Mobile robot high-precision positioning method for complex large-scale indoor scene

A technology for mobile robots and indoor scenes, applied in the field of high-precision positioning of mobile robots, can solve problems such as insufficient positioning accuracy, and achieve the effects of precise pose, high-precision robust positioning, and meeting accuracy requirements.

Active Publication Date: 2021-12-07
NORTHEASTERN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in modern industrial scenarios, it is far from enough for mobile robots to achieve such positioning accuracy. Industrial scenarios require millimeter-level positioning to ensure safe industrial production.

Method used

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  • Mobile robot high-precision positioning method for complex large-scale indoor scene
  • Mobile robot high-precision positioning method for complex large-scale indoor scene
  • Mobile robot high-precision positioning method for complex large-scale indoor scene

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Embodiment Construction

[0076] The invention will be further described below in conjunction with the accompanying drawings and specific implementation examples. Such as figure 2 As shown, the method of the present invention mainly includes three parts: global positioning, pose optimization and positioning quality detection.

[0077] Global positioning is to process the global map to obtain the global map pyramid to improve the positioning speed and accuracy of the mobile robot in the startup state or in the scene of being kidnapped; the pose optimization part is to use artificial landmarks as an auxiliary to realize the mobile robot in a high dynamic environment. Robust positioning and high-precision positioning of target points; the positioning quality detection part is to detect and monitor the current positioning quality in real time through the matching degree between the current laser and the global map, and feed back to the global positioning part to improve robustness .

[0078] The global ...

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Abstract

The invention provides a mobile robot high-precision positioning method for a complex large-scale indoor scene. The method comprises the steps of carrying out down-sampling processing on a global map, forming a global map pyramid, carrying out retrieval on a robot position and posture score from a map located at the topmost part of the pyramid when a latest laser point is received, and obtaining the global position and posture of the robot. Artificial road signs are detected and identified to obtain artificial road signs in the environment for positioning a mobile robot, an observation model of the artificial road signs is constructed to update particle distribution when less than three artificial road signs are detected, and the artificial road signs are processed by using a high-precision positioning method when more than three artificial road signs are detected, so that high-precision positioning of the mobile robot in a target area is achieved, finally, evaluation of the positioning quality of the mobile robot is achieved through a positioning quality detection module, and robustness of the positioning method is achieved through a feedback strategy; and millimeter-level positioning can be achieved in a target area, and the precision requirement of an industrial scene can be met.

Description

technical field [0001] The invention belongs to the technical field of robot positioning, and in particular relates to a high-precision positioning method for a mobile robot used in complex and large-scale indoor scenes. Background technique [0002] Mobile robot positioning is an important part of the long-term autonomous navigation process of mobile robots. It is the most basic problem in many applications, such as in service robots, logistics robots, industrial AGV (Automated Guided Vehicle), automatic driving and other fields. Mobile robot localization problems are mainly divided into global relocalization and pose tracking. Global positioning is mainly to realize the pose correction of the mobile robot through the search of the global map, especially for the power-on start of the mobile robot or the abduction problem of the mobile robot, the global positioning is very meaningful to ensure the robust operation of the system. The pose tracking problem mainly solves the p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0246G05D1/0257G05D1/0223G05D1/0276Y02T10/40
Inventor 方正王纪波姜俊杰路超卢禹光刘飞单佳瑶许璞
Owner NORTHEASTERN UNIV
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