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Method, device and equipment for correcting gyroscope data of mobile robot

A mobile robot and data correction technology, applied in the field of communication, can solve problems such as large amount of calculation, long calculation time, and poor real-time performance, and achieve the effect of improving robustness, simple steps, and accurate correction

Active Publication Date: 2018-10-19
GUANGZHOU COAYU ROBOT CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Based on this, it is necessary to provide a gyroscope data correction method, device and equipment

Method used

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  • Method, device and equipment for correcting gyroscope data of mobile robot
  • Method, device and equipment for correcting gyroscope data of mobile robot
  • Method, device and equipment for correcting gyroscope data of mobile robot

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Embodiment Construction

[0070] The gyroscope data correction method of the mobile robot provided by the embodiment of the present invention can be applied to figure 1 in the system shown. Such as figure 1 As shown, the system may include a robot 11 , a server 12 and a terminal 13 . Optionally, the robot 11 can be a sweeping robot, or a mobile robot; optionally, the server 12 can be a cloud server, or a remote server; optionally, the terminal 13 can be a mobile phone, a tablet computer, a PDA ( Personal Digital Assistant, personal digital assistant) and other intelligent terminals with any Internet access function, the present invention does not limit the specific types of terminals and servers.

[0071] The traditional mobile robot is based on the global optimization operation for all the key frame data recorded by the radar sensor, so as to obtain the optimized pose of the mobile robot in the current frame, and according to the pose of the current frame, the gyroscope of the mobile robot The data...

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Abstract

The invention provides a method, a device, and equipment for correcting the gyroscope data of a mobile robot. The method comprises following steps: subjecting laser radar data of a current frame to loop closure detection; if the loop closure detection is successful, adopting an iterative closets point (ICP) algorithm, according to the primary estimated potion of Y key frames of a mobile robot, thelaser radar point set of Y key frames, the primary estimated angle of Y key frames, and the laser radar point set of the current frame of the mobile robot, determining the information of Y candidateestimated poses; according to the laser radar point set of each key frame and the laser radar point set of the current frame, determining the quantized value of each candidate estimated pose of the current frame; and based on the information of the candidate estimated pose corresponding to maximal quantized value of Y quantized values, correcting the gyroscope data of the mobile robot. The methodcan correct the gyroscope data more quickly and more accurately and improve the work robustness of the system.

Description

technical field [0001] The invention relates to the communication field, in particular to a method, device and equipment for correcting gyroscope data of a mobile robot. Background technique [0002] With the continuous development of intelligent products, people's demand for smart home products has greatly increased. Intelligent sweeping robots have gradually entered our lives. With certain artificial intelligence, they can automatically complete the floor cleaning work in the room, which greatly The convenience of people's life. [0003] In the traditional technology, after the loopback detection, the mobile robot performs a global optimization operation on all the key frame data recorded by the radar sensor of the mobile robot, so as to obtain the optimized pose information of the mobile robot in the current frame, and according to the current frame Correct the gyroscope data of the mobile robot, and then eliminate the interference of accumulated errors on the gyroscope ...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005G01S17/86G01S7/4808G01C21/183G01C21/1652
Inventor 王行知丁璜王立磊杨锴郑卓斌
Owner GUANGZHOU COAYU ROBOT CO LTD
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