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Positioning method and device for mobile robot, mobile robot and storage medium

A mobile robot, positioning method technology, applied in the direction of measurement devices, satellite radio beacon positioning systems, instruments, etc., can solve the problems of low precision and large positioning error

Active Publication Date: 2021-03-09
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 device for mobile robot, mobile robot and storage medium
  • Positioning method and device for mobile robot, mobile robot and storage medium
  • Positioning method and device for mobile robot, mobile robot and storage medium

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Effect test

Embodiment 1

[0027] Embodiment 1 of the present invention provides a positioning method for a mobile robot. The method can be executed by a positioning device of the mobile robot, wherein 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 the mobile robot provided in Embodiment 1 of the present invention, such as figure 1 As shown, the method includes:

[0028] S101. Acquire the original positioning information of the mobile robot. The original positioning information includes the first detected pose output by the main positioning module, the second detected pose output by each slave positioning module, and the upper position of the mobile robot in the previous positioning cycle. a pose.

[0029] Wherein, the first detection pose can 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 It is a flow diagram of a positioning method for a mobile robot provided by Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above embodiments. In this embodiment, "using the first fusion algorithm for the first Detecting the pose and the previous pose for fusion calculation to obtain the main fusion pose of the main positioning module" is optimized as: obtaining the current velocity of the mobile robot, the current velocity including 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 last pose; use the first fusion algorithm to perform fusion calculation on the theoretical pose and the first detection pose, In order to obtain the main fusion pose of the main positioning module, the first fusion algorithm is an extended Kalman filter algorithm.

[0040] Further, the mobile robot positioning...

Embodiment 3

[0067] Embodiment 3 of the present invention provides a preferred positioning method for a mobile robot. The method can be executed by a positioning device of the mobile robot, wherein the device can be implemented by software and / or hardware, and generally can be integrated in the mobile robot. image 3 A schematic flow chart of a preferred positioning method for a mobile robot provided in Embodiment 3 of the present invention, as shown in image 3 As shown, the method includes:

[0068] S301. Obtain the sample variance of the pose 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. Acquire the original positioning information and current speed of the mobile robot, the original positioning information includes the first detected pose output...

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Abstract

The invention discloses a positioning method and device for a mobile robot, a mobile robot and a storage medium. The method includes: acquiring the original positioning information of the mobile robot, the original positioning information including the first detection pose output by the master positioning module, the second detection pose output by each slave positioning module, and the mobile robot in the last positioning cycle If it is determined based on the second detection pose that there is an effective slave positioning module in each of the slave positioning modules, the set fusion algorithm is used to perform a comparison of the first detection pose, the effective slave positioning module Fusion calculation is performed on at least two items of the outputted second detected pose and the last pose to determine the current pose of the mobile robot in the current positioning cycle. The embodiments of the present invention can reduce the positioning error of the mobile robot by adopting the above technical solution, and improve the positioning accuracy of the mobile robot and the navigation accuracy of the mobile robot.

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, mobile robots are increasingly being applied to fields such as production, military and service, to replace manpower in tasks that are intensive, cumbersome and / or dangerous. [0003] In the process of autonomous operation of the robot, 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 on the preset navigation route from the starting position to the end position according to the position information, and When the current position of the mobile robot is not located on the navigation route, the actual travel route of the mobile robot is corrected to correct the position of the mobile robot back to th...

Claims

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Application Information

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