Robot global repositioning method

A robot and repositioning technology, applied in the field of robotics, can solve the problems of limiting the scope of use of robots, lack of robot autonomy, and high cost, and achieve the effects of fast positioning, autonomy, and high autonomy

Active Publication Date: 2019-01-04
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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Problems solved by technology

Most of these solutions need to change the operating environment of the robot, which limits the scope of use of the robot to a

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  • Robot global repositioning method

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[0024] In order to further illustrate the features of the present invention, please refer to the following detailed description and accompanying drawings of the present invention. The accompanying drawings are for reference and description only, and are not intended to limit the protection scope of the present invention.

[0025] like figure 1 As shown, this embodiment discloses a global relocation method for a robot. The robot is equipped with a laser radar and an odometer, and the robot pre-stores a global map of its operating area environment, including steps S1 to S7:

[0026] S1. It is set that at the initial moment, the probability of all poses of the robot in the global map obeys a uniform distribution;

[0027] It should be noted that since the robot has global uncertainty at the initial moment, it is assumed that the probability of each pose of the robot in the global environment is equal, so that the probabilities of each pose can be updated later.

[0028] S2. Usi...

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Abstract

The invention discloses a robot global repositioning method, and belongs to the technical field of robots. The robot global repositioning method comprises the following steps of at the beginning, setting the situation that a robot has the same probability distribution in all positions; enabling the robot to obtain peripheral environmental information of the robot in a real-time manner and construct a partial map through carrying a laser radar; through using a method of image matching, finding possible position of the partial map in the global map and probability at the possible position, and updating positioning confidence coefficient of the robot in the global map; calculating the difference value between an updated maximum positioning confidence coefficient and a second maximum positioning confidence coefficient; and judging whether the difference value is greater than a set threshold or not, if yes, completing the positioning, or else, according to data of a speedometer carried by the robot, updating the positioning confidence coefficient of the robot. According to the robot global repositioning method disclosed by the invention, only needing a sensor carried by the robot, the robot can complete global repositioning, and has high autonomy and high adaptability; and the positioning speed is high, and the robustness is high.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a global repositioning method for a robot. Background technique [0002] With the development of science and technology and the improvement of living standards, in real life, more and more robots are required to replace manual tasks to complete some simple and repetitive tasks. Solving the "kidnapping" and relocation of robots can greatly expand the application fields of service robots and improve User experience. [0003] In the existing solutions for robot relocation, most of them achieve robot positioning by pasting QR codes in the environment or installing auxiliary equipment such as UWB, or manually specifying the possible position range of one or more robots. Most of these solutions need to change the operating environment of the robot, which limits the scope of use of the robot to a certain extent, and the cost is high; and through manual intervention, the autonomy of the ...

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Application Information

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IPC IPC(8): G01C21/20G01S17/88
CPCG01C21/20G01S17/88
Inventor 杨记周高放潘宏青许玉云骆永乐
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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