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Robot positioning method and device, computer readable storage medium and robot

A robot positioning and robot technology, applied in the field of robotics, can solve problems such as inaccurate positioning and inability to build maps, and achieve the effects of precise maps, good positioning accuracy and robustness

Pending Publication Date: 2022-07-12
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiment of the present application provides a robot positioning method, device, computer-readable storage medium and robot to solve the problem that the existing robot positioning method is inaccurate in positioning and cannot establish an accurate map

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  • Robot positioning method and device, computer readable storage medium and robot
  • Robot positioning method and device, computer readable storage medium and robot
  • Robot positioning method and device, computer readable storage medium and robot

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Embodiment Construction

[0059] In order to make the purpose, features and advantages of the invention of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some, but not all, embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0060] It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and / or component, but does not exclude one or more other features , whole, step, operation, element, component and / or the...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a robot positioning method and device, a computer readable storage medium and a robot. The method comprises the following steps: acquiring laser scanning data of a robot, and extracting angular points in the laser scanning data and corresponding angular point normal vectors; projecting the laser scanning data into a global coordinate system to obtain laser scanning projection data; determining an associated laser point pair between the first laser point and the second laser point, an associated angular point pair between the first angular point and the second angular point, and a corresponding angular point normal vector pair; constructing a target function according to the associated laser point pair, the associated angular point pair and the corresponding angular point normal vector pair; and carrying out iterative solution on the target function to obtain the pose of the robot relative to the global coordinate system. According to the method and the device, even in a weak laser scanning feature scene, the method and the device have relatively good positioning accuracy and robustness, and a more accurate map can be established.

Description

technical field [0001] The present application belongs to the field of robotics, and in particular, relates to a robot positioning method, a device, a computer-readable storage medium, and a robot. Background technique [0002] Robot positioning and mapping refers to the technology of using sensor information to construct a map within the scope of the robot's motion scene. In practical application scenarios, 2D LiDAR is often used as the main sensor for positioning and mapping, and scanning matching based on 2D LiDAR is the key technology. [0003] In the prior art, positioning and mapping are mainly based on point-to-point and point-to-line scanning matching methods, but this method is mainly suitable for scenes with rich laser scanning features. When the robot enters a scene with weak laser scanning features, The above methods usually fall into local optimum, resulting in inaccurate positioning and insufficient robustness, making it impossible to build an accurate map. ...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/00G01S17/89G01S17/93G01S17/931
CPCG01C21/20G01C21/3804G01S17/89G01S17/93G01S17/931
Inventor 钱沛聪
Owner UBTECH ROBOTICS CORP LTD
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