WO2017166768A1 - 一种信息处理方法和移动装置、计算机存储介质 - Google Patents

一种信息处理方法和移动装置、计算机存储介质 Download PDF

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Publication number
WO2017166768A1
WO2017166768A1 PCT/CN2016/101454 CN2016101454W WO2017166768A1 WO 2017166768 A1 WO2017166768 A1 WO 2017166768A1 CN 2016101454 W CN2016101454 W CN 2016101454W WO 2017166768 A1 WO2017166768 A1 WO 2017166768A1
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WIPO (PCT)
Prior art keywords
path point
location information
target path
mobile device
queue
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Ceased
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PCT/CN2016/101454
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English (en)
French (fr)
Inventor
董世谦
王野
蒲立
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Ninebot Beijing Technology Co Ltd
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Ninebot Beijing Technology Co Ltd
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Priority to EP16896538.2A priority Critical patent/EP3388915A4/en
Priority to US15/325,195 priority patent/US10222807B2/en
Publication of WO2017166768A1 publication Critical patent/WO2017166768A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

Definitions

  • the present invention relates to the field of target following technology, and in particular, to an information processing method, a mobile device, and a computer storage medium.
  • An autonomous mobile device refers to a device that can realize autonomous movement according to information obtained by itself without external control, such as: implementing autonomous movement control (such as obstacle avoidance) according to detection of an external environment, or autonomous movement based on target following Control and so on.
  • the autonomous mobile device is divided into two dimensions: a two-dimensional autonomous mobile device (such as a ground autonomous mobile device), a three-dimensional autonomous mobile device (such as a drone), and the like.
  • Target follow-up is a common skill that autonomous mobile devices need.
  • the target following method in the prior art is to directly perform closed-loop control on the relative position between the autonomous mobile device and the target object being followed. Since the following path of the autonomous mobile device itself is uncontrollable, when the target object bypasses the obstacle As shown in Figure 1, the autonomous mobile device easily collides with obstacles.
  • embodiments of the present invention are expected to provide an information processing method, a mobile device, and a computer storage medium.
  • An embodiment of the present invention provides an information processing method, which is applied to a mobile device, where the method includes:
  • each of the location information For describing a target path point, and the location information of the target path point in the target path point queue is arranged in the order in which the acquisition is obtained;
  • the location information that satisfies the first condition is extracted from the location information obtained by the collection, and the extracted location information is stored in the target path point queue, including:
  • the target path point queue is empty, and if yes, the location information obtained by the collection is stored in the target path point queue;
  • the determining, according to the location information obtained by the acquisition, and the location information last stored in the target path point queue, whether the first condition is met includes:
  • the location information of the target path point in the target path point queue is arranged in the order in which the collection is obtained, including:
  • the location information obtained first in time is located at the tail of the target path point queue, and the location information obtained last time is located in the queue of the target path point queue.
  • First, and the obtaining time of the location information arranged in order from the end of the team to the head of the team is from first to last;
  • the method further includes:
  • the location information of the target path point saved in the target path point queue includes: a relative position vector between each target path point and the mobile device;
  • control instruction is generated according to the latest relative position vector.
  • the embodiment of the invention further provides a mobile device, including:
  • a location information collection unit configured to acquire location information of the target object tracked by the mobile device according to a preset frequency
  • a target path point queue management unit configured to extract, from the location information obtained by the collection, the location information that satisfies the first condition, and store the extracted location information in a target path point queue; at the target path point In the queue, each piece of the location information is used to describe a target path point, and the location information of the target path point in the target path point queue is arranged in the order in which the acquisition is obtained;
  • a mobile control unit configured to generate a corresponding control instruction according to the location information of the target path point saved in the target path point queue, where the control instruction is used to control the mobile device to the target path point queue
  • the control instruction is used to control the mobile device to the target path point queue
  • the target path point queue management unit is further configured to:
  • the location information collecting unit acquires the location information of the target object, it is determined whether the target path point queue is empty, and if yes, the location information obtained by the collection is stored in the target path point queue;
  • the target path point queue management unit is further configured to:
  • the target path point queue management unit is further configured to arrange the position information obtained first in time in the chronological order obtained by the location information. At the end of the trailing path point queue, the position information finally obtained in time is arranged in the head of the target path point queue, and the obtaining time of the position information sequentially arranged from the tail to the head of the team is sequentially First come later;
  • the mobile control unit is further configured to, after generating the control instruction, control, according to the control instruction, the mobile device to sequentially correspond to each of the location information from the tail to the head of the target path point queue. a path point moves, and each time the mobile device reaches a path point corresponding to the location information at the end of the queue, notifying the target path point queue management unit to delete the tail of the team from the target path point queue location information.
  • the location information of the target path point saved in the target path point queue includes: a relative position vector between each target path point and the mobile device;
  • the movement control unit is further configured to: according to the relative position vector ⁇ w 0 , w 1 , w 2 , ... w n ⁇ between the mobile device and each target path point saved in the target path point queue Generating a control instruction for causing the mobile device to sequentially move from a tail of the target path point queue to each target path point corresponding to the head of the team; and in the controlling process, obtaining a moving distance of the mobile device according to a preset sampling period Vector ⁇ X and rotation angle vector ⁇ , for each of the sampling periods, the relative position vectors ⁇ w 0 , w 1 , w 2 , ...
  • w n ⁇ are obtained according to the obtained moving distance vector ⁇ X and the rotation angle vector ⁇ Transform and obtain the transformed relative position vector.
  • control instruction is generated according to the latest relative position vector.
  • the embodiment of the present invention further provides a computer storage medium.
  • the computer storage medium provided by the embodiment of the present invention stores a computer program, and the computer program is used to execute the information processing method.
  • An information processing method, a mobile device, and a computer storage medium provided by the embodiments of the present invention enable a mobile device to record each target path point that the target object that it follows follows, thereby controlling the mobile device to sequentially move to each target path point. , that is, the trajectory that the mobile device walks along the target object follows; thus, the mobile device can be better avoided in the following process; Barrier, because usually the trajectory that the target object walks through is not obstructed; moreover, since the mobile device following path is controllable (ie, tracking follows along the trajectory of the target object), Even if the target object bypasses the obstacle, the mobile device can follow the target well and will not collide with the obstacle.
  • FIG. 1 is a schematic diagram of a collision between an autonomous moving device and an obstacle when a target object bypasses an obstacle in the prior art
  • FIG. 2 is a flowchart of an information processing method according to Embodiment 1 of the present invention.
  • FIG. 3 is a schematic diagram showing relative position information by polar coordinates in an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a relationship between a path that a target object passes and a mobile device according to an embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a mobile device according to Embodiment 2 of the present invention.
  • Embodiment 1 of the present invention provides an information processing method, which is applied to a mobile device, and the mobile device can implement autonomous movement.
  • the so-called autonomous movement refers to an autonomous movement that can be realized according to information obtained by itself without external control; As shown, the method mainly includes:
  • Step 101 Acquire location information of the target object tracked by the mobile device according to a preset frequency.
  • the sampling frequency of the preset position information in the mobile device collects the position information of the target object tracked by the mobile device according to the preset sampling frequency.
  • Absolute position information of the target object such as GPS position information
  • relative position information of the target object tracked by the mobile device refers to position information of the target object relative to the mobile device, such as relative distance, relative clip Angle and so on.
  • the UWB (UWB, Ultra Wideband)-based method can be used to obtain the relative position information of the target object relative to the mobile device.
  • the UWB module can be installed on the mobile device, and the UWB beacon is installed on the target object, UWB.
  • the module transmits a signal to the UWB beacon and receives the reflected signal of the UWB signal;
  • the relative distance d between the UWB beacon and the UWB unit can be measured by a technique based on (TOF, Time Of Flight), and the TOF calculates the radio wave (or
  • the time difference between emission and reflection is converted into a relative distance d;
  • the relative angle ⁇ between the UWB beacon and the UWB unit can be measured by an AOA (Agle of Arrival) technique, and the AOA is based on
  • the positioning algorithm of the signal arrival angle can calculate the relative orientation or relative angle between the receiving node and the anchor node by sensing the direction of arrival of the transmitting node signal by some hardware devices.
