Robot positioning method, device and equipment and storage medium

A technology for robot positioning and robotics, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as inaccurate positioning.

Active Publication Date: 2018-10-12
ECOVACS COMML ROBOTICS CO LTD
View PDF8 Cites 9 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present invention provides a robot positioning method, device, positioning equipment and st

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot positioning method, device and equipment and storage medium
  • Robot positioning method, device and equipment and storage medium
  • Robot positioning method, device and equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0052] Example one

[0053] figure 1 It is a flowchart of a robot positioning method provided by Embodiment 1 of the present invention. The method is executed by a robot positioning device, the device may be executed by software and / or hardware, and the device may be configured in a positioning device, Wherein, the positioning device may be a robot, or may be a device other than the robot that controls the robot, for example, it may be a terminal, a server, etc., and the terminal may be a smart phone, a tablet computer, etc. The server can be a cloud server or other types of servers. Among them, the robot can be a service robot, a commercial robot, etc., and the commercial robot can work in an environment with a large space volume or a large plane area.

[0054] Wherein, the method can be applied in an environment where the volume of the space is large, or the plane area is large, and there are more similar plane scenes, that is, the method can be applied in the environment where ...

Example Embodiment

[0077] Example two

[0078] figure 2 It is a flowchart of a robot positioning method provided in the second embodiment of the present invention. This embodiment is based on the foregoing embodiment and further provides a way to verify the position during the movement in the path, such as figure 2 As shown, the technical solution provided by the embodiment of the present invention includes the following steps:

[0079] S210: Determine at least two initial estimated positions of the robot within a set range map.

[0080] In this step, the number of initial estimated positions can be at least two, set as A1, A2,... And An, and n is a natural number greater than 1.

[0081] S220: Select one of the at least two initial estimated positions as the current initial estimated position according to the matching degree of the scene data of each initial estimated position, and the other as the candidate initial estimated positions.

[0082] The initial estimated positions can be sorted according t...

Example Embodiment

[0113] Example three

[0114] Figure 3a It is a flowchart of a robot positioning method provided in the third embodiment of the present invention. Based on the foregoing embodiment, this embodiment further provides a processing solution for down-sampling a set range map to reduce calculations in the relocation process. the amount. Such as Figure 3a As shown, the technical solutions provided by the embodiments of the present invention are specifically as follows:

[0115] S310: Perform down-sampling processing on the scene data in the set range map to form a set range map in the form of a grid.

[0116] In this step, the down-sampling of the scene data in the set range map may specifically be to sample the scene data in the set range map at a set distance interval, thereby reducing the amount of scene data in the set range map. Reduce the amount of data processing to increase the positioning speed of the robot.

[0117] For example, if the set range map is a raster map, the scene d...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The embodiment of the invention discloses a robot positioning method, device and equipment and a storage medium. The method comprises the steps of determining the initial estimated position of a robotin a set range of a map, controlling the robot to move according to a path between the initial estimated position and the target position in the set range of the map, and determining the estimated actual position of the robot by checking the scene data matching degree of the position in the moving process. By means of the robot positioning method, device and equipment and the storage medium, theproblems of inaccurate positioning in the environment with multiple similar plane scenes and inaccurate positioning of the initial position during position initialization can be solved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of positioning, and in particular, to a robot positioning method, device, positioning equipment, and storage medium. Background technique [0002] At present, controlling the behavior of robots in indoor environments is a hot technology direction, such as sweeping robots and service robots. The indoor environment is generally represented by a set range map, such as a shopping mall, a factory, a family room, etc., and the set range map stores the scene data of each location within the set range. The scene data includes, for example, whether there are objects or obstacles at the location. According to actual needs, the scene data can also have richer information. For example, for a shopping mall, not only can an obstacle be identified at a certain location, but also what the obstacle is can be further identified. When controlling the robot to move indoors, it needs to rely on the po...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
CPCB25J9/1679
Inventor 薛景涛
Owner ECOVACS COMML ROBOTICS CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap