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Robot idling identification method and device

A recognition method and a technology of a recognition device, which are applied in the direction of instruments, radio wave measurement systems, etc., can solve problems such as the poor recognition effect of robot wheels idling, and achieve the effect of solving poor results

Inactive Publication Date: 2019-08-30
北京云迹科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The main purpose of this application is to provide a robot idling recognition method and device to solve the problem of poor robot wheel idling recognition effect

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  • Robot idling identification method and device
  • Robot idling identification method and device
  • Robot idling identification method and device

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Embodiment Construction

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0026] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for...

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Abstract

The invention discloses a robot idling identification method and device. The method comprises the steps of: calculating the posture change of a wheel coder in a two-frame laser radar data transmissiontime period, and taking as an initial value matched with two-frame laser radar data; estimating the posture change condition matched with the two-frame laser radar data by adopting a laser matching method; accumulating posture estimation of the wheel coder and laser matching in pre-set time; and judging whether a robot wheel is idle or not according to a posture estimation result. By means of therobot idling identification method and device in the invention, the technical problem that the robot wheel idling identification effect is not good is solved; robot wheel idling identification can bewell carried out based on laser radar; and furthermore, the robot idling identification method and device can be suitable for an indoor scene having navigation error due to idling.

Description

technical field [0001] The present application relates to the field of indoor navigation of robots, and in particular, to a method and device for identifying idling of a robot. Background technique [0002] When the robot walks, it often encounters situations where the height of the ground is inconsistent. For example, when entering and exiting the elevator, when passing through the carpet, the ground has ridges, and the height of the elevator and the ground may be inconsistent. [0003] The inventors found that the current navigation error problem caused by the idling of the robot wheels cannot be better solved. [0004] Aiming at the problem of poor recognition effect of robot wheel idling in the related art, no effective solution has been proposed yet. Contents of the invention [0005] The main purpose of the present application is to provide a robot idling recognition method and device to solve the problem of poor recognition effect of robot wheel idling. [0006] I...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/48
CPCG01S7/4802
Inventor 支涛陈绍红
Owner 北京云迹科技股份有限公司