Robot positioning method and device, computer readable storage medium and robot
A robot positioning and robot technology, applied in the field of robotics, can solve problems such as difficulty in adapting to the application environment and low accuracy of positioning results
Pending Publication Date: 2021-03-09
UBTECH ROBOTICS CORP LTD
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[0003] In view of this, the embodiment of the present application provides a robot positioning method, device, computer-readable storage medium and robot to solve the problem that the accuracy of positioning results in existing methods is often low and it is difficult to adapt to various complex and diverse application environments. question
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[0067] In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0068] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or...
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The invention belongs to the technical field of robots, and particularly relates to a robot positioning method and device, a computer readable storage medium and a robot. The method comprises the steps that first odometer data of a robot at the last moment and second odometer data of the robot at the current moment are acquired, and the pose increment of the robot is calculated according to the first odometer data and the second odometer data; a first pose of the robot at the last moment is obtained, and a second pose of the robot at the current moment is calculated according to the first poseand the pose increment; laser data collected by the robot at the current moment are obtained, the laser data are converted into a grid map according to the second pose, and converted laser data are obtained; and the second pose is iteratively updated according to the transformed laser data and the obstacle distance information in the grid map, so that the positioning result of the robot at the current moment is obtained, and the positioning precision is remarkably improved.
Description
technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a robot positioning method, a device, a computer-readable storage medium and a robot. Background technique [0002] The robot navigation and positioning technology is based on the map that the robot has established, and obtains the laser data of the currently detected obstacles through the sensor, and matches the laser data with the obstacles on the map to locate the robot's pose, so that the subsequent robot can move. However, in the existing robot positioning methods, the accuracy of the positioning results is often low, and it is difficult to adapt to various complex and diverse application environments. Contents of the invention [0003] In view of this, the embodiment of the present application provides a robot positioning method, device, computer-readable storage medium and robot to solve the problem that the accuracy of positioning results in existin...
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Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/0214G05D1/0221G05D1/0276
Inventor 赵云刘志超
Owner UBTECH ROBOTICS CORP LTD