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CN-121995906-A - Intelligent guiding method and system based on millimeter wave high-precision positioning robot

CN121995906ACN 121995906 ACN121995906 ACN 121995906ACN-121995906-A

Abstract

The invention relates to the technical field of robot guidance and discloses an intelligent guidance method and system for a positioning robot based on millimeter wave high precision, wherein the method comprises the steps of performing time domain noise suppression processing and environment static background component signal removal processing on an environment echo signal; the method comprises the steps of carrying out signal enhancement by utilizing a self-adaptive time sequence weighting and energy focusing mechanism, decomposing the enhanced dynamic signals by utilizing a multi-scale empirical mode decomposition algorithm to obtain a low-frequency disturbance component and a high-frequency human dynamic component, carrying out disturbance suppression processing based on disturbance consistency, generating human space position coordinates by utilizing a human space positioning model to serve as a guiding target, and carrying out intelligent human body following and obstacle avoidance navigation by a robot according to the guiding target and environment information. According to the invention, through multi-antenna millimeter wave signal enhancement, disturbance suppression and multi-scale decomposition, stable extraction and high-precision space positioning of human body echo are realized, and intelligent following and dynamic obstacle avoidance guiding of the robot to the human body are completed based on the positioning result.

Inventors

  • LI HAOSEN

Assignees

  • 陕西喔喔物联信息科技有限公司

Dates

Publication Date
20260508
Application Date
20260211

Claims (9)

