Positioning judgment method and device

Abstract

The embodiment of the invention discloses a positioning judgment method and device. The method comprises the following steps of acquiring laser scanning data of a robot, determining a corresponding laser matching score and a laser matching relative quantity according to the laser scanning data, acquiring encoder readings of the robot, determining a corresponding odometer relative quantity according to the encoder reading, and judging the positioning condition of the robot according to the laser matching score, the laser matching relative quantity and the odometer relative quantity. According to the embodiment of the invention, existing laser data and encoder readings are fully utilized; through simple calculation, a conclusion can be quickly obtained to realize real-time judgment, and through combination and comparison of various data, the positioning condition of the robot can be divided into three types of accurate positioning, positioning deviation and positioning loss, so that themisjudgment probability of the positioning loss can be reduced, and the accuracy of a judgment result is improved.

Description

【Technical field】 [0001] The present invention relates to the technical field of robots, in particular to a positioning judgment method and device. 【Background technique】 [0002] With the continuous development of robot technology, robots have been widely used in various industries. During the moving process, the robot needs to constantly perceive the surrounding environment and determine its position in the environmental map. When the robot's positioning is wrong, and eventually the robot cannot correctly plan the path to the target position, this phenomenon is called positioning loss. [0003] In the prior art, the method for judging the location loss is usually by calculating the sudden change of the relative quantity in the odometer model. The relative amount is calculated from the readings of the encoders of the left and right wheels. If the readings of the encoders exceed the limit range within a certain period of time, it can be considered that the wheels of the ro...

AI Technical Summary

Problems solved by technology

The relative amount is calculated from the readings of the encoders of the left and right wheels. If the readings of the encoders exceed the limit range within a certain period of time, it can be considered that the wheels are slipping during the movement of the robot, so the positioning of the robot is directly determined. lost

However, in the actual operation process, a small slip will not cause serious positioning deviation, that is, the robot can still reach the target position correctly even if there is a small slip during the operation of some environments; Such positioning deviations are directly identified as positioning loss, resulting in the inability of the robot to continue to run, which will affect the efficiency of the robot in performing tasks.

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