CN117826863A - Robot following method, device, robot and readable storage medium - Google Patents

Abstract

The present disclosure relates to a robot following method, device, robot and readable storage medium. The method includes: in response to receiving a following instruction, determining a target object to be followed by the robot; determining a moving trajectory of the target object and curvature information of the moving trajectory; and controlling the robot to follow the target object according to the moving trajectory according to the curvature information. Since the moving trajectory is generated by the movement of the target object, the robot follows the target object according to the moving trajectory, which can ensure the success rate and robustness of following the target object in a complex environment, and can avoid collisions to the greatest extent without causing the robot to take more detours, thereby ensuring that the robot follows the target object accurately and efficiently. In addition, when controlling the robot to follow the target object according to the moving trajectory, combined with the curvature information of the moving trajectory, the direction change of the path to be followed by the robot can be predicted, thereby planning the steering control information of the robot in advance, avoiding right-angle turns, and making the following path smoother.

Description

Robot following method, device, robot and readable storage medium

Technical Field

The present disclosure relates to the field of robot technology, and in particular to a robot following method, device, robot and readable storage medium.

Background technique

Currently, robots can track and follow target objects. For example, an unmanned aerial vehicle can determine a target object (such as a user, a car, etc.) as a tracking object, follow the target object, and take a photo of the target object during the following process.

At present, robots usually autonomously select the most direct feasible path (i.e., the straight path between the robot and the target) to follow according to the position of the target object. However, sometimes the target object cannot be tracked due to certain problems (for example, the target object bypasses an obstacle through a specific route), resulting in the robot's failure to follow the target object.

Summary of the invention

In order to overcome the problems existing in the related art, the present disclosure provides a robot following method, device, robot and readable storage medium.

According to a first aspect of an embodiment of the present disclosure, there is provided a robot following method, comprising:

In response to receiving the follow instruction, determining a target object to be followed by the robot;

Determining a moving trajectory of the target object and curvature information of the moving trajectory;

According to the curvature information, the robot is controlled to follow the target object along the moving trajectory.

Optionally, controlling the robot to follow the target object along the moving trajectory according to the curvature information includes:

According to the curvature information, the steering angle and the steering speed of the target object are controlled so that the robot follows the target object according to the moving trajectory.

Optionally, determining the moving trajectory of the target object includes:

Acquire a trajectory point sequence of the target object, wherein the trajectory point sequence includes a plurality of trajectory points of the target object;

A trajectory fitting is performed according to the trajectory point sequence to obtain the moving trajectory of the target object.

Optionally, the trajectory points are determined by:

Obtaining current position information of the robot;

Determining relative position information of the target object relative to the robot;

The trajectory point of the target object is determined according to the current position information and the relative position information.

Optionally, performing trajectory fitting according to the trajectory point sequence to obtain the moving trajectory of the target object includes:

Performing trajectory cleaning on the trajectory point sequence;

The trajectory is fitted according to the trajectory point sequence obtained after trajectory cleaning to obtain the moving trajectory of the target object.

Optionally, the method further comprises:

In the process of controlling the robot to follow the target object along the moving trajectory, the moving speed of the robot is controlled so that the trajectory distance between the robot and the target object is a preset trajectory distance, wherein the trajectory distance is the trajectory length between the robot and the target object on the moving trajectory.

Optionally, controlling the moving speed of the robot so that a trajectory distance between the robot and the target object is a preset trajectory distance includes:

determining a current trajectory distance between the robot and the target object;

The moving speed of the robot is controlled according to the current trajectory distance and the preset trajectory distance.

According to a second aspect of an embodiment of the present disclosure, there is provided a robot following device, comprising:

A first determination module is configured to determine a target object to be followed by the robot in response to receiving a follow instruction;

A second determining module is configured to determine a moving trajectory of the target object and curvature information of the moving trajectory;

The control module is configured to control the robot to follow the target object along the moving trajectory according to the curvature information.

