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Robot task point positioning method and device

A robot and task point technology, which is used in measurement devices, two-dimensional position/channel control, vehicle position/route/altitude control, etc., and can solve problems such as decreased positioning accuracy, poor positioning accuracy, and cumulative error of measured value calculation values.

Active Publication Date: 2021-09-07
ゼジャンハーレイテクノロジーカンパニーリミテッド
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Dead reckoning is an accumulation process. In the process of gradual accumulation, the measured value and calculated value will accumulate errors, and the positioning accuracy will decrease. Therefore, it is only suitable for short-term or short-distance position data tracking. In complex environments, long moving time or long distances In some cases, the positioning accuracy is poor, and the robot cannot complete high-precision tasks

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  • Robot task point positioning method and device
  • Robot task point positioning method and device
  • Robot task point positioning method and device

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Embodiment Construction

[0043] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.

[0044] figure 1 It is a schematic flowchart of a robot task point positioning method shown in the embodiment of the present application. The robot task point positioning method can be applied to the robot. In this embodiment, the robot includes at least one laser radar, and the robot is pre-loaded with an artificial feature template. The artificial feature template includes but is not limited to: template feature information, equipment pose, laser parameters and laser scanning range.

[0045] In an example, the artificial feature template may further includ...

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Abstract

The invention discloses a robot task point positioning method and device. The method comprises the following steps: receiving a task point coordinate; according to the coordinates and the equipment poses included in the artificial feature templates, searching candidate artificial feature templates from the artificial feature templates; selecting a target artificial feature template and a target laser radar from the candidate artificial feature templates by using the laser parameters of the laser radar, the scanning range of the laser radar at the task point, and the laser parameters and the laser scanning range included in each candidate artificial feature template; determining a relative pose by using the feature information of the current node collected by the target laser radar and the template feature information included in the target artificial feature template; determining a target pose of the robot according to the relative pose; and triggering the robot to move according to the target pose.

Description

technical field [0001] The present application relates to the field of positioning technology, in particular to a method and device for positioning a robot task point. Background technique [0002] Robots usually need to move in complex environments when performing task operations. In order to enable the robot to move from one node to another node according to the requirements of the task, the commonly used technical means is the odometer method, specifically: install a photoelectric encoder on the robot wheel, and realize position tracking by recording the wheel rotation , this process requires the use of dead reckoning, that is, assuming that the initial position is known, the current position is estimated to be updated according to the previous position. Dead reckoning is an accumulation process. In the process of gradual accumulation, the measured value and calculated value will accumulate errors, and the positioning accuracy will decrease. Therefore, it is only suitabl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/88G05D1/02
CPCG01S17/88G05D1/0257
Inventor 胡立志卢维王政李铭
Owner ゼジャンハーレイテクノロジーカンパニーリミテッド
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