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Robot positioning method and device, robot and storage medium

A robot positioning and robot technology, applied in the field of robots, can solve the problem of low positioning accuracy of robots, and achieve the effects of enhancing robustness, reducing computational difficulty, and improving adaptability

Pending Publication Date: 2021-03-16
GUANGZHOU SHIYUAN ELECTRONICS CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The embodiment of the present application provides a robot positioning method, device, robot and storage medium to solve the technical problem of low positioning accuracy of the robot when the current environment changes in the prior art

Method used

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  • Robot positioning method and device, robot and storage medium
  • Robot positioning method and device, robot and storage medium
  • Robot positioning method and device, robot and storage medium

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Embodiment Construction

[0038] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are used to explain the present application rather than limit the present application. In addition, it should be noted that, for the convenience of description, only some structures related to the present application are shown in the drawings but not all structures.

[0039] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation or object from another entity or operation or object, and do not necessarily require or imply that these entities or any such actual relationship or order between operations or objects. For example, "first" and "second" for the first state and the second state are used to distinguish two different robot states.

[0040] The robot positioning method provided in the embodiment of...

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Abstract

The embodiment of the invention discloses a robot positioning method and device, a robot and a storage medium, and relates to the technical field of robots. The method comprises the steps of: acquiring laser point cloud data collected by the robot at a current frame and a first state of the current frame; drawing a first local map of the robot according to the laser point cloud data; determining alocal measurement residual error according to the first local map, the laser point cloud data, the first state and a second state of the robot in a previous frame; determining a global measurement residual error according to a global map, the laser point cloud data and the first state; determining an inertial measurement residual error according to the first state, the second state and the inertial measurement data; adding the first state into a sliding window, and constructing an optimization function according to the local measurement residual error, the global measurement residual error and the inertial measurement residual error corresponding to each frame in the sliding window; and positioning the robot according to the optimization function. By adopting the method, the technical problem of low robot positioning accuracy when the current environment changes in the prior art can be solved.

Description

technical field [0001] The embodiments of the present application relate to the technical field of robots, and in particular, to a robot positioning method, device, robot, and storage medium. Background technique [0002] A robot is an automated machine that can be programmed and automatically controlled to perform tasks such as work or move. With the deepening of people's intelligent robot technology, robots began to penetrate into various fields of human activities. For example, food delivery robots appeared in the catering field, sweeping robots appeared in the cleaning field, and automatic driving appeared in the driving field. Car. For mobile robots, robot localization is a key technology when the robot moves autonomously. Among them, robot positioning refers to determining the position of the robot in the current environment, through which the subsequent moving route of the robot can be determined. [0003] In some technologies, the map data of the current environme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0231G05D1/027
Inventor 林燕龙张伟
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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