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Robot map construction and positioning method, robot

A map construction and robot technology, applied in the field of robotics, can solve the problems of limited application scope of robots, increased cost and labor effort, and difficulty in accurate identification of sensors, achieving high-precision modular stitching composition, improved positioning accuracy, and suitable wide range of effects

Active Publication Date: 2021-12-07
支点高空深圳科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in some occasions, due to no or few reference objects, it is difficult for the sensor to identify accurately, so the scope of application of the robot is limited.
If artificially adding prominent objects or artificially pasting positioning marks as reference objects, it will increase cost and labor effort, making it difficult to achieve economicalization

Method used

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  • Robot map construction and positioning method, robot
  • Robot map construction and positioning method, robot
  • Robot map construction and positioning method, robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] This embodiment discloses a robot map construction method, wherein, such as figure 1 and figure 2 As shown, the robot 1 can be placed and moved on the working surface, the working surface has a plurality of dividing lines 2, and these dividing lines divide the working surface into a plurality of square sub-blocks 3, the working surface includes but not limited to walls, floors and curtain walls, Corresponding dividing lines include, but are not limited to, gaps between boards, bricks or tiles, gaps between glass, and sealants.

[0056] The types of robots include, but are not limited to, AVG logistics smart cars, household robots and smart service robots. The robot of the present embodiment comprises square plate body 6, inductor 5, attitude sensor 10, moving mechanism, driving mechanism and controller 9, wherein, inductor, attitude sensor, moving mechanism, driving mechanism and controller are all installed in the body superior. The sensor is located on the edge of...

Embodiment 2

[0071] This embodiment discloses a positioning method for a robot, wherein, as figure 1 and figure 2 As shown, the robot 1 can be placed and moved on the working surface, the working surface has a plurality of dividing lines 2, and these dividing lines divide the working surface into a plurality of square sub-blocks 3, the working surface includes but not limited to walls, floors and curtain walls, Corresponding dividing lines include, but are not limited to, gaps between boards, bricks or tiles, gaps between glass, and sealants.

[0072] The types of robots include, but are not limited to, AVG logistics smart cars, household robots and smart service robots. The robot of the present embodiment comprises square plate body 6, inductor 5, attitude sensor 10, moving mechanism, driving mechanism and controller 9, wherein, inductor, attitude sensor, moving mechanism, driving mechanism and controller are all installed in the body superior. The sensor is located on the edge of the...

Embodiment 3

[0084] This embodiment discloses a positioning method for a robot, wherein, as figure 1 and figure 2 As shown, the robot 1 can be placed and moved on the working surface, the working surface has a plurality of dividing lines 2, and these dividing lines divide the working surface into a plurality of square sub-blocks 3, the working surface includes but not limited to walls, floors and curtain walls, Corresponding dividing lines include, but are not limited to, gaps between boards, bricks or tiles, gaps between glass, and sealants.

[0085] The types of robots include, but are not limited to, AVG logistics smart cars, household robots and smart service robots. The robot of the present embodiment comprises square plate body 6, inductor 5, attitude sensor 10, moving mechanism, driving mechanism and controller 9, wherein, inductor, attitude sensor, moving mechanism, driving mechanism and controller are all installed in the body superior. The sensor is located on the edge of the...

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Abstract

The invention discloses a map construction and positioning method of a robot and a robot, wherein, the working surface where the robot is located has a plurality of dividing lines that divide the working surface into a plurality of square sub-blocks, and the map construction method includes firstly letting the robot use the current position As the initial position, start according to the set direction, record and determine the direction through the attitude sensor during the movement process, record the moving distance through the odometer, sense the characteristics of the dividing line through the sensor and classify and number the dividing line, and display on the map The dividing line is drawn by using the characteristic dividing line data of the category to which the dividing line belongs. When the robot completes all the distances in the set direction on the working surface, the corresponding map of the working surface is constructed. The positioning method includes determining the specific position of the robot by sensing the dividing line through the sensor and recording the moving distance through the odometer, and obtaining the final coordinate composed of the first coordinate and the second coordinate. The invention can construct maps and precise positioning.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot map construction and positioning method and a robot. Background technique [0002] The robot positioning method is usually by installing vision or ranging sensors on the robot, using the sensor to scan the surrounding environment, measuring the position data of the obstacles around the robot, and recording the distance traveled by the robot through the odometer and magnetometer. position at the location. However, in some occasions, due to no or few reference objects, it is difficult for the sensor to identify accurately, so the scope of application of the robot is limited. If artificially adding prominent objects or artificially pasting positioning marks as reference objects, it will increase the cost and labor effort, and it will be difficult to achieve economicalization. Contents of the invention [0003] The first purpose of the present invention is to overcome the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/20G05D1/02
CPCG01C21/005G01C21/20G05D1/02
Inventor 叶国梁陈云财黄正浩欧阳天德
Owner 支点高空深圳科技有限公司
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