A multi-robot-based location fusion sensing method and system
A multi-robot, robot technology, applied in the field of robots, can solve problems such as low efficiency and inaccurate positioning, and achieve the effect of increasing interaction and strengthening positioning stability
Active Publication Date: 2022-06-21
SHANGHAI YOGO ROBOTICS CO LTD
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[0003] The present invention provides a position fusion sensing method and system based on multi-robots, which solves the technical problems of inaccurate positioning and low efficiency in the positioning method of the prior art in the coexistence scene of multiple robots
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[0073] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0074] It should be noted that, if there is no conflict, various features in the embodiments of the present invention can be combined with each other, which are all within the protection scope of the present invention. In addition, although the functional modules are divided in the schematic diagram of the device, and the logical sequence is shown in the flowchart, in some cases, the...
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The invention discloses a position fusion perception method and system based on multi-robots, where the multi-robots include a target robot A and N robots B in the same scene j , the method includes the following steps: each robot B j Obtain the relative position of the target robot A and itself, and calculate the relative absolute position of the target robot A in this perspective according to the current self-positioning and the relative position; the target robot A receives all the robot B j The relative absolute position sent, and update the current self-positioning according to the relative absolute position. The invention uses the method of visually recognizing and fusing laser data, and updates the positioning of the robot group according to the absolute positioning and confidence of the robot group, so that the robot group looks like a net in the business scene, increasing the interaction between multiple robots , semantic perception ability, and can further strengthen the positioning stability of multi-robot groups in complex environments.
Description
technical field [0001] The invention relates to the field of robots, in particular to a multi-robot-based position fusion perception method and system. Background technique [0002] With the rapid development of the robot industry, various service robots emerge in an endless stream, and robots are used more and more widely in our life and work. In a scenario where multiple robots coexist, the scheduling strategy used for a single robot scenario will have inefficiencies in the bottleneck areas of the building, such as elevators, gates and other areas, such as mutual blocking. The system-level global scheduling depends on the accuracy of robot positioning, the packet loss rate and delay of communication, and so on. Under normal circumstances, the positioning system of the robot is not very reliable. For example, during the noon rush hour, a large number of people can easily bias the positioning system of the robot, and in the indoor environment, the communication of the robot...
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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1682B25J9/1694
Inventor 秦豪赵明
Owner SHANGHAI YOGO ROBOTICS CO LTD