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Robot repositioning method and apparatus, and storage device

A robot, relocation technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, instruments and other directions, can solve the problems of unsuitable 3D positioning, large power consumption and interference, and reduce the search range. , narrow the search scope, improve the effect of matching efficiency

Active Publication Date: 2020-01-24
UBTECH ROBOTICS CORP LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method can use the Received Signal Strength Indication (RSSI) and Time of Arrival (TOA) method to obtain the distance between the robot and a router or base station. Although the cost is low, the power consumption and interference are relatively high. Big, not suitable for 3D positioning

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  • Robot repositioning method and apparatus, and storage device
  • Robot repositioning method and apparatus, and storage device
  • Robot repositioning method and apparatus, and storage device

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Embodiment Construction

[0014] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0015] Please refer to the figure, figure 1 A schematic flow chart of the first embodiment of the method for robot relocation in this application.

[0016] In the technical solution adopted in this application, a single Ultra Wideband (UWB) base station is used to assist in enhancing the robustness of machine vision positioning, and in the embodiment of this application, the UWB base station can be integrated into the charging pile of the robot, ...

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Abstract

The invention discloses a robot repositioning method and apparatus, and a storage device. The method comprises: determining whether a current frame image is matched with a key frame image stored within a first search range; if NO, determining whether the current frame image comprises distance information of a robot, wherein the distance information is provided by an ultra wideband base station onthe robot; if YES, acquiring a second search range of the key frame image in combination with the distance information; determining whether the current frame image is provided with a matched key framewithin the second search range; and if matching succeeds, acquiring a current position and posture of a camera according to the matched key frame image. Through the above mode, the robot repositioning method can narrow the search range of the key frame image and reduce a search range of a subsequent bag-of-word, thereby shortening the search time and improving the subsequent matching efficiency.

Description

technical field [0001] The present application relates to the technical field of robot vision positioning, in particular to a method, device and storage device for robot repositioning. Background technique [0002] Positioning and navigation based on machine vision is a key technology in the field of robotics. However, the robustness of existing vision solutions is still not high enough, and there are often problems such as tracking loss and relocation failure. At the same time, the lighting will also have a great impact on the visual positioning. If the robot passes the same place but the lighting is different, the positioning may fail. If the positioning fails, it will cause the subsequent functions of the robot, such as navigation, to be unable to perform. The distance sensor has the property of cumulative error. If the absolute position of the robot from a certain position can be obtained, the cumulative error of the robot can be corrected in time. In view of the abov...

Claims

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Application Information

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IPC IPC(8): G05D1/02G06T7/33
CPCG05D1/0253G06T7/33G05D1/0223G05D1/0221G05D1/0285G06T2207/30244G06T2207/10016
Inventor 熊友军蒋晨晨刘志超
Owner UBTECH ROBOTICS CORP LTD
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