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A robot positioning method and its positioning device

A positioning method and robot technology, applied in the field of robots, can solve the problems of easy loss, low positioning accuracy of single sensor SLAM, and inability to locate robots, and achieve the effect of improving efficiency, speed, speed and accuracy

Active Publication Date: 2021-03-12
北京欣奕华数字科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the positioning accuracy of single-sensor SLAM is not high, and it is easy to be lost in a degraded environment, resulting in the inability to locate the position of the robot, resulting in the failure of the robot to work normally and effectively

Method used

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  • A robot positioning method and its positioning device
  • A robot positioning method and its positioning device
  • A robot positioning method and its positioning device

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Embodiment Construction

[0022] The specific implementation manners of a positioning method for a robot and a positioning device thereof provided in an embodiment of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the described embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0023] An embodiment of the present invention provides a positioning method for a robot, such as figure 1 As shown, can include:

[0024] S101. According to the inertial measurement unit IMU data, wheel speed odometer data, image data and laser data currently collected by the robot, and the intermediate pose of the robot determined through the ultra-wideband communication UWB technology, acc...

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Abstract

The invention discloses a robot positioning method and its positioning device. By combining IMU, wheel speed odometer, image, laser and UWB technology, multi-sensor fusion can be realized, and the pose of the current key frame of the robot can be obtained in real time, and , after determining the image closed-loop key frame and the laser closed-loop key frame that are in the closed-loop matching state with the current key frame, the pose of the current key frame can be optimized in real-time by sliding window closed-loop, so as to achieve the determined current key frame The position and posture of the robot can be quickly relocated in order to improve the speed and accuracy of the robot's real-time positioning, thereby improving the efficiency of the robot's positioning.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot positioning method and a positioning device thereof. Background technique [0002] With the increasing demand for manufacturing flexibility, shorter and faster product cycles, rising labor costs, and increasing demand for human safety trends, the global market for mobile robots is growing rapidly with increasing demand for technologies such as autonomous guided vehicles (Automated Guided Vehicles AGV) has been widely used in automated warehouses, factory material transfer systems, logistics picking systems, flexible assembly systems and other intelligent transportation sites. Compared with AGVs based on magnetic strips, reflectors, QR codes, etc., autonomous mobile robots (Autonomous Mobile Robot, AMR) are more technically difficult and have wider usage scenarios. The core technology of AMR navigation is SLAM (Simultaneous Localization and Mapping). That is to say, the ro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 韩松杉王世汉朱明明刘方圆张弥
Owner 北京欣奕华数字科技有限公司
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