A robot and its navigation and positioning method and device

A navigation and positioning and robotics technology, applied in the field of intelligent robots, can solve the problems that the navigation system cannot navigate and locate, the amount of radar data is small, and the degree of environmental dependence is high, so as to reduce the amount of calculation, improve the accuracy, and solve the effect of positioning drift.

Active Publication Date: 2021-06-29
UBTECH ROBOTICS CORP LTD +1
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the small amount of radar data, it is highly dependent on the environment. For example, similar environmental characteristics or changes in environmental characteristics have a serious impact on the lidar-based navigation system, such as in a scene with too many similar environmental points, or In scenarios where the environment changes greatly, and in scenarios where there is a large flow of people, it is easy for the navigation system to fail to perform accurate and efficient navigation and positioning

Method used

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  • A robot and its navigation and positioning method and device
  • A robot and its navigation and positioning method and device
  • A robot and its navigation and positioning method and device

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Embodiment Construction

[0038] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0039] In order to illustrate the technical solutions described in this application, specific examples are used below to illustrate.

[0040] like figure 1 As shown, the robot described in the embodiment of the present application may include three sensing devices, namely a color image camera, a depth image camera, and a laser radar. The color image camera is arranged on the head o...

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Abstract

A navigation and positioning method for a robot includes: establishing an image database, obtaining the corresponding relationship between coordinates and radar images and coordinates and color images and / or depth images; detecting whether the matching degree between the current radar image and the radar image in the image database is less than a predetermined The threshold; if it is less than the predetermined threshold, then turn on the color image camera and / or the depth image camera, match and locate the acquired color image with the color image in the image database, and match the acquired depth image with the depth image in the image database Match positioning. Therefore, in the whole navigation and positioning process, the accuracy of the whole navigation and positioning can be improved, and the problem of robot positioning drift can be effectively solved.

Description

technical field [0001] The present application belongs to the field of intelligent robots, and in particular relates to a robot and its navigation and positioning method and device. Background technique [0002] After the navigation technology is applied to the mobile robot, functions such as patrolling and tour guide can be realized, or the robot can automatically return to the charging position when the battery power of the robot is low. For example, in commercial scenarios, in order to realize the fully automatic workflow of the robot, it is necessary to perform automatic recharging when the power is lower than the set value. In the future, the robot will automatically start up and start working. [0003] In order to realize the function of automatic recharging, the navigation efficiency and accuracy of the robot's navigation function are very important. In order to realize the navigation function, the sensors generally used include: lidar, color camera, depth camera, e...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01S17/88
CPCG01C21/20G01S17/88
Inventor 熊友军张木森黄祥斌聂鹏
Owner UBTECH ROBOTICS CORP LTD
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