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Autonomous mobile equipment positioning method and device, and autonomous mobile equipment

A mobile, equipment technology, applied in two-dimensional position/course control, vehicle position/route/altitude control, non-electric variable control and other directions

Inactive Publication Date: 2017-05-24
BPEER ROBOTICS INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] Embodiments of the present disclosure provide a method and device for locating autonomous mobile equipment and autonomous mobile equipment, so as to solve the technical problem of positioning technology for autonomous mobile equipment after a sudden change in position in the prior art

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  • Autonomous mobile equipment positioning method and device, and autonomous mobile equipment
  • Autonomous mobile equipment positioning method and device, and autonomous mobile equipment
  • Autonomous mobile equipment positioning method and device, and autonomous mobile equipment

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Embodiment Construction

[0029] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the embodiments and accompanying drawings. Here, the exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.

[0030] figure 1 is a schematic diagram of an autonomous mobile device 100 according to an embodiment of the present disclosure.

[0031] Such as figure 1 As shown, the autonomous mobile device 100 may include: a controller 20 , a distance measuring sensor 21 , a moving distance detection device 23 , a drive unit 24 , a storage device 25 , and a state detection device 29 . should be understood figure 1 The autonomous mobile device 100 is shown as an illustration only, and is not a limitation of the present disclosure, and the autonomous mobile device 100 may include one or more fewer or more ...

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Abstract

The invention provides an autonomous mobile equipment positioning method and device, and autonomous mobile equipment. The autonomous mobile equipment positioning method comprises steps that whether the autonomous mobile equipment enters a suspension state from a ground state is detected; if yes, a first pose of the autonomous mobile equipment is predicted according to the first measurement information of an inertia measurement unit and / or the second measurement information of a visual odometer; lastly, if the autonomous mobile equipment is detected to return to the ground state from the suspension state, pose estimation is carried out through utilizing the first pose, and a second pose of the autonomous mobile equipment is acquired. The autonomous mobile equipment positioning method is advantaged in that the autonomous mobile equipment which is lifted to move and laid down can be respectively positioned.

Description

technical field [0001] The present disclosure relates to the technical field of indoor positioning of autonomous mobile devices, in particular to a method and device for positioning autonomous mobile devices and autonomous mobile devices. Background technique [0002] Localization is the process of determining where an autonomous mobile device is located in its operating environment. More specifically, it uses input information such as the prior environment map information, the current estimation of the pose of the autonomous mobile device, and the observation value of the sensor, after certain processing and transformation, to produce a more accurate estimate of the current pose of the autonomous mobile device. estimate. [0003] The pose of an autonomous mobile device in a two-dimensional indoor plane is usually represented by a triplet (tx, ty, θ), where (tx, ty) represents the position (translational component) of the autonomous mobile device relative to the coordinate ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0242G05D1/0223G05D1/0251G05D1/0255G05D1/0276G05D1/028
Inventor 聂华闻赵珊
Owner BPEER ROBOTICS INC