According to a third aspect of an embodiment of the present disclosure, there is provided a robot, comprising:

processor;

a memory for storing processor-executable instructions;

Wherein, the processor is configured to: implement the steps of the robot following method provided in the first aspect of the present disclosure.

According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the robot following method provided in the first aspect of the present disclosure are implemented.

The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: when receiving a follow-up instruction, first determine the target object to be followed by the robot; then, obtain the moving trajectory of the target object to be followed by the robot and the curvature information of the moving trajectory; finally, according to the curvature information of the moving trajectory, control the robot to follow the target object according to the moving trajectory of the target object. Since the moving trajectory is generated by the movement of the target object, the robot follows the target object according to the moving trajectory, which can ensure the success rate and robustness of following the target object in a complex environment, and can avoid collisions to the greatest extent without causing the robot to take more detours, thereby ensuring that the robot follows the target object accurately and efficiently. In addition, when controlling the robot to follow the target object according to the moving trajectory, the curvature information of the moving trajectory is combined, thereby, according to the curvature information, the direction change of the path to be followed by the robot can be predicted, so that the steering control information of the robot can be planned in advance to avoid right-angle turns, making the following path smoother.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

Fig. 1 is a flow chart showing a robot following method according to an exemplary embodiment.

Fig. 2 is a schematic diagram showing a moving trajectory of a target object according to an exemplary embodiment.

Fig. 3 is a schematic diagram showing a moving trajectory of a target object according to another exemplary embodiment.

Fig. 4 is a block diagram of a robot following device according to an exemplary embodiment.

Fig. 5 is a block diagram of a robot according to an exemplary embodiment.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

Fig. 1 is a flow chart of a robot following method according to an exemplary embodiment. As shown in Fig. 1 , the method may include the following S101 to S103.

In S101 , in response to receiving a follow instruction, a target object to be followed by the robot is determined.

In the present disclosure, a robot may be a device that moves by a power system configured by itself, for example, the robot may be a wheeled robot, a legged robot, a flying robot, etc. A target object is an object followed by the robot, which may be a person, an animal, a vehicle or other movable object.

In S102 , a moving trajectory of the target object and curvature information of the moving trajectory are determined.

In the present disclosure, the moving trajectory of the target object may be represented by a curve expression, and then the curvature information of the moving trajectory may be calculated by the curve expression.

In S103, the robot is controlled to follow the target object along the moving trajectory according to the curvature information.

In one embodiment, the steering angle and steering speed of the robot can be controlled according to the curvature information, so that the robot follows the target object according to the steering angle and steering speed. Specifically, for each track point on the moving track, if the curvature at the track point is greater than the preset curvature threshold, it indicates that the target object makes a sharp turn or even a right-angle turn at the track point. At this time, in order to prevent the robot from tipping over due to a sharp turn or even a right-angle turn, a neighboring point can be taken at each of the front and rear neighboring positions of the track point on the moving track, and the track fitting is performed based on the two neighboring points. After that, the track line between the two neighboring points on the moving track is replaced with the curve obtained after the track fitting to obtain a new track line. Finally, the steering angle of the robot on the new track line is determined, and when the steering angle is greater than the preset angle, the robot is controlled to decelerate. If the curvature at the track point is less than or equal to the preset curvature threshold, the steering angle of the robot is directly determined based on the curvature of the track point, and when the steering angle is greater than the preset angle, the robot is controlled to decelerate.

In this way, according to the curvature information, the robot's steering control information (i.e., steering angle and steering speed) can be planned in advance to avoid right-angle turns and sharp turns, making the following path smoother and also avoiding the robot from tipping over due to sharp turns.

The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: when receiving a follow-up instruction, first determine the target object to be followed by the robot; then, obtain the moving trajectory of the target object to be followed by the robot and the curvature information of the moving trajectory; finally, according to the curvature information of the moving trajectory, control the robot to follow the target object according to the moving trajectory of the target object. Since the moving trajectory is generated by the movement of the target object, the robot follows the target object according to the moving trajectory, which can ensure the success rate and robustness of following the target object in a complex environment, and can avoid collisions to the greatest extent without causing the robot to take more detours, thereby ensuring that the robot follows the target object accurately and efficiently. In addition, when controlling the robot to follow the target object according to the moving trajectory, the curvature information of the moving trajectory is combined, thereby, according to the curvature information, the direction change of the path to be followed by the robot can be predicted, so that the steering control information of the robot can be planned in advance to avoid right-angle turns, making the following path smoother.

