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Posture estimation method for mobile robot, and terminal equipment

A mobile robot and attitude estimation technology, which is applied in the direction of instruments, measuring devices, surveying and navigation, etc., can solve the problems of high requirements for structural features, high requirements for the surface texture and illumination of the surrounding environment, and achieve accurate estimation results

Active Publication Date: 2020-01-03
ゼジャンハーレイテクノロジーカンパニーリミテッド
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Problems solved by technology

The method based on visual sensor has higher requirements on the surface texture and illumination of the surrounding environment; the method based on lidar has higher requirements on the structural characteristics of the surrounding environment, while GPS cannot be used in occluded areas and indoors, and can only be used in open outdoor environments

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  • Posture estimation method for mobile robot, and terminal equipment
  • Posture estimation method for mobile robot, and terminal equipment
  • Posture estimation method for mobile robot, and terminal equipment

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Embodiment Construction

[0013] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0014] In order to clearly understand the present invention, the mobile robot will be described below first.

[0015] Such as figure 1 Shown is a schematic structural diagram of a mobile robot according to an embodiment of the present invention, and the mobile robot 100 may include a wheeled robot. The mobile robot 100 includes a vehicle body 101 on which an IMU (Inertial measurement unit, inertial navigation) 102 and an odometry (odometry) 103 are fixedly mounted. IMU 102 includes a three-axis gyroscope and a three-axis accelerometer. The positions of the IMU 102 and the odometer 103 on the vehicle body are subject to actual application, and are not limited here. Since the IMU 102 and the odometer 103 are ...

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Abstract

The invention provides a posture estimation method for a mobile robot. The mobile robot comprises a vehicle body, wherein an IMU and an odometry are fixedly mounted on the vehicle body. The method comprises the following steps: carrying out complementary filtering on IMU data acquired by the IMU, so that moving postures of the mobile robot can be estimated, wherein each moving posture comprises ayaw angle, a pitch angle, and a roll angle; and correcting the yaw angle in each moving posture through an updating cycle of the odometry and odometry data acquired by the odometry, and updating the yaw angle in each moving posture into the corresponding corrected yaw angle. The invention further provides corresponding terminal equipment. The posture estimation method for the mobile robot and theterminal equipment provided by the invention have the advantage that the yaw angle in each posture can be accurately estimated.

Description

technical field [0001] The disclosed embodiments of the present invention relate to the technical field of mobile robot navigation and positioning, and more specifically, relate to a method for estimating a pose of a mobile robot and a terminal device. Background technique [0002] In the application of mobile robots, navigation and positioning is the key technology of its application, and navigation requires precise positioning. The current attitude estimation methods include visual sensors, GPS, etc. The method based on visual sensor has higher requirements on the surface texture and illumination of the surrounding environment; the method based on lidar has higher requirements on the structural characteristics of the surrounding environment, while GPS cannot be used in occluded areas and indoors, and can only be used in open outdoor environments. Contents of the invention [0003] According to the embodiments of the present invention, the present invention proposes a me...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/16
CPCG01C21/00G01C21/16
Inventor 石鹏林辉卢维殷俊
Owner ゼジャンハーレイテクノロジーカンパニーリミテッド
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