Repositioning method and system based on mobile robot

A mobile robot and relocation technology, applied in the field of relocation, can solve the problems of low positioning accuracy of mobile robots, long calculation time, affecting robot accuracy, etc.

Active Publication Date: 2020-09-22
上海金上矢科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing mobile robot relocation methods are repositioning through the movement of the robot, which will lead to low positioning accuracy of the mobile robot, which directly affects the accuracy of the robot when performing tasks, and the operation complexity of relocation is relatively large. longer time

Method used

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  • Repositioning method and system based on mobile robot
  • Repositioning method and system based on mobile robot
  • Repositioning method and system based on mobile robot

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Embodiment

[0071] figure 1 It is a flowchart of a relocation method based on a mobile robot in an embodiment of the present invention, such as figure 1 As shown, a kind of mobile robot-based relocation method provided by the present invention includes:

[0072] Step 101: Obtain a first laser point data set obtained by scanning objects in the environment by the mobile robot; the first laser point data set includes a plurality of first laser points.

[0073] figure 2 It is a schematic diagram of laser sensor measurement data in the embodiment of the present invention, figure 2 In the laser sensor coordinate system, the horizontal axis is X1, and the vertical axis is Y1, such as figure 2 As shown, the mobile robot moves in the environment. The laser sensor mounted on the mobile robot emits a laser beam to scan the surrounding environment in real time, and measures each object in the environment in the laser sensor coordinate system to obtain the first laser point data set. The laser s...

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Abstract

The invention discloses a repositioning method and system based on a mobile robot. The method comprises the following steps: obtaining a first laser point data set obtained by scanning an object in anenvironment by a mobile robot, and determining the position of a first laser point in the first laser point data set in a global coordinate system; when the pose of the mobile robot in the global coordinate system changes, scanning the object in the environment again to obtain a second laser point data set, and determining the position of a second laser point in the global coordinate system according to the repositioning pose point; and calculating the matching degree of the position of the second laser point in the global coordinate system and the position of the first laser point in the global coordinate system, and determining the repositioning pose point corresponding to the maximum matching degree as the pose of the mobile robot after repositioning in a global grid map. By adopting the method and the system provided by the invention, the laser point data is matched with the constructed global grid map, so that the repositioning accuracy and speed of the mobile robot can be improved, and subsequent navigation and positioning tasks are facilitated.

Description

technical field [0001] The invention relates to the technical field of relocation, in particular to a relocation method and system based on a mobile robot. Background technique [0002] Relocation technology is an important prerequisite for mobile robots to realize autonomous navigation and intelligent environment scanning and exploration. Mobile robot relocation is when the pose of the mobile robot in the global coordinate system changes (such as the mobile robot slipping, being picked up) , the position of the laser sensor loaded on the mobile robot in the global coordinate system has changed, and the laser point data obtained by the laser sensor emitting a laser beam to scan the surrounding environment does not match the environmental map, so relocation is required. Most of the existing mobile robot relocation methods are repositioning through the movement of the robot, which will lead to low positioning accuracy of the mobile robot, which directly affects the accuracy of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/20G05D1/0219G05D1/0231
Inventor 李育文刘镇扬宋韬郭帅
Owner 上海金上矢科技有限公司
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