Robot intelligent self-following method and device, medium and electronic equipment

A robot intelligence and robot technology, applied in cleaning equipment, machine parts, instruments, etc., can solve the problems of being easily affected by day and night operations, poor robustness of cleaning robots, and low tracking accuracy, achieving strong adaptability and anti-interference. ability, improve the tracking accuracy, and the effect of the best clustering effect

Active Publication Date: 2021-03-16
广东盈峰智能环卫科技有限公司 +1
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Problems solved by technology

[0003] One aspect of the present invention provides an intelligent self-following method to solve the technical problems of poor environmental robustness, easy to be affected by day and night operations, low positioning accuracy and low tracking accuracy of existing cleaning robots during self-following

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  • Robot intelligent self-following method and device, medium and electronic equipment
  • Robot intelligent self-following method and device, medium and electronic equipment
  • Robot intelligent self-following method and device, medium and electronic equipment

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Embodiment Construction

[0048] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0049] refer tofigure 1 , the preferred embodiment of the present invention provides a kind of robot intelligent self-following method, comprises steps:

[0050] S2. Perform quantile processing on the i-th line point cloud data obtained by multi-line lidar single-frame scanning, and obtain the average value of the point cloud data located between two adjacent quantile points as the quantile value Ω;

[0051] S3. Use DBSCAN to perform point cloud clustering on the i-th line point cloud data, and obtain the value λi with the smallest value in the i-th line point cloud data, wherein the Eps parameter and MinPts parameter in DBSCAN are segmented according to the quantile value Ω set up;

[0052] ...

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Abstract

The invention discloses a robot intelligent self-following method and device, a medium and electronic equipment, and the method comprises the steps: carrying out the quantile processing of the ith line point cloud data obtained through the single-frame scanning of a multi-line laser radar, and obtaining the average value of the point cloud data between two adjacent quantiles as a quantile value omega; performing point cloud clustering on the i-th line point cloud data by using DBSCAN to obtain a value lambda i with a minimum numerical value in the i-th line point cloud data; repeating the steps to obtain n lambda i of the multi-line laser radar, and taking an average lambda of the n lambda i as a detection result of single-frame scanning of the multi-line laser radar; and calculating the Euclidean distance d of the average value lambda obtained by the current single-frame scanning and the previous historical single-frame scanning, and judging whether the target is lost or not. The device is suitable for daytime and night, and has small environmental influence; in the following process, an operator tracking result is obtained by using a multi-line laser radar, the detection precision is high, and the tracking accuracy is high in combination with a historical track.

Description

technical field [0001] The present invention relates to the field of robot control, in particular, to a robot intelligent self-following method, device, medium, and electronic equipment. Background technique [0002] At present, cleaning robots are widely used in areas such as communities, parks, pedestrian streets, and public places for cleaning and cleaning operations due to their automatic obstacle avoidance and automatic following, which improves cleaning efficiency and labor intensity to a certain extent. The existing cleaning robot generally uses the camera as the main sensor to identify a specific human body in front and perform visual tracking during operation. Or use ultrasonic as the main sensor, and use ultrasonic positioning separated by sending and receiving for detection and tracking. However, the visual recognition through the camera is easily affected by the external environment such as light, and the RGB image information cannot be used at night. It is diff...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L11/24A47L11/40G06K9/62G06T7/246
CPCA47L11/24A47L11/40A47L11/4011G06T7/246G06T2207/10028G06F18/2321
Inventor 张岁寒张斌陈凯李亮周诚远瞿静龚建球罗新亮晋亚超
Owner 广东盈峰智能环卫科技有限公司
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