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Autonomous mobile device positioning method, electronic device and storage medium

A positioning method and autonomous moving technology, applied in the directions of measuring devices, instruments, surveying and navigation, etc., can solve the problems of positioning drift and inaccurate positioning.

Pending Publication Date: 2021-04-23
GUANGDONG MIDEA WHITE GOODS TECH INNOVATION CENT CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] This application at least provides a positioning method, electronic equipment, and storage medium for autonomous mobile devices, so as to solve the problem of positioning drift and inability to locate accurately when the wheels of autonomous mobile devices slip

Method used

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  • Autonomous mobile device positioning method, electronic device and storage medium
  • Autonomous mobile device positioning method, electronic device and storage medium
  • Autonomous mobile device positioning method, electronic device and storage medium

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Embodiment Construction

[0033] In order for those skilled in the art to better understand the technical solutions of the present application, the positioning method for autonomous mobile devices, electronic devices and storage media provided by the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. 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.

[0034] The terms "first", "second", etc. in this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "include" and "have", as well as any variations thereof, are intended to cover a non-exclusive inclusion. For examp...

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Abstract

The invention discloses an autonomous mobile device positioning method, an electronic device and a storage medium, and the positioning method comprises the steps: carrying out the state transition prediction of a current value of a state vector through employing a detection result of a wheel encoder of the autonomous mobile device as an input, so as to obtain a prediction value of the state vector, wherein the state vector comprises at least one of a first speed and a first angular speed and a detection error of a wheel encoder; an observation vector is constructed by utilizing a detection result of the observation sensor; and the predicted value of the state vector is updated by using the observation vector so as to obtain an estimated value of the state vector. According to the invention, the predicted value of the state vector is obtained through the wheel encoder, and the predicted value is updated by using the observation vector constructed by the observation sensor, i.e., the predicted value is corrected by using the observation vector to obtain a predicted value result with higher precision, thereby preventing the positioning drift caused by the slipping of the wheel encoder and further preventing the inaccurate positioning, and improving positioning accuracy.

Description

technical field [0001] The present application relates to the technical field of positioning of mobile devices, in particular to a positioning method for autonomous mobile devices, electronic devices and storage media. Background technique [0002] When an autonomous mobile device performs navigation and positioning, it usually uses a wheel encoder as an odometer at the bottom layer, and cooperates with other sensors to achieve positioning. When the wheel of the autonomous mobile device slips, the measurement of the wheel encoder does not match the actual operation of the autonomous mobile device, resulting in the drift of the entire positioning result and the inaccurate positioning. Contents of the invention [0003] The present application at least provides a positioning method, an electronic device, and a storage medium for an autonomous mobile device, so as to solve the problem of positioning drift and inability to locate accurately when the wheels of the autonomous mo...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/00
CPCG01C21/20G01C21/005
Inventor 朱成伟单鹏辉李建华
Owner GUANGDONG MIDEA WHITE GOODS TECH INNOVATION CENT CO LTD
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