  • the embodiment of the present invention is not limited to obtaining the relative position information of the target object and the mobile device by using the UWB technology.
  • other technical means may also be used to obtain the relative position information of the target object and the mobile device, such as: ultrasonic ranging.
  • Sensors, infrared range sensors, sonar, radar, binocular vision, and more may also be used to obtain the relative position information of the target object and the mobile device, such as: ultrasonic ranging. Sensors, infrared range sensors, sonar, radar, binocular vision, and more.
  • the embodiments of the present invention are not enumerated here.
  • Step 102 Extract the location information that meets the first condition from the location information obtained by the collection, and store the extracted location information into a target path point queue; in the target path point queue, each of the The location information is used to describe a target path point, and the location information of the target path point in the target path point queue is arranged in the order in which the acquisition is obtained.
  • step 102 when the location information of the target object is acquired, it is determined whether the target path point queue is empty, and if yes, the location information obtained by the collection is stored in the target path point queue; No, determining whether the first condition is met according to the location information obtained by the acquiring and the last stored location information in the target path point queue, and determining When the first condition is satisfied, the location information obtained by the acquisition is stored in the target path point queue, and when it is determined that the first condition is not met, the location information obtained by the collection is not stored in the Target path point queue.
  • the determining, according to the location information obtained by the acquisition, and the last stored location information in the target path point queue, whether the first condition is met including:
  • the mobile device when the mobile device starts to acquire the initial location information of the target object, the corresponding target path point queue is empty. At this time, the mobile device directly stores the initial location information into the target path point queue; the mobile device obtains the subsequent acquisition. Comparing the location information with the initial location information, determining whether the distance between the two reaches a preset first distance threshold, and for the location information obtained by the acquisition that does not reach the first distance threshold, the mobile device is not Storing it in the target path point queue, the collection of the first distance threshold will be reached only when the distance between the acquired location information and the initial location information reaches a preset first distance threshold. The obtained location information is stored in the target path point queue as the head of the current target path point queue.
  • the mobile device When the mobile device subsequently acquires the location information of the target object, it compares it with the first location information that satisfies the first condition, and determines whether the distance between the two reaches a preset first distance threshold, the same And only if the distance between the acquired position information and the position information of the first condition that satisfies the first condition reaches a preset first distance threshold, the collected position information is stored in the target path point queue as The head of the current target path point queue is for convenience of description, and is simply referred to as the second position information that satisfies the first condition.
  • the head of the current target path point queue is The nth (n is greater than or equal to 1) position information that satisfies the first condition
  • the mobile device acquires the location information of the target object
  • the mobile device obtains the location information that satisfies the first condition with the nth piece located at the head of the team.
  • the location information of the target object obtained by the current acquisition is stored in the target path point queue.
  • the new head of the queue is simply referred to as the position information of the n+1th condition that satisfies the first condition.
  • the steps 101 to 102 are performed to record the position information of the target object that is sufficiently large (measured by the first distance threshold), and respectively correspond to the respective target path points, and the target paths are respectively The path formed by the points in turn is used to describe the trajectory of the target object.
  • Step 103 Generate, according to the location information of the target path point saved in the target path point queue, a corresponding control instruction, where the control instruction is used to control each of the mobile devices to describe in the target path point queue The target path points move in order.
  • the location information of the target path point in the target path point queue is arranged in the order in which the collection is obtained, including:
  • the location information obtained first in time is located at the tail of the target path point queue, and the location information obtained last time is located in the queue of the target path point queue.
  • First, and the obtaining time of the location information arranged in order from the end of the team to the head of the team is from first to last;
  • the method further includes:
  • the position information from the tail to the head of the queue in the target route point queue is: initial position information, position information satisfying the first condition in the first item, position information satisfying the first condition in the second item, ..., mth Position information that satisfies the first condition;
  • the generated control command is for controlling the mobile device to sequentially move to the following path point: the path point corresponding to the initial position information, the path point corresponding to the first position information satisfying the first condition, and the second item satisfying the first a path point corresponding to the position information of the condition, ..., a path point corresponding to the position information satisfying the first condition of the mth item;
  • the mobile device when the mobile device reaches the path point corresponding to the initial location information, deleting the initial location information from the target path point queue; and when the mobile device reaches the path point corresponding to the first location information that satisfies the first condition At the time, the first piece of position information satisfying the first condition is deleted from the target path point queue; and so on. That is to say, each time the mobile device reaches a path point, the location information corresponding to the corresponding path point is deleted from the target path point queue.
  • the location information of the target path point saved in the target path point queue includes: a relative position vector between each target path point and the mobile device; the relative position vector may be represented by polar coordinates As shown in FIG. 3, the polar coordinates are represented as an angle ⁇ and a first vector vector ⁇ , wherein the first vector vector ⁇ represents a vector of the mobile device to the target object, the angle ⁇ An angle between the first vector vector ⁇ and the absolute translational velocity vector ⁇ f of the mobile device is represented.
  • the translational velocity vector of the mobile device relative to the ground is ⁇ f
  • the rotational velocity vector relative to the ground is ⁇ f
  • ⁇ f and ⁇ f can be obtained by the code wheel measurement of the mobile device
  • the encoder is also called an encoder.
  • ) is a sensor that converts rotary motion into electrical signals and can be used to detect wheel speed, mechanical joint angle, and the like.
  • the position vector is used to describe a new relative position between the path of the mobile device after movement and the target object;
  • control instruction is generated according to the latest relative position vector. See Figure 4 for a schematic of the relative position vector transformation.
  • the following describes an embodiment of the embodiment of the present invention to control the movement of the mobile device based on the relative position information between the mobile device and the target waypoint.
  • the control method of the embodiment of the present invention is not limited to this.
  • the method includes at least control based on relative position information between the mobile device and the target waypoint, and control based on absolute position information of the mobile device and the target waypoint.
  • each represents a waypoint Waypoint (i.e., the save destination waypoint Waypoint each queue) of the target object through
  • ⁇ f represents a mobile device Relative to the translational velocity vector of the ground
  • ⁇ f represents the rotational velocity vector of the mobile device relative to the ground
  • a coordinate system is established with a certain target path point, the positive X-axis direction of the coordinate system and the target object at the path point
  • the direction of motion coincides; in this coordinate system, the sitting mark of the mobile device relative to the target object is (x 0 , y 0 ), and the position (x 0 , y 0 ) is decomposed into the first relative position and the second relative position, ie
  • the control object of the embodiment of the present invention is to obtain a control law that gradually converges ⁇ x and ⁇ y.
  • ⁇ x and ⁇ y gradually converge to zero, so that the mobile device gradually moves to (x 0 , y 0 ).
  • the control laws that gradually converge ⁇ x and ⁇ y can be designed as follows:
  • the control law may be a Proportion-Integral-Differential (PID) control law, or may be other control laws, which are not limited in the embodiment of the present invention.
  • the control law will continuously drive ⁇ y and ⁇ e to converge to zero at the same time;
  • the fy( ⁇ , t) control law may be a PID control law or other control law, which is not limited in the embodiment of the present invention.
  • the specific calculation method of ⁇ e is not specifically limited in the embodiment of the present invention, and any method capable of calculating ⁇ e in practical application should belong to the scope to be protected by the embodiment of the present invention.
  • the embodiment of the present invention may also set an arrival boundary line for each waypoint, for example, describe the corresponding boundary line by the distance between the corresponding path points, such as a distance of 3 cm from a certain path point.
  • Set as its boundary line (Boundline) when the mobile device moves to pass through the boundary line, it is regarded that the mobile device reaches the corresponding path point, thereby deleting the position information of the path point from the target path point queue, and further The mobile device moves to the next target waypoint in the target waypoint queue.
  • the mobile device moves along a path line, which is a series of line segments connecting adjacent path points; the setting of the boundary line enables the program to determine which path path the mobile device should connect along with the path line; when the mobile device is about to go After the current path line is completed, It will cross the boundary line, and when it crosses the boundary line, the program will control the mobile device to travel along the next path line.
