An indoor positioning method based on single-line lidar

A single-line laser radar, indoor positioning technology, applied in the re-radiation of electromagnetic waves, radio wave measurement systems, instruments, etc., can solve the problems of inconvenience, indoor positioning accuracy is difficult to reach centimeter level, and positioning accuracy cannot be applied, and achieve high precision. The effect of indoor positioning

Active Publication Date: 2021-11-16
中振同辂(江苏)机器人有限公司
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AI Technical Summary

Problems solved by technology

[0003] Since it is difficult to receive satellite signals indoors, positioning methods such as GPS cannot quickly and accurately locate indoors, so other sensors are generally used for indoor positioning. Currently, common indoor positioning solutions include Wifi, Bluetooth, RFID, etc., but these positioning methods are not It is necessary to modify the existing indoor scenes, such as adding signal transmitters, etc., which is not easy to use
In addition, the indoor positioning accuracy of these methods is difficult to reach the centimeter level, and cannot be applied to scenarios that require high positioning accuracy

Method used

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  • An indoor positioning method based on single-line lidar
  • An indoor positioning method based on single-line lidar
  • An indoor positioning method based on single-line lidar

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Embodiment Construction

[0027] The technical solutions of the present invention will be further illustrated in conjunction with the accompanying drawings.

[0028] The above-described indoor positioning method based on single-wire laser radar, includes the following steps:

[0029] (1) Construction of the data acquired using a single laser radar collection, the single-line laser radar transmits the laser beam in the fixed direction, and the laser that is emitted will be reflected, so that the laser is transmitted from emitted to The time difference received can calculate the distance of the single laser thunder to the nearest obstacle in this direction.

[0030] In the plaster map, for a point, P (s = 0) is used to indicate that it is an empty state, with P (s = 1) to indicate that it is the probability of occupying the status, both of the sum of 1. In this case, the ratio of the two is introduced as a state of the point: ODD (S) = p (s = 1) / p (s = 0). In the grid map, the larger the value of a point s...

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Abstract

The invention discloses an indoor positioning method based on a single-line laser radar, which comprises the following steps: (1) using the data collected by the single-line laser radar to construct an occupancy grid map; (2) using the method in step (1) to construct a local map, and perform local matching; (3) use the method in step (1) to construct a global map, and perform global matching; (4) when a global matching result is obtained, combine the global map and the local map in the global matching result Constraint on the time stamp of the time stamp and join the optimization queue; in order to avoid accidental errors, a least squares optimization is performed when the optimization queue reaches a certain number, and the historical positioning track in the current local map is updated, and the pose of each point is updated to finally Get real-time accurate pose. The invention provides an indoor positioning method based on a single-line laser radar, which can realize high-precision indoor positioning in various scenarios, and provides greater support for the stable operation and work of a robot.

Description

Technical field [0001] The present invention relates to an indoor positioning method based on single-wire laser radar. Background technique [0002] In the indoor robot field, the robot needs time to determine the location in the environment to perform the next task. Common application scenarios have a sweeping robot, warehousing robot, automatic parking in vehicle garage. [0003] Since the indoor is difficult to receive satellite signals, the positioning method of GPS cannot be positioned quickly and accurately in the room, so the indoor use of other sensors is positioned, and the currently common indoor positioning schemes include WiFi, Bluetooth, RFID, etc., but these positioning methods It is necessary to modify the existing indoor scenes, such as increasing signal transmitters, etc., inconvenient to use. In addition, indoor positioning accuracy in these ways is difficult to reach cm level, and it is unable to apply a scene that requires high positioning accuracy. Inventive...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01S17/931
CPCG01C21/206
Inventor 张涛桂坡坡胡建平徐昆源陆新民赵懿
Owner 中振同辂(江苏)机器人有限公司
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