  1. 1. The intelligent guiding method for the positioning robot based on millimeter wave high precision is characterized by comprising the following steps: S1, a robot acquires an environment echo signal through a multi-antenna millimeter wave radar, and performs time domain noise suppression processing and environment static background component signal removal processing on the environment echo signal to obtain an environment dynamic reflection component signal; s2, carrying out signal enhancement by utilizing a self-adaptive time sequence weighting and energy focusing mechanism according to the environment dynamic reflection component signal to obtain an enhanced dynamic signal; s3, decomposing the enhanced dynamic signal by utilizing a multi-scale empirical mode decomposition algorithm to obtain a low-frequency disturbance component and a high-frequency human body dynamic component, and performing disturbance suppression processing on the low-frequency disturbance component based on disturbance consistency to obtain a disturbance suppressed low-frequency disturbance component; s4, constructing human body stable dynamic reflection data according to the low-frequency disturbance component and the high-frequency human body dynamic component after disturbance suppression, and converting the human body stable dynamic reflection data into human body space position coordinates by utilizing a human body space positioning model; And S5, taking the human body space position coordinates as a guiding target, and executing human body intelligent following and obstacle avoidance navigation by combining the guiding target and the environmental information by the robot.
  2. 2. The intelligent guidance method of a positioning robot based on millimeter wave high precision according to claim 1, wherein in the step S1, performing time domain noise suppression processing and environmental static background component signal removal processing on the environmental echo signal comprises: s11, periodically transmitting millimeter wave signals to the environment by a robot and synchronously receiving environment echo signals, wherein the environment echo signals are in a signal collection form and comprise echo signals received by multiple antennas; s12, calculating a signal mean value of the time domain noise suppressed environmental echo signal according to a preset background modeling time length and constructing an environmental static background component signal; And S13, performing differential operation on the environment echo signal after the time domain noise suppression and the environment static background component signal to obtain an environment dynamic reflection component signal, wherein the environment dynamic reflection component signal is in a signal set form and comprises dynamic reflection component signals of echo signals received by multiple antennas after the time domain noise suppression processing and the background removal processing.
  3. 3. The intelligent guidance method of the positioning robot based on millimeter wave high precision according to claim 1, wherein the step S2 of performing signal enhancement by using adaptive time sequence weighting and an energy focusing mechanism comprises: s21, sequentially extracting dynamic reflection component signals in the environment dynamic reflection component signals; S22, constructing a time domain smoothing window according to the dynamic reflection component signal, calculating the signal stability of a signal value in the dynamic reflection component signal in the time domain smoothing window, converting the signal stability into an adaptive time sequence weight of the signal value, and carrying out adaptive time sequence weighting on the signal value in the dynamic reflection component signal based on the adaptive time sequence weight to obtain a time sequence weighted dynamic reflection component signal; s23, dividing the time sequence weighted dynamic reflection component signal into a plurality of signal frames which are consistent in length and do not overlap each other, calculating the energy duty ratio of any signal value in the signal frames, taking the energy duty ratio as the energy focusing weight of the signal value, and weighting the signal value based on the energy focusing weight to obtain a dynamic reflection component enhancement signal corresponding to the time sequence weighted dynamic reflection component signal; and S24, constructing all dynamic reflection component enhancement signals into a collective form to serve as enhanced dynamic signals.
  4. 4. The intelligent guiding method of positioning robot based on millimeter wave high precision according to claim 1, wherein in the step S3, the enhanced dynamic signal is decomposed by using a multi-scale empirical mode decomposition algorithm to obtain a low-frequency disturbance component and a high-frequency human dynamic component, comprising: S31, constructing multi-scale time scale parameters and generating a local analysis window of any time scale parameter; S32, extracting a dynamic reflection component enhancement signal in the enhanced dynamic signal, and performing empirical mode decomposition on the dynamic reflection component enhancement signal according to a local analysis window of the time scale parameter to obtain a plurality of groups of mode components of the dynamic reflection component enhancement signal; s33, calculating zero crossing rate and instantaneous energy change rate of each group of modal components in the dynamic reflection component enhancement signal, constructing a joint frequency discrimination index of the modal components based on the zero crossing rate and the instantaneous energy change rate, generating an adaptive frequency threshold of the dynamic reflection component enhancement signal, marking the modal components with the joint frequency discrimination index lower than the adaptive frequency threshold as low-frequency disturbance components, and marking the modal components with the joint frequency discrimination index not lower than the adaptive frequency threshold as high-frequency human body dynamic components; wherein the dynamic reflection component enhances the signal The h group mode component of (2) is , H represents the preset number of modal components, the modal components The joint frequency discrimination index generation formula is as follows: ; ; Wherein, the Representing modal components Is used for determining the index of the joint frequency, Representing modal components Is used for the zero crossing rate of (a), Representing modal components Is used for the instantaneous rate of change of energy, Representing modal components Is selected from the group consisting of the n-th component value, Representing a selection set Is selected from the group consisting of a maximum value of (c), Representing balance coefficients, dynamic reflection component enhancement signals A dynamic reflection component enhancement signal representing an echo signal received by an mth antenna, M represents the number of antennas and N represents the length of the modal component.
  5. 5. The intelligent guidance method of a positioning robot based on millimeter wave high precision according to claim 4, wherein in the step S3, disturbance rejection processing based on disturbance coherence is performed on the low-frequency disturbance component to obtain a disturbance-suppressed low-frequency disturbance component, and the method further comprises: s34, calculating disturbance consistency between the low-frequency disturbance component and a preset disturbance template component; s35, converting the disturbance coherence into a disturbance suppression coefficient of a low-frequency disturbance component; S36, calculating the product of the disturbance suppression coefficient and the low-frequency disturbance component according to the disturbance suppression coefficient to obtain the low-frequency disturbance component after disturbance suppression.
  6. 6. The intelligent guidance method of the positioning robot based on millimeter wave high precision according to claim 1, wherein the step S4 of constructing human body stable dynamic reflection data comprises the steps of: S41, obtaining a plurality of groups of disturbance suppressed low-frequency disturbance components and high-frequency human body dynamic components obtained by decomposing the dynamic reflection component enhancement signals; s42, constructing a low-frequency compensation coefficient as a compensation coefficient of the low-frequency disturbance component after disturbance suppression, and carrying out weighted accumulation on a plurality of groups of low-frequency disturbance components after disturbance suppression and high-frequency human dynamic components to obtain a human stable dynamic reflection signal corresponding to the dynamic reflection component enhancement signal; s43, acquiring a reflection phase of an antenna associated with the dynamic reflection component enhancement signal, and splicing the reflection phase and a human body stable dynamic reflection signal corresponding to the dynamic reflection component enhancement signal to be used as a human body stable dynamic reflection signal vector; S44, forming human body stable dynamic reflection data by using all human body stable dynamic reflection signal vectors.
  7. 7. The intelligent guidance method of a positioning robot based on millimeter wave high precision according to claim 6, wherein in the step S4, the human body stable dynamic reflection data is converted into human body space position coordinates by using a human body space positioning model, and further comprising: s45, the human body space positioning model receives the human body stable dynamic reflection data and splits the human body stable dynamic reflection data into a plurality of groups of human body stable dynamic reflection signal vectors, wherein each group of human body stable dynamic reflection signal vectors corresponds to an echo signal received by an antenna; S46, performing frequency analysis on the human body stable dynamic reflection signals in the human body stable dynamic reflection signal vector to obtain a delay peak value of the human body stable dynamic reflection signals, and converting the delay peak value into a radial distance of human body space position coordinates relative to an antenna; S47, estimating azimuth angles of human body space position coordinates relative to the antennas according to the intervals among the antennas, the wavelengths of the transmitted millimeter wave signals and the phase differences among the antennas; S48, according to the azimuth angle and the radial distance of the human body space position coordinate relative to the antenna, fusing the radial distance and the azimuth angle of the multiple antennas, and converting the fused radial distance and azimuth angle into the human body space position coordinate.
  8. 8. The intelligent guidance method of the positioning robot based on millimeter wave high precision according to claim 1, wherein the step S5 of the robot performs intelligent following and obstacle avoidance navigation of the human body by combining the guidance target and the environmental information, comprises: S51, the robot acquires surrounding environment information through a vision sensor, identifies obstacles, passable areas and dynamic change areas in the environment, constructs a corresponding environment grid map, marks the non-passable areas in the environment grid map, and simultaneously determines a feasible path search space in a current planning range by combining a guiding target; s52, determining an optimal travelling path from the current position of the robot by adopting a path planning method, and searching the optimal travelling path to the guiding target; S53, continuously monitoring the environmental information and the position change of the guiding target in the process of the robot moving along the planned path, and when a new obstacle or the guiding target is detected to deviate, dynamically re-planning or locally correcting the current path until the current path approaches the guiding target; s54, by setting a safe distance threshold between the guiding object and the robot, when the distance between the robot and the guiding object is lower than the safe distance threshold, the robot automatically reduces the speed.
  9. 9. The intelligent guiding system based on the millimeter wave high-precision positioning robot is characterized by comprising a millimeter wave radar sensing device, a signal acquisition and synchronization device, a signal processing device, a control unit and a mobile execution and obstacle avoidance device, so as to realize the intelligent guiding method based on the millimeter wave high-precision positioning robot according to any one of claims 1-8.

