Equipment positioning method, grid map construction method and mobile robot

A technology of mobile robot and positioning method, which is applied in the field of mobile robot and can solve problems such as low computing efficiency

Active Publication Date: 2020-03-03
HANGZHOU HIKROBOT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Using the above positioning method can determine the pose of the mobile robot, but its efficiency and accuracy are largely determined by the number of particle

Method used

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  • Equipment positioning method, grid map construction method and mobile robot
  • Equipment positioning method, grid map construction method and mobile robot
  • Equipment positioning method, grid map construction method and mobile robot

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Embodiment Construction

[0118] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.

[0119] In order to improve the computing efficiency during device positioning, the embodiments of the present application provide a device positioning, a grid map construction method, and a mobile robot. The present application will be described in detail below through specific examples.

[0120] figure 1 It is a schematic flowchart of a method for locating a device provided in an embodiment of the present application. The method c...

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Abstract

The embodiment of the invention provides an equipment positioning method, a grid map construction method and a mobile robot. The equipment positioning method comprises the following steps that: the laser data of a laser beam emitted by a mobile robot at the current moment are acquired; the first pose of the mobile robot at the current moment is determined, the first endpoint position of the tail end point of the laser beam in a first grid map is determined according to the laser data and the first pose, wherein the first grid map comprises obstacle grids where an obstacle boundary is located and the values of distances between peripheral grids within a preset range around each obstacle grid and the corresponding obstacle grid; and the first pose is updated according to the values of distances between the peripheral grids and the corresponding barrier grid and the relative positions of the first endpoint position and the corresponding nearest barrier grid. With the equipment positioningmethod, the grid map construction method and the mobile robot provided by the embodiment of the invention adopted, operation efficiency during equipment positioning can be improved.

Description

technical field [0001] The present application relates to the field of robot technology, in particular to a device positioning, a grid map construction method and a mobile robot. Background technique [0002] Simultaneous Localization And Mapping (SLAM) is also called real-time localization and mapping. The problem solved by this technology can be described as: the mobile robot starts to move from an unknown position in an unknown environment, is there a way for the mobile robot to locate its own pose according to the pose estimation and the map, and at the same time, based on its own pose positioning A complete map of the environment is drawn step by step. The pose of the mobile robot includes the position coordinates and orientation information of the mobile robot. For example, the movement of a sweeping robot is a typical SLAM problem. The so-called complete map refers to a map that travels to every corner of the room without obstacles. [0003] The mobile robot can e...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0238
Inventor 余冬冬
Owner HANGZHOU HIKROBOT TECH CO LTD
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