  • a path line which is a series of line segments connecting adjacent path points
  • the mobile device can record each target path point that the target object that it follows, thereby controlling the mobile device to sequentially move to each target path point, that is, the mobile device walks along the target object.
  • the trajectory follows the tracking; thus, the mobile device can better avoid obstacles in the following process, because usually the trajectory that the target object walks through is not obstructed; and, because the mobile device of the embodiment of the present invention follows
  • the path is controllable (that is, tracking follows the trajectory of the target object), and even if the target object bypasses the obstacle, the mobile device can follow the target well and does not collide with the obstacle.
  • the second embodiment of the present invention further provides a mobile device.
  • the device mainly includes:
  • the location information collection unit 10 is configured to acquire location information of the target object tracked by the mobile device according to a preset frequency
  • the target path point queue management unit 20 is configured to extract the location information that satisfies the first condition from the location information obtained by the collection, and store the extracted location information in a target path point queue; In the point queue, each piece of the location information is used to describe a target path point, and the location information of the target path point in the target path point queue is arranged in the order in which the acquisition is obtained;
  • the mobile control unit 30 is configured to generate a corresponding control instruction according to the location information of the target path point saved in the target path point queue, where the control instruction is used to control the mobile device to queue to the target path point Each target path point described in the section moves in order.
  • the target path point queue management unit 20 is further configured to:
  • the location information collection unit 10 acquires the location information of the target object, it is determined whether the target path point queue is empty, and if yes, the location information obtained by the collection is stored. Entering the target path point queue;
  • the target path point queue management unit 20 is further configured to determine the location information obtained by the collection according to the location information obtained by the acquisition and the last stored location information in the target path point queue. Whether the distance between the corresponding target path point and the target path point corresponding to the last stored location information in the target path point queue reaches a preset first distance threshold, and if so, the first content is satisfied. Condition; otherwise, the judgment does not satisfy the first condition.
  • the target path point queue management unit 20 is further configured to arrange the position information obtained first in time in the chronological order obtained by the location information in the tail of the target path point queue.
  • the location information finally obtained in time is arranged in the head of the target path point queue, and the obtaining time of the location information sequentially arranged from the tail to the head of the team is from first to last;
  • the mobile control unit 30 is further configured to, after generating the control instruction, control, according to the control instruction, the mobile device to sequentially send the location information from the tail to the head of the queue in the target path point queue. Corresponding path points move, and each time the mobile device reaches a path point corresponding to the location information at the end of the queue, the target path point queue management unit 20 is notified to delete the team from the target path point queue. The position information of the tail.
  • the location information of the target path point saved in the target path point queue includes: a relative position vector between each target path point and the mobile device;
  • the movement control unit 30 is further configured to: according to the relative position vector ⁇ w 0 , w 1 , w 2 , ... w n between the mobile device and each target path point saved in the target path point queue a control instruction for causing the mobile device to sequentially move from a tail of the target path point queue to each target path point corresponding to the head of the team; and in the controlling process, obtaining the movement of the mobile device according to a preset sampling period
  • the distance vector ⁇ X and the rotation angle vector ⁇ , the relative position vector ⁇ w 0 , w 1 , w 2 , ... w n ⁇ are obtained according to the obtained moving distance vector ⁇ X and the rotation angle vector ⁇ at each sampling period. Transform and obtain the transformed relative position vector.
  • control instruction is generated according to the latest relative position vector. See Figure 4 for a schematic of the relative position vector transformation.
  • the mobile control unit 30 controls the movement of the mobile device based on the relative position information between the mobile device and the target path point in the embodiment of the present invention
  • the control method of the embodiment of the present invention is not Limited to this one, it includes at least control based on relative position information between the mobile device and the target waypoint, and control based on absolute position information of the mobile device and the target waypoint.
  • each represents a waypoint Waypoint (i.e., the save destination waypoint Waypoint each queue) of the target object through
  • ⁇ f represents a mobile device Relative to the translational velocity vector of the ground
  • ⁇ f represents the rotational velocity vector of the mobile device relative to the ground
  • a coordinate system is established with a certain target path point, the positive X-axis direction of the coordinate system and the target object at the path point
  • the direction of motion coincides; in this coordinate system, the sitting mark of the mobile device relative to the target object is (x 0 , y 0 ), and the position (x 0 , y 0 ) is decomposed into the first relative position and the second relative position, ie
  • the control object of the embodiment of the present invention is to obtain a control law that gradually converges ⁇ x and ⁇ y.
  • ⁇ x and ⁇ y gradually converge to zero, so that the mobile device gradually moves to (x 0 , y 0 ).
  • the control laws that gradually converge ⁇ x and ⁇ y can be designed as follows:
  • the control law may be a Proportion-Integral-Differential (PID) control law, or may be other control laws, which are not limited in the embodiment of the present invention.
  • the control law will continuously drive ⁇ y, ⁇ a, and ⁇ e to converge to zero at the same time;
  • the f y ( ⁇ , t) control law may be a PID control law or other control law, which is not limited in the embodiment of the present invention.
  • the specific calculation method of ⁇ e is not specifically limited in the embodiment of the present invention, and any method capable of calculating ⁇ e in practical application should belong to the scope to be protected by the embodiment of the present invention.
  • the embodiment of the present invention may also set an arrival boundary line for each waypoint, for example, describe the corresponding boundary line by the distance between the corresponding path points, such as a distance of 3 cm from a certain path point.
  • Set as its boundary line (Boundline) when the mobile device moves to pass through the boundary line, the mobile control unit 30 regards the mobile device as reaching the corresponding path point, so that the mobile control unit 30 will position the path point.
  • the target path point queue is deleted, and the mobile device moves to the next target path point in the target path point queue.
  • the mobile device can record each target path point that the target object that it follows, thereby controlling the mobile device to sequentially move to each target path point, that is, the trajectory of the mobile device along the target object. Tracking is performed; thus, the mobile device can be better avoided in the following process, because usually the trajectory through which the target object travels is free of obstacles; moreover, the mobile device follows the path according to the embodiment of the present invention. It is controllable (that is, tracking follows the trajectory of the target object), and even if the target object bypasses the obstacle, the mobile device can follow the target well and does not collide with the obstacle.
  • the information processing method and the mobile device of the embodiments of the present invention can be applied to a two-dimensional following scene, such as an electric vehicle or a self-balancing vehicle, and the embodiment of the present invention can also be applied to a scene following three-dimensional space. , such as applied to drones.
  • a two-dimensional following scene such as an electric vehicle or a self-balancing vehicle
  • the embodiment of the present invention can also be applied to a scene following three-dimensional space. , such as applied to drones.
  • the implementation principle and specific method are as described above.
  • the disclosed methods, apparatus, and electronic devices may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner such as: multiple units or components may be combined, or Can be integrated into another system, or some features can be ignored or not executed.
  • the coupling, or direct coupling, or communication connection of the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical, mechanical or other forms. of.
  • the units described above as separate components may or may not be physically separated, and the components displayed as the unit may or may not be physical units, that is, may be located in one place or distributed to multiple network units; Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated into one unit;
  • the unit can be implemented in the form of hardware or It is implemented in the form of hardware plus software functional units.
  • the foregoing program may be stored in a computer readable storage medium, and the program is executed when executed.
  • the foregoing storage device includes the following steps: the foregoing storage medium includes: a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
  • ROM read-only memory
  • RAM random access memory
  • magnetic disk or an optical disk.
  • optical disk A medium that can store program code.
  • the above-described integrated unit of the embodiment of the present invention may be stored in a computer readable storage medium if it is implemented in the form of a software function module and sold or used as a stand-alone product.
  • the technical solution of the embodiments of the present invention may be embodied in the form of a software product in essence or in the form of a software product stored in a storage medium, including a plurality of instructions.
  • a computer device (which may be a personal computer, server, or network device, etc.) is caused to perform all or part of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a removable storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.
