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Positioning method and device of robot

A positioning method and robot technology, applied in the field of robotics, can solve problems such as robot position loss, and achieve the effect of finding the position in time

Inactive Publication Date: 2019-07-26
ZHEJIANG ZHILING ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The main purpose of the present invention is to provide a positioning method and device for a robot to solve the problem in the prior art that the robot loses its position during operation

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Embodiment Construction

[0013] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0014] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0015] It should be noted that the terms "first...

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Abstract

The invention provides a positioning method and device of a robot. The positioning method comprises the following steps that during the process of the running of the robot, if the problem of losing location appears, according to an oriented coordinate (x2,y2) of a second map point cloud (low-resolution map point cloud), data of a corresponding threshold matrix a [x] [y] are inquired; a coordinateof robot current location in a first map point cloud is computed in a reversed mode to obtain a targeted coordinate (x1',y1'); current location coordinate (x1,y1) in the first map point cloud is further compared with the targeted coordinate (x1',y1') to obtain an error within an error range of low-resolution radar positioning; and a positioning coordinate (x1,y1) in the first map point cloud (high-resolution map point cloud) is determined to be effective. According to the positioning method, the technical problem that robot loses location during the process of moving in the prior art is solved, and the technical effect that the location is found in time during moving is achieved.

Description

technical field [0001] The present invention relates to the field of robots, in particular to a positioning method and device for a robot. Background technique [0002] Warehousing robots generally have only one high-precision lidar to scan the map, obtain data to run the SLAM algorithm, and generate map point cloud coordinates. However, there are two problems. The first is the loss of location. The warehouse structure is too regular, the size of the shelves, and the packaging of the goods are similar. Sometimes the robot will make a wrong judgment when scanning the picture, resulting in the loss of the location. The second is the mutual interference of lasers between robots. The width between the shelves is limited, and generally two robots can be paralleled, and there is no mutual interference problem at this time. However, when there are two robots in an aisle that simultaneously scan to the opposite side, there will occasionally be some interference problems, and the p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01S17/06
CPCG01C21/005G01C21/20G01C21/206G01S17/06
Inventor 寇宇张弛
Owner ZHEJIANG ZHILING ROBOT TECH CO LTD
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