Robot positioning method and device based on SLAM

A robot positioning and robot technology, applied in the field of positioning, can solve problems that affect the matching results of the positioning process, etc., and achieve the effect of reducing the probability of matching errors, improving the effect, and being easy to achieve

Inactive Publication Date: 2019-02-01
SHANGHAI NEW CENTURY ROBOT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a SLAM-based robot positioning method and device, which can effectively solve the technical problem in the prior art that the matching result of the positioning process is affected by the occlusion of pedestrians

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  • Robot positioning method and device based on SLAM
  • Robot positioning method and device based on SLAM
  • Robot positioning method and device based on SLAM

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Embodiment Construction

[0024] 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.

[0025] 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".

[0026] As shown i...

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Abstract

The invention discloses a robot positioning method and device based on SLAM. The robot positioning method includes the steps that whether human legs appear in current environment or not is detected; if yes, measuring points shielded by the human legs are obtained and filtered out from a measuring point set, wherein the measuring points are emitting laser points of a robot or feature points detected by the robot according to taken images; matching values of the remaining measuring points are sequentially determined according to a pre-created environment map; and according to the matching valuesof the remaining measuring points, the matching degree between the current position and a predicted position is obtained, and a positioning operation is completed, wherein the predicted position is aposition preset by a user in the robot or a position calculated by the robot according to a motion sensor arranged on the robot. Matching calculation between the current position and the predicted position is carried out according to the filtered-out measuring points, the measuring points shielded by the human legs are prevented from affecting matching results, the matching effect is greatly improved, the matching error probability is lowered, and thus the SLAM performance is improved.

Description

technical field [0001] The invention relates to the field of positioning technology, in particular to a SLAM-based robot positioning method and device. Background technique [0002] With the development of robot technology, the application field of robots is also expanding, and the working environment of robots is also becoming more and more complex. If a robot wants to achieve a certain function in an environment with a lot of interference, it requires the ability to recognize the surrounding environment , and clearly know where you are, that is, you need to have the ability to position yourself. SLAM (Simultaneous Localization and Mapping) technology allows robots to have this function by continuously positioning themselves in the environment and incrementally making the positioned map into a global map. [0003] In this process, the most important and difficult part is the positioning technology. The positioning technology of SLAM is generally achieved by matching the m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 马新军杨洪杰李玺华王建宽
Owner SHANGHAI NEW CENTURY ROBOT
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