Robot positioning method, electronic equipment, storage medium, and apparatus

A robot positioning and robot technology, applied in measuring devices, instruments, surveying and navigation, etc., can solve the problems of low positioning cost, positioning failure, and failure to establish data association, etc., and achieve low positioning cost, good motion constraints, and enhanced robustness sexual effect

Active Publication Date: 2018-04-20
HANGZHOU JIAZHI TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0004] The second object of the present invention is to provide an electronic device, which can perceive the external environment through the binocular vision sensor, the odometer and the gyroscope to perceive the movement of the robot itself, enhance the robustness of the visual positioning method, and provide better motion constraints. The positioning

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  • Robot positioning method, electronic equipment, storage medium, and apparatus
  • Robot positioning method, electronic equipment, storage medium, and apparatus
  • Robot positioning method, electronic equipment, storage medium, and apparatus

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Embodiment Construction

[0053] In the following, the present invention will be further described in conjunction with the drawings and specific implementations. It should be noted that, provided that there is no conflict, the following embodiments or technical features can be combined to form new embodiments. .

[0054] A robot positioning method, such as figure 1 As shown, including the following steps:

[0055] Obtain motion information, obtain the motion information of the robot, the motion information includes odometer information, gyroscope information, binocular image information, and binocular image information is the image information of the binocular camera;

[0056] Estimate the current pose and estimate the current pose of the robot based on the binocular image information; the pose of the robot is the position and orientation of the robot at a certain moment, usually by the translation component T i And the rotation component R i Means, where:

[0057] T i ∈R 3

[0058] R i ∈R 3 ,R i =-R i T ,R i T...

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Abstract

The invention provides a robot positioning method. In the invention, by obtaining motion information, the current position and posture of a robot can be estimated according to the motion information,a mileometer and a gyroscope provide motion constraint, the current position and posture of the robot can be optimized by using the motion constraint, and the optimal locus of the robot can be obtained. The invention relates to a robot positioning apparatus. The invention also relates to electronic equipment and a readable storage medium, which can be used for executing the robot positioning method. The external environment can be sensed through a binocular visual sensor, the mileometer and the gyroscope can sense the self motion of the robot, robustness of a visual positioning method is enhanced, better motion constraint is provided, positioning cost is low, and the accumulative error of position and posture estimation can be continuously corrected during long-term operation of the robot,so that the problems that under similar or sparse environment characteristic or complex scenes of many dynamic objects in environment, the mismatching causes calculating error, and the positioning failure is generated can be solved.

Description

Technical field [0001] The invention relates to the technical field of autonomous movement of robots, in particular to a robot positioning method, electronic equipment, storage medium and device. Background technique [0002] In recent years, robotics, especially mobile robotics, is greatly affecting our work and life. The self-positioning of a mobile robot refers to collecting environmental information or its own motion information through various sensors, and fusing the data through technical means and prior information to determine the pose of the mobile robot relative to a reference coordinate system. In the fields of service and indoor inspection, robots are required to achieve long-term stable operation in the indoor environment and to achieve accurate self-positioning. At this stage, the positioning method based on 3D lidar can meet the above requirements, but the cost of 3D lidar is relatively high, and it is not suitable for large-scale popularization of robots. The co...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/165G01C21/20
Inventor 王越李东轩
Owner HANGZHOU JIAZHI TECH CO LTD
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