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Robot pose determination method and device, robot and storage medium

A determination method and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inaccurate poses and inability to evaluate

Active Publication Date: 2021-10-19
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the existing method for determining the pose of a robot, the determined pose cannot be evaluated, so the determined pose is not accurate enough

Method used

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  • Robot pose determination method and device, robot and storage medium
  • Robot pose determination method and device, robot and storage medium
  • Robot pose determination method and device, robot and storage medium

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Embodiment Construction

[0041] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0042] In order to illustrate the technical solutions described in this application, specific examples are used below to illustrate.

[0043] 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 ...

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PUM

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Abstract

The invention belongs to the field of robot control, and provides a robot pose determination method and device, a robot and a storage medium. The robot pose determination method comprises the steps of a first pose of the robot is obtained, a first position of a laser point is determined corresponding to a laser radar in a map coordinate system according to the first pose when the laser radar of the robot performs laser scanning, and a matching score between the first position and a grid where the first position is located is determined, the grids are grids in a probability map, and a first confidence coefficient of the first pose according to the matching score is determined; and a target pose is determined according to the first confidence coefficient, so that the first pose can be evaluated through the first confidence coefficient, and the target pose with higher accuracy is obtained.

Description

technical field [0001] The present application belongs to the field of robot control, and in particular relates to a method, a device, a robot and a storage medium for determining a pose of a robot. Background technique [0002] During the moving process of the robot, the problem of relocation is sometimes encountered. For example, when the position is initialized and the positioning is wrong, the robot needs to be relocated to determine the pose of the robot. In the existing method for determining the pose of a robot, the determined pose cannot be evaluated, and thus the determined pose is not accurate enough. Contents of the invention [0003] In view of this, the embodiments of the present application provide a method, a device, a robot, and a storage medium for determining a robot pose, so as to improve the accuracy of the determined robot pose. [0004] The first aspect of the embodiments of the present application provides a method for determining the pose of a robo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/02
CPCB25J19/022B25J9/161B25J9/1653B25J9/1661
Inventor 谷雨隆熊友军张思民赵云
Owner UBTECH ROBOTICS CORP LTD