Description

Intelligent guiding method and system based on millimeter wave high-precision positioning robot Technical Field The invention relates to the fields of industrial vision and computer vision, in particular to the field of robot guidance, and specifically relates to an intelligent guidance method and system for a positioning robot based on millimeter waves with high precision. Background With the wide deployment and continuous application of service robots, inspection robots and accompanying robots in indoor and outdoor complex environments such as markets, hospitals, parks, communities and families, the robots have higher requirements on the autonomous perceptibility, spatial positioning precision and stability of guiding processes of target objects in the process of executing autonomous services, inspection monitoring and man-machine interaction tasks. The robot not only needs to accurately acquire the position of the target, but also needs to realize stable and continuous target sensing and motion guiding under the conditions of continuous motion of the target, complex environment structure and various interference factors, thereby guaranteeing the reliability and safety of task execution. Millimeter waves can achieve centimeter-level positioning accuracy due to higher frequency and stronger spatial resolution, so millimeter wave indoor positioning can be used as a core support for intelligent home, internet of things, robot navigation and other technologies, and have received wide attention in recent years. However, various low frequency dynamic disturbances (such as curtain swing, pet activity, air-conditioning airflow, etc.) in the home environment can generate signal reflection characteristics similar to human body motion, and these interference signals cannot be effectively distinguished by conventional static modeling or time filtering methods, resulting in positioning errors or false trajectories. Therefore, how to decouple human body activities and environmental interference in a complex home environment, and process and separate dynamic components in millimeter wave signals in real time becomes an important problem to be solved in order to improve the robustness and accuracy of home positioning systems. The existing robot guiding method is mostly based on satellite positioning, inertial navigation or visual perception for path tracking and control, for example, patent CN109900273B discloses an outdoor mobile robot guiding method and guiding system, a guiding linear function is constructed by calculating the current longitude, latitude and heading angle of a robot and combining a target guiding path coordinate point set planned in advance, lateral deviation and angle deviation are calculated, and the deviation is used as feedback to be input into a digital PID controller to drive a servo motor to realize the movement of the robot along a guiding route. The method can correct angle errors and transverse deviations at the same time, is suitable for an outdoor environment with larger road width change, has certain practicability in the aspect of path tracking control, lacks fine distinction of environment echo signals, is easy to generate positioning drift in complex electromagnetic and dynamic environments, is difficult to support high-precision and stable human body guidance, and is remarkably reduced in positioning precision in indoor, semi-closed space or GNSS signal shielded scenes based on a guidance mode of longitude, latitude and course angle. Aiming at the problem, the invention provides an intelligent guiding method and system for a positioning robot based on millimeter waves with high precision, which promote the wide application of millimeter wave indoor positioning technology in intelligent home and robot navigation. Disclosure of Invention The invention provides an intelligent guiding method and system for a millimeter wave-based high-precision positioning robot, which aim at the problems that millimeter wave radars are easily subjected to multipath reflection, environmental noise and static object interference in a complex indoor environment, so that human echo signals are submerged, dynamic reflection components are difficult to extract accurately, S1 step adopts time domain noise suppression and static background component removal processing to realize effective separation of the environmental dynamic reflection components, environmental dynamic reflection component signals with high signal to noise ratio are provided for subsequent human perception, S2 step introduces an adaptive time sequence weighting and energy focusing mechanism to carry out key enhancement on reflection components which are more likely to be derived from human motion, and suppresses non-human-body-related signals, thereby improving the separability of human effective echoes in time dimension and energy dimension, S3 step carries out adaptive suppression on low-frequency disturbance through multi-scale empirical m