Robot positioning method and robot positioning device

A positioning method and robot technology, applied in the field of robotics, can solve problems such as easy loss, low positioning accuracy of single-sensor SLAM, and inability to locate robots, achieving accurate and effective positioning and improving accuracy

Active Publication Date: 2021-02-09
浙江欣奕华智能科技有限公司
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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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  • Robot positioning method and robot positioning device
  • Robot positioning method and robot positioning device
  • Robot positioning method and robot positioning device

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Embodiment Construction

[0021]In the following, specific implementations of a robot positioning method and positioning device provided by embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0022]To explain one point, in this application document, the default label and Tag mean the same meaning, and the two can be used interchangeably.

[0023]The embodiment of the present invention provides a robot positioning method, such asfigure 1 As shown, it can include:

[0024]S101. Perform sliding window optimization processing on the determined current key frame according to the currently collected inertial measurement...

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Abstract

The invention discloses a robot positioning method and a robot positioning device, and the method comprises the steps: a preset label is introduced when the pose of a robot is determined, a preset label technology is combined with an IMU technology, a wheel speed odometer technology and a visual technology, and based on sliding window optimization processing, the fusion positioning of the label vision inertia wheel speed odometer based on tight coupling is realized; and moreover, the coordinate information of the preset label is fused into the sliding window optimization processing process, sothat the global positioning precision can be greatly improved, and the robot can be accurately and effectively positioned.

Description

Technical field[0001]The invention relates to the technical field of robots, in particular to a positioning method of a robot and a positioning device thereof.Background technique[0002]With the increasing demand for manufacturing flexibility, shortening and accelerating product cycles, rising labor costs, and increasing demand for human safety trends, the global mobile robot market is developing rapidly, and technical requirements are getting higher and higher, for example, self-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, and QR codes, Autonomous Mobile Robots (AMR) are more technically difficult and have wider use scenarios. The core technology of AMR navigation is SLAM (Simultaneous Localization and Mapping). That is to make the robot know the en...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/16G01C21/20
CPCG01C21/005G01C21/165G01C21/20
Inventor 韩松杉刘星胡孟宇王世汉赵家阳张弥
Owner 浙江欣奕华智能科技有限公司
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