Robot positioning method, device, equipment and readable storage medium

Abstract

The invention discloses a robot positioning method, device, equipment and computer-readable storage medium. The method includes pre-obtaining a gridded point cloud map and according to the distance between the grid center of each grid and the nearest target point Determine the gradient value of the grid according to the distance; according to the coordinate value and the gradient value of the grid, use the ICP algorithm to take the nearest target point corresponding to the grid where each point to be registered in the point cloud to be registered is the registration point of the point to be registered. The registration point cloud and the target point cloud in the point cloud map are registered to obtain the position transformation relationship of the point cloud to be registered to the target point cloud in the point cloud map; according to the position transformation relationship and rough coordinate values, determine the position of the robot in the point cloud The precise coordinate value in the map. In this application, the nearest target point and gradient value of each grid in the point cloud map are pre-determined as the nearest target point and gradient value during the registration process of the points to be registered, which simplifies the registration calculation process and improves the robot positioning efficiency.

Description

technical field [0001] The present invention relates to the field of positioning technology, and in particular, to a robot positioning method, apparatus, device, and computer-readable storage medium. Background technique [0002] With the development and application of intelligent control technology, the application of intelligent robots such as sweeping robots, cargo sorting robots, etc. has also emerged as the times require. In the completion of various work tasks, the precise positioning of the intelligent robot itself during the movement process is automatically realized, which is of great significance for the intelligent robot to complete the work efficiently and accurately. [0003] At present, there are many methods for locating the position and attitude of an intelligent robot in the process of performing work tasks, but often either the positioning accuracy is insufficient or the positioning operation process is complicated, which increases the use cost of the robot...

AI Technical Summary

Problems solved by technology

[0003] At present, there are many methods for positioning the position and posture of intelligent robots during the execution of tasks by intelligent robots, but often either the positioning accuracy is insufficient or the positioning calculation process is complicated, which increases the cost of using the robot

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