  • an embodiment of the present invention further provides a computer readable storage medium, the storage medium comprising a set of computer executable instructions for performing the information processing method according to the embodiment of the present invention.
  • the technical solution of the embodiment of the present invention enables the mobile device to record the target object that it follows Each target path point passes, thereby controlling the mobile device to sequentially move to each target path point, that is, the moving device follows the trajectory of the target object to follow; thus, the mobile device can be better in the following process Obstacle avoidance, because usually the trajectory that the target object walks through is not obstructed; moreover, since the mobile device following path is controllable according to the embodiment of the present invention (ie, tracking follows along the trajectory of the target object) ), even if the target object bypasses the obstacle, the mobile device can follow the target well and will not collide with the obstacle.

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Abstract

一种信息处理方法以及实施该方法的移动装置、计算机存储介质，所述方法包括：按预设频率采集获得所述移动装置跟踪的目标对象的位置信息（101）；从采集获得的所述位置信息中提取满足第一条件的所述位置信息，并将提取的所述位置信息存入目标路径点队列；在所述目标路径点队列中，每一条所述位置信息用于描述一个目标路径点，且所述目标路径点队列中所述目标路径点的位置信息按采集获得的先后顺序排列（102）；根据所述目标路径点队列中保存的所述目标路径点的位置信息，生成相应的控制指令，所述控制指令用于控制所述移动装置向所述目标路径点队列中描述的各目标路径点按顺序移动（103）。

Description

一种信息处理方法和移动装置、计算机存储介质 技术领域
本发明涉及目标跟随技术领域，尤其涉及一种信息处理方法和移动装置、计算机存储介质。
背景技术
自主移动装置是指一种无需外部控制而能够根据自身所获得的信息实现自主移动的装置，如：根据对外部环境的检测实现自主移动控制(如避障)，或，基于目标跟随的自主移动控制等等。对自主移动装置按移动维度进行划分，可以至少划分为二维自主移动装置(如地面自主移动装置)、三维自主移动装置(如无人机)等等。目标跟随是自主移动装置需要具备的一项常用技能。
现有技术中的目标跟随方法是对自主移动装置和被跟随的目标对象之间的相对位置直接进行闭环控制，由于自主移动装置自身的跟随路径不可控，因此，当目标对象绕行障碍物时，参见图1所示，自主移动装置很容易与障碍物发生碰撞。
发明内容
为解决现有存在的技术问题，本发明实施例期望提供一种信息处理方法和移动装置、计算机存储介质。
本发明实施例是这样实现的：
本发明实施例提供了一种信息处理方法，应用于移动装置，所述方法包括：
按预设频率采集获得所述移动装置跟踪的目标对象的位置信息；
从采集获得的所述位置信息中提取满足第一条件的所述位置信息，并将提取的所述位置信息存入目标路径点队列；在所述目标路径点队列中，每一条所述位置信息用于描述一个目标路径点，且所述目标路径点队列中所述目标路径点的位置信息按采集获得的先后顺序排列；
根据所述目标路径点队列中保存的所述目标路径点的位置信息，生成相应的控制指令，所述控制指令用于控制所述移动装置向所述目标路径点队列中描述的各目标路径点按顺序移动。
上述方案中，所述从采集获得的位置信息中提取满足第一条件的位置信息，并将提取的位置信息存入目标路径点队列，包括：
采集获得所述目标对象的位置信息时，判断所述目标路径点队列是否为空，如是，则将所述采集获得的位置信息存入所述目标路径点队列；
如否，则根据所述采集获得的位置信息、以及所述目标路径点队列中最后存入的位置信息，判断是否满足第一条件，并在判断满足所述第一条件时，将所述采集获得的位置信息存入所述目标路径点队列，在判断不满足所述第一条件时，不将所述采集获得的位置信息存入所述目标路径点队列。
上述方案中，所述根据采集获得的位置信息、以及目标路径点队列中最后存入的位置信息，判断是否满足第一条件，包括：
根据所述采集获得的位置信息、以及所述目标路径点队列中最后存入的位置信息，判断采集获得的位置信息所对应的目标路径点、与所述目标路径点队列中最后存入的位置信息所对应的目标路径点之间的距离是否达到预设的第一距离阈值，如果达到，则判断满足所述第一条件；否则，判断不满足所述第一条件。
上述方案中，所述目标路径点队列中目标路径点的位置信息按采集获得的先后顺序排列，包括：
按所述位置信息获得的时间先后顺序，时间上最先获得的所述位置信息位于所述目标路径点队列的队尾，时间上最后获得的所述位置信息位于所述目标路径点队列的队首，且从所述队尾到队首依次排列的所述位置信息的获得时间依次从先到后；
在生成所述控制指令后，所述方法还包括：
根据所述控制指令控制所述移动装置依次向所述目标路径点队列中从队尾到队首的各个所述位置信息所对应的路径点移动，且每当所述移动装置到达队尾的所述位置信息所对应的路径点时，从所述目标路径点队列中删除所述队尾的位置信息。
上述方案中，所述目标路径点队列中保存的目标路径点的位置信息包括：各目标路径点与所述移动装置之间的相对位置矢量；
所述根据目标路径点队列中保存的所述目标路径点的位置信息，生成相应的控制指令，包括：
根据所述移动装置与所述目标路径点队列中保存的各目标路径点之间的相对位置矢量{w0，w1，w2，...wn}，生成使所述移动装置从目标路径点队列的队尾向队首对应的各目标路径点依次移动的控制指令；且在控制过程中，按预设的采样周期获得所述移动装置的移动距离矢量ΔX和旋转角度矢量Δθ，在每个采样周期，根据获得所述移动距离矢量ΔX和旋转角度矢量Δθ对所述相对位置矢量{w0，w1，w2，...wn}进行变换，并获得变换后的相对位置矢量，矢量变换依据以下公式进行：{(wt-ΔX)T(Δθ)}，其中，i＝0，1，2，...n，T(Δθ)表示旋转变换矩阵；
相应的，所述控制指令是依据最新的所述相对位置矢量生成的。
本发明实施例还提供了一种移动装置，包括：
位置信息采集单元，配置为按预设频率采集获得所述移动装置跟踪的目标对象的位置信息；
目标路径点队列管理单元，配置为从采集获得的所述位置信息中提取满足第一条件的所述位置信息，并将提取的所述位置信息存入目标路径点队列；在所述目标路径点队列中，每一条所述位置信息用于描述一个目标路径点，且所述目标路径点队列中所述目标路径点的位置信息按采集获得的先后顺序排列；
