Robot positioning method and device, computer readable storage medium and robot

A robot positioning and robot technology, applied in the field of robotics, can solve problems such as difficulty in taking into account high robustness and precision, and achieve accurate and reliable positioning results, taking into account the effects of robustness and precision.

Active Publication Date: 2020-05-08
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a robot positioning method, device, computer-readable storage medium and robot to solve the problem that the existing robot positioning method is difficult to balance high robustness and precision

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  • Robot positioning method and device, computer readable storage medium and robot
  • Robot positioning method and device, computer readable storage medium and robot
  • Robot positioning method and device, computer readable storage medium and robot

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Embodiment Construction

[0070] In order to make the purpose, features and advantages of the present application more obvious and understandable, 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. Obviously, the following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0071] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a robot positioning method and device, a computer readable storage medium and a robot. The method comprises the steps that the robot is positioned through a particle filter algorithm, and a first positioning pose is obtained; the first positioning pose is subjected to correction calculation through the Newton iterative optimization algorithm to obtain the corrected pose increment; if the pose increment is larger than a preset threshold value, the first positioning pose is determined to be a positioning result of the robot; and if the pose increment is smaller than or equal to the preset threshold value, a second positioning pose is calculated according to the first positioning pose and the pose increment and determined as a positioning result of the robot. Through the invention, consideration for robustness and precision can be achieved, and the accurate reliable positioning result is obtained.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a robot positioning method, a device, a computer-readable storage medium and a robot. Background technique [0002] In the laser positioning and navigation process of the robot, the scene applicability (robustness) and accuracy of positioning are two important parameter indicators, but these two are also a pair of performance indicators that restrict each other. To maintain stability, a certain degree of redundancy is required, and it is more difficult to achieve higher precision at this time. Contents of the invention [0003] In view of this, the embodiments of the present application provide a robot positioning method, device, computer-readable storage medium, and robot, so as to solve the problem that the existing robot positioning methods are difficult to balance high robustness and precision. [0004] The first aspect of the embodiments of the presen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664
Inventor 张思民刘志超刘洪剑赵文恺赵云庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD
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