Industrial mobile robot positioning method in high-dynamic environment

Abstract

The invention discloses an industrial mobile robot positioning method in a high-dynamic environment, which comprises the following steps of: respectively acquiring sensing data of a wheel type encoder, an inertia measurement unit and a laser scanning unit, and performing speed estimation to obtain a covariance matrix corresponding to the speed estimation; fusing the speed estimation and covariancematrixes of the wheel type encoder, the inertia measurement unit and the laser scanning unit by adopting an extended Kalman filter to obtain accurate fused speed estimation; performing track deduction on the industrial mobile robot, and converting fused speed estimation into first pose estimation; acquiring a light beam likelihood field algorithm to match and position the sensing data of the laser scanning unit with a map; solving the tracking laser observation quality of the laser map acquired by the laser scanning unit at any moment, and performing environmental change inspection; obtainingsecond pose estimation; and fusing the first pose estimation and the second pose estimation by adopting an extended Kalman filter to obtain accurate third pose estimation.

Description

technical field [0001] The invention relates to the technical field of positioning in a high dynamic environment, in particular to a positioning method for an industrial mobile robot in a high dynamic environment. Background technique [0002] When industrial mobile robots work in high-dynamic environments such as processing workshops and warehouses, they must accurately know their real-time pose (position and orientation) before they can carry out further tasks such as moving, handling, and stacking. Therefore, the robot positioning algorithm is one of the core technologies to realize robot automation. [0003] At present, according to the environmental characteristics of factory operations in the prior art, industrial mobile robots usually use two-dimensional plane positioning technology, that is, only consider the position and orientation of the horizontal and vertical dimensions, and ignore the relevant information in the third dimension-vertical. At the same time, the ...

AI Technical Summary

Problems solved by technology

However, the addition of artificial road signs will involve the transformation of the working environment and the maintenance of road signs, which will lose flexibility; it can be seen that the traditional positioning can no longer meet the positioning requirements in a dynamic environment

[0007] In the Chinese invention patent with the patent application number "201410175726.9" and the patent name "Reliable positioning method for mobile robots in dynamic environments", although it can achieve positioning in dynamic environments, it is based on a network composed of ZigBee wireless sensor nodes The system, therefore, must be pre-deployed in advance of the wireless sensor network, on the basis of the sensor network to perform positioning

Then, there is a problem of high investment cost, and the number of nodes must be enough

Not only that, but the existing technology also adopts the method of additionally deploying other positioning equipment, which also has the problem of high equipment investment cost. Invention patent, which is based on single ultrasonic, encoder, electronic compass, and the ultrasonic receiving module is installed on the ceiling

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