移动控制单元，配置为根据所述目标路径点队列中保存的所述目标路径点的位置信息，生成相应的控制指令，所述控制指令用于控制所述移动装置向所述目标路径点队列中描述的各目标路径点按顺序移动。
上述方案中，所述目标路径点队列管理单元还配置为，
在所述位置信息采集单元采集获得所述目标对象的位置信息时，判断所述目标路径点队列是否为空，如是，则将所述采集获得的位置信息存入所述目标路径点队列；
如否，则根据所述采集获得的位置信息、以及所述目标路径点队列中最后存入的位置信息，判断是否满足第一条件，并在判断满足所述第一条件时，将所述采集获得的位置信息存入所述目标路径点队列，在判断不满足所述第一条件时，不将所述采集获得的位置信息存入所述目标路径点队列。
上述方案中，所述目标路径点队列管理单元还配置为，
根据所述采集获得的位置信息、以及所述目标路径点队列中最后存入的位置信息，判断采集获得的位置信息所对应的目标路径点、与所述目标路径点队列中最后存入的位置信息所对应的目标路径点之间的距离是否达到预设的第一距离阈值，如果达到，则判断满足所述第一条件；否则，判断不满足所述第一条件。
上述方案中，所述目标路径点队列管理单元还配置为，按所述位置信息获得的时间先后顺序，将时间上最先获得的所述位置信息排列于所述目 标路径点队列的队尾，时间上最后获得的所述位置信息排列于所述目标路径点队列的队首，且从所述队尾到队首依次排列的所述位置信息的获得时间依次从先到后；
所述移动控制单元还配置为，在生成所述控制指令后，根据所述控制指令控制所述移动装置依次向所述目标路径点队列中从队尾到队首的各个所述位置信息所对应的路径点移动，且每当所述移动装置到达队尾的所述位置信息所对应的路径点时，通知所述目标路径点队列管理单元从所述目标路径点队列中删除所述队尾的位置信息。
上述方案中，所述目标路径点队列中保存的目标路径点的位置信息包括：各目标路径点与所述移动装置之间的相对位置矢量；
所述移动控制单元还配置为，根据所述移动装置与所述目标路径点队列中保存的各目标路径点之间的相对位置矢量{w0，w1，w2，...wn}，生成使所述移动装置从目标路径点队列的队尾向队首对应的各目标路径点依次移动的控制指令；且在控制过程中，按预设的采样周期获得所述移动装置的移动距离矢量ΔX和旋转角度矢量Δθ，在每个采样周期，根据获得所述移动距离矢量ΔX和旋转角度矢量Δθ对所述相对位置矢量{w0，w1，w2，...wn}进行变换，并获得变换后的相对位置矢量，矢量变换依据以下公式进行：{(wt-ΔX)T(Δθ)}，其中，i＝0，1，2，...n，T(Δθ)表示旋转变换矩阵；
相应的，所述控制指令是依据最新的所述相对位置矢量生成的。
本发明实施例还提供了计算机存储介质，本发明实施例提供的计算机存储介质存储有计算机程序，该计算机程序用于执行上述信息处理方法。
本发明实施例所提供的一种信息处理方法和移动装置、计算机存储介质，使移动装置能够记录其跟随的目标对象走过的各个目标路径点，从而控制移动装置按序向各个目标路径点移动，也即移动装置沿着目标对象走过的轨迹进行循迹跟随；这样，能够使移动装置在跟随的过程中更好的避 障，因为通常目的对象走过的轨迹是不会有障碍物的；而且，由于本发明实施例的移动装置跟随路径是可控的(即沿着目标对象走过的轨迹进行循迹跟随)，即使目标对象绕行障碍物，移动装置也能很好的跟随目标，不会与障碍物发生碰撞。
附图说明
图1为现有技术中目标对象绕行障碍物时，跟随的自主移动装置与障碍物发生碰撞的示意图；
图2为本发明实施例一的信息处理方法的流程图；
图3为本发明实施例中用极坐标表示相对位置信息的示意图；
图4为本发明实施例中相对位置矢量变换的示意图；
图5为本发明实施例中目标对象走过的路径和移动装置之间的关系示意图；
图6为本发明实施例二的移动装置的组成结构示意图。
具体实施方式
下面结合附图和具体实施例对本发明的技术方案进一步详细阐述。
实施例一
本发明实施例一提供一种信息处理方法，应用于移动装置，所述移动装置能够实现自主移动，所谓自主移动是指无需外部控制而能够根据自身所获得的信息实现自主的移动；如图2所示，该方法主要包括：
步骤101，按预设频率采集获得所述移动装置跟踪的目标对象的位置信息。
移动装置中预设位置信息的采样频率，移动装置按照预设的所述采样频率采集获得移动装置跟踪的目标对象的位置信息。本发明实施例中适用的位置信息获得方法有多种，这其中至少包括采集获得移动装置跟踪的目 标对象的绝对位置信息(如GPS位置信息)，以及采集获得移动装置跟踪的目标对象的相对位置信息，所述相对位置信息是指目标对象相对于移动装置的位置信息，如相对距离、相对夹角等。
其中，可以采用基于(UWB，Ultra Wideband)的方法来获得目标对象相对于移动装置的相对位置信息，在具体实施时，可以在移动装置上安装UWB模块，在目标对象上安装UWB信标，UWB模块向UWB信标发射信号，并接收UWB信号的反射信号；UWB信标与UWB单元之间的相对距离d可以采用基于(TOF，Time Of Flight)的技术来测量，TOF通过计算无线电波(或光、声波等)发射和反射的时间差，来换算成相对距离d；UWB信标与UWB单元之间的相对角度θ可以采用基于到达角(AOA，Angle of arrival)的技术来测量，AOA是基于信号到达角度的定位算法，通过某些硬件设备感知发射节点信号的到达方向，可以计算接收节点和锚节点之间的相对方位或相对角度。
当然，本发明实施例并不仅限于通过UWB技术来获得目标对象与移动装置的相对位置信息，具体实施时也可以采用其他技术手段来获得目标对象与移动装置的相对位置信息，如：超声波测距传感器、红外测距传感器、声呐、雷达、双目视觉等等。本发明实施例在此不一一列举。
步骤102，从采集获得的所述位置信息中提取满足第一条件的所述位置信息，并将提取的所述位置信息存入目标路径点队列；在所述目标路径点队列中，每一条所述位置信息用于描述一个目标路径点，且所述目标路径点队列中所述目标路径点的位置信息按采集获得的先后顺序排列。
在具体实施步骤102时，采集获得所述目标对象的位置信息时，判断所述目标路径点队列是否为空，如是，则将所述采集获得的位置信息存入所述目标路径点队列；如否，则根据所述采集获得的位置信息、以及所述目标路径点队列中最后存入的位置信息，判断是否满足第一条件，并在判 断满足所述第一条件时，将所述采集获得的位置信息存入所述目标路径点队列，在判断不满足所述第一条件时，不将所述采集获得的位置信息存入所述目标路径点队列。
其中，所述根据采集获得的位置信息、以及目标路径点队列中最后存入的位置信息，判断是否满足第一条件，包括：
根据所述采集获得的位置信息、以及所述目标路径点队列中最后存入的位置信息，判断采集获得的位置信息所对应的目标路径点、与所述目标路径点队列中最后存入的位置信息所对应的目标路径点之间的距离是否达到预设的第一距离阈值，如果达到，则判断满足所述第一条件；否则，判断不满足所述第一条件。
举例说明：移动装置开始采集获得目标对象的初始位置信息时，对应的目标路径点队列为空，此时移动装置直接将所述初始位置信息存入目标路径点队列；移动装置将后续采集获得的位置信息与所述初始位置信息进行比较，判断两者之间的距离是否达到预设的第一距离阈值，对于未达到所述第一距离阈值的所述采集获得的位置信息，移动装置是不将其存入目标路径点队列的，只有当采集获得的位置信息与所述初始位置信息之间的距离达到预设的第一距离阈值时，才将达到所述第一距离阈值的所述采集获得的位置信息存入目标路径点队列中，作为当前目标路径点队列的队首，为描述方便，简称为第1条满足第一条件的位置信息。移动装置再后续采集获得目标对象的位置信息时，将其与所述第1条满足第一条件的位置信息进行比较，判断两者之间的距离是否达到预设的第一距离阈值，同样的，只有采集获得的位置信息与所述第1条满足第一条件的位置信息之间的距离达到预设的第一距离阈值时，才将采集获得的位置信息存入目标路径点队列中，作为当前目标路径点队列的队首，为描述方便，简称为第2条满足第一条件的位置信息。那么一般的，假设当前目标路径点队列的队首为 第n条(n大于等于1)满足第一条件的位置信息，那么移动装置在采集获得目标对象的位置信息时，会将其与位于队首的所述第n条满足第一条件的位置信息进行比较，判断两者之间的距离是否达到预设的第一距离阈值，只有达到预设的第一距离阈值时，才将当前采集获得的目标对象的位置信息存入目标路径点队列中，作为当前目标路径点队列新的队首，简称为第n+1条满足第一条件的位置信息。
