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Robot positioning method and device and storage medium

A robot positioning and robot technology, applied in the direction of measuring devices, active optical measuring devices, instruments, etc., can solve the problems of inaccuracy, single positioning of positioning factors, etc.

Active Publication Date: 2020-02-21
北京云迹科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the embodiment of the present application is to provide a robot positioning method, device and storage medium to solve the existing method of only using the laser radar to obtain the laser point cloud and then realize the positioning based on the particle filter positioning algorithm. The positioning factors are too single and The problem of inaccurate positioning caused by

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  • Robot positioning method and device and storage medium
  • Robot positioning method and device and storage medium
  • Robot positioning method and device and storage medium

Examples

Experimental program
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Effect test

no. 1 example

[0051] like figure 1 As shown, the embodiment of the present application provides a robot positioning method, which specifically includes the following steps:

[0052] Step S100: Obtain laser point cloud information and grayscale images of the environment where the robot is located, where the laser point cloud information includes position information of multiple laser points.

[0053] Step S102: Project each laser point into a grayscale image according to the position information of each laser point, and acquire the grayscale value of the projected point corresponding to each laser point.

[0054] Step S104: According to the gray value of the projection point corresponding to each laser point and the distance from each laser point to the nearest obstacle in the environment map where the robot is located, determine the probability of the position observation value of each laser point.

[0055] Step S106: The robot is positioned according to the particle filter positioning alg...

no. 2 example

[0083] Figure 6 A schematic structural block diagram of the robot positioning device provided by the present application is shown. It should be understood that the device is different from the above-mentioned Figure 1 to Figure 5 Corresponding to the method embodiment in the first embodiment, the steps involved in the method in the first embodiment can be performed. The specific functions of the device can refer to the above description. To avoid repetition, the detailed description is appropriately omitted here. The device includes at least one software function module that can be stored in a memory in the form of software or firmware (firmware) or solidified in an operating system (operating system, OS) of the device. Specifically, the device includes: an acquisition module 200, configured to acquire laser point cloud information and grayscale images of the environment where the robot is located, where the laser point cloud information includes position information of mult...

no. 3 example

[0097] like Figure 7 As shown, the present application provides an electronic device 3, including: a processor 301 and a memory 302, the processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanisms (not shown), The memory 302 stores a computer program executable by the processor 301. When the computing device is running, the processor 301 executes the computer program, so as to execute the first embodiment and any optional implementation manner of the first embodiment. Method, such as step S100 to step S106: obtain the laser point cloud information and grayscale image of the environment where the robot is located, the laser point cloud information includes the position information of multiple laser points; according to the position information of each laser point, each laser point Points are projected into the grayscale image, and the grayscale value of the projection point corr...

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Abstract

The invention provides a robot positioning method and device, and a storage medium. The robot positioning method comprises the following steps of: acquiring the laser point cloud information and grayscale image of an environment in which a robot is located, wherein the laser point cloud information comprises the position information of multiple laser points; projecting each laser joint into the grayscale image of the environment in which the robot is located according to the position information of each laser point, and obtaining the grayscale value of a projection point corresponding to eachlaser point; determining the probability of the observation value of each laser point position according to the grayscale value of the projection point corresponding to each laser point and the distance from each laser point to the nearest obstacle in the environmental map where the robot is located, wherein the environmental map where the robot is located is established and stored in advance, andthe distance from each laser point position to the nearest obstacle in the corresponding environmental map is calculated and stored in advance; and locating the robot according to a particle filter positioning algorithm and the probability of the observation value of each laser point position.

Description

technical field [0001] The present application relates to the field of robot positioning, in particular, to a robot positioning method, device and storage medium. Background technique [0002] Existing robots mostly use laser radar and particle filter positioning algorithm for robot positioning, but only use laser radar to obtain laser point cloud and then realize positioning based on particle filter positioning algorithm. The positioning factors are too single and cause insufficient positioning. precise question. Contents of the invention [0003] The purpose of the embodiment of the present application is to provide a robot positioning method, device and storage medium to solve the existing method of only using the laser radar to obtain the laser point cloud and then realize the positioning based on the particle filter positioning algorithm. The positioning factors are too single and The problem of inaccurate positioning is caused. [0004] In the first aspect, the emb...

Claims

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Application Information

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IPC IPC(8): G01C3/00G01C15/00G01C11/04G06T7/80
CPCG01C3/00G01C15/002G01C11/04G06T7/80G06T2207/10028
Inventor 支涛陈波
Owner 北京云迹科技股份有限公司
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