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A conversion method and conversion device for positioning results between different navigation methods

A technology of positioning results and conversion methods, which is applied in the field of robot navigation to achieve high practical value and improve accuracy.

Active Publication Date: 2021-06-18
HANGZHOU HIKROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The invention provides a conversion method and a conversion device for positioning results between different navigation modes, so as to solve the pose mapping of the coordinate space under different navigation modes

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  • A conversion method and conversion device for positioning results between different navigation methods
  • A conversion method and conversion device for positioning results between different navigation methods
  • A conversion method and conversion device for positioning results between different navigation methods

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Embodiment Construction

[0062] In order to make the purpose, technical means and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings.

[0063] The applicant found that even in the same space environment, there are large differences in positioning results between different navigation methods, because there is overall distortion between the positioning maps used for different navigation methods, for example, point A in the two-dimensional code navigation positioning map and The distance between point B is L1, and the distance between point A and point B in the visual texture navigation map is L2. The size difference between the two is a nonlinear relationship. The strong prerequisites for global alignment are not established, which also makes the conversion of positioning results between different navigation methods a technical obstacle.

[0064] In order to solve the above technical problems, the...

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Abstract

The application discloses a method and a device for converting positioning results between different navigation modes. The present invention uses the pre-created pose mapping relationship between the first coordinate system used in the first navigation mode and the second coordinate system used in the second navigation mode to compensate for the difference in the scale of the map due to different navigation modes The deviation caused by the use of two-dimensional plane pose transformation to directly align the map caused by factors such as and configuration distortion improves the accuracy of the pose mapping positioning results. Compared with relying on beacons as mapping reference points, using the sample keyframes used to create the pose mapping relationship as a reference can avoid jumps in the positioning results of the mapping output due to excessively large distances and uneven distribution of beacons. question.

Description

technical field [0001] The invention relates to the field of robot navigation, in particular to a method and device for converting positioning results between different navigation modes. Background technique [0002] With the development of navigation technology, more and more mature navigation methods are applied to robot positioning. For example, according to different navigation methods, there may be laser navigation, visual texture navigation, beacon navigation, etc. [0003] In practical applications, the navigation method used on the robot side often needs to be updated due to changes in the environment. For example, the beacon-based navigation method often has to adopt a more advanced navigation method due to the wear and tear of the beacon, while the dispatching system side has both Planning and dispatching topology diagrams and positioning methods do not require frequent replacement of navigation methods, or robots in different areas under the same dispatching syst...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/20G01C21/16
CPCG01C21/005G01C21/165G01C21/20
Inventor 党志强易雨亭李建禹贾永华吴永海李必勇白寒
Owner HANGZHOU HIKROBOT TECH CO LTD