectory distance error between the mobile robot and a target object;

   Determining trajectory point potential field function information according to the preset trajectory distance;

   Weighting the target potential field function information, trajectory point potential field function information, and historical speed to obtain a speed control instruction;

   The moving speed of the mobile robot is controlled according to the speed control instruction.
9. The method according to any one of claims 5 to 8, wherein the preset trajectory distance is obtained from a control terminal of the mobile robot by detecting a user operation.
10. The method according to any one of claims 1-9, wherein, in a process in which the mobile robot moves according to the motion trajectory, the method further comprises:

    Control the moving speed of the mobile robot so that the linear distance between the mobile robot and the target object is within a preset linear distance range.
11. The method according to any one of claims 1 to 10, wherein the mobile robot is an unmanned aerial vehicle.
12. A control device for a mobile robot, comprising:

    Memory for storing computer programs;

    A processor for running a computer program stored in the memory to implement:

    Acquiring a motion trajectory of a target object, which is a following object of the mobile robot;

    Controlling the mobile robot to move according to the motion trajectory.
13. The device according to claim 12, wherein when the processor controls the mobile robot to move according to the motion trajectory, the processor is specifically configured to:

    Performing filtering processing on the motion trajectory;

    Controlling the mobile robot to move according to the motion trajectory after the filtering process.
14. The device according to claim 12 or 13, wherein the mobile robot includes a photographing device, and when the processor obtains a motion trajectory of the target object, the processor is specifically configured to:

    Acquiring an image of the target object through the photographing device;

    Acquiring a motion trajectory of the target object according to the image.
15. The apparatus according to claim 12 or 13, wherein when the processor obtains a motion track of a target object, the processor is specifically configured to:

    Acquiring motion data sent by a control terminal carried by the target object;

    Acquiring a motion trajectory of the target object according to the motion data.
16. The device according to any one of claims 12-15, wherein, in a process in which the mobile robot moves according to the motion trajectory, the processor is further configured to:

    Controlling the moving speed of the mobile robot so that the trajectory distance between the mobile robot and the target object is a preset trajectory distance, wherein the trajectory distance between the mobile robot and the target object is the The trajectory length between the mobile robot and the target object.
17. The device according to claim 16, wherein when the processor controls a moving speed of the mobile robot, the processor is specifically configured to:

    Acquiring the current trajectory distance between the mobile robot and the target object at the current time;

    Controlling a moving speed of the mobile robot according to the current trajectory distance and a preset trajectory distance.
18. The device according to claim 17, wherein when the processor controls the moving speed of the mobile robot according to the current trajectory distance and a preset trajectory distance, the processor is specifically configured to:

    Obtaining a historical speed of the target object at a historical position point on the motion track, where the historical position point is a position point of the mobile robot at the current time on the motion track;

    Controlling a moving speed of the mobile robot according to the current trajectory distance, a preset trajectory distance, and a historical speed.
19. The device according to claim 18, wherein when the processor controls the moving speed of the mobile robot according to the current trajectory distance, a preset trajectory distance, and a historical speed, the processor is specifically configured to:

    Acquiring target potential field function information according to the current trajectory distance, a preset trajectory distance, and a preset trajectory distance error between the mobile robot and a target object;

    Determining trajectory point potential field function information according to the preset trajectory distance;

    Weighting the target potential field function information, trajectory point potential field function information, and historical speed to obtain a speed control instruction;

    The moving speed of the mobile robot is controlled according to the speed control instruction.
20. The device according to any one of claims 16 to 19, wherein the preset trajectory distance is obtained from a control terminal of the mobile robot by detecting a user's operation.
21. The device according to any one of claims 12-20, wherein, in a process in which the mobile robot moves according to the motion trajectory, the processor is further configured to:

    Control the moving speed of the mobile robot so that the linear distance between the mobile robot and the target object is within a preset linear distance range.
22. The device according to any one of claims 12 to 21, wherein the mobile robot is an unmanned aerial vehicle.
23. A computer-readable storage medium, characterized in that the computer-readable storage medium stores program instructions, and the program instructions are used to implement the method for controlling a mobile robot according to any one of claims 1-11.
24. A mobile robot system, comprising:

    move robot;

    The control device according to any one of claims 12 to 22, the control device is used to control the mobile robot.

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