The specific implementation of determining the target object to be followed by the robot in the above S101 is described in detail below.

Specifically, it can be achieved in a variety of ways. In one embodiment, first, the robot's surrounding environment information can be obtained by using image acquisition devices such as laser sensors, cameras, depth cameras, etc. installed on the robot; then, the type of object to be followed is detected from the surrounding environment information, and there can be one or more objects in the surrounding environment that belong to this object type; finally, the target object is determined from one or more objects in the surrounding environment that belong to this object type, wherein the target object can be determined from one or more objects according to pre-set rules, for example, the object closest to the robot or an object near a certain coordinate is selected as the target object.

Among them, the classifier can be trained in advance through machine learning methods, that is, the feature information of the image of a certain type of object is extracted and input into the classifier, and the certain type of object is detected from the surrounding environment information through comparison.

In another embodiment, the target object to be followed by the robot may be determined according to a following instruction, wherein the following instruction includes information such as a position and an identifier of the object to be followed by the robot.

The following is a detailed description of the specific implementation of determining the moving trajectory of the target object in the above S102. Specifically, it can be achieved by the following steps (1) and (2):

(1) Obtain a trajectory point sequence of a target object, wherein the trajectory point sequence includes multiple trajectory points of the target object.

(2) Perform trajectory fitting based on the trajectory point sequence to obtain the moving trajectory of the target object.

In the present disclosure, the multiple trajectory points of the target object include the trajectory points of the target object at different times. The trajectory points of the target object can be determined by the following steps [1] to [3]:

[1] Get the current position information of the robot.

Specifically, the current position information of the robot, ie, the coordinates of the robot in the reference coordinate system (ie, the world coordinate system), can be acquired in real time through a positioning device (eg, a GPS device) provided on the robot.

[2] Determine the relative position information of the target object relative to the robot.

In the present disclosure, the phase position information of the target object relative to the robot is the coordinates of the target object in the camera coordinate system of the robot.

In one embodiment, an image of the target object can be captured by a depth camera, a binocular camera, a monocular camera, etc. installed on the robot; then, the coordinates of the target object in the camera coordinate system of the robot are determined based on the captured image of the target object.

In another embodiment, the coordinates of the target object in the camera coordinate system of the robot may be located based on ultra-wideband positioning technology.

[3] Determine the trajectory point of the target object based on the current position information of the robot and the relative position information of the target object relative to the robot.

In the present disclosure, it is assumed that the time when the following function of the robot is turned on and the target object is recognized is t ₀ , and the position of the robot at time t ₀ is recorded as the origin of the reference coordinate system. The x-axis, y-axis, and z-axis of the robot's camera coordinate system coincide with the x-axis, y-axis, and z-axis of the reference coordinate system respectively. The coordinates of the robot in the reference coordinate system at time t ₀ are represented as The coordinates of the target object in the robot's camera coordinate system are The coordinates of the target object in the reference coordinate system are marked as/>

At time _tk , the coordinates of the robot in the reference coordinate system are The coordinates of the target object in the robot's camera coordinate system are marked as/> According to the coordinate system change relationship between the reference coordinate system and the robot's camera coordinate system, the coordinates of the target object in the reference coordinate system can be calculated by the following equation/>

In fact, during the time period [t ₀ ,t _k ], the robot Move to/> The process is also the transformation process of the robot's camera coordinate system relative to the reference coordinate system. The rotation matrix _Ak of the two coordinate systems can be determined according to the relevant sensor data (for example, the gyroscope). Thus, the transformation relationship between the two coordinate systems can be obtained, including the rotation matrix _Ak and the translation displacement/>

Finally, the coordinates of the target object in the reference coordinate system Determine the trajectory point of the target object at time t _k .

