Method, robot, device and storage medium for robot positioning in dynamic environment
A technology for robot positioning and dynamic environment, applied in the direction of measuring devices, instruments, electromagnetic wave re-radiation, etc., can solve the problem of low positioning accuracy, and achieve the effect of improving positioning accuracy, accuracy and precision.
Active Publication Date: 2022-06-07
ゼジャンハーレイテクノロジーカンパニーリミテッド
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Problems solved by technology
[0006] The invention provides a method, a robot, a device and a storage medium for robot positioning in a dynamic environment to solve the technical problem of low positioning accuracy of a mobile robot in a dynamic environment existing in the prior art
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Embodiment approach
[0152] In a possible implementation manner, the obtaining unit 602 is further configured to:
[0153] Before using the laser point cloud data generated by the robot's lidar sensor at the current moment to match the prior map and the local submap respectively, when the robot scans the QR code, use the graph optimization method with the constraint factor of the QR code added. The model estimates the pose of the downward-looking camera; wherein, the downward-looking camera is one of the components of the robot, and is used to scan a two-dimensional code set in the environment where the robot is located;
[0154] Clear the local submap corresponding to the current moment, project the laser point cloud corresponding to the current moment into the world coordinate system based on the pose of the downward looking camera, and convert it into a grid map; wherein, the grid The map is the map corresponding to the environment;
[0155] The grid occupied by the projected laser point cloud...
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The invention provides a robot positioning method, a robot, a device and a storage medium in a dynamic environment to solve the technical problem of low positioning accuracy of a mobile robot in a dynamic environment in the prior art. The method includes: determining the mileage of the robot Calculate whether the first mileage data generated at the current moment is reliable; if the first mileage data is unreliable, use the laser point cloud data generated by the laser radar sensor of the robot at the current moment to perform a comparison with the prior map and the local submap respectively. Matching to obtain a matching result; wherein, if the robot detects a two-dimensional code, the local sub-map is obtained after updating the original local sub-map with the position information corresponding to the detected two-dimensional code; based on the The matching result and the observation information corresponding to the odometer and the lidar sensor are used to estimate the pose of the robot at the current moment.
Description
technical field [0001] The invention relates to the field of mobile robot positioning, in particular to a method, a robot, a device and a storage medium for robot positioning in a dynamic environment. Background technique [0002] When a mobile robot performs a task (such as a robot carrying goods in a warehouse), with the continuous transformation of the surrounding environment during the movement of the mobile robot, the mobile robot needs to accurately determine the position of the current environment in the transformed environment, and then execute accurately Task. [0003] However, when the environment of a certain position changes during the movement of the mobile robot, such as objects are added or removed in the environment, or there are moving objects in the environment, the current actual environment information and the corresponding prior map will produce a larger difference. Due to the difference, the positioning accuracy of the mobile robot is not high due to t...
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IPC IPC(8): G01S17/86G01C21/20
CPCG01S17/86G01C21/20
Inventor 胡立志卢维王政李铭
Owner ゼジャンハーレイテクノロジーカンパニーリミテッド