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Positioning method and positioning device of mobile robot, mobile robot and storage medium

A technology of mobile robots and positioning methods, which is applied in the direction of measuring devices, satellite radio beacon positioning systems, instruments, etc., and can solve the problems of low precision and large positioning errors

Active Publication Date: 2018-03-09
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the embodiments of the present invention provide a positioning method and device, a mobile robot and a storage medium to solve the technical problems of large positioning errors and low precision of mobile robots in the prior art

Method used

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  • Positioning method and positioning device of mobile robot, mobile robot and storage medium
  • Positioning method and positioning device of mobile robot, mobile robot and storage medium
  • Positioning method and positioning device of mobile robot, mobile robot and storage medium

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Embodiment 1

[0027] The first embodiment of the present invention provides a positioning method of a mobile robot. The method can be executed by a positioning device of a mobile robot, where the device can be implemented by software and / or hardware, and generally can be integrated in the mobile robot. figure 1 It is a schematic flow chart of the positioning method of a mobile robot provided in the first embodiment of the present invention, such as figure 1 As shown, the method includes:

[0028] S101. Obtain original positioning information of the mobile robot, where the original positioning information includes the first detected pose output by the main positioning module, the second detected pose output from each positioning module, and the position of the mobile robot in the previous positioning period. One posture.

[0029] Among them, the first detected pose may be the pose of the mobile robot detected and determined by the main positioning module of the mobile robot at the current moment;...

Embodiment 2

[0039] figure 2 This is a schematic flow chart of a positioning method for a mobile robot provided in the second embodiment of the present invention. This embodiment is optimized on the basis of the above-mentioned embodiment. In this embodiment, "using the first fusion algorithm to compare the first Detect the pose and the previous pose and perform fusion calculation to obtain the main fusion pose of the main positioning module. "Optimization is to obtain the current speed of the mobile robot. The current speed includes the current linear velocity and the current angular velocity. Calculate the theoretical pose of the mobile robot in the current detection cycle according to the current speed and the previous pose; use the first fusion algorithm to perform fusion calculation on the theoretical pose and the first detected pose, To obtain the main fusion pose of the main positioning module, the first fusion algorithm is an extended Kalman filtering algorithm.

[0040] Further, the...

Embodiment 3

[0067] The third embodiment of the present invention provides a preferred positioning method of a mobile robot. The method can be executed by a positioning device of a mobile robot, where the device can be implemented by software and / or hardware, and generally can be integrated in the mobile robot. image 3 This is a schematic flowchart of a preferred positioning method for a mobile robot provided in the third embodiment of the present invention, such as image 3 As shown, the method includes:

[0068] S301. Obtain sample variances of the poses detected by each positioning module of the mobile robot, and determine the positioning module with the smallest sample variance as the master positioning module of the mobile robot, and determine other positioning modules as the slave positioning modules of the mobile robot.

[0069] S302. Obtain original positioning information and current speed of the mobile robot, where the original positioning information includes the first detected pose ...

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Abstract

The invention discloses a poisoning method and a positioning device of a mobile robot, a mobile robot and a storage medium. The method comprises the following steps: acquiring the original positioninginformation of the mobile robot, wherein the original positioning information includes a first detection pose output by a main positioning module, second detection poses output by each slave positioning module, and a last pose of the mobile robot in the last positioning cycle; performing fusion calculation on the first detection pose, second detection poses output by valid slave positioning modules and the last pose by adopting a set fusion algorithm if existence of the valid slave positioning modules in the slave positioning modules is determined based on the second detection poses, so as todetermine the current pose of the mobile robot in the current positioning cycle. According to the embodiment of the invention, by adopting the technical scheme, the positioning error of the mobile robot can be reduced, and the positioning precision of the mobile terminal and the navigation accuracy of the mobile terminal are improved.

Description

Technical field [0001] The invention relates to the technical field of mobile robot positioning, in particular to a mobile robot positioning method and device, a mobile robot and a storage medium. Background technique [0002] With the development of automatic control technology, more and more mobile robots have been applied to production, military, and service fields to replace manual tasks such as labor intensity, cumbersome tasks, and / or higher risks. [0003] In the process of autonomous robot operation, it is generally necessary to obtain the position information of the mobile robot, so as to determine whether the current position of the mobile robot is located on the preset navigation route from the start position to the end position according to the position information, and When the current position of the mobile robot is not on the navigation route, the actual travel route of the mobile robot is corrected to correct the position of the mobile robot back to the navigation r...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/20G01S19/45G06K9/62
CPCG01C21/005G01C21/20G01S19/45G06F18/25
Inventor 阳方平
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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