Robot, repositioning method and device thereof and medium

Abstract

The invention discloses a robot, a repositioning method and device thereof and a medium. The method comprises the steps of collecting current radar data of the robot, and constructing an initial map based on the current radar data; determining a first angle of the initial map relative to a preset coordinate system, and performing data conversion on current radar data according to the first angle to obtain target radar data; acquiring a global map in the robot, determining a second angle of the global map relative to the preset coordinate system, and rotating the global map according to the second angle to obtain a target map; and based on the target radar data and the target map, repositioning the robot to obtain a target pose of the robot. According to the method and the device, the robot can be quickly repositioned, and the pose of the robot can be determined based on the repositioning result, so that the repositioning time of the robot is relatively short, relatively high memory and CPU (Central Processing Unit) occupancy rate do not need to be consumed, and the working efficiency of the robot is effectively improved.

Description

technical field [0001] The present application relates to the field of robotics, and in particular, to a robot and its repositioning method, device, and medium. Background technique [0002] Household cleaning robots are especially favored by users because they can free users' hands, clean and recharge independently. With the development of household cleaning robot products, a variety of products with different sensor configurations have appeared. Among them, cleaning robot products represented by ranging sensors and vision sensors are known for their low price, high efficiency and accuracy. Favored by young white-collar workers, such products often have a relocation function. When the machine is moved, it can effectively and accurately locate the position of the robot itself in the current environment, and it is very intelligent to use. [0003] Although the current cleaning robot products equipped with ranging sensors and vision sensors are efficient and accurate, because...

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Problems solved by technology

[0004] The main purpose of this application is to provide a robot and its relocation method, device and medium, aiming to solve the technical problem of low work efficiency of the current robot due to the long time spent on relocation

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