那么也就是说，本发明实施例中实施步骤101～102是为记录目标对象的位置变化足够大(用所述第一距离阈值来衡量)的位置信息，分别对应各个目标路径点，这些目标路径点依次连接起来组成的路径用来描述目标对象移动过的轨迹。
步骤103，根据所述目标路径点队列中保存的所述目标路径点的位置信息，生成相应的控制指令，所述控制指令用于控制所述移动装置向所述目标路径点队列中描述的各目标路径点按顺序移动。
其中，所述目标路径点队列中目标路径点的位置信息按采集获得的先后顺序排列，包括：
按所述位置信息获得的时间先后顺序，时间上最先获得的所述位置信息位于所述目标路径点队列的队尾，时间上最后获得的所述位置信息位于所述目标路径点队列的队首，且从所述队尾到队首依次排列的所述位置信息的获得时间依次从先到后；
相应的，在生成所述控制指令后，所述方法还包括：
根据所述控制指令控制所述移动装置依次向所述目标路径点队列中从队尾到队首的各个所述位置信息所对应的路径点移动，且每当所述移动装置到达队尾的所述位置信息所对应的路径点时，从所述目标路径点队列中删除所述队尾的位置信息。
举例说明：
假设目标路径点队列中从队尾到队首的各个位置信息依次为：初始位置信息、第1条满足第一条件的位置信息、第2条满足第一条件的位置信息、…、第m条满足第一条件的位置信息；
那么，所述生成的控制指令是用于控制移动装置依次向以下路径点移动：初始位置信息对应的路径点、第1条满足第一条件的位置信息对应的路径点、第2条满足第一条件的位置信息对应的路径点、…、第m条满足第一条件的位置信息对应的路径点；
并且，当移动装置到达所述初始位置信息对应的路径点时，从目标路径点队列中删除所述初始位置信息；当移动装置到达所述第1条满足第一条件的位置信息对应的路径点时，从目标路径点队列中删除所述第1条满足第一条件的位置信息；依此类推。也就是说，移动装置每到达一个路径点，即会将相应路径点对应的位置信息从目标路径点队列中删除。
在一实施方式中，所述目标路径点队列中保存的目标路径点的位置信息包括：各目标路径点与所述移动装置之间的相对位置矢量；所述相对位置矢量可以用极坐标来表示，如图3所示，极坐标表示为夹角α和第一矢径矢量ρ，其中，所述第一矢径矢量ρ表示所述移动装置到所述目标对象的矢径矢量，夹角α表示所述第一矢径矢量ρ与所述移动装置的绝对平动速度矢量υf之间的夹角。另外，移动装置相对于地面的平动速度矢量为υf，相对于地面的转动速度矢量为ωf，υf和ωf可以通过移动装置的码盘测量获得，码盘又称编码器(Encoder)，是一种将旋转运动转换为电信号的传感器，可以用于检测车轮转速、机械关节转角等。
所述根据目标路径点队列中保存的所述目标路径点的位置信息，生成相应的控制指令，包括：
根据所述移动装置与所述目标路径点队列中保存的各目标路径点之间的相对位置矢量{w0，w1，w2，...wn}，生成使所述移动装置从目标路径点队列 的队尾向队首对应的各目标路径点依次移动的控制指令；且在控制过程中，按预设的采样周期获得所述移动装置的移动距离矢量ΔX和旋转角度矢量Δθ，在每个采样周期，根据获得所述移动距离矢量ΔX和旋转角度矢量Δθ对所述相对位置矢量{w0，w1，w2，...wn}进行变换，并获得变换后的相对位置矢量，矢量变换依据以下公式进行：{(wt-ΔX)T(Δθ)}，其中，i＝0，1，2，...n，T(Δθ)表示旋转变换矩阵；变换后的相对位置矢量用于描述移动装置运动后路径与目标对象之间的新的相对位置；
相应的，所述控制指令是依据最新的所述相对位置矢量生成的。相对位置矢量变换的示意图请参见图4。
下面介绍本发明实施例的一种基于移动装置与目标路径点之间的相对位置信息，来控制移动装置移动的实施例，但需要说明的是，本发明实施例的控制方法并非仅限于这一种，其至少包括基于移动装置与目标路径点之间的相对位置信息的控制、以及基于移动装置与目标路径点的绝对位置信息的控制。
假设移动装置可以前进和转向移动，但不能横向移动。目标对象走过的路径和移动装置之间的关系如图5所示，其中，waypoint表示目标对象走过的各个路径点(即目标路径点队列中保存的各个路径点)，υf表示移动装置相对于地面的平动速度矢量，ωf表示移动装置相对于地面的转动速度矢量，以某一目标路径点建立坐标系，所述坐标系的X轴正方向与目标对象在所述路径点的运动方向重合；在该坐标系下，移动装置相对于目标对象的坐标记为(x0，y0)，将位置(x0，y0)分解为第一相对位置和第二相对位置，即是计算移动装置与其需要接近的路径点之间偏差(Δx，Δy)，Δx和Δy的计算方式本发明实施例不做限制。
本发明实施例的控制目的即是获得让Δx和Δy逐渐收敛的控制律，通过实施所述控制律让Δx和Δy逐渐收敛到零，以使移动装置逐渐移动到 (x0，y0)。使Δx和Δy逐渐收敛的控制律可以分别设计如下：
针对Δx，设计一个给定移动装置前进速度指令υr的控制律：υr＝fx(Δx，t)，该控制律驱动Δx逐渐收敛到零，t表示时间。在具体实施过程中，所述控制律可以是比例积分微分(PID，Proportion-Integral-Differential)控制律，也可以是其他控制律，本发明实施例不做限制。
针对Δy，设计如下具有内环、外环这两个闭环控制的串级控制器：
外环：设计一个和距离成正比的接近角θa＝Δy×k，如图5中所示，其中，k为比例系数，θa为接近角；k的大小决定了移动装置切近目标对象行走路线的角度，k越大，移动装置就会以越大的角度切近目标对象的行走路线，并且在离目标对象的行走路线更近的地方才让移动装置指向修正为和目标的走向相同；通常来讲，k的取值需要根据经验和实际调试来确定；
内环：设定对移动装置转动速度的控制律：ωr＝fy(θe，t)，其中，θe表示移动装置前进方向和接近角之间的误差角，只要移动装置还在前进，该控制律即会不断驱动Δy和θe同时收敛到零；fy(·，t)控制律可以是PID控制律，也可以是其他控制律，本发明实施例不做限制。θe的具体计算方法本发明实施例不做具体限制，实际应用中任何能计算获得θe的方法应当都属于本发明实施例所要保护的范围。
另外，本发明实施例也可以针对每一个路径点(waypoint)设置一个到达边界线，例如：以与相应路径点之间的距离来描述相应的边界线，如距离某一路径点3cm的距离处设定为其边界线(Boundline)，当移动装置移动到穿过所述边界线即视为移动装置到达相应的路径点，从而将所述路径点的位置信息从目标路径点队列中删除，进而移动装置向目标路径点队列中的下一目标路径点移动。移动装置沿路径线移动，路径线是一系列连接相邻路径点的线段；边界线的设置使程序可以判断移动装置应该沿哪两个路径点所连接成的路径线移动；当移动装置即将走完当前所在的路径线后， 就会穿越边界线，当穿越边界线后，程序就会控制移动装置沿下一路径线行进。
通过实施本发明的实施例一，移动装置能够记录其跟随的目标对象走过的各个目标路径点，从而控制移动装置按序向各个目标路径点移动，也即移动装置沿着目标对象走过的轨迹进行循迹跟随；这样，能够使移动装置在跟随的过程中更好的避障，因为通常目的对象走过的轨迹是不会有障碍物的；而且，由于本发明实施例的移动装置跟随路径是可控的(即沿着目标对象走过的轨迹进行循迹跟随)，即使目标对象绕行障碍物，移动装置也能很好的跟随目标，不会与障碍物发生碰撞。
实施例二
在同一发明构思下，对应本发明实施例一的信息处理方法，本发明实施例二还提供了一种移动装置，如图6所示，该装置主要包括：
位置信息采集单元10，配置为按预设频率采集获得所述移动装置跟踪的目标对象的位置信息；
目标路径点队列管理单元20，配置为从采集获得的所述位置信息中提取满足第一条件的所述位置信息，并将提取的所述位置信息存入目标路径点队列；在所述目标路径点队列中，每一条所述位置信息用于描述一个目标路径点，且所述目标路径点队列中所述目标路径点的位置信息按采集获得的先后顺序排列；