The following describes in detail the specific implementation method of performing trajectory fitting according to the trajectory point sequence in the above step (2) to obtain the moving trajectory of the target object.

Specifically, it can be achieved in a variety of ways. In one embodiment, trajectory fitting can be directly performed on the trajectory points in the trajectory point sequence to obtain the moving trajectory of the target object, wherein the trajectory fitting can be performed using methods such as segmented polynomial spline curve fitting and binomial fitting.

For example, the trajectory point sequence includes trajectory point P ₀ , trajectory point P ₁ , trajectory point P ₂ , ... , trajectory point P _k of the target object, wherein trajectory point P _k is the current trajectory point of the target object; by performing trajectory fitting on each trajectory point in the trajectory point sequence, the moving trajectory of the target object shown in FIG. 2 can be obtained.

In another embodiment, the trajectory point sequence may be first cleaned; then, trajectory fitting may be performed based on the trajectory point sequence obtained after trajectory cleaning to obtain the moving trajectory of the target object, that is, trajectory fitting may be performed on the trajectory points in the trajectory point sequence obtained after trajectory cleaning to obtain the moving trajectory of the target object.

Performing trajectory cleaning on the trajectory point sequence may include: removing abnormal points from the trajectory sequence, wherein the abnormal points include noise points and drift points.

Due to the positioning device itself and network communication, the collected robot position information may be inaccurate. Similarly, the relative position information of the target object relative to the robot may also be inaccurate. This may cause anomalies in the trajectory points of the target object determined based on the two. Therefore, the abnormal points are removed from the trajectory sequence.

Eliminating abnormal points from the trajectory point sequence can ensure that the trajectory points used to generate the moving trajectory do not deviate from their actual positions, which is conducive to more accurate and efficient generation of the moving trajectory of the target object, thereby improving the accuracy of the robot following the target object.

It should be noted that the above-mentioned trajectory point sequence is dynamically updated. For example, when the robot follows the target object, it is necessary to obtain the trajectory point of the target object in real time and add the trajectory point to the end of the trajectory point sequence. When the robot reaches a certain trajectory point in the moving trajectory, the trajectory points in the trajectory point sequence that are located before the trajectory point can be removed.

In addition, in the process of controlling the robot to follow the target object according to the moving trajectory, the above method may further include the following steps:

Control the robot's moving speed so that the trajectory distance between the robot and the target object is the preset trajectory distance.

In the present disclosure, the trajectory distance is the trajectory length between the robot and the target object on the moving trajectory.

Specifically, in the process of the robot following the target object along the moving trajectory, the movement speed of the robot can be controlled in real time so that the distance between the target object and the robot on the motion trajectory is the preset trajectory distance, that is, maintaining equidistant following, thereby maintaining a safe following distance and ensuring following safety, wherein the preset trajectory distance is the ideal distance that should be maintained between the robot and the target object on the moving trajectory.

The following is a detailed description of the specific implementation method of controlling the movement speed of the robot so that the trajectory distance between the robot and the target object is the preset trajectory distance. Specifically, it can be achieved by following the steps ① and ②:

① Determine the current trajectory distance between the robot and the target object.

Specifically, the current coordinates of the robot in the reference coordinate system and the current coordinates of the target object in the reference coordinate system can be obtained. Then, by calculating the curve integral of the moving trajectory of the target object, the curve length between the current coordinates of the robot in the reference coordinate system and the current coordinates of the target object in the reference coordinate system can be obtained, and the curve length is determined as the current trajectory distance between the robot and the target object.

②Control the robot's moving speed based on the current trajectory distance and the preset trajectory distance.

In one implementation, the error (ie, the difference) between the current trajectory distance and the preset trajectory distance may be determined, and the movement speed of the robot may be controlled according to the error.

