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Robot state estimation method, device, computer equipment and storage medium

A state estimation and robot technology, applied in the field of robotics, can solve the problems of low attitude accuracy and low accuracy, and achieve the effect of high accuracy and improved accuracy

Active Publication Date: 2020-08-11
深圳一清创新科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Based on this, it is necessary to provide a robot state estimation method, device, computer equipment and storage medium for the technical problem that the accuracy of the robot state estimation is low due to the low accuracy of the robot attitude estimated by the wheel speed difference

Method used

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  • Robot state estimation method, device, computer equipment and storage medium
  • Robot state estimation method, device, computer equipment and storage medium
  • Robot state estimation method, device, computer equipment and storage medium

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Embodiment Construction

[0030] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0031] The robot state estimation method provided by this application can be applied to such as figure 1 in the robot shown. Wherein, the robot includes a plurality of IMUs (Inertial Measurement Unit, inertial measurement unit), a plurality of encoders, two filters (respectively a first filter and a second filter) and a robot state module. Multiple IMUs are connected to the two filters respectively. The plurality of encoders are respectively connected to the second filter. The first filter is connected to the second filter. The second filter is connected to the robot s...

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Abstract

The invention relates to a robot state estimation method and device, computer equipment and a storage medium. The method comprises steps as follows: motion parameters are acquired by an inertia measurement unit; the motion parameters acquired by the inertia measurement unit are input into a first filter, and the posture of a robot is obtained; the motion direction of the robot is determined according to the posture of the robot; the position of the robot is determined according to the motion direction of the robot and linear velocity acquired by an encoder through a second filter; state information including the posture, the linear velocity and the position of the robot is output. With the adoption of the method, the technical problem of low accuracy for robot state estimation because of low accuracy of the robot posture estimated on the basis of wheel speed difference can be solved.

Description

technical field [0001] The present application relates to the technical field of robots, in particular to a robot state estimation method, device, computer equipment and storage medium. Background technique [0002] Robot state estimation is the prerequisite for robots to achieve autonomous capabilities such as navigation and motion planning. In traditional robot state estimation schemes, for a robot with dual active wheels, the estimation of the robot state (such as position and attitude) is mainly: adding codes to the active wheels The controller reads the wheel speed of each wheel, obtains the wheel speed difference, and then estimates the position and attitude of the robot through the wheel speed and the wheel speed difference, so as to realize the estimation of the robot state. However, the accuracy of the robot pose estimated by the wheel speed difference is low, which reduces the accuracy of the robot state estimation. Contents of the invention [0003] Based on th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/16
CPCG01C21/00G01C21/16
Inventor 刘天瑜廖青海刘洋王鲁佳刘明
Owner 深圳一清创新科技有限公司