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Robot positioning deployment method, device and equipment and storage medium

A robot and positioning technology, applied in the field of robotics, can solve the problems of reduced reliability of visual sensor positioning, the inability to correctly evaluate the robustness of mobile robots, and the inability to obtain the positioning reliability of built-in sensors in advance.

Active Publication Date: 2020-11-03
KEENON ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The built-in sensor of the mobile robot can be positioned in the operating environment, but in different scenarios, such as: the positioning reliability of the visual sensor is reduced in an environment with good lighting conditions
In the traditional robot deployment mode, there is no way to obtain the positioning reliability of the built-in sensor in the scene in advance, so the robustness of the mobile robot operation cannot be correctly evaluated
The existing positioning construction method is to deploy to the global area. This method has a large workload and causes low efficiency.

Method used

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  • Robot positioning deployment method, device and equipment and storage medium
  • Robot positioning deployment method, device and equipment and storage medium
  • Robot positioning deployment method, device and equipment and storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0021] figure 1 It is a schematic flowchart of a method for positioning and deploying a robot provided in Embodiment 1 of the present invention. This embodiment is applicable to the positioning of a mobile robot in a complex scene, and the method can be performed by a positioning and deploying device for a robot. The device can be implemented in the form of software and / or hardware, and can be integrated into electronic equipment, specifically including the following steps:

[0022] S110. Obtain the location reliability of the built-in sensor of the robot for the unit area.

[0023] In this embodiment, the unit area refers to a unit area divided into areas in a complex scene. Positioning reliability refers to the credibility of the measured positioning parameters, because the higher the accuracy of the quantity measured by the corresponding sensor, the higher the value corresponding to the positioning reliability. The auxiliary positioning area to be deployed refers to the u...

Embodiment 2

[0069] figure 2 It is a schematic structural diagram of a positioning and deploying device for a robot provided in Embodiment 2 of the present invention. A robot positioning and deploying device provided in an embodiment of the present invention can execute a robot positioning and deploying method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. Such as figure 2 As shown, the device includes:

[0070] Confidence acquisition module 210, used to acquire the positioning reliability of the built-in sensor of the robot to the unit area;

[0071] The auxiliary positioning area to be deployed determining module 220 is configured to determine whether the unit area is an auxiliary positioning area to be deployed according to the location reliability.

[0072] Optionally, the confidence acquisition module 210 includes an inertial measurement unit and an encoder, and acquires the first conf...

Embodiment 3

[0095] image 3 It is a schematic structural diagram of a device provided in Embodiment 3 of the present invention, image 3 A schematic structural diagram of an exemplary device suitable for implementing an embodiment of the present invention is shown. image 3 The shown device 12 is only an example and should not impose any limitation on the functions and scope of use of the embodiments of the present invention.

[0096] Such as image 3 As shown, device 12 takes the form of a general purpose computing device. Components of device 12 may include, but are not limited to: one or more processors or processing units 16 , system memory 28 , bus 18 connecting various system components including system memory 28 and processing unit 16 .

[0097] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus structures. Example...

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Abstract

The embodiment of the invention discloses a robot positioning deployment method and device, equipment and a storage medium. The method comprises the steps: acquiring the positioning confidence degreeof a built-in sensor of the robot to a unit area; and determining whether the unit area is a to-be-deployed auxiliary positioning area or not according to the positioning confidence. The method comprises the following steps: identifying a to-be-deployed auxiliary positioning area, and subsequently selecting a corresponding deployment scheme to perform auxiliary positioning deployment according tothe value of positioning confidence. The deployment scheme includes but is not limited to label adding, pattern texture adding, UWB adding, differential GPS adding, electromagnetic environment improving, static article placing and the like. By adopting the technical means, the purpose of improving the positioning accuracy of the robot can be achieved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robots, and in particular, to a method, device, equipment, and storage medium for positioning and deploying a robot. Background technique [0002] At present, with the rapid development of artificial intelligence, mobile robots are widely used in industrial and civil fields. Among them, self-localization technology is a key technology in the field of mobile robots, so its robustness and accuracy are very important. [0003] The built-in sensors of mobile robots are able to locate in the operating environment, but the positioning reliability of vision sensors is reduced in different scenarios, such as environments with good lighting conditions. In the traditional robot deployment mode, there is no way to obtain the positioning reliability of built-in sensors in the scene in advance, so the robustness of mobile robot operation cannot be correctly evaluated. The existing positioni...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/20G06K9/62G06N3/04
CPCG06V20/10G06V10/22G06V10/757G06N3/045
Inventor 白雪杨亚运唐旋来马帅
Owner KEENON ROBOTICS CO LTD
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