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Positioning method and system

A positioning system and subsystem technology, applied in the field of positioning methods and systems, can solve problems such as inability to eliminate errors, inability to overcome wheel slippage, etc., and achieve the effects of solving accumulated errors, optimizing positioning information, overcoming lack of scale and poor robustness

Pending Publication Date: 2019-04-05
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

[0003] At present, the traditional robot positioning method often relies on the wheel odometer for calculation. The advantage of the wheel odometer is that the positioning accuracy is very high in a short time and short distance, but this dead reckoning positioning method will have cumulative errors and is not It can eliminate errors based on its own information, and at the same time it cannot overcome the influence of factors such as wheel slippage

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Embodiment Construction

[0057] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

[0058] Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art wi...

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Abstract

The invention discloses a positioning method and system, and relates to the technical field of robot positioning. The positioning method comprises the steps: a chassis control chip obtains first posedata of a wheeled speedometer model according to rotating speed data and angle data; a robot main control subsystem calculates second pose data of a visual speedometer model according to image data obtained by a monocular camera; the robot main control subsystem conducts timestamp alignment and movement track alignment on the first pose data and the second pose data, and the optimal camera scale of the monocular camera is recovered; the robot main control subsystem conducts scale recovery on the second pose data according to the optimal camera scale; and the robot main control subsystem fusesthe first pose data with the second pose data which are subjected to scale recovery, and final pose data of a wheeled mobile robot are obtained. According to the positioning method and system, the problems that the monocular camera has no scale and is poor in robustness in the positioning process can be avoided, and the problems of accumulative errors of a wheeled speedometer and slip of wheels ofthe robot can also be solved.

Description

technical field [0001] The invention relates to the technical field of robot positioning, in particular to a positioning method and system. Background technique [0002] Positioning and navigation is one of the prerequisites for robots to realize intelligence, and it is a key factor for endowing robots with perception and action capabilities. [0003] At present, the traditional robot positioning method often relies on the wheel odometer for calculation. The advantage of the wheel odometer is that the positioning accuracy is very high in a short time and short distance, but this dead reckoning positioning method will have cumulative errors and is not It can eliminate errors based on its own information, but it cannot overcome the influence of factors such as wheel slippage. Contents of the invention [0004] In view of this, the object of the present invention is to propose a positioning method and system to improve the above problems. [0005] In order to achieve the ab...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 于慧君唐尚华彭倍马俊曾志周吴
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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