Specifically, the robot's processor calculates the error between the current trajectory distance and the preset trajectory distance, generates a speed control instruction for controlling the robot according to the error, and controls the movement speed of the robot according to the speed control instruction. After obtaining the error, a closed-loop control algorithm (e.g., a PID algorithm) can be used to generate the above speed control instruction.

In addition, in the actual scenario where the robot follows the target object, there is usually a gap between the robot and the target object at the start of following, that is, the robot is not on the moving trajectory of the robot in the initial stage. At this time, there is no moving trajectory between the robot and the target object. At this time, a straight line trajectory can be set between the two and the trajectory point can be inserted (as shown in Figure 3). Alternatively, the robot is first controlled to run to the starting point of the target object, and then the robot is controlled to follow the target object according to the moving trajectory according to the above robot following method.

In addition, it should be noted that the above method can be applied not only to following the target object, but also to robot formations. In theory, each robot in the formation only needs to follow the previous target.

Fig. 4 is a block diagram of a robot following device according to an exemplary embodiment. As shown in Fig. 4, the device 400 includes:

A first determination module 401 is configured to determine a target object to be followed by the robot in response to receiving a follow instruction;

A second determination module 402 is configured to determine a moving trajectory of the target object and curvature information of the moving trajectory;

The control module 403 is configured to control the robot to follow the target object along the moving trajectory according to the curvature information.

The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: when receiving a follow-up instruction, first determine the target object to be followed by the robot; then, obtain the moving trajectory of the target object to be followed by the robot and the curvature information of the moving trajectory; finally, according to the curvature information of the moving trajectory, control the robot to follow the target object according to the moving trajectory of the target object. Since the moving trajectory is generated by the movement of the target object, the robot follows the target object according to the moving trajectory, which can ensure the success rate and robustness of following the target object in a complex environment, and can avoid collisions to the greatest extent without causing the robot to take more detours, thereby ensuring that the robot follows the target object accurately and efficiently. In addition, when controlling the robot to follow the target object according to the moving trajectory, the curvature information of the moving trajectory is combined, thereby, according to the curvature information, the direction change of the path to be followed by the robot can be predicted, so that the steering control information of the robot can be planned in advance to avoid right-angle turns, making the following path smoother.

Optionally, the control module 403 is configured to control the turning angle and turning speed of the target object according to the curvature information, so that the robot follows the target object according to the moving trajectory.

Optionally, the second determining module 402 includes:

A first acquisition submodule is configured to acquire a trajectory point sequence of the target object, wherein the trajectory point sequence includes a plurality of trajectory points of the target object;

The first trajectory fitting submodule is configured to perform trajectory fitting according to the trajectory point sequence to obtain the moving trajectory of the target object.

Optionally, the apparatus 400 further includes a third determining module, wherein the third determining module includes:

A second acquisition submodule is configured to acquire current position information of the robot;

A first determination submodule is configured to determine relative position information of the target object relative to the robot;

The second determination submodule is configured to determine the trajectory point of the target object according to the current position information and the relative position information.

Optionally, the first trajectory fitting submodule includes:

A track cleaning submodule, configured to perform track cleaning on the track point sequence;

The second trajectory fitting submodule is configured to perform trajectory fitting according to the trajectory point sequence obtained after trajectory cleaning to obtain the moving trajectory of the target object.

Optionally, the control module 403 is further configured to control the moving speed of the robot in the process of controlling the robot to follow the target object along the moving trajectory, so that the trajectory distance between the robot and the target object is a preset trajectory distance, wherein the trajectory distance is the trajectory length between the robot and the target object on the moving trajectory.

Optionally, the control module 403 includes:

A third determination submodule is configured to determine a current trajectory distance between the robot and the target object;

The control submodule is configured to control the moving speed of the robot according to the current trajectory distance and the preset trajectory distance.

Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and when the program instructions are executed by a processor, the steps of the robot following method provided by the present disclosure are implemented.

Fig. 5 is a block diagram of a robot 800 used in a robot following method according to an exemplary embodiment. For example, the robot 800 may be a wheeled robot, a legged robot, a flying robot, etc.

