Determination method and apparatus for poses of mobile robot

A mobile robot, pose technology, applied in the field of mobile robot positioning and navigation, can solve the problems of complex indoor environment, position and heading angle errors, etc., and achieve the effect of high flexibility and strong applicability

Active Publication Date: 2016-09-21
SMART DYNAMICS CO LTD
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0007] It can be seen that due to the limitation of the accuracy of the sensor itself that each positioning technology relies on, as well as factors such as the complex indoor environment and small space, there are inevitably position and heading angle errors in indoor positioning.

Method used

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  • Determination method and apparatus for poses of mobile robot
  • Determination method and apparatus for poses of mobile robot
  • Determination method and apparatus for poses of mobile robot

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Embodiment Construction

[0033] The present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the disclosure are shown. These embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these examples are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0034] refer to figure 1 , which illustrates a flowchart of a mobile robot pose determination method 100 according to an embodiment of the present invention. Mobile robots include laser scanners and inertial navigation sensors.

[0035] In step S110, when the pose of the mobile robot changes, the inertial navigation sensor is used to calculate the first pose of the mobile robot in the global map. A global map may be pre-created for the environment in which the mobile robot moves. Using the laser scan...

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Abstract

Embodiments of the invention relate to a determination method and apparatus for poses of a mobile robot. The method comprises the following steps: when the pose of the mobile robot changes, calculating the first pose of the mobile robot in a global map by using an inertial navigation sensor; establishing a local map of a surrounding environment where the mobile robot is located by using a laser scanner in virtue of SLAM technology; subjecting the local map to image matching in the global map so as to obtain the second pose of the mobile robot in the global map and matching credibility, wherein the second pose is an optimal pose of the mobile robot in the global map obtained through image matching; and determining the pose of the mobile robot to be the first pose or the second pose according to matching credibility. According embodiments in the invention, determination of the poses of the mobile robot can be improved, and errors in pose determination can be reduced.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of positioning and navigation of mobile robots, and in particular to determination of poses in mobile robot navigation. Background technique [0002] For a mobile robot such as a home service robot to be able to walk autonomously indoors, it must first be able to precisely locate it. Various technologies have emerged for indoor positioning and navigation, such as electromagnetic wire, magnetic tape line, ultra-wideband technology, wireless local area (WLAN)-based positioning technology, laser ranging positioning technology, positioning technology based on inertial navigation, and positioning based on odometer. technology etc. Each positioning technology has its own shortcomings and limitations, and most solutions use a combination of multiple positioning technologies for navigation. [0003] At present, the electromagnetic wire and magnetic tape wire navigation solutions are relativel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18
CPCG05D1/0274G05D1/024G01C21/18
Inventor 王加加刘彪王可可刘英英
Owner SMART DYNAMICS CO LTD
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