Positioning method and equipment for cleaning robot

A technology for cleaning robots and positioning methods, which is applied in the field of positioning methods and equipment for cleaning robots, can solve the problems of increased positioning costs for cleaning robots, achieve low hardware costs, avoid cumulative errors, and improve positioning accuracy

Active Publication Date: 2011-08-03
SHENZHEN INST OF ADVANCED TECH +1
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Problems solved by technology

The positioning error of this technology is small, but t...

Method used

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  • Positioning method and equipment for cleaning robot
  • Positioning method and equipment for cleaning robot
  • Positioning method and equipment for cleaning robot

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Experimental program
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Embodiment approach

[0027] 600. Estimate a prediction result of the current pose and calculate an optimization result of the current pose by using the perceptual model and the positioning data through a probabilistic method.

[0028] The probabilistic method is used for positioning, that is, the probability distribution is maintained at all possible positions of the robot. As the robot moves, new environmental data is perceived, and the probability distribution is updated, thereby reducing the uncertainty of the robot's position. Specific probabilistic positioning methods include Kalman filtering, Markov positioning, multi-hypothesis tracking, and Monte Carlo positioning.

[0029] The following takes the Kalman filter as an example to introduce the process of obtaining the optimization result of the current pose according to the positioning data, see Figure 5 :

[0030] First, a discrete control process system that can be described by a linear stochastic differential equation is introduced, bec...

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Abstract

The invention provides a positioning method and equipment for a cleaning robot. The method comprises the following steps of: calculating a relative angle value and a relative travel distance of a current moment relative to a previous moment according to data acquired from an encoder; acquiring absolute direction and magnetic field strength of the current moment from an electronic compass; taking the absolute direction and the relative travel distance as positioning data if the magnetic field strength is in a preset strength range; and taking the relative angle value and the relative travel distance as the positioning data if the magnetic field strength is not in the preset strength range. In the positioning method for the cleaning robot, the magnetic field strength of the electronic compass is acquired as confidence of the absolute direction of the current moment of the electronic compass, so that accumulated error caused by positioning of the encoder can be avoided to a certain extent, the influence of interference of an external magnetic field on the positioning data of the robot can also be avoided, and the positioning accuracy is greatly improved at a lower hardware cost.

Description

【Technical field】 [0001] The invention relates to a positioning method and equipment, in particular to a positioning method and equipment for a cleaning robot. 【Background technique】 [0002] The cleaning robot is an autonomous mobile robot with intelligent sweeping function. The positioning problem of the cleaning robot is the indoor positioning problem of the autonomous mobile robot, that is, the precise detection of the position, direction and environmental information of the robot in the indoor environment. [0003] Due to cost constraints, most of the current cleaning robots only use the encoder installed on the drive wheel shaft for positioning, but due to slipping, uncertain distance between the two drive wheels and the ground contact point, etc. Accumulated errors make the robot unable to perform reliable positioning for a long time, which leads to problems such as loss of orientation during the working process of the robot, missed scanning of the working area, or th...

Claims

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Application Information

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IPC IPC(8): A47L9/28A47L11/40G01C21/06G01C21/08
Inventor 宋章军张建伟胡颖张建中刘会芬
Owner SHENZHEN INST OF ADVANCED TECH
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