移动控制单元30，配置为根据所述目标路径点队列中保存的所述目标路径点的位置信息，生成相应的控制指令，所述控制指令用于控制所述移动装置向所述目标路径点队列中描述的各目标路径点按顺序移动。
在一实施方式中，目标路径点队列管理单元20还配置为，
在所述位置信息采集单元10采集获得所述目标对象的位置信息时，判断所述目标路径点队列是否为空，如是，则将所述采集获得的位置信息存 入所述目标路径点队列；
如否，则根据所述采集获得的位置信息、以及所述目标路径点队列中最后存入的位置信息，判断是否满足第一条件，并在判断满足所述第一条件时，将所述采集获得的位置信息存入所述目标路径点队列，在判断不满足所述第一条件时，不将所述采集获得的位置信息存入所述目标路径点队列。
在一实施方式中，所述目标路径点队列管理单元20还配置为，根据所述采集获得的位置信息、以及所述目标路径点队列中最后存入的位置信息，判断采集获得的位置信息所对应的目标路径点、与所述目标路径点队列中最后存入的位置信息所对应的目标路径点之间的距离是否达到预设的第一距离阈值，如果达到，则判断满足所述第一条件；否则，判断不满足所述第一条件。
在一实施方式中，目标路径点队列管理单元20还配置为，按所述位置信息获得的时间先后顺序，将时间上最先获得的所述位置信息排列于所述目标路径点队列的队尾，时间上最后获得的所述位置信息排列于所述目标路径点队列的队首，且从所述队尾到队首依次排列的所述位置信息的获得时间依次从先到后；
所述移动控制单元30还配置为，在生成所述控制指令后，根据所述控制指令控制所述移动装置依次向所述目标路径点队列中从队尾到队首的各个所述位置信息所对应的路径点移动，且每当所述移动装置到达队尾的所述位置信息所对应的路径点时，通知所述目标路径点队列管理单元20从所述目标路径点队列中删除所述队尾的位置信息。
在一实施方式中，所述目标路径点队列中保存的目标路径点的位置信息包括：各目标路径点与所述移动装置之间的相对位置矢量；
所述移动控制单元30还配置为，根据所述移动装置与所述目标路径点 队列中保存的各目标路径点之间的相对位置矢量{w0，w1，w2，...wn}，生成使所述移动装置从目标路径点队列的队尾向队首对应的各目标路径点依次移动的控制指令；且在控制过程中，按预设的采样周期获得所述移动装置的移动距离矢量ΔX和旋转角度矢量Δθ，在每个采样周期，根据获得所述移动距离矢量ΔX和旋转角度矢量Δθ对所述相对位置矢量{w0，w1，w2，...wn}进行变换，并获得变换后的相对位置矢量，矢量变换依据以下公式进行：{(wt-ΔX)T(Δθ)}，其中，＝0，1，2，...n，T(Δθ)表示旋转变换矩阵；变换后的相对位置矢量用于描述移动装置运动后路径与目标对象之间的新的相对位置；
相应的，所述控制指令是依据最新的所述相对位置矢量生成的。相对位置矢量变换的示意图请参见图4。
下面介绍本发明实施例的一种移动控制单元30基于移动装置与目标路径点之间的相对位置信息，来控制移动装置移动的实施例，但需要说明的是，本发明实施例的控制方法并非仅限于这一种，其至少包括基于移动装置与目标路径点之间的相对位置信息的控制、以及基于移动装置与目标路径点的绝对位置信息的控制。
假设移动装置可以前进和转向移动，但不能横向移动。目标对象走过的路径和移动装置之间的关系如图5所示，其中，waypoint表示目标对象走过的各个路径点(即目标路径点队列中保存的各个路径点)，υf表示移动装置相对于地面的平动速度矢量，ωf表示移动装置相对于地面的转动速度矢量，以某一目标路径点建立坐标系，所述坐标系的X轴正方向与目标对象在所述路径点的运动方向重合；在该坐标系下，移动装置相对于目标对象的坐标记为(x0，y0)，将位置(x0，y0)分解为第一相对位置和第二相对位置，即是计算移动装置与其需要接近的路径点之间偏差(Δx，Δy)，Δx和Δy的计算方式本发明实施例不做限制。
本发明实施例的控制目的即是获得让Δx和Δy逐渐收敛的控制律，通过实施所述控制律让Δx和Δy逐渐收敛到零，以使移动装置逐渐移动到(x0，y0)。使Δx和Δy逐渐收敛的控制律可以分别设计如下：
针对Δx，设计一个给定移动装置前进速度指令υr的控制律：υr＝fx(Δx，t)，该控制律驱动Δx逐渐收敛到零，t表示时间。在具体实施过程中，所述控制律可以是比例积分微分(PID，Proportion-Integral-Differential)控制律，也可以是其他控制律，本发明实施例不做限制。
针对Δy，设计如下具有内环、外环这两个闭环控制的串级控制器：
外环：设计一个和距离成正比的接近角θa＝Δy×k，如图5中所示，其中，k为比例系数，θa为接近角；k的大小决定了移动装置切近目标对象行走路线的角度，k越大，移动装置就会以越大的角度切近目标对象的行走路线，并且在离目标对象的行走路线更近的地方才让移动装置指向修正为和目标的走向相同；通常来讲，k的取值需要根据经验和实际调试来确定；
内环：设定对移动装置转动速度的控制律：ωr＝fy(θe，t)，其中，θe表示移动装置前进方向和接近角之间的误差角，只要移动装置还在前进，该控制律即会不断驱动Δy、θa和θe同时收敛到零；fy(·，t)控制律可以是PID控制律，也可以是其他控制律，本发明实施例不做限制。θe的具体计算方法本发明实施例不做具体限制，实际应用中任何能计算获得θe的方法应当都属于本发明实施例所要保护的范围。
另外，本发明实施例也可以针对每一个路径点(waypoint)设置一个到达边界线，例如：以与相应路径点之间的距离来描述相应的边界线，如距离某一路径点3cm的距离处设定为其边界线(Boundline)，当移动装置移动到穿过所述边界线，移动控制单元30即视为移动装置到达相应的路径点，从而移动控制单元30将所述路径点的位置信息从目标路径点队列中删除，进而移动装置向目标路径点队列中的下一目标路径点移动。
通过实施本发明实施例二，移动装置能够记录其跟随的目标对象走过的各个目标路径点，从而控制移动装置按序向各个目标路径点移动，也即移动装置沿着目标对象走过的轨迹进行循迹跟随；这样，能够使移动装置在跟随的过程中更好的避障，因为通常目的对象走过的轨迹是不会有障碍物的；而且，由于本发明实施例的移动装置跟随路径是可控的(即沿着目标对象走过的轨迹进行循迹跟随)，即使目标对象绕行障碍物，移动装置也能很好的跟随目标，不会与障碍物发生碰撞。
需要说明的是，本发明实施例的信息处理方法和移动装置即能够适用于二维跟随的场景，如应用在电动车、自平衡车上，本发明实施例也能够适用于三维空间跟随的场景，如应用在无人机上。其实现原理和具体方法如前所述。
在本发明所提供的几个实施例中，应该理解到，所揭露的方法、装置和电子设备，可以通过其它的方式实现。以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，如：多个单元或组件可以结合，或可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、或直接耦合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。
上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元，即可以位于一个地方，也可以分布到多个网络单元上；可以根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。
另外，在本发明各实施例中的各功能单元可以全部集成在一个处理单元中，也可以是各单元分别单独作为一个单元，也可以两个或两个以上单元集成在一个单元中；上述集成的单元既可以采用硬件的形式实现，也可 以采用硬件加软件功能单元的形式实现。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
或者，本发明实施例上述集成的单元如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实施例的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机、服务器、或者网络设备等)执行本发明各个实施例所述方法的全部或部分。而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
鉴于此，本发明实施例还提供了一种计算机可读存储介质，所述存储介质包括一组计算机可执行指令，所述指令用于执行本发明实施例所述的信息处理方法。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。
工业实用性
本发明实施例的技术方案，使移动装置能够记录其跟随的目标对象走 过的各个目标路径点，从而控制移动装置按序向各个目标路径点移动，也即移动装置沿着目标对象走过的轨迹进行循迹跟随；这样，能够使移动装置在跟随的过程中更好的避障，因为通常目的对象走过的轨迹是不会有障碍物的；而且，由于本发明实施例的移动装置跟随路径是可控的(即沿着目标对象走过的轨迹进行循迹跟随)，即使目标对象绕行障碍物，移动装置也能很好的跟随目标，不会与障碍物发生碰撞。

Claims (11)

  1. 一种信息处理方法，应用于移动装置，所述方法包括：
    按预设频率采集获得所述移动装置跟踪的目标对象的位置信息；
    从采集获得的所述位置信息中提取满足第一条件的所述位置信息，并将提取的所述位置信息存入目标路径点队列；在所述目标路径点队列中，每一条所述位置信息用于描述一个目标路径点，且所述目标路径点队列中所述目标路径点的位置信息按采集获得的先后顺序排列；
    根据所述目标路径点队列中保存的所述目标路径点的位置信息，生成相应的控制指令，所述控制指令用于控制所述移动装置向所述目标路径点队列中描述的各目标路径点按顺序移动。
  2. 根据权利要求1所述信息处理方法，其中，所述从采集获得的位置信息中提取满足第一条件的位置信息，并将提取的位置信息存入目标路径点队列，包括：
    采集获得所述目标对象的位置信息时，判断所述目标路径点队列是否为空，如是，则将所述采集获得的位置信息存入所述目标路径点队列；
    如否，则根据所述采集获得的位置信息、以及所述目标路径点队列中最后存入的位置信息，判断是否满足第一条件，并在判断满足所述第一条件时，将所述采集获得的位置信息存入所述目标路径点队列，在判断不满足所述第一条件时，不将所述采集获得的位置信息存入所述目标路径点队列。
  3. 根据权利要求2所述信息处理方法，其中，所述根据采集获得的位置信息、以及目标路径点队列中最后存入的位置信息，判断是否满足第一条件，包括：
    根据所述采集获得的位置信息、以及所述目标路径点队列中最后存入的位置信息，判断采集获得的位置信息所对应的目标路径点、与所述目标 路径点队列中最后存入的位置信息所对应的目标路径点之间的距离是否达到预设的第一距离阈值，如果达到，则判断满足所述第一条件；否则，判断不满足所述第一条件。
  4. 根据权利要求1、2或3所述信息处理方法，其中，所述目标路径点队列中目标路径点的位置信息按采集获得的先后顺序排列，包括：
    按所述位置信息获得的时间先后顺序，时间上最先获得的所述位置信息位于所述目标路径点队列的队尾，时间上最后获得的所述位置信息位于所述目标路径点队列的队首，且从所述队尾到队首依次排列的所述位置信息的获得时间依次从先到后；
    在生成所述控制指令后，所述方法还包括：
    根据所述控制指令控制所述移动装置依次向所述目标路径点队列中从队尾到队首的各个所述位置信息所对应的路径点移动，且每当所述移动装置到达队尾的所述位置信息所对应的路径点时，从所述目标路径点队列中删除所述队尾的位置信息。
  5. 根据权利要求4所述信息处理方法，其中，所述目标路径点队列中保存的目标路径点的位置信息包括：各目标路径点与所述移动装置之间的相对位置矢量；
    所述根据目标路径点队列中保存的所述目标路径点的位置信息，生成相应的控制指令，包括：
    根据所述移动装置与所述目标路径点队列中保存的各目标路径点之间的相对位置矢量{W0，W1，W2，…Wn}，生成使所述移动装置从目标路径点队列的队尾向队首对应的各目标路径点依次移动的控制指令；且在控制过程中，按预设的采样周期获得所述移动装置的移动距离矢量ΔX和旋转角度矢量Δθ，在每个采样周期，根据获得所述移动距离矢量ΔX和旋转角度矢量Δθ对所述相对位置矢量{W0，W1，W2，…Wn}进行变换，并获得变换后的相对位置矢 量，矢量变换依据以下公式进行：{(Wi-ΔX)T(Δθ)}，其中，1＝0，1，2，…n，T(Δθ)表示旋转变换矩阵；
    相应的，所述控制指令是依据最新的所述相对位置矢量生成的。
  6. 一种移动装置，包括：
    位置信息采集单元，配置为按预设频率采集获得所述移动装置跟踪的目标对象的位置信息；
    目标路径点队列管理单元，配置为从采集获得的所述位置信息中提取满足第一条件的所述位置信息，并将提取的所述位置信息存入目标路径点队列；在所述目标路径点队列中，每一条所述位置信息用于描述一个目标路径点，且所述目标路径点队列中所述目标路径点的位置信息按采集获得的先后顺序排列；
    移动控制单元，配置为根据所述目标路径点队列中保存的所述目标路径点的位置信息，生成相应的控制指令，所述控制指令用于控制所述移动装置向所述目标路径点队列中描述的各目标路径点按顺序移动。
  7. 根据权利要求6所述移动装置，其中，所述目标路径点队列管理单元还配置为，
    在所述位置信息采集单元采集获得所述目标对象的位置信息时，判断所述目标路径点队列是否为空，如是，则将所述采集获得的位置信息存入所述目标路径点队列；
    如否，则根据所述采集获得的位置信息、以及所述目标路径点队列中最后存入的位置信息，判断是否满足第一条件，并在判断满足所述第一条件时，将所述采集获得的位置信息存入所述目标路径点队列，在判断不满足所述第一条件时，不将所述采集获得的位置信息存入所述目标路径点队列。
  8. 根据权利要求7所述移动装置，其中，所述目标路径点队列管理单 元还配置为，
    根据所述采集获得的位置信息、以及所述目标路径点队列中最后存入的位置信息，判断采集获得的位置信息所对应的目标路径点、与所述目标路径点队列中最后存入的位置信息所对应的目标路径点之间的距离是否达到预设的第一距离阈值，如果达到，则判断满足所述第一条件；否则，判断不满足所述第一条件。
  9. 根据权利要求6、7或8所述移动装置，其中，所述目标路径点队列管理单元还配置为，按所述位置信息获得的时间先后顺序，将时间上最先获得的所述位置信息排列于所述目标路径点队列的队尾，时间上最后获得的所述位置信息排列于所述目标路径点队列的队首，且从所述队尾到队首依次排列的所述位置信息的获得时间依次从先到后；
    所述移动控制单元还配置为，在生成所述控制指令后，根据所述控制指令控制所述移动装置依次向所述目标路径点队列中从队尾到队首的各个所述位置信息所对应的路径点移动，且每当所述移动装置到达队尾的所述位置信息所对应的路径点时，通知所述目标路径点队列管理单元从所述目标路径点队列中删除所述队尾的位置信息。
  10. 根据权利要求9所述移动装置，其中，所述目标路径点队列中保存的目标路径点的位置信息包括：各目标路径点与所述移动装置之间的相对位置矢量；
    所述移动控制单元还配置为，根据所述移动装置与所述目标路径点队列中保存的各目标路径点之间的相对位置矢量{W0，W1，W2，…Wn}，生成使所述移动装置从目标路径点队列的队尾向队首对应的各目标路径点依次移动的控制指令；且在控制过程中，按预设的采样周期获得所述移动装置的移动距离矢量ΔX和旋转角度矢量Δθ，在每个采样周期，根据获得所述移动距离矢量ΔX和旋转角度矢量Δθ对所述相对位置矢量{W0，W1，W2，…Wn}进行变 换，并获得变换后的相对位置矢量，矢量变换依据以下公式进行：{(Wi-ΔX)T(Δθ)}，其中，1＝0，1，2，…n，T(Δθ)表示旋转变换矩阵；
    相应的，所述控制指令是依据最新的所述相对位置矢量生成的。
  11. 一种计算机存储介质，所述计算机存储介质中存储有计算机可执行指令，该计算机可执行指令配置为执行权利要求1-5任一项所述的信息处理方法。
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