Unlock instant, AI-driven research and patent intelligence for your innovation.

Robot positioning method and device

A robot positioning and robot technology, applied in navigation computing tools and other directions, can solve problems such as insufficient positioning accuracy, safety accidents, and loss of positioning information, and achieve the effect of improving robustness

Pending Publication Date: 2021-12-31
SHANGHAI JIAO TONG UNIV
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the existing technology, 3D laser SLAM is usually used for robot positioning. However, due to the dynamic nature of the environment, the current robot positioning method has insufficient positioning accuracy and even loss of positioning information. In severe cases, it may cause safety accidents.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot positioning method and device
  • Robot positioning method and device
  • Robot positioning method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0032] figure 1 It is a flowchart of a robot positioning method provided by an embodiment of the present invention. This embodiment is applicable to positioning a robot. Typically, the method is applicable to positioning an industrial robot in an industrial field. The method can be performed by a robot positioning device, and specifically includes the following steps:

[0033] Step S1, according to the image acquisition device installed on the robot, obtain the point cloud map of the working environment of the robot.

[0034] Wherein, the image acquisition device can be a three-dimensional laser sensor installed on the robot, and when the robot walks around in the working environment, the point cloud map corresponding to the working environment can be obtained.

[0035] In this embodiment, in order to improve the accuracy of the point cloud data, filter processing is performed on the point cloud data acquired by the three-dimensional laser sensor. Since this embodiment adopt...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a robot positioning method and device. The method comprises the steps that in the running process of a robot, according to odometer data of the robot, the pose of the previous moment and the time difference between the current moment and the previous moment, the predicted pose of the robot at the current moment is obtained; and particles are scattered randomly near the predicted pose, and the final pose of the robot at the current moment is determined according to the optimized observation model. According to the method, the weight of the height data is increased when the particle weight is calculated, the proportion of the laser points with long distance and low height participating in positioning result calculation is reduced to a certain extent, the robustness of positioning is improved, and the risk of positioning loss is reduced.

Description

technical field [0001] Embodiments of the present invention relate to robot positioning technology, and in particular to a robot positioning method and device. Background technique [0002] In recent years, with the development of SLAM (Simultaneous localization and mapping) technology, its application fields have gradually expanded from the sweeper industry to service robots, automated guided vehicles (Automated Guided Vehicle, AGV), unmanned aerial vehicles, automatic areas such as driving. With the increasing demand for flexible handling in the manufacturing and e-commerce warehousing fields, SLAM navigation has ushered in a broad market. [0003] However, in the actual application process, the application environment of industrial robots will be quite complicated, and the typical example is the AGV industry. Unlike the ideal experimental environment, its working environment will be more changeable, requiring robots to have higher robustness, and the requirements for po...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 芮青青王景川
Owner SHANGHAI JIAO TONG UNIV