5 , the robot 800 may include one or more of the following components: a processing component 802 , a memory 804 , a power component 806 , a multimedia component 808 , an audio component 810 , an input/output interface 812 , a sensor component 814 , and a communication component 816 .

The processing component 802 generally controls the overall operation of the robot 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the robot following method described above. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations on the robot 800. Examples of such data include instructions for any application or method operating on the robot 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

The power supply assembly 806 provides power to various components of the robot 800. The power supply assembly 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the robot 800.

The multimedia component 808 includes a screen that provides an output interface between the robot 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the robot 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the robot 800 is in an operation mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 804 or sent via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

The input/output interface 812 provides an interface between the processing component 802 and the peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 814 includes one or more sensors for providing various aspects of the status assessment of the robot 800. For example, the sensor assembly 814 can detect the open/closed state of the robot 800, the relative positioning of components, such as the display and keypad of the robot 800, the sensor assembly 814 can also detect the position change of the robot 800 or a component of the robot 800, the presence or absence of user contact with the robot 800, the orientation or acceleration/deceleration of the robot 800, and the temperature change of the robot 800. The sensor assembly 814 can include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the robot 800 and other devices. The robot 800 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, the robot 800 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-mentioned robot following method.

In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, and the instructions can be executed by the processor 820 of the robot 800 to perform the above robot following method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and the computer program has a code portion for executing the above-mentioned robot following method when executed by the programmable device.

Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A robot following method, characterized by comprising: In response to receiving the follow instruction, determining a target object to be followed by the robot; Determining a moving trajectory of the target object and curvature information of the moving trajectory; According to the curvature information, the robot is controlled to follow the target object along the moving trajectory. 2. The method according to claim 1, characterized in that, controlling the robot to follow the target object according to the moving trajectory according to the curvature information comprises: According to the curvature information, the steering angle and the steering speed of the target object are controlled so that the robot follows the target object according to the moving trajectory. 3. The method according to claim 1, characterized in that determining the moving trajectory of the target object comprises: Acquire a trajectory point sequence of the target object, wherein the trajectory point sequence includes a plurality of trajectory points of the target object; A trajectory fitting is performed according to the trajectory point sequence to obtain the moving trajectory of the target object. 4. The method according to claim 3, characterized in that the trajectory points are determined by: Obtaining current position information of the robot; Determining relative position information of the target object relative to the robot; The trajectory point of the target object is determined according to the current position information and the relative position information. 5. The method according to claim 3, characterized in that the step of performing trajectory fitting according to the trajectory point sequence to obtain the moving trajectory of the target object comprises: Performing trajectory cleaning on the trajectory point sequence; The trajectory is fitted according to the trajectory point sequence obtained after trajectory cleaning to obtain the moving trajectory of the target object. 6. The method according to any one of claims 1 to 5, characterized in that the method further comprises: In the process of controlling the robot to follow the target object along the moving trajectory, the moving speed of the robot is controlled so that the trajectory distance between the robot and the target object is a preset trajectory distance, wherein the trajectory distance is the trajectory length between the robot and the target object on the moving trajectory. 7. The method according to claim 6, characterized in that the controlling the moving speed of the robot so that the trajectory distance between the robot and the target object is a preset trajectory distance comprises: determining a current trajectory distance between the robot and the target object; The moving speed of the robot is controlled according to the current trajectory distance and the preset trajectory distance. 8. A robot following device, characterized by comprising: A first determination module is configured to determine a target object to be followed by the robot in response to receiving a follow instruction; A second determining module is configured to determine a moving trajectory of the target object and curvature information of the moving trajectory; The control module is configured to control the robot to follow the target object along the moving trajectory according to the curvature information. 9. A robot, comprising: processor; a memory for storing processor-executable instructions; The processor is configured to implement the steps of the method described in any one of claims 1 to 7. 10. A computer-readable storage medium having computer program instructions stored thereon, wherein the program instructions implement the steps of the method according to any one of claims 1 to 7 when executed by a processor.