Positioning method and positioning device of foot bath robot

Abstract

The invention discloses a positioning method and a positioning device of a foot bath robot. The method comprises the following steps: acquiring a local map within a first preset range around a preset foot bath point position, wherein the resolution of the local map is higher than that of a whole house map; determining a first pose of the preset foot bath point in the local map coordinate system; after the foot bath robot enters a second preset range of the space around the preset foot bath point position, collecting point cloud data around the foot bath robot in real time, and matching the point cloud data in the local map to obtain a second pose of the point cloud origin in the local map coordinate system; and determining a third pose of the foot bath robot relative to the preset foot bath point position in real time according to the first pose and the second pose, so as to navigate to the preset foot bath point position according to the third pose. The positioning accuracy of the foot bath robot near the foot bath point position is improved, the accuracy and stability of the posture of the foot bath robot after the foot bath robot reaches the foot bath point position are improved, the situation of manual adjustment of a user is reduced, and the use convenience and comfort of the user are improved.

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