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A robot positioning method based on multi-sensor data fusion

A robot positioning and data fusion technology, applied in satellite radio beacon positioning systems, instruments, measuring devices, etc., can solve the problems of less environmental information of two-dimensional lasers and high cost of three-dimensional lasers, achieve accurate outdoor positioning information, and improve robustness performance and accuracy

Active Publication Date: 2022-01-07
青岛路腾智能装备科技有限公司
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Problems solved by technology

[0004] In view of this, the present invention provides a multi-sensor data fusion robot positioning method, through the use of binocular cameras, laser radar and differential GPS, more abundant environmental information is conveyed to the robot, and two-dimensional laser environmental information is solved. less, high cost of 3D laser, but also provides more accurate outdoor positioning information

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  • A robot positioning method based on multi-sensor data fusion

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Embodiment Construction

[0025] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0026] The present invention provides a multi-sensor data fusion robot positioning method. As shown in the accompanying drawings, the environment recognition sensor transmits the collected external environment information to the industrial computer and draws the environment map, and judges the robot's own position through mutual cooperation. The pose and whether to move to the target area, the robot can be well positioned through the use of sensor data.

[0027] The environment recognition sensor of the present invention includes: laser radar, binocular camera and differential GPS.

[0028] The specific positioning steps are as follows:

[0029] Step 1: Jointly calibrate the binocular camera and the lidar to obtain the internal and external parameters of the binocular camera and the rotation and translation array of the binocular camera relative to the li...

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Abstract

The invention provides a multi-sensor data fusion robot positioning method. The environment recognition sensor transmits the collected external environment information to the industrial computer and draws the environment map, and judges the pose of the robot itself and whether it moves to The area of ​​the target can be well positioned by the robot through the use of sensor data. The present invention conveys richer environmental information to the robot through the combined use of binocular cameras, laser radar and differential GPS, solves the problems of less environmental information of two-dimensional lasers and high cost of three-dimensional lasers, and also provides more accurate outdoor positioning information.

Description

technical field [0001] The invention relates to a robot positioning method, in particular to a robot positioning method for multi-sensor data fusion. Background technique [0002] As technologies such as computing power and sensors continue to increase, the functions of outdoor patrol and security robots are also becoming more and more, and at the same time, the mixed use of multi-sensor data is becoming more and more diverse. At this time, the robot is no longer limited to the use of a single sensor, but can obtain more prepared environment and pose information through the mutual cooperation of multi-sensor data. The mutual use of multi-sensor data is an important means of robot positioning, which requires relatively strong computing power. The development of computers now provides a good foundation for this condition. [0003] Most of the existing robot positioning methods use multiple two-dimensional sensors to obtain environmental information. The inevitable defect of u...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01S19/45
CPCG01C21/20G01S19/45
Inventor 沈俊韩锐王坤
Owner 青岛路腾智能装备科技有限公司
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