Method and system for recognizing orientation of a robot
A recognition method and robot technology, applied in the field of robotics, can solve the problems of robot positioning and orientation recognition interference, difficulty in recovery, error accumulation, etc., and achieve the effects of improving accuracy, easy implementation, and simple calculation methods
Active Publication Date: 2021-09-07
诺亚机器人科技(上海)有限公司
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[0003] In practical applications, the robot body is usually equipped with positioning sensors such as gyroscopes and odometers. When positioning indoors, if the robot is accidentally shut down and then moved, when it is turned on again, the robot will use the sensors and positioning algorithms to perform positioning and orientation. However, due to the error in the data collected by the sensor, if the robot is moved many times, the error will accumulate, making it difficult for the robot to accurately judge its orientation on the map, which will cause great damage to the robot's positioning and orientation recognition. interference and it is difficult to recover by itself, only artificially reset the initial orientation of the robot
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[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation manners of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other accompanying drawings based on these drawings and obtain other implementations.
[0047] In order to make the drawing concise, each drawing only schematically shows the parts related to the present invention, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components having the same structure or function is schematically shown, or only one of them is marked. Herein, "a" not only means "only one", but also means "more than one".
[0048] Such as f...
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The present invention provides a robot orientation recognition method and system, the method comprising: S1 acquiring the magnetic field information of each unit area in the map, and associating the magnetic field information of each unit area with the map to obtain the magnetic field with the magnetic field information Distribution map; magnetic field information includes magnetic field direction and magnetic field strength; S2 detects the current unit area corresponding to the current position in the magnetic field distribution map, and calculates the direction of the robot relative to the magnetic field according to the magnetic field information corresponding to the current unit area and the current motion acceleration of the robot. The first azimuth angle of the direction; S3 calculates the distance between the robot direction and the preset standard direction according to the first azimuth angle, the second azimuth angle between the magnetic field direction of the current unit area and the preset standard direction on the magnetic field distribution map third azimuth angle. A magnetic field distribution map with magnetic field information is created autonomously by the robot, and the starting orientation of the robot is determined according to the magnetic field information provided on the map.
Description
technical field [0001] The invention relates to the field of robots, in particular to a method and system for recognizing the orientation of a robot. Background technique [0002] With the advancement of science and technology, intelligent robots have developed rapidly. They can help people complete many tasks. For example, sweeping robots can help users clean up, delivery robots can free users from heavy work, and guiding robots can help users plan quickly. Give the route to the destination and guide the user to the destination. When the robot completes the above process, it is essential to carry out orientation positioning. [0003] In practical applications, the robot body is usually equipped with positioning sensors such as gyroscopes and odometers. When positioning indoors, if the robot is accidentally shut down and then moved, when it is turned on again, the robot will use the sensors and positioning algorithms to perform positioning and orientation. However, due to ...
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IPC IPC(8): G01C21/16G01C21/08G01C17/02
CPCG01C17/02G01C21/08G01C21/16
Inventor 蒋化冰刘金权王林倪程云姜松林张建张海涛
Owner 诺亚机器人科技(上海)有限公司