Relocation method of mobile robot based on line matching

Abstract

The present invention is applicable to the technical field of robot positioning, and provides a mobile robot repositioning method based on line matching, including: S1, loading a global map, extracting a line from the global map, and storing it; S2, extracting a line from a local map , to filter out the best intersecting straight line pair and parallel straight line pair; S3, detect whether there is an optimal intersecting straight line pair in the local map, if the detection result is yes, execute step S4, if the detection result is no, execute step S5; S4, Match the best intersecting straight line pair in the local map with the straight line pair in the global map to obtain the optimal rotation matrix R and translation vector T to position the mobile robot; S5. Match the best parallel straight line pair in the local map Match the straight line pairs in the global map to obtain the optimal rotation matrix R and translation vector T to locate the mobile robot. After abnormal situations such as "kidnapping" or restarting of the mobile robot, it can quickly relocate.

Description

technical field [0001] The invention belongs to the technical field of robot positioning, and provides a mobile robot repositioning method 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 restarts or is suddenly "kidnapped" to another position, the robot will not be able to locate its pose. At this time, it is necessary to manually move the robot to the initial position and restart it before it can work. In the existing solutions for robot relocation, most of the robot positioning is realized by sticking a QR code in the environment or installing auxiliary equipment such as UWB, which limits the scope of use of the robot and increases the cost. It is an urgent problem to realize that a mobile robot can quickly and accurately reposition in abnorm...

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.

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