Mobile robot location method and device as well as computer equipment and storage medium

A mobile robot, positioning method technology, applied in the computer field, can solve problems such as positioning failure

Active Publication Date: 2018-12-28
VISIONNAV ROBOTICS SHENZHEN LTD
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0003] The traditional robot positioning method uses the laser SLAM (Simultaneous Localization and Mapping) positioning method. This positioning method uses the laser to scan the environmental contour information, establishes a grid map, and directly uses the grid map for positioning. Once the environment changes, it is easy to cause positioning failure.

Method used

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  • Mobile robot location method and device as well as computer equipment and storage medium
  • Mobile robot location method and device as well as computer equipment and storage medium
  • Mobile robot location method and device as well as computer equipment and storage medium

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Embodiment Construction

[0047] 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.

[0048] Such as figure 1 As shown, in one implementation, the figure includes a panoramic camera 110 , a processor 120 , and an odometer 140 , a device 130 and an image code 150 for carrying the panoramic camera 110 , the processor 120 , and the odometer 140 . The panoramic camera 520 is used to take panoramic images, and the odometer 140 is used to calculate the relative position of the odometer. Through the mobile device 130, the panoramic camera 110 acquires panoramic images of different locations at different times. The image code 150 is used as an auxiliary tool to in...

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Abstract

The invention relates to a mobile robot location method and device as well as computer equipment and a storage medium. The method comprises the following steps: acquiring a panorama image taken by a panorama camera, wherein the panorama image contains multiple image codes, acquiring image position information of the multiple image codes in the panorama image, determining image relative position information of each image code according to the image position information of each image code, acquiring relative angle information of each image code with the panorama camera, calculating and obtainingposition information and corresponding attitude information of the panorama camera according to the image relative position information and corresponding relative angle information of each image code, acquiring a camera external reference of the panorama camera, and calculating and obtaining position information and corresponding attitude information of a mobile robot according to the camera external reference and the position information and corresponding attitude information of the panorama camera. The method provided by the invention improves location accuracy of a mobile robot and reducesequipment cost.

Description

technical field [0001] The present application relates to the field of computer technology, in particular to a mobile robot positioning method, device, computer equipment and storage medium. Background technique [0002] With the development of computer technology, the localization methods of mobile robots have been continuously developed. The positioning of the mobile robot refers to determining the position coordinates of the robot during the movement process. At present, the positioning of the mobile robot mainly includes relative positioning and absolute positioning. Relative positioning refers to tracking and estimation of the mobile robot according to the initial pose of the robot. Absolute positioning is For the pre-determined environment model or the external position information directly provided to the robot through the sensor, the position of the robot in the world coordinate system is calculated. [0003] The traditional robot positioning method adopts the laser...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 李陆洋鲁豫杰方牧
Owner VISIONNAV ROBOTICS SHENZHEN LTD
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