Unlock instant, AI-driven research and patent intelligence for your innovation.

Mobile robot repositioning method based on straight line matching

A mobile robot and relocation technology, which is applied to instruments, image data processing, computing, etc., can solve problems such as increasing costs and limiting the scope of use of robots, and achieves the effect of rapid relocation

Active Publication Date: 2020-04-28
WUHU HIT ROBOT TECH RES INST
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the existing solutions for robot relocation, most of them achieve robot positioning by pasting QR codes in the environment or installing auxiliary equipment such as UWB, which limits the scope of use of robots and increases costs.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Mobile robot repositioning method based on straight line matching
  • Mobile robot repositioning method based on straight line matching

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0039] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0040] figure 1 It is a flowchart of a method for relocating a mobile robot based on line matching provided by an embodiment of the present invention. The method specifically includes the following steps:

[0041] S1. Load the global map, extract the straight line ends in the global map, and store them in the straight line collection. The subsequent matching operation does not need to repeat the straight line extraction operation in the global map, and only needs to be directly read from the straight line collection.

[0042] In the embodiment of the present invention, the straight line segment ex...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention is applicable to the technical field of robot positioning, and provides a mobile robot repositioning method based on straight line matching, which comprises the following steps: S1, loading a global map, extracting a straight line from the global map, and storing the straight line; S2, extracting straight lines from the local map, and screening out the optimal crossed straight line pair and the optimal parallel straight line pair; S3, detecting whether an optimal crossed straight line pair exists in the local map or not, if yes, executing the step S4, and if not, executing the step S5; S4, matching the optimal crossed straight line pair in the local map with the straight line pair in the global map to obtain an optimal rotation matrix R and an optimal translation vector T, and positioning the mobile robot; and S5, matching the optimal parallel straight line pair in the local map with the straight line pair in the global map to obtain an optimal rotation matrix R and an optimal translation vector T, and positioning the mobile robot. And after the mobile robot is subjected to abnormal conditions such as binding or restarting, repositioning can be quickly carried out.

Description

technical field [0001] The invention belongs to the technical field of robot positioning, and provides a method for relocating a mobile robot based on straight line matching. Background technique [0002] With the development of science and technology, mobile robots are playing an increasingly important role in the fields of automated factories and intelligent warehousing and logistics. In some occasions, when the robot is restarted or suddenly "kidnapped" to another position, the robot will not be able to locate its pose. At this time, the robot needs to be manually moved to the initial position before it can work. In the existing solutions to robot relocation, most of them realize robot positioning by pasting QR codes in the environment or installing auxiliary equipment such as UWB, which limits the scope of use of robots and increases costs. Realizing that the mobile robot can quickly and accurately reposition itself in abnormal situations such as failure of its own pose...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/13G06T7/168
CPCG06T7/73G06T7/13G06T7/168G06T2207/20061
Inventor 伍永健陈智君郝奇曹雏清高云峰
Owner WUHU HIT ROBOT TECH RES INST
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com