US 12,093,054 B2
Moving target following method, robot and computer-readable storage medium
Dejun Guo, San Gabriel, CA (US); Ting-Shuo Chou, Pasadena, CA (US); Yang Shen, Los Angeles, CA (US); and Huan Tan, Pasadena, CA (US)
Assigned to UBKANG (QINGDAO) TECHNOLOGY CO., LTD., Qingdao (CN)
Filed by UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP, Pasadena, CA (US); and UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Apr. 25, 2021, as Appl. No. 17/239,603.
Prior Publication US 2022/0350342 A1, Nov. 3, 2022
Int. Cl. G05D 1/00 (2024.01); G01S 17/89 (2020.01); G06N 3/08 (2023.01); G06V 40/10 (2022.01); G06V 40/16 (2022.01)
CPC G05D 1/0253 (2013.01) [G01S 17/89 (2013.01); G05D 1/12 (2013.01); G06N 3/08 (2013.01); G06V 40/103 (2022.01); G06V 40/172 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented following method executed by one or more processors to control a robot that comprises a camera and a sensor electrically coupled to the one or more processors, the method comprising:
performing a body detection to a body of a target based on images acquired by the camera to obtain a body detection result;
performing a leg detection to legs of the target based on data acquired by the sensor to obtain a leg detection result;
fusing the body detection result and the leg detection result to obtain a fusion result, and controlling the robot to follow the target based on the fusion result;
determining whether disappearance of the target is detected;
in response to detection of the disappearance of the target, determining a position of the target relative to the robot before disappearance of the target as a desired position, according to a last frame of data obtained by the camera and/or the sensor before the disappearance of the target;
determining whether there is an obstacle between the desired position and the robot;
in response to no obstacle being detected, determining a direction in which the target disappears according to the desired position, and controlling the robot to rotate according to the direction in which the target disappears, wherein a rotation direction of the robot is consistent with the direction in which the target disappears; and
controlling the robot to stop moving, in response to no target being detected after the rotation of the robot.