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Robot navigation method and device, computer equipment and storage medium

A navigation method and robot technology, applied in navigation computing tools, navigation, measuring devices, etc., can solve problems such as inability to navigate and decrease in positioning accuracy, and achieve the effects of avoiding inability to navigate, improving positioning accuracy, and good adaptability

Active Publication Date: 2021-12-10
合肥名龙电子科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a robot navigation method, device, computer equipment and storage medium for the above-mentioned deficiencies in the prior art, and for the technical problem that the positioning accuracy is reduced or even unable to navigate.

Method used

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  • Robot navigation method and device, computer equipment and storage medium
  • Robot navigation method and device, computer equipment and storage medium
  • Robot navigation method and device, computer equipment and storage medium

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Embodiment Construction

[0036] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

[0037] In one embodiment, such as figure 1 As shown, a navigation method based on 3D point cloud and deep learning is provided, and the method is applied to a robot controller (the robot controller is located on the robot, including algorithm firmware and hardware for algorithm operation) as an example. , including the following steps:

[0038] S1. Obtain 3D point cloud data transmitted via a positioning device, where the positioning device includes a laser radar and a binocular camera.

[0039] Specifically, the robot controller obtains 3D point cloud data from the lidar and the binocular camera. It should be noted that 3D point cloud data specifically refers to a set of vectors in a three-dimensional coordinate syst...

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Abstract

The invention discloses a robot navigation method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining 3D point cloud data transmitted by positioning equipment, wherein the positioning equipment comprises a laser radar and a binocular camera; fusing the 3D point cloud data according to the relative position between the laser radar and the binocular camera and the relative distance between the point cloud and the target trolley to obtain a fused point cloud set; according to the obtained RTK positioning information and RTK positioning information of the robot, updating the fusion point cloud set based on the determined exact position of the robot in the synchronously constructed map to obtain an updated point set; determining a similarity degree between the update point set and the fusion point cloud set, and when the similarity degree meets a preset judgment condition, adding the update point set into the synchronously constructed map; and based on the updated map, the current position of the robot and the target position needing to be reached, calculating the optimal navigation path to improve the positioning precision.

Description

technical field [0001] The present invention relates to the technical field of navigation, and more specifically, relates to a robot navigation method, device, computer equipment and storage medium. Background technique [0002] A robot is a machine that helps people free themselves from limited, repetitive, high-risk, and high-load human work. Its main purpose is to improve human work efficiency and ensure human safety. With the continuous improvement of related technologies, today's robots have long been into every aspect of our lives. However, for any mobile device, the ability to navigate its environment is important, so in practical use, in order to avoid hazardous situations such as collisions and unsafe conditions (temperature, radiation, exposure to weather, etc.), It is necessary to navigate and locate the real-time position of the robot in the environment in time, so that the robot can determine its position in the reference system, and then plan the path to a cer...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/20G01S17/86G01S19/45
CPCG01C21/005G01C21/20G01S17/86G01S19/45
Inventor 鞠剑平马聪阮云娟唐剑隐田斌陈灯李少义肖振华尹科
Owner 合肥名龙电子科技有限公司
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