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LiDAR-based robot positioning method, device and robot

A robot positioning and laser radar technology, applied in two-dimensional position/channel control, measuring devices, instruments, etc., can solve the problems of slow positioning speed, robot pose and posture changes, etc., and achieve the effect of fast positioning speed

Active Publication Date: 2020-07-17
SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the process of implementing the present invention, the inventors found that there are at least the following problems in related technologies: when the robot is artificially moved from one pose to another, the pose and posture of the robot have changed greatly compared to before the move
At present, the global positioning method is directly used to reposition the robot, but the global positioning method has a slow positioning speed due to its wide search range.

Method used

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  • LiDAR-based robot positioning method, device and robot
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  • LiDAR-based robot positioning method, device and robot

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Embodiment Construction

[0067] 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. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0068] The lidar-based robot positioning method and device provided by the embodiments of the present invention can be applied to figure 1 The application scenario shown. The application scenario includes a robot 10 . Wherein, the robot 10 may be a mobile robot, such as a sweeping robot, an inspection robot, an unmanned sampling robot, an unmann...

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Abstract

The invention relates to a laser radar based robot positioning method and device and a robot. The method comprises the steps that the initial estimated position of the robot is obtained; a local particle filtering model is obtained according to the initial estimated position and a map; obstacle information of the surrounding of the robot is obtained through a laser radar; and the robot is positioned via the local particle filter model and the obstacle information, and the position of the robot in the map is obtained. The searching range of the local particle filter model is narrower than thatof global positioning, so that positioning is faster.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of artificial intelligence, and in particular to a laser radar-based robot positioning method, device and robot. Background technique [0002] Because robots can replace humans in heavy housework, they are deeply loved by humans. When the robot completes the user's task, it needs to move in an unknown environment. In order to achieve autonomous positioning and navigation during the movement, it is necessary to build an incremental map and estimate its own position in the map. [0003] In the process of implementing the present invention, the inventors found that there are at least the following problems in related technologies: when the robot is artificially moved from one pose to another, the pose and posture of the robot have changed greatly compared to before the move . At this time, if you continue to build the map, there will be inaccurate and overlapping problems caused by ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01C21/16G01S17/93
CPCG01C21/165G01S17/88G05D1/02
Inventor 罗丹平叶力荣张国栋闫瑞君
Owner SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD