Synchronous positioning and map establishment method and equipment

A map construction and synchronous positioning technology, applied in the field of robotics, can solve the problems of low precision and low convenience, achieve high positioning precision and reduce cumulative errors

Inactive Publication Date: 2017-09-15
ANKE SMART CITY TECH PRC
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Problems solved by technology

[0003] However, the existing technology usually needs to set the reference object in the

Method used

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  • Synchronous positioning and map establishment method and equipment
  • Synchronous positioning and map establishment method and equipment
  • Synchronous positioning and map establishment method and equipment

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Embodiment Construction

[0059] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0060] Please see figure 1According to the first embodiment of the synchronous positioning and map construction method of the present invention, the synchronous positioning and map construction method is used for multiple robots, and the synchronous positioning and map construction method includes the steps:

[0061] Step S101, loading a preset robot kinematics model established according to the structure of the robot.

[0062] Because the structure of the robot is different, there are cases where the motion structure of the large and small functions is different. Therefore, in order to target different robots, the kinematics model for each structure can be preset, so as to facilitate the accurate description of the motion pose of the robot. Specifically, the first kinematics model can include:

[0063] 1. Determine...

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Abstract

The invention discloses a synchronous positioning and map establishment method and equipment. The synchronous positioning and map establishment method comprises the following steps: loading a preset robot kinematic model which is established according to the structure of a robot; scanning an environment by using an sensor, and establishing a reference environment map in a preset coordinate system; when moving to a next position, estimating a first estimated posture of the robot through an inertial navigation system; scanning by using the sensor so as to obtain an updated environment map, acquiring a second estimated posture and a new reference environment map according to the updated environment map, the reference environment map and the first estimated posture; acquiring an updated posture according to the first estimated posture and the second estimated posture; and updating the posture of the robot according to the updated posture. The synchronous positioning and map establishment method has the effects that convenience and precision of synchronous positioning and map establishment are improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method and device for synchronous positioning and map construction. Background technique [0002] Simultaneous Localization and Mapping (SLAM for short), which means that when the robot is in an unknown place in advance, it incrementally builds the surrounding environment map by continuously moving in the environment, and simultaneously calculates its own pose in the environment. Because the position of the robot has errors in each step of operation, and the observed environmental feature information is highly related to it, fundamentally speaking, SLAM is an estimation problem, that is, in the case of noise interference, using the sensor carried by the robot itself The observed information is used to estimate the environment map and the trajectory of the robot in this environment map. At present, there are mainly technologies for positioning robots based on electromagnetic wi...

Claims

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Application Information

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IPC IPC(8): G01C21/32G01C21/20
CPCG01C21/32G01C21/20
Inventor 朱昕毅陈剑温从标陈露姜丽丽唐豪杰梅涛
Owner ANKE SMART CITY TECH PRC
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