Robot navigation and positioning method, system and robot
A technology of navigation and positioning and robots, applied in the field of robot navigation and positioning methods, systems and robots, can solve the problems of high cost and unfavorable robot popularization, and achieve the effect of low cost, low cost and simple hardware structure
Inactive Publication Date: 2017-05-10
SHENZHEN LDROBOT CO LTD
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[0003] In the prior art, in order to allow the robot to achieve more accurate positioning and avoid collisions with obstacles, people have equipped the robot with a single-line laser radar and some other auxiliary sensors, such as ultrasonic sensors and infrared sensors, etc., but the single-line laser radar and other auxiliary sensors The cost is very high, which is not conducive to the popularization of robots
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[0051] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
[0052] The embodiment of the invention discloses a robot navigation and positioning method, see figure 1 As shown, the method includes:
[0053] Step S11: Collect a depth picture of the robot within a preset viewing angle range.
[0054] The embodiment of the present invention may specifically use a depth camera to collect the above-mentioned depth image, that is, the above-mentioned depth image is depth information within a preset viewing a...
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The invention discloses a robot navigation and positioning method, a robot navigation and positioning system and a robot with the robot navigation and positioning system. The method includes: acquiring a depth image of a robot in a preset visual angle range; constructing a real-time environment model corresponding to the depth image; comparing the real-time environment model with a preset reference environment model to obtain current pose information of the robot. According to the method, the real-time depth image is acquired, then the real-time environment model corresponding to the depth image is constructed, and the current pose information of the robot can be determined by comparison of the real-time environment model and the reference environment model. Compared with single-line laser radar and other auxiliary sensors, an existing device for detecting depth image information has advantages of structural simplicity of required hardware and low cost. Robot positioning is realized under conditions of sensor reduction and low cost. In addition, a function of assisting the robot in obstacle avoidance can be realized.
Description
Technical field [0001] The invention relates to the technical field of robot navigation and positioning, in particular to a robot navigation and positioning method, system and robot. Background technique [0002] With the development of science and technology and the improvement of living standards, more and more jobs can be replaced by robots. In some cases, robots need to be able to position themselves accurately to avoid collisions with obstacles. [0003] In the prior art, in order to allow the robot to achieve more accurate positioning and avoid collision with obstacles, people have equipped the robot with single-line lidar and some other auxiliary sensors, such as ultrasonic sensors and infrared sensors, but single-line lidar and other auxiliary sensors The cost is very high, which is not conducive to the popularization of robots. [0004] In summary, it can be seen that how to realize the positioning of the robot under the premise of low cost is a problem to be solved at pres...
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IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 郭盖华
Owner SHENZHEN LDROBOT CO LTD