Title:
ELECTROMAGNETIC-POSITIONING-BASED FOLLOWING METHOD AND APPARATUS FOR MOBILE ROBOT, AND READABLE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/082558
Kind Code:
A1
Abstract:
An electromagnetic-positioning-based following method and apparatus for a mobile robot, and a readable medium, which relate to the field of mobile following. The method comprises: acquiring an electromagnetic signal, which is sent by a transmitting module to receiving modules, and according to the electromagnetic signal and by means of an electromagnetic positioning algorithm, performing calculation to obtain pose information of the receiving modules relative to the transmitting module (S1); according to the number of connection signals of the receiving modules connected to the transmitting module, determining whether a mobile robot is in a single-pedestrian following mode or in a multi-pedestrian following mode (S2); in response to determining that the mobile robot is in the single-pedestrian following mode, according to the pose information of the receiving modules relative to the transmitting module and by means of a following robot motion control algorithm, calculating the linear acceleration and the angular acceleration of the mobile robot to follow a single pedestrian target (S3); and in response to determining that the mobile robot is in the multi-pedestrian following mode, calculating an average value of the pose information of multiple receiving modules relative to the transmitting module, and according to the average value and by means of a multi-pedestrian following robot motion control algorithm, calculating the linear acceleration and the angular acceleration of the mobile robot to follow multiple pedestrian targets (S4). The problems of it being difficult to stably and reliably track a human body target, etc., are solved.
Inventors:
DAI HOUDE (CN)
YAO HANCHEN (CN)
ZHU LIQI (CN)
PENG JIANWEI (CN)
LIN ZHIRONG (CN)
XIA XUKE (CN)
LIAN YANGLIN (CN)
WANG ZENGWEI (CN)
ZHANG ZHEN (CN)
YAO HANCHEN (CN)
ZHU LIQI (CN)
PENG JIANWEI (CN)
LIN ZHIRONG (CN)
XIA XUKE (CN)
LIAN YANGLIN (CN)
WANG ZENGWEI (CN)
ZHANG ZHEN (CN)
Application Number:
PCT/CN2023/085383
Publication Date:
April 25, 2024
Filing Date:
March 31, 2023
Export Citation:
Assignee:
QUANZHOU EQUIPMENT MANUFACTURING RES INSTITUTE (CN)
International Classes:
G05D1/12
Attorney, Agent or Firm:
SHOUCHUANG JUNHE PATENT AGENT CO., LTD.XIAMEN (CN)
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