Vision and laser radar fused robot accurate positioning method
A technology of laser radar and robot precision, which is applied in the field of mobile robots, can solve the problems of large positioning errors of navigation and positioning technology, the inability of robots to reach, and the inability of robots to accurately reach preset points, so as to achieve the effect of improving positioning accuracy and work efficiency
Pending Publication Date: 2020-11-17
SICHUAN ARTIGENT ROBOTICS EQUIP
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Problems solved by technology
[0003] The existing laser positioning and map construction (simultaneous localization and mapping, SLAM) navigation and positioning technology has a relatively large positioning error, generally there is an error of 5-10cm; in addition, the wheel odometer and ground slippage make it impossible for the robot to reach accurately. preset point
Sometimes the task requires the robot to work very close to certain objects, but the existence of the expansion radius of the robot may also cause the robot to fail to reach the point, causing the robot to give up the preset point; therefore, a solution needs to be provided to make the robot more accurate arrive at the preset operating point
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[0041] The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention.
[0042] It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.
[0043] Please see figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 and Image 6 , figure 1 It is a schematic flowchart of a method for precise positioning of a robot based on fusion of vision and laser radar provided by an embodiment of the present invention; figure 2 A schematic diagram of robot positioning I provided for an embodiment of the present inventio...
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The invention provides a vision and laser radar fused robot accurate positioning method, which comprises the steps of firstly obtaining a first image of an operation point area through a camera, and analyzing whether the first image meets a preset requirement or not according to a marker; if the preset requirement is met, analyzing a first distance that the center of the robot moves to the operation center in the direction parallel to the wall surface according to the first image; acquiring a second distance from the radar center to the operation center through the laser radar, and analyzing afourth distance of the robot moving towards the operation center according to the second distance, a third distance between the radar center and the edge of the robot shell and a preset safety distance; correcting the offset of the robot according to a preset range; and meanwhile, the robot performs position estimation through an adaptive Monte Carlo particle filter algorithm in the correction process, so that the positioning precision and efficiency of the robot are improved.
Description
technical field [0001] The invention relates to the technical field of mobile robots, in particular to a method for precise positioning of a robot by fusion of vision and laser radar. Background technique [0002] With the development of social economy, the security industry has also begun to develop in the direction of technology and intelligence, and security robots have emerged as the times require. Compared with traditional security equipment such as cameras and alarms, security robots have obvious advantages. It has good mobile performance, and a single robot can cover a large working area. Compared with the human security industry, it has no emotional factors. In theory, it can work 24 hours a day with high efficiency. As a special form of the security industry, the robot in the prison is mainly to replace the police to complete the high-intensity patrol work. It is required that the robot automatically cycle around the prison building, automatically collect and analy...
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Login to View More IPC IPC(8): G01C21/00G01S17/86
CPCG01C21/005G01S17/86
Inventor 彭倍曾双耀邵继业刘帅
Owner SICHUAN ARTIGENT